JPS6025695A - Explosion-proof-electric driving type robot - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] [Field of Application of the Invention] The present invention provides an explosion-proof function to a robot that uses a DC servo motor or the like as an actuator, and is suitable for work sites where flammable substances such as paint are handled. Regarding the fact that it can also be used.

[Background of the invention]

All electrical equipment used at work sites where flammable substances are handled must be explosion-proof for safety reasons. This standard is also stipulated by JIS, etc., but it is quite difficult to satisfy such specifications with conventional robots that use electricity as the power source for the actuator, and it may degrade other functions of the robot. That's not realistic (,
Currently, robots that use power sources such as hydraulics that do not generate sparks are being used. This is because complete sealing is the basic technology for explosion-proofing, which was originally unsuitable for moving robots. This is because explosion-proofness is achieved by completely sealing the components that cause ignition between the outside air and the container, which makes sealing difficult for robots with many moving parts due to their nature and the weight of this container, which is essential for robots that are light and lightweight. is a big problem.

[Purpose of the invention]

SUMMARY OF THE INVENTION An object of the present invention is to provide a moving robot, especially an electrically driven robot, with explosion-proof properties without reducing conventional functions.

[Summary of the invention]

The present invention achieves explosion-proofness not by completely sealing the container as in the past, but by separating the outside air containing ignitable substances from the gas inside the container, which has sealed components that may cause ignition, and converting the gas inside the container into the outside air. By creating a higher pressure, outside air is never allowed to enter the container, and by constantly replacing the gas in the container with fresh gas, it is possible to prevent ignitable substances from coming into contact with ignition factors.

[Embodiments of the invention]

Figure 1 shows a conceptual diagram of the present invention. Room 1 is a work site for painting, etc., and flammable substances such as organic solvents are present. room 2
is isolated from chamber 1 and free of flammable materials. In room 1 there is robot 3. The robot 6 is a DC servo motor 4, since the present invention is not an invention of the robot body but an explosion-proof method. Tacho generator5. Pulse encoder 6
, an actuator unit 8 consisting of a reducer 7 and an arm 9 moved by it. The actuator unit 8, which is located at the base of the arm 9, may cause a fire, so the chamber 1
Only the arm 11° that includes the container 10 to be explosion-proof by blocking it from the air is shown, and only the arm 11° that includes the container 10 with a barometric pressure sensor 20 and a temperature sensor 21 installed in the container 10 to ensure safety. The chamber 2 is equipped with a robot controller 22 and an air pump 14 for sending air through a pipe 16 to the robot 6. Air cleaner 15. There is an air supply unit consisting of a pressure regulating valve 16.

Conventionally, in order to make a robot explosion-proof, the container 10 was made to have a thick and sturdy structure, and gaskets were placed at each assembly point to make the container completely sealed. In the present invention, this is made into a thinner and less precise container. If left as is, there is a danger that outside air may enter through the gap and cause a fire, but the air pump 14 always pumps fresh air into the container 1.
By sending the air into the container 10 and always keeping it at a higher pressure than the outside air in the chamber 1, the outside air in the chamber 1 will not enter the container 10. Therefore, the outside air in the chamber 1 containing flammable substances is transferred to the container 10.
The robot will not come into contact with the servo motor 4, etc., which could cause an ignition, and the explosion-proof nature of the robot will be guaranteed.

In this embodiment, a temperature and pressure sensor 20 is used for greater safety.
．． 21 is set, and if it falls below the standard, the robot control device 22
The circuit is completely electrically disconnected to prevent explosions caused by electrical and thermal causes.

In addition, the method of the present invention solves the temperature increase caused by sealing the actuator in the container by circulating air.

〔Effect of the invention〕

According to the present invention, the explosion-proof container can be lightweight, making it possible to provide explosion-proof properties to an electrically driven robot. Also, by constantly replacing the gas in the container with fresh, cold gas, there is a cooling effect on the robot body and actuators.

[Brief explanation of drawings]

The figure is a conceptual diagram of an embodiment of the present invention. 6.11...Arm, 10... Container, 8... Servo unit, 14...Air pump. Representative Patent Attorney Akio Takahashi

Claims (1)

[Claims] Robots that use electrically driven actuators must be equipped with a container that isolates all components of the robot from the outside air that could cause ignition or explosion when exposed to organic solvents, etc., and that the container contains flammable substances. An explosion-proof fist electric drive type, characterized in that the robot has an explosion-proof property by constantly preventing outside air from entering the container of the robot by having a means for filling the container with gas that is always at a higher pressure than the outside pressure. robot.