JPS63207585A - Inner-pressure explosionproof structure of electric robot - Google Patents
Inner-pressure explosionproof structure of electric robotInfo
- Publication number
- JPS63207585A JPS63207585A JP3747787A JP3747787A JPS63207585A JP S63207585 A JPS63207585 A JP S63207585A JP 3747787 A JP3747787 A JP 3747787A JP 3747787 A JP3747787 A JP 3747787A JP S63207585 A JPS63207585 A JP S63207585A
- Authority
- JP
- Japan
- Prior art keywords
- pressure
- air
- robot
- airtight
- gas
- Prior art date
- Legal status (The legal status 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 status listed.)
- Granted
Links
- 239000011261 inert gas Substances 0.000 claims description 10
- 238000010276 construction Methods 0.000 claims 1
- 238000010926 purge Methods 0.000 claims 1
- 239000007789 gas Substances 0.000 description 22
- 230000002000 scavenging effect Effects 0.000 description 15
- 239000002360 explosive Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000005856 abnormality Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000005315 distribution function Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
産業上の利用分野
本発明は、爆発の危険性のある雰囲気内で使用される、
例えば塗装作業用の電動式のロボットの内圧防爆構造に
関するものである。DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention is suitable for use in potentially explosive atmospheres.
For example, it relates to an internal pressure explosion-proof structure for an electric robot for painting work.
発明の背景
上記電動式ロボット（以下ロボット）の内圧防爆構造と
しては、従来、例えば実開昭５９−１６０１９３号公報
に開示されているものが知られている。BACKGROUND OF THE INVENTION As an internal pressure explosion-proof structure for the above-mentioned electric robot (hereinafter referred to as robot), the one disclosed in, for example, Japanese Utility Model Application Publication No. 59-160193 is known.
上記従来例における内圧防爆構造では、各アーム内に形
成された気密室内にアーム駆動用の電動式のモータが装
備されており、上記各気密室は、内部に配線を内蔵した
密封状のホースによって連通されている。In the conventional internal pressure explosion-proof structure described above, an electric motor for driving the arm is installed in an airtight chamber formed in each arm, and each airtight chamber is connected to a sealed hose with internal wiring. It is communicated.
そして、上記ロボットの動作時には、予め爆発性ガスの
侵入している可能性のある上記気密室内を掃気するため
、上記ホースを介して各気密室内に大気圧以上の空気又
は不活性ガスが供給され、周囲の爆発性ガスの上記気密
室内への侵入を防止している。When the robot operates, air at a pressure higher than atmospheric pressure or inert gas is supplied into each airtight chamber via the hose to scavenge the air in the airtight chamber where explosive gas may have entered. This prevents surrounding explosive gas from entering the airtight chamber.
ところが、上記従来例における内圧防爆構造では、上述
の如くモータを内蔵する全ての気密室が一連のホースに
よって連通されているため、気密室に侵入した爆発性ガ
スの掃気は効率良く行われず、かなりの時間を必要とす
る。また、上記各気密室に個別の排気口が設けられてい
ないことも上記掃気に時間が必要とされる一因である。However, in the conventional internal pressure explosion-proof structure described above, all the airtight chambers containing the motors are connected by a series of hoses, so the scavenging of explosive gas that has entered the airtight chambers is not carried out efficiently, and the time is required. Further, the fact that individual exhaust ports are not provided in each of the airtight chambers is also one of the reasons why the scavenging time is required.
発明の目的
本発明は、上記事情に鑑みて創案されたものであり、モ
ータが内蔵された気密室に空気又は不活性ガスが充填さ
れる際、上記気密室内の掃気を効率良く短時間に行うこ
とのできる内圧防爆構造の提供を目的とするものである
。Purpose of the Invention The present invention was devised in view of the above circumstances, and is an object of the present invention, which efficiently scavenges air in the airtight chamber in a short time when the airtight chamber in which the motor is built in is filled with air or inert gas. The purpose of this is to provide an internally pressurized explosion-proof structure.
発明の構成
上記の目的を達成するために、本発明が採用する主たる
手段は、その要旨とするところは、電動式ロボットに配
備される複数の駆動モータをそれぞれ収納し、且つこの
電動式ロボットの動作時には内部に空気又は不活性ガス
が充填される複数の気密室をブロック分けし、この各ブ
ロック毎に接続された各排気口に、各ブロックの掃気時
にのみ開く自動開閉弁を設けてなる点にかかる内圧防爆
構造である。Structure of the Invention In order to achieve the above object, the main means employed by the present invention is to accommodate each of a plurality of drive motors installed in an electric robot, and to A plurality of airtight chambers filled with air or inert gas during operation are divided into blocks, and each exhaust port connected to each block is equipped with an automatic opening/closing valve that opens only when each block is purged. It has an internal pressure explosion-proof structure.
実施例
ここに第１図は、本発明の一実施例にかかるロボットの
内圧防爆構造の構成図、第２図（ａｌ、 ｆｂｌ。Embodiment FIG. 1 is a block diagram of an internal pressure explosion-proof structure of a robot according to an embodiment of the present invention, and FIG. 2 (al, fbl.
（Ｃ１，＋ｄｌは上記内圧防爆構造に用いることのでき
る気体分配用の端子箱であって、同図ｆａｌは正面図、
同図ｆｂｌは同図ｆａｌにおける一部断面を有するＡ矢
視側面図、同図（Ｃ）は同図ｔａ＋におけるＢ矢視側面
図、同図ｆｄ）は同図ｆａｌにおけるｃ−ｃ ’矢視断
面図である。(C1, +dl is a terminal box for gas distribution that can be used in the above-mentioned internal pressure explosion-proof structure, and fal in the same figure is a front view,
The same figure fbl is a side view taken along arrow A with a partial cross section in the same figure fal, the same figure (C) is a side view taken along the B arrow at ta+ in the same figure, and the same figure fd) is a side view taken along arrows c-c' in the same figure fal. FIG.
なお、以下の実施例では６軸型のロボットに適用する場
合について説明する。In the following embodiments, a case where the present invention is applied to a 6-axis robot will be described.
従って、この実施例にかかるロボットの内圧防爆構造で
は、第１図に示す如く、図示せぬロボットの各アームを
駆動するために配備されるモータｌｌＩ＋、２１．ｌ、
３．ｎ、４．．５ｍ、６ｍが、それぞれ上記各アーム部
に設けられた気密室１，２，３．４，５．６に収納され
ている。上記各気密室Ｉ乃至６には、ロボットの動作時
に大気圧以上の空気又は不活性ガスが供給され、ロボッ
ト周囲の爆発性ガスの上記各気密室１乃至６内への侵入
が防止される。Therefore, in the internal pressure explosion-proof structure of the robot according to this embodiment, as shown in FIG. 1, motors llI+, 21. l,
3. n, 4. ．． 5 m and 6 m are respectively housed in airtight chambers 1, 2, 3.4, and 5.6 provided in each arm section. Air or inert gas at atmospheric pressure or higher is supplied to each of the airtight chambers I to 6 during operation of the robot, thereby preventing explosive gas around the robot from entering into each of the airtight chambers 1 to 6.
上記気密室１は、給気ホース７を介して気体分配機能を
有する端子箱２３ （第２図参照）に接続されており、
更に上記気密室１に接続された排気ホース１３の排気口
１３．が、圧力検出器２１を取り付けた配管３４を介し
て排気用の自動開閉弁２６に接続されている。The airtight chamber 1 is connected to a terminal box 23 (see FIG. 2) having a gas distribution function via an air supply hose 7,
Further, an exhaust port 13 of an exhaust hose 13 connected to the airtight chamber 1. is connected to an automatic opening/closing valve 26 for exhaust via a pipe 34 to which a pressure detector 21 is attached.
上記気密室２，３は、排気ホース１４と上記端子箱２３
に設けられた連通孔３９と給気ホース９とを介して連通
されており、上記気密室２が給気ホース８を介して上記
端子箱２３に接続されている。更に上記気密室３に接続
された排気ホース１５の排気口１５．が、圧力検出器２
０を取り付けた配管３５を介して自動開閉弁２５に接続
されている。The airtight chambers 2 and 3 are connected to the exhaust hose 14 and the terminal box 23.
The airtight chamber 2 is connected to the terminal box 23 via the air supply hose 8 and the air supply hose 9 . Further, an exhaust port 15 of an exhaust hose 15 connected to the airtight chamber 3. However, pressure detector 2
It is connected to the automatic on-off valve 25 via a pipe 35 to which a valve 0 is attached.
上記気密室４．５．６は、排気ホース１６と端子箱２３
の連通孔４０と給気ホース１１及び排気ホース１７と端
子箱２３の連通孔４１と給気ホース１２を介して連通さ
れており、上記気密室４が給気ホース１０を介して端子
箱２３に接続されている。更に上記気密室６に接続され
た排気ホース１８の排気口１Ｂ、が、圧力検出器１９を
取り付けた配管３６を介して自動開閉弁２４に接続され
ている。The airtight chamber 4.5.6 has an exhaust hose 16 and a terminal box 23.
The airtight chamber 4 is connected to the terminal box 23 through the air supply hose 10, and the airtight chamber 4 is connected to the terminal box 23 through the air supply hose 10. It is connected. Further, the exhaust port 1B of the exhaust hose 18 connected to the airtight chamber 6 is connected to the automatic on-off valve 24 via a pipe 36 to which a pressure detector 19 is attached.
上述の如く、本実施例においては、上記各気密室は１と
、２，３と、４．’５．６との３つのブロックに分割さ
れている。As mentioned above, in this embodiment, the airtight chambers are 1, 2, 3, 4. '5.6 is divided into three blocks.
上記端子箱２３は、２本の給気ホース３０，３１を介し
て気体中継器２９に接続されており、この気体中継器２
９は、配管４２を介して気体供給器２７に接続されてい
る。The terminal box 23 is connected to a gas relay 29 via two air supply hoses 30 and 31.
9 is connected to the gas supply device 27 via a pipe 42.
上記気体供給器２７は、配管３７を介して上記自動開閉
弁２４，２５．２６にパイロット圧を与える。The gas supply device 27 applies pilot pressure to the automatic on-off valves 24, 25, and 26 via piping 37.
ロボットへ通電する前に、気体供給器２７は配管４２に
空気又は不活性ガスを圧送する。この時自動開閉弁２４
乃至２６は閉じた状態である。気密室１乃至６内の圧力
が予め設定した掃気時の圧力値を超えれば圧力検出器１
９乃至２１からケーブル４４を通して制御盤２８に信号
が送られる。Before energizing the robot, the gas supply device 27 pumps air or inert gas into the pipe 42 . At this time, automatic opening/closing valve 24
26 are in a closed state. If the pressure in the airtight chambers 1 to 6 exceeds the preset pressure value during scavenging, the pressure detector 1
Signals are sent from 9 to 21 to the control panel 28 through cables 44.
その信号をうけて制御盤２８はケーブル４３を通して気
体供給器２７に掃気開始の、信号を送ると共に、掃気時
間のカウントを始める。Upon receiving this signal, the control panel 28 sends a signal to start scavenging to the gas supply device 27 through the cable 43, and starts counting the scavenging time.
掃気開始の信号を受けた気体供給器２７は、自動開閉弁
２４乃至２６に配管３７を通してパイロソト圧を送り、
弁を開放する。これにより掃気が始まる。制御盤２８に
よって予め決められた時間がカウントされ終わると、ケ
ーブル４３を通して気体供給器２７に掃気終了の信号を
送り、それを受けた気体供給器２７は自動開閉弁２４乃
至２６への圧供給をとりやめて弁を閉じる。Upon receiving the signal to start scavenging, the gas supply device 27 sends pyrosomatic pressure to the automatic on-off valves 24 to 26 through the piping 37.
Open the valve. This starts scavenging. When the predetermined time has been counted by the control panel 28, a scavenging end signal is sent to the gas supply device 27 through the cable 43, and the gas supply device 27 receives the signal and starts supplying pressure to the automatic on-off valves 24 to 26. Stop and close the valve.
圧力検出器１９乃至２１は掃気中に何らかの異常で圧力
が低下したとを検知すれば直ちにケーブル４４を通して
制御盤２８に信号を送る。その信号を受けた制御盤２８
はケーブル４３によって気体供給器２７へ掃気中断の信
号を送り、気体供給器２７は自動開閉弁２４乃至２６へ
の圧供給をとりやめて弁を閉じ、掃気を中止する。If the pressure detectors 19 to 21 detect that the pressure has decreased due to some abnormality during scavenging, they immediately send a signal to the control panel 28 through the cable 44. The control panel 28 that received the signal
sends a scavenging interruption signal to the gas supply device 27 via the cable 43, and the gas supply device 27 stops supplying pressure to the automatic on-off valves 24 to 26, closes the valves, and stops scavenging.
王宮に掃気が終わった後でロボットの運転が可能になる
。The robot will be able to operate after the royal palace has been purged.
圧力検出器１９乃至２１は掃気中でも運転中でも圧力が
低下すれば制御盤２８へ信号を送るばかりでなく、掃気
時の設定圧に達したかどうかの信号も送る。The pressure detectors 19 to 21 not only send a signal to the control panel 28 if the pressure decreases even during scavenging or during operation, but also send a signal indicating whether the set pressure during scavenging has been reached.
また、自動開閉弁２４乃至２６は、エアパイロット弁を
使用しているため危険地域に設置しても何ら問題はない
。Further, since the automatic on-off valves 24 to 26 use air pilot valves, there is no problem even if they are installed in a dangerous area.
上記端子箱２３には、前記各モータ１ｍ乃至６ｍを駆動
制御するための制御盤２８に接続された動力線３２及び
信号線３３が、それぞれ給気ホース３０．３１に内蔵さ
れて個別に接続されており、この動力線３２は端子箱２
３内で動力線ＩＰ、２Ｆ、３Ｐ、４Ｆ、５Ｐ、６Ｆに分
岐され、それぞれ給気ホース７．８．９．１０，１１．
１２の中を通って前記各モータ１１１１，２□、３．．
４．．５□、 ６１１１に接続されている。上記信号
線３３も上記動力線３２の場合と同様、端子箱２３内に
おいて信号線１ｒ、２．．３ｒ、４ｒ、５．．６ｒに分
岐され、排気ホース１３，１４，１５．１６．１７．１
８の中を通って各モータ１□、２□、３□、ｔｌＩ、５
．．６ｍに接続されている。A power line 32 and a signal line 33 connected to the control panel 28 for driving and controlling each of the motors 1 m to 6 m are built into the air supply hoses 30 and 31 and are individually connected to the terminal box 23, respectively. This power line 32 is connected to the terminal box 2.
3 branch into power lines IP, 2F, 3P, 4F, 5P, 6F, and air supply hoses 7, 8, 9, 10, 11.
12 to each of the motors 1111, 2□, 3. ．．
4. ．． 5□, connected to 6111. Similarly to the power line 32, the signal line 33 is also connected within the terminal box 23 to the signal lines 1r, 2. ．． 3r, 4r, 5. ．． Branched into 6r, exhaust hose 13, 14, 15.16.17.1
8 through each motor 1□, 2□, 3□, tlI, 5
．． ．． Connected to 6m.
なお、第２図Ｆｄｌに示すように上記動力線ＩＰ乃至６
．及び信号線１ｒ乃至６ｒの上記各給気ホース７乃至１
２及び排気ホース１３乃至１８への挿入部は端子箱２３
と連通している給気ホース７゜８．１０を除いて、ゴム
ブツシュ３８によって完全にシールされている。In addition, as shown in FIG. 2 Fdl, the power lines IP to 6
．． and each of the above air supply hoses 7 to 1 of the signal lines 1r to 6r.
2 and the insertion part for the exhaust hoses 13 to 18 is the terminal box 23.
It is completely sealed by a rubber bushing 38, except for the air supply hose 7°8.10, which communicates with the air supply hose 7°8.10.
上記したように構成される本発明の一実施例である内圧
防爆構造においては、ロボットの動作時に気体供給器２
７によって圧送される空気又は不活性ガスにより、自動
開閉弁２４，２５．２Ｅ）が開かれ、気密室１よりなる
ブロックと、気密室２．３よりなるブロックと、気密室
４，５．６よりなるブロックとは同時に掃気が行われる
。そして、上記各気密室１乃至６内の掃気が完了し、上
記自動開閉弁２４，２５．２６が閉しられた後、上記各
気密室内１乃至６には、大気圧以上の空気又は不活性ガ
スが充填される。In the internal pressure explosion-proof structure that is an embodiment of the present invention configured as described above, the gas supply device 2
The automatic opening/closing valves 24, 25.2E) are opened by the air or inert gas pumped by 7, and the block consisting of the airtight chamber 1, the block consisting of the airtight chamber 2.3, and the airtight chamber 4, 5.6 are opened. Scavenging is performed simultaneously with the blocks consisting of After the scavenging in each of the airtight chambers 1 to 6 is completed and the automatic opening/closing valves 24, 25, and 26 are closed, each of the airtight chambers 1 to 6 is filled with air at atmospheric pressure or higher or inert gas. Filled with gas.
つまり、上記実施例における内圧防爆構造においては、
容気密室１乃至６内の掃気は、各ブロック毎に効率良く
短時間に行うことができるのである。In other words, in the internal pressure explosion-proof structure in the above embodiment,
The air in the airtight chambers 1 to 6 can be efficiently scavenged for each block in a short time.
また上記実施例においては、各モータ１１乃至６ｍへの
動力線ＩＰ乃至６Ｐ及び信号線１ｒ乃至６ｒの接続が、
容気密室１乃至６に接続された給気ホース７乃至１２若
しくは排気ホース１３乃至１８を介してそれぞれ単独に
実施されているため、上記各信号線１ｒ乃至６ｒにノイ
ズがのることはなく、従って高精度のロボット制御を行
うことが可能となる。Further, in the above embodiment, the connection of the power lines IP to 6P and the signal lines 1r to 6r to each motor 11 to 6m is as follows.
Since this is carried out independently via the air supply hoses 7 to 12 or exhaust hoses 13 to 18 connected to the airtight chambers 1 to 6, there is no noise on each of the signal lines 1r to 6r. Therefore, it becomes possible to perform highly accurate robot control.
発明の効果
本発明は、上記したように、電動式ロボットに配備され
る複数の駆動モータをそれぞれ収納し、且つこの電動式
ロボットの動作時には内部に空気又は不活性ガスが充填
される複数の気密室をブロック分けし、この各ブロック
毎に接続された各排気口に、各ブロックの掃気時にのみ
開く自動開閉弁を設けてなることを特徴とする電動式ロ
ボットの内圧防爆構造であるから、モータが内蔵された
気密室に空気又は不活性ガスが充填される際、上記気密
室内の掃気を効率良く短時間に行うことができるのであ
る。Effects of the Invention As described above, the present invention provides a plurality of gas pumps each housing a plurality of drive motors installed in an electric robot, and the inside of which is filled with air or inert gas when the electric robot operates. The internal pressure explosion-proof structure of the electric robot is characterized by dividing the closed room into blocks, and installing an automatic opening/closing valve in each exhaust port connected to each block, which opens only when each block is purged. When the airtight chamber containing the airtight chamber is filled with air or inert gas, the air in the airtight chamber can be efficiently scavenged in a short time.
第１図は本発明の一実施例にかかるロボットの内圧防爆
構造の構成図、第２図［ａｌ、 （ｂｌ、 （ｃ）、
（ｄｉは上記内圧防爆構造に用いることのできる気体分
配用の端子箱であって、同図（ａｌは正面図、同図（ｂ
ｌは同図ｆａ＋における一部断面を有するＡ矢視側面図
、同図（Ｃ１は同図＋ａ＋におけるＢ矢視側面図、同図
（ｄ）は同図ｆａ）におけるｃ−ｃ ′矢視断面図であ
る。
（符号の説明）
１．２．３，４．５，６．・・・気密室１ｍ、２ｍ、３
ｍ、４．．５ｍ、６ｍ・・・モータ７、 ８． ９．
１０． １１゜
１２．３０．３１・・・給気ホース
Ｌ３． １４． １５． １６． １７． １８・・・
排気ホース
１３ａ、１５．．１８ａ・・・排気口
ＩＰ、２Ｐ、３Ｐ、Ｉ！Ｆ、５ｐ。
６Ｆ、３２・・・動力線
Ｉｒ、２ｒ、’３ｒ、４ｒ＋ ５ｒ＋６ｒ、３３・・
・信号線
１９．２０．２１・・・圧力検出器
２３・・・端子箱
２４．２５．２６・・・自動開閉弁
２７・・・気体供給器 ２８・・・制御盤２９・
・・気体中継器
３４、’ ３５．３６，３７．４２・・・配管３８・
・・ゴムブツシュ
３９．４０．４１・・・連通孔。Fig. 1 is a block diagram of an internal pressure explosion-proof structure of a robot according to an embodiment of the present invention, and Fig. 2 [al, (bl, (c),
(di is a terminal box for gas distribution that can be used in the above-mentioned internal pressure explosion-proof structure;
1 is a side view taken along arrow A with a partial cross section at fa+ in the same figure, C1 is a side view taken along arrow B at +a+ in the same figure, and (d) is a cross section taken along arrow c-c′ in the same figure fa) It is a diagram. (Explanation of symbols) 1.2.3, 4.5, 6. ...Airtight room 1m, 2m, 3
m, 4. ．． 5m, 6m...Motor 7, 8. 9.
10. 11゜12.30.31...Air supply hose L3. 14. 15. 16. 17. 18...
Exhaust hoses 13a, 15. ．． 18a...Exhaust port IP, 2P, 3P, I! F, 5p. 6F, 32... Power line Ir, 2r, '3r, 4r+ 5r+6r, 33...
・Signal line 19.20.21...Pressure detector 23...Terminal box 24.25.26...Automatic opening/closing valve 27...Gas supply device 28...Control panel 29・
... Gas repeater 34,' 35.36, 37.42... Piping 38.
...Rubber bushing 39.40.41...Communication hole.
Claims (1)
れ収納し、且つこの電動式ロボットの動作時には内部に
空気又は不活性ガスが充填される複数の気密室をブロッ
ク分けし、この各ブロック毎に接続された各排気口に、
各ブロックの掃気時にのみ開く自動開閉弁を設けてなる
ことを特徴とする電動式ロボットの内圧防爆構造。A plurality of airtight chambers each housing a plurality of drive motors installed in an electric robot and filled with air or inert gas when the electric robot operates are divided into blocks, and each block is connected to the other. For each exhaust port
An internal pressure explosion-proof construction for an electric robot characterized by an automatic opening/closing valve that opens only when purging each block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP62037477A JPH085027B2 (en) | 1987-02-19 | 1987-02-19 | Internal pressure explosion-proof device for electric robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP62037477A JPH085027B2 (en) | 1987-02-19 | 1987-02-19 | Internal pressure explosion-proof device for electric robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS63207585A true JPS63207585A (en) | 1988-08-26 |
| JPH085027B2 JPH085027B2 (en) | 1996-01-24 |
Family
ID=12498600
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP62037477A Expired - Fee Related JPH085027B2 (en) | 1987-02-19 | 1987-02-19 | Internal pressure explosion-proof device for electric robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH085027B2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0650784U (en) * | 1992-12-15 | 1994-07-12 | 川崎重工業株式会社 | Internal pressure explosion-proof robot |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61125791A (en) * | 1984-11-26 | 1986-06-13 | フアナツク株式会社 | Industrial robot of inner-pressure explosion-proof structure |
| JPS6263090A (en) * | 1985-09-11 | 1987-03-19 | トキコ株式会社 | Explosion-proof structure of electric robot |
| JPS62218095A (en) * | 1986-03-20 | 1987-09-25 | トキコ株式会社 | Gas-proof apparatus for electric robot |
-
1987
- 1987-02-19 JP JP62037477A patent/JPH085027B2/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61125791A (en) * | 1984-11-26 | 1986-06-13 | フアナツク株式会社 | Industrial robot of inner-pressure explosion-proof structure |
| JPS6263090A (en) * | 1985-09-11 | 1987-03-19 | トキコ株式会社 | Explosion-proof structure of electric robot |
| JPS62218095A (en) * | 1986-03-20 | 1987-09-25 | トキコ株式会社 | Gas-proof apparatus for electric robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0650784U (en) * | 1992-12-15 | 1994-07-12 | 川崎重工業株式会社 | Internal pressure explosion-proof robot |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH085027B2 (en) | 1996-01-24 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| LAPS | Cancellation because of no payment of annual fees |