CN108942903A - A kind of positive-pressure explosion-proof electric-type manipulator - Google Patents
A kind of positive-pressure explosion-proof electric-type manipulator Download PDFInfo
- Publication number
- CN108942903A CN108942903A CN201710362203.9A CN201710362203A CN108942903A CN 108942903 A CN108942903 A CN 108942903A CN 201710362203 A CN201710362203 A CN 201710362203A CN 108942903 A CN108942903 A CN 108942903A
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- China
- Prior art keywords
- pressure
- subsystem
- forearm
- connector assembly
- positive
- 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
- 210000000245 forearm Anatomy 0.000 claims abstract description 36
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 29
- 230000000087 stabilizing effect Effects 0.000 claims abstract description 4
- 238000007789 sealing Methods 0.000 claims description 16
- 238000009825 accumulation Methods 0.000 claims description 12
- 238000004880 explosion Methods 0.000 claims description 5
- 238000004134 energy conservation Methods 0.000 abstract description 4
- 230000007613 environmental effect Effects 0.000 abstract description 4
- 238000009434 installation Methods 0.000 abstract description 3
- 239000007789 gas Substances 0.000 description 11
- 239000002360 explosive Substances 0.000 description 7
- 239000000428 dust Substances 0.000 description 6
- 230000000694 effects Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000003068 static effect Effects 0.000 description 3
- 238000005381 potential energy Methods 0.000 description 2
- 230000000295 complement effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 239000002737 fuel gas Substances 0.000 description 1
- -1 polytetrafluoroethylene Polymers 0.000 description 1
- 229920001343 polytetrafluoroethylene Polymers 0.000 description 1
- 239000004810 polytetrafluoroethylene Substances 0.000 description 1
- 239000000843 powder Substances 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/046—Revolute coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to articulated robot fields, specifically a kind of positive-pressure explosion-proof electric-type manipulator, including pedestal, large arm, forearm and connector assembly, wherein large arm and pedestal are rotatablely connected, forearm and large arm are rotatablely connected, connector assembly and forearm are rotatablely connected, it further include control system, active ftercompction subsystem and passive pressure maintaining subsystem, the pedestal, large arm, the enclosure space of a connection is formed inside forearm and connector assembly, active ftercompction subsystem and passive pressure maintaining subsystem are controlled by the control system, and it acts on forming higher-pressure region by the active ftercompction subsystem in the enclosure space, and pass through the passive pressure maintaining subsystem pressure stabilizing, it is atmospheric area outside the enclosure space.The present invention only consumes energy in robot movement, does not consume positive pressure energy under manipulator not motion conditions, and moving link movement inertia is smaller, and energy conservation and environmental protection is smaller to the impact vibration of installation foundation.
Description
Technical field
The present invention relates to articulated robot field, specifically a kind of positive-pressure explosion-proof electric-type manipulator.
Background technique
Usually there are four axis and four for tool for horizontal articulated robot (Chinese translated name again: selection compliance put together machines arm)
A freedom of motion: X, Y, the translational degree of freedom of Z-direction and the rotational freedom around the rotation of Z axis have in the x, y direction
Biddability, and there is good rigidity in the Z-axis direction.The basic configuration of horizontal articulated robot includes pedestal, large arm, small
Four parts of arm and connector assembly, wherein large arm and forearm are concatenated two rod structures, and the arm of similar people can be put in limited
Space in carry out operation, it is recoverable after the completion of operation.It is directed to the positive-pressure explosion-proof side of horizontal articulated robot in the prior art
Method is to be continuously manipulator body interior using the compressed air line in workshop to provide compressed air, and no matter manipulator works also
Be do not work all can consumption of compressed air, and consume energy.
Summary of the invention
Summary of the invention
The purpose of the present invention is to provide a kind of positive-pressure explosion-proof electric-type manipulators, only disappear in robot movement
Energy consumption does not consume positive pressure energy under manipulator not motion conditions, and moving link movement inertia is smaller, and energy conservation and environmental protection is right
The impact vibration of installation foundation is smaller.
The purpose of the present invention is achieved through the following technical solutions:
A kind of positive-pressure explosion-proof electric-type manipulator, including pedestal, large arm, forearm and connector assembly, wherein large arm and pedestal
Rotation connection, forearm and large arm are rotatablely connected, and connector assembly and forearm are rotatablely connected, including control system, active ftercompction subsystem
System and passive pressure maintaining subsystem, the pedestal, large arm, forearm and connector assembly inside form the enclosure space of a connection,
Active ftercompction subsystem and passive pressure maintaining subsystem are controlled by the control system, and pass through the master in the enclosure space
Dynamic ftercompction subsystem acts on forming higher-pressure region, and by the passive pressure maintaining subsystem pressure stabilizing, the enclosure space outside is normal
Pressure area.
The active ftercompction subsystem includes motor, air pump and air inlet pipe, and air pump is passed through by motor driven, the motor
Control system control, high-pressure mouth and the base housing of the air pump are directly connected to, the air entry of the air pump with it is described into
Tracheae is connected, and the air inlet pipe another port is in the atmospheric area air-breathing for not containing combustible.
The passive pressure maintaining subsystem includes accumulation of energy bellows and adjustable pressure maintaining valve, and accumulation of energy bellows both ends pass through
Pipeline is communicated with the enclosure space, is equipped on any pipeline being connected with the enclosure space of the accumulation of energy bellows described
Adjustable pressure maintaining valve.
The connector assembly is movably arranged on the forearm, and straight line is equipped between the forearm and connector assembly
Dynamic pressure balancing subsystem is moved, the forearm enclosure interior is dynamic by the linear motion when the connector assembly is mobile
State pressure balance subsystem keeps pressure constant.
The linear motion dynamic pressure balancing subsystem includes the first seal bellows and the second seal bellows, described
The housing seal of first seal bellows and the adjacent one end of the second seal bellows and the forearm is connected, first sealing
The one end of bellows and the second seal bellows being located remotely from each other is tightly connected with the both ends of the connector assembly respectively, and described
First seal bellows and the second seal bellows are with the connector assembly moving telescopic.
The rotating part between any two component in the pedestal, large arm, forearm and connector assembly passes through rotatory sealing
Subsystem sealing.
The rotatory sealing subsystem includes a slip ring and an O-ring.
The control system is explosion-proof type Electric Appliance Cabinet and is connected by anti-explosion cable with pedestal.
Advantages of the present invention and good effect are as follows:
1, the present invention only consumes energy in robot movement, does not consume positive pressure under manipulator not motion conditions
Energy, energy conservation and environmental protection.
2, compared to the prior art, moving link movement inertia is smaller by the present invention, and such servo regenerates resistance consumption power
It is smaller, it is more energy saving.
3, manipulator of the invention is smaller to the impact vibration of installation foundation during braking.
4, the present invention is without pressure duct, operational safety.
Detailed description of the invention
Fig. 1 is schematic diagram of the invention.
Wherein, 101 be control system, and 102 be connector assembly, and 103 be atmospheric area, and 104 be higher-pressure region, and 105 be pedestal,
106 be motor, and 107 be air pump, and 108 be air inlet pipe, and 109 is are adjusted pressure maintaining valve, and 110 be accumulation of energy bellows, and 111 be large arm,
112 be forearm, and 113 be rotatory sealing subsystem, and 114 be the first seal bellows, and 115 be the second seal bellows.
Specific embodiment
The invention will be further described with reference to the accompanying drawing.
As shown in Figure 1, the present invention include control system 101, pedestal 105, large arm 111, forearm 112, connector assembly 102,
Active ftercompction subsystem, passive pressure maintaining subsystem, linear motion dynamic pressure balancing subsystem and rotatory sealing subsystem 116,
Wherein the control system 101 is explosion-proof type Electric Appliance Cabinet and has anti-explosion cable to connect with the progress of pedestal 105 cable static state, described
Pedestal 105, large arm 111, forearm 112 and connector assembly 102 are shell sealing and hollow interior cabling type structure, the pedestal
105 is fixed, and described 111 one end of large arm and the pedestal 105 are rotatablely connected, 111 other end of large arm and the forearm 112
One end rotation connection, the other end of the forearm 112 and the connector assembly 102 be rotatablely connected, the pedestal 105, large arm
111, the enclosure space being connected to is formed in forearm 112 and 102 shell of connector assembly, the enclosure space is in the active
Higher-pressure region 104 is formed under the action of ftercompction subsystem, is atmospheric area 103 outside the enclosure space, the atmospheric area 103 is
The region of robot work, may be containing the combustibles such as inflammable and explosive dust, gas, and the active ftercompction subsystem is from normal pressure
Area 103 draws the air without containing combustibles such as inflammable and explosive dust, gases, is higher-pressure region in the case where robot work
104 ftercompction tonifying Qi form higher-pressure region 104 and 103 pressure difference of atmospheric area, prevent the combustibles such as inflammable and explosive dust, gas into
Enter inside positive-pressure explosion-proof electric-type manipulator, reaches positive pressure electrical explosion proof purpose.
As shown in Figure 1, the active ftercompction subsystem is set to 105 side of pedestal, the active ftercompction subsystem
Including motor 106, air pump 107 and air inlet pipe 108, the motor 106 must be rotated and be driven in the case where manipulator behavior
Air pump 107 works, and high-pressure mouth and 105 shell of pedestal of the air pump 107 are directly connected to, and realizes and mends to 104 ftercompction of higher-pressure region
Gas, the air entry of the air pump 107 are connected with the air inlet pipe 108, and the length of the air inlet pipe 108 needs long enough, and passes through
Atmospheric area 103 containing combustibles such as inflammable and explosive dust, gases, flammable without containing inflammable and explosive dust, gas etc.
The atmospheric area 103 of object carries out air-breathing, is the air without containing fuel gas to guarantee to be pumped into.Manipulator has several in actual use
Set movement driving motor, is corresponding with a few set active ftercompction subsystems just to guarantee safety.
As shown in Figure 1, the passive pressure maintaining subsystem includes accumulation of energy bellows 110 and adjustable pressure maintaining valve 109, the storage
Energy 110 both ends of bellows are communicated by pipeline with the enclosure space, any empty with the closing in the accumulation of energy bellows 110
Between be connected pipeline be equipped with the adjustable pressure maintaining valve 109.The accumulation of energy bellows 110 is a kind of energy savings device, according to
Elasticity by compress bellows stores the elastic potential energy that the overpressure in gas system can be converted into compress bellows,
It is discharged when needing, mends feed system again, guarantee that whole system pressure is normal, the adjustable pressure maintaining valve 109 was used for
Carry protection, when the air pressure in the accumulation of energy bellows 110 is higher than the specified pressure of adjustable pressure maintaining valve 109, it is described can
It adjusts pressure maintaining valve 109 to be vented automatically, to guarantee that the pressure of compressed gas is unlikely to excessive and destroys system, while also further serve as
To the effect of pressure stabilizing, guarantee that whole system pressure is normal.
As shown in Figure 1, the linear motion dynamic pressure balancing subsystem includes that the first seal bellows 114 and second is close
Seal bellows 115, first seal bellows 114 and the adjacent one end of the second seal bellows 115 and the forearm 112
Shell static sealing is connected, one end difference of first seal bellows 114 and the second seal bellows 115 being located remotely from each other
Both ends sealing rotation with the connector assembly 102 connects, and first seal bellows 114 and the second sealing ripple
Pipe 115 is positively retained on the axis direction of connector assembly 102 with the mobile and passive follow-up telescoping of the connector assembly 102, from
And it may remain in the 112 enclosure interior pressure of forearm in the case that connector assembly 120 moves in a straight line.
Working principle mode that there are two types of the diameter of sections of first seal bellows 114 and the second seal bellows 115,
The switching method of two kinds of operating modes is the bellows for replacing different cross section diameter specifications series, one of working principle mode
Are as follows: the first seal bellows 114 is identical with the diameter of section of the second seal bellows 115, and movement relation is that volume is complementary, and first
Seal bellows 114 and the second seal bellows 115 are unchanged to manipulator internal pressure with the movement of connector assembly 102.Separately
Outer a kind of working principle mode are as follows: the diameter of section of the first seal bellows 114 and the second seal bellows 115 is not identical, fortune
Dynamic relationship is that volume is mutually made up the difference, and the first seal bellows 114 and the second seal bellows 115 hold with the movement of connector assembly 102
Product, which is mutually made up the difference, changes once manipulator internal pressure.
The rotating part between any two component in the pedestal 105, large arm 111, forearm 112 and connector assembly 102
Rotation dynamic sealing is carried out by rotatory sealing subsystem 113, to guarantee the pedestal 105, large arm 111, forearm 112 and end
Hold the enclosure space that a connection is formed in 102 shell of component.In the present embodiment, the rotatory sealing subsystem 113 is to belong to
The rubber o-ring of one kind of dynamic sealing, the slip ring made of a filled polytetrafluoroethylene and an offer elastic force forms, and is used for
It is sealed with the bar of rotation or pendulum motion, axis, pin, rotary joint etc., it is each in engineering machinery, building machinery and automobile equipment etc.
All there is revolving hydraulic rotation in industrial circle, can bear pressure at both sides or alternating pressure effect, this is skill known in this field
Art.
The operation principle of the present invention is that:
In pedestal 105, large arm 111, forearm 112 and connector assembly 102 in the present invention are shell static seal and are hollow
Linear structure is walked, forms the envelope of a connection in the pedestal 105, large arm 111, forearm 112 and 102 shell of connector assembly
Close space, the enclosure space forms higher-pressure region 104 under the action of the active ftercompction subsystem, outside the enclosure space
For the atmospheric area 103 of mechanical manual task, the active ftercompction subsystem is drawn from atmospheric area 103 and is not contained inflammable and explosive powder
The air of the combustibles such as dirt, gas, in the case where robot work be 104 ftercompction tonifying Qi of higher-pressure region, formed higher-pressure region 104 with
103 pressure difference of atmospheric area prevents the combustibles such as inflammable and explosive dust, gas from entering inside positive-pressure explosion-proof electric-type manipulator,
Reach positive pressure electrical explosion proof purpose, in addition passive pressure maintaining subsystem is by the elasticity of accumulation of energy bellows 110 in gas system
The elastic potential energy that overpressure can be converted into bellows stores, and discharges when needed, mends feed system again, protects
Card whole system pressure is normal, and the linear motion dynamic pressure balancing subsystem then may remain in connector assembly 120 and do directly
In the case that line moves, 112 enclosure interior pressure of forearm is unchanged.The present invention only consumes energy in robot movement
Amount, motor is out of service under manipulator not motion conditions, does not consume positive pressure energy, energy conservation and environmental protection.
Claims (8)
1. a kind of positive-pressure explosion-proof electric-type manipulator, including pedestal, large arm, forearm and connector assembly, wherein large arm and pedestal turn
Dynamic connection, forearm and large arm are rotatablely connected, and connector assembly and forearm are rotatablely connected, it is characterised in that: including control system
(101), active ftercompction subsystem and passive pressure maintaining subsystem, the pedestal (105), large arm (111), forearm (112) and end
The enclosure space that a connection is formed inside component (102) is held, active ftercompction subsystem and passive pressure maintaining subsystem pass through described
Control system (101) control, and act on forming higher-pressure region (104) by the active ftercompction subsystem in the enclosure space,
And by the passive pressure maintaining subsystem pressure stabilizing, the enclosure space outside is atmospheric area (103).
2. positive-pressure explosion-proof electric-type manipulator according to claim 1, it is characterised in that: the active ftercompction subsystem packet
Motor (106), air pump (107) and air inlet pipe (108) are included, air pump (107) is driven by motor (106), and the motor (106) is logical
The control system (101) control is crossed, high-pressure mouth and pedestal (105) shell of the air pump (107) are directly connected to, the air pump
(107) air entry is connected with the air inlet pipe (108), and the air inlet pipe (108) another port is not containing combustible
Atmospheric area (103) air-breathing.
3. positive-pressure explosion-proof electric-type manipulator according to claim 1, it is characterised in that: the passive pressure maintaining subsystem packet
Accumulation of energy bellows (110) and adjustable pressure maintaining valve (109) are included, accumulation of energy bellows (110) both ends pass through pipeline and the envelope
It closes space to communicate, be equipped on any pipeline being connected with the enclosure space of accumulation of energy bellows (110) described adjustable
Pressure maintaining valve (109).
4. positive-pressure explosion-proof electric-type manipulator according to claim 1, it is characterised in that: the connector assembly (102) can
It is movably set on the forearm (112), it is dynamic that linear motion is equipped between the forearm (112) and connector assembly (102)
State pressure balance subsystem, forearm (112) enclosure interior are transported when the connector assembly (102) are mobile by the straight line
Dynamic dynamic pressure balancing subsystem keeps pressure constant.
5. positive-pressure explosion-proof electric-type manipulator according to claim 4, it is characterised in that: the linear motion dynamic pressure
Balancing subsystem includes the first seal bellows (114) and the second seal bellows (115), first seal bellows
(114) it is connected with the housing seal of the adjacent one end of the second seal bellows (115) and the forearm (112), described first is close
Seal two of one end being located remotely from each other of bellows (114) and the second seal bellows (115) respectively with the connector assembly (102)
End is tightly connected, and first seal bellows (114) and the second seal bellows (115) are with the connector assembly (102)
Moving telescopic.
6. positive-pressure explosion-proof electric-type manipulator according to claim 1, it is characterised in that: the pedestal (105), large arm
(111), the rotating part between any two component in forearm (112) and connector assembly (102) passes through rotatory sealing subsystem
(113) it seals.
7. positive-pressure explosion-proof electric-type manipulator according to claim 6, it is characterised in that: the rotatory sealing subsystem
It (113) include a slip ring and an O-ring.
8. positive-pressure explosion-proof electric-type manipulator according to claim 1, it is characterised in that: the control system (101) is
It explosion-proof type Electric Appliance Cabinet and is connected by anti-explosion cable and pedestal (105).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710362203.9A CN108942903B (en) | 2017-05-22 | 2017-05-22 | Positive-pressure explosion-proof electric manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710362203.9A CN108942903B (en) | 2017-05-22 | 2017-05-22 | Positive-pressure explosion-proof electric manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108942903A true CN108942903A (en) | 2018-12-07 |
| CN108942903B CN108942903B (en) | 2020-10-09 |
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ID=64462204
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710362203.9A Active CN108942903B (en) | 2017-05-22 | 2017-05-22 | Positive-pressure explosion-proof electric manipulator |
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| Country | Link |
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| CN (1) | CN108942903B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112696612A (en) * | 2021-01-07 | 2021-04-23 | 湖南军成科技有限公司 | Positive pressure explosion-proof system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4698568A (en) * | 1985-03-29 | 1987-10-06 | Mitsubishi Jukogyo Kabushiki Kaisha | Antiexplosion structure in a working robot |
| CN101618551A (en) * | 2009-07-17 | 2010-01-06 | 清华大学 | System and method of positive-pressure explosion protection for robot |
| CN102079094A (en) * | 2009-11-26 | 2011-06-01 | 鸿富锦精密工业（深圳）有限公司 | Robot structure |
| CN105364912A (en) * | 2015-11-23 | 2016-03-02 | 中国科学院等离子体物理研究所 | A robotic gripper used in a vacuum environment |
| CN106002980A (en) * | 2016-06-15 | 2016-10-12 | 广州启帆工业机器人有限公司 | Six-axis spraying manipulator |
-
2017
- 2017-05-22 CN CN201710362203.9A patent/CN108942903B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4698568A (en) * | 1985-03-29 | 1987-10-06 | Mitsubishi Jukogyo Kabushiki Kaisha | Antiexplosion structure in a working robot |
| CN101618551A (en) * | 2009-07-17 | 2010-01-06 | 清华大学 | System and method of positive-pressure explosion protection for robot |
| CN102079094A (en) * | 2009-11-26 | 2011-06-01 | 鸿富锦精密工业（深圳）有限公司 | Robot structure |
| CN105364912A (en) * | 2015-11-23 | 2016-03-02 | 中国科学院等离子体物理研究所 | A robotic gripper used in a vacuum environment |
| CN106002980A (en) * | 2016-06-15 | 2016-10-12 | 广州启帆工业机器人有限公司 | Six-axis spraying manipulator |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112696612A (en) * | 2021-01-07 | 2021-04-23 | 湖南军成科技有限公司 | Positive pressure explosion-proof system |
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| Publication number | Publication date |
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| CN108942903B (en) | 2020-10-09 |
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