JP2021115646A - Jacket for robot - Google Patents

Abstract

To provide a jacket for a robot capable of reducing the risk that adhered objects are scattered during work.SOLUTION: A jacket 1 for a robot 2 is the jacket 1 to be installed to the robot 2, is formed by an absorbent material absorbing liquid, and is formed in a shape covering at least a part of the robot 2 in a longitudinal direction from a fingertip side to an installation surface side of the robot 2.SELECTED DRAWING: Figure 1

Description

The present invention relates to a robot jacket mounted on a robot.

Conventionally, a jacket may be attached to a robot (see, for example, Patent Document 1). Such a jacket is attached to prevent the robot from being damaged by foreign matter from the outside and oil or the like from being scattered from the inside of the robot to the outside. Here, it is assumed that the robot has a general-purpose configuration that can be used for various purposes, that is, a so-called vertical articulated robot or a horizontal articulated robot.

Japanese Unexamined Patent Publication No. 2010-274373

By the way, in recent years, it is expected that robots will be used for work that requires attention to hygiene. For example, as an example, work such as picking and placing side dishes in a lunch box can be considered. In such work, it is assumed that objects such as solids, liquids, side dishes in which they are mixed, and a part thereof are scattered during the work. However, even in such a situation, if the robot is equipped with a jacket, as described above, it is possible to protect the robot and prevent oil or the like from being mixed into the lunch box or the like as foreign matter. It is thought that it can be done.

However, it is considered that the robot generally works by repeating the same operation. Therefore, if an object adheres to the jacket at a certain point, the work is repeated with the object attached, and when the robot changes its posture, the attached object scatters and is mixed into the work object as a foreign substance. There is a risk.

Therefore, we provide a jacket for robots that can reduce the risk of scattered objects adhering to the work.

In the invention described in claim 1, the jacket for the robot mounted on the robot is formed of an absorbent material that absorbs liquid, and the robot is mounted on the longitudinal direction from the hand side to the installation surface side of the robot. It is formed in a shape that covers at least a part of it.

For example, when a robot is used for packing side dishes in a lunch box at a food processing factory or the like, an object such as a part of side dishes may be scattered during the work for some reason. If the object adheres to the jacket, it may scatter during the operation of the robot and be mixed into another lunch box, for example, as a foreign substance. At this time, as the object to be attached, for example, a solid side dish or a liquid such as a sauce hanging on the side dish is assumed.

Here, when the process of mixing the object attached to the jacket as a foreign substance is examined, it is considered that the object attached to the jacket is mixed as a foreign substance because it is detached for some reason after being attached to the jacket. At this time, it is considered that the adhesion to the jacket is due to the adhesive force of liquid components such as water and oil. In addition, considering that, for example, rice grains attached to clothes are difficult to remove when dried, in the case of a solid moistened with water or oil, if the water is lost, the degree of adhesion to the attached object increases and it is difficult to scatter. It is considered to be. In this case, it is considered that the object is detached from the jacket because a force stronger than the adhesive force is applied.

By the way, for example, the sauce attached to clothes dries over time and becomes difficult to remove from the clothes, and when the rice grains and karaage debris attached to the clothes dry, some of the fibers are removed from the clothes. In the fibrous jacket, it is considered that the degree of adhesion increases when the liquid component disappears, in view of the fact that the garment can be removed together with the foreign matter. Then, if the liquid component is quickly absorbed, the degree of adhesion is quickly increased, and it is considered that the possibility of detachment can be reduced.

Therefore, by forming the jacket with an absorbent material, it is possible to reduce the risk of foreign matter adhering during the work being scattered. At this time, by forming the jacket in a shape that covers at least a part of the robot along the longitudinal direction, the side facing the work object is covered by the jacket. Therefore, it is possible to reduce the possibility that the object attached to the jacket will be scattered during the work.

In the invention according to claim 2, the jacket is attached to the robot, has irregularities on the surface, and is at least one of the robots along the longitudinal direction from the hand side to the installation surface side of the robot. It is formed in a shape that covers the part.

In the case of the above-mentioned food processing factory or the like, a solid is assumed as an object that may be mixed as a foreign substance in other side dishes or other lunch boxes. Then, for example, in the case of a dry solid, it is assumed that the above-mentioned adhesion due to moisture or the like does not occur. Therefore, by providing the unevenness on the surface of the jacket, the solid adhering during the work is caught by the unevenness, in other words, the unevenness functions as an anchor, so that the solid can be captured. Therefore, it is possible to reduce the possibility that the object attached to the jacket will be scattered during the work.

In the invention according to claim 3, a plurality of irregularities are continuously formed. As a result, it is possible to form a large number of parts that are easy to capture the object, it is easy to capture the object, and the possibility that the object is scattered can be reduced. In addition, it is possible to capture an object in a wide range on the surface of the jacket.

In the invention according to claim 4, the unevenness is provided at least on the surface facing the work object when mounted on the robot. This makes it easier to capture the object on the side where adhesion to the jacket is likely to occur.

In the invention according to claim 5, at least the convex portion of the unevenness is formed of an absorbent material that absorbs liquid. As a result, the liquid can be quickly absorbed on the surface of the jacket, and the degree of adhesion can be quickly increased, so that the risk of the object being scattered can be reduced.

In the invention according to claim 6, at least the concave portion of the uneven portion is formed of an absorbent material that absorbs liquid. As a result, it is possible to reduce the risk of scattering of objects including liquid objects and solids to which liquid is attached, and it is possible to quickly increase the degree of adhesion of, for example, an object to which liquid is attached, which has entered a concave portion. It is possible to reduce the risk of the object being scattered.

In the invention according to claim 7, the concave-convex area is formed larger than the convex area. As a result, it is possible to increase the possibility that an object can easily enter the concave portion and capture the object, and it is possible to capture even a relatively large object.

In the invention according to claim 8, the unevenness has a mixture of different shapes. This makes it possible to target various types of objects, such as solids, liquids, or a mixture of them, depending on the environment in which the robot is installed and the type of work object, expanding the range of use of the jacket. be able to.

In the invention described in claim 9, a portion where unevenness is formed and a portion formed by an absorbent material that absorbs liquid are mixed. This makes it possible to target various types of objects, such as solids, liquids, or a mixture of them, depending on the environment in which the robot is installed and the type of work object, expanding the range of use of the jacket. be able to.

In the invention according to claim 10, the jacket covers the entire robot from the hand side to the installation surface side. This makes it possible to give the entire robot the above-mentioned absorbency and anchor function, and reduce the risk of splashing liquids and solids not only from the work object but also from the surrounding environment. can.

In the invention according to claim 11, the jacket is formed in a tubular shape as a whole, and a slit that can be deployed in the circumferential direction is provided between the hand side of the robot and the installation surface side. As a result, the end portion of the jacket on the installation surface side can be greatly expanded, and the jacket can be easily attached to and detached from the robot.

The figure which shows typically the mode which attached the jacket of an embodiment. The figure which shows the structure of the jacket schematically Diagram showing the appearance of the jacket schematically The figure which shows the composition of other jackets schematically The figure which shows typically the mounting mode to other robots. Figure 1 schematically showing another configuration example of the jacket Figure 2 schematically showing another configuration example of the jacket Figure 3 schematically showing another configuration example of the jacket FIG. 4 schematically showing another configuration example of the jacket FIG. 5 schematically showing another configuration example of the jacket

As shown in FIG. 1, the robot jacket 1 of the present embodiment is attached to the robot 2. In FIG. 1, the jacket 1 is shown as a fracture surface for the sake of explanation. The robot 2 has a base 2a, a first arm 2b rotatably provided with respect to the base 2a, a second arm 2c rotatably provided with respect to the first arm 2b, and a second arm. It is provided with a shaft 2d that is provided so as to be able to move linearly in the direction perpendicular to the arm 2c. That is, in the present embodiment, a so-called 4-axis robot of a horizontal articulated type having a plurality of arms is assumed as the robot 2.

In this embodiment, it is assumed that the robot 2 is used for work that requires attention to hygiene, such as picking and placing side dishes in a lunch box, although this is an example. Hereinafter, the shaft 2d side will be referred to as the hand of the robot 2, and the base 2a side will be referred to as the installation surface side.

The robot 2 is further equipped with a protective jacket 3 indicated by a two-dot chain line for convenience of identification inside the jacket 1. The protective jacket 3 is provided to prevent foreign matter such as oil from being scattered from the inside of the robot 2 to the outside and foreign matter from entering the inside of the robot 2. In other words, the protective jacket 3 corresponds to the one conventionally used for the purpose of protecting the robot 2. At this time, the protective jacket 3 is formed in a tubular shape as a whole, and integrally covers the robot 2 from the hand side to the installation surface side.

Then, it is assumed that the protective jacket 3 is basically used while being attached to the robot 2 as long as it is not damaged. Therefore, the protective jacket 3 is made of a material having drip-proof and water-tightness such as water resistance and chemical resistance for cleaning after the work, in other words, a material in which liquid does not easily permeate. Further, the protective jacket 3 has a dustproof property to prevent dust and the like from the surrounding environment.

By the way, the jacket 1 is further attached to the robot 2 to which the protective jacket 3 is attached from the outside of the protective jacket 3. Since the protective jacket 3 is attached, the jacket 1 itself is not required to have drip-proof property, dust-proof property, and watertightness. Therefore, the jacket 1 is made of an absorbent material that absorbs a liquid such as water or oil. As the absorbent material, paper, cloth, non-woven fabric, water-absorbent polymer, or a mixture thereof can be adopted.

In this embodiment, the jacket 1 is made of paper. Therefore, although the details will be described later, the jacket 1 has a fibrous shape whose surface exhibits absorbency and functions as an anchor that facilitates entanglement with a solid. However, the paper used for the jacket 1 has absorbency like so-called toilet paper, but does not have high solubility or water solubility, and has strength enough to follow the change in the posture of the robot 2. Of course.

Further, the jacket 1 is formed in a substantially tubular shape, and covers the robot 2 from the hand side to the installation surface side along the longitudinal direction. That is, the jacket 1 is formed in a size that covers at least a part of the robot 2 from the hand side to the installation surface side, and in the present embodiment, substantially entirely covers the robot 2 and the protective jacket 3. The jacket 1 is fixed to the robot 2 on the hand side by an attachment (not shown) or the like.

Further, the jacket 1 has irregularities formed on its surface. Specifically, the jacket 1 is formed in a mesh shape in which a plurality of openings 4 are formed in paper, as shown in a plan view in FIG. As shown in FIG. 2 as a cross-sectional view showing a cross section taken along line XX in a plan view, the opening 4 extends to the back surface side on the lower side in the drawing when the upper side in the drawing is conveniently set as the front surface side of the jacket 1. It has reached.

Therefore, on the surface of the jacket 1, unevenness is formed in which the opening 4 is relatively concave and the portion other than the opening 4 is relatively convex. Further, although not shown, the opening 4 formed by cutting out a part of the fibrous material has an inner peripheral surface that is also fibrous with irregularities and fiber ends. It exhibits absorbency and functions as an anchor that entangles solids. Further, a plurality of these irregularities are continuously provided on the entire surface of the jacket 1. In other words, the unevenness is provided at least on the surface facing the work object when it is attached to the robot 2.

Further, in the present embodiment, the jacket 1 is formed by overlapping the outer material 1a located on the front side surface and the lining material 1b located on the back surface side. Therefore, a space portion 5 in which the outer material 1a and the lining material 1b are not in contact with each other is formed. However, the space portion 5 does not necessarily continue to exist in the entire area between the outer material 1a and the lining material 1b, and is formed in a portion where the two are not in contact with each other. Therefore, the size of the position where the space portion 5 is formed and the width between the outer material 1a and the lining 1b change according to the change in the posture of the robot 2.

At this time, the outer material 1a and the lining 1b are each formed of an absorbent material that absorbs liquid. Therefore, in the jacket 1, at least the convex portion of the uneven portion is formed of an absorbent material that absorbs the liquid. Further, in the jacket 1, at least the concave portion of the uneven portion is formed of an absorbent material that absorbs liquid. Note that FIG. 2 shows an example in which the opening 4 is formed at the same position on the outer material 1a and the lining 1b for the sake of simplification of the description, but the position of the opening 4 is shifted between the outer material 1a and the lining 1b. You can also do it.

Further, the jacket 1 is formed in a tubular shape as a whole, as schematically shown in FIG. In the case of FIG. 3, the relatively small diameter side is the hand side, and the relatively large diameter side is the installation surface side. The jacket 1 is provided with a slit 6 that can be deployed in the circumferential direction along the longitudinal direction. In the present embodiment, the first slit 6a shown to be relatively long in FIG. 3 and the second slit 6b shown to be relatively short are provided.

The first slit 6a is formed at a portion on the upper side of the robot 2, that is, at a position facing the back side 2e of the robot 2 shown in FIG. The first slit 6a is formed from the installation surface side to a position substantially near the tip of the second arm 2c. On the other hand, the second slit 6b is formed at a position opposite to the first slit 6a in the circumferential direction and facing the lower side of the robot 2, that is, the position facing the abdominal side 2f of the robot 2 shown in FIG. ing. Further, the second slit 6b is formed from the installation surface side to a position substantially exceeding the base 2a.

Therefore, when the jacket 1 is deployed through the first slit 6a and the second slit 6b, the hand side has a tubular shape. In other words, the jacket 1 does not have a slit 6 formed on the hand side close to the work object, and liquids and solids are prevented from entering the inside of the jacket 1. On the other hand, it has a configuration that can be widely deployed on the installation surface side.

At this time, since the second slit 6b is provided on the abdominal side 2f of the robot 2, the jacket 1 can be deployed so as to surround the periphery of the base 2a fixed to the installation surface at the end portion on the installation surface side. It has become. Further, the distance L from the hand side of the jacket 1 to the end point P of the second slit 6b is formed to be substantially longer than the total length of the robot 2. Therefore, by deploying the second slit 6b, it is possible to surround the base 2a by the hem portion of the jacket 1.

A plurality of hooks 7 are provided in each of the first slit 6a and the second slit 6b. The number and arrangement of hooks 7 shown in FIG. 4 is an example. These hooks 7 function as closing members that close each slit 6. However, the closing member is not limited to the hook 7, and a button or a chuck can be adopted. By this closing member, the jacket 1 is unfolded and attached to the robot 2, and then the slit 6 is closed by the closing member, so that the jacket 1 finally becomes a tubular shape that covers the entire robot 2.

Next, the operation of the above configuration will be described.
As described above, if the protective jacket 3 is attached, even if a liquid or a solid bounces toward the robot 2 from a work object such as a lunch box, the robot 2 is prevented from being affected and the robot 2 is prevented from being affected. It is considered that foreign matter can be prevented from being mixed in from the inside of the robot 2.

However, as described above, since the protective jacket 3 is not absorbent, if a liquid adheres to the surface of the protective jacket 3, it may drip as it is or may scatter when the robot 2 operates. .. Further, in the case of dropping, if the posture of the robot 2 changes, the liquid may be scattered over a wide range. Alternatively, when a solid comes into contact with the surface of the protective jacket 3, the surface is formed to be relatively flat, so that the solid may be repelled, or if it is a damp solid, it may scatter after drying. .. That is, the liquid or solid adhering to the robot 2 side may be mixed into other lunch boxes or the like as a foreign substance.

However, considering that, for example, rice grains attached to clothes are difficult to remove when dried, in the case of a solid moistened with water or oil, if the water is lost, the degree of adhesion to the attached object increases and the solid scatters. It may be difficult.

This is because, when examining the process in which the object attached to the jacket 1 is mixed as a foreign substance, it is considered that the object attached to the jacket 1 is mixed as a foreign substance because it is detached for some reason after being attached to the jacket 1. At this time, it is considered that the adhesion to the jacket 1 is due to the adhesive force of liquid components such as water and oil. Further, it is considered that the jacket 1 is detached from the jacket 1 because a force stronger than the adhesive force is applied.

And, for example, the sauce attached to the clothes dries over time and becomes difficult to remove from the clothes, and when the rice grains and fried chicken dregs attached to the clothes dry, when trying to remove them from the clothes, some of the fibers May come off with foreign matter. In view of these, it is considered that the degree of adhesion of the fibrous jacket 1 increases when the liquid component disappears. Then, if the liquid component is quickly absorbed, the degree of adhesion is quickly increased, and it is considered that the possibility of detachment can be reduced. For this reason, it is considered that if the structure has an anchor function that exhibits absorbability and facilitates entanglement with the solid, it is possible to reduce the possibility that the object attached to the jacket 1 is scattered and mixed as a foreign substance.

Therefore, in the present embodiment, the jacket 1 formed of the absorbent material that absorbs the liquid is further attached to the robot 2 to which the protective jacket 3 is attached. As a result, even if a liquid or a solid bounces toward the robot 2, if it is a liquid, it is prevented from being absorbed by the jacket 1 as it is and scattered. Further, if it is a moist solid, moisture is quickly absorbed, the adhesive force with the jacket 1 is increased, and the possibility of scattering as foreign matter can be reduced.

Further, the jacket 1 is formed in a mesh shape in which an opening 4 is formed, and irregularities are formed on the surface thereof. Further, in the present embodiment, the jacket 1 has a space portion 5 formed between the mesh-shaped outer material 1a and the lining material 1b. Therefore, although it depends on the size, even if the dry solid bounces, the possibility that the solid is captured by the unevenness of the surface of the jacket 1 or the opening 4 or the space 5 and scatters and is mixed as a foreign substance is reduced. NS.

Further, since the first slit 6a and the second slit 6b are formed in the jacket 1, the jacket 1 can be easily attached to and detached from the robot 2 fixed to the installation surface by deploying it. At this time, by providing the second slit 6b, the jacket 1 can be attached so as to surround the base 2a, and the entire robot 2 can be covered.

Since the jacket 1 has a configuration in which the first slit 6a and the second slit 6b are closed by a closing member such as a hook 7, the slit 6 can be easily closed after being attached to the robot 2, and the robot 2 can be closed. The whole can be easily covered, and it can be easily removed after use.

According to the jacket 1 described above, the following effects can be obtained.
The jacket 1 is attached to the robot 2, is formed of an absorbent material that absorbs liquid, and is at least a part of the robot 2 along the longitudinal direction from the hand side to the installation surface side of the robot 2. It is formed in a shape that covers. As a result, the liquid adhering during the work can be absorbed by the jacket 1, the risk of the liquid being scattered can be reduced, and the risk of being mixed as foreign matter can be reduced.

At this time, since the jacket 1 is attached so as to cover the protective jacket 3, even if the protective jacket 3 is damaged and oil or the like is scattered from the inside of the robot 2, it is absorbed by the jacket 1. Therefore, the possibility of being mixed as a foreign substance can be reduced.

Further, the jacket 1 is attached to the robot 2, and has irregularities formed on the surface thereof, and covers at least a part of the robot 2 along the longitudinal direction from the hand side to the installation surface side of the robot 2. It is formed in a shape. As a result, the solid adhering during the work is caught in the unevenness, and the solid can be captured. Therefore, it is possible to reduce the possibility that the solid that has bounced off the jacket 1 is scattered and mixed as a foreign substance.

At this time, a plurality of irregularities are continuously provided on the entire surface of the jacket 1. As a result, it is possible to form a large number of parts that are easy to capture the object, it is easy to capture the object, and the possibility that the object is scattered can be reduced. In addition, it is possible to capture an object in a wide range on the surface of the jacket 1. Further, the unevenness is provided at least on the surface facing the work object when it is attached to the robot 2. This makes it easier to capture the object on the side where adhesion to the jacket 1 is likely to occur.

Further, in the jacket 1, at least a convex portion of the unevenness is formed of an absorbent material that absorbs liquid. As a result, the liquid can be quickly absorbed on the surface of the jacket 1 and the degree of adhesion can be quickly increased, so that it is possible to reduce the risk of the object being scattered, including the liquid object and the solid to which the liquid is attached. can. In addition, since the liquid dovetail can be formed at the upper end of the convex, it becomes a lean object holding mechanism.

Further, in the jacket 1, at least the concave portion of the uneven portion is formed of an absorbent material that absorbs liquid. As a result, the liquid can be quickly absorbed from the solid to which the liquid has adhered, for example, which has entered the recess, and the degree of adhesion can be quickly increased, so that the possibility of the object being scattered can be reduced. That is, it is possible to capture an object such as a solid wet with a liquid.

Further, the jacket 1 covers the entire area from the hand side to the installation surface side of the robot 2. As a result, it is possible to provide the entire robot 2 with absorbency and an anchor function, and it is possible to reduce the risk of scattering not only the work object but also liquids and solids splashed from the surrounding environment. ..

Further, the jacket 1 is formed in a tubular shape as a whole, and a slit 6 that can be deployed in the circumferential direction is provided between the hand side of the robot 2 and the installation surface side. As a result, the jacket 1 has a large opening on the installation surface side and can be easily attached to and detached from the robot 2.

Further, in the case of the present embodiment, since the first slit 6a and the second slit 6b are provided as the slit 6, the installation surface side of the jacket 1 can be expanded more widely, and the jacket 1 can be easily attached to and detached from the robot 2. can. Further, since the second slit 6b is provided on the abdominal side 2f of the robot 2, even if the base 2a is fixed to the installation surface, the jacket 1 can be easily attached so as to cover the entire robot 2. Can be done. At this time, since the distance L to the end point P of the second slit 6b is approximately the total length of the robot 2, the entire robot 2 can be covered without making the jacket 1 excessively long.

Further, the first slit 6a and the second slit 6b can be closed by a closing member such as a hook 7, and the jacket 1 can be easily attached and detached.

Further, as the absorbent material used for the jacket 1, paper, cloth, a non-woven fabric, a water-absorbent polymer, or a mixture thereof can be adopted. Since these materials are relatively lightweight, it is possible to reduce the possibility of affecting the operation of the robot 2. In addition, the paper used in this embodiment is environmentally friendly because the recycling method has been established, and can meet the demand for replacement every day, frequently, or as soon as it becomes dirty in order to maintain cleanliness. In addition, since paper and cloth are generally relatively inexpensive, they can be replaced in terms of cost and workability, and can be expected to contribute to the construction of a hygienic environment.

Such a jacket 1 can be deformed or expanded as follows, for example, in addition to the above-described embodiment. For example, as shown in FIG. 4, the jacket 1 may have a shape that covers the abdominal side 2f of the robot 2, that is, the side facing the work object, and is open to the back side 2e of the robot 2. More simply, the jacket 1 can be shaped so as to be attached to the work object side like an apron for cooking.

In this case, the shaft 2d and the shaft 2d side of the second arm 2c can be entirely covered, and the abdominal side 2f of the robot 2 can be covered from the first arm 2b side of the second arm 2c to the installation surface side. .. Even with such a configuration, it is possible to absorb or capture the liquid or solid splashed during the work by the jacket 1, and it is possible to reduce the possibility of scattering and mixing as foreign matter, as in the above-described embodiment. The effect of can be obtained.

Alternatively, as shown in FIG. 5, the jacket 1 can be attached to a robot 2 such as a vertically articulated so-called 6-axis robot or a 7-axis robot. Even when the robot is mounted on such a 6-axis robot or a 7-axis robot, the liquid adhering during the work can be absorbed by the jacket 1, the risk of the liquid scattering can be reduced, and the liquid can be used as a foreign substance. It is possible to obtain the same effect as that of the above-described embodiment, such as reducing the risk of mixing.

Further, as shown in FIG. 6, the jacket 1 can form the concave area of the unevenness larger than the convex area. Specifically, by forming the fabric of the jacket 1 in a so-called mesh shape, the edges of the openings 4 are connected like beams with fine fibers, and the area of the concave or opening is convex. Can be larger than the area of the beam. As a result, it is possible to increase the possibility that an object can easily enter the concave portion and capture the object, and it is possible to capture even a relatively large object. However, the area of the unevenness can be appropriately set depending on the type and size of the work object. Further, the configuration shown in FIG. 6 and the configurations shown in FIGS. 7 to 10 described later can be used alone or in combination with other configurations.

Further, the jacket 1 may have a structure in which irregularities having different shapes are mixed. For example, as shown in FIG. 7, the circular openings 4 may be arranged with different sizes at random or regularly. Alternatively, as shown in FIG. 8, the circular opening 4 and the mesh-shaped opening 4 can be mixed. As a result, various types of objects such as solids, liquids, or a mixture thereof can be targeted according to the environment in which the robot 2 is installed, the type of work object, and the like, and the range of use of the jacket 1 can be expanded. Can be expanded. However, the unevenness is not limited to the circular opening 4 and the mesh-like opening 4, and may be formed by forming an elliptical or polygonal opening 4 or mixing them. can. However, the shape of the unevenness can be appropriately set depending on the type and size of the work object.

Further, the unevenness is not limited to the opening 4, and as shown in FIG. 9, a portion 10 having a relatively high height and a portion 11 having a relatively low height are provided on the surface of the jacket 1. be able to. That is, it is possible to three-dimensionally arrange unevenness of different sizes on the surface of the jacket 1. As a result, a relatively large object X1 can be captured between the parts 10 having a relatively wide interval, and a relatively small object X2 can be captured between the parts 11 having a relatively narrow interval. Objects of multiple sizes can be captured at the same site. In FIG. 9, a portion 10 and a portion 11 are provided on one piece of cloth, but a relatively large opening 4 is provided on the outer material 1a, and a relatively narrow portion such as the portion 11 is provided on the lining 1b side. By providing the above, the same configuration as in FIG. 9 can be realized. However, the spacing between the irregularities can be appropriately set depending on the type and size of the work object.

Further, as shown in FIG. 10, for example, the jacket 1 can have a configuration in which a portion 12 having irregularities and a portion 13 formed of an absorbent material that absorbs liquid are mixed. In this case, the absorbent material may or may not be used for the portion 12. That is, the water-absorbent material may be provided with a portion 12 having irregularities and a portion 12 having no irregularities. As a result, various types of objects such as solids, liquids, or a mixture thereof can be targeted according to the environment in which the robot 2 is installed, the type of work object, and the like, and the range of use of the jacket 1 can be expanded. Can be expanded.

In this case, the boundary between the part 12 and the part 13 can be divided into, for example, the hand side and the setting surface side of the robot 2, or the lower surface side and the surface side of the robot 2 in the working posture. .. For example, when the work of pouring a liquid is performed, the liquid is likely to adhere to the hand side of the robot 2, and the solid is unlikely to adhere. Therefore, by forming the hand side and the lower surface side with an absorbent material. , A jacket 1 suitable for work can be provided. Further, by providing the unevenness on the upper surface side of the robot 2, it is possible to capture the objects scattered from the periphery and reduce the risk of being mixed as foreign matter.

In the embodiment, an example in which the jacket 1 is formed in a tubular shape and substantially in a truncated cone shape is shown, but it can be formed in a pyramidal cone shape. Further, the jacket 1 can be formed not in a simple truncated cone shape but in a shape such that the portion facing the back side of the robot 2 has a relatively long hem.

In the drawings, 1 is a jacket, 2 is a robot, 4 is an opening (unevenness), 6 is a slit, 6a is a first slit, 6b is a second slit, and 10 and 11 are parts (unevenness).

Claims (11)

A jacket for robots that is attached to robots.
A jacket for a robot that is formed of an absorbent material that absorbs liquid and is formed in a shape that covers at least a part of the robot along the longitudinal direction from the hand side to the installation surface side of the robot. A jacket for robots that is attached to robots.
A jacket for a robot that has irregularities formed on its surface and is formed in a shape that covers at least a part of the robot along the longitudinal direction from the hand side to the installation surface side of the robot. The jacket for a robot according to claim 2, wherein a plurality of the irregularities are continuously formed. The jacket for a robot according to claim 2 or 3, wherein the unevenness is provided at least on a surface facing the work object when attached to the robot. The jacket for a robot according to any one of claims 2 to 4, wherein at least a convex portion of the unevenness is formed of an absorbent material that absorbs liquid. The jacket for a robot according to any one of claims 2 to 5, wherein at least the concave portion of the uneven portion is formed of an absorbent material that absorbs liquid. The jacket for a robot according to any one of claims 2 to 6, wherein the concave-convex area is formed larger than the convex area. The jacket for a robot according to any one of claims 2 to 7, wherein the unevenness has a mixture of different shapes. The jacket for a robot according to any one of claims 1 to 8, wherein a portion having irregularities on the surface and a portion formed of an absorbent material that absorbs liquid are mixed. The jacket for a robot according to any one of claims 1 to 9, which covers the entire area from the hand side to the installation surface side of the robot. The robot according to any one of claims 1 to 10, which is formed in a tubular shape as a whole and is provided with a slit that can be expanded in the circumferential direction from the hand side to the installation surface side of the robot. Jacket.

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