CN112757260B - A positive pressure explosion-proof automatic handling system - Google Patents
A positive pressure explosion-proof automatic handling system Download PDFInfo
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- CN112757260B CN112757260B CN202110018032.4A CN202110018032A CN112757260B CN 112757260 B CN112757260 B CN 112757260B CN 202110018032 A CN202110018032 A CN 202110018032A CN 112757260 B CN112757260 B CN 112757260B
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- explosion
- proof
- sealing cavity
- positive pressure
- base
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- 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
- B25J19/06—Safety devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a positive pressure explosion-proof automatic carrying system, which comprises a base, a main arm mechanism, an auxiliary arm mechanism, a positive pressure explosion-proof mechanism, a connecting arm and a positive pressure control cabinet, wherein the connecting arm is connected with the base through a connecting rod; the invention provides a six-axis movement manipulator, which comprises a base, a main arm mechanism, a connecting arm and an auxiliary arm mechanism, wherein the base comprises a base sealing shell, the main arm mechanism comprises a main arm sealing shell, the base sealing shell is communicated with the inner cavity of the main arm sealing shell and forms a first explosion-proof sealing cavity, the auxiliary arm mechanism comprises an auxiliary arm sealing shell, a second explosion-proof sealing cavity is formed in the auxiliary arm sealing shell, a positive pressure control cabinet comprises a cabinet body, a robot control system and an explosion-proof device, and the positive pressure control cabinet provides positive pressure for the first explosion-proof sealing cavity, the second explosion-proof sealing cavity and the third explosion-proof sealing cavity through the positive pressure explosion-proof mechanism, so that dangerous gas or powder is prevented from entering, and the robot control system packaged in the positive pressure control cabinet can safely control the main arm mechanism and the auxiliary arm mechanism.
Description
Technical Field
The invention relates to the field of robots, in particular to a positive pressure explosion-proof automatic carrying system.
Background
The use of industrial robots is an important indicator of the national level of industrial automation. With the rapid development of modern technology, industrial robots are widely used in various fields, and in the flammable dust environment, as flammable dust is a flammable and explosive substance, sparks or a certain temperature are encountered, explosion can occur, and serious consequences are caused, so that the universal robot needs to perform explosion-proof treatment to be applied in the flammable dust environment.
The explosion-proof robot has the advantages that the explosion-proof robot can improve the quality and the yield of products, and has important significance for guaranteeing the personal safety, improving the labor environment, relieving the labor intensity, improving the labor efficiency, saving the raw material consumption and reducing the production cost, and meanwhile, the explosion-proof robot has positive promotion effect on the development of intelligent industry in China. Therefore, the development of the positive pressure explosion-proof robot has important social benefit, economic significance and wide application prospect.
Disclosure of Invention
The invention aims to provide a positive pressure explosion-proof automatic carrying system applied to dangerous gas or powder environments.
The technical scheme includes that the positive pressure explosion-proof automatic carrying system comprises a base, a main arm mechanism, an auxiliary arm mechanism, a positive pressure explosion-proof mechanism, a connecting arm and a positive pressure control cabinet, wherein the base, the main arm mechanism, the connecting arm and the auxiliary arm mechanism are sequentially connected and form a six-axis movement manipulator, the base comprises a base seal shell, the main arm mechanism comprises a main arm seal shell, the base seal shell is communicated with the inner cavity of the main arm seal shell and forms a first explosion-proof seal cavity, the auxiliary arm mechanism comprises an auxiliary arm seal shell, a second explosion-proof seal cavity is formed in the auxiliary arm seal shell, the positive pressure control cabinet comprises a cabinet body, a robot control system and an explosion-proof device, a third explosion-proof seal cavity and a working cavity are arranged in the cabinet body, the third explosion-proof seal cavity and the working cavity are isolated through a partition board, the robot control system is arranged in the third explosion-proof seal cavity, the robot control system controls the six-axis movement manipulator to work, the explosion-proof device is inlaid on the side wall of the working cavity, the explosion-proof device is provided with a plurality of explosion-proof devices, and the first explosion-proof seal cavity and the positive pressure explosion-proof system is sealed to form at least one of the positive pressure explosion-proof system, and the positive pressure explosion-proof system is sealed and sealed by at least one of the first explosion-proof system and the first explosion-proof system.
The positive pressure explosion-proof mechanism comprises an air source input pipe and an air channel assembly, wherein the first explosion-proof sealing cavity, the second explosion-proof sealing cavity and the third explosion-proof sealing cavity are respectively communicated with the air source input pipe through one air channel assembly, the two air channel assemblies continuously or discontinuously input air into the first explosion-proof sealing cavity, the second explosion-proof sealing cavity and the third explosion-proof sealing cavity respectively, the first explosion-proof sealing cavity, the second explosion-proof sealing cavity and the third explosion-proof sealing cavity are respectively communicated with a first automatic pressure release valve, a second automatic pressure release valve and a third automatic pressure release valve which are used for externally and fixedly pressurizing and exhausting, and the first explosion-proof sealing cavity, the second explosion-proof sealing cavity and the third explosion-proof sealing cavity are respectively provided with a first differential pressure sensor, a second differential pressure sensor and a third differential pressure sensor.
The gas path assembly of the positive pressure explosion-proof mechanism comprises a first branch pipe, a manual ball valve and an electromagnetic valve, wherein a first air inlet port and a first air outlet port which are communicated with a first explosion-proof sealing cavity are respectively arranged on the base sealing shell and the main arm sealing shell, a first automatic pressure relief valve is arranged on the first air outlet port, a second air inlet port and a second air outlet port which are communicated with a second explosion-proof sealing cavity are arranged on the auxiliary arm sealing shell, the input end of the first branch pipe is communicated with a gas source input pipe, the output end of the first branch pipe is communicated with the first air inlet port, the second air inlet port or a third explosion-proof sealing cavity, a second automatic pressure relief valve is arranged on the second air outlet port, and the manual ball valve and the electromagnetic valve are both arranged on the first branch pipe.
The gas circuit assembly of the positive pressure explosion-proof mechanism further comprises an overflow regulating valve, the overflow regulating valve is connected with a gas source input pipe through a gas circuit branch pipe, and the input end and the output end of the overflow regulating valve are respectively communicated with the input end and the output end of the electromagnetic valve.
The air source input pipe is provided with a pressure reducing valve, and the pressure reducing valve is provided with an air filter.
At least two first exhaust ports of the main arm sealing shell are arranged, and at least two second exhaust ports of the auxiliary arm sealing shell are arranged.
The base also comprises a base and a turntable transmission assembly, wherein the base sealing shell is arranged on the base, the turntable transmission assembly is arranged in an inner cavity of the base sealing shell, the top of the base sealing shell is attached to the bottom of the main arm sealing shell, the inner cavities are mutually communicated, and the main arm mechanism is connected with the turntable transmission assembly.
The base sealing shell of the base is a cylindrical body with an open top, the base is provided with an air box communicated with the inner cavity of the base sealing shell, and the first air inlet port is arranged on the air box.
By adopting the technical scheme, the invention has the following beneficial effects:
the invention has ingenious structure, the positive pressure explosion-proof mechanism provides positive pressure for the first explosion-proof sealing cavity, the second explosion-proof sealing cavity and the third explosion-proof sealing cavity, dangerous gas or powder is prevented from entering the first explosion-proof sealing cavity, the second explosion-proof sealing cavity and the third explosion-proof sealing cavity, a robot control system packaged in the positive pressure control cabinet can safely control the main arm mechanism and the auxiliary arm mechanism, work in a dangerous environment is realized, the explosion-proof device has ingenious structure, the controller shell and the end cover form a sealed cavity for isolating the outside to place a control board, the control board is isolated, explosion and influence on the work of the control board under the dangerous gas environment and the dust environment are avoided, and the dangerous coefficient is reduced. The inner cavities of the base sealing shell and the main arm sealing shell are communicated to form a first explosion-proof sealing cavity, so that the two-shaft driving assembly and the one-shaft driving assembly can work safely. Through three four-axis casing, four-axis arm, five-axis casing and six-axis casing inner chamber intercommunication in proper order, constitute the explosion-proof sealed cavity of second for triaxial drive assembly, four-axis drive assembly, five-axis drive assembly, six-axis drive assembly can safe work.
Drawings
In order that the invention may be more readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings, in which
FIG. 1 is a schematic view of the structure of the base, main arm mechanism, sub-arm mechanism and connecting arm of the present invention;
FIG. 2 is a schematic view of the sub-arm mechanism of the present invention;
FIG. 3 is a schematic view of the main arm mechanism of the present invention;
FIG. 4 is a schematic view of the positive pressure explosion-proof mechanism of the present invention;
FIG. 5 is a schematic diagram of the structure of the positive pressure control cabinet of the present invention;
FIG. 6 is a schematic view of the structure of the flame-proof device of the present invention;
FIG. 7 is a cross-sectional view of the flameproof device of the present invention;
fig. 8 is an enlarged view of area a of fig. 7.
The reference numerals are:
The base 1, the base seal shell 1-1, the air box 1-1, the base 1-2 and the turntable transmission assembly 1-3;
the main arm mechanism 2, the main arm sealing shell 2-1, the connecting part 2-1-1, the first shaft installation part 2-1-2, the second shaft installation part 2-1-3, the first shaft motor explosion-proof shell 2-1-4, the second shaft motor explosion-proof shell 2-1-5, the main arm air flue 2-1-6, the first shaft driving component 2-2, the first shaft motor 2-1, the first shaft gear 2-2, the second shaft driving component 2-3, the second shaft motor 2-3-1, the second shaft gear 2-3-2 and the second shaft speed reducer 2-3-3;
The auxiliary arm mechanism 3, the auxiliary arm sealing shell 3-1, the three-four-axis shell 3-2, the first installation space 3-2-1, the second installation space 3-2-2, the upper arm end cover 3-2-3, the protection sealing cover 3-2-4, the four-axis arm 3-3, the five-axis shell 3-4, the main body part 3-4-1, the first extension arm 3-4-2, the second extension arm 3-4-3, the six-axis shell 3-5, the three-axis driving component 3-6-1, the three-axis speed reducer 3-6-2, the three-axis gear 3-6-3, the four-axis driving component 3-7, the four-axis motor 3-7-1, the four-axis speed reducer 3-7-2, the four-axis gear 3-7-3, the five-axis driving component 3-8, the five-axis motor 3-8-1, the synchronous belt transmission 3-8-2, the five-8-3, the six-axis driving component 3-9, the six-9-1, the six-axis motor 3-9, the six-3-9 and the six-axis end cover 3-9;
The device comprises a positive pressure explosion-proof mechanism 4, an air source input pipe 4-1, a pressure reducing valve 4-1-1, an air filter 4-1-2, an air path component 4-2, a first branch pipe 4-2-1, a manual ball valve 4-2-2, an electromagnetic valve 4-2-3, an overflow regulating valve 4-2-4 and an air path branch pipe 4-2-5;
the first explosion-proof sealing cavity 5, the first automatic pressure relief valve 5-1 and the first differential pressure sensor 5-2;
the second explosion-proof sealing cavity 6, the second automatic pressure relief valve 6-1 and the second differential pressure sensor 6-2;
A connecting arm 7;
The explosion-proof control cabinet comprises a positive pressure control cabinet body 8, a cabinet body 8-1, a third explosion-proof sealing cavity 8-1-1, a working cavity 8-1-2, a partition plate 8-1-3, an electric mounting plate 8-1-4, an explosion-proof plug 8-1-5, an explosion-proof device 8-2, a controller shell 8-2-1, a visual window 8-2-1-2, an explosion-proof visual component 8-2-1-3, explosion-proof glass 8-2-1-3-1, a glass cushion 8-2-1-3-2, a pressing plate 8-2-1-4, a connecting port 8-2-1-5, a mounting strut 8-2-1-6, an end cover 8-2-2, a quick connector 8-2-3, an end cover 8-2-4, a control plate 8-2-5, a sealing gasket 8-2-6, a button hole 8-2-1-7, an oil-free bushing 8-2-1-8, a button rod 8-2-1-9, a lengthening rod 8-1-9, a reset spring 8-2-1-10 and a gasket 11-1-10.
Detailed Description
Example 1
Referring to fig. 1 to 8, the positive pressure explosion-proof automatic carrying system of the present embodiment includes a base 1, a main arm mechanism 2, an auxiliary arm mechanism 3, a positive pressure explosion-proof mechanism 4, a connecting arm 7, and a positive pressure control cabinet 8. The base 1, the main arm mechanism 2, the connecting arm 7 and the auxiliary arm mechanism 3 are sequentially connected, and constitute a six-axis movement manipulator. The base 1 includes a base seal housing 1-1. The main arm mechanism 2 includes a main arm seal housing 2-1. The inner cavities of the base seal shell 1-1 and the main arm seal shell 2-1 are communicated and form a first explosion-proof seal cavity 5. The sub-arm mechanism 3 includes a sub-arm seal housing 3-1. The auxiliary arm sealing shell 3-1 is internally provided with a second explosion-proof sealing cavity 6. The positive pressure control cabinet 8 comprises a cabinet body 8-1, a robot control system and an explosion-proof device 8-2. A third explosion-proof sealing cavity 8-1-1 and a working cavity 8-1-2 are arranged in the cabinet body 8-1. The third explosion-proof sealing cavity 8-1-1 is isolated from the working cavity 8-1-2 by a partition plate 8-1-3. The robot control system is arranged in the third explosion-proof sealing cavity 8-1-1, and the robot control system controls the six-axis movement manipulator to work. The explosion-proof device 8-2 is embedded on the side wall of the working cavity 8-1-2. The flameproof devices 8-2 are provided with a plurality of, at least two flameproof devices 8-2 are internally packaged with a positive pressure system, and at least one flameproof device 8-2 is packaged with a power supply control system. The positive pressure system controls the positive pressure explosion-proof mechanism 4 to input gas into the first explosion-proof sealing cavity 5, the second explosion-proof sealing cavity 6 and the third explosion-proof sealing cavity 8-1-1, so that positive pressure is formed in the first explosion-proof sealing cavity 5, the second explosion-proof sealing cavity 6 and the third explosion-proof sealing cavity 8-1-1.
The flameproof device 8-2 comprises a controller shell 8-2-1, an end cover 8-2-2, a quick connector 8-2-3, an end cover plate 8-2-4 and a control panel 8-2-5. The end cap 8-2-2 is fixedly arranged at the bottom of the controller shell 8-2-1, and a sealed cavity 8-2-1-1 is formed inside the controller shell 8-2-1. The quick connector 8-2-3 is arranged on the side wall of the controller shell 8-2-1, and a sealing channel for a line to enter and exit the sealing cavity 8-2-1-1 is arranged in the quick connector 8-2-3. The control board is disposed in the controller housing 8-2-1. The power supply control system or positive pressure system is encapsulated in the control board 8-2-5.
A visual window 8-2-1-2 is provided on top of the controller housing 8-2-1. The inner top surface of the controller shell 8-2-1 is provided with an explosion-proof visual component 8-2-1-3 for sealing the visual window 8-2-1-2.
The explosion-proof visual assembly 8-2-1-3 of the controller housing 8-2-1 includes an explosion-proof glass 8-2-1-3-1 that fits inside the visual window 8-2-1-2, and a glass mat 8-2-1-3-2 that surrounds the periphery of the explosion-proof glass 8-2-1-3-1 and seals the visual window 8-2-1-2.
The sealing cavity 8-2-1-1 of the controller shell 8-2-1 is provided with a pressing plate 8-2-1-4. The compacting plates 8-2-1-4 are attached to the bottom surface of the glass cushion 8-2-1-3-2 of the explosion-proof visual component 8-2-1-3 and are fixed with the inner top surface of the controller shell 8-2-1 through screws.
The peripheral surface of the controller shell 8-2-1 is provided with a connecting port 8-2-1-5 communicated with the sealing cavity 8-2-1-1. The connecting port 8-2-1-5 is in threaded connection with one end of the quick connector 8-2-3.
The sealing cavity 8-2-1-1 of the controller shell 8-2-1 is fixedly provided with a mounting strut 8-2-1-6. The two ends of the mounting strut 8-2-1-6 are respectively fixed with the control board 8-2-5 and the inner top surface of the controller shell 8-2-1. The display area of the control panel 8-2-5 is facing the visual window 8-2-1-2.
A sealing gasket 8-2-6 is arranged between the end cover plate 8-2-4 and the controller shell 8-2-1.
The top surface of the controller housing 8-2-1 is provided with button holes 8-2-1-7. One end of the button hole 8-2-1-7 facing the sealing cavity 8-2-1-1 is fixed with an oil-free bushing 8-2-1-8. Button holes 8-2-1-7 are provided therein with button bars 8-2-1-9. The bottom of the button rod 8-2-1-9 penetrates through the oilless bushing 8-2-1-8 and is in sealed sliding connection with the oilless bushing 8-2-1-8. The bottom of the button rod 8-2-1-9 is provided with an extension rod 8-2-1-9-1. The extension bar 8-2-1-9-1 is attached to the control button of the control board 8-2-5. Button hole 8-2-1-7 is provided with button return spring 8-2-1-10 cooperating with button rod 8-2-1-9.
The bottom of the button rod 8-2-1-9 of the controller shell 8-2-1 is provided with a gasket 8-2-1-11 attached to the bottom of the oilless bushing 8-2-1-8.
An electrical mounting plate 8-1-4 is arranged in the third explosion-proof sealing cavity 8-1-1 of the cabinet body 8-1. The robot control system is provided on the electrical mounting board 8-1-4.
The side wall of the third explosion-proof sealing cavity 8-1-1 of the cabinet body 8-1 is embedded with an explosion-proof plug 8-1-5. The explosion-proof plug 8-1-5 is connected with an external power supply through a cable to supply power for the power supply control system.
The positive pressure explosion-proof mechanism 4 comprises an air source input pipe 4-1 and an air path assembly 4-2. The first explosion-proof sealing cavity 5, the second explosion-proof sealing cavity 6 and the third explosion-proof sealing cavity 8-1-1 are respectively communicated with the air source input pipe 4-1 through one air passage component 4-2, and the two air passage components 4-2 continuously or intermittently input air to the first explosion-proof sealing cavity 5, the second explosion-proof sealing cavity 6 and the third explosion-proof sealing cavity 8-1-1 respectively. The first explosion-proof sealing cavity 5, the second explosion-proof sealing cavity 6 and the third explosion-proof sealing cavity 8-1-1 are respectively communicated with a first automatic pressure relief valve 5-1, a second automatic pressure relief valve 6-1 and a third automatic pressure relief valve which are used for externally and fixedly discharging air. The first explosion-proof sealing cavity 5, the second explosion-proof sealing cavity 6 and the third explosion-proof sealing cavity 8-1-1 are respectively provided with a first pressure difference sensor 5-2, a second pressure difference sensor 6-2 and a third pressure difference sensor.
The air circuit component 4-2 of the positive pressure explosion-proof mechanism 4 comprises a first branch pipe 4-2-1, a manual ball valve 4-2-2 and an electromagnetic valve 4-2-3. The base seal housing 1-1 and the main arm seal housing 2-1 are respectively provided with a first air inlet port and a first air outlet port which are communicated with the first explosion-proof seal cavity 5. The first exhaust port is provided with a first automatic relief valve 5-1. The auxiliary arm sealing shell 3-1 is provided with a second air inlet port and a second air outlet port which are communicated with the second explosion-proof sealing cavity 6. The input end of the first branch pipe 4-2-1 is communicated with the air source input pipe 4-1, and the output end of the first branch pipe 4-2-1 is communicated with the first air inlet port, the second air inlet port or the third explosion-proof sealing cavity 8-1-1. The second exhaust port is provided with a second automatic relief valve 6-1. The manual ball valve 4-2-2 and the electromagnetic valve 4-2-3 are arranged on the first branch pipe 4-2-1.
The air circuit assembly 4-2 of the positive pressure explosion-proof mechanism 4 also comprises an overflow regulating valve 4-2-4. The overflow regulating valve 4-2-4 is connected with the air source input pipe 3-5 through the air path branch pipe 4-2-5, and the input end and the output end of the overflow regulating valve 4-2-4 are respectively communicated with the input end and the output end of the electromagnetic valve 4-2-3.
The air source input pipe 4-1 is provided with a pressure reducing valve 4-1-1. The pressure reducing valve 4-1-1 is provided with a gas filter 4-1-2.
The first exhaust port of the main arm seal housing 2-1 is provided with at least two. The second exhaust port of the sub-arm seal housing 3-1 is provided with at least two.
The base 1 further comprises a base 1-2 and a turntable transmission assembly 1-3. The base seal housing 1-1 is provided on the base 1-2. The turntable transmission assembly 1-3 is arranged in the inner cavity of the base seal shell 1-1. The top of the base seal housing 1-1 is attached to the bottom of the main arm seal housing 2-1, and the inner cavities are communicated with each other. The main arm mechanism 2 is connected with the turntable transmission assembly 1-3.
The base seal housing 1-1 of the base 1 is a cylindrical body with an open top. The base 1 is provided with an air box 1-1-1 communicated with the inner cavity of the base seal shell 1-1. The first air inlet port is arranged on the air box 1-1-1.
The main arm mechanism 2 further includes a one-axis drive assembly 2-2 and a two-axis drive assembly 2-3. The main arm seal housing 2-1 is erected on top of the base seal housing 1-1. The top of the turntable transmission component 1-3 of the base 1 extends into the inner cavity of the main arm sealing shell 2-1, and a bearing is arranged between the top of the turntable transmission component 1-3 and the inner wall of the main arm sealing shell 2-1. The primary shaft driving component 2-2 and the secondary shaft driving component 2-3 are arranged in the main arm sealing shell 2-1. The primary shaft driving component 2-2 and the secondary shaft driving component 2-3 are respectively connected with the turntable transmission component 1-3 and the connecting arm 7, and the rotation axes of the primary shaft driving component 2-2 and the secondary shaft driving component 2-3 are mutually perpendicular on the projection of a vertical plane. The main arm seal housing 2-1 is rotated by a shaft drive assembly 2-2. The connecting arm 7 is rotated by the two-axis drive assembly 2-3.
The main arm seal housing 2-1 of the main arm mechanism 2 includes a connecting portion 2-1-1, and a one-shaft mounting portion 2-1-2 and a two-shaft mounting portion 2-1-3 provided on both sides of the connecting portion 2-1-1, respectively. The first shaft installation part 2-1-2 and the second shaft installation part 2-1-3 are respectively covered with a first shaft motor explosion-proof shell 2-1-4 and a second shaft motor explosion-proof shell 2-1-5. The main arm sealing shell 2-1 is provided with a main arm air passage 2-1-6. The main arm air flue 2-1-6 is communicated with the connecting part 2-1-1, the explosion-proof shell 2-1-4 of the one-shaft motor and the inner cavity of the explosion-proof shell 2-1-5 of the two-shaft motor. The explosion-proof housing 2-1-4 of the one-axis motor and the explosion-proof housing 2-1-5 of the two-axis motor are respectively provided with a first exhaust port communicated with the inner cavity.
The inner wall of the connecting part 2-1-1 of the main arm mechanism 2 is covered on the top of the turntable transmission assembly 1-3 of the base 1 and is connected with the inner wall of the connecting part 2-1-1 through a bearing. The bottom of the inner cavity of the connecting part 2-1-1 is communicated with the inner cavity of the base seal shell 1-1, and the top is communicated with the main arm air passage 2-1-6.
A shaft motor explosion-proof housing 2-1-4 of the main arm mechanism 2 is covered on the top of a shaft installation part 2-1-2, and one side of the shaft motor explosion-proof housing 2-1-4 is communicated with a main arm air passage 2-1-6.
A shaft drive assembly 2-2 of the main arm mechanism 2 includes a shaft motor 2-2-1 and a shaft tooth 2-2-2. A shaft motor 2-2-1 is fixed on top of a shaft mounting portion 2-1-2 and is located in an inner cavity of a shaft motor explosion-proof housing 2-1-4. The output shaft of a shaft motor 2-2-1 penetrates a shaft mounting portion 2-1-2 downward. A shaft gear 2-2 is provided on an output shaft of a shaft motor 2-2-1, and the output shaft of the shaft motor 2-2-1 is engaged with a turntable transmission assembly 1-3 of the base 1.
Circular mounting grooves are formed in two side faces of the two-shaft mounting part 2-1-3 of the main arm mechanism 2, and the circular mounting grooves on two sides are communicated. The explosion-proof shell 2-1-5 of the two-shaft motor is covered on a circular mounting groove on one side of the two-shaft mounting part 2-1-3, and the inner cavity is communicated with the main arm air passage 2-1-6. The other side of the two-shaft installation part 2-1-3 is connected with the bottom of one side of the connecting arm 7.
The two-shaft driving assembly 2-3 of the main arm mechanism 2 comprises a two-shaft motor 2-3-1, two-shaft teeth 2-3-2 and a two-shaft speed reducer 2-3-3. The two-shaft motor 2-3-1 is arranged on one side surface of the two-shaft installation part 2-1-3, and the two-shaft motor 2-3-1 is positioned in the inner cavity of the two-shaft motor explosion-proof shell 2-1-5. The two-shaft speed reducer 2-3-3 is fixed in a mounting groove on the other side surface of the two-shaft mounting part 2-1-3, and the output part is connected with the bottom of one side of the connecting arm 7. An output shaft of the two-shaft motor 2-3-1 penetrates through the side wall of the two-shaft installation part 2-1-3 and is connected with the input end of the two-shaft speed reducer 2-3-3.
The auxiliary arm sealing shell 3-1 of the auxiliary arm mechanism 3 comprises a three-four-shaft shell 3-2, a four-shaft arm 3-3, a five-shaft shell 3-4 and a six-shaft shell 3-5 which are movably connected in sequence. The inner cavities of the three-four-axis shell 3-2, the four-axis arm 3-3, the five-axis shell 3-4 and the six-axis shell 3-5 are communicated in sequence. The tri-quad housing 3-2 is provided with a second air inlet port communicating with the inner chamber. The three-four-axis shell 3-2, the five-axis shell 3-4 and the six-axis shell 3-5 are respectively provided with a second exhaust port.
The auxiliary arm mechanism 3 further comprises a three-shaft driving assembly 3-6, a four-shaft driving assembly 3-7, a five-shaft driving assembly 3-8 and a six-shaft driving assembly 3-9. The four-axis arm 3-3 is rotatably connected to the front portion of the three-four-axis housing 3-2. The three-axis driving assembly 3-6 is arranged in the tail part of the three-four-axis shell 3-2, the output part is connected with the top part of one side of the connecting arm 7, and the three-four-axis shell 3-2 is driven to rotate through the output part. The four-axis driving assembly 3-7 is arranged in the front part of the three-four-axis shell 3-2, and drives the four-axis arm 3-3 to rotate circumferentially through the output part. The rotation axis of the tri-quad housing 3-2 is perpendicular to the rotation axis of the quad arm 3-3. The five-axis driving assembly 3-8 is arranged in the five-axis shell 3-4, the output part is connected with the six-axis shell 3-5, and the six-axis shell 3-5 is driven to rotate through the output part. The rotation axis of the six-axis housing 3-5 is perpendicular to the rotation axis of the four-axis arm 3-3. The six-axis driving assembly 3-9 is arranged in the six-axis shell 3-5, the output part is connected with the tail end of the robot, and the tail end of the robot is driven to rotate through the output part. The axis of rotation of the robot tip is collinear with the axis of rotation of the four-axis arm 3-3.
The inside of the three-four-shaft shell 3-2 of the auxiliary arm mechanism 3 is provided with a first installation space 3-2-1 and a second installation space 3-2-2 which are communicated with each other. The second installation space 3-2-2 is provided above the first installation space 3-2-1. An opening is arranged on one side of the first installation space 3-2-1, and an upper arm end cover 3-2-3 is arranged on the opening. The rear part of the second installation space 3-2-2 is provided with an opening, and the opening is provided with a protective sealing cover 3-2-4. The three-axis driving assembly 3-6 and the four-axis driving assembly 3-7 are respectively arranged in the first installation space 3-2-1 and the second installation space 3-2-2. The four-axis arm 3-3 communicates with the second installation space 3-2-2.
The four-axis arm 3-3 of the auxiliary arm mechanism 3 is cylindrical, the inside is hollow, and openings are arranged in the front and the rear. The five-axis housing 3-4 includes a main body 3-4-1, and a first extension arm 3-4-2 and a second extension arm 3-4-3 located on both sides of the main body 3-4-1. The main body part 3-4-1 is fixedly connected with the front part of the four-axis arm 3-3, and the inner cavities are mutually communicated. The main body 3-4-1 communicates with the inner cavities of the first connecting portion 3-4-2 and the second connecting portion 3-4-3. The six-axis housing 3-5 is provided between the first connecting portion 3-4-2 and the second connecting portion 3-4-3. One side of the six-axis shell 3-5 is connected with the output end of the five-axis driving component 3-8 in the first connecting part 3-4-2. The other side of the six-axis housing 3-5 is communicated with the second connecting part 3-4-3.
The three-shaft driving assembly 3-6 of the auxiliary arm mechanism 3 comprises a three-shaft motor 3-6-1, a three-shaft speed reducer 3-6-2 and three-shaft teeth 3-6-3. The three-axis motor 3-6-1 is provided in the first installation space 3-2-1 of the three-four-axis housing 3-2. The three-shaft speed reducer 3-6-2 is arranged on one side surface of the three-four-shaft shell 3-2, and the output part is connected with the top of one side of the connecting arm 7. The triaxial gear 3-6-3 is arranged on the output shaft of the triaxial motor 3-6-1 and meshed with the input end of the triaxial speed reducer 3-6-2.
The four-axis driving assembly 3-7 of the auxiliary arm mechanism 3 comprises a four-axis motor 3-7-1, a four-axis speed reducer 3-7-2 and four-axis teeth 3-7-3. The four-axis motor 3-7-1 is disposed in the second installation space 3-2-2 of the three-four-axis housing 3-2. The four-axis speed reducer 3-7-2 is arranged at the front part of the three-four-axis shell 3-2, and the output part is fixed with the rear part of the four-axis arm 3-3 through a connecting flange. The four-axis gear 3-7-3 is arranged on the output shaft of the four-axis motor 3-7-1 and meshed with the input end of the four-axis speed reducer 3-7-2.
The five-axis driving assembly 3-8 of the auxiliary arm mechanism 3 comprises a five-axis motor 3-8-1, a synchronous belt transmission part 3-8-2 and a five-axis speed reducer 3-8-3. The five-axis motor 3-8-1 is arranged in the main body part 3-4-1. The synchronous belt driving part 3-8-2 is arranged in the first extension arm 3-4-2. The five-axis speed reducer 3-8-3 is arranged on one side surface of the first extension arm 3-4-2 facing the second extension arm 3-4-3. The input end and the output end of the synchronous belt driving part 3-8-2 are respectively connected with the output shaft of the five-shaft motor 3-8-1 and the input end of the five-shaft speed reducer 3-8-3. The output part of the five-axis speed reducer 3-8-3 is fixed with one side of the six-axis shell 3-5.
The six-axis driving component 3-9 of the auxiliary arm mechanism 3 comprises a six-axis motor 3-9-1, a six-axis speed reducer 3-9-2, six-axis teeth 3-9-3 and six-axis end covers 3-9-4. The six-axis motor 3-9-1 is arranged in the inner cavity of the six-axis shell 3-5. The six-axis speed reducer 3-9-2 is arranged on the front part of the six-axis shell 3-5. The six-axis gear 3-9-3 is arranged on the output shaft of the six-axis motor 3-9-1 and meshed with the input end of the six-axis speed reducer 3-9-2. The six-axis end cover 3-9-4 is fixed on the output part of the six-axis speed reducer 3-9-2 and is connected with the tail end of the robot.
In specific implementation, the gas circuit components 4-2 connected with the first explosion-proof sealing cavity 5, the second explosion-proof sealing cavity 6 and the third explosion-proof sealing cavity 8-1-1 respectively work and do not synchronously work. The gas circuit assembly 4-2 works as a first explosion-proof sealing cavity 5, a second explosion-proof sealing cavity 6 or a third explosion-proof sealing cavity 8-1-1 to provide positive pressure, the electromagnetic valve 4-2-3 is opened, the gas source is depressurized through the pressure reducing valve 4-1-1 on the gas source input pipe 4-1 and then enters the first explosion-proof sealing cavity 5, the second explosion-proof sealing cavity 6 or the third explosion-proof sealing cavity 8-1-1, the first automatic pressure releasing valve 5-1, the second automatic pressure releasing valve 6-1 and the third automatic pressure releasing valve are opened to ventilate the first explosion-proof sealing cavity 5, the second explosion-proof sealing cavity 6 or the third explosion-proof sealing cavity 8-1-1, and dangerous gas or powder in the first explosion-proof sealing cavity 5, the second explosion-proof sealing cavity 6 or the third explosion-proof sealing cavity 8-1-1 is discharged, after ventilation is finished, the electromagnetic valve 4-2-3 is continuously opened, the first automatic pressure relief valve 5-1, the second automatic pressure relief valve 6-1 and the third automatic pressure relief valve are closed, the first explosion-proof sealing cavity 5, the second explosion-proof sealing cavity 6 or the third explosion-proof sealing cavity 8-1-1 is inflated, after inflation is finished, the electromagnetic valve 4-2-3 is closed, and the first explosion-proof sealing cavity 5, the second explosion-proof sealing cavity 6 or the third explosion-proof sealing cavity 8-1 is supplemented with gas through the overflow regulating valve 4-2-4, so that positive pressure of the first explosion-proof sealing cavity 5, the second explosion-proof sealing cavity 6 or the third explosion-proof sealing cavity 8-1-1 is maintained.
While the foregoing is directed to embodiments of the present invention, other and further details of the invention may be had by the present invention, it should be understood that the foregoing description is merely illustrative of the present invention and that no limitations are intended to the scope of the invention, except insofar as modifications, equivalents, improvements or modifications are within the spirit and principles of the invention.
Claims (5)
1. A positive pressure explosion-proof automatic carrying system is characterized by comprising a base (1), a main arm mechanism (2), an auxiliary arm mechanism (3), a positive pressure explosion-proof mechanism (4), a connecting arm (7) and a positive pressure control cabinet (8), wherein the base (1), the main arm mechanism (2), the connecting arm (7) and the auxiliary arm mechanism (3) are sequentially connected and form a six-axis movement manipulator, the base (1) comprises a base sealing shell (1-1), the main arm mechanism (2) comprises a main arm sealing shell (2-1), the base sealing shell (1-1) is communicated with an inner cavity of the main arm sealing shell (2-1) and forms a first explosion-proof sealing cavity (5), the auxiliary arm mechanism (3) comprises an auxiliary arm sealing shell (3-1), a second explosion-proof sealing cavity (6) is formed inside the auxiliary arm sealing shell (3-1), and the positive pressure control cabinet (8) comprises a cabinet body (8-1), The explosion-proof system comprises a robot control system and explosion-proof devices (8-2), wherein a third explosion-proof sealing cavity (8-1-1) and working cavities (8-1-2) are arranged in a cabinet body (8-1), the third explosion-proof sealing cavity (8-1-1) is isolated from the working cavities (8-1-2) through a partition plate (8-1-3), the robot control system is arranged in the third explosion-proof sealing cavity (8-1-1) and controls a six-axis movement manipulator to work, the explosion-proof devices (8-2) are embedded on the side walls of the working cavities (8-1-2), the explosion-proof devices (8-2) are provided with a plurality of explosion-proof devices, at least two explosion-proof devices (8-2) are internally packaged with a positive pressure system, at least one explosion-proof device (8-2) is packaged with a power supply control system, and the positive pressure explosion-proof mechanism (4) is controlled by the positive pressure explosion-proof system to be the first explosion-proof sealing cavity (5), The second explosion-proof sealing cavity (6) and the third explosion-proof sealing cavity (8-1-1) are filled with gas, so that positive pressure is formed in the first explosion-proof sealing cavity (5), the second explosion-proof sealing cavity (6) and the third explosion-proof sealing cavity (8-1-1), the positive pressure explosion-proof mechanism (4) comprises an air source input pipe (4-1) and an air channel assembly (4-2), the first explosion-proof sealing cavity (5), the second explosion-proof sealing cavity (6) and the third explosion-proof sealing cavity (8-1) are communicated with the air source input pipe (4-1) through one air channel assembly (4-2) respectively, and the two air channel assemblies (4-2) are respectively connected to the first explosion-proof sealing cavity (5), The first explosion-proof sealing cavity (5), the second explosion-proof sealing cavity (6) and the third explosion-proof sealing cavity (8-1-1) are respectively communicated with a first automatic pressure release valve (5-1), a second automatic pressure release valve (6-1) and a third automatic pressure release valve which are used for externally and fixedly exhausting gas, the first explosion-proof sealing cavity (5), the second explosion-proof sealing cavity (6) and the third explosion-proof sealing cavity (8-1-1) are respectively provided with a first differential pressure sensor (5-2), a second differential pressure sensor (6-2) and a third differential pressure sensor, and an air passage component (4-2) of the positive pressure explosion-proof mechanism (4) comprises a first branch pipe (4-2-1), The manual ball valve (4-2-2) and the electromagnetic valve (4-2-3), a first air inlet port and a first air outlet port which are communicated with a first explosion-proof sealing cavity (5) are respectively arranged on the base sealing shell (1-1) and the main arm sealing shell (2-1), a first automatic pressure relief valve (5-1) is arranged on the first air outlet port, a second air inlet port and a second air outlet port which are communicated with a second explosion-proof sealing cavity (6) are arranged on the auxiliary arm sealing shell (3-1), the input end of the first branch pipe (4-2-1) is communicated with an air source input pipe (4-1), the output end of the first branch pipe (4-2-1) is communicated with the first air inlet port or the second air inlet port or the third explosion-proof sealing cavity (8-1-1), a second automatic pressure relief valve (6-1) is arranged on the second air outlet port, the manual ball valve (4-2-2) and the electromagnetic valve (4-2-3) are both arranged on the first branch pipe (4-2-1), and the pressure relief valve (4-1) is arranged on the air source input pipe (4-1-1).
2. The positive pressure explosion-proof automatic carrying system according to claim 1, wherein the air path assembly (4-2) of the positive pressure explosion-proof mechanism (4) further comprises an overflow regulating valve (4-2-4), the overflow regulating valve (4-2-4) is connected with an air source input pipe (3-5) through an air path branch pipe (4-2-5), and an input end and an output end of the overflow regulating valve (4-2-4) are respectively communicated with an input end and an output end of the electromagnetic valve (4-2-3).
3. The positive pressure explosion-proof automatic handling system according to claim 1, wherein at least two first exhaust ports of the main arm seal housing (2-1) are provided, and at least two second exhaust ports of the auxiliary arm seal housing (3-1) are provided.
4. The positive pressure explosion-proof automatic carrying system according to claim 1 is characterized in that the base (1) further comprises a base (1-2) and a turntable transmission assembly (1-3), the base sealing shell (1-1) is arranged on the base (1-2), the turntable transmission assembly (1-3) is arranged in an inner cavity of the base sealing shell (1-1), the top of the base sealing shell (1-1) is attached to the bottom of the main arm sealing shell (2-1) and communicated with the inner cavity, and the main arm mechanism (2) is connected with the turntable transmission assembly (1-3).
5. The positive pressure explosion-proof automatic carrying system is characterized in that a base sealing shell (1-1) of the base (1) is a cylindrical body with an open top, an air box (1-1-1) communicated with an inner cavity of the base sealing shell (1-1) is arranged on the base (1), and the first air inlet port is arranged on the air box (1-1-1).
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| CN115284257B (en) * | 2022-07-28 | 2023-04-07 | 航天云机(北京)科技有限公司 | An airtight explosion-proof manipulator suitable for oil and gas environments |
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| JPS61226282A (en) * | 1985-03-29 | 1986-10-08 | 三菱重工業株式会社 | Explosion-proof structure in working robot |
| DE102004015112A1 (en) * | 2004-03-27 | 2005-10-27 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Explosion protection cabinet and explosion protection arrangement |
| JP4817132B2 (en) * | 2009-04-13 | 2011-11-16 | 株式会社安川電機 | Internal pressure explosion-proof robot and internal pressure explosion-proof system provided with the same |
| CN101618551B (en) * | 2009-07-17 | 2011-01-05 | 清华大学 | System and method of positive-pressure explosion protection for robot |
| CN107229250A (en) * | 2017-07-14 | 2017-10-03 | 希美埃（芜湖）机器人技术有限公司 | A kind of malleation robot explosion protection system and its control method |
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