CN112696612A - Positive pressure explosion-proof system - Google Patents
Positive pressure explosion-proof system Download PDFInfo
- Publication number
- CN112696612A CN112696612A CN202110019388.XA CN202110019388A CN112696612A CN 112696612 A CN112696612 A CN 112696612A CN 202110019388 A CN202110019388 A CN 202110019388A CN 112696612 A CN112696612 A CN 112696612A
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- Prior art keywords
- positive pressure
- shell
- explosion
- pressure cavity
- proof
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17D—PIPE-LINE SYSTEMS; PIPE-LINES
- F17D1/00—Pipe-line systems
- F17D1/02—Pipe-line systems for gases or vapours
- F17D1/04—Pipe-line systems for gases or vapours for distribution of gas
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- 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
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
- B25J19/0079—Means for protecting the manipulator from its environment or vice versa using an internal pressure system
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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
- B25J19/02—Sensing devices
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17D—PIPE-LINE SYSTEMS; PIPE-LINES
- F17D3/00—Arrangements for supervising or controlling working operations
- F17D3/01—Arrangements for supervising or controlling working operations for controlling, signalling, or supervising the conveyance of a product
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- General Engineering & Computer Science (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a positive pressure explosion-proof system, which comprises a positive pressure explosion-proof cabinet body, a robot explosion-proof shell, an air source input pipe and an air path assembly, wherein the positive pressure explosion-proof cabinet body is provided with a gas path; the positive pressure explosion-proof cabinet body comprises a first positive pressure cavity; the robot explosion-proof shell comprises a second positive pressure cavity and a third positive pressure cavity; the first positive pressure cavity, the second positive pressure cavity and the third positive pressure cavity are respectively communicated with the gas source input pipe through a gas path component, and each gas path component continuously or discontinuously inputs gas to the first positive pressure cavity, the second positive pressure cavity and the third positive pressure cavity; the first positive pressure cavity, the second positive pressure cavity and the third positive pressure cavity are respectively communicated with a first automatic pressure relief valve, a second automatic pressure relief valve and a third automatic pressure relief valve which exhaust air to the outside at a constant pressure. According to the invention, the gas path assembly is used for inputting gas into the first positive pressure cavity, the second positive pressure cavity and the third positive pressure cavity, so that automatic positive pressure explosion prevention is realized, and the safety of the positive pressure explosion-proof cabinet body and the robot explosion-proof shell is improved.
Description
Technical Field
The invention relates to the field of robots, in particular to a positive pressure explosion-proof system.
Background
The application of industrial robots is an important sign of the national level of industrial automation. With the rapid development of modern science and technology, industrial robots have been widely used in various fields, and in the environment of combustible dust, as the combustible dust is flammable and explosive, the combustible dust may explode when meeting sparks or reaching a certain temperature, which causes serious consequences, the general robot needs to be subjected to explosion-proof treatment to be applied in the environment of combustible dust.
The application of the explosion-proof robot can not only improve the quality and the yield of products, but also has important significance for ensuring personal safety, improving labor environment, reducing labor intensity, improving labor efficiency, saving raw material consumption and reducing production cost, and plays a positive role in promoting the development of China to intelligent industry. Therefore, the development of the positive pressure explosion-proof robot has important social benefits, economic significance and wide application prospect.
Disclosure of Invention
The invention aims to provide a positive pressure explosion-proof system for realizing automatic explosion prevention.
The technical scheme for realizing the purpose of the invention is as follows: a positive pressure explosion-proof system comprises a positive pressure explosion-proof cabinet body, a robot explosion-proof shell, an air source input pipe and an air path assembly; the positive pressure explosion-proof cabinet body comprises a first positive pressure cavity; the robot explosion-proof shell comprises a second positive pressure cavity and a third positive pressure cavity; the first positive pressure cavity, the second positive pressure cavity and the third positive pressure cavity are respectively communicated with the gas source input pipe through a gas path component, and each gas path component continuously or discontinuously inputs gas to the first positive pressure cavity, the second positive pressure cavity and the third positive pressure cavity; the first positive pressure cavity, the second positive pressure cavity and the third positive pressure cavity are respectively communicated with a first automatic pressure relief valve, a second automatic pressure relief valve and a third automatic pressure relief valve which exhaust gas at constant pressure to the outside; the first positive pressure cavity, the second positive pressure cavity and the third positive pressure cavity are respectively provided with a first differential pressure sensor, a second differential pressure sensor and a third differential pressure sensor.
The second positive pressure cavity of the robot explosion-proof shell is formed by the inner wall of the robot large arm shell; the third positive pressure cavity is formed by the inner wall of the seal shell of the auxiliary arm.
The gas path assembly comprises a first branch pipe, a manual ball valve and an electromagnetic valve; a first air inlet port and a first exhaust port which are communicated with the second positive pressure cavity are respectively arranged on the robot large arm shell; a first automatic pressure relief valve is arranged on the first exhaust port; a second air inlet port and a second exhaust port which are communicated with the third positive pressure cavity are formed in the auxiliary arm sealing shell; the input end of the first branch pipe is communicated with the gas source input pipe, and the output end of the first branch pipe is communicated with the first gas inlet port or the second gas inlet port; a second automatic pressure relief valve is arranged on the second exhaust port; and the manual ball valve and the electromagnetic valve are arranged on the first branch pipe.
The gas circuit component also comprises an overflow regulating valve; the overflow regulating valve is connected with the air source input pipe through the air path 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.
A pressure reducing valve is arranged on the gas source input pipe; and the pressure reducing valve is provided with a gas filter.
At least two first exhaust ports of the robot large arm shell are arranged; and at least two second exhaust ports of the auxiliary arm sealing shell are arranged.
The robot large arm shell of the robot explosion-proof shell comprises a base sealing shell, a large arm connecting part, a first shaft mounting part and a second shaft mounting part which are respectively arranged at two sides of the large arm connecting part; the base sealing shell is a cylindrical body with an open top, and the top of the base sealing shell is communicated with the large arm connecting part; the side wall of the base sealing shell is provided with an air box communicated with the inner cavity of the base sealing shell; the first air inlet port is arranged on the air box; the first shaft mounting part and the second shaft mounting part are respectively covered with a first shaft motor explosion-proof shell and a second shaft motor explosion-proof shell; a main arm air passage is arranged in the main arm sealing shell; the main arm air passage is communicated with the large arm connecting part, the primary motor explosion-proof shell and the secondary motor explosion-proof shell inner cavity; and the first shaft motor explosion-proof shell and the second shaft motor explosion-proof shell are respectively provided with a first exhaust port communicated with the inner cavity.
The auxiliary arm sealing shell comprises a three-four-axis shell, a four-axis arm, a five-axis shell and a six-axis shell which are movably connected in sequence; the inner cavities of the three-axis and four-axis shells, the four-axis arm, the five-axis shell and the six-axis shell are sequentially communicated; the three-four shaft shell is provided with a second air inlet port communicated with the inner cavity; and the three-shaft and four-shaft shell, the five-shaft shell and the six-shaft shell are respectively provided with a second exhaust port.
By adopting the technical scheme, the invention has the following beneficial effects: according to the invention, the gas path assembly is used for inputting gas into the first positive pressure cavity, the second positive pressure cavity and the third positive pressure cavity, so that positive pressure is formed in the first positive pressure cavity, the second positive pressure cavity and the third positive pressure cavity, and dangerous gas or powder is prevented from entering the first positive pressure cavity, the second positive pressure cavity and the third positive pressure cavity, thus realizing automatic positive pressure explosion prevention and greatly improving the safety of the positive pressure explosion-proof cabinet body and the robot explosion-proof shell during working.
Drawings
In order that the present disclosure may be more readily and clearly understood, reference is now made to the following detailed description of the present disclosure taken in conjunction with the accompanying drawings, in which
FIG. 1 is a schematic view of the gas circuit of the present invention;
FIG. 2 is a schematic structural diagram of the robot explosion-proof housing of the present invention;
fig. 3 is a sectional view of the boom connecting part of the present invention.
The reference numbers are:
the positive pressure explosion-proof cabinet comprises a positive pressure explosion-proof cabinet body 1, a first positive pressure cavity 1-1, a first automatic pressure relief valve 1-1-1 and a first differential pressure sensor 1-1-2;
the robot explosion-proof shell 2, a second positive pressure cavity 2-1, a second automatic pressure relief valve 2-1-1, a second differential pressure sensor 2-1-2, a third positive pressure cavity 2-2, a third automatic pressure relief valve 2-2-1 and a third differential pressure sensor 2-2-2;
2-3 parts of a robot large arm shell, 2-3-1 parts of a base sealing shell, 2-3-2 parts of a large arm connecting part, 2-3-3 parts of a first shaft mounting part, 2-3-4 parts of a second shaft mounting part, 2-3-5 parts of a first shaft motor explosion-proof shell, 2-3-6 parts of a second shaft motor explosion-proof shell, 2-3-7 parts of a main arm air passage and 2-3-8 parts of an air box;
2-4 parts of an auxiliary arm sealing shell, 2-4-1 parts of a three-four-axis shell, 2-4-2 parts of a four-axis arm, 2-4-3 parts of a five-axis shell and 2-4-4 parts of a six-axis shell;
a gas source input pipe 4, a pressure reducing valve 4-1-1 and a gas filter 4-1-2;
the gas circuit component 5, the first branch pipe 5-1, the manual ball valve 5-2, the electromagnetic valve 5-3, the overflow regulating valve 5-4 and the gas circuit branch pipe 5-5.
Detailed Description
Example one
Referring to fig. 1 to 3, the positive pressure explosion-proof system of the present embodiment includes a positive pressure explosion-proof cabinet 1, a robot explosion-proof housing 2, an air source input pipe 4 and an air path assembly 5. The positive pressure explosion-proof cabinet body 1 comprises a first positive pressure cavity 1-1. The robot explosion-proof shell 2 comprises a second positive pressure cavity 2-1 and a third positive pressure cavity 2-2. The first positive pressure cavity 1-1, the second positive pressure cavity 2-1 and the third positive pressure cavity 2-2 are respectively communicated with the gas source input pipe 4 through a gas circuit component 5, and each gas circuit component 5 continuously or discontinuously inputs gas to the first positive pressure cavity 1-1, the second positive pressure cavity 2-1 and the third positive pressure cavity 2-2. The first positive pressure cavity 1-1, the second positive pressure cavity 2-1 and the third positive pressure cavity 2-2 are respectively communicated with a first automatic pressure relief valve 1-1-1, a second automatic pressure relief valve 2-1 and a third automatic pressure relief valve 2-2-1 which exhaust gas to the outside at a constant pressure. The first positive pressure cavity 1-1, the second positive pressure cavity 2-1 and the third positive pressure cavity 2-2 are respectively provided with a first differential pressure sensor 1-1-2, a second differential pressure sensor 2-1-2 and a third differential pressure sensor 2-2-2.
The second positive pressure cavity 2-1 of the robot explosion-proof shell 2 is formed by the inner wall of the robot large arm shell 2-3. The third positive pressure chamber 2-2 is formed by the inner wall of the sub-arm seal housing 2-4.
The air path assembly 5 comprises a first branch pipe 5-1, a manual ball valve 5-2 and an electromagnetic valve 5-3. And a first air inlet port and a first air outlet port which are communicated with the second positive pressure cavity 2-1 are respectively arranged on the robot large arm shell 2-3. And a first automatic pressure relief valve 5-1 is arranged on the first exhaust port. And a second air inlet port and a second air outlet port which are communicated with the third positive pressure cavity 2-2 are arranged on the auxiliary arm sealing shell 2-4. The input end of the first branch pipe 5-1 is communicated with the air source input pipe 4, and the output end of the first branch pipe 5-1 is communicated with the first air inlet port or the second air inlet port. And a second automatic pressure relief valve 6-1 is arranged on the second exhaust port. The manual ball valve 5-2 and the electromagnetic valve 5-3 are both arranged on the first branch pipe 5-1.
The air path assembly 5 also comprises an overflow regulating valve 5-4. The overflow regulating valve 5-4 is connected with the air source input pipe 4 through the air path branch pipe 5-5, and the input end and the output end of the overflow regulating valve 5-4 are respectively communicated with the input end and the output end of the electromagnetic valve 5-3.
The gas source input pipe 4 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.
At least two first exhaust ports of the robot large arm shell 2-3 are arranged. At least two second exhaust ports of the sub-arm seal housing 3-1 are provided.
The robot large arm shell 2-3 of the robot explosion-proof shell 2 comprises a base sealing shell 2-3-1, a large arm connecting part 2-3-2, and a first shaft mounting part 2-3-3 and a second shaft mounting part 2-3-4 which are respectively arranged on two sides of the large arm connecting part 2-3-2. The base sealing shell 2-3-1 is a cylindrical body with an open top, and the top is communicated with the large arm connecting part 2-3-2. The side wall of the base sealing shell 2-3-1 is provided with an air box 2-3-8 communicated with the inner cavity of the base sealing shell 2-3-1. The first air inlet port is arranged on the air box 2-3-8. The first shaft mounting part 2-3-3 and the second shaft mounting part 2-3-4 are respectively covered with a first shaft motor explosion-proof shell 2-3-5 and a second shaft motor explosion-proof shell 2-3-6. The main arm sealing shell 2-1 is internally provided with a main arm air passage 2-3-7. The air passage 2-3-7 of the main arm is communicated with the inner cavities of the connecting part 2-3-2 of the main arm, the explosion-proof shell 2-3-5 of the first shaft motor and the explosion-proof shell 2-3-6 of the second shaft motor. The first shaft motor explosion-proof shell 2-3-5 and the second shaft motor explosion-proof shell 2-3-6 are respectively provided with a first exhaust port communicated with the inner cavity.
The auxiliary arm sealing shell 3-1 comprises a three-four-shaft shell 2-4-1, a four-shaft arm 2-4-2, a five-shaft shell 2-4-3 and a six-shaft shell 2-4-4 which are movably connected in sequence. The inner cavities of the three-shaft and four-shaft shell 2-4-1, the four-shaft arm 2-4-2, the five-shaft shell 2-4-3 and the six-shaft shell 2-4-4 are communicated in sequence. The three-four shaft shell 2-4-1 is provided with a second air inlet port communicated with the inner cavity. The three-shaft and four-shaft shell 2-4-1, the five-shaft shell 2-4-3 and the six-shaft shell 2-4-4 are respectively provided with a second exhaust port.
During specific implementation, the air path components 5 respectively connected with the first positive pressure cavity 1-1, the second positive pressure cavity 2-1 and the third positive pressure cavity 2-2 work respectively and do not synchronously. When the gas circuit component 5 works as a first positive pressure cavity 1-1, a second positive pressure cavity 2-1 or a third positive pressure cavity 2-2 to provide positive pressure, the electromagnetic valve 5-3 is opened, the gas source enters the first positive pressure cavity 1-1, the second positive pressure cavity 2-1 or the third positive pressure cavity 2-2 after being decompressed by the decompression valve 4-1-1 on the first branch pipe 5-1, the first automatic decompression valve 1-1, the second automatic decompression valve 2-1 or the third automatic decompression valve 2-2-1 is opened to ventilate the first positive pressure cavity 1-1, the second positive pressure cavity 2-1 or the third positive pressure cavity 2-2, and dangerous gas or powder in the first positive pressure cavity 1-1, the second positive pressure cavity 2-1 or the third positive pressure cavity 2-2 is discharged, after ventilation is finished, the electromagnetic valve 5-3 is continuously opened, the first automatic pressure relief valve 1-1-1, the second automatic pressure relief valve 2-1 or the third automatic pressure relief valve 2-2-1 is closed, the first positive pressure cavity 1-1, the second positive pressure cavity 2-1 or the third positive pressure cavity 2-2 is inflated, after inflation is finished, the electromagnetic valve 5-3 is closed, and the first positive pressure cavity 1-1, the second positive pressure cavity 2-1 or the third positive pressure cavity 2-2 is supplemented with gas through the overflow regulating valve 5-4 to keep positive pressure of the first positive pressure cavity 1-1, the second positive pressure cavity 2-1 or the third positive pressure cavity 2-2.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A positive pressure explosion-proof system, characterized by: comprises a positive pressure explosion-proof cabinet body (1), a robot explosion-proof shell (2), an air source input pipe (4) and an air path component (5); the positive pressure explosion-proof cabinet body (1) comprises a first positive pressure cavity (1-1); the robot explosion-proof shell (2) comprises a second positive pressure cavity (2-1) and a third positive pressure cavity (2-2); the first positive pressure cavity (1-1), the second positive pressure cavity (2-1) and the third positive pressure cavity (2-2) are respectively communicated with the gas source input pipe (4) through a gas circuit component (5), and each gas circuit component (5) continuously or discontinuously inputs gas to the first positive pressure cavity (1-1), the second positive pressure cavity (2-1) and the third positive pressure cavity (2-2); the first positive pressure cavity (1-1), the second positive pressure cavity (2-1) and the third positive pressure cavity (2-2) are respectively communicated with a first automatic pressure relief valve (1-1-1), a second automatic pressure relief valve (2-1-1) and a third automatic pressure relief valve (2-2-1) which exhaust gas to the outside at a constant pressure; the first positive pressure cavity (1-1), the second positive pressure cavity (2-1) and the third positive pressure cavity (2-2) are respectively provided with a first differential pressure sensor (1-1-2), a second differential pressure sensor (2-1-2) and a third differential pressure sensor (2-2-2).
2. The positive pressure explosion-proof system of claim 1, wherein: a second positive pressure cavity (2-1) of the robot explosion-proof shell (2) is formed by the inner wall of a robot large arm shell (2-3); the third positive pressure cavity (2-2) is formed by the inner wall of the auxiliary arm sealing shell (2-4).
3. The positive pressure explosion-proof manipulator of claim 2, wherein: the air path assembly (5) comprises a first branch pipe (5-1), a manual ball valve (5-2) and an electromagnetic valve (5-3); a first air inlet port and a first air outlet port which are communicated with the second positive pressure cavity (2-1) are respectively arranged on the robot large arm shell (2-3); a first automatic pressure relief valve (5-1) is arranged on the first exhaust port; a second air inlet port and a second air outlet port which are communicated with the third positive pressure cavity (2-2) are arranged on the auxiliary arm sealing shell (2-4); the input end of the first branch pipe (5-1) is communicated with the air source input pipe (4), and the output end of the first branch pipe (5-1) is communicated with the first air inlet port or the second air inlet port; a second automatic pressure relief valve (6-1) is arranged on the second exhaust port; the manual ball valve (5-2) and the electromagnetic valve (5-3) are arranged on the first branch pipe (5-1).
4. The positive pressure explosion-proof manipulator of claim 3, wherein: the gas circuit component (5) also comprises an overflow regulating valve (5-4); the overflow regulating valve (5-4) is connected with the air source input pipe (4) through the air path branch pipe (5-5), and the input end and the output end of the overflow regulating valve (5-4) are respectively communicated with the input end and the output end of the electromagnetic valve (5-3).
5. The positive pressure explosion-proof manipulator of claim 3, wherein: a pressure reducing valve (4-1-1) is arranged on the gas source input pipe (4); the pressure reducing valve (4-1-1) is provided with a gas filter (4-1-2).
6. The positive pressure explosion-proof manipulator of claim 3, wherein: at least two first exhaust ports of the robot large arm shell (2-3) are arranged; at least two second exhaust ports of the auxiliary arm sealing shell (2-4) are arranged.
7. The positive pressure explosion-proof manipulator of claim 2, wherein: the robot large arm shell (2-3) of the robot explosion-proof shell (2) comprises a base sealing shell (2-3-1), a large arm connecting part (2-3-2), and a first shaft mounting part (2-3-3) and a second shaft mounting part (2-3-4) which are respectively arranged at two sides of the large arm connecting part (2-3-2); the base sealing shell (2-3-1) is a cylindrical body with an open top, and the top of the base sealing shell is communicated with the large arm connecting part (2-3-2); the side wall of the base sealing shell (2-3-1) is provided with an air box (2-3-8) communicated with the inner cavity of the base sealing shell (2-3-1); the first air inlet port is arranged on the air box (2-3-8); the first shaft mounting part (2-3-3) and the second shaft mounting part (2-3-4) are respectively covered with a first shaft motor explosion-proof shell (2-3-5) and a second shaft motor explosion-proof shell (2-3-6); a main arm air passage (2-3-7) is arranged in the main arm sealing shell (2-1); the main arm air passage (2-3-7) is communicated with the inner cavity of the large arm connecting part (2-3-2), the first-shaft motor explosion-proof shell (2-3-5) and the second-shaft motor explosion-proof shell (2-3-6); the first shaft motor explosion-proof shell (2-3-5) and the second shaft motor explosion-proof shell (2-3-6) are respectively provided with a first exhaust port communicated with the inner cavity.
8. The positive pressure explosion-proof manipulator of claim 2, wherein: the auxiliary arm sealing shell (2-4) comprises a three-four-axis shell (2-4-1), a four-axis arm (2-4-2), a five-axis shell (2-4-3) and a six-axis shell (2-4-4) which are movably connected in sequence; the inner cavities of the three-axis and four-axis shells (2-4-1), the four-axis arms (2-4-2), the five-axis shells (2-4-3) and the six-axis shells (2-4-4) are communicated in sequence; the three-four shaft shell (2-4-1) is provided with a second air inlet port communicated with the inner cavity; and the three-shaft and four-shaft shell (2-4-1), the five-shaft shell (2-4-3) and the six-shaft shell (2-4-4) are respectively provided with a second exhaust port.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110019388.XA CN112696612A (en) | 2021-01-07 | 2021-01-07 | Positive pressure explosion-proof system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110019388.XA CN112696612A (en) | 2021-01-07 | 2021-01-07 | Positive pressure explosion-proof system |
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| CN112696612A true CN112696612A (en) | 2021-04-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110019388.XA Pending CN112696612A (en) | 2021-01-07 | 2021-01-07 | Positive pressure explosion-proof system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115091440A (en) * | 2022-07-28 | 2022-09-23 | 航天云机(北京)科技有限公司 | Airtight type explosion-proof mechanical arm system suitable for oil-gas environment |
| CN116968053A (en) * | 2023-09-07 | 2023-10-31 | 湖南鑫彧智能科技有限公司 | Explosion-proof mobile cooperative robot and control method thereof |
| CN117021050A (en) * | 2023-10-10 | 2023-11-10 | 北京炎凌嘉业机电设备有限公司 | Positive pressure composite explosion-proof robot |
-
2021
- 2021-01-07 CN CN202110019388.XA patent/CN112696612A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115091440A (en) * | 2022-07-28 | 2022-09-23 | 航天云机(北京)科技有限公司 | Airtight type explosion-proof mechanical arm system suitable for oil-gas environment |
| CN116968053A (en) * | 2023-09-07 | 2023-10-31 | 湖南鑫彧智能科技有限公司 | Explosion-proof mobile cooperative robot and control method thereof |
| CN116968053B (en) * | 2023-09-07 | 2024-01-30 | 湖南鑫彧智能科技有限公司 | Explosion-proof mobile cooperative robot and control method thereof |
| CN117021050A (en) * | 2023-10-10 | 2023-11-10 | 北京炎凌嘉业机电设备有限公司 | Positive pressure composite explosion-proof robot |
| CN117021050B (en) * | 2023-10-10 | 2024-04-02 | 北京炎凌嘉业机电设备有限公司 | Positive pressure composite explosion-proof robot |
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