CN102133754A

CN102133754A - Heavy explosion-proof manipulator

Info

Publication number: CN102133754A
Application number: CN2010106221300A
Authority: CN
Inventors: 李慧; 郭银田
Original assignee: SHANXI HUAXIN ELECTRIC APPLIANCE CO Ltd
Current assignee: SHANXI HUAXIN ELECTRIC APPLIANCE CO Ltd
Priority date: 2010-12-31
Filing date: 2010-12-31
Publication date: 2011-07-27

Abstract

The invention discloses a heavy explosion-proof manipulator which is characterized in that a pedestal box (1) is fixed on an operating platform by bolts, and a rotary-seat motor (2) is arranged in the pedestal box (1); the rotary-seat motor (2) is connected with a rotary seat (5) by a rotating shaft (3), a large-arm synchronous motor (10) is arranged on a welding fixed plate of the rotary seat (5), a large arm (6) is connected with a rotor of the large-arm synchronous motor (10) by a big key (9), and the two sides of the rotor are fixed by a bearing; a small-arm synchronous motor (12) is arranged at the top of the large arm (6), a small arm (7) is connected with a rotor on the small-arm synchronous motor (12) by a small key (11), and the two sides of the rotor are fixed by a bearing; a mechanical wrist (8) is connected with a rotor of a wrist rotating-shaft motor (14) by a wrist rotating-shaft (13); an explosion-proof junction box (4) is a power supply junction cavity for equipment; and a control system takes advanced chip controllers as control elements and takes a key switch and a touch screen as operating input signals. The heavy explosion-proof manipulator disclosed by the invention not only can improve the operating conditions, ensure the personal safety and reduce the labor intensity, but also can improve the operating efficiency and save the material consumption.

Description

Flame proof heavy-duty machinery hand

Technical field

The invention belongs to a kind of mining semi-automatic plant equipment, be specifically related to a kind of flame proof heavy-duty machinery hand.

Background technology

Casualties and dead accident frequently appear under the coal mine at present, security incident takes place frequently, because mine is a high risk industries, the condition of work very severe, the workman usually is engaged in heavy manual labor, therefore should widely apply robot and manipulator in this field, uses flame proof heavy-duty machinery hand can improve working conditions, guarantee personal safety, reduce labour intensity, and can also increase work efficiency economical with materials consumption.

Flame proof heavy-duty machinery hand can be engaged in carrying and fixed mode production work.

Summary of the invention

The present invention will provide a kind of employing high end chip programme-control variable frequency drives to realize the central controlled pattern of hardware exactly, and the mine working condition is poor in order to solve, personal safety lacks guarantee, labour intensity is big, inefficiency, the problem of high material consumption.

Technical scheme of the present invention: a kind of flame proof heavy-duty machinery hand, it comprises base box 1, revolving bed motor 2, rotating shaft 3, anti-explosion terminal box 4, revolving bed 5, big arm 6; forearm 7; mechanical wrist 8, big key 9, big arm motor 10; little key 11; forearm motor 12, wrist rotating shaft 13, wrist rotating shaft electric motor 14; base box 1 is by being bolted on the workbench; revolving bed motor 2 is installed in base box 1 body, and revolving bed motor 2 is connected with revolving bed 5 by rotating shaft 3, big arm synchronous motor 10 is installed on the welding fixed head of revolving bed 5; big arm 6 is connected by the rotor of big key 9 with big arm motor 10, and bearing fixing is passed through in the rotor both sides.Forearm synchronous motor 12 is installed in big arm 6 tops, and forearm 7 is connected with forearm motor 12 rotors by little key 11, and bearing fixing is passed through in the rotor both sides.Machinery wrist 8 is connected with the rotor of wrist rotating shaft electric motor 14 by wrist rotating shaft 13.Anti-explosion terminal box 4 is the power devices wire connection cavity.Control system uses the high end chip controller as control element, with key switch and the touch-screen input signal as operation.

The present invention compared with prior art has following beneficial effect: the present invention realizes the central controlled pattern of hardware by adopting high end chip programme-control variable frequency drives, make this equipment under the condition of work condition of severe, not only can improve working conditions, guarantee personal safety, reduce labour intensity, and can also increase work efficiency economical with materials consumption.

Description of drawings

Fig. 1 is a structural representation of the present invention;

Fig. 2 be among Fig. 1 A to cutaway view;

Fig. 3 be among Fig. 1 B to cutaway view;

Fig. 4 be among Fig. 1 C to cutaway view.

The specific embodiment

Among Fig. 1, revolving bed motor 2 is fixed by bolts to base box 1 inside, is connected with revolving bed 5 by rotating shaft 3, and in revolving bed 5, big arm motor 10 is installed on the motor fixing plate of revolving bed 5 and connects by bolt.Big arm 6 is fixed with rotor by big key 9, and rotor is by the both sides of bearing fixing at revolving bed, drive the motion of big arm by the rotation of big arm motor 10; forearm motor 12 is installed in the top of big arm 6; be installed on the motor fixing plate of big arm 6 and connect; forearm 7 is fixed with rotor by little key 11; rotor is by the both sides of bearing fixing at big arm; drive the motion of forearm by the rotation of forearm motor 12; wrist rotating shaft electric motor 14 is installed in the front end of forearm 7; be installed on the motor fixing plate of forearm 7 and connect; wrist rotating shaft 13 is fixed by the rotor of key and wrist rotating shaft electric motor 14 by bolt by bolt, and by the both sides of bearing fixing at forearm.The Electric Machine Control circuit, cross anti-explosion terminal box 4 with the external control link tester and be connected.

During this device work, cable inserts in the flame proof robot device by anti-explosion terminal box 4, revolving bed motor 2 drives revolving bed 5 and rotates, realize that revolving bed is that the center of circle moves in a circle with the base box, big arm motor 10 rotates by motor and drives big arm 6 and rotate along big arm motor; forearm motor 12 rotates by motor and drives forearm 7 and rotate along the forearm motor; wrist rotating shaft 13 is started wrist by wrist rotating shaft electric motor rotating band and rotated; finish the carrying that the coordinated movement of various economic factors of each motor is realized the down-hole by high end chip programme-control frequency converter, the work of fixed operation pattern.

1. permasyn morot is as power source:

Permasyn morot is that the slow-speed of revolution is carried out locating and monitoring by encoder to motor.

Because motor is that slow-speed of revolution total losses significantly reduce, motor temperature is lower.The air quantity of cooling fan and wind abrasion also can reduce.

2. driver control

The control of employing variable frequency drives realizes soft start, avoids the mechanical shock of electrical network heavy current impact and transmission load, guarantees operation stability.Adopt the encoder closed loop feedback, improve operational efficiency.

The course of work:

When using, main motion flow is: be installed in the revolving bed driven by motor revolving bed left-right rotation in the support, the big arm of big arm driven by motor that is installed in the revolving bed rotates, the forearm on big arm top rotates by the driven by motor forearm, wrist rotating shaft electric motor by the forearm front end drives the wrist rotation, machinery wrist front end can be used to carrying or fixed mode work, obtains thereby the position of mechanical wrist and movement locus can change stretching of big and small arms by the motion of control motor.

Claims

1. explosion-proof heavy mechanical hand; It comprises base box (1); Revolving bed motor (2); Rotating shaft (3); Anti-explosion terminal box (4); Revolving bed (5); Big arm (6); Forearm (7); Mechanical wrist (8); Big key (9); Big arm motor (10); Little key (11); Forearm motor (12); Wrist rotating shaft (13), wrist rotating shaft electric motor (14) is characterized in that: base box (1) is bolted on the workbench; It is inner that revolving bed motor (2) is located at base box (1); Revolving bed motor (2) is connected 5 by rotating shaft (3) with revolving bed) connect, big arm synchronous motor (10) is located at being welded and fixed on the plate of revolving bed (5), and big arm (6) is connected by the rotor of big key (9) with big arm motor (10); The rotor both sides are fixed by bearing; Forearm synchronous motor (12) is located at big arm (6) top, and forearm (7) is connected with forearm motor (12) rotor by little key (11), and the rotor both sides are fixed by bearing; Mechanical wrist (8) is connected with the rotor of wrist rotating shaft electric motor (14) by wrist rotating shaft (13); Anti-explosion terminal box (4) is the power devices wire connection cavity, and control system uses the high end chip controller as control element, with key switch and the touch-screen input signal as operation.