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WO1999015319A1 - Robot industriel - Google Patents

Robot industriel Download PDF

Info

Publication number
WO1999015319A1
WO1999015319A1 PCT/JP1998/003903 JP9803903W WO9915319A1 WO 1999015319 A1 WO1999015319 A1 WO 1999015319A1 JP 9803903 W JP9803903 W JP 9803903W WO 9915319 A1 WO9915319 A1 WO 9915319A1
Authority
WO
WIPO (PCT)
Prior art keywords
control device
air
manipulator
industrial robot
compartment
Prior art date
Application number
PCT/JP1998/003903
Other languages
English (en)
Japanese (ja)
Inventor
Kouji Tsukuda
Original Assignee
Kabushiki Kaisha Yaskawa Denki
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kabushiki Kaisha Yaskawa Denki filed Critical Kabushiki Kaisha Yaskawa Denki
Publication of WO1999015319A1 publication Critical patent/WO1999015319A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0054—Cooling means

Definitions

  • the present invention relates to cooling of a control device of an industrial mouth bot stored in a manipulator.
  • an industrial robot has a manipulator and a control device as separate units, and both are connected by an electric cable.
  • the manipulator is placed in a bad environment where dust, oil droplets, water droplets, gas, etc. float.
  • the control device could be placed in a place with good environmental conditions, which was isolated from the installation environment of the manipulator.
  • the control device has components that generate a large amount of heat, such as a servo amplifier, and has temperature-sensitive components, such as an arithmetic circuit, on the other side. There is a need.
  • control unit is exposed to air containing dust, oil, and moisture, so the control unit is out of order.
  • the present invention provides an industrial port robot in which a control device is stored in a manipulator /! Industrial robot, in which the control device is isolated from the environment where the manipulator is installed and the control device can be efficiently cooled.
  • the purpose is to share
  • the present invention provides a control device which is stored in a sealed section inside a manipulator, and a compressed air pipe is guided to a position near the control device in the section, and Air is blown to the control device to cool the control device.
  • FIG. 1 is a side view of a manipulator of an industrial robot showing an embodiment of the present invention
  • FIG. 2 is a side sectional view showing details of a fixing portion of the manipulator of FIG. Best form]
  • FIG. 1 is a side view of a vertical multi-joint type industrial robot manipulator showing an embodiment of the present invention.
  • ⁇ is a manipulator
  • 1 is a fixed part of the manipulator ⁇ , which is fixed to the installation location.
  • Reference numeral 2 denotes a swivel head, which is supported by the fixed part 1 so as to freely rotate around a vertical axis (not shown).
  • Reference numeral 3 denotes a lower arm, which is supported on the upper part of the swivel head 2 so as to be rotatable around a horizontal axis (not shown).
  • Reference numeral 4 denotes an upper arm, which is supported at the tip of the lower arm 3 so as to be rotatable around a horizontal axis (not shown).
  • Reference numeral 5 denotes a wrist, which has degrees of freedom around three axes, and is attached to the tip of the limb arm 4.
  • the swing head 2, the lower arm 3, the upper arm 4, and the wrist 5 are each driven by a servo motor (not shown ).
  • Reference numeral 6 denotes a control device which creates and edits an operation program of the industrial robot, gives a command to the servo motor according to the program, and performs a predetermined operation.
  • the control device 6 is housed in a closed compartment, below the fixed part 1, isolated from the outside and the rest of the manipulator.
  • FIG. 2 is a side sectional view showing details of a section for storing the control device 6 of the fixed unit 1.
  • the control device 6 is stored inside the fixed part 1 and is isolated from the surrounding air.
  • '' 7 is a compressed air pipe, for example, from a high-pressure air supply pipe of a factory (not shown). And is guided inside the fixed part 1.
  • a regulator 8 and a valve 9 are connected in series to the end of an air pipe 7 inside the fixed part 1, and a nozzle 10 is attached to the tip of the valve 9 to dissipate heat from the control device 6.
  • Section for example, air is blown toward the heat dissipation vine.
  • the air exiting the nozzle 10 flows along the direction of the arrow indicated by F so as to surround the control device 6.
  • Reference numeral 1 denotes a check valve, which is opened when the pressure inside the fixed portion 1 exceeds a predetermined value, and has a function of releasing the internal air to the outside.
  • the check valve 11 may be omitted, and a small-diameter opening may be provided in the surrounding wall of the fixed portion 1.
  • control device 6 can be stored in the fixed portion 1 while being isolated from the surrounding air and stored, and the clean device 6 can be cooled by directly blowing clean air with little dust or the like onto the control device 6. .
  • an automatic control means for monitoring the temperature of the controller 6 and opening and closing the vanoleb 9 or adjusting the set pressure of the regulator 8 according to the temperature of the controller 6 is added. You may.
  • the present invention has the following effects3
  • the control device is housed in a closed section of the manipulator, and the control device is isolated from the surrounding air. Therefore, the control device is not damaged by the influence of dust in the surrounding air.
  • the air flow path can be small, so that the size of the compressor can be reduced.
  • the present invention is useful as an industrial robot, in particular, a robot integrated with electromechanical system in which a control device is incorporated in a manipulator.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

Cette invention concerne un robot industriel dans lequel un dispositif de commande (6) est enfermé dans le compartiment isolé d'un manipulateur. Une tuyauterie d'air comprimé (7) est disposée à proximité du dispositif de commande (6) dans le compartiment de manière à envoyer de l'air sur ledit dispositif de commande (6) et à le refroidir, l'air étant ensuite évacué vers l'extérieur par une ouverture (11). Etant donné que l'air est envoyé directement sur le dispositif de commande (6), le refroidissement se fait de manière plus efficace et avec une quantité d'air réduite.
PCT/JP1998/003903 1997-09-19 1998-08-31 Robot industriel WO1999015319A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP27340497A JPH1190881A (ja) 1997-09-19 1997-09-19 産業用ロボット
JP9/273404 1997-09-19

Publications (1)

Publication Number Publication Date
WO1999015319A1 true WO1999015319A1 (fr) 1999-04-01

Family

ID=17527429

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP1998/003903 WO1999015319A1 (fr) 1997-09-19 1998-08-31 Robot industriel

Country Status (2)

Country Link
JP (1) JPH1190881A (fr)
WO (1) WO1999015319A1 (fr)

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1170097A1 (fr) * 2000-07-07 2002-01-09 KUKA Roboter GmbH Robot muni de moyens de refroidissement
WO2004073134A3 (fr) * 2003-02-05 2005-04-14 Active Power Inc Systemes et procedes de fourniture d'energie alternative a une charge
US7314059B2 (en) 2004-09-17 2008-01-01 Active Power, Inc. Systems and methods for controlling pressure of fluids
US7400052B1 (en) 2006-11-29 2008-07-15 Active Power, Inc. Transient energy systems and methods for use of the same
US7425807B1 (en) 2006-11-29 2008-09-16 Active Power, Inc. Transient energy systems and methods for use of the same
DE102007053538A1 (de) 2007-11-09 2009-05-14 Kuka Roboter Gmbh Roboter
US7642664B1 (en) 2006-11-29 2010-01-05 Active Power, Inc. Transient energy systems and methods for use of the same
US7750518B1 (en) 2006-11-29 2010-07-06 Active Power, Inc. Transient energy systems and methods for use of the same
US7918091B1 (en) 2006-09-20 2011-04-05 Active Power, Inc. Systems and methods for controlling humidity
US8333330B2 (en) 2004-09-17 2012-12-18 Active Power, Inc. Systems and methods for controlling temperature and pressure of fluids
DE202015007161U1 (de) * 2015-10-15 2017-01-19 Kuka Roboter Gmbh Manipulator mit Wirbelrohr
EP3461600A1 (fr) * 2017-09-29 2019-04-03 Seiko Epson Corporation Robot
EP3461599A1 (fr) * 2017-09-29 2019-04-03 Seiko Epson Corporation Robot
CN111730642A (zh) * 2020-07-08 2020-10-02 浙江俊博汽车部件有限公司 一种汽车离合器配件生产线全自动机械臂

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100945884B1 (ko) * 2007-11-14 2010-03-05 삼성중공업 주식회사 내장형 로봇 제어 시스템
JP5012518B2 (ja) * 2008-01-10 2012-08-29 株式会社安川電機 ロボットコントローラおよび半導体露光装置
JP2009166172A (ja) * 2008-01-16 2009-07-30 Seiko Epson Corp ロボットのシミュレーション方法及びロボットのシミュレーション装置
CN104608152B (zh) * 2015-01-30 2017-07-11 李群机器人科技（深圳）有限责任公司 一种具有高效散热装置的一体化机器人
CN107081739A (zh) * 2017-06-20 2017-08-22 广东锐拓精密工业有限公司 一种机器人三关节刚性连接独立式运动手臂结构
JP7006169B2 (ja) * 2017-11-20 2022-01-24 セイコーエプソン株式会社 ロボット

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06196887A (ja) * 1992-09-30 1994-07-15 Hitachi Ltd ヒ−トシンクおよびそれを用いた電子装置およびその電子装置を用いた電子計算機
JPH07297584A (ja) * 1994-04-27 1995-11-10 Hitachi Ltd 電子機器装置の冷却構造
JPH08168990A (ja) * 1994-12-14 1996-07-02 Fanuc Ltd 産業用ロボットのモータ冷却装置

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06196887A (ja) * 1992-09-30 1994-07-15 Hitachi Ltd ヒ−トシンクおよびそれを用いた電子装置およびその電子装置を用いた電子計算機
JPH07297584A (ja) * 1994-04-27 1995-11-10 Hitachi Ltd 電子機器装置の冷却構造
JPH08168990A (ja) * 1994-12-14 1996-07-02 Fanuc Ltd 産業用ロボットのモータ冷却装置

Cited By (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6731091B2 (en) 2000-07-07 2004-05-04 Kuka Roboter Gmbh Robot
EP1170097A1 (fr) * 2000-07-07 2002-01-09 KUKA Roboter GmbH Robot muni de moyens de refroidissement
US7681395B2 (en) 2003-02-05 2010-03-23 Joseph F Pinkerton Systems and methods for providing backup energy to a load
WO2004073134A3 (fr) * 2003-02-05 2005-04-14 Active Power Inc Systemes et procedes de fourniture d'energie alternative a une charge
US7127895B2 (en) 2003-02-05 2006-10-31 Active Power, Inc. Systems and methods for providing backup energy to a load
US7314059B2 (en) 2004-09-17 2008-01-01 Active Power, Inc. Systems and methods for controlling pressure of fluids
US8333330B2 (en) 2004-09-17 2012-12-18 Active Power, Inc. Systems and methods for controlling temperature and pressure of fluids
US7918091B1 (en) 2006-09-20 2011-04-05 Active Power, Inc. Systems and methods for controlling humidity
US7750518B1 (en) 2006-11-29 2010-07-06 Active Power, Inc. Transient energy systems and methods for use of the same
US7642664B1 (en) 2006-11-29 2010-01-05 Active Power, Inc. Transient energy systems and methods for use of the same
US7425807B1 (en) 2006-11-29 2008-09-16 Active Power, Inc. Transient energy systems and methods for use of the same
US7400052B1 (en) 2006-11-29 2008-07-15 Active Power, Inc. Transient energy systems and methods for use of the same
DE102007053538A1 (de) 2007-11-09 2009-05-14 Kuka Roboter Gmbh Roboter
DE102007053538B4 (de) * 2007-11-09 2021-03-18 Deutsches Zentrum für Luft- und Raumfahrt e.V. Roboter
DE202015007161U1 (de) * 2015-10-15 2017-01-19 Kuka Roboter Gmbh Manipulator mit Wirbelrohr
EP3461600A1 (fr) * 2017-09-29 2019-04-03 Seiko Epson Corporation Robot
EP3461599A1 (fr) * 2017-09-29 2019-04-03 Seiko Epson Corporation Robot
US20190099881A1 (en) * 2017-09-29 2019-04-04 Seiko Epson Corporation Robot
US10940595B2 (en) 2017-09-29 2021-03-09 Seiko Epson Corporation Robot
US10953537B2 (en) 2017-09-29 2021-03-23 Seiko Epson Corporation Robot
CN111730642A (zh) * 2020-07-08 2020-10-02 浙江俊博汽车部件有限公司 一种汽车离合器配件生产线全自动机械臂

Also Published As

Publication number Publication date
JPH1190881A (ja) 1999-04-06

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