CN113319835A - Positive-pressure explosion-proof six-axis robot - Google Patents
Positive-pressure explosion-proof six-axis robot Download PDFInfo
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- CN113319835A CN113319835A CN202110645761.2A CN202110645761A CN113319835A CN 113319835 A CN113319835 A CN 113319835A CN 202110645761 A CN202110645761 A CN 202110645761A CN 113319835 A CN113319835 A CN 113319835A
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- arm
- driving mechanism
- shaft arm
- shaft
- motor
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the field of robots, in particular to a positive-pressure explosion-proof six-axis robot which comprises an axis seat, a first axis arm, a third axis arm, a fourth axis arm, a flange, a second axis arm, a first driving mechanism for driving the first axis arm to rotate, a second driving mechanism for driving the lower end of the second axis arm to rotate, a third driving mechanism for driving a manipulator to rotate, a fourth driving mechanism for driving the third axis arm to rotate, a fifth driving mechanism for driving the fourth axis arm to rotate, a sixth driving mechanism for driving the flange of a shaft to rotate, and the axis seat and a positive-pressure explosion-proof cavity are matched. The invention aims to provide an arm driving device which is provided with 6 driving motors arranged in a robot arm, wherein the 6 driving motors are arranged in a sealed cavity of the robot arm, compressed air is filled in the sealed cavity, and when the pressure of the compressed air is higher than that of the external environment air, flammable and explosive gas or solid mixture in the external dangerous environment can be prevented from entering the cavity to contact with electrical equipment, so that a positive-pressure explosion-proof environment is formed.
Description
Technical Field
The invention relates to the field of robots, in particular to a positive-pressure explosion-proof six-axis robot.
Background
In modern industry, automation in the production process has been a prominent subject. Modern production and processing workshops are often provided with manipulators and industrial robots to improve production efficiency and complete work which is difficult to complete or dangerous for workers. The national standard stipulates that electrical equipment used in an environment where flammable substances such as flammable gas, vapor or mist of flammable liquid, flammable solid particles or dust, and the like are mixed with air to form an explosive mixture must be subjected to explosion-proof treatment.
Disclosure of Invention
The invention aims to solve the existing defects, and provides a positive-pressure explosion-proof 6-axis robot which is provided with a robot arm driving device, wherein the arm driving device is provided with 6 driving motors arranged in a robot arm, the 6 driving motors are arranged in a sealed cavity of the robot arm, compressed air is filled in the sealed cavity, and when the pressure of the compressed air is higher than that of external environment air, inflammable and explosive gas or solid mixture in an external dangerous environment can be prevented from entering the cavity to contact with electrical equipment, so that a positive-pressure explosion-proof environment is formed.
The technical scheme adopted by the invention for solving the technical problems is as follows: the positive-pressure explosion-proof six-axis robot comprises an axis seat, a first shaft arm arranged on the axis seat, a mechanical arm arranged above the first shaft arm, and a second shaft arm arranged between the first shaft arm and the mechanical arm, wherein the axis seat is provided with a first driving mechanism for driving the first shaft arm to rotate, the first shaft arm is provided with a second driving mechanism for driving the lower end of the second shaft arm to rotate, the upper end of the second shaft arm is provided with a third driving mechanism for driving the mechanical arm to rotate, the top end of the mechanical arm is sequentially provided with a third shaft arm, a fourth shaft arm and a flange, the mechanical arm is provided with a fourth driving mechanism for driving the third shaft arm to rotate, a fifth driving mechanism for driving the fourth shaft arm to rotate and a sixth driving mechanism for driving the flange to rotate, the axis seat, the first shaft arm, the second shaft arm and the mechanical arm are provided with positive-pressure explosion-proof cavities, and an air inlet pipe for matching the positive-, The air outlet pipe and the air circuit control system are matched with a controller, and the controller is arranged on the first driving mechanism, the second driving mechanism, the third driving mechanism, the fourth driving mechanism, the fifth driving mechanism, the sixth driving mechanism and the air circuit control system.
Preferably, the first driving mechanism comprises a first speed reducer arranged on the shaft seat and a first motor arranged on the first shaft arm, the output end of the first motor is connected to the input end of the first speed reducer, the output end of the first speed reducer is fixedly connected to the first shaft arm, and the first speed reducer is provided with a first cavity connected to the positive-pressure explosion-proof cavity in space.
Preferably, the second driving mechanism includes a second motor and a second reducer which are arranged on the first shaft arm, an output end of the second motor is connected to an input end of the second reducer, and an output end of the second reducer is connected to the second shaft arm.
Preferably, the manipulator comprises a case arranged on the side surface of the second shaft arm and an extension arm arranged between the case and the third shaft arm, the third driving mechanism comprises a third speed reducer arranged on the second shaft arm and a third motor arranged in the case, the output end of the third motor is connected to the input end of the third speed reducer, the output end of the third speed reducer is fixedly connected to the case, and a second cavity connected to the positive-pressure explosion-proof cavity in space is arranged in the case.
Preferably, the fourth driving mechanism includes a fourth motor disposed in the chassis and a first transmission rod cooperating with an output end of the fourth motor and a third shaft arm, the third shaft arm is provided with a first transmission gear cooperating with the first transmission rod, and the third shaft arm and the extension arm are coupled by a cross roller collar.
Preferably, the fifth driving mechanism includes a fifth motor disposed in the chassis and a second transmission rod cooperating with an output end of the fifth motor and the third shaft arm, the fourth shaft arm is provided with a second transmission gear cooperating with the second transmission rod, and the fourth shaft arm and the third shaft arm are coupled by a cross roller collar.
Preferably, the sixth driving mechanism comprises a sixth motor arranged in the chassis and a third transmission rod piece matched with an output end of the sixth motor and the flange, the flange is provided with a third transmission gear matched with the third transmission rod piece, and the flange and the fourth shaft arm are connected through a bearing set.
Preferably, a first threading box is arranged between the first shaft arm and the second shaft arm, and a third cavity connected with the positive-pressure explosion-proof cavity in space is arranged in the first threading box.
Preferably, a second threading box is arranged between the second shaft arm and the case, and a fourth cavity connected with the positive-pressure explosion-proof cavity in space is arranged in the second threading box.
Preferably, the joints of the positive pressure explosion-proof cavities are provided with sealing elements.
The invention has the beneficial effects that: the positive-pressure explosion-proof 6-axis robot can work in flammable and explosive environments, and is wider in application range compared with a common 6-axis industrial robot. The positive pressure explosion-proof system adopts an intermittent compensation inflation mode, utilizes effective sealing to keep internal pressure, and compressed air does not need to be supplied continuously, so that the requirements of heat dissipation, ventilation and the like of the motor can be met, and energy is saved.
The application of the explosion-proof robot not only can improve the quality and the yield of products, but also has important significance for ensuring personal safety, improving the working environment, lightening the labor intensity, improving the working efficiency, saving the consumption of raw materials and reducing the production cost.
Drawings
FIG. 1 is a front view of the present invention;
FIG. 2 is a rear view of the present invention;
FIG. 3 is a left side view of the present invention;
FIG. 4 is an enlarged view at I of FIG. 2 according to the present invention;
FIG. 5 is a cross-sectional view taken at D of FIG. 2 in accordance with the present invention;
in the figure: 1. a first motor; 2. a second motor; 3. a third motor; 4. a fourth motor; 5. a fifth motor; 6. a sixth motor; 10. a shaft seat; 11. a first shaft arm; 12. a second shaft arm; 13. a chassis; 14. an extension arm; 15. a third shaft arm; 16. a fourth shaft arm; 17. a flange; 21. a first speed reducer; 22. a second speed reducer; 23. a third speed reducer; 24. a first drive link; 25. a second driving rod; 26. a third drive link; 27. a first drive gear; 28. a second transmission gear; 29. a third transmission gear; 31. a first threading box; 32. a second threading box; 41. an air inlet pipe; 42. and an air outlet pipe.
Detailed Description
The technical solution of the present invention is further specifically described below by way of specific examples in conjunction with the accompanying drawings.
As shown in fig. 1 to 5, the positive pressure explosion-proof six-axis robot includes an axis seat 10, a first axis arm 11 disposed on the axis seat 10, a manipulator disposed above the first axis arm 11, and a second axis arm 12 disposed between the first axis arm 11 and the manipulator, the axis seat is provided with a first driving mechanism for driving the first axis arm 11 to rotate, the first axis arm 11 is provided with a second driving mechanism for driving the lower end of the second axis arm 12 to rotate, the upper end of the second axis arm 12 is provided with a third driving mechanism for driving the manipulator to rotate, the top end of the manipulator is sequentially provided with a third axis arm 15, a fourth axis arm 16 and a flange 17, the manipulator is provided with a fourth driving mechanism for driving the third axis arm 15 to rotate, a fifth driving mechanism for driving the fourth axis arm 16 to rotate, and a sixth driving axis flange 17 to rotate, the axis seat, the first axis arm 11, the second axis arm 12 and the manipulator are provided with positive pressure explosion-proof cavities, an air inlet pipe 41, an air outlet pipe 42 and an air path control system which are matched with the positive pressure explosion-proof cavity are arranged on the shaft seat, and a controller is arranged in a manner of being matched with the first driving mechanism, the second driving mechanism, the third driving mechanism, the fourth driving mechanism, the fifth driving mechanism, the sixth driving mechanism and the air path control system.
In the invention, the positive pressure explosion-proof type 6-axis robot is composed of 6 relatively rotatable joints, and the relatively rotatable joints are called as 'axes'. Each shaft consists of a corresponding shaft seat and a shaft arm, and the rotary motion of each shaft is realized by the driving of a motor and a speed reducer. The total length of the shaft arm forms the arm extension length of the robot, and the rotation angle of the shaft arm relative to the shaft seat forms the moving range of the robot. 6 servo motors and cables of the robot belong to electrical equipment and must be subjected to explosion-proof treatment. In the design, the 6 servo motors and the cables are all located in the shaft arm cavity filled with compressed air, and the compressed air is utilized to form an explosion-proof environment.
In the invention, compressed air is filled into the positive pressure explosion-proof cavity from the air path control system through the air inlet pipe 41 and returns to the air path control system through the air outlet pipe. The gas circuit control system judges the pressure of the compressed air in the explosion-proof cavity, so that the action modes of waste gas removal, operation, compensation inflation or abnormal alarm are executed. Only when the pressure of compressed air is in the normal scope, the robot can the circular telegram motion, guarantees that devices such as motor and cable have been in the positive pressure air, and the effectual flammable and explosive gas or the solid mixture that has prevented in the outside hazardous environment gets into the cavity and contacts the circular telegram device.
The first driving mechanism comprises a first speed reducer 21 arranged on the shaft seat and a first motor 1 arranged on the first shaft arm 11, the output end of the first motor 1 is connected to the input end of the first speed reducer 21, the output end of the first speed reducer 21 is fixedly connected to the first shaft arm 11, and the first speed reducer 21 is provided with a first cavity connected to the positive-pressure explosion-proof cavity in a space mode.
In the invention, the shaft seat is a fixed shaft seat 10 of the whole robot, and can be fixed on an external foundation during actual use to provide support for the whole robot. The first speed reducer 21 is an RV speed reducer, a housing of the first speed reducer 21 is fixed on the shaft seat, an output end of the first speed reducer 21 is fixed on the first shaft arm 11, and the first motor 1 is fixed on the first shaft arm 11 and drives the first speed reducer 21. When the first motor 1 rotates, the first speed reducer 21 is driven to rotate, and the first speed reducer 21 drives the first shaft arm 11 to rotate within +/-120 degrees.
The second driving mechanism comprises a second motor 2 and a second speed reducer 22 which are arranged on the first shaft arm 11, the output end of the second motor 2 is connected to the input end of the second speed reducer 22, and the output end of the second speed reducer 22 is connected to the second shaft arm 12.
In the present invention, the second motor 2 is fixed to the first shaft arm 11, the second reducer 22 is an RV reducer, a housing of the second reducer 22 is fixed to the first shaft arm 11, the second shaft arm 12 is coupled to an output end of the second reducer 22, and the second motor 2 drives the second reducer 22. When the second motor 2 rotates, the second speed reducer 22 is driven to rotate, and the second speed reducer 22 drives the second shaft arm 12 to rotate between-80 degrees and +130 degrees.
The manipulator is including setting up in quick-witted case 13 of second axis 12 side and setting up in extension arm 14 between quick-witted case 13 and third axis 15, third actuating mechanism is including setting up in the third speed reducer 23 of second axis 12 and setting up the third motor 3 in quick-witted case 13, the output of third motor 3 is connected in the input of third speed reducer 23, the output fixed connection of third speed reducer 23 is in quick-witted case 13, be equipped with the second cavity of space connection in positive pressure explosion-proof chamber in quick-witted case 13.
In the invention, the third motor 3 is fixed in the case 13, the third speed reducer 23 is an RV speed reducer, the housing of the third speed reducer 23 is fixed on the second shaft arm 12, the case 13 is connected with the output end of the third speed reducer 23, and the third motor 3 drives the third speed reducer 23. When the third motor 3 rotates, the third speed reducer 23 is driven to rotate, and the third speed reducer 23 drives the case 13 to rotate between-65 degrees and +90 degrees. The extension arm 14 is fixed on the case 13, and the case 13 finally drives the shaft extension arm 14 to rotate between-65 degrees and +90 degrees.
The fourth driving mechanism comprises a fourth motor 4 arranged in the chassis 13 and a first transmission rod piece 24 matched with the output end of the fourth motor 4 and a third shaft arm 15, the third shaft arm 15 is provided with a first transmission gear 27 matched with the first transmission rod piece 24, and the third shaft arm 15 and the extension arm 14 are connected through crossed roller collars.
In the present invention, the fourth motor 4 is fixed in the chassis 13, the output shaft of the fourth motor 4 transmits the motion to the first transmission rod 24 through the first driving gear set and the bearing, and the first transmission rod 24 transmits the motion to the third shaft arm 15 through the first transmission gear 27 and the bearing. The third shaft arm 15 is coupled to the extension arm 14 by means of a crossed roller collar, and when the fourth motor 4 rotates, it drives the gear set to rotate, the gear set completes transmission and speed reduction, and the rotational motion is transmitted to the third shaft arm 15 via the first transmission rod 24, and finally the third shaft arm 15 rotates within ± 720 °.
The fifth driving mechanism comprises a fifth motor 5 arranged in the chassis 13 and a second transmission rod piece 25 matched with the output end of the fifth motor 5 and the third shaft arm 15, the fourth shaft arm 16 is provided with a second transmission gear 28 matched with the second transmission rod piece 25, and the fourth shaft arm 16 and the third shaft arm 15 are connected through a crossed roller collar.
In the present invention, the fifth motor 5 is fixed in the chassis 13, the transmission mode is the same as the fourth driving mechanism, the motion is transmitted to the second driving rod 25 through the gear set and the bearing, and the second driving rod 25 transmits the motion to the third shaft arm 15 through the second driving gear 28, the bearing set and the bevel gear set. The third shaft arm 15 is coupled to the second shaft arm 12 by a cross roller collar, and when the fifth motor 5 rotates, the fifth motor drives the gear set to rotate, the gear set completes transmission and speed reduction, and the rotational motion is transmitted to the third shaft arm 15 through the second transmission rod 25 and the bevel gear set, so that the fourth shaft arm 16 rotates within ± 720 degrees.
The sixth driving mechanism comprises a sixth motor 6 arranged in the chassis 13 and a third transmission rod 26 matched with the output end of the sixth motor 6 and the flange 17, the flange 17 is provided with a third transmission gear 29 matched with the third transmission rod 26, and the flange 17 and the fourth shaft arm 16 are connected through a bearing set.
In the invention, the sixth motor 6 is fixed in the chassis 13, the transmission mode is the same as that of the fifth driving mechanism, the motion is transmitted to the third transmission rod 26 through the gear set and the bearing, and the third transmission rod 26 transmits the motion to the flange 17 through the third transmission gear 29, the bearing set and the bevel gear set. The flange 17 is connected with the fourth shaft arm 16 through a bearing set, when the sixth motor 6 rotates, the gear set is driven to rotate, the gear set completes transmission and speed reduction, the rotary motion is transmitted to the flange 17 through the third transmission rod 26 and the bevel gear set, and finally the flange 17 rotates within +/-410 degrees.
A first threading box 31 is arranged between the first shaft arm 11 and the second shaft arm 12, and a third cavity connected with the positive pressure explosion-proof cavity in space is formed in the first threading box 31.
A second threading box 32 is arranged between the second shaft arm 12 and the case 13, and a fourth cavity connected with the positive pressure explosion-proof cavity in space is arranged in the second threading box 32.
In the invention, the positive pressure explosion-proof cavity consists of a shaft seat, a first shaft arm 11, a second shaft arm 12, a case 13, a first speed reducer 21, a first threading box 31 and a cavity of a second threading box 32, and compressed air is filled in the cavity. The third, fourth, fifth and sixth motors are arranged in the case 13, and cables of the third, fourth, fifth and sixth motors are threaded from the case 13 to the second shaft arm 12 through the second threading box 32 and then to the first shaft arm 11 through the first threading box 31. The first and second motors 2 are arranged in the first shaft arm 11, cables of the first and second motors 2 and cables of the third, fourth, fifth and sixth motors penetrate through the shaft seat through a hollow cavity of the first speed reducer 21, and finally the cables are converged on an aerial connector of the shaft seat.
The above-described embodiments are only preferred embodiments of the present invention, and are not intended to limit the present invention in any way, and other variations and modifications may be made without departing from the spirit of the invention as set forth in the claims.
Claims (10)
1. Six axis of explosion-proof type of malleation robot, its characterized in that: the manipulator is provided with a fourth driving mechanism for driving the third shaft arm to rotate, a fifth driving mechanism for driving the fourth shaft arm to rotate and a sixth driving mechanism for driving the driving shaft flange to rotate, and a positive pressure explosion-proof cavity is arranged by matching the shaft seat, the first shaft arm, the second shaft arm and the mechanical arm, and the shaft seat is provided with an air inlet pipe, an air outlet pipe and a gas circuit control system for matching the positive pressure explosion-proof cavity, and the controller is matched with the first driving mechanism, the second driving mechanism, the third driving mechanism, the fourth driving mechanism, the fifth driving mechanism, the sixth driving mechanism and the gas path control system.
2. The positive pressure explosion-proof type six-axis robot according to claim 1, characterized in that: the first driving mechanism comprises a first speed reducer arranged on the shaft seat and a first motor arranged on the first shaft arm, the output end of the first motor is connected to the input end of the first speed reducer, the output end of the first speed reducer is fixedly connected to the first shaft arm, and the first speed reducer is provided with a first cavity which is connected to the positive-pressure explosion-proof cavity in a space mode.
3. The positive pressure explosion-proof type six-axis robot according to claim 1, characterized in that: the second driving mechanism comprises a second motor and a second speed reducer which are arranged on the first shaft arm, the output end of the second motor is connected to the input end of the second speed reducer, and the output end of the second speed reducer is connected to the second shaft arm.
4. The positive pressure explosion-proof type six-axis robot according to claim 1, characterized in that: the manipulator is including setting up in the quick-witted case of second axis arm side and setting up in the extension arm between quick-witted case and third axis arm, third actuating mechanism is including setting up in the third speed reducer of second axis arm and setting up in the third motor of quick-witted incasement, the output of third motor is connected in the input of third speed reducer, the output fixed connection of third speed reducer is in quick-witted case, the quick-witted incasement is equipped with the second cavity of spatial connection in malleation explosion-proof chamber.
5. The positive pressure explosion-proof type six-axis robot according to claim 4, characterized in that: the fourth driving mechanism comprises a fourth motor arranged in the case and a first transmission rod piece matched with the output end of the fourth motor and a third shaft arm, the third shaft arm is provided with a first transmission gear matched with the first transmission rod piece, and the third shaft arm and the extension arm are connected through a crossed roller shaft collar.
6. The positive pressure explosion-proof type six-axis robot according to claim 4, characterized in that: the fifth driving mechanism comprises a fifth motor arranged in the case and a second transmission rod piece matched with the output end of the fifth motor and a third shaft arm, the fourth shaft arm is provided with a second transmission gear matched with the second transmission rod piece, and the fourth shaft arm and the third shaft arm are connected through a crossed roller shaft collar.
7. The positive pressure explosion-proof type six-axis robot according to claim 4, characterized in that: the sixth driving mechanism comprises a sixth motor arranged in the case and a third transmission rod piece matched with the output end of the sixth motor and the flange, the flange is provided with a third transmission gear matched with the third transmission rod piece, and the flange and the fourth shaft arm are connected through a bearing set.
8. The positive pressure explosion-proof type six-axis robot according to claim 1, characterized in that: a first threading box is arranged between the first shaft arm and the second shaft arm, and a third cavity which is connected with the positive-pressure explosion-proof cavity in space is arranged in the first threading box.
9. The positive pressure explosion-proof type six-axis robot according to claim 4, characterized in that: and a second threading box is arranged between the second shaft arm and the case, and a fourth cavity connected with the positive pressure explosion-proof cavity in space is arranged in the second threading box.
10. The positive pressure explosion-proof type six-axis robot according to claim 1, characterized in that: and sealing elements are arranged at the joints of the positive pressure explosion-proof cavities.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110645761.2A CN113319835A (en) | 2021-06-09 | 2021-06-09 | Positive-pressure explosion-proof six-axis robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110645761.2A CN113319835A (en) | 2021-06-09 | 2021-06-09 | Positive-pressure explosion-proof six-axis robot |
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| Publication Number | Publication Date |
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| CN113319835A true CN113319835A (en) | 2021-08-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110645761.2A Pending CN113319835A (en) | 2021-06-09 | 2021-06-09 | Positive-pressure explosion-proof six-axis robot |
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| CN (1) | CN113319835A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113843783A (en) * | 2021-10-19 | 2021-12-28 | 洛阳千歌机器人科技有限公司 | Positive pressure type explosion-proof cooperative robot |
-
2021
- 2021-06-09 CN CN202110645761.2A patent/CN113319835A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113843783A (en) * | 2021-10-19 | 2021-12-28 | 洛阳千歌机器人科技有限公司 | Positive pressure type explosion-proof cooperative robot |
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