Cover, robot, and method of covering the robot with the cover

Abstract

This reduces the impact on the robot's posture changes compared to conventional technologies. [Solution] The cover is a bag-like body having an inner surface capable of covering the robot, and a predetermined force is applied to maintain the position of the inner surface outside the range in which the robot's posture changes. Because a predetermined force is applied to maintain the position of the inner surface of the cover outside the range in which the robot's posture changes, the influence of the cover on the robot's posture changes can be reduced compared to the prior art.

Description

Technical Field

[0001] The technology of the present disclosure relates to a cover, a robot, and a method of covering a robot with the cover.

Background Art

[0002] Conventionally, processing such as polishing or grinding of a workpiece has been performed by an operator using force sensing to cause a robot to grip the workpiece and bring the workpiece into contact with a tool. A cover is attached to the robot side so that dust generated from the workpiece during the processing does not enter the joints of the robot. This cover is manufactured from a thick material. When the robot, which is entirely covered by such a thick material cover, attempts to change its posture so that the workpiece approaches the tool, the cover also attempts to deform. When the cover attempts to deform, a reaction force (i.e., a resistance force) against the posture change of the robot is generated in the cover. Therefore, it obstructs the posture change of the robot and deteriorates the operability of the operator with respect to the robot. In particular, in processing such as polishing or grinding of a workpiece, delicate force control is required, but if the reaction force (i.e., the resistance force) of the cover is large, there is a risk that the quality of the processing will deteriorate due to the deterioration of the operability of the operator.

[0003] As a related technique, a cover for covering a measuring device provided with a three-dimensionally movable probe has been proposed (Patent Document 1). This cover is fixed to the probe with slack. Therefore, depending on the moving direction of the probe, the slack becomes larger or smaller. When the slack becomes larger or smaller in this way, its influence inhibits the accurate movement of the probe.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] The present invention aims to provide a cover, a robot, and a method of covering the robot with the cover that can reduce the impact on changes in the robot's posture compared to the prior art. [Means for solving the problem]

[0006] To achieve the above objective, a first aspect of the technology of the present disclosure is a cover comprising a bag-like body having an inner surface capable of covering a robot, wherein a predetermined force is applied to maintain the position of the inner surface outside a range of changes in the robot's posture.

[0007] In the cover of the second embodiment, the predetermined force is the pressure of the gas supplied into the bag, as in the first embodiment.

[0008] The robot of the third embodiment is equipped with a cover of the first or second embodiment.

[0009] A fourth aspect is a method of covering the robot with the cover of the second aspect, wherein the gas supply unit introduces gas into the bag such that the position of the inner surface is outside the range in which the posture of the robot changes. [Effects of the Invention]

[0010] The technology of this disclosure maintains the position of the inner surface of the cover outside the range of changes in the robot's posture by applying a predetermined force, thereby reducing the impact on changes in the robot's posture compared to the prior art. [Brief explanation of the drawing]

[0011] [Figure 1] Figure 1 shows the configuration of the robot 12 according to the first embodiment. [Figure 2] Figure 2 shows the configuration of the robot 12 according to the second embodiment. [Figure 3]Figure 3 shows the configuration of the robot 12 according to the third embodiment. [Figure 4] Figure 4 shows the configuration of the robot 12 according to the fourth embodiment. [Modes for carrying out the invention]

[0012] [Embodiment] Embodiments of the technology of this disclosure will be described below with reference to the drawings.

[0013] [First Embodiment] (composition) The configuration of the robot 12 in this embodiment will now be described. Figure 1 is a diagram showing the configuration of the robot 12 in the first embodiment. As shown in Figure 1, the robot 12 includes a robot arm 10A fixed to a base 10K. The robot arm 10A includes arm sections 10p1 to 10p5 connected by a plurality of joints J11 to J12. Note that the robot 12 is not limited to having a robot arm 10A, and may also have a stack structure.

[0014] The robot 12 moves the robot arm 10A so that the workpiece 14 comes into contact with the tool 16 and is machined by the tool 16.

[0015] When the workpiece 14 is processed by the tool 16, dust is generated from the workpiece 14.

[0016] The posture of the robot 12 changes as the robot arm 10A is moved so that the workpiece 14 is machined by the tool 16. The range in which the posture of the robot 12 changes is predetermined.

[0017] The robot 12 is equipped with a cover 10 which is made of a bag-like body with an inner surface capable of enclosing the robot 12. The cover 10 is maintained such that the position of its inner surface is outside the range in which the posture of the robot 12 changes, by the application of a predetermined force. The cover 10 covers only the lot 12. Therefore, the workpiece 14 and the tool 16 are outside the cover 10.

[0018] In the present embodiment, the predetermined force is the pressure of the gas supplied into the bag body.

[0019] (Method of covering the robot 12 with the cover 10) Next, a method of covering the robot 12 with the cover 10 will be described. The operator covers the robot 12 with the cover 10 so that the robot 12 is located on the inner surface side of the cover 10 formed of a bag body. In this state, the inner surface of the cover 10 may come into contact with any part of the robot 12.

[0020] In the method of covering the robot 12 with the cover 10 of the present embodiment, the pump 20 introduces gas into the inside of the bag body of the robot 12 via the pipe 22. The position of the inner surface of the bag body of the cover 10 is maintained outside the range in which the posture of the robot 12 changes by the pressure f1 of the introduced gas.

[0021] As the gas, for example, air is used. In addition to air, a predetermined gas, for example, helium or carbon dioxide, etc. may be introduced.

[0022] When the robot 12 is covered with the cover 10 in this way, the cover 10 becomes an obstacle to the dust scattered on the robot 12.

[0023] (Effect) As described above, in the present embodiment, due to the action of the air pressure, the position of the inner surface of the cover 10 is maintained outside the range in which the posture of the robot 12 changes. Therefore, even if the posture of the robot 12 changes, the cover 10 does not deform, so no reaction force (i.e., resistance force) is generated. Thus, the influence on the posture change of the robot 12 can be made smaller than in the prior art. Also, it does not interfere with the posture change of the robot 12 and does not deteriorate the operability of the operator with respect to the robot 12. As a result, there is no risk of deterioration in the processing quality.

[0024] 1] In this embodiment, the robot 12 is covered by the cover 10 such that the robot 12 is positioned on the inner side of the cover 10, which is made of a bag-like material. Therefore, dust generated from the workpiece 14 during processing of the workpiece can be prevented from entering the robot 12 through its joints.

[0025] In this embodiment, even if there is a gap between the cover 10 and the robot 12, the pump 20 introduces air into the bag-like structure of the robot 12, allowing the air introduced by the pump 20 to escape to the outside through the gap. Therefore, it is possible to prevent dust from entering the inside of the cover 10, and consequently the inside of the robot 12, through the gap.

[0026] [Second Embodiment] (composition) The configuration of the robot 12 in this embodiment is substantially the same as that of the robot 12 in the first embodiment. Therefore, the same reference numerals are used for the same parts, and their descriptions are omitted. The main differences will be described. Figure 2 shows the configuration of the robot 12 in the second embodiment. As shown in Figure 2, the robot arm 10A is equipped with a hand 32 for gripping the workpiece 14. This is omitted in Figure 1, but the first embodiment is similar.

[0027] In the first embodiment, the cover 10 is connected to the arm portion 10p5 of the robot arm 10A. When the workpiece 14 is processed by the tool 16 as described above, the workpiece 14 generates heat. When the workpiece 14 generates heat, the heat is transferred to the cover 10 via the hand 32 and the arm portion 10p5, and there is a risk that the cover 10 will melt.

[0028] In this embodiment, the cover 10 is equipped with a heat-resistant function that prevents it from melting due to the heat generated when the workpiece 14 is processed. Specifically, as shown in Figure 2, a heat insulating member 34 is provided between the cover 10 and the arm portion 10p5. Therefore, the heat generated by the processing is not transmitted to the cover 10 via the hand 32 and the robot arm 10A.

[0029] The thermal insulation material 34 is, for example, glass wool, foamed polyurethane, etc.

[0030] (How to cover robot 12 with cover 10) The method of covering the robot 12 with the cover 10 in this embodiment is the same as in the first embodiment, so its explanation will be omitted.

[0031] (effect) As described above, in this embodiment, the cover 10 has a heat-resistant function that prevents it from melting due to the heat generated when the workpiece 14 is processed. Specifically, a heat insulating member 34 is provided between the cover 10 and the arm portion 10p5 of the robot arm 10A. Therefore, it is possible to prevent the cover 10 from melting due to the heat generated when the workpiece 14 is processed.

[0032] Furthermore, in this embodiment, the heat generated by the above processing is not transmitted to the cover 10 via the hand 32 and the arm portion 10p5 of the robot arm 10A. Therefore, a cover material that is less heat-resistant but more flexible than the cover 10 of the first embodiment can be selected, thereby improving operability.

[0033] [Modified version of the second embodiment] Next, various modifications of the second embodiment will be described. Since the robot 12 configuration of each modification is substantially the same as that of the robot 12 of the second embodiment, the same reference numerals are used for the same parts and their descriptions are omitted, and the parts that differ are mainly described.

[0034] In the second embodiment, the cover 10 is equipped with a heat-insulating member 34 to prevent it from melting due to the heat generated when the workpiece 14 is processed. Various modifications of the second embodiment differ in this function from the second embodiment.

[0035] (First variation) In the first modified example, a cooling element is provided instead of the heat insulating element 34. The cooling element is, for example, a Peltier element. By using a Peltier element, the cooling temperature can be controlled by the strength of the current, so cooling can be easily controlled even if the heat generated by processing changes.

[0036] (Second variation) In the first modified example, the heat insulating member 34 is omitted, and a water spraying device (not shown) is provided. The cover 10 and the arm portion 10p5 of the robot arm 10A are connected, and the water spraying device sprays water onto the arm portion 10p5 side of the cover 10 for water cooling. By directly spraying water onto the arm portion 10p5 side of the cover 10, a direct cooling effect is generated on the arm portion 10p5 side of the cover 10, effectively suppressing overheating.

[0037] (Third variation) In the third modification, the cover 10 and the arm portion 10p5 are connected, but a hole is formed on the side of the cover 10 that faces the arm portion 10p5. When the hole is formed, the air introduced by the pump 20 is led out through the hole to the hand 32, cooling the hand 32 with air. Because the hole is formed on the side of the cover 10 that faces the arm portion 10p5, the robot 12 can be made simpler in configuration than in the first and second modifications.

[0038] [Third Embodiment] (composition) The configuration of the robot 12 in this embodiment is substantially the same as that of the robot 12 in the first embodiment. Therefore, the same reference numerals are used for the same parts, and their descriptions are omitted. The main differences will be described. Figure 3 shows the configuration of the robot 12 in the third embodiment. As shown in Figure 3, the robot 12 in the third embodiment does not have an air introduction device such as a pump 20.

[0039] The cover 10H1 of this embodiment is made of a shape memory member whose shape is stored such that the position of its inner surface is outside the range in which the posture of the robot 12 changes for the workpiece 14 to be machined by the tool 16. Examples of shape memory members include, firstly, shape memory alloys. Shape memory alloys include nickel-titanium alloys (Ni-Ti alloys) or copper alloys (such as Cu-Zn-Al or Cu-Al-Ni). Secondly, there are shape memory polymers. Thirdly, there are shape memory ceramics. Fourthly, there are shape memory composites.

[0040] The force f2 of the shape memory material that tries to return it to its original shape maintains the position of the inner surface of the cover 10 so that it is outside the range in which the posture of the robot 12 changes as the workpiece 14 is machined by the tool 16.

[0041] (How to cover robot 12 with cover 10) In this embodiment, under conditions corresponding to the type of shape memory member, the cover 10 is maintained so that the position of its inner surface is outside the range in which the posture of the robot 12 changes in order for the workpiece 14 to be processed by the tool 16, by the force that tries to return the cover 10 to the shape memory member.

[0042] The worker covers the robot 12 with the cover 10 so that the robot 12 is positioned on the inner side of the cover 10.

[0043] (effect) As described above, in this embodiment, the cover 10H1 is made of a shape memory material and does not have an air introduction device such as a pump 20. Therefore, the configuration of the robot 12 can be made simpler than in the first embodiment.

[0044] [Fourth Embodiment] (composition) The configuration of the robot 12 in this embodiment is substantially the same as that of the robot 12 in the first embodiment, so the same parts are denoted by the same reference numerals and their descriptions are omitted, and the parts that differ are mainly described. Figure 4 is a diagram showing the configuration of the robot 12 in the fourth embodiment. As shown in Figure 4, the robot 12 in the fourth embodiment does not have a device for introducing air, such as a pump 20. The cover 10 is suspended by a plurality of strings 42. One end of each string 42 is connected to the cover 10 at a connection point 42P, and the other end is connected to a string adjustment device 40. The string adjustment device 40 includes a roller 44 on which the other end of the string 42 is wrapped, and a motor 48 having a rotating shaft 46 controlled by a control device (not shown), with the other end of the string 42 wrapped around the roller 44 being wrapped around the rotating shaft 46. When the motor 48 rotates the rotating shaft 46, the string 42 is wrapped around the rotating shaft 46, and the cover 10 is pulled by the string 42. In other words, this tensile force maintains the inner surface of the cover 10 outside the range in which the posture of the robot 12 changes as the workpiece 14 is machined by the tool 16.

[0045] When the control device stops controlling the motor 48, the motor 48 rotates freely, and the weight of the cover 10 causes the rotating shaft 46 to rotate in the opposite direction, causing the cover 10 to lower.

[0046] (How to cover robot 12 with cover 10) In this embodiment, a control device (not shown) controls each motor 48, which rotates the rotating shaft 46 so that the string 42 is wound around the rotating shaft 46. The tensile force f3 exerted by the string 42 maintains the position of the inner surface of the cover 10 outside the range in which the posture of the robot 12 changes for the workpiece 14 to be processed by the tool 16.

[0047] The worker covers the robot 12 with the cover 10 so that the robot 12 is positioned on the inner side of the cover 10.

[0048] Furthermore, the control device is not limited to pre-controlling each motor 48 so that the position of the inner surface of the cover 10 is outside the range in which the posture of the robot 12 changes as the workpiece 14 is machined by the tool 16, but may also control each motor 48 in response to changes in the posture of the robot 12.

[0049] (effect) As explained above, in this embodiment, the cover 10 is simply pulled from the outside with a string, so there is no need for an air introduction device such as a pump 20. Therefore, the configuration of the robot 12 can be made simpler than in the first embodiment.

[0050] [Fifth Embodiment] (composition) The configuration of the robot 12 in this embodiment is substantially the same as that of the robot 12 in the first embodiment, so the differences will be described primarily. The robot 12 in the fifth embodiment does not have an air introduction device such as a pump 20.

[0051] The workpiece in this embodiment is a non-magnetic workpiece.

[0052] In this embodiment, magnets are placed on the robot 12, and multiple magnets are positioned on the inner surface of the cover 10. The repulsive force of the magnets is used to maintain the position of the inner surface of the cover 10 outside the range in which the posture of the robot 12 changes as the workpiece 14 is processed by the tool 16.

[0053] (How to cover robot 12 with cover 10) This explains how to cover the robot 12 with cover 10.

[0054] As described above, the first magnets are placed at multiple locations on the inner surface of the cover 10.

[0055] The operator covers the robot 12 with the cover 10, which is made of a bag-like material, so that the robot 12 is positioned on the inner side of the cover 10. In this state, the inner surface of the cover 10 may come into contact with any part of the robot 12.

[0056] The method of covering the robot 12 with the cover 10 in this embodiment involves placing a second magnet on the robot 12. The repulsive force between the first and second magnets maintains the position of the inner surface of the cover 10 bag outside the range in which the posture of the robot 12 changes.

[0057] (effect) As described above, in this embodiment, since magnets are placed on the robot 12 and magnets are arranged at multiple locations on the inner surface of the cover 10, no electricity is used, thus contributing to energy saving. Furthermore, since there is no device for introducing air such as a pump 20, the configuration of the robot 12 can be made simpler than in the first embodiment. Moreover, since pumps and the like are unnecessary, maintenance is reduced, and a constant repulsive force is always at work, making it easier to maintain an inflated state for a long period of time.

[0058] Alternatively, magnets may be placed at multiple locations on the inner surface of the cover 10, and magnets may also be placed on the outside of the cover 10 at positions corresponding to those locations on the inner surface. The magnetic attraction is used to maintain the position of the inner surface of the cover 10 outside the range in which the posture of the robot 12 changes in order for the workpiece 14 to be processed by the tool 16.

[0059] [Note] Based on the above disclosures, the following addendum is proposed.

[0060] (Note 1) A cover comprising a bag-like body having an inner surface capable of enclosing a robot, A predetermined force is applied to maintain the position of the inner surface so that it is outside the range in which the robot's posture changes. cover.

[0061] (Note 2) The predetermined force is the pressure of the gas supplied inside the bag. The cover as described in Appendix 1. Furthermore, firstly, the cover is made of a shape memory material, and the predetermined force is the force that causes the shape memory material to return to its original shape. Secondly, strings are connected to several different positions on the cover, and the predetermined force is the force exerted by the strings. Thirdly, first magnets are placed at several locations on the inner surface of the cover, and a second magnet is placed on the robot, and the predetermined force is the repulsive or attractive force between the first magnet and the second magnet.

[0062] (Note 3) The workpiece is processed by the change in the posture of the robot. The aforementioned cover is The aforementioned workpiece is equipped with a heat-resistant function that prevents it from melting due to the heat generated during processing. The cover described in Appendix 1 or Appendix 2.

[0063] (Note 4) A robot equipped with a cover as described in any one of the appendices 1 to 3.

[0064] (Note 5) A method of covering the robot with the cover described in Appendix 2, The gas supply unit introduces gas into the bag such that the position of the inner surface is outside the range in which the robot's posture changes. How to cover a robot with a cover. [Explanation of Symbols]

[0065] 10 Covers 10H1 Cover 12 Robots 10A Robot Arm J11~J12 joints 10p1~10p5 Arm section 14 Work 16 Tools 20 pumps 22 tubes 32 Hand 34. Insulation material 40 Strap adjustment device 42 string 42P connection point 44 Laura 46 Rotation axis 48 Motor

Claims

1. A cover comprising a bag-like body having an inner surface capable of enclosing a robot, A predetermined force is applied to maintain the position of the inner surface so that it is outside the range in which the robot's posture changes. cover.

2. The predetermined force is the pressure of the gas supplied inside the bag. The cover according to claim 1.

3. The workpiece is processed by the change in the posture of the robot. The aforementioned cover is The aforementioned workpiece is equipped with a heat-resistant function that prevents it from melting due to the heat generated during processing. The cover according to claim 1.

4. A robot comprising the cover described in claim 1.

5. A method of covering the robot with the cover described in claim 2, The gas supply unit introduces gas into the bag such that the position of the inner surface is outside the range in which the robot's posture changes. How to cover a robot with a cover.

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