Jacket for robots

Abstract

A jacket (1) for robots comprises: one or more jacket bodies (2) that cover one or more parts or the whole periphery of each of one or more robots (100); an air blowing unit (3) that discharges hot air or natural air to the inside of each of the jacket bodies (2); and a control unit (4) that is connected to the air blowing unit (3) and that controls the temperature and the air volume of the air discharged from the air blowing unit (3) to the inside of the jacket bodies (2). The jacket bodies (2) extend and contract in accordance with the air volume discharged from the air blowing unit (3) while enabling an operation of each of the robots (100). The temperature of parts (100a, 100b) of each of the robots inside the jacket bodies (2) is controlled within the range of an operation assurance temperature for the robot (100).

Description

Robot jacket

[0001] The present disclosure relates to a jacket for a robot.

[0002] Using a robot designed for use in a factory (indoors) outdoors poses the following challenges: ensuring resistance to environmental factors such as rain, sunlight, snow, and wind, and controlling the temperature around the robot to a range of, for example, 0 to 40°C, similar to indoors. These challenges can be addressed by designing a robot specifically for outdoor use according to the outdoor environment in which the robot will be used. However, because each robot must be specifically designed to accommodate the environment, temperature, etc. in which the robot will be used, the robot design becomes complicated.

[0003] People adapt to various environments by wearing clothing that suits the environment. It is conceivable that a robot could adapt to the environment by covering itself with a jacket, just as a human would. Techniques for covering a robot with a jacket or the like have been disclosed (see, for example, Patent Documents 1, 2, and 3).

[0004] Patent Literature 1 discloses a technology for covering robots used in industrial fields where hygiene is important with a robot protective jacket. The robot protective jacket has a two-layer structure and a circulation path for circulating air inside. Therefore, a tear in the protective jacket can be detected by detecting the flow rate of air discharged from the other end of the circulation path using a flow meter. Patent Literature 2 discloses a technology for covering parts of a medical robot that require sufficient separation between clean and unclean areas with a locking cover. Patent Literature 3 discloses a technology for covering a robot used in contact with humans with a frame and skin to provide the robot with a moderate warmth. Fluid flowing out of the space surrounded by the frame forms a fluid layer inside the skin covering the frame, thereby providing the robot with a moderate warmth.

[0005] JP 2020-15155 A International Publication No. 2023 / 062687 International Publication No. 2020 / 171120

[0006] The above-mentioned Patent Documents 1, 2, and 3 disclose technologies for covering a robot with a jacket or the like. However, although the robot is covered with a jacket or the like, the robot is not intended for outdoor use. Therefore, in order to use a robot designed for indoor use in a factory or the like outdoors without changing its design, there is a problem in that the ambient temperature around the robot must be controlled within a temperature range that ensures the robot's operation, such as 0 to 40°C, while protecting the robot from external environmental factors such as rain, sunlight, snow, and wind.

[0007] Therefore, the present disclosure aims to provide a robot jacket that protects a robot used indoors from the external environment while controlling the ambient temperature around the robot within the range of temperatures that ensures the robot's operation, without requiring any design changes.

[0008] The robot jacket of the present disclosure comprises one or more jacket main bodies that cover one or more parts or the entire periphery of each of one or more robots, a blower unit that blows hot air or natural air inside each of the jacket main bodies, and a control unit that is connected to the blower unit and controls the temperature and volume of the air blown from the blower unit inside the jacket main body, wherein the jacket main body expands and contracts according to the volume of air blown out by the blower unit while enabling the robot to operate, and the temperature of the part of the robot inside the jacket main body is controlled within the guaranteed operating temperature range of the robot.

[0009] The robot jacket disclosed herein includes one or more jacket main bodies that cover one or more parts or the entire periphery of one or more robots, a blower unit that blows hot air or natural air onto the inside of each jacket main body, and a control unit connected to the blower unit and controlling the temperature and volume of the air blown from the blower unit onto the inside of the jacket main body. The jacket main body expands and contracts according to the volume of air blown by the blower unit while enabling the robot to operate. Since the temperature of the robot part inside the jacket main body is controlled within the robot's guaranteed operating temperature range, a robot intended for indoor use can be used outdoors. This allows a robot jacket that protects the robot from the external environment while controlling the ambient temperature around the robot within the guaranteed operating temperature range without requiring design changes for indoor robots. Furthermore, since the ambient temperature around the robot is controlled within the guaranteed operating temperature range, the robot's working environment can be optimized. Furthermore, the blower unit can blow hot air, thereby heating the inside of the jacket main body, allowing the robot to be used in extremely low-temperature environments.

[0010] FIG. 1 is a diagram showing an outline of the configuration of a robot jacket according to embodiment 1. FIG. 2 is a diagram showing an example in which a robot jacket is applied to a robot having a robot arm according to embodiment 1. FIG. 3 is another diagram showing an example in which a robot jacket is applied to a robot having a robot arm according to embodiment 1. FIG. 4 is a diagram showing an outline of the configuration of another robot jacket according to embodiment 1. FIG. 5 is a diagram showing an outline of the configuration of another robot jacket according to embodiment 1. FIG. 6 is a diagram showing an outline of the control of the robot jacket according to embodiment 1. FIG. 7 is a configuration diagram showing an example of hardware of a control unit of the robot jacket according to embodiment 1. FIG. 8 is a diagram showing an outline of the configuration of a robot jacket according to embodiment 2. FIG. 9 is a diagram showing an outline of the configuration of a robot jacket according to embodiment 3.

[0011] Hereinafter, a robot jacket according to an embodiment of the present disclosure will be described with reference to the drawings. Note that the same or equivalent members and parts in each drawing will be denoted by the same reference numerals.

[0012] Embodiment 1. Fig. 1 is a diagram schematically illustrating the overall configuration of a robot jacket 1 according to embodiment 1, Fig. 2 is a diagram illustrating an example in which the robot jacket 1 is provided on a robot 100 having a robot arm, with only the outer shape of the jacket main body 2 shown, Fig. 3 is another diagram illustrating an example in which the robot jacket 1 is applied to a robot 100 having a robot arm, with only the outer shape of the jacket main body 2 shown, Fig. 4 is a diagram schematically illustrating the overall configuration of another robot jacket 1, Fig. 5 is a diagram schematically illustrating the overall configuration of another robot jacket 1, Fig. 6 is a diagram illustrating an overview of the control of the robot jacket 1, and Fig. 7 is a configuration diagram illustrating an example of hardware for the control unit 4 of the robot jacket 1. The robot jacket 1 is intended for use with robots that are intended for indoor use and are not intended for use outdoors or in environments similar to outdoors, such as inside a vehicle, and enables the use of the robot in environments similar to outdoors, such as outside or inside a vehicle, without making design changes to the robot used indoors.

[0013] <Robot Jacket 1> The robot jacket 1 includes one or more jacket main bodies 2 that cover one or more parts or the entire periphery of each of one or more robots 100, an air blower 3 that blows hot air or natural air to the inside of each jacket main body 2, and a control unit 4 that is connected to the air blower 3 and controls the temperature and volume of the air blown from the air blower 3 to the inside of the jacket main body 2. In the configuration of this embodiment shown in FIG. 1 , there is a single robot 100, and the robot 100 has two robot parts 100a and 100b. The robot jacket 1 has two jacket main bodies 2a and 2b as the jacket main body 2. The jacket main body 2a covers the robot part 100a, and the jacket main body 2b covers the robot part 100b. The configuration of the robot 100 is not limited to this, and for example, as shown in FIG. 4, a configuration in which there is a single robot 100 and the entire periphery of the robot 100 is covered by a single jacket main body portion 2 may be used.

[0014] The robot 100 using the robot jacket 1 is, for example, a robot 100 having a robot arm. The multiple jacket main bodies 2 of each robot 100 independently cover at least a robot arm main body 101 and a working movement unit 102 attached to the tip of the robot arm. The robot 100 shown in FIG. 2 is a single robot, with the jacket main body 2a covering the robot arm main body 101, which is a part of the robot, and the jacket main body 2b covering the working movement unit 102, which is also a part of the robot. The robot 100 may further include a robot part covered by the jacket main body 2. The robot 100 has multiple motors (not shown) for operating the robot arm main body 101 and the working movement unit 102. The working movement unit 102 is rotatably attached to the robot arm main body 101. The work of the working movement unit 102 is, for example, attaching or detaching a connector.

[0015] By having the jacket main body part 2 independently cover the robot arm main body part 101 and the working motion part 102, the jacket main body part 2 can appropriately cover the robot arm main body part 101 and the working motion part 102 without relying on the movement of the part between the robot arm main body part 101 and the working motion part 102. If the robot arm main body part 101 and the working motion part 102 were covered by a single jacket main body part 2, the jacket main body part 2 would be twisted by the rotation of the working motion part 102, which could result in damage to the jacket main body part 2. By independently covering the robot arm main body part 101 and the working motion part 102, the risk of damage to the jacket main body part 2 can be avoided.

[0016] <Air blower 3> The air blower 3 is, for example, a fan equipped with a heater 3a, and blows out hot air or natural air. The natural air blown out by the air blower 3 is air that is produced by the air blower 3 directly discharging the gas surrounding the air blower 3. The hot air blown out by the air blower 3 is air that is produced by the air blower 3 discharging gas that has been heated by the heater 3a included in the air blower 3. The temperature of the air can be adjusted by adjusting the temperature of the heater 3a. The air volume can be adjusted by adjusting the rotation speed of the fan. The air volume may be adjusted by changing the discharge area of ​​the portion of the air blower 3 that blows out the air. The temperature and volume of the air can be adjusted independently.

[0017] In this embodiment, as shown in FIG. 1 , an air passage 5 is provided between each of the multiple jacket main bodies 2a, 2b and the blower 3. The air passage 5 is, for example, a resin tube. The hot air or natural air discharged by the blower 3 is sent into the inside of the jacket main bodies 2a, 2b through the air passage 5, as indicated by arrow A in FIG. 1 . The configuration is not limited to the configuration with the air passage 5, and the air may be discharged directly from the blower 3 to the jacket main body 2. The air sent into the inside of the jacket main bodies 2a, 2b passes around the robot parts 100a, 100b and is then discharged from the jacket main bodies 2a, 2b, as indicated by arrow B in FIG. 1 . Because the hot air or natural air discharged by the blower 3 flows in one direction through the jacket main bodies 2a, 2b, the intrusion of foreign matter such as water, dirt, and dust into the jacket main bodies 2a, 2b from the outside can be suppressed.

[0018] <Controller 4 and Temperature Sensor 6> The controller 4 controls the temperature and volume of the air discharged from the blower 3. In this embodiment, the robot jacket 1 further includes one or more temperature sensors 6 provided inside the jacket main body. The temperature sensors 6 are connected to the controller 4, and the controller 4 controls one or both of the temperature and volume of the air discharged from the blower 3 to the inside of the jacket main body 2 based on the temperature detected by the temperature sensors 6. In the configuration shown in FIG. 1 , one temperature sensor 6 is provided in each of the jacket main bodies 2a and 2b. The number of temperature sensors 6 is not limited thereto, and multiple temperature sensors 6 may be provided in each of the jacket main bodies 2a and 2b. By providing multiple temperature sensors 6, the temperature around the robot 100 can be appropriately managed at multiple locations.

[0019] By providing the temperature sensor 6 inside the jacket main body portions 2a, 2b in this manner, the temperature inside the jacket main body portions 2a, 2b can be appropriately controlled. Since the temperature inside the jacket main body portions 2a, 2b is appropriately controlled, optimal working conditions for the robot 100 suited to the environment can be ensured. Controlling the temperature and volume of the air discharged by the air blower 3 enables efficient and stable work by the robot 100. If the robot 100 is the robot shown in FIG. 2 , there is a risk that the motor of the robot 100 may overheat. If the temperature detected by the temperature sensor 6 is high and the motor is generating heat, the volume of natural air corresponding to the outside temperature can be increased and discharged to suppress heat generation in the motor and lower the temperature of the motor to a temperature corresponding to the outside temperature.

[0020] In this embodiment, the robot jacket 1 further includes a discharge part temperature sensor 7 connected to the control unit 4 at the part of the blower 3 that discharges air. The control unit 4 controls the temperature of the air discharged from the blower 3 into the inside of the jacket main body 2 based on the temperature detected by the discharge part temperature sensor 7. This configuration allows the temperature of the air discharged from the blower 3 to be detected accurately, thereby making it possible to appropriately manage the temperature of the air discharged from the blower 3. For example, if the temperature of the air discharged from the blower 3 does not reach the target temperature, the temperature of the heater 3a is increased to control the air temperature to reach the target temperature. The discharge part temperature sensor 7 may also be used to manage the upper limit of the air temperature.

[0021] Another configuration including a temperature sensor 6 will be described. In the configuration shown in FIG. 5 , multiple temperature sensors 6 are provided. Based on the temperatures detected by the multiple temperature sensors 6 a, 6 b, and 6 c, one or both of the temperature and air volume of the air discharged from the air blower 3 into the jacket main body 2 a, 2 b is controlled, thereby controlling the temperature of the robot portion adjacent to the temperature sensors 6 a, 6 b, and 6 c. This configuration allows the target to be protected to be changed depending on the position of the temperature sensor 6, thereby ensuring temperature control for components or mechanisms that require high protection priority. For example, if a specific portion is prone to high temperatures, placing a temperature sensor in that portion and controlling the air blower 3 preferentially for that portion can extend the life of the specific portion and ensure high reliability of the specific portion. This configuration effectively protects different portions, thereby improving the durability and stability of the robot 100.

[0022] In the configuration shown in FIG. 5 , temperature sensor 6a is adjacent to electronic circuit 201, which is part of robot portion 100a; temperature sensor 6b is adjacent to motor 202, which is part of robot portion 100a; and temperature sensor 6c is adjacent to motor 203, which is part of robot portion 100b. Electronic circuit 201 and motors 202 and 203 are components with a high priority for protection, as described above. This configuration allows temperature sensors 6b and 6c to properly detect the temperatures of motors 202 and 203, which may overheat, thereby efficiently suppressing heat generation from motors 202 and 203 without setting excessive airflow. Furthermore, temperature sensor 6a can properly detect the temperature of electronic circuit 201, which may malfunction due to temperature, thereby efficiently suppressing malfunction of electronic circuit 201 without setting excessive airflow or hot airflow. When temperature sensor 6 detects a high temperature, at least the airflow is controlled, and when temperature sensor 6 detects a low temperature, at least the air temperature is controlled.

[0023] The robot jacket 1 is not limited to the configuration described above in which a temperature sensor 6 is provided as a separate unit connected to the control unit 4. A semiconductor sensor having a temperature detection function may also be mounted on a control board of the control unit 4. The semiconductor sensor is, for example, a silicon diode. The temperature sensor 6 and the discharge unit temperature sensor 7 are, for example, a thermistor or a thermocouple. While it is possible to control the temperature and volume of the air discharged from the blower unit 3 using a temperature sensor provided in the control unit 4, providing the temperature sensor 6 inside the jacket main body units 2a and 2b makes it possible to more appropriately maintain the temperature inside the jacket main body units 2a and 2b within the guaranteed operating temperature range of the robot 100.

[0024] <Jacket main body 2> The jacket main body 2 expands and contracts according to the amount of air blown out by the air blower 3 while enabling the robot 100 to operate, and the temperature of the robot portion inside the jacket main body 2 is controlled within the guaranteed operating temperature range of the robot 100. Fig. 2 is a diagram showing a state in which the air blower 3 is not blowing out air, and Fig. 3 is a diagram showing an example of a state in which the air blower 3 is blowing out air. In Fig. 3, the outer shapes of the jacket main bodies 2a, 2b when the air blower 3 is not blowing out air are shown by dashed lines. In Figs. 2 and 3, the air blowing passage 5 is omitted, and only the air flow is shown by arrows A and B. In Fig. 3, arrow C indicates the direction in which the jacket main bodies 2a, 2b expand due to the blown air. In this way, the jacket main body 2 expands and contracts according to the amount of air blown out by the air blowing unit 3, so that it does not hinder the operation of the robot 100, but follows the operation of the robot 100, properly supports the operation of the robot 100 while ensuring the mobility of the robot 100, and enables the robot 100 to work flexibly.

[0025] In this embodiment, when air is not blown into the jacket main body 2 from the blower 3, the jacket main body 2 is in close contact with the robot 100 or a portion of the robot inside the jacket main body 2, as shown in FIG. 2 , and when air is blown into the jacket main body 2 from the blower 3, the jacket main body 2 expands as shown in FIG. 3 . This configuration allows the necessary amount of air to be blown into the jacket main body 2 during operation of the robot 100, ensuring a working area for the robot 100. Furthermore, when the robot 100 is stopped, the jacket main body 2 contracts, allowing the jacket main body 2 to be made compact. Since there is no need to cover the robot 100 with a large-sized jacket in advance in anticipation of the robot 100's operation, the robot 100 covered with the jacket main body 2 can be accommodated in a limited space. For example, the robot 100 can be installed in a location with limited space near the outdoors, such as inside a vehicle, and the robot 100 covered with the jacket main body 2 can be used in a variety of small spaces.

[0026] In this embodiment, the jacket body 2 is dustproof and waterproof, protecting the robot 100 or parts of the robot inside the jacket body 2 from the outside. The jacket body 2 is dustproof and waterproof in addition to the stretchability described above. The jacket body 2 is made, for example, of chloroprene rubber sponge on the inside and nylon on the outside. In this embodiment, the jacket body 2 is one-piece and has a structure with few seams, thereby providing excellent dustproofness. By covering the entire robot 100 or parts of the robot with the dustproof and waterproof jacket body 2, the mechanical parts of the robot 100 can be protected from deterioration of the working environment of the robot 100, contamination of the mechanical parts in the working area, water damage, and unexpected events. The structure of the jacket body 2, which combines dustproofness, waterproofness, and stretchability, enables the robot 100 to operate stably for long periods of time, allowing the robot 100 to be used in a variety of outdoor working environments.

[0027] <Temperature Control Inside Jacket Main Body 2> The temperature of the robot portion inside the jacket main body 2 is controlled within a guaranteed operating temperature range for the robot 100. The guaranteed operating temperature range for the robot 100 is, for example, 0 to 40°C. When the robot 100 is used indoors, it is possible to use the robot 100 in a range of 0 to 40°C without changing the design of the robot 100. However, when the robot 100 is used outdoors or in an environment close to outdoors, such as inside a car, it may not be possible to use the robot 100 in a range of 0 to 40°C. For example, the temperature outdoors may drop below 0°C or exceed 40°C.

[0028] The temperature of the robot portion inside the jacket main body 2 is controlled within the guaranteed operating temperature range of the robot 100 by hot air or natural air discharged from the air blower 3. The temperature and volume of the hot air or natural air discharged from the air blower 3 are controlled by the control unit 4. This configuration allows a robot intended for indoor use only to be used outdoors, thereby providing a robot jacket 1 that protects the robot 100 from the external environment while controlling the ambient temperature around the robot 100 within the guaranteed operating temperature range of the robot 100, without requiring any design changes to the indoor robot 100. Furthermore, because the ambient temperature around the robot 100 is controlled within the guaranteed operating temperature range of the robot 100, the working environment of the robot 100 can be optimized. Furthermore, because the air blower 3 can discharge hot air, it can heat the inside of the jacket main body 2, allowing the robot 100 to be used in extremely low-temperature environments.

[0029] An example of temperature control within the jacket main body 2 will be described with reference to FIGS. 6 and 7 . The temperature control is performed, for example, based on a predetermined program stored in the control unit 4. As shown in FIG. 7 , an example of hardware, the control unit 4 is configured with a processor 111 and a storage device 112. Although not shown, the storage device 112 includes a volatile storage device such as a random access memory and a non-volatile auxiliary storage device such as a flash memory. Alternatively, a hard disk auxiliary storage device may be used instead of the flash memory. The processor 111 executes a program input from the storage device 112. In this case, the program is input to the processor 111 from the auxiliary storage device via the volatile storage device. The processor 111 may output data such as calculation results to the volatile storage device of the storage device 112, or may store the data in the auxiliary storage device via the volatile storage device.

[0030] In the example of temperature control shown in FIG. 6 , if the temperature detected by the temperature sensor 6 is in the range of 0°C to 130°C, a natural wind mode is executed in which natural wind is blown out. If the temperature detected by the temperature sensor 6 is in the range of -20°C to 0°C, a hot wind mode is executed in which hot wind is blown out. In the natural wind mode, the heater 3a is off, the air blower is on, and the air volume is on. In the hot wind mode, the heater 3a is on, the air blower is on, and the air volume is on. The air volume is generally set to maximum, but may be adjusted according to the temperature detected by the temperature sensor 6. For example, if the temperature detected by the temperature sensor 6 located adjacent to the motor detects a temperature that does not pose a risk of overheating the motor, the air volume may be reduced or turned off. If the temperature detected by the temperature sensor 6 exceeds 130°C, an alarm is output.

[0031] As described above, the robot jacket 1 according to the first embodiment comprises one or more jacket main bodies 2 that cover one or more parts or the entire periphery of each of one or more robots 100, an air blowing unit 3 that blows hot air or natural air inside each jacket main body 2, and a control unit 4 that is connected to the air blowing unit 3 and controls the temperature and volume of the air blown from the air blowing unit 3 inside the jacket main body 2. The jacket main body 2 expands and contracts according to the volume of air blown out by the air blowing unit 3 while enabling the operation of the robot 100, and the temperature of the robot parts 100a, 100b inside the jacket main body 2 is controlled within the guaranteed operating temperature range of the robot 100. Therefore, a robot that is intended only for indoor use can be used outdoors. Therefore, without making any design changes to the robot 100 used indoors, a robot jacket 1 can be obtained that protects the robot 100 from the external environment while controlling the ambient temperature around the robot 100 within the guaranteed operating temperature range of the robot 100. Furthermore, the ambient temperature around the robot 100 is controlled within the guaranteed operating temperature range of the robot 100, thereby optimizing the working environment of the robot 100. Furthermore, the blower 3 can blow out hot air, which can heat the inside of the jacket main body 2, allowing the robot 100 to be used even in an extremely low-temperature environment.

[0032] When the jacket body 2 is dustproof and waterproof and protects the robot 100 or parts of the robot inside the jacket body 2 from the outside, it can protect the mechanical parts of the robot 100 from deterioration of the working environment of the robot 100, contamination of the mechanical parts in the working area, water damage, and unexpected events. The structure of the jacket body 2, which combines dustproofness, waterproofness, and stretchability, enables the robot 100 to operate stably for long periods of time, and the robot 100 can be used in a wide variety of outdoor working environments.

[0033] When the robot jacket 1 further includes one or more temperature sensors 6 provided inside the jacket main body 2, the temperature sensors 6 are connected to the control unit 4, and the control unit 4 controls one or both of the temperature and volume of the air blown from the air blower 3 into the jacket main body 2 based on the temperature detected by the temperature sensor 6, the temperature inside the jacket main body 2 can be appropriately managed within a guaranteed operating temperature range for the robot 100. Since the temperature inside the jacket main body 2 is appropriately managed, optimal working conditions for the robot 100 suited to the environment can be ensured. Furthermore, controlling the temperature and volume of the air blown out by the air blower 3 enables the robot 100 to operate efficiently and stably.

[0034] If multiple temperature sensors 6 are provided and one or both of the temperature and air volume of the air blown from the blower 3 to the inside of the jacket main body are controlled based on the respective temperatures detected by the multiple temperature sensors 6, and the temperature of the part of the robot adjacent to the temperature sensor 6 is controlled, the object to be protected can be changed depending on the position of the temperature sensor 6, so that the temperature can be reliably controlled for parts or mechanisms that have a high priority for protection.

[0035] The robot jacket 1 further includes an outlet temperature sensor 7 connected to the control unit 4 at the part of the air blowing unit 3 that blows out the air, and when the control unit 4 controls the temperature of the air blown out from the air blowing unit 3 to the inside of the jacket main body 2 based on the temperature detected by the outlet temperature sensor 7, the temperature of the air blown out from the air blowing unit 3 can be detected accurately, and the temperature of the air blown out from the air blowing unit 3 can be appropriately managed.

[0036] When the jacket main body 2 is not receiving air from the blower 3, it adheres tightly to the robot 100 or a part of the robot inside the jacket main body 2, and when air is blown in from the blower 3, it expands, sending in just the amount of air needed when the robot 100 is operating, ensuring a working area for the robot 100, while contracting when the robot 100 is stopped, making it possible to make the jacket main body 2 compact. Since there is no need to cover the robot 100 with a large-sized jacket in advance in anticipation of the robot 100's operation, it becomes possible to fit the robot 100 covered with the jacket main body 2 into a limited space.

[0037] When the multiple jacket main bodies 2 of each robot independently cover at least the robot arm main body 101 and the work movement unit 102 attached to the tip of the robot arm, the jacket main body 2 can appropriately cover the robot arm main body 101 and the work movement unit 102 without relying on the movement between the robot arm main body 101 and the work movement unit 102 and avoiding the risk of damage to the jacket main body 2.

[0038] Embodiment 2. A robot jacket 1 according to embodiment 2 will now be described. Figure 8 is a diagram showing a schematic outline of the configuration of the robot jacket 1 according to embodiment 2, with the temperature sensor 6 omitted. The robot jacket 1 according to embodiment 2 is configured such that the air blower 3 has a branch portion 3b.

[0039] In this embodiment, the blower unit 3 has a branch portion 3b that branches the air at the portion where it discharges the air. The branched air that passes through the branch portion 3b is discharged to one or more jacket main bodies 2 of each of the multiple robots 100. The branch portion 3b is fixed to an outlet 3c, which is the portion of the blower unit 3 that discharges the air. The branch portion 3b is made of, for example, resin or metal. An air passage 5 is provided in each portion of the end of the branch portion 3b opposite the blower unit 3 side.

[0040] In the configuration example shown in FIG. 8 , a plurality of robots 100, i.e., two robots 100, are provided. The number of robots 100 is not limited to this and may be greater. Each of the two robots 100 is provided with a jacket main body portion 2 of the robot jacket 1. Each robot 100 has two robot portions 100a, 100b. The robot jacket 1 has two sets of jacket main body portions 2a, 2b as the jacket main body portion 2. The jacket main body portion 2a covers the robot portion 100a, and the jacket main body portion 2b covers the robot portion 100b.

[0041] By providing a branch portion 3b at the outlet 3c of the blower 3, the blower 3 can blow hot air or natural air onto the inside of each of the jacket main bodies 2a, 2b of the multiple robots 100. When the blower 3 blows hot air, it can warm the inside of the two sets of jacket main bodies 2a, 2b. Since an appropriate temperature environment can be provided for the multiple robots 100 simultaneously, the workability and productivity of the multiple robots 100 can be improved. With the configuration provided with the branch portion 3b, the combination of the jacket main body 2 and the blower 3 can achieve efficient and flexible temperature control for the multiple robots 100, and can provide an optimal environment for the multiple robots 100 even in situations where multiple robots 100 are working simultaneously.

[0042] Embodiment 3 A robot jacket 1 according to embodiment 3 will now be described. Fig. 9 is a diagram showing a schematic outline of the configuration of the robot jacket 1 according to embodiment 3. The robot jacket 1 according to embodiment 3 is configured such that a valve 5a is provided in the air passage 5.

[0043] In the configuration example shown in FIG. 9 , there is a single robot 100, and the robot 100 has two robot portions 100a and 100b. The robot jacket 1 includes multiple jacket main bodies 2a and 2b. A valve 5a is provided in the air passage 5 between each of the multiple jacket main bodies 2a and 2b and the blower 3. The valve 5a adjusts the amount of air discharged from the blower 3 to each of the multiple jacket main bodies 2a and 2b. In FIG. 9 , two jacket main bodies 2a and 2b are provided, so two valves 5a are provided. The valves 5a are, for example, on-off valves or butterfly valves. By connecting the valves 5a to the control unit 4, the opening and closing of the valves 5a can be adjusted according to instructions from the control unit 4.

[0044] By providing a valve 5a in the air passage 5 and adjusting the amount of air blown by the blower 3 inside the jacket main bodies 2a and 2b, the amount of air supplied to the interior of the jacket main bodies 2a and 2b can be appropriately managed, thereby effectively adjusting the amount of air required for the robot parts 100a and 100b. By providing the valve 5a, the amount of air blown by the blower 3 can be controlled by the valve 5a, so that an appropriate amount of air can be supplied to each of the different parts of the robot 100. By adjusting the air volume, the amount of air required by the robot 100 can be optimized for a specific task and in a specific situation, thereby improving the stability of the robot's operation.

[0045] Furthermore, although various exemplary embodiments and examples are described in this disclosure, the various features, aspects, and functions described in one or more embodiments are not limited to the application of a particular embodiment, but may be applied to the embodiments alone or in various combinations. Therefore, countless modifications not illustrated are contemplated within the scope of the technology disclosed in this specification. For example, this includes cases where at least one component is modified, added, or omitted, or where at least one component is extracted and combined with components of another embodiment.

[0046] 1 Robot jacket, 2, 2a, 2b Jacket main body, 3 Air blower, 3a Heater, 3b Branching portion, 3c Outlet, 4 Control unit, 5 Air blowing passage, 5a Valve, 6, 6a, 6b, 6c Temperature sensor, 7 Outlet temperature sensor, 100 Robot, 100a, 100b Robot part, 101 Robot arm main body, 102 Work operation unit, 111 Processor, 112 Storage device, 201 Electronic circuit, 202, 203 Motor, A, B, C Arrows

Claims

1. A robot jacket comprising: one or more jacket main bodies that cover one or more parts or the entire periphery of each of one or more robots; an air blower that blows hot air or natural air onto the inside of each of the jacket main bodies; and a control unit that is connected to the air blower and controls the temperature and volume of the air blown from the air blower onto the inside of the jacket main body, wherein the jacket main body expands and contracts according to the volume of air blown out by the air blower while enabling the robot to operate, and the temperature of the part of the robot inside the jacket main body is controlled within the guaranteed operating temperature range of the robot.

2. A robot jacket according to claim 1, wherein the jacket body is dustproof and waterproof, and protects the robot or parts of the robot inside the jacket body from the outside.

3. A robot jacket as described in claim 1 or 2, further comprising one or more temperature sensors provided inside the jacket main body, the temperature sensors being connected to the control unit, and the control unit controlling one or both of the temperature and volume of air blown from the air blowing unit to the inside of the jacket main body based on the temperature detected by the temperature sensors.

4. A robot jacket as described in claim 3, wherein a plurality of the temperature sensors are provided, and the temperature and / or volume of the air blown from the blower unit to the inside of the jacket main body is controlled based on the respective temperatures detected by the plurality of temperature sensors, thereby controlling the temperature of the part of the robot adjacent to the temperature sensor.

5. A robot jacket as described in any one of claims 1 to 4, further comprising an outlet temperature sensor connected to the control unit at the part of the blower that blows out air, and the control unit controls the temperature of the air that is blown out from the blower to the inside of the jacket main body based on the temperature detected by the outlet temperature sensor.

6. A robot jacket according to any one of claims 1 to 5, wherein the blower section has a branching section that branches the air at the section that discharges the air, and the branched air that passes through the branching section is discharged onto one or more of the jacket main body sections that each of the multiple robots has.

7. A robot jacket as described in any one of claims 1 to 6, comprising a plurality of jacket body parts, wherein a valve is provided in an air passage between each of the plurality of jacket body parts and the air blowing section, and the amount of air discharged from the air blowing section to each of the plurality of jacket body parts is adjusted by the valve.

8. A robot jacket as described in any one of claims 1 to 7, wherein the jacket main body is in close contact with the robot or part of the robot inside the jacket main body when no air is blown in from the blower, and expands when air is blown in from the blower.

9. A robot jacket according to any one of claims 1 to 8, wherein the multiple jacket main bodies of each robot independently cover at least the robot arm main body and the work operating unit attached to the tip of the robot arm.

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