JPH033794A - Robot - Google Patents

Abstract

PURPOSE:To secure safety and to perform a sure and fine control by performing the delivery of and electric signal only inside an explosion-proof structure as well as performing a power generation inside the explosion-proof structure and performing the connection with the outside of an explosive atmosphere by a feeding hose feeding gas and an optical fiber cable only. CONSTITUTION:A power generation is performed inside an explosion-proof structure 12 by feeding gas via a feeding hose 16 to operate a control device 18 and photoelectric converter 17. When a control signal is fed by an optical signal via an optical fiber cable 20, this optical signal is converted into an electric signal by a photoelectric converter 17 and comes into the control device 18. A sensor 19 and gas motor 21, etc., are then controlled by the control signal converted into an electric signal. On the other hand, the signal fed from the sensor 19 is transmitted to the photoelectric converter 17 from the control device 18 and after being converted into an optical signal it is transmitted to the external part via the optical fiber cable 20.

Description

[Detailed Description of the Invention] <Industrial Application Field> The present invention relates to a robot that has an explosion-proof structure, is particularly safe, and can be controlled reliably, and is suitable for use, for example, in an explosive atmosphere. It is.

<Conventional technology> For example, when using a robot in an explosive atmosphere,
If a normal robot is used, there is a risk of explosion due to sparks caused by disconnection, etc.

Therefore, conventionally, robots used in explosive atmospheres have adopted a pneumatic signal system or the like as a signal transmission system, and a hydraulic/pneumatic system or the like as a power supply system.

<Problem to be solved by the invention> However, when a pneumatic signal system is used for the signal transmission system of a robot, since the control is based on pneumatic pressure, fine control is difficult, and it is difficult to use available sensors such as touch sensors. The problem is that it is limited. Further, when pneumatic pressure or hydraulic pressure is used in the power supply system, there is a problem in that fine positioning is still difficult and it is necessary to use more complicated coordinate transformation.

In view of these circumstances, the present invention aims to provide a robot that is both safe and highly controllable in an explosive atmosphere.

Means for Solving the Problems> A robot according to the present invention that achieves the above object has an explosion-proof structure in its main body, and includes a gas motor, a generator driven by the gas motor, and a photoelectric converter within the explosion-proof structure. The gas motor is characterized by comprising a supply hose for supplying air or inert gas to the gas motor and an optical fiber cable for signal transmission.

Function〉 The gas motor is driven by supplying air or inert gas through the supply hose, which turns the generator to generate electricity and obtains power if necessary.It also powers the photoelectric converter and control system. Activate.

Control signals from the outside are sent as optical signals to a photoelectric converter, where they are converted into electrical signals and then sent to the control system. On the other hand, data extracted as an electrical signal by the robot body is converted into an optical signal by an opto-electrical converter, and then sent as an optical signal to the outside via an optical fiber.

In this way, power generation and control using electrical signals are performed only within the explosion-proof structure of the robot body, and connection between the explosion-proof structure and the outside of the explosive atmosphere is made only by the supply hose and optical fiber cable.

Practical example Hereinafter, the present invention will be explained based on examples.

FIG. 1 shows a conceptual diagram of a four-bot system according to an embodiment. As shown in the figure, a robot main body 11 placed in an explosive atmosphere A is equipped with an explosion-proof structure 12, and various devices such as a power supply system and a signal transmission system are provided within this explosion-proof structure 12. ing.

In the figure, 13 is a gas header, 14 is a gas motor, and 15 is a generator, and the gas header 13 is supplied with air or inert gas (hereinafter, air or inert gas is simply referred to as gas) from outside the explosive atmosphere A. A hose 16 is connected. The gas motor 14 is driven by the gas supplied to the gas header 13, and the driving force of the gas motor 14 rotates the generator 15 to generate electricity.

On the other hand, 17 is a photoelectric converter, and 18 is a control device that processes data from sensors, performs overall control, and sends and receives electrical signals.

19 is a sensor, etc., and the photoelectric converter 17 and the control device 18 are operated by electricity generated by the generator 15. Further, an optical fiber cable 20 for exchanging optical signals with the outside of the explosive atmosphere A is connected to the opto-electrical converter 17.

Furthermore, in this embodiment, a gas motor 21 is provided outside the explosion-proof structure 12 as a power source for the robot body 11. This gas motor 21 is driven by the gas supplied to the gas ladder 13, and is also controlled by a control signal from the control device 18.

In such a robot, first, the supply hose 16
Gas is supplied through the explosion-proof tank structure 12 to generate electricity, and the control device 18 and photoelectric conversion device 17 are operated. Next, when a control signal is sent in the form of an optical signal through the optical fiber cable 20, this optical signal is converted into an optical electrical signal @l! 17 converts it into an electrical signal and sends it to the control device 1.
Enter 8. Then, the sensor 19, gas motor 21, etc. are controlled by the control signal converted into an electric signal. on the other hand,
The signal from the sensor 19 is sent from the control device 18 to the photoelectric converter 17 and converted into an optical signal, and then sent to the outside via the optical fiber cable 20.

In such a robot, power is generated within the explosion-proof structure 12, and electrical signals are exchanged only within the explosion-proof structure 12. Connections with the outside of the explosive atmosphere A are made through the gas supply hose 16 and the optical fiber. Since the control is performed using only the cable 20, safety can be ensured, and since the control is performed using electrical signals, reliable and detailed control is possible.

FIGS. 2 to 4 each show conceptual diagrams of robot systems according to other embodiments. Incidentally, the same reference numerals are used for the same members as those in the above embodiment, and redundant explanation will be omitted.

The embodiment shown in FIG. 2 uses an electric motor 22 instead of the gas motor 21 as the power source for the robot body 11. This electric motor 22 is provided within the explosion-proof structure 12 and is driven by electric power generated by the generator 15.

In addition, the embodiment shown in FIG. 3 includes an illumination light 1. , TV camera, and other auxiliary equipment 23 are provided. The auxiliary equipment 23 of B is installed inside the explosion-proof structure 12,
It is operated by electric power from a generator 15 and also sends and receives electrical signals to and from a control device 18 .

Furthermore, the embodiment shown in FIG. 4 uses an electric motor 22 in place of the gas motor 21 as the power source for the robot 11, and also uses an illumination light.

It is equipped with an auxiliary device 23 for a TV child.

<Effects of the Invention> As explained above, according to the robot of the present invention, when operating in an explosive atmosphere, for example, there is no need to use an electric cable for connection with the outside, so safety can be ensured. Since the robot body is controlled and driven via electrical signals, reliable and detailed control is possible.

[Brief explanation of drawings]

FIGS. 1 to 4 each show a conceptual diagram of a system according to an embodiment of the present invention. In the drawing, 11 is the robot body, 12 is an explosion-proof structure, 13 is a gas header, 14 is a gas motor, 15 is a generator, 16 is a supply hose, 17 is a photoelectric converter, 18 is a control device, 19 is a sensor, and 20 is a light 21 is a gas motor, 22 is an electric motor, and 23 is an auxiliary machine (light, TV camera, etc.).

Claims (1)

[Claims] The main body has an explosion-proof structure, and has a gas motor, a generator driven by the gas motor, and a photoelectric converter within the explosion-proof structure, and a supply hose and signal transmission for supplying air or inert gas to the gas motor. A robot characterized in that it is equipped with an optical fiber cable for use.