JP2002127073A - Arm structure of internal pressure explosion-proof robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To easily adopt a desired explosion-proof structure with the simple constitution. SOLUTION: This arm structure is provided with a steel material arm member 14 having a cross-sectional shape set in an I shape or an H shape, a cover body 32 installed on the first housing part 18 side of the arm member 14 and a pressurized chamber 38 blocked up by and formed of the arm member 14 and the cover body 32, and first and second servomotors 80 and 82 are housed in this pressurized chamber 38.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an arm structure of an internal pressure explosion-proof robot in which electric devices are accommodated in a pressurized chamber and pressurized air is supplied into the pressurized chamber.

[0002]

2. Description of the Related Art For example, a coating robot having a coating gun mounted on a robot arm is used for coating an object to be coated such as an automobile body. With this type of painting robot,
In particular, an internal pressure explosion-proof robot is configured so that it can be used in a painting booth, which is an area having an explosive atmosphere.

For example, in an internal-pressure explosion-proof electric robot disclosed in Japanese Patent Application Laid-Open No. 10-138190, a plurality of pressurizing chambers are formed independently of each other without being connected to each other and are hermetically sealed. An electric motor and a cable are accommodated therein, and pressurized air penetrates each partition to be individually supplied to each pressurizing chamber.

[0004]

In the above-mentioned prior art, the robot arm for accommodating the electric motor and the cable is set in a cylindrical shape having a cylindrical shape or a rectangular tube shape as a basic shape. A pressure chamber is formed by providing a partition inside. For this reason, if you try to partially adopt an explosion-proof structure in the robot arm,
It has been pointed out that the internal shape of the robot arm becomes considerably complicated and the production cost rises.

An object of the present invention is to provide an arm structure of an internal pressure explosion-proof robot which can easily adopt a desired explosion-proof structure with a simple structure. .

[0006]

The arm structure of the internally pressurized explosion-proof robot according to the present invention includes a steel arm member having a cross-sectional shape set to I-type or H-type, and at least one of the arm members. By attaching the lid to the side of the pressure chamber, the pressurizing chamber is closed and formed via the arm member and the lid. Therefore, with a simple and inexpensive structure,
The strength of the arm member itself can be effectively secured, and a desired explosion-proof structure can be partially adopted, so that versatility can be improved.

[0007]

FIG. 1 is a plan view showing the internal configuration of an internal pressure explosion-proof coating robot (internal pressure explosion-proof robot) 12 employing an arm structure 10 of an internal pressure explosion-proof robot according to an embodiment of the present invention. FIG. 2 shows the painting robot 1
FIG. 2 is a side view showing an internal configuration of a second embodiment.

The arm structure 10 has an arm member 14, and the arm member 14 is made of an I-beam through an H-beam as shown in FIGS. The arm member 14 is formed with a first housing portion 18 and a second housing portion 20 separately via a partition wall portion 16 extending in the direction of the arrow X. Walls 22a and 22b are integrally provided at the tip of the arm member 14 in the arrow X direction in the width direction (arrow Y direction) of the arm member 14, or are separately configured and attached. Similarly, a wall portion 24 is provided integrally or individually at the rear end of the arm member 14 in the arrow X direction.

As shown in FIGS. 1 and 3, the arm member 14 has a closed wall portion 2 at a predetermined position on the side of the first storage portion 18.
6a and 26b are provided integrally or individually, and a plurality of screw holes 28a and 28b are formed in the end faces of the closing wall portions 26a and 26b. A plurality of screw holes 30a, 30b are formed in the arm member 14 between the closing wall portions 26a, 26b and vertically.
The lid 32 is mounted via a, 28b, 30a and 30b.

As shown in FIG. 3, a plurality of holes 34 are formed through the lid 32. A set screw 36 is inserted into each of the holes 34, and the tip of the set screw 36 is screwed into the screw holes 28 a, 28 b, 30 a, and 30 b, whereby the lid 32 is attached to the arm member 14. The pressurizing chamber 3 is provided between the arm member 14 and the lid 32.
8 is closed. Pressurized air is supplied to the pressurized chamber 38 from a pressurized air supply source (not shown).

As shown in FIGS. 1 and 2, the painting robot 12 includes a painting gun 40 attached to the tip of the wrist of the arm member 14 and the arm member 14.
Inside, the main agent 42 is switched and driven by driving air.
A first color changing valve mechanism 44 for supplying a main agent capable of supplying a curing agent, a second color changing valve mechanism 48 for supplying a curing agent capable of supplying a curing agent 46 by being selectively driven by driving air, and
An electropneumatic converter 50 for controlling the switching drive air supplied to the second color changing valve mechanisms 44 and 48;
2 and the first for pumping the curing agent 46 to the coating gun 40
And second gear pumps 52 and 54 are provided.

First and second color change valve mechanisms 44, 48
Is a cleaning valve 53 for controlling the supply of air and a cleaning liquid.
a and 53b, and a plurality of switching valves 55a and 55b capable of supplying the main agent 42 and the curing agent 46 corresponding to paints of different colors.
A and 55b are connected to a storage tank for the main agent and a storage tank for the hardener (not shown) via a main agent path 56 and a hardener path 58.

The switching valves 55a, 55b and the switching drive input ports 60a, 60b of the first and second color changing valve mechanisms 44, 48 have one ends of air pipes 62, 64 for supplying drive air. And the other ends of the air lines 62 and 64 are connected to output ports 66a and 66b of the electropneumatic converter 50.

The first and second color change valve mechanisms 44 and 48 are connected to a main agent supply passage 68 and a curing agent supply passage 70 for supplying the main agent 42 and the curing agent 46 to the coating gun 40. First and second gear pumps 52 and 54 are provided in the main agent supply passage 68 and the curing agent supply passage 70, and trigger valves 72 a and 72 b are provided on the outlet side of the main agent supply passage 68 and the curing agent supply passage 70. Is connected.

Main agent supply passage 68 and curing agent supply passage 70
The inner pipe 74 and the outer pipe 76 provided in the coating gun 40 are connected to be openable and closed via trigger valves 72a and 72b. The inner conduit 74 can communicate with the main agent supply passage 68, and is provided to extend in the center of the coating gun 40,
The outer pipe 76 can communicate with the hardener supply path 70, and is provided around the inner pipe 74 in the coating gun 40.

As shown in FIG. 1, the first and second color changing valve mechanisms 44 and 48 and the trigger valves 72a and 72b are mounted on the side of the second accommodating portion 20 of the arm member 14, and the electro-pneumatic is used. The converter 50 is mounted on the first housing part 18 side so as to close an opening 78 formed in the partition wall part 16 constituting the arm member 14. The first and second gear pumps 52 and 54 are connected to the wall portion 22a on the first accommodation portion 18 side.
The first and second servomotors (electrical devices) 8 are fixed to the side surface of the closing wall portion 26a facing the first and second gear pumps 52 and 54 and are connected to the first and second gear pumps 52 and 54.
Reference numerals 0 and 82 are accommodated in a pressurizing chamber 38 formed between the closing walls 26a and 26b. In the closing wall portion 26a,
Holes 84 and 86 for penetrating connecting portions between the first and second gear pumps 52 and 54 and the first and second servomotors 80 and 82 are formed to penetrate therethrough.

With the first and second servomotors 80 and 82 housed in the pressurizing chamber 38, the lid 32 is
6a and 26b. Multiple setscrews 3
6 passes through each of the holes 34 of the lid 32 and the screw holes 28a, 28
By being screwed into b, 30a and 30b, the pressurizing chamber 38 forms a closed space, and pressurized air is supplied to the pressurizing chamber 38.

The operation of the coating robot 12 configured as described above will be described below.

First, the first and second color changing valve mechanisms 44,
At 48, under the action of the electropneumatic converter 50, the switching valves 55 a, 55 b are opened and closed to drive the main agent 42 and the hardener 46 corresponding to the predetermined paint through the main agent channel 56 and the hardener channel 58. 1st and 2nd color change valve mechanism 4
4, and are fed to the main agent supply passage 68 and the curing agent supply passage 70 by pressure.

At this time, the first and second gear pumps 52,
The drive 54 is controlled by first and second servomotors 80 and 82, and is downstream of the main agent supply passage 68 and the curing agent supply passage 70 via the first and second gear pumps 52 and 54, respectively. A predetermined amount of the main agent 42 and the curing agent 46 are pumped. Further, the main agent 42 and the curing agent 46
Is operated by the opening of the trigger valves 72a and 72b,
4 and supplied to the outer conduit 76, mixed at the tip of the coating gun 40, and applied to an object (not shown).

In this case, the arm structure 1 according to the present embodiment
At 0, the arm member 14 is made of a steel material (I-type steel to H-type steel) whose cross-sectional shape is set to I-type to H-type. Therefore, the strength of the entire arm member 14 can be effectively secured.

Further, the first accommodating portion 18 of the arm member 14
On the side, the first and second servo motors 8 are arranged in the arrow X direction.
Closed walls 26a, 26b are provided at predetermined intervals corresponding to the dimensions 0, 82. The pressurizing chamber 38 is closed by screwing and fixing the lid 32 corresponding to the closing walls 26a and 26b. Therefore,
The pressurizing chamber 38 accommodates electrical equipment requiring explosion-proof measures, for example, the first and second servomotors 80 and 82, and supplies the pressurizing chamber 38 with pressurized air, thereby providing the first and second servomotors. The effect that the explosion-proof structure of the two servomotors 80 and 82 is reliably performed with a simple configuration is obtained.

Particularly, in the present embodiment, the entire arm member 14 is made of I-beam or H-beam, and when the pressure chamber 38 is partially provided in the arm member 14, the closing wall 2
It is only necessary to provide the 6a, 26b integrally or individually corresponding to the desired position. As a result, a desired explosion-proof structure can be easily adopted at a desired position with a simple configuration as compared with the conventional one using an arm member set in a cylindrical shape, which is excellent in versatility and has a high manufacturing cost. Is economical without soaring.

Further, by simply removing the lid 32, the pressurizing chamber 38 is opened to the outside. For this reason, the first and second
There is an effect that maintenance work and the like of the servomotors 80 and 82 are easily and efficiently performed.

Although the present embodiment has been described using the arm structure 10 that is assembled to the painting robot 12 that uses a two-liquid type paint, the present invention is not limited to this. In addition to the paint robot used, the present invention is applicable to an arm structure to which various electric devices requiring an explosion-proof structure are mounted.

[0026]

In the arm structure of the internal pressure explosion-proof robot according to the present invention, since the lid is attached to the arm member of the I-shaped steel or the H-shaped steel to close the pressurizing chamber, the structure is simple and inexpensive. In addition, the strength of the arm member itself can be ensured, and a desired explosion-proof structure can be partially adopted. As a result, it can be applied to an arm structure in which various electric devices are used, and maintenance work and the like can be efficiently performed only by attaching / detaching the lid, and the versatility can be improved at once with a simple configuration. become.

[Brief description of the drawings]

FIG. 1 is a plan view showing an internal configuration of an internal pressure explosion-proof type painting robot employing an arm structure of the internal pressure explosion-proof type robot according to an embodiment of the present invention.

FIG. 2 is a side view showing an internal configuration of the painting robot.

FIG. 3 is an explanatory perspective view of a main part of the arm structure.

FIG. 4 is a sectional view taken along line IV-IV in FIG.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 10 ... Arm structure 12 ... Painting robot 14 ... Arm member 16 ... Partition wall part 18, 20 ... Housing part 22a, 22b, 24
... Wall portions 26a, 26b ... Closed wall portions 28a, 28b, 30
a, 30b ... screw hole 32 ... lid 38 ... pressurizing chamber 40 ... coating gun 42 ... main agent 44, 48 ... color changing valve mechanism 46 ... hardener 52, 54 ... gear pump 56 ... main agent path 58 ... hardener path 68 ... Main agent supply path 70: Hardener supply path 80, 82 ... Servo motor 84, 86 ... Hole

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Shinobu Shinobu 1-10-1 Shinsayama, Sayama City, Saitama Prefecture Honda Engineering Co., Ltd. (72) Inventor Hidenori Taguchi 1-10-1 Shinsayama, Sayama City, Saitama Prefecture Hondae Engineering, Inc. F term (reference) 3F060 AA06 EA05 EA10 HA26

Claims (1)

[Claims] 1. An arm structure of an internal pressure explosion-proof robot in which electric equipment is accommodated in a pressurized chamber and pressurized air is supplied into the pressurized chamber, wherein the cross-sectional shape is I-type or H-type. An arm member made of a steel material to be set, a lid attached to at least one side of the arm member, and a pressurized chamber closed and formed by the arm member and the lid. The arm structure of the internal pressure explosion-proof robot.