JP6850007B2 - Protective cover for robots - Google Patents

Description

The present invention relates to a protective cover for a robot attached to a robot for welding, painting, cutting, medical treatment, or the like, and particularly relates to a protective cover for a robot attached to a robot equipped with an arm.

In recent years, robots have been widely used at manufacturing sites and work sites, and at the above manufacturing sites, not only cutting work, welding work, and painting work, but also when picking up parts or products that have been manufactured and transported by a transport device. It is also used in. In these various robots, an arm is attached to the tip of a leg or a column standing upward via a drive shaft, and this arm adopts a configuration in which the arm is rotated by the driving force of a drive motor. In many cases, an arm that is further separate from the arm is rotatably attached to the arm.

By the way, since the robot is used for various purposes, a protective cover for a robot that covers all or a part of the robot has been proposed and used from the purpose of the use and the environment in which the robot is used. For example, in the case of a robot for painting, the main purpose of such a protective cover for a robot is to prevent the paint scattered during painting from adhering to the robot (arm), and in the case of a robot for welding, The main purpose is to prevent spatter scattered during welding from adhering to the robot, but in addition to this main purpose, this protective cover for robots has the above-mentioned foreign matter such as dust and spatter at the work site. It is also an object of the present invention to prevent the lubricating oil applied to the drive shaft from leaking to the outside or adversely affecting the high-precision operation of the arm by adhering to the drive shaft of the arm. For example, the protective cover for a robot disclosed in Japanese Patent Application Laid-Open No. 2010-274373 (Patent Document 1) covers the entire robot having a complicated shape and is easily attached to and detached from the robot. The cover that covers the robot is divided into multiple parts. Specifically, for a robot whose main components are the first motor unit, the first arm, the second motor unit, the second arm, and the shaft member, a cover is provided to cover the first motor unit. It is divided into a second cover that covers the first arm, a third cover that covers the second motor portion, and a fourth cover that covers the second arm and the shaft member. A sleeve is provided on each of the first cover to the fourth cover, and the other sleeve is inserted inside or outside the specific sleeve and attached to the first motor portion, the first arm portion, or the like. There is. Therefore, according to the conventional protective cover for a robot, for example, even when the second cover is rotated by driving the first arm, the first cover covering the first motor portion is the first arm. Since it is a separate body from the second cover that covers the above, not only is it not affected by it, but the rotation axis of the first arm is not exposed to the outside due to the specific sleeves and other sleeves that overlap each other. ..

Japanese Unexamined Patent Publication No. 2010-274373

However, in the conventional protective cover for a robot described above, although the rotation shaft is covered by a specific sleeve and another sleeve that overlap each other, the specific sleeve and the other sleeve are in close contact with each other. Since a predetermined space is formed instead of a thing, there is a high possibility that foreign matter such as dust invades the cover from such a space, and the lubricating oil applied to the drive shaft of the robot leaks to the outside. There is also concern about danger.

Therefore, the present invention has been proposed to solve the problems of the conventional protective cover for robots, and further prevents foreign matter from the outside from entering the inside and is applied to the drive shaft. An object of the present invention is to provide a new protective cover for a robot that can prevent lubricating oil and the like from leaking to the outside.

The present invention has been proposed to solve the above problems, and the first invention (the invention according to claim 1) is a protective cover for a robot attached to a robot provided with at least one arm. A first cover having a first tubular portion attached to the specific portion of the robot and formed into a tubular shape, and an arm having a base end rotatably attached to the specific portion. It has a second cover provided with a second tubular portion that is mounted on and formed into a tubular shape, and has an inner peripheral or outer peripheral portion of the first tubular portion that constitutes the first cover. Sliding contact members having sliding contact surfaces that are in sliding contact with each other are relatively fixed to the outer periphery or inner circumference of the second tubular portion constituting the second cover, respectively, via fixing means. It is characterized by becoming.

In the first invention, two sliding contact members each having a sliding contact surface are constituent elements. Here, when the above two sliding contact members are one sliding contact member and the other sliding contact member, the positional relationship between the one sliding contact member and the other sliding contact member has the following two patterns. Can be divided. In the first pattern, the one sliding contact member is fixed to the inner circumference of the first tubular portion constituting the first cover, and the second tubular portion constituting the other sliding contact member is formed. It is fixed to the outer circumference of. Further, in the second pattern, the one sliding contact member is fixed to the outer circumference of the first tubular portion constituting the first cover, and the second tubular shape forming the other sliding contact member. It is fixed to the inner circumference of the part. Then, one sliding contact member fixed to the first cover attached to a specific part of the robot and the other sliding contact member fixed to the second cover attached to the arm are mutually attached. It has a sliding contact surface that makes sliding contact. Therefore, the relationship between the tubular portion formed on the first cover and the tubular portion formed on the second cover is formed on the first cover in the case of the first pattern. The tubular portion formed on the second cover is located inside the tubular portion, and in the case of the second pattern, the second is outside the tubular portion formed on the first cover. The tubular portion formed on the cover of the above will be located.

Then, in the first invention, when the arm constituting the robot rotates, the second cover also rotates with the rotation operation of the arm, and the first sliding contact member also rotates. The sliding contact surfaces formed on each of the second sliding contact member and the second sliding contact member are in sliding contact with each other. Therefore, according to the first invention, even when foreign matter such as dust enters through the gap between the first cover and the second cover, first of all, one of the above two sliding contact members is used. Since it is blocked and then blocked by the other sliding contact member (foreign matter cannot enter the inside unless it gets over the sliding contact member having the sliding contact surface that is in sliding contact with each other), the foreign matter cannot enter the inside of the robot. It is possible to effectively prevent invasion between a specific part and the arm.

The first and second covers constituting the first invention are not limited to those of the type to be attached to the completed robot, respectively, and the arm is attached to a specific part constituting the robot. In the previous stage, it may be of a type that is attached to a specific part or arm constituting the robot. Further, the position where the sliding contact surfaces that are in sliding contact with each other are formed may be on the tip side of the arm with respect to the base end of the arm constituting the robot, or may be on the specific part side of the robot. .. Furthermore, in the present invention, the specific part of the robot is not only a part that constitutes the robot but does not perform any operation such as rotation, but for example, one arm and the other arm rotate with each other. In a robot that is movably connected, the first cover may be a member attached to the one arm, and the second cover may be a member attached to the other arm.

Further, in the first invention, the second invention (the invention according to claim 2) is fixed to the sliding contact surface constituting the sliding contact member fixed to the first cover and the second cover. The sliding contact surfaces constituting the sliding contact member are in a positional relationship in which they are in close contact with each other and engage with each other when a force that separates the first cover and the second cover from each other is applied. It is characterized by that.

In the second invention, when a force that separates the first cover and the second cover from each other acts, the robot is configured to have a positional relationship in which they are in close contact with each other and engage with each other. Even when the second cover is pulled significantly, for example, due to the relationship between the movement of the arm, the outer shape of the robot, and the dimensions of the covers (first cover and second cover) that cover the robot. It is possible to effectively prevent a situation in which the sliding contact surfaces that are in sliding contact with each other are separated from each other and the intrusion prevention performance of foreign matter is deteriorated.

Further, the third invention (the invention according to claim 3) is fixed to the sliding contact member fixed to the first cover and the second cover in any of the first or second inventions. One of the sliding contact members with the sliding contact member has two sliding contact surfaces facing each other, and the other sliding contact member has two sliding contact surfaces formed on the one sliding contact member. It is characterized by being located between.

In the third invention, two sliding members facing each other are attached to one of the sliding contact members fixed to the first cover and the sliding contact member fixed to the second cover. Has a contact surface. The other sliding contact member is located between these two sliding contact surfaces. Therefore, in the third invention, for example, when the sliding contact member having the above two sliding contact surfaces is fixed to the first cover, the sliding contact member fixed to the second cover is It is located between the two sliding contact surfaces. In other words, the sliding contact member fixed to the second cover slides into one of the two sliding contact surfaces formed on the sliding contact member fixed to the first cover. It has a first sliding contact surface and a second sliding contact surface that is in sliding contact with the other sliding contact surface of the two sliding contact surfaces.

Therefore, according to the third invention, the foreign matter from the outside cannot enter between the specific part of the robot and the arm without passing through the two sliding contact surfaces. Therefore, the foreign matter is further increased. Not only can it be prevented from invading, but even if a partially biased tension acts on the first or second cover due to the rotational movement of the arm, for example, on the first cover. When a sliding contact member having two sliding contact surfaces is fixed, the sliding contact member of the second cover located between the two sliding contact surfaces is fixed to the first cover. It is possible to effectively eliminate situations such as disconnection from the member.

Further, the fourth invention (the invention according to claim 4) is the third invention, wherein the sliding contact member fixed to the first cover and the sliding contact member fixed to the second cover. One of the sliding contact members is an arc-shaped plate portion along the first tubular portion or the second tubular portion, and a first arc-shaped plate portion standing up from one side of the arc-shaped plate portion. A sliding contact plate portion and a second arc-shaped sliding contact plate portion that stands up from the other side of the arc-shaped plate portion and faces the first arc-shaped sliding contact plate portion are provided. The two sliding contact surfaces are the facing surfaces of the first arc-shaped sliding contact plate portion and the second arc-shaped sliding contact plate portion facing each other, and the sliding contact fixed to the first cover. The other sliding contact member of the member and the sliding contact member fixed to the second cover is the first sliding contact that is in sliding contact with the sliding contact surface formed on the first arc-shaped sliding contact plate portion. It is characterized by having a surface and a second sliding contact surface that is in sliding contact with the sliding contact surface formed on the second arc-shaped sliding contact plate portion.

In the fourth invention, the one sliding contact member includes an arcuate plate portion, a first arcuate sliding contact plate portion, and a second arcuate sliding contact plate portion. The facing surfaces of the first arc-shaped sliding contact plate portion and the second arc-shaped sliding contact plate portion are the sliding contact surfaces, respectively. On the other hand, the other sliding contact member is formed on the first sliding contact surface that is in sliding contact with the sliding contact surface formed on the first arc-shaped sliding contact plate portion and the second arc-shaped sliding contact plate portion. It has a second sliding contact surface that is in sliding contact with the sliding contact surface. That is, in the protective cover for a robot according to the fourth invention, the first cover is provided with two sliding contact surfaces, and the second cover is also provided with two sliding contact surfaces, so that the total number of protective covers for robots is It has four sliding contact surfaces, and there are a total of two locations where one sliding contact member and the other sliding contact member are in sliding contact with each other.

Therefore, even in the case of the fourth invention, foreign matter entering from the outside, lubricating oil and the like discharged to the outside can be collected from the first arc-shaped sliding contact plate portion, the other sliding contact member, and the second sliding contact member. Since it is necessary to move over each of the arcuate plate portions, it is possible to further prevent the foreign matter from entering, and it is fixed to the sliding contact member fixed to the first cover and the second cover. Since there are a total of two locations where the sliding contact members are in sliding contact with each other, the operation of the second cover that rotates with the rotation operation of the arm is biased to a part of the second cover. Even when a high tension is generated, it is possible to secure an extremely stable rotation operation.

Further, in the fifth invention (the invention according to claim 5), in any one of the first, second, third or fourth inventions, the first cover and the second cover are flexible, respectively. A sheet-shaped cover body having properties and a cover body fixing that detachably fixes the ends of the cover body after mounting these cover bodies along the outer circumference of a specific part of the robot or the outer circumference of the arm. Each of the sliding contact members is provided with means, and each of the sliding contact members is fixed to the first cover or the second cover in a state of being divided into a plurality of members.

In the fifth invention, the first cover and the second cover each include a flexible sheet-shaped cover main body and a cover main body fixing means, and the cover main body fixing means is provided. After the cover body is attached along the outer circumference of a specific part of the robot or the outer circumference of the arm, the ends of the cover body are detachably fixed to each other. The cover body fixing means may have at least a function of detachably fixing the ends of the cover body to each other. For example, one of the planar fasteners is fixed to one of the ends of the cover body. , The other end of the planar fastener may be fixed to the other end, or each end of the cover body may be provided with an engaging member that engages with each other. good.

Further, in the fifth invention, each of the sliding contact members is fixed to the first cover or the second cover in a state of being divided into a plurality of members. The sliding contact members divided into the plurality of members may be fixed to the cover main body in a state of being formed in an arc shape, or the cover main body may be the outer circumference of a specific portion of the robot. Or, before it is mounted along the outer circumference of the arm, it is made straight and molded by a material that bends in the same way when it bends along the outer circumference of a specific part of the robot or the outer circumference of the arm. It may be the one that has been done.

Therefore, according to the fifth invention, the robot can be mounted as it is on the completed robot, and the robot is disassembled (the arm is removed from a specific part constituting the robot) even when the cover is replaced. ) Can be installed without. Further, according to the fifth invention, even when the specific portion to which the protective cover for the robot is attached or the shape of the arm is distorted or a concave portion or a convex portion is formed. By bending the cover body corresponding to those shapes, not only can the cover body be reliably attached to the robot, but it can also be attached in a state of being substantially in close contact with the robot.

Further, in the sixth invention (the invention according to claim 6), in any one of the first, second, third, fourth or fifth inventions, the fixing means is the first cover or the first cover or the first. It is a fixture or wire rod that penetrates the first cover or the second cover and fixes the sliding contact member from the outside or the inside of the cover 2.

In the sixth invention, the fixing means is fixed by penetrating the first cover or the second cover from the outside or the inside of the first cover or the second cover to fix the sliding contact member. Since it is a tool or wire, even if the arm rotates at high speed, or if the first or second cover exerts a high tension on all or part of the arm due to the rotation operation of the arm. , It is possible to effectively prevent the sliding contact member from falling off.

Further, the seventh invention (the invention according to claim 7) is the fifth invention, wherein the sliding contact member fixed to the first cover and the sliding contact member fixed to the second cover. One of the sliding contact members is fixed to the cover body by using the fixing means in a state of being linearly formed from a resin material, and the cover body is the outer periphery of a specific part of the robot. Alternatively, when it is curved along the outer circumference of the arm to form a tubular shape, it is deformed into an arc shape.

In the seventh invention, one of the sliding contact member fixed to the first cover and the sliding contact member fixed to the second cover is made of a resin and has a linear shape. The cover body is fixed to the cover body by using the fixing means, and the cover body is curved along the outer circumference of a specific part of the robot or the outer circumference of the arm to form a tubular shape. At that time, since it is deformed into an arc shape, the fixing work to the cover body becomes extremely easy. That is, when the cover body is formed by suturing a plurality of sheet bodies corresponding to the outer shape of the robot, the work of fixing the sliding contact member to a predetermined position on one surface of a part of the sheet bodies. However, when the sliding contact member is fixed, the sliding contact member is linear, so that the sliding contact member is fixed much more than the work of fixing the sliding contact member formed in an arc shape. Work becomes easy.

According to the first invention (the invention according to claim 1), even when foreign matter such as dust enters through the gap between the first cover and the second cover, the above two first inventions are first made. This is because it is blocked by one of the sliding contact members and then blocked by the other sliding contact member (foreign matter cannot enter the inside unless it gets over the sliding contact members having sliding contact surfaces that are in sliding contact with each other). , The foreign matter can be effectively prevented from entering between a specific part of the robot and the arm.

Further, in the second invention (the invention according to claim 2), when a force that separates the first cover and the second cover from each other acts, the positional relationship is such that they are in close contact with each other and engage with each other. Therefore, in relation to the movement of the arms constituting the robot, the external shape of the robot and the dimensions of the covers (first cover and second cover) covering the robot, for example, the second cover Even when the surface is pulled greatly, it is possible to effectively prevent a situation in which the sliding contact surfaces that are in sliding contact with each other are separated from each other and the intrusion prevention performance of foreign matter is deteriorated.

Further, according to the third invention (the invention according to claim 3), foreign matter from the outside cannot enter between a specific part of the robot and the arm without passing through the above two sliding contact surfaces. Therefore, not only can the foreign matter be further prevented from entering, but also even when a partially biased tension acts on the first or second cover due to the rotational movement of the arm. For example, when a sliding contact member having two sliding contact surfaces is fixed to the first cover, the sliding contact member of the second cover located between the two sliding contact surfaces is the first. It is possible to effectively eliminate the situation where the sliding contact member fixed to the cover comes off.

Further, even in the case of the fourth invention (the invention according to claim 4), foreign matter entering from the outside, lubricating oil and the like discharged to the outside can be collected from the first arc-shaped sliding contact plate portion and the other. Since it is necessary to move over the sliding contact member and the second arcuate plate portion, it is possible to further prevent the foreign matter from entering, and the sliding contact member fixed to the first cover and the above. Since there are a total of three locations where the sliding contact members fixed to the second cover are in sliding contact with each other, the operation of the second cover that rotates with the rotation operation of the arm is the second operation. Even when an unbalanced tension is generated in a part of the cover, it is possible to secure an extremely stable rotation operation.

Further, according to the fifth invention (the invention according to claim 5), the robot can be mounted as it is on the completed robot, and the robot is disassembled (constituting the robot) even when the cover is replaced. It can be attached without removing the arm from a specific part). Further, according to the fifth invention, even when the specific portion to which the protective cover for the robot is attached or the shape of the arm is distorted or a concave portion or a convex portion is formed. By bending the cover body corresponding to those shapes, not only can the cover body be reliably attached to the robot, but it can also be attached in a state of being substantially in close contact with the robot.

Further, in the sixth invention (the invention according to claim 6), the fixing means penetrates the first cover or the second cover from the outside or the inside of the first cover or the second cover. Since it is a fixture or wire rod that fixes the sliding contact member, the arm rotates at high speed, or the first or second cover has a high tension in all or part due to the rotation operation of the arm. Even if it acts, it is possible to effectively prevent the sliding contact member from falling off.

Further, according to the seventh invention (the invention according to claim 7), the fixing work to the cover body becomes extremely easy. That is, when the cover body is formed by suturing a plurality of sheet bodies corresponding to the outer shape of the robot, the work of fixing the sliding contact member to a predetermined position on one surface of a part of the sheet bodies. However, when the sliding contact member is fixed, the sliding contact member is linear, so that the sliding contact member is fixed much more than the work of fixing the sliding contact member formed in an arc shape. Work becomes easy.

It is a front view which shows the state which the protective cover for a robot is attached to a robot. It is an enlarged front view which shows the state which the 2nd cover attached to the 1st arm shown in FIG. 1 and the 3rd cover are attached to the 2nd arm. It is an exploded perspective view which shows the upper end side tubular part which constitutes the 2nd cover, one and the other inner sliding contact member half body, and a fixing metal fitting. It is a perspective view which shows the state which one and the other inner sliding contact member half body are fixed with the fixing metal fitting to the outer periphery of the upper end side tubular part which constitutes the 2nd cover. It is a perspective view which shows that one and the other inner sliding contact member half body are partially broken. It is a perspective view which shows the fixing metal fitting, (a) is the perspective view which shows the state before each leg part is deformed, (b) is the perspective view which shows the state after each leg part is deformed. .. It is a perspective view which shows the state which one and the other outer sliding contact member half body are fixed with the fixing metal fitting to the inner circumference of the lower end side tubular part which constitutes the 3rd cover. It is a perspective view which shows one and the other outer sliding contact member half body partially broken. It is a cross-sectional view which shows the state in which one and the other inner sliding contact member half body and one and the other outer sliding contact member half body are connected to each other in an enlarged manner. It is a perspective view which shows the state which the 1st cover which comprises this invention is expanded. FIG. 3 is a perspective view showing a state in which the first cover shown in FIG. 10 has a tubular shape. It is a perspective view which shows the state which the 2nd cover which comprises this invention is expanded. FIG. 3 is a perspective view showing a state in which the second cover shown in FIG. 11 has a tubular shape.

Hereinafter, a protective cover for a robot according to the best mode for carrying out the present invention will be described in detail with reference to the drawings.

The robot protective cover (reference numeral is omitted) according to this embodiment is attached to the robot 1 shown by the alternate long and short dash line in FIG. Therefore, first, the robot 1 will be briefly described, and then the protective cover for the robot according to the present invention will be described in detail. The robot 1 includes a base block 2 whose lower end is grounded to the floor surface of a factory or the like, a first arm 3 whose base end is rotatably assembled to a side portion of the base block 2, and the robot 1. The base end is rotatably assembled to the side portion on the tip end side of the first arm 3, and the base end is rotatably attached to the side portion on the tip end side of the second arm 4. A third arm 5 that is assembled and a robot head 6 whose base end is rotatably assembled to the tip of the third arm 5 are provided, respectively. The inside of the base block 2 or the base end side of the first arm 3, the inside of the tip end side of the first arm 3, or the inside of the base end side of the second arm 4, the second arm 4. The first, second, third or fourth arms 3, 4, 5 or the robot head 6 are rotationally driven inside the end side of the tip base block 2 or the inside of the third arm 5, respectively (not shown). It has a built-in drive motor. A joint portion (reference numeral is omitted) having a slight width is formed between the base block 2 and the first arm 3 constituting the robot 1, and the first arm 3 and the second arm 3 are formed. The joint portion (reference numeral is omitted) is also formed between the arm 4 and the arm 4. Further, the joint portion (reference numeral is omitted) is also formed between the second arm 4 and the third arm 5, and is also joined between the third arm 5 and the robot head 6. A part (reference numeral is omitted) is formed. Therefore, the protective cover for a robot, which will be described later, is intended to cover the surface of the robot 1 and prevent foreign matter such as dust from entering the joint portion from the outside.

A first cover 11 that covers the entire base block 2 is attached to the base block 2 of the robot 1 having such a configuration, and a second cover 11 that covers the entire base block 2 is attached to the first arm 3. The cover 12 is attached, and the second arm 4 is attached with a third cover 13 that covers the entire second arm 4. Further, the third arm 5 is equipped with a fourth cover 14 that covers the entire third arm, and the robot head 6 is equipped with a fifth cover 15 that covers the entire robot head 6. .. The first to fifth covers 11 ... 15 are all attached to the completed robot 1 (with all the components assembled) and can be removed from the robot 1. Is what you are doing. Then, the connection structure between the first cover 11 and the second cover 12, the connection structure between the second cover 12 and the third cover 13, and the connection structure between the third cover 13 and the fourth cover 14 Since the connection structure of the fourth cover 14 and the fifth cover 15 is the same, the connection structure of the second cover 12 and the third cover 13 will be described below.

Therefore, first, the second cover 12 will be described in detail. The second cover is the first cover constituting the present invention. As shown in FIG. 2, the second cover 12 comprises a cover main body 12a and a sliding contact member described later as a constituent element, and the cover main body 12a includes a plurality of flexible sheet bodies. By being sewn together, it is formed into a bag shape slightly corresponding to the shape of the first arm 3, and a joint portion of the robot 1 is provided on one side of the upper end side of the cover body 12a. An upper end side tubular portion 12b to cover is formed. The upper end side tubular portion 12b is formed so as to slightly project from the upper end of the cover main body 12a having a length in the vertical direction in the right direction in FIG. 2, that is, toward the second arm 4 side, and is the cover main body. A band-shaped sheet body (reference numeral is omitted) prepared separately from the sheet body forming the cover body 12a (reference numeral is omitted) is sewn to the sheet body forming the cover body 12a. Is. A planar fastener (not shown) for fixing the ends of the cover body 12a to each other after covering the first arm 3 with the cover body 12a is fixed to the cover body 12a. FIG. 4 shows an upper end side tubular portion 12b formed into a cylindrical shape by fixing the ends of the strip-shaped sheet body to each other, and a sliding contact member (one inner sliding contact member half body 25 and the other inner side) described later. A plurality of fixings for fixing the sliding contact member half body 26) and the sliding contact member (one inner sliding contact member half body 25 and the other inner sliding contact member half body 26) to the upper end side cylindrical portion 12b. Each of the metal fittings 27 is disassembled, and FIG. 4 shows one and the other inner sliding contact member halves 25 and 26 fixed to the outer periphery of the upper end side cylindrical portion 12b constituting the second cover 12. It is a perspective view which shows the state which was fixed with the metal fitting 27. In the sheet body to be the upper end side tubular portion 12b, one planar fastener (not shown) is fixed to one surface on one end side of the strip-shaped sheet body, and one planar fastener (not shown) is fixed to the other surface on the other end side. The other planar fastener (not shown) to be joined / adhered is fixed, and the one and the other planar fastener are joined to each other to form the upper end side tubular portion 12b shown in FIG. 3 or FIG. A pair of slits 12d through which the left and right bending legs 27b and 27c of the fixing bracket 27, which will be described later, are inserted are arranged in the upper end side tubular portion 12b in the length direction of the sheet body. Is formed of.

Then, as shown in FIGS. 3 or 4, one inner sliding contact member half body 25 and the other inner sliding contact member half body 26 are fixed by the fixing metal fittings 27 on the outer circumference of the upper end side tubular portion 12b. Has been done. These one and the other inner sliding contact member halves 25 and 26 are sliding contact members constituting the present invention, each of which is molded into the same shape by a resin, and is shown enlarged in FIG. The arcuate plate portions 25a and 26a whose inner peripheral surface is in contact with the outer peripheral surface of the upper end side tubular portion 12b and the arcuate convex portion protruding from the center of the outer circumference of the arcuate plate portions 25a and 26a, respectively. It has sections 25b and 26b. The one inner sliding contact member half body 25 and the other inner sliding contact member half body 26 are each formed into an arc shape having the same curvature as the curvature of the upper end side tubular portion 12b, and are end portions of each other. By being fixed to the outer periphery of the upper end side tubular portion 12b so as to be close to each other, the entire shape is formed into a ring shape. Both side surfaces of the arcuate convex portions 25b and 26b are sliding contact surfaces constituting the present invention, and one of these sliding contact surfaces is the lower end side of the third cover 13 described later. It is a portion that is fixed to the inner circumference of the tubular portion 13b and is in sliding contact with one of the sliding contact surfaces of the outer sliding contact member halves 35 and 36, and the other of the sliding contact surfaces is the one or the other. It is a portion that is in sliding contact with the other of the sliding contact surfaces of the other outer sliding contact member halves 35 and 36. Notches 25c and 26c are provided on the left and right sides of the arcuate plate portions 25a and 26a at predetermined intervals in the circumferential direction of the one inner sliding contact member half body 25 and the other inner sliding contact member half body 26, respectively. It is formed apart from each other.

Further, the fixing bracket 27 is made of a metal material such as stainless steel, and as shown in FIG. 6, the fixing bracket 27 is formed of a square-shaped main plate portion 27a and standing up from both ends of the main plate portion 27a. It is composed of folding legs 27b and 27c, and the upper end side middle portions of the folding legs 27b and 27c are slightly bent so that their respective tips are close to each other. The bending legs 27b and 27c constituting the fixing bracket 27 are inserted into the slits 12d, respectively, and the bending legs 27b and 27c are inserted into the slits 12d, respectively, and the tip side halfway portion is operated by a predetermined instrument. The arcuate plate portions 25a and 26a are gripped from both the left and right sides by being bent so that the tips of the two are close to each other, and the one inner sliding contact member half body 25 and the other inner sliding contact member half body 26 Is fixed to the outer periphery of the upper end side tubular portion 12b.

Next, the configuration of the third cover 13 will be described. The third cover is the second cover constituting the present invention. As shown in FIG. 2, the third cover 13 comprises a cover main body 13a and a sliding contact member described later as a constituent element, and the cover main body 13a includes a plurality of flexible sheet bodies. By being sewn together, it is formed into a bag shape slightly corresponding to the shape of the second arm 4, and a joint portion of the robot 1 is provided on the other side of the lower end side of the cover body 13a. A tubular portion 13b on the lower end side to cover is formed. The lower end side tubular portion 13b is formed so as to slightly project from the lower end side of the cover body 13a having a length in the vertical direction toward the left side in FIG. 2, that is, toward the first arm 3 side, and the cover. The ends of the strip-shaped sheet body (reference numeral omitted) prepared separately from the sheet body (reference numeral is omitted) forming the main body 13a are in close contact with each other by the one and the other planar fasteners (not shown above). The tubular sheet body is formed into a tubular shape, and one side of the tubular sheet body is sewn to the sheet body forming the cover body 13a to form the lower end side tubular portion 13b. Is. A planar fastener (not shown) for fixing the ends of the cover body 13a to each other after covering the second arm 4 with the cover body 13a is fixed to the cover body 13a. FIG. 7 shows a cylindrical portion 13b on the lower end side formed into a cylindrical shape by fixing the ends of the strip-shaped sheet body to each other, and a sliding contact member (one outer sliding contact member half body 35 and the other outer side) described later. A plurality of fixings for fixing the sliding contact member half body 36) and the sliding contact member (one outer sliding contact member half body 35 and the other outer sliding contact member half body 36) to the upper end side cylindrical portion 13b. The metal fittings 27 are shown respectively, and FIG. 8 is a perspective view showing the one outer sliding contact member half body 35 and the other outer sliding contact member half body 36, respectively. As with the upper end side tubular portion 12b shown in FIG. 4, one surface fastener (not shown) is fixed to one surface of the strip-shaped sheet body on one end side of the sheet body to be the lower end side tubular portion 13b. On the other surface on the other end side, the other planar fastener (not shown) that is joined / adhered to the one planar fastener is fixed, and one of the planar fasteners and the other planar fastener are joined. As a result, the lower end side tubular portion 13b shown in FIG. 7 is formed. A pair of slits (not shown) through which the left and right bending legs 27b and 27c of the above-mentioned fixing brackets 27 are inserted into the lower end side tubular portion 13b are formed in the length direction of the sheet body. It is formed side by side.

Then, as shown in FIG. 7, one outer sliding contact member half body 35 and the other outer sliding contact member half body 36 are fixed to the inner circumference of the lower end side tubular portion 13b by the fixing metal fitting 27. There is. These one and the other outer sliding contact member halves 35 and 36 are sliding contact members constituting the present invention, each of which is molded into the same shape by a resin, and is shown enlarged in FIG. The arcuate plate portions 35a and 36a, each of which has an outer peripheral surface in contact with the inner peripheral surface of the lower end side tubular portion 13b, and circles that protrude and stand inward from the arcuate plate portions 35a and 36a and face each other. The arc-shaped sliding contact plate portions 35b, 35c, 36b, 36c and the like are provided. The distance between the arc-shaped sliding contact plate portions 35b, 35c, 36b, 36c is based on the wall thickness of the arc-shaped convex strip portions 25b, 26b constituting the inner sliding contact member halves 25, 26 of one and the other described above. It is said to be rather wide. That is, between the arc-shaped sliding contact plate portion 35b and the arc-shaped sliding contact plate portion 35c, and between the arc-shaped sliding contact plate portion 36b and the arc-shaped sliding contact plate portion 36c, one of the inner sliding contact members is described. This is a portion where the arcuate ridge portion 25b forming the half body 25 or the arcuate ridge portion 26b forming the other inner sliding contact member half body 26 is arranged. Then, on each facing surface of the arc-shaped sliding contact plate portion 35b and the arc-shaped sliding contact plate portion 35c facing each other, and on each facing surface of the arc-shaped sliding contact plate portion 36b and the arc-shaped sliding contact plate portion 36c facing each other. The facing surfaces facing the arcuate ridges 25b and 26b constituting the one inner sliding contact member half body 25 or the other inner sliding contact member half body 26 are the sliding contact surfaces constituting the present invention, respectively. Is. The arcuate sliding contact plate portions 35b, 35c, 36b, and 36c have notches 35d, 35e, 36d, and 36e, respectively, one of the outer sliding contact member half bodies 35 and the other outer sliding contact member half body. It is formed at a predetermined interval in the circumferential direction of 36. The one outer sliding contact member half body 35 and the other outer sliding contact member half body 36 are fixed to each other by being inserted into a pair of slits (not shown) formed in the lower end side tubular portion 13b. The legs 27b, 27c of the metal fitting 27 grip (engage) the notches 35d, 35e, 36d, 36e at the formed portions, and are fixed to the inner circumference of the lower end side tubular portion 13b.

Therefore, the second cover 12 is attached to the first arm 3, and then the lower end side tubular portion 13b constituting the third cover 13 is attached to the upper end side tubular portion constituting the second cover 12. Between the arc-shaped sliding contact plate portion 35b and the arc-shaped sliding contact plate portion 35c, which covers the outer periphery of the portion 12b and is formed on the one outer sliding contact member half body 35, or the other outer peripheral side sliding contact. Between the arc-shaped sliding contact plate portion 36b formed on the member 36 and the arc-shaped sliding contact plate portion 36c, the arc-shaped ridge portion 25b forming one inner sliding contact member half body 25 or the other inner sliding portion 25b By inserting the arcuate ridge portion 26b constituting the contact member half body 26 and attaching the third cover 13 to the second arm 4, as shown in FIG. 9, one of the inner slides is slid. The contact member half body 25 or the other inner sliding contact member half body 26, one outer sliding contact member half body 35, and the other outer sliding contact member half body 36 are in a state of being connected to each other. As a result, when the second arm 4 constituting the robot 1 is rotated by the drive of a drive motor (not shown), the third cover 13 is also rotated with the operation of the second arm 4, and one of the above. The outer sliding contact member half body 35 and the other outer sliding contact member half body 36 are the arcuate ridge portion 25b constituting the one inner sliding contact member half body 25 or the other inner sliding contact member half body. It rotates while being guided by the arcuate ridge portion 26b constituting the 26. At this time, the sliding contact surfaces formed on the arc-shaped ridges 25b and the arc-shaped ridges 26b and the slides formed on the arc-shaped sliding contact plates 35b, 35c, 36b, and 36c, respectively. The contact surfaces are in sliding contact with each other.

Therefore, according to the robot protective cover 11 according to the above-described embodiment, particularly the second cover 12 and the third cover 13, the robot protective cover 11 is formed between the first arm 3 and the second arm 4. It is possible to reliably prevent foreign matter such as dust from entering the joint portion from the outside. Further, since the second cover 12 and the third cover 13 are connected by the above-mentioned connecting structure, for example, during the rotation operation of the second arm 4, the second arm 4 Even when a force that separates the third cover 12 from the second cover 12 acts on all or a part of the third cover 13 attached to the second cover, the connection state with each other is released and the second cover 12 is released. The third cover 13 does not come off from the cover 12, and the joint formed between the first arm 3 and the second arm 4 is exposed to the outside, or each of the above sliding contacts is formed. It is possible to effectively prevent a situation in which the surface and the sliding contact surface are separated from each other.

In the above embodiment, the one inner sliding contact member half body 25 and the other inner sliding contact member half body 26 described above are fixed to the inner circumference of the upper end side tubular portion 12b constituting the second cover 12. However, the above-described one outer sliding contact member half body 35 and the other outer sliding contact member half body 36 fixed to the inner circumference of the lower end side tubular portion 13b constituting the third cover 13 have been described. In the present invention, contrary to the above embodiment, the one inner sliding contact member half body 25 and the other inner sliding contact member half body 26 form the lower end side tubular portion 13b constituting the third cover 13. The one outer sliding contact member half body 35 and the other outer sliding contact member half body 36 are fixed to the outer circumference of the lower end side tubular portion 13b constituting the second cover 12. There may be. Further, in the above embodiment, the one inner sliding contact member half body 25 and the other inner sliding contact member half body 26 are fixed to the inner circumference of the upper end side tubular portion 12b constituting the second cover 12. As a fixing means, as a fixing means for fixing the one outer sliding contact member half body 35 and the other outer sliding contact member half body 36 to the inner circumference of the lower end side tubular portion 13b constituting the third cover 13. Although the fixing bracket 27 is used, the fixing means constituting the present invention is such that the sliding contact member constituting the present invention can be fixed to the lower tubular portion 12b or the upper tubular portion 13b. The invention is not particularly limited, and specifically, it may be bonded using an adhesive, or a wire rod such as a wire or a resin binding tool may be used.

Further, in the above embodiment, the sliding contact member constituting the present invention is one inner sliding contact member half body 25, the other inner sliding contact member half body 26, one outer sliding contact member half body 35, or the other. Like the outer sliding contact member half body 36, each sliding contact member is divided into two parts, but the sliding contact member constituting the present invention is not limited to the above two divided parts, but the inner sliding contact member shown in FIG. It may be a single member such as the member 41 and the outer sliding contact member 42 shown in FIG. The inner sliding contact member 41 is integrally molded with a soft resin, and as shown in FIG. 10, is curved in a tubular shape along the outer shape of one arm (not shown) of a robot having a predetermined shape. It is fixed to the surface of the front sheet body 51 via a fixing means (not shown), and stands up from one side of the flat plate portion 41a whose lower surface is in contact with the surface of the sheet body 51 and the flat plate portion 41a. It is provided with one sliding contact plate portion 41b and the other sliding contact plate portion 41c that stands up from the other side of the flat plate portion 41a and faces the one sliding contact plate portion 41b. Inverted triangular notches 41d and 41e are provided on the upper end to the lower end side of the one sliding contact plate portion 41b and the other sliding contact plate portion 41c, respectively, to provide the one sliding contact plate portion 41b and the other sliding contact plate portion 41b. The contact plate portions 41c are formed at predetermined intervals along the length direction. When the seat body 51 is curved along the outer shape of one of the arms to form a protective cover for a robot, the areas of the inverted triangular notches 41d and 41e increase as shown in FIG. Then, the one and the other sliding contact plate portions 41b and 41c are also curved in a ring shape. The sheet body 51 and the inner sliding contact member 41 are first covers constituting the present invention. One surface fastener 44 is fixed to one side surface of the sheet body 51, and the other surface is in close contact with the one surface fastener 44 on the other side back surface of the sheet body 51. The shape fastener 45 is fixed.

On the other hand, the outer sliding contact member 42 is integrally molded with a soft resin, and as shown in FIG. 12, of the other arm (not shown) rotatably connected to the one arm. It is fixed to the surface of the sheet body 52 before being curved in a tubular shape along the outer shape via a fixing means (not shown), and the flat plate portion 42a in contact with the back surface of the sheet body 52 and this flat plate. A central sliding contact plate portion 42b that stands up from the center in the width direction of the portion 42a is provided. Inverted triangular notches 42c are formed in the central sliding contact plate portion 42b at predetermined intervals along the length direction of the central sliding contact plate portion 42b. One surface fastener 47 is fixed to one side surface of the sheet body 52, and the other surface to be in close contact with the one surface fastener 47 is attached to the other side back surface of the sheet body 52. The shape fastener 48 is fixed. When the seat body 52 is curved along the outer shape of the other arm to form a protective cover for a robot, the central sliding contact plate portion 42b is also curved in a ring shape as shown in FIG. , The area of each of the above notches 42c is reduced. The sheet body 52 and the outer sliding contact member 42 are the second covers constituting the present invention. Further, the one and the other planar fasteners 44 and 45 and the one and the other planar fasteners 47 and 48 are cover body fixing means constituting the present invention, respectively.

Then, the first cover is attached to the one arm, and then the center slide is placed between the one sliding contact plate portion 41b and the other sliding contact plate portion 41c constituting the first cover. By attaching the second cover to the other arm so that the contact plate portion 42b is inserted, when either or both of the one arm or the other arm is rotated, the above One surface of the central sliding contact plate portion 42b constituting the outer sliding contact member 42 is on one of the facing surfaces of one sliding contact plate portion 41b constituting the inner sliding contact plate portion 41 and the other sliding contact plate portion 41c. The other surface of the central sliding contact plate portion 82b is in sliding contact with the other sliding contact surface of the one sliding contact plate portion 41b and the other sliding contact plate portion 41c.

Therefore, by using the above-mentioned inner sliding contact plate portion 41 and the outer sliding contact plate portion 42 as parts of the protective cover for the robot, foreign matter such as dust can be formed at the connection portion between the one arm and the other arm. Not only can it be effectively prevented from invading or the lubricating oil or the like applied to the connecting portion of each arm leaking to the outside, but also the sliding contact member constituting the present invention has been described above. Such as one inner sliding contact member half body 25 and the other inner sliding contact member half body 26, or one outer sliding contact member half body 35 and the other outer sliding contact member half body 36 according to the embodiment. There is no need to divide the sliding contact member. Further, since the inner sliding contact plate portion 41 and the outer sliding contact plate portion 42 are linear in normal times, the seat bodies 51 and 52 before being curved and mounted on each arm of the robot. The work of fixing is also extremely simple.

1 Robot 3 First arm 4 Second arm 12 Second cover 12a Cover body 12b Upper end side tubular part 13 Third cover 13a Cover body 13b Lower end side tubular part 25 One inner sliding contact member half body 25a Arc-shaped plate 25b Arc-shaped ridge 25c Notch 26 The other inner sliding contact member half body 26a Arc-shaped plate 26b Arc-shaped ridge 26c Notch 27 Fixing bracket 35 One outer sliding contact member half body 35a Circle Arc-shaped sliding contact plate 35b Arc-shaped sliding contact plate 35c Arc-shaped sliding contact plate 35d Notch 35e Notch 36 The other outer sliding contact member half body 36a Arc-shaped sliding contact plate 36b Arc-shaped sliding contact plate 36c Arc-shaped sliding contact plate Part 36d Notch 36e Notch 41 Inner sliding contact member 41b One sliding contact plate 41c The other sliding contact plate 42 Outer sliding contact member 42b Central sliding contact plate 44 One surface fastener 45 The other surface fastener 47 One planar fastener 48 The other planar fastener

Claims (7)

A protective cover for a robot that is attached to a robot equipped with at least one arm.
Attached to a first cover having a first tubular portion attached to a specific part of the robot and formed into a tubular shape, and an arm having a base end rotatably attached to the specific part. It also has a second cover with a second tubular portion molded into a tubular shape.
The inner circumference or outer circumference of the first tubular portion constituting the first cover and the outer circumference or inner circumference of the second tubular portion constituting the second cover are in sliding contact with each other. A protective cover for a robot, wherein each sliding contact member having a surface is relatively fixed via a fixing means. The sliding contact surface forming the sliding contact member fixed to the first cover and the sliding contact surface forming the sliding contact member fixed to the second cover are the first cover and the second cover. The protective cover for a robot according to claim 1, wherein when a force that separates the covers from each other is applied, the covers are in close contact with each other and engaged with each other. The sliding contact member of either the sliding contact member fixed to the first cover or the sliding contact member fixed to the second cover is the first tubular portion or the second tubular portion. The arc-shaped plate portion along the above, the first arc-shaped sliding contact plate portion that stands up from the arc-shaped plate portion, and the first arc-shaped sliding plate portion that stands up from the other side of the arc-shaped plate portion. A second arc-shaped sliding contact plate portion facing the contact plate portion is provided.
The first or second aspect of claim 1 or 2, wherein the two sliding contact surfaces are facing each other of the first arc-shaped sliding contact plate portion and the second arc-shaped sliding contact plate portion facing each other. Protective cover for any robot. The sliding contact member of either the sliding contact member fixed to the first cover or the sliding contact member fixed to the second cover is the first tubular portion or the second tubular portion. The arc-shaped plate portion along the above, the first arc-shaped sliding contact plate portion that stands up from one side of the arc-shaped plate portion, and the first arc-shaped sliding contact plate portion that stands up from the other side of the arc-shaped plate portion. A second arc-shaped sliding contact plate portion facing the arc-shaped sliding contact plate portion is provided.
The two sliding contact surfaces are facing each other of the first arc-shaped sliding contact plate portion and the second arc-shaped sliding contact plate portion facing each other, and also
The other sliding contact member of the sliding contact member fixed to the first cover and the sliding contact member fixed to the second cover is formed on the first arc-shaped sliding contact plate portion. It has a first sliding contact surface that is in sliding contact with the sliding contact surface and a second sliding contact surface that is in sliding contact with the sliding contact surface formed on the second arc-shaped sliding contact plate portion. The protective cover for a robot according to claim 3. The first cover and the second cover each have a flexible sheet-shaped cover body, and after mounting these cover bodies along the outer circumference of a specific part of the robot or the outer circumference of the arm, the first cover and the second cover are attached. A cover body fixing means for fixing the ends of the cover body to each other in a detachable manner is provided.
Each sliding member is in a state of being divided into a plurality of members each, one of claims 1 to 4, wherein the composed is fixed to the first cover or the second cover for Kano robot protection cover. The fixing means is a fixture or wire rod that penetrates the first cover or the second cover and fixes the sliding contact member from the outside or the inside of the first cover or the second cover. A protective cover for a robot according to any one of claims 1, 2, 3, 4 or 5. The sliding contact member of either the sliding contact member fixed to the first cover or the sliding contact member fixed to the second cover is made of a resin and is linearly formed. When the cover body is fixed to the cover body by using the fixing means and the cover body is curved along the outer circumference of a specific part of the robot or the outer circumference of the arm to form a tubular shape, it has an arc shape. The protective cover for a robot according to claim 5, wherein the protective cover is transformed into a robot.

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