CN112757260A - Positive-pressure explosion-proof automatic carrying system - Google Patents
Positive-pressure explosion-proof automatic carrying system Download PDFInfo
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- CN112757260A CN112757260A CN202110018032.4A CN202110018032A CN112757260A CN 112757260 A CN112757260 A CN 112757260A CN 202110018032 A CN202110018032 A CN 202110018032A CN 112757260 A CN112757260 A CN 112757260A
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- Prior art keywords
- explosion
- proof
- sealed cavity
- base
- sealing shell
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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
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 main arm mechanism is arranged on the base; the base, the main arm mechanism, the connecting arm and the auxiliary arm mechanism are sequentially connected to form a six-axis motion manipulator; the base comprises a base sealing shell; the main arm mechanism comprises a main arm sealing shell; the inner cavities of the base sealing shell and the main arm sealing shell are communicated, and a first explosion-proof sealing cavity is formed; the auxiliary arm mechanism comprises an auxiliary arm sealing shell; a second explosion-proof sealing cavity is formed in the auxiliary arm sealing shell; the positive pressure control cabinet comprises a cabinet body, a robot control system and an explosion-proof device; according to the invention, positive pressure is provided 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 a 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 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 automatic handling system applied to a dangerous gas or powder environment.
The technical scheme for realizing the purpose of the invention is as follows: a 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; the base, the main arm mechanism, the connecting arm and the auxiliary arm mechanism are sequentially connected to form a six-axis motion manipulator; the base comprises a base seal housing; the main arm mechanism comprises a main arm sealing shell; the inner cavities of the base sealing shell and the main arm sealing shell are communicated, and a first explosion-proof sealing cavity is formed; the auxiliary arm mechanism comprises an auxiliary arm sealing shell; a second explosion-proof sealing cavity is formed in the auxiliary arm sealing shell; the positive pressure control cabinet comprises a cabinet body, a robot control system and an explosion-proof device; a third explosion-proof sealed cavity and a working cavity are arranged in the cabinet body; the third explosion-proof sealed cavity is isolated from the working cavity by a partition plate; the robot control system is arranged in the third explosion-proof sealed cavity and controls the six-axis moving manipulator to work; the flame-proof device is embedded on the side wall of the working cavity; the flame-proof devices are provided with a plurality of flame-proof devices, at least two flame-proof devices are internally provided with positive pressure systems in an encapsulated mode, and at least one flame-proof device is provided with a power supply control system in an encapsulated mode; the positive pressure system control positive pressure explosion-proof mechanism inputs gas into the first explosion-proof sealed cavity, the second explosion-proof sealed cavity and the third explosion-proof sealed cavity, so that positive pressure is formed in the first explosion-proof sealed cavity, the second explosion-proof sealed cavity and the third explosion-proof sealed cavity.
The positive pressure explosion-proof mechanism comprises an air source input pipe and an air path assembly; the first explosion-proof sealed cavity, the second explosion-proof sealed cavity and the third explosion-proof sealed cavity are respectively communicated with the gas source input pipe through a gas path component, and the two gas path components respectively continuously or discontinuously input gas to the first explosion-proof sealed cavity, the second explosion-proof sealed cavity and the third explosion-proof sealed cavity; the first explosion-proof sealed cavity, the second explosion-proof sealed cavity and the third explosion-proof sealed 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 explosion-proof sealed cavity, the second explosion-proof sealed cavity and the third explosion-proof sealed cavity are respectively provided with a first differential pressure sensor, a second differential pressure sensor and a third differential pressure sensor.
The gas path component of the positive pressure explosion-proof mechanism comprises a first branch pipe, a manual ball valve and an electromagnetic valve; a first air inlet port and a first air outlet port which are communicated with the 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 exhaust port; the auxiliary arm sealing shell is provided with a second air inlet port and a second air outlet port which are communicated with the second explosion-proof sealing cavity; 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 or the third explosion-proof sealing cavity; 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 path component of the positive pressure explosion-proof mechanism 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 main arm sealing shell are arranged; the number of the second exhaust ports of the auxiliary arm sealing shell is at least two.
The base further comprises a base and a turntable transmission assembly; the base sealing shell is arranged on the base; the turntable transmission assembly is arranged in the inner cavity of the base seal shell; the top of the base sealing shell is attached to the bottom of the main arm sealing shell, and inner cavities of the base sealing shell and the main arm sealing shell are communicated with each other; 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; the first air inlet port is arranged on the air box.
By adopting the technical scheme, the invention has the following beneficial effects:
the explosion-proof device is ingenious in structure, positive pressure is provided for the first explosion-proof sealed cavity, the second explosion-proof sealed cavity and the third explosion-proof sealed cavity through the positive pressure explosion-proof mechanism, so that dangerous gas or powder is prevented from entering the first explosion-proof sealed cavity, the second explosion-proof sealed cavity and the third explosion-proof sealed cavity, a robot control system packaged in the positive pressure control cabinet can safely control the main arm mechanism and the auxiliary arm mechanism to realize work in a dangerous environment, the explosion-proof device is ingenious in structure, an external isolated sealed cavity is formed by the controller shell and the end cover to place the control panel, the control panel is isolated, explosion and influence on work of the control panel in a dangerous gas environment and a dust environment are avoided, and the danger 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 component and the one-shaft driving component can work safely. 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 to form a second explosion-proof sealed cavity, so that the three-axis driving assembly, the four-axis driving assembly, the five-axis driving assembly and the six-axis driving assembly can safely work.
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 structural diagram of a base, a main arm mechanism, an auxiliary arm mechanism and a connecting arm of the present invention;
FIG. 2 is a schematic structural view of the secondary arm mechanism of the present invention;
fig. 3 is a schematic structural view of the main arm mechanism of the present invention;
FIG. 4 is a schematic structural view of the positive pressure explosion-proof mechanism of the present invention;
FIG. 5 is a schematic structural diagram of the positive pressure control cabinet of the present invention;
FIG. 6 is a schematic structural diagram of the flameproof device of the present invention;
FIG. 7 is a cross-sectional view of the flameproof apparatus of the present invention;
fig. 8 is an enlarged view of the area a of fig. 7.
The reference numbers are:
the device comprises a base 1, a base sealing shell 1-1, a gas box 1-1, a base 1-2 and a turntable transmission assembly 1-3;
the main arm mechanism 2, a main arm sealing shell 2-1, a connecting part 2-1-1, a first shaft mounting part 2-1-2, a second shaft mounting part 2-1-3, a first shaft motor explosion-proof shell 2-1-4, a second shaft motor explosion-proof shell 2-1-5, a main arm air passage 2-1-6, a first shaft driving component 2-2, a first shaft motor 2-2-1, a first shaft gear 2-2, a second shaft driving component 2-3, a second shaft motor 2-3-1, a second shaft gear 2-3-2 and a second shaft speed reducer 2-3-3;
the auxiliary arm mechanism 3, the auxiliary arm sealing shell 3-1, the three-four-shaft 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 protective sealing cover 3-2-4, the four-shaft arm 3-3, the five-shaft 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-shaft shell 3-5, the three-shaft driving component 3-6, the three-shaft motor 3-6-1, the three-shaft speed reducer 3-6-2, the three-shaft gear 3-6-3, the four-shaft driving component 3-7, the four-shaft motor 3-7-1, the four-shaft 3-7-2, the four-shaft speed reducer 3-, 3-7-3 parts of four-axis shaft teeth, 3-8 parts of five-axis driving components, 3-8-1 parts of five-axis motors, 3-8-2 parts of synchronous belt transmission pieces, 3-8-3 parts of five-axis speed reducers, 3-9 parts of six-axis driving components, 3-9-1 parts of six-axis motors, 3-9-2 parts of six-axis speed reducers, 3-9-3 parts of six-axis shaft teeth and 3-9-4 parts of six-axis end covers;
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 device comprises a first explosion-proof sealed cavity 5, a first automatic pressure relief valve 5-1 and a first differential pressure sensor 5-2;
a second explosion-proof sealed cavity 6, a second automatic pressure relief valve 6-1 and a second differential pressure sensor 6-2;
a connecting arm 7;
a positive pressure control cabinet 8, a cabinet body 8-1, a third explosion-proof sealed cavity 8-1-1, a working cavity 8-1-2, a partition plate 8-1-3, an electrical installation 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 pad 8-2-1-3-2, a pressure strip 8-2-1-4, a connecting port 8-2-1-5, an installation support rod 8-2-1-6, an end cover 8-2-2, 8-2-3 parts of quick connector, 8-2-4 parts of end cover plate, 8-2-5 parts of control panel, 8-2-6 parts of sealing gasket, 8-2-1-7 parts of button hole, 8-2-1-8 parts of oilless bushing, 8-2-1-9 parts of button rod, 8-2-1-9-1 parts of extension rod, 8-2-1-10 parts of reset spring and 8-2-1-11 parts of gasket.
Detailed Description
Example one
Referring to fig. 1 to 8, the positive pressure explosion-proof automatic handling 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 connected in sequence and form a six-axis motion manipulator. The base 1 comprises a base sealing housing 1-1. The main arm mechanism 2 includes a main arm seal housing 2-1. The inner cavities of the base sealing shell 1-1 and the main arm sealing shell 2-1 are communicated, and a first explosion-proof sealing cavity 5 is formed. The sub-arm mechanism 3 includes a sub-arm seal housing 3-1. A second explosion-proof sealed cavity 6 is formed inside the auxiliary arm sealed shell 3-1. 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 sealed cavity 8-1-1 and a working cavity 8-1-2 are arranged in the cabinet body 8-1. The third explosion-proof sealed 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 sealed cavity 8-1-1 and 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 flame-proof devices 8-2 are provided with a plurality of flame-proof devices, at least two flame-proof devices 8-2 are internally provided with positive pressure systems in an encapsulated mode, and at least one flame-proof device 8-2 is provided with a power supply control system in an encapsulated mode. The positive pressure system controls the positive pressure explosion-proof mechanism 4 to input gas into the first explosion-proof sealed cavity 5, the second explosion-proof sealed cavity 6 and the third explosion-proof sealed cavity 8-1-1, so that positive pressure is formed in the first explosion-proof sealed cavity 5, the second explosion-proof sealed cavity 6 and the third explosion-proof sealed cavity 8-1-1.
The explosion-proof 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 plate 8-2-5. The end cover 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 case 8-2-1. The power supply control system or the positive pressure system is packaged in the control board 8-2-5.
The top of the controller shell 8-2-1 is provided with a visible window 8-2-1-2. An explosion-proof visual component 8-2-1-3 of a sealed visual window 8-2-1-2 is arranged on the inner top surface of the controller shell 8-2-1.
The explosion-proof visual component 8-2-1-3 of the controller housing 8-2-1 comprises explosion-proof glass 8-2-1-3-1 attached to the inner side of the visual window 8-2-1-2, and a glass gasket 8-2-1-3-2 surrounding the periphery of the explosion-proof glass 8-2-1-3-1 and sealing the visual window 8-2-1-2.
A pressure plate 8-2-1-4 is arranged in a sealed cavity 8-2-1-1 of the controller shell 8-2-1. The pressure strip 8-2-1-4 is attached to the bottom surface of the glass pad 8-2-1-3-2 of the explosion-proof visual component 8-2-1-3 and fixed with the inner top surface of the controller shell 8-2-1 through a screw.
The peripheral surface of the controller shell 8-2-1 is provided with a connecting port 8-2-1-5 communicated with the sealed 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 sealed cavity 8-2-1-1 of the controller shell 8-2-1 is fixedly provided with a mounting support rod 8-2-1-6. Two ends of the mounting support rod 8-2-1-6 are respectively fixed with the control panel 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 directly opposite to the visible 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 shell 8-2-1 is provided with a button hole 8-2-1-7. An oilless bushing 8-2-1-8 is fixed at one end of the button hole 8-2-1-7 facing the sealed cavity 8-2-1-1. A button rod 8-2-1-9 is arranged in the button hole 8-2-1-7. The bottom of the button rod 8-2-1-9 penetrates through the oilless bushing 8-2-1-8 and is in sealing 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 bar 8-2-1-9-1. The extension bar 8-2-1-9-1 is jointed with a control button of the control panel 8-2-5. A button return spring 8-2-1-10 matched with the button rod 8-2-1-9 is arranged in the button hole 8-2-1-7.
The bottom of a 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 electric installation plate 8-1-4 is arranged in the third explosion-proof sealed cavity 8-1-1 of the cabinet body 8-1. The robot control system is arranged on the electric installation plate 8-1-4.
An explosion-proof plug 8-1-5 is embedded on the side wall of the third explosion-proof sealed cavity 8-1-1 of the cabinet body 8-1. The explosion-proof plug 8-1-5 is connected with an external power supply through a cable to supply power to the power supply control system.
The positive pressure explosion-proof mechanism 4 comprises an air source input pipe 4-1 and an air path component 4-2. The first explosion-proof sealed cavity 5, the second explosion-proof sealed cavity 6 and the third explosion-proof sealed cavity 8-1-1 are respectively communicated with the gas source input pipe 4-1 through a gas path component 4-2, and the two gas path components 4-2 respectively continuously or discontinuously input gas to the first explosion-proof sealed cavity 5, the second explosion-proof sealed cavity 6 and the third explosion-proof sealed cavity 8-1-1. The first explosion-proof sealed cavity 5, the second explosion-proof sealed cavity 6 and the third explosion-proof sealed 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 exhaust gas to the outside at a constant pressure. The first explosion-proof sealed cavity 5, the second explosion-proof sealed cavity 6 and the third explosion-proof sealed 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.
The air channel 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 sealing shell 1-1 and the main arm sealing shell 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 sealing cavity 5. 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 exhaust port which are communicated with the 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 the gas source input pipe 4-1, and the output end of the first branch pipe 4-2-1 is communicated with the first gas inlet port or the second gas inlet port or the third explosion-proof sealed cavity 8-1-1. And a second automatic pressure relief valve 6-1 is arranged on the second exhaust 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.
The air channel component 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 gas 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.
At least two first exhaust ports of the main arm seal housing 2-1 are provided. The second exhaust ports of the sub-arm seal housing 3-1 are provided in at least two.
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 the 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 the inner cavities are communicated with each other. The main arm mechanism 2 is connected with the turntable transmission components 1-3.
The base sealing shell 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 sealing shell 1-1. The first air inlet port is arranged on the air box 1-1-1.
The main arm mechanism 2 further comprises a primary shaft driving assembly 2-2 and a secondary shaft driving assembly 2-3. The main arm sealing shell 2-1 is arranged on the top of the base sealing shell 1-1 in an overlapping mode. The top of a turntable transmission component 1-3 of the base 1 extends into an 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 first shaft driving component 2-2 and the second shaft driving component 2-3 are both arranged in the main arm sealing shell 2-1. The first shaft driving component 2-2 and the second shaft driving component 2-3 are respectively connected with the turntable transmission component 1-3 and the connecting arm 7, and the rotating shafts of the first shaft driving component 2-2 and the second shaft driving component 2-3 are mutually vertical 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 driven to rotate by the two-axis drive assembly 2-3.
The main arm sealing shell 2-1 of the main arm mechanism 2 comprises a connecting part 2-1-1, and a first shaft mounting part 2-1-2 and a second shaft mounting part 2-1-3 which are respectively arranged at two sides of the connecting part 2-1-1. 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 internally provided with a main arm air passage 2-1-6. The air passage 2-1-6 of the main arm is communicated with the inner cavity of the connecting part 2-1-1, the explosion-proof shell 2-1-4 of the first shaft motor and the explosion-proof shell 2-1-5 of the second shaft motor. The first shaft motor explosion-proof shell 2-1-4 and the second shaft motor explosion-proof shell 2-1-5 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 component 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 sealing shell 1-1, and the top of the inner cavity of the connecting part is communicated with the air passage 2-1-6 of the main arm.
An axial motor explosion-proof shell 2-1-4 of the main arm mechanism 2 is covered on the top of an axial mounting part 2-1-2, and one side of the axial motor explosion-proof shell 2-1-4 is communicated with an air passage 2-1-6 of the main arm.
A shaft driving component 2-2 of the main arm mechanism 2 comprises a shaft motor 2-2-1 and a shaft gear 2-2-2. An axial motor 2-2-1 is fixed on the top of the axial mounting part 2-1-2 and is positioned in the inner cavity of the axial motor explosion-proof shell 2-1-4. An output shaft of a shaft motor 2-2-1 downwards penetrates through a shaft mounting part 2-1-2. A shaft gear 2-2-2 is arranged on an output shaft of a shaft motor 2-2-1, and the output shaft of the shaft motor 2-2-1 is meshed with a turntable transmission component 1-3 of the base 1.
Two side surfaces of a two-shaft mounting part 2-1-3 of the main arm mechanism 2 are respectively provided with a circular mounting groove, and the circular mounting grooves at the two sides are communicated with each other. The two-shaft motor explosion-proof shell 2-1-5 is covered on the circular mounting groove at 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-axis mounting part 2-1-3 is connected with the bottom of one side of the connecting arm 7.
The two-axis driving component 2-3 of the main arm mechanism 2 comprises a two-axis motor 2-3-1, two-axis teeth 2-3-2 and a two-axis speed reducer 2-3-3. The two-axis motor 2-3-1 is arranged on one side surface of the two-axis mounting part 2-1-3, and the two-axis motor 2-3-1 is positioned in the inner cavity of the two-axis motor explosion-proof shell 2-1-5. The two-axis speed reducer 2-3-3 is fixed in the mounting groove on the other side of the two-axis 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 mounting part 2-1-3 to be connected with an 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-shaft and four-shaft shell 3-2, the four-shaft arm 3-3, the five-shaft shell 3-4 and the six-shaft shell 3-5 are communicated in sequence. The three-four shaft shell 3-2 is provided with a second air inlet port communicated with the inner cavity. And the three-shaft and four-shaft shell 3-2, the five-shaft shell 3-4 and the six-shaft shell 3-5 are respectively provided with a second exhaust port.
The auxiliary arm mechanism 3 also comprises a three-axis driving component 3-6, a four-axis driving component 3-7, a five-axis driving component 3-8 and a six-axis driving component 3-9. The four-axis arm 3-3 is pivotally attached to the front of the three-four axis housing 3-2. The three-axis driving component 3-6 is arranged in the tail part of the three-axis and four-axis shell 3-2, the output part is connected with the top part of one side of the connecting arm 7, and the output part drives the three-axis and four-axis shell 3-2 to rotate. The four-shaft driving component 3-7 is arranged in the front part of the three-four-shaft shell 3-2 and drives the four-shaft arm 3-3 to rotate circumferentially through the output part. The rotation axis of the three-four-shaft shell 3-2 is vertical to the rotation axis of the four-shaft arm 3-3. The five-axis drive assembly 3-8 is arranged in a 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 axis of rotation of the six-axis housing 3-5 is perpendicular to the axis of rotation of the four-axis arm 3-3. The six-axis drive assembly 3-9 is arranged in the six-axis shell 3-5, and the output part is connected with the tail end of the robot and drives the tail end of the robot to rotate through the output part. The rotation axis of the robot end is collinear with the rotation axis of the four-axis arm 3-3.
A first installation space 3-2-1 and a second installation space 3-2-2 which are communicated with each other are arranged in a three-four shaft shell 3-2 of the auxiliary arm mechanism 3. 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. An opening is arranged at the rear part of the second mounting space 3-2-2, and a protective sealing cover 3-2-4 is arranged on the opening. 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 is communicated with the second installation space 3-2-2.
The four-axis arm 3-3 of the auxiliary arm mechanism 3 is cylindrical, hollow inside and provided with openings at the front and the rear. The five-axis shell 3-4 comprises a main body part 3-4-1, and a first extension arm 3-4-2 and a second extension arm 3-4-3 which are positioned on two sides of the main body part 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 communicated with each other. The main body part 3-4-1 is communicated with the inner cavities of the first connecting part 3-4-2 and the second connecting part 3-4-3. The six-shaft 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-shaft shell 3-5 is connected with the output end of the five-shaft driving component 3-8 in the first connecting part 3-4-2. The other side of the six-shaft housing 3-5 is communicated with the second connecting portion 3-4-3.
The three-axis driving component 3-6 of the auxiliary arm mechanism 3 comprises a three-axis motor 3-6-1, a three-axis speed reducer 3-6-2 and three-axis shaft teeth 3-6-3. The three-axis motor 3-6-1 is arranged in the first installation space 3-2-1 of the three-four-axis shell 3-2. The three-axis speed reducer 3-6-2 is arranged on one side surface of the three-four-axis shell 3-2, and the output part is connected with the top of one side of the connecting arm 7. The three-axis gear 3-6-3 is arranged on the output shaft of the three-axis motor 3-6-1 and is meshed with the input end of the three-axis speed reducer 3-6-2.
The four-shaft driving component 3-7 of the auxiliary arm mechanism 3 comprises a four-shaft motor 3-7-1, a four-shaft speed reducer 3-7-2 and four-shaft teeth 3-7-3. The four-shaft motor 3-7-1 is arranged in the second installation space 3-2-2 of the three-four-shaft shell 3-2. The four-shaft speed reducer 3-7-2 is arranged at the front part of the three-four-shaft shell 3-2, and the output part is fixed with the rear part of the four-shaft arm 3-3 through a connecting flange. The four-shaft gear 3-7-3 is arranged on an output shaft of the four-shaft motor 3-7-1 and is meshed with an input end of the four-shaft speed reducer 3-7-2.
The five-axis driving component 3-8 of the auxiliary arm mechanism 3 comprises a five-axis motor 3-8-1, a synchronous belt transmission piece 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 transmission piece 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 transmission piece 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-shaft driving component 3-9 of the auxiliary arm mechanism 3 comprises a six-shaft motor 3-9-1, a six-shaft speed reducer 3-9-2, six-shaft teeth 3-9-3 and a six-shaft end cover 3-9-4. The six-shaft motor 3-9-1 is arranged in the inner cavity of the six-shaft shell 3-5. The six-shaft speed reducer 3-9-2 is arranged on the front part of the six-shaft 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 is 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.
During specific implementation, the gas circuit components 4-2 connected with the first explosion-proof sealed cavity 5, the second explosion-proof sealed cavity 6 and the third explosion-proof sealed cavity 8-1-1 respectively work respectively and are asynchronous with each other. When the gas circuit component 4-2 works as a first explosion-proof sealed cavity 5, a second explosion-proof sealed cavity 6 or a third explosion-proof sealed cavity 8-1-1 to provide positive pressure, the electromagnetic valve 4-2-3 is opened, a gas source is decompressed through a decompression valve 4-1-1 on the gas source input pipe 4-1 and then enters the first explosion-proof sealed cavity 5, the second explosion-proof sealed cavity 6 or the third explosion-proof sealed cavity 8-1-1, the first automatic decompression valve 5-1, the second automatic decompression valve 6-1 and the third automatic decompression valve are opened to ventilate the first explosion-proof sealed cavity 5, the second explosion-proof sealed cavity 6 or the third explosion-proof sealed cavity 8-1-1, and dangerous gas or powder in the first explosion-proof sealed cavity 5, the second explosion-proof sealed cavity 6 or the third explosion-proof sealed 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 sealed cavity 5, the second explosion-proof sealed cavity 6 or the third explosion-proof sealed cavity 8-1-1 is inflated, after inflation is finished, the electromagnetic valve 4-2-3 is closed, and gas is supplemented to the first explosion-proof sealed cavity 5, the second explosion-proof sealed cavity 6 or the third explosion-proof sealed cavity 8-1-1 through the overflow regulating valve 4-2-4 to keep positive pressure of the first explosion-proof sealed cavity 5, the second explosion-proof sealed cavity 6 or the third explosion-proof sealed cavity 8-1-1.
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. The utility model provides an explosion-proof automatic handling system of malleation which characterized in that: the device comprises 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 connected in sequence to form a six-axis motion 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 inner cavities of the base sealing shell (1-1) and the main arm sealing shell (2-1) are communicated, and a first explosion-proof sealing cavity (5) is formed; the auxiliary arm mechanism (3) comprises an auxiliary arm sealing shell (3-1); a second explosion-proof sealed cavity (6) is formed in the auxiliary arm sealed shell (3-1); 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 sealed cavity (8-1-1) and a working cavity (8-1-2) are arranged in the cabinet body (8-1); the third explosion-proof sealed cavity (8-1-1) is isolated from the working cavity (8-1-2) through a partition plate (8-1-3); the robot control system is arranged in the third explosion-proof sealed cavity (8-1-1) and controls the six-axis moving manipulator to work; the flame-proof device (8-2) is embedded on the side wall of the working cavity (8-1-2); the flame-proof devices (8-2) are provided with a plurality of flame-proof devices, at least two flame-proof devices (8-2) are internally provided with a positive pressure system in an encapsulated manner, and at least one flame-proof device (8-2) is provided with a power supply control system in an encapsulated manner; the positive pressure system control positive pressure explosion-proof mechanism (4) inputs gas into the first explosion-proof sealed cavity (5), the second explosion-proof sealed cavity (6) and the third explosion-proof sealed cavity (8-1-1), so that positive pressure is formed in the first explosion-proof sealed cavity (5), the second explosion-proof sealed cavity (6) and the third explosion-proof sealed cavity (8-1-1).
2. The positive pressure explosion-proof manipulator of claim 1, wherein: the positive pressure explosion-proof mechanism (4) comprises an air source input pipe (4-1) and an air path component (4-2); the first explosion-proof sealed cavity (5), the second explosion-proof sealed cavity (6) and the third explosion-proof sealed cavity (8-1-1) are respectively communicated with the gas source input pipe (4-1) through a gas path component (4-2), and the two gas path components (4-2) respectively continuously or discontinuously input gas to the first explosion-proof sealed cavity (5), the second explosion-proof sealed cavity (6) and the third explosion-proof sealed cavity (8-1-1); the first explosion-proof sealed cavity (5), the second explosion-proof sealed cavity (6) and the third explosion-proof sealed 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 exhaust gas at constant pressure to the outside; the first explosion-proof sealed cavity (5), the second explosion-proof sealed cavity (6) and the third explosion-proof sealed 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.
3. The positive pressure explosion-proof manipulator of claim 2, wherein: the gas 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); a first air inlet port and a first air outlet port which are communicated with the 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 exhaust port; a second air inlet port and a second air outlet port which are communicated with the 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 the gas source input pipe (4-1), and the output end of the first branch pipe (4-2-1) is communicated with the first gas inlet port or the second gas inlet port or the third explosion-proof sealed cavity (8-1-1); a second automatic pressure relief valve (6-1) is arranged on the second exhaust port; the manual ball valve (4-2-2) and the electromagnetic valve (4-2-3) are arranged on the first branch pipe (4-2-1).
4. The positive pressure explosion-proof manipulator of claim 3, wherein: the gas circuit component (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).
5. The positive pressure explosion-proof manipulator of claim 2, wherein: a pressure reducing valve (4-1-1) is arranged on the gas source input pipe (4-1); 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 2, wherein: at least two first exhaust ports of the main arm sealing shell (2-1) are arranged; the number of the second exhaust ports of the auxiliary arm sealing shell (3-1) is at least two.
7. The positive pressure explosion-proof manipulator of claim 3, wherein: 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 the 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 inner cavities of the base sealing shell and the main arm sealing shell are communicated; the main arm mechanism (2) is connected with the turntable transmission assembly (1-3).
8. The positive pressure explosion-proof manipulator of claim 7, wherein: the base sealing shell (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 sealing shell (1-1); the first air inlet port is arranged on the air box (1-1-1).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110018032.4A CN112757260A (en) | 2021-01-07 | 2021-01-07 | Positive-pressure explosion-proof automatic carrying system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110018032.4A CN112757260A (en) | 2021-01-07 | 2021-01-07 | Positive-pressure explosion-proof automatic carrying system |
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| CN112757260A true CN112757260A (en) | 2021-05-07 |
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| CN202110018032.4A Pending CN112757260A (en) | 2021-01-07 | 2021-01-07 | Positive-pressure explosion-proof automatic carrying system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115284257A (en) * | 2022-07-28 | 2022-11-04 | 航天云机(北京)科技有限公司 | Airtight type explosion-proof mechanical arm suitable for oil gas environment |
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2021
- 2021-01-07 CN CN202110018032.4A patent/CN112757260A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115284257A (en) * | 2022-07-28 | 2022-11-04 | 航天云机(北京)科技有限公司 | Airtight type explosion-proof mechanical arm suitable for oil gas environment |
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