Material or article handling – Vertically swinging load support – Grab
Patent
1986-02-27
1988-03-22
Spar, Robert J.
Material or article handling
Vertically swinging load support
Grab
310 88, 414 8, 901 15, 901 21, 901 23, 901 49, B25J 300
Patent
active
047325267
DESCRIPTION:
BRIEF SUMMARY
DESCRIPTION
1. TECHNICAL FIELD
The present invention relates to an industrial robot and more particularly to an internally pressurized explosion-proof industrial robot.
2. BACKGROUND ART
Generally, an electric industrial robot comprises a robot assembly and a plurality of electric servomotors for driving the robot assembly. In the conventional electric industrial robot, the casing of the electric servomotors and the electric cables connected to the casing of the motors are exposed outside the robot assembly. Accordingly, it has been dangerous to operate a conventional industrial robot in an inflammable or explosive environment.
DISCLOSURE OF THE INVENTION
According to the present invention, there is provided an industrial robot comprising a robot assembly defining therein an airtight chamber, electric drive motors adapted to drive the robot assembly, electric cables connected to the electric drive units, and a fixed pipe fixture attached to the robot assembly, wherein the electric drive motors have casings, respectively, arranged in the airtight chamber of the robot assembly, the electric cables extending into the pipe fixture through the airtight chamber, and wherein the interior of the electric drive motors and the interior of the airtight chamber are kept at a pressure higher than an atmospheric pressure outside the robot assembly.
In the above-mentioned robot, the casings of the electric drive motors and the electric cables are arranged in the airtight chamber, and the interior of the electric drive motors and the interior of the airtight chamber are kept at a pressure higher than the atmospheric pressure outside the robot assembly. Therefore, it is possible to provide an electric industrial robot having a reliable internally pressurized explosion-proof structure.
Preferably, the robot assembly includes a stationary base unit to which an air supply pipe is connected, and an air having a pressure higher than the atmospheric pressure outside the robot assembly is fed into the airtight chamber of the robot assembly through the air supply pipe. Consequently, it is possible to prevent the leakage of an inflammable or explosive gas from the exterior of the robot assembly into the airtight chamber even if a leak gap occurs between the airtight chamber of the robot assembly and the exterior thereof.
Preferably, pressure switches are provided within the airtight chamber of the robot assembly and the electric drive motors. The pressure detectors act to stop the operation of the robot before an inflammable or explosive gas in the exterior of the robot assembly enters into the airtight chamber when the pressure in the airtight chamber of the robot assembly is decreased. Consequently, security against fire or the exploding of a robot can further improved.
The above-mentioned or other features or advantages of the present invention will be made more apparent by the following detailed description with reference to the attached drawings.
BRIEF EXPLANATION OF THE DRAWINGS
FIG. 1 is a cross-section view of the principal portion of a six-axis articulated industrial robot showing a first embodiment of the present invention.
FIG. 2 is a schematic view illustrating the disposition and connection of the pressure switches in the robot shown in FIG. 1;
FIG. 3 is a schematic view illustrating the disposition and connection of other pressure switches in association with the corresponding servomotors in the robot shown in FIG. 1;
FIG. 4 is a cross-section view of the principal portion of a six-axis articulated industrial robot showing a second embodiment of the present invention;
FIG. 5 is a cross-section view of the principal portion of a five-axis articulated industrial robot showing a third embodiment of the present invention, this robot being similar to the robot shown in FIG. 4;
FIG. 6 is a cross-section view of the principal portion of an industrial robot showing a fourth embodiment of the present invention, this robot being similar to the robot shown in FIG. 4.
BEST MODE FOR CARRYING OUT THE INVENTION
FIG. 1 show
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"Report from Robots"--Mechanical Engineering Magazine--Jul. 1986--pp. 65-68.
Mizuno Hitoshi
Nakashima Seiichiro
Terada Akihiro
Toyoda Kenichi
Fanuc Ltd.
Smith P. McCoy
Spar Robert J.
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