WO2022239223A1 - 手首用カバー、ロボットおよび手首用カバーセット - Google Patents
手首用カバー、ロボットおよび手首用カバーセット Download PDFInfo
- Publication number
- WO2022239223A1 WO2022239223A1 PCT/JP2021/018351 JP2021018351W WO2022239223A1 WO 2022239223 A1 WO2022239223 A1 WO 2022239223A1 JP 2021018351 W JP2021018351 W JP 2021018351W WO 2022239223 A1 WO2022239223 A1 WO 2022239223A1
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- Prior art keywords
- wrist
- wrist element
- opening
- cover
- hole
- Prior art date
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- 210000000707 wrist Anatomy 0.000 title claims abstract description 255
- 230000002093 peripheral effect Effects 0.000 claims abstract description 55
- 238000007789 sealing Methods 0.000 claims abstract description 11
- 230000000149 penetrating effect Effects 0.000 claims 3
- 238000006073 displacement reaction Methods 0.000 description 5
- 239000000428 dust Substances 0.000 description 2
- 239000011347 resin Substances 0.000 description 2
- 229920005989 resin Polymers 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0283—Three-dimensional joints
Definitions
- the present disclosure relates to wrist covers, robots, and wrist cover sets.
- a cover that covers the wrist of a robot is known (see Patent Document 1, for example).
- the cover is a single tubular form covering a first wrist element, a second wrist element that rotates relative to the first wrist element, and a third wrist element that rotates relative to the second wrist element. have. One end of the cover is attached to the first wrist element and the other end of the cover is attached to the third wrist element.
- Patent Document 1 includes bellows to cover the three wrist elements while allowing displacement of the second wrist element relative to the first wrist element and displacement of the third wrist element relative to the second wrist element. , allowing for large deformations.
- the amount of displacement of the second wrist element with respect to the first wrist element and the amount of displacement of the third wrist element with respect to the second wrist element are usually set large in order to ensure a large operating range of the robot.
- the bellows for allowing a large displacement of two axes needs to be large in length and outer diameter in order to increase the amount of expansion and contraction. increase the possibility of Accordingly, a need exists for a wrist cover and robot that can reduce the potential for interference around the wrist of the robot with a compact configuration.
- One aspect of the present disclosure is a wrist cover that covers a wrist of a robot including a first wrist element, a second wrist element, and a third wrist element that are connected in series so as to be relatively rotatable, wherein the second wrist element A first wrist element that is fixed to seal an annular gap between the second wrist element and the third wrist element while allowing relative rotation between the second wrist element and the third wrist element.
- a rotary seal member ; and a flexible bag-like cover body having a first opening arranged to allow the first wrist element to pass therethrough and a second opening arranged to allow the third wrist element to pass therethrough. and the cover main body and the first rotary seal member are mounted in such a manner that the entire periphery between the peripheral edge of the second opening and the first rotary seal member is sealed.
- FIG. 1 is a perspective view showing the overall configuration of a robot provided with a wrist cover according to an embodiment of the present disclosure
- FIG. 2 is a longitudinal sectional view showing the wrist of the robot of FIG. 1
- FIG. Figure 2 is an enlarged longitudinal section showing the second arm and first wrist element of the wrist of the robot of Figure 1
- Figure 3 is an enlarged longitudinal cross-sectional view showing the second and third wrist elements of the wrist of Figure 2
- 1 is a perspective view showing a cover body of a wrist cover according to an embodiment of the present disclosure
- FIG. FIG. 2 is an enlarged longitudinal sectional view showing the second arm and the first wrist element of the wrist of the first variant of the robot of FIG. 1
- FIG. 4 is an enlarged longitudinal sectional view showing a second wrist element and a third wrist element of a second modification of the robot of FIG. 1;
- FIG. 4 is an enlarged longitudinal sectional view showing a first wrist element of a third variant of the robot of FIG. 1;
- a wrist cover 1 and a robot 10 according to an embodiment of the present disclosure will be described below with reference to the drawings.
- the robot 10 according to this embodiment is, for example, a 6-axis articulated robot as shown in FIG.
- the robot 10 includes a base 20 installed on a horizontal floor surface, and a swing body 30 rotatably supported with respect to the base 20 about the vertical J1 axis A.
- the robot 10 includes a first arm 40 rotatably supported with respect to the revolving barrel 30 around the horizontal J2 axis B, and rotates with respect to the tip of the first arm 40 around the horizontal J3 axis C. and a second arm (arm) 50 supported on the arm.
- the robot 10 includes a triaxial wrist 60 supported at the tip of the second arm 50 and a wrist cover 1 attached to the wrist 60 .
- the wrist 60 is rotatably supported with respect to the second arm 50 about a J4 axis (first axis) D extending along a plane perpendicular to the J3 axis C.
- a first wrist element 70 is provided.
- the wrist 60 includes a second wrist element 80 rotatably supported with respect to a first wrist element 70 about a J5 axis E orthogonal to the J4 axis D, and a J6 axis (third axis) orthogonal to the J5 axis E. and a third wrist element 90 rotatably supported about F with respect to the second wrist element 80 .
- the second arm 50 and the first wrist element 70 are provided with a hollow hole 51 and a hollow hole (first hollow hole) 71 extending along the J4 axis D, as shown in FIG.
- An annular gap between the second arm 50 and the first wrist element 70 is sealed by an oil seal (not shown).
- a cylindrical guide tube (cylindrical member) 52 fixed to the second arm 50 is arranged along the J4 axis D in the hollow holes 51 and 71 .
- An annular gap between the tip of the guide tube 52 and the first wrist element 70 is sealed by an oil seal 72 .
- the second wrist element 80 has a hollow hole (second hollow hole) 81 whose center axis is the J6 axis F.
- the third wrist element 90 also has a hollow hole (third hollow hole) 91 having the J6 axis F as a central axis.
- the third wrist element 90 is arranged in the hollow hole 81 of the second wrist element 80, and the annular gap between it and the second wrist element 80 is sealed by an oil seal (not shown).
- the third wrist element 90 includes a flange surface 90a to which a tool (not shown) can be attached, and a cylindrical outer surface (outer surface) 92 arranged around the flange surface 90a and centered on the J6 axis F.
- the wrist cover 1 permits relative rotation between the second wrist element 80 and the third wrist element 90 while sealing the annular gap between them. It has an oil seal (first rotary seal member) 2 that The wrist cover 1 also includes a bag-shaped cover body 4 that covers the first wrist element 70 and the second wrist element 80 , and an attachment member 3 that attaches the cover body 4 to the wrist 60 .
- the cover main body 4 is made of, for example, a flexible resin, preferably a stretchable resin.
- the cover body 4 has a shape that covers the wrist 60 with the J4 axis D and the J6 axis F arranged in a straight line with a small gap from the outer surface of the wrist 60. have. 5, the cover body 4 has a first opening 4a through which the first wrist element 70 passes and a second opening 4b through which the third wrist element 90 passes.
- the cover main body 4 has a third opening 4c arranged at a position corresponding to the opening of the hollow hole 71 of the first wrist element 70 on the distal side and the opening of the hollow hole 81 of the second wrist element 80 on the proximal side. It has a fourth opening 4d arranged at a corresponding position.
- the mounting member 3 includes a belt 31 for fixing the periphery of the first opening 4a of the cover body 4 to the first wrist element 70, and a belt 31 for securing the periphery of the second opening 4b to the second wrist element. It has an annular member (first annular member) 32 fixed to 80 and a pressing plate 33 .
- the mounting member 3 includes a ring member 34 that fixes the periphery of the third opening 4c to the periphery of the opening of the hollow hole 71 of the first wrist element 70 on the tip side, and the periphery of the fourth opening 4d of the second wrist element 80. and a ring member 35 fixed to the periphery of the opening of the hollow hole 81 on the proximal end side.
- the belt 31 tightens the peripheral edge of the first opening 4a of the cover body 4 from the radial direction outside while the first wrist element 70 is passed through the first opening 4a. As a result, the belt 31 fixes the cover body 4 to the first wrist element 70 in a state in which the entire periphery of the first opening 4a of the cover body 4 and the outer peripheral surface of the first wrist element 70 are sealed. .
- the annular member 32 has a circular hole (first hole) 32 a with an inner diameter larger than the outer diameter of the outer peripheral surface 92 of the third wrist element 90 . With the oil seal 2 fitted in the hole 32a and the outer peripheral surface 92 of the third wrist element 90 inserted into the lip 2a of the oil seal 2, the annular member 32 can be attached to the tip of the second wrist element 80. can.
- the inner peripheral surface (inner surface) 32b of the hole 32a of the annular member 32 has the J6 axis F as the central axis and is arranged radially outward with a gap from the outer peripheral surface 92 of the third wrist element 90. .
- the oil seal 2 allows rotation of the third wrist element 90 about the J6 axis F with respect to the second wrist element 80, the inner peripheral surface 32b of the annular member 32 and the outer peripheral surface 92 of the third wrist element 90 are aligned. The annular gap between is sealed.
- the annular member 32 is provided with an annular seat surface 32c formed of a plane orthogonal to the J6 axis F when attached to the second wrist element 80 .
- the peripheral edge of the second opening 4b of the cover main body 4 is brought into close contact with the seat surface 32c, and the cover main body 4 is sandwiched between the ring plate-like pressing plate 33 and the seat surface 32c, which are then tightened together with the bolts 6.
- the second opening 4 b of the cover body 4 can be fixed to the tip of the second wrist element 80 .
- the cover main body 4 and the oil seal 2 are attached with the annular member 32 interposed therebetween so as to seal the entire periphery between the peripheral edge of the second opening 4b and the oil seal 2 .
- the ring member 34 is formed in a ring plate shape having a through hole 34 a with an inner diameter substantially equal to the inner diameter of the hollow hole 71 .
- the ring member 34 is attached by a plurality of bolts 7 with the through hole 34a aligned with the opening of the hollow hole 71 on the distal end side, so that the peripheral edge of the third opening 4c of the cover main body 4 sandwiched between the two. is sealingly attached to the first wrist element 70 .
- the ring member 35 is formed in a ring plate shape having a through hole 35 a with an inner diameter substantially equal to the inner diameter of the hollow hole 81 .
- the ring member 35 is attached by bolts 8 with the through hole 35a aligned with the opening of the base end of the hollow hole 81, so that the peripheral edge of the fourth opening 4d of the cover main body 4 sandwiched between the two. It is sealingly attached to the second wrist element 80 .
- the tip of the third wrist element 90 into the first opening 4a of the cover body 4, and cover the entire wrist 60 with the cover body 4 as shown in FIG.
- the first wrist element 70 is passed through the first opening 4a
- the third wrist element 90 is passed through the second opening 4b
- the third opening 4c is the opening on the distal end side of the hollow hole 71 of the first wrist element 70.
- the fourth opening 4 d is aligned with the proximal opening of the hollow hole 81 of the second wrist element 80 .
- the peripheral edge of the first opening 4a through which the first wrist element 70 is passed is tightened by the belt 31 from the radially outward direction.
- the cover main body 4 can be fixed to the first wrist element 70 while sealing the entire circumference between the peripheral edge of the first opening 4 a and the outer peripheral surface of the first wrist element 70 .
- the annular member 32 and the presser plate are held in a state in which the peripheral edge of the second opening 4b of the cover body 4 is sandwiched between the seating surface 32c of the annular member 32 and the presser plate 33 over the entire circumference.
- Plate 33 is co-tightened to second wrist element 80 by bolts 6 .
- the cover body 4 can be fixed to the second wrist element 80 while sealing the entire circumference between the peripheral edge of the second opening 4 b and the annular member 32 .
- the bolt 7 is used to hold the ring member 34 between them. Assemble. As a result, the periphery of the third opening 4c is hermetically attached to the periphery of the opening of the hollow hole 71 of the first wrist element 70 on the distal end side.
- the peripheral edge of the base end of the hollow hole 81 and the ring member 35 are assembled with the bolt 8 while the peripheral edge of the fourth opening 4d is sandwiched therebetween. is sealingly attached to the proximal opening periphery of hollow bore 81 . This completes the operation of attaching the wrist cover 1 .
- the cover body 4 surrounds the first wrist element 70 and the second wrist element 80, when the second wrist element 80 is rotated about the J5 axis E with respect to the first wrist element 70, the cover body 4 is deformed. and the state of covering the first wrist element 70 and the second wrist element 80 is maintained. Also, since the gap between the second wrist element 80 and the third wrist element 90 is sealed by the oil seal 2, the third wrist element 90 rotates about the J6 axis F with respect to the second wrist element 80. Even if it is made to move, the cover main body 4 does not need to be deformed. That is, since the cover body 4 only needs to be deformed by the rotation of the second wrist element 80 with respect to the first wrist element 70, the margin for deformation given to the cover body 4 can be kept small.
- the cover main body 4 may be configured to have a size that fits the outer surface of the wrist 60 .
- the allowance for deformation of the cover main body 4 is provided by bellows or slackness, a relatively small allowance for allowing deformation of one axis is sufficient, and the wrist cover 1 is widened outward of the wrist 60. There is an advantage that it does not need to protrude.
- the cover body 4 seals and surrounds the gap between the first wrist element 70 and the second wrist element 80 with the hollow holes 71 , 81 , 91 arranged outside the cover body 4 . Therefore, even if dust or the like enters inside the hollow holes 71 , 81 , 91 from the outside, the dust or the like does not enter the inside of the cover main body 4 . Therefore, even if the wrist 60 has a hollow structure, the gap between the first wrist element 70 and the second wrist element 80 can be more reliably protected.
- the wrist cover 1 is a seal member (fourth rotary seal) that seals the annular gap between the second arm 50 and the first wrist element 70. member) 25 may be provided.
- the sealing member 25 is a strip-shaped member made of an elastically deformable material.
- the seal member 25 includes a trunk portion 25 a that is wrapped around the entire circumference of the outer circumferential surface of an annular base member 26 that is fixed to the outer circumferential surface of the first wrist element 70 , and a body portion 25 a that extends axially from the trunk portion 25 a to the second arm 50 . and a lip 25b that is in close contact with the fixed annular member 53 over the entire circumference.
- the peripheral edge of the first opening 4a of the cover body 4 is sandwiched between the base member 26 and the trunk portion 25a. Then, the belt 31 is tightened from the radially outer side of the body portion 25a.
- the cover body 4 can be fixed in such a manner that the space between the peripheral edge of the first opening 4a and the first wrist element 70 is sealed over the entire periphery, and the sealing member 25 allows the second arm 50 and the first wrist element 70 to be separated from each other.
- the toroidal gap between the wrist element 70 can be sealed.
- the annular member 32 and the pressing plate 33 are held in a state in which the peripheral edge of the second opening 4b of the cover body 4 is sandwiched between the seating surface 32c of the annular member 32 and the pressing plate 33 over the entire circumference. are tightened together with the second wrist element 80 by bolts 6. Further, the bolts 7 are used to assemble the cover body 4 with the peripheral edge of the third opening 4c of the cover body 4 sandwiched between the peripheral edge of the opening of the hollow hole 71 and the ring member 34 over the entire circumference. Further, the periphery of the opening of the hollow hole 81 and the ring member 35 were assembled with the bolts 8 with the periphery of the fourth opening 4d of the cover body 4 sandwiched therebetween. Alternatively, the pressing plate 33 and the ring members 34 and 35 may be attached to the cover body 4 with an adhesive or the like.
- the annular gap between the second wrist element 80 and the third wrist element 90 is sealed by the oil seal 2 on the distal end side of the second wrist element 80 .
- the second wrist element 80 may also be sealed by the oil seal (second rotary seal member) 5 on the base end side of the .
- the ring-shaped member (second ring-shaped member) 11 is fixed to the second wrist element 80 at the periphery of the opening on the base end side of the hollow hole 81, and in the hole (second hole) 11a of the ring-shaped member 11, A third wrist element 90 projecting proximally of the second wrist element 80 is inserted.
- An oil seal 5 is attached to the inner peripheral surface (inner surface) 11b of the hole 11a of the annular member 11 .
- the peripheral edge of the fourth opening 4d of the cover body 4 is sandwiched between the seat surface 11c provided on the annular member 11 and the pressing plate 12 over the entire circumference, so that the annular member 11 intervenes and the cover main body 4 becomes the fourth opening.
- 2 is hermetically fixed to the wrist element 80 .
- the annular gap between the second wrist element 80 and the third wrist element 90 is sealed by an oil seal 13 provided in the mechanical portion of the robot 10.
- the gap between the annular member 11 is doubly sealed by the oil seal 5 . This improves the sealing performance and protects the oil seal 13 of the mechanism from wear.
- the annular gap between the first wrist element 70 and the guide tube 52 is sealed by the oil seal 72 on the distal end side of the hollow hole 71 .
- the wrist cover 1 includes an oil seal (third rotary seal member) 73 that seals the annular gap between the first wrist element 70 and the guide tube 52, as shown in FIG. You may prepare.
- the wrist cover 1 includes an annular member (third annular member) 14 fixed to the first wrist element 70 and a hole ( and an oil seal 73 attached to the inner peripheral surface (inner surface) 14b of the third hole 14a.
- an oil seal 73 attached to the inner peripheral surface (inner surface) 14b of the third hole 14a.
- the peripheral edge of the third opening 4c of the cover body 4 is sandwiched between the seat surface 14c provided on the annular member 14 and the pressing plate 15 over the entire circumference, so that the annular member 14 intervenes and the first wrist is held. It is hermetically fixed to element 70 .
- an oil seal 72 that seals an annular gap between the first wrist element 70 and the guide tube 52 is thereby arranged between the guide tube 52 and the annular member 14. It is protected by an oil seal 73.
- the oil seal 2 is fitted to the inner peripheral surface 32b of the annular member 32 .
- a wrist cover set including the cover main body 4 and the oil seal 2 may be employed, the peripheral edge of the second opening 4b of which is fixed to the outer peripheral surface of the second wrist element 80 in a sealed state.
- the oil seal 2 that seals the annular gap between the second wrist element 80 and the third wrist element 90 is provided apart from the cover body 4 that covers the first wrist element 70 and the second wrist element 80.
- an oil seal 5 may be provided apart from the cover body 4 that covers the first wrist element 70 and the second wrist element 80.
- the lips 2a, 5a of the oil seals 2, 5 may be brought into close contact with the outer peripheral surface 92 of the third wrist element 90, the inner peripheral surface 81 of the second wrist element 80, or the second wrist. It may be brought into close contact with the inner peripheral surfaces 32b, 11b of the annular members 32, 11 fixed to the element 80.
- an oil seal for sealing the annular gap between the first wrist element 70 and the guide tube 52 is provided separately from the cover body 4 that covers the first wrist element 70 and the second wrist element 80 .
- 73 may be employed.
- the lip 73a of the oil seal 73 may be brought into close contact with the outer peripheral surface of the guide tube 52, the inner peripheral surface of the first wrist element 70, or the annular member 14 fixed to the first wrist element 70. It may be brought into close contact with the inner peripheral surface 14b.
- the third opening 4c and the fourth opening 4d of the cover body 4 may be omitted.
- the cover main body 4 can be attached to the wrist 60 through the first opening 4a and the second opening 4b, thereby facilitating the attachment work.
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Abstract
Description
このカバーは、第1の手首要素、第1の手首要素に対して回転する第2の手首要素および第2の手首要素に対して回転する第3の手首要素を覆う単一の筒状の形態を有している。カバーの一端は第1の手首要素に取り付けられ、カバーの他端は第3の手首要素に取り付けられている。
したがって、コンパクトな構成により、ロボットの手首の周りの干渉の可能性を低減することができる手首用カバーおよびロボットが望まれている。
本実施形態に係るロボット10は、例えば、図1に示されるように、6軸多関節ロボットである。
また、カバー本体4は、図5に示されるように、第1手首要素70を貫通させる第1開口4aおよび第3手首要素90を貫通させる第2開口4bを備えている。さらに、カバー本体4は、第1手首要素70の中空孔71の先端側の開口に一致する位置に配置される第3開口4cおよび第2手首要素80の中空孔81の基端側の開口に一致する位置に配置される第4開口4dを備えている。
これにより、カバー本体4とオイルシール2とが、環状部材32を介在させて、第2開口4bの周縁とオイルシール2との間を、全周にわたって密封した状態に取り付けられる。
リング部材34は、貫通孔34aを中空孔71の先端側の開口に一致させた状態で、複数のボルト7によって取り付けられることにより、両者間に挟まれたカバー本体4の第3開口4cの周縁を第1手首要素70に対して密封した状態に取り付ける。
同様に、リング部材35は、中空孔81の内径と略同等の内径の貫通孔35aを有するリング板状に形成されている。リング部材35は、貫通孔35aを中空孔81の基端側の開口に一致させた状態で、ボルト8によって取り付けられることにより、両者間に挟まれたカバー本体4の第4開口4dの周縁を第2手首要素80に対して密封した状態に取り付ける。
ロボット10の手首60に手首用カバー1を取り付けるには、まず、図4に示されるように、オイルシール2を内周面32bに嵌合させた環状部材32を、第2手首要素80の先端に取り付ける。これにより、オイルシール2のリップ2aが、第3手首要素90の外周面92に全周にわたって密着し、オイルシール2によって、環状部材32の内周面32bと第3手首要素90の外周面92との間の円環状の隙間が密封される。
また、第2手首要素80と第3手首要素90との間の隙間は、オイルシール2によって密封されているので、第2手首要素80に対してJ6軸線F回りに第3手首要素90を回転させても、カバー本体4を変形させずに済む。
すなわち、カバー本体4は、第1手首要素70に対する第2手首要素80の回転による変形だけを許容すればよいので、カバー本体4に与える変形のための余裕を小さく抑えることができる。
カバー本体4の第1開口4aの周縁は、ベース部材26と胴部25aとの間に挟まれる。そして、胴部25aの径方向外側からベルト31によって締め付ける。これにより、第1開口4aの周縁と第1手首要素70との間を、全周にわたって密封した状態にカバー本体4を固定することができるとともに、シール部材25によって、第2アーム50と第1手首要素70との間の円環状の隙間を密封することができる。
この場合には、オイルシール2,5のリップ2a,5aは、第3手首要素90の外周面92に密着させられてもよいし、第2手首要素80の内周面81あるいは、第2手首要素80に固定された環状部材32,11の内周面32b,11bに密着させられてもよい。
この場合、オイルシール73のリップ73aは、ガイド管52の外周面に密着させられてもよいし、第1手首要素70の内周面あるいは、第1手首要素70に固定された環状部材14の内周面14bに密着させられてもよい。
2 オイルシール(第1回転シール部材)
4 カバー本体
4a 第1開口
4b 第2開口
4c 第3開口
4d 第4開口
5 オイルシール(第2回転シール部材)
10 ロボット
11 環状部材(第2環状部材)
11a 孔(第2孔)
11b 内周面(内面)
14 環状部材(第3環状部材)
14a 孔(第3孔)
14b 内周面(内面)
25 シール部材(第4回転シール部材)
32 環状部材(第1環状部材)
32a 孔(第1孔)
32b 内周面(内面)
50 第2アーム(アーム)
52 ガイド管(円筒状部材)
60 手首
70 第1手首要素
71 中空孔(第1中空孔)
73 オイルシール(第3回転シール部材)
80 第2手首要素
81 中空孔(第2中空孔)
90 第3手首要素
91 中空孔(第3中空孔)
92 外周面(外面)
D J4軸線(第1軸線)
F J6軸線(第3軸線)
Claims (8)
- 相対回転可能に直列に連結される第1手首要素、第2手首要素および第3手首要素を備えるロボットの手首を覆う手首用カバーであって、
前記第2手首要素に固定されることにより、該第2手首要素と前記第3手首要素との相対回転を許容しつつ、前記第2手首要素と前記第3手首要素との間の円環状の隙間を密封する第1回転シール部材と、
前記第1手首要素を貫通させた状態に配置する第1開口および前記第3手首要素を貫通させた状態に配置する第2開口を有する柔軟な袋状のカバー本体とを備え、
該カバー本体と前記第1回転シール部材とが、前記第2開口の周縁と前記第1回転シール部材との間を、全周にわたって密封した状態に取り付けられる手首用カバー。 - 前記第3手首要素が、円筒状の外面を有し、
前記第3手首要素を貫通させる第1孔を有し、前記第2手首要素に固定される第1環状部材を備え、
前記第1回転シール部材が、前記第1孔の内面と前記第3手首要素の外面との間の円環状の隙間を、前記第1環状部材と前記第3手首要素との相対回転を許容しつつ密封し、
前記第1環状部材と前記カバー本体とが、前記第1孔と前記第2開口とを一致させて、前記第1孔の周縁と前記第2開口の周縁とを、全周にわたって密封した状態に取り付けられている請求項1に記載の手首用カバー。 - 前記第1手首要素が、該第1手首要素の回転軸線である第1軸線を含む位置において、該第1軸線方向に貫通する第1中空孔を備え、
前記第2手首要素が、前記第3手首要素の回転軸線である第3軸線を含む位置において、該第3軸線方向に貫通する第2中空孔を備え、
前記第3手首要素が、前記第2中空孔内に配置されるとともに、前記第3軸線を含む位置において、該第3軸線方向に貫通する第3中空孔を備え、
前記カバー本体が、前記第1中空孔の先端側の開口に一致する位置に配置される第3開口と、
前記第2中空孔の基端側の開口に一致する位置に配置される第4開口とを備え、
前記第3開口の周縁と前記第1中空孔の先端側の開口の周縁とが、密封された状態に取り付けられ、
前記第4開口の周縁と前記第2中空孔の基端側の開口の周縁とが、密封された状態に取り付けられる請求項1または請求項2に記載の手首用カバー。 - 前記第3手首要素が、前記第2中空孔を貫通して基端側にも突出し、
前記第2手首要素の前記基端側から突出した前記第3手首要素を貫通させる第2孔を有し、前記第2手首要素に固定される第2環状部材と、
前記第2孔の内面と前記第3手首要素の外面との間の円環状の隙間を、前記第2環状部材と前記第3手首要素との相対回転を許容しつつ密封する第2回転シール部材とを備え、
前記第2環状部材と前記カバー本体とが、前記第2孔と前記第4開口とを一致させて、前記第2孔の周縁と前記第4開口の周縁とを、全周にわたって密封した状態に取り付けられている請求項3に記載の手首用カバー。 - 前記第1中空孔内に前記第1軸線に沿って延びる円筒状部材を貫通させる第3孔を有し、前記第1手首要素に固定される第3環状部材と、
前記第3孔の内面と前記円筒状部材の外面との間の円環状の隙間を、前記第3環状部材と前記円筒状部材との相対回転を許容しつつ密封する第3回転シール部材とを備え、
前記第3環状部材と前記カバー本体とが、前記第3孔と前記第3開口とを一致させて、前記第3孔の周縁と前記第3開口の周縁とを、全周にわたって密封した状態に取り付けられている請求項3または請求項4に記載の手首用カバー。 - 前記第1手首要素に固定され、該第1手首要素を回転可能に支持するアームと前記第1手首要素との相対回転を許容しつつ、前記アームと前記第1手首要素との間の円環状の隙間を密封する第4回転シール部材を備え、
前記カバー本体と前記第4回転シール部材とが、前記第1開口の周縁と前記第4回転シール部材との間を、全周にわたって密封した状態に取り付けられる請求項1から請求項5のいずれかに記載の手首用カバー。 - 請求項1から請求項6のいずれかに記載の手首用カバーを備えるロボット。
- 相対回転可能に直列に連結される第1手首要素、第2手首要素および第3手首要素を備えるロボットの手首を覆う手首用カバーセットであって、
前記第2手首要素と前記第3手首要素との間の円環状の隙間を、前記第2手首要素と前記第3手首要素との相対回転を許容しつつ密封する第1回転シール部材と、
前記第1手首要素を貫通させた状態に配置する第1開口および前記第3手首要素を貫通させた状態に配置する第2開口を有する柔軟な袋状のカバー本体とを備え、
該カバー本体が、前記第2手首要素の外周面に、前記第2開口の周縁を全周にわたって密封した状態に固定される手首用カバーセット。
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PCT/JP2021/018351 WO2022239223A1 (ja) | 2021-05-14 | 2021-05-14 | 手首用カバー、ロボットおよび手首用カバーセット |
DE112021007210.2T DE112021007210T5 (de) | 2021-05-14 | 2021-05-14 | Handgelenkabdeckung, Roboter und Handgelenkabdeckungssatz |
CN202180097865.2A CN117279753A (zh) | 2021-05-14 | 2021-05-14 | 手腕用罩、机器人以及手腕用罩组 |
US18/551,973 US20240173876A1 (en) | 2021-05-14 | 2021-05-14 | Wrist cover, robot, and wrist cover set |
JP2023520713A JPWO2022239223A1 (ja) | 2021-05-14 | 2021-05-14 | |
TW111117556A TW202247969A (zh) | 2021-05-14 | 2022-05-10 | 手腕用外殼、機器人以及手腕用外殼組 |
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Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6263088A (ja) * | 1985-09-10 | 1987-03-19 | 川崎重工業株式会社 | 工業用ロボツトの防塵防液構造 |
JPH1133973A (ja) * | 1997-07-14 | 1999-02-09 | Fanuc Ltd | 遮蔽型の産業用ロボット |
JP2017056501A (ja) * | 2015-09-15 | 2017-03-23 | ファナック株式会社 | 中空の可動要素と防水構造とを有する手首を備えるロボット |
JP2017132016A (ja) * | 2016-01-29 | 2017-08-03 | 株式会社安川電機 | ロボット |
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2021
- 2021-05-14 CN CN202180097865.2A patent/CN117279753A/zh active Pending
- 2021-05-14 JP JP2023520713A patent/JPWO2022239223A1/ja active Pending
- 2021-05-14 WO PCT/JP2021/018351 patent/WO2022239223A1/ja active Application Filing
- 2021-05-14 DE DE112021007210.2T patent/DE112021007210T5/de active Pending
- 2021-05-14 US US18/551,973 patent/US20240173876A1/en active Pending
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2022
- 2022-05-10 TW TW111117556A patent/TW202247969A/zh unknown
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6263088A (ja) * | 1985-09-10 | 1987-03-19 | 川崎重工業株式会社 | 工業用ロボツトの防塵防液構造 |
JPH1133973A (ja) * | 1997-07-14 | 1999-02-09 | Fanuc Ltd | 遮蔽型の産業用ロボット |
JP2017056501A (ja) * | 2015-09-15 | 2017-03-23 | ファナック株式会社 | 中空の可動要素と防水構造とを有する手首を備えるロボット |
JP2017132016A (ja) * | 2016-01-29 | 2017-08-03 | 株式会社安川電機 | ロボット |
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US20240173876A1 (en) | 2024-05-30 |
DE112021007210T5 (de) | 2024-04-11 |
JPWO2022239223A1 (ja) | 2022-11-17 |
CN117279753A (zh) | 2023-12-22 |
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