CN114952805A - Explosion-proof joint robot device - Google Patents
Explosion-proof joint robot device Download PDFInfo
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- CN114952805A CN114952805A CN202210909259.2A CN202210909259A CN114952805A CN 114952805 A CN114952805 A CN 114952805A CN 202210909259 A CN202210909259 A CN 202210909259A CN 114952805 A CN114952805 A CN 114952805A
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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
- 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
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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
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- Robotics (AREA)
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Abstract
The invention discloses an explosion-proof joint robot device, which comprises: the robot structure comprises a base, a plurality of moving parts and a plurality of joint parts, wherein the moving parts are sequentially and rotatably connected to the base through the joint parts, each joint part comprises an explosion-proof motor and an explosion-proof speed reducer, and the explosion-proof motors are in driving connection with the explosion-proof speed reducers and are used for driving the corresponding moving parts to rotate; the outer surface of the robot structural part is covered with an explosion-proof coating which can conduct electricity, and the base, the plurality of moving parts and the plurality of joint parts are all in equipotential connection; still bury a plurality of ann's type temperature-sensing element on the robot structure, ann's type temperature-sensing element all is connected to temperature protection device, and ann's type temperature-sensing element is used for detecting the temperature of corresponding position and feeds back the detected signal to temperature protection device. The temperature and the current of the anti-explosion joint robot device are controllable, so that the safety of the robot is ensured, and the requirements of anti-explosion application places are met.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to an explosion-proof joint robot device.
Background
With the arrival of the 4.0 era of industry, the development of industrial robots is maturing day by day. Industrial robots are multi-joint manipulators widely used in the industrial field or multi-degree-of-freedom machine devices, have certain automaticity, can realize various industrial processing and manufacturing functions by means of self power energy and control capacity, can assist or even replace human beings to finish dangerous, heavy and complex work, and improve the working efficiency and quality.
Along with the expansion of the application field of the industrial robot, the application environment is more and more complex, when the industrial robot works in dangerous environments such as chemical industry and petroleum production bases, due to the possibility of leaking flammable and explosive gases, liquids, various dusts and fibers, after the leaked substances reach a certain concentration and are mixed with air, once a fire source occurs, the leaked substances can explode immediately, so that fire disasters are caused, and serious consequences are brought to production and environment. The existing industrial robot system focuses on efficiency and speed, has no special counter measures for protection of temperature, static electricity, gas and dust in a dangerous environment, and cannot meet the requirements of explosion-proof application places.
Disclosure of Invention
The invention aims to provide an explosion-proof joint robot device to overcome the defect that the existing robot cannot meet the requirements of explosion-proof application places.
The technical scheme adopted by the invention for solving the technical problem is as follows: an explosion-proof articulated robotic device comprising: the robot structure comprises a base, a plurality of moving parts and a plurality of joint parts, wherein the moving parts are sequentially and rotatably connected to the base through the joint parts, each joint part comprises an explosion-proof motor and an explosion-proof speed reducer arranged at the joint, and the explosion-proof motor is in driving connection with the explosion-proof speed reducer and is used for driving the corresponding moving part to rotate;
the outer surface of the robot structural part is covered with a conductive explosion-proof coating, and the base, the plurality of moving parts and the plurality of joint parts are all in equipotential connection, so that the whole robot structural part is in equipotential;
the robot structural part is also embedded with a plurality of intrinsic safety type temperature sensing elements, the intrinsic safety type temperature sensing elements are connected to the temperature protection device, and the intrinsic safety type temperature sensing elements are used for detecting the temperature of the corresponding part and feeding back detection signals to the temperature protection device.
As a further improvement of the invention, the surface resistance of the explosion-proof coating is 10 6 ~10 9 Ω。
In a further improvement of the present invention, the material used for the explosion-proof coating is polyurethane resin or polyurea resin with elasticity.
As a further improvement of the invention, the material adopted by the explosion-proof coating is conductive paint or conductive molding powder.
As a further improvement of the invention, the base and one of the moving parts which is rotatably connected with the base, and the two adjacent moving parts are in conductive connection through telescopic conductors.
As a further improvement of the invention, the base and one of the moving parts which is rotatably connected with the base, and the two adjacent moving parts are in conductive connection through a carbon brush and a copper ring which are matched with each other.
As a further improvement of the present invention, the intrinsically safe temperature sensing elements are respectively distributed on the coil winding of the explosion-proof motor and the outer surfaces of the base, the explosion-proof reducer and the plurality of moving parts.
As a further improvement of the present invention, the temperature protection device includes an isolation module, an intrinsically safe power supply, a temperature control module, a safety control loop and a controller, the intrinsically safe power supply is electrically connected to the isolation module, a plurality of intrinsically safe temperature sensing elements are electrically connected to the temperature control module through the isolation module, the temperature control module is also electrically connected to the safety control loop and the controller, and the temperature control module can control the safety control loop to be turned on or off according to a detection signal fed back by the intrinsically safe temperature sensing elements and feed back a temperature control state to the controller;
the temperature protection device is arranged in a safety area, and the safety area is an explosion-proof isolation box arranged outside or in a working environment of the robot.
As a further improvement of the invention, a grounding protection device is arranged on the robot structural member, and the grounding protection device comprises grounding resistance monitoring equipment, a first cable, a second cable, a first grounding body and a second grounding body which are buried in a robot use field;
the base is internally provided with a robot explosion-proof junction box, a PE wire of the explosion-proof motor, the PE wire of the robot explosion-proof junction box and a PE wire of an external explosion-proof control cabinet are sequentially connected to the first grounding body through the first cable, and the base is connected to the second grounding body through the second cable so as to form a grounding loop;
the grounding resistance monitoring equipment is used for monitoring the resistance value of the grounding loop in real time.
As a further improvement of the invention, the base and the plurality of moving parts are made of metal materials or non-metal materials;
the metal material is one or more of stainless steel, aluminum alloy and titanium alloy, and the nonmetal material is a modified conductive composite material or a carbon fiber reinforced epoxy resin composite material.
The beneficial effects of the invention are: the invention provides an explosion-proof joint robot device, which can limit the surface current to milliampere level and meet the requirement of ignition energy less than the lowest by fully covering a layer of conductive explosion-proof coating on the outer surface of a robot structural member; the robot structural member is integrally connected in an equipotential manner, so that current is guided to the ground, and discharge caused by potential difference between the robot structural member and the ground is prevented; meanwhile, a plurality of intrinsic safety type temperature sensing elements are also embedded in the structural part of the robot, the temperature and the current of the robot are controllable, the safety of the robot is ensured, and the requirements of explosion-proof application places are met.
Drawings
FIG. 1 is a schematic structural diagram of an explosion-proof joint robot apparatus according to the present invention;
FIG. 2 is a schematic structural diagram of equipotential connection of a large arm and a small arm in an embodiment of the robot device with explosion-proof joints according to the present invention;
FIG. 3 is a schematic view of the equipotential connection between the upper arm and the lower arm in another embodiment of the explosion-proof articulated robot apparatus of the present invention;
FIG. 4 is a schematic block diagram of the connection between an intrinsically safe temperature sensing element and a temperature protection device in the explosion-proof joint robot device of the present invention;
fig. 5 is a schematic diagram of a ground protection system of the robot device with explosion-proof joints according to the invention.
The following description is made with reference to the accompanying drawings:
1. a base; 2. an explosion-proof motor; 3. an explosion-proof reducer; 4. an intrinsically safe temperature sensing element; 5. a telescopic conductor; 6. a carbon brush; 7. a copper ring; 8. an isolation module; 9. an intrinsically safe power supply; 10. a temperature control module; 11. a safety control loop; 12. a controller; 13. ground resistance monitoring equipment; 14. a first cable; 15. a second cable; 16. a first ground body; 17. a second ground body; 18. robot explosion-proof junction box; 19. an explosion-proof control cabinet; 20. a large arm; 21. a small arm.
Detailed Description
A preferred embodiment of the present invention will be described in detail below with reference to the accompanying drawings.
Example one
Referring to fig. 1, 2, 4 and 5, the present invention provides an explosion-proof joint robot apparatus including: the robot structure, the temperature protection device, the grounding protection device and the explosion-proof control cabinet 19.
The robot structural part is provided with a base 1, a plurality of moving parts and a plurality of joint parts, wherein the moving parts are sequentially and rotatably connected to the base 1 through the joint parts. In detail, a plurality of motion parts mainly include big arm 20 and forearm 21, and a plurality of joint parts can be divided into shoulder joint, elbow joint and wrist joint, and big arm 20 rotates through the shoulder joint to be connected on base 1, and the one end of forearm 21 rotates through the elbow joint to be connected on big arm 20, and the wrist joint rotates to be connected on the other end of forearm 21, and then realizes a plurality of degrees of freedom motions.
The joint parts comprise an explosion-proof motor 2 and an explosion-proof speed reducer 3 arranged at the joint, a flange is arranged on the shell of the explosion-proof speed reducer 3, and the explosion-proof speed reducer 3 is fixed on the corresponding base 1 or the corresponding moving part through the flange. The explosion-proof motor 2 is located one side of the explosion-proof speed reducer 3, an output shaft of the explosion-proof motor 2 is in driving connection with the explosion-proof speed reducer 3, and the explosion-proof motor 2 drives a corresponding moving part to rotate through the explosion-proof speed reducer 3.
Explosion-proof machine 2 satisfies the relevant standard of GB3836 in this application.
The base 1, the large arm 20 and the small arm 21 are made of metal material with high strength or specific strength, preferably one or more of stainless steel, aluminum alloy and titanium alloy. The base 1, the upper arm 20, and the lower arm 21 may be made of a modified conductive nonmetallic composite material, and a conventional modification method is mainly to fill a PPS resin material with metal powder such as nano-grade activated carbon, bronze, brass, or aluminum, or to use a carbon fiber-reinforced epoxy resin composite material as a nonmetallic material. Compared with metal materials, the non-metal composite material has higher specific strength and lighter weight. It should be noted that the non-metallic material is required to ensure that the surface resistance of the formed robot structural member is not more than 10 8 Omega, i.e. it is necessary to ensure that the entire robot structure is electrically conductive.
Furthermore, the outer surfaces of the base 1, the large arm 20, the small arm 21, the explosion-proof motor 2 and the explosion-proof reducer 3 contained in the robot structural member are all covered with an explosion-proof coating layer which can conduct electricity, the explosion-proof coating layer is made of polyurethane resin or polyurea resin, the surface hardness of the explosion-proof coating layer is not more than Shore D90 degrees, and the explosion-proof coating layer has certain elasticityPerformance, preventing the robot structural member from generating sparks in collision; and the surface resistance after spraying and curing is 10 6 ~10 9 Omega, the surface of the robot structural part after spraying can be conductive. If the resistance is too high to conduct electricity, there is a risk of charge build-up on the surface, and the present application places the surface resistance at 10 6 ~10 9 Omega, on one hand, the risk of overlarge resistance can be reduced, on the other hand, the surface resistance of the sprayed robot structural part is in the megaohm level, the surface current can be limited in the milliampere level, and the requirement of ignition energy smaller than the lowest point is met.
As another preferred embodiment, the material of the explosion-proof coating can also be conductive paint or conductive molding powder, and the surface resistance of the explosion-proof coating after spraying and curing is 10 6 ~10 9 Omega, the surface of the robot structural part after spraying can be conductive. In addition, the surface of the robot structural member can be sprayed with conductive paint or conductive molding powder to play a role in anti-static protection.
Furthermore, the base 1, the plurality of moving parts and the plurality of joint parts are all connected in an equipotential manner, the robot structural part is grounded, current is guided to the ground, discharging caused by potential difference between the robot structural part and the ground is prevented, and safety performance is improved.
Referring to fig. 2, the equipotential connection between the upper arm 20 and the lower arm 21 is illustrated in detail. The explosion-proof speed reducer 3 is fixed on the large arm 20 through a flange of the explosion-proof speed reducer, the large arm 20 is in direct contact with the explosion-proof speed reducer 3, and the two parts have equal potential; the small arm 21 is connected to an output shaft of the explosion-proof reducer 3. The outer surface of the large arm 20 and the outer surface of the small arm 21 are in conductive connection through the telescopic conductor 5, and therefore the surface equipotential of the explosion-proof motor 2 connected with the explosion-proof speed reducer 3 through the large arm 20 and the small arm 21 is guaranteed.
Preferably, the telescopic conductor 5 is a spring wire, which ensures that the large arm 20 and the small arm 21 can conduct electricity when moving.
Similarly, the equipotential connection between the base 1 and the large arm 20 and between other adjacent moving parts is also the same, so that the surfaces of the base 1, the large arm 20, the small arm 21, all the explosion-proof motors 2 and all the explosion-proof speed reducers 3 are equipotential, and the overall equipotential of the robot structural part is further ensured.
Referring to fig. 1, a plurality of intrinsically safe temperature sensing elements 4 are further embedded in the robot structural member, the intrinsically safe temperature sensing elements 4 are connected to the temperature protection device, and the intrinsically safe temperature sensing elements 4 are used for detecting the temperature of corresponding parts and feeding back detection signals to the temperature protection device. The intrinsic safety type temperature sensing element 4 can adopt temperature sensors with types of PT100, PT1000 and KTY, and is respectively distributed on a coil winding of the explosion-proof motor 2 and the outer surfaces of the base 1, the explosion-proof speed reducer 3 and a plurality of moving parts.
Referring to fig. 4, the temperature protection device includes an isolation module 8, an intrinsically safe power supply 9, a temperature control module 10, a safety control loop 11, and a controller 12. A plurality of this ampere of type temperature-sensing element 4 all are connected to temperature control module 10 through isolation module 8 electricity, and isolation module 8 is optical coupling isolation module, plays the isolation. The intrinsically safe power supply 9 is electrically connected to the isolation module 8 for power supply. The temperature control module 10 is also electrically connected with a safety control loop 11 and a controller 12, the safety control loop 11 is connected with a cable of the robot, and a safety relay is arranged in the safety control loop 11. The temperature control module 10 can control the safety control loop 11 to be switched on or off according to the detection signal fed back by the intrinsic safety type temperature sensing element 4, so as to control the robot to be switched on or off, and feed back the temperature control state to the controller 12.
When the intrinsically safe temperature sensing element 4 detects that the temperature of the corresponding part exceeds a set threshold value, the temperature control module 10 receives the temperature signal to perform logic analysis processing, and outputs a control signal to control a safety relay in the safety control loop 11 to be powered off, so that the robot is controlled to be safely stopped, and safety accidents caused by overhigh temperature are avoided.
As another preferred embodiment of the present invention, the intrinsically safe temperature sensing element 4 may also adopt a temperature control switch, when the intrinsically safe temperature sensing element 4 detects that the temperature of the corresponding portion exceeds a set threshold, the temperature control switch may jump to directly control the safety relay in the safety control loop 11 to power off, and similarly, the temperature control module 10 may also perform logic analysis on the jump signal and output a control signal to indirectly control the safety relay to power off, thereby controlling the robot to safely stop.
Wherein, temperature protection device is in safe district, and this safe district is the explosion-proof shielded box that sets up outside the hazardous environment of robot work or in the hazardous environment.
Referring to fig. 5, the ground protection apparatus includes a ground resistance monitoring device 13, a first cable 14, a second cable 15, and a first ground body 16 and a second ground body 17 buried in a robot use place. A robot explosion-proof junction box 18 is arranged in the base 1, and a PE wire of the explosion-proof motor 2, a PE wire of the robot explosion-proof junction box 18 and a PE wire of an explosion-proof control cabinet 19 are sequentially connected to a first grounding body 16 through a first cable 14. Due to the equipotential of the surface of the robot structural member, the base 1 is connected to the second grounding body 17 through the second cable 15, that is, the grounding connection of the large arm 20, the small arm 21, and all the housings of the explosion-proof motor 2 and the explosion-proof reducer 3 is realized. Therefore, a grounding circuit is formed among the base 1, the explosion-proof motor 2, the moving part, the robot explosion-proof junction box 18, the explosion-proof control cabinet 19 and the ground.
The ground resistance monitoring device 13 is a non-contact ground resistance on-line detector, which is sleeved on the first cable 14 for monitoring the resistance value of the ground loop in real time. The ground resistance monitoring device 13 will induce a pulse potential E on the ground loop to be tested by giving an excitation pulse signal to the ground loop to be tested, and will generate a current I on the ground loop to be tested under the action of the potential E. The ground resistance monitoring device 13 measures the potential E and the current I, and by the formula: and R = E/I, the resistance of the tested ground loop can be obtained. When the grounding resistance changes or becomes small, the system gives an alarm.
Example two
Referring to fig. 3, as another preferred embodiment of the present invention, the difference from the first embodiment is: the large arm 20 and the small arm 21 can be electrically connected through the carbon brush 6 and the copper ring 7 in a matching way.
Specifically, the explosion-proof speed reducer 3 is fixed on the large arm 20 through a flange thereof, the large arm 20 is in direct contact with the explosion-proof speed reducer 3, and the two are equipotential; the small arm 21 is connected to the output shaft of the explosion-proof reduction gear 3. The copper ring 7 is sleeved on the outer side of the explosion-proof speed reducer 3 and fixed on the small arm 21, the carbon brush 6 is fixed on the large arm 20 and always keeps contact with the copper ring 7, and the large arm 20 and the small arm 21 can conduct electricity when moving, so that the surface equipotential of the explosion-proof motor 2 connected with the explosion-proof speed reducer 3 by the large arm 20 and the small arm 21 is guaranteed.
Similarly, the equipotential connection between the base 1 and the large arm 20 and between other adjacent moving parts is also the same, so that the surfaces of the base 1, the large arm 20, the small arm 21, all the explosion-proof motors 2 and all the explosion-proof speed reducers 3 are equipotential, and the overall equipotential of the robot structural part is further ensured.
In the previous description, numerous specific details were set forth in order to provide a thorough understanding of the present invention. The foregoing description is only a preferred embodiment of the invention, which can be embodied in many different forms than described herein, and therefore the invention is not limited to the specific embodiments disclosed above. And that those skilled in the art may, using the methods and techniques disclosed above, make numerous possible variations and modifications to the disclosed embodiments, or modify equivalents thereof, without departing from the scope of the claimed embodiments. Any simple modification, equivalent change and modification of the above embodiments according to the technical essence of the present invention are within the scope of the technical solution of the present invention.
Claims (10)
1. An explosion-proof joint robot device comprises a robot structural part, wherein the robot structural part is provided with a base (1), a plurality of moving parts and a plurality of joint parts, the moving parts are sequentially and rotatably connected to the base (1) through the joint parts, each joint part comprises an explosion-proof motor (2) and an explosion-proof speed reducer (3) arranged at a joint, and the explosion-proof motors (2) are in driving connection with the explosion-proof speed reducers (3) so as to drive the corresponding moving parts to rotate; the method is characterized in that:
the outer surface of the robot structural part is covered with a conductive explosion-proof coating, and the base (1), the plurality of moving parts and the plurality of joint parts are all in equipotential connection, so that the whole robot structural part is equipotential;
still bury a plurality of ann's type temperature-sensing element (4) on the robot structure, ann's type temperature-sensing element (4) all are connected to temperature protection device, ann's type temperature-sensing element (4) are used for detecting the temperature of corresponding position and feed back the detected signal to temperature protection device.
2. The explosion-proof articulated robotic device of claim 1, wherein: the surface resistance of the explosion-proof coating is 10 6 ~10 9 Ω。
3. The explosion-proof articulated robot apparatus according to claim 2, characterized in that: the material adopted by the explosion-proof coating is polyurethane resin or polyurea resin with elasticity.
4. The explosion-proof articulated robot apparatus according to claim 2, characterized in that: the explosion-proof coating is made of conductive paint or conductive plastic powder.
5. The explosion-proof articulated robotic device of claim 1, wherein: the base (1) and one of the moving parts which is rotationally connected with the base and the two adjacent moving parts are in conductive connection through telescopic conductors (5).
6. The explosion-proof articulated robotic device of claim 1, wherein: the base (1) and one of the moving parts which are rotationally connected with the base and the two adjacent moving parts are in conductive connection through the carbon brush (6) and the copper ring (7) which are matched with each other.
7. The explosion-proof articulated robot apparatus of claim 1, wherein: the intrinsic safety type temperature sensing elements (4) are respectively distributed on the coil winding of the explosion-proof motor (2) and the outer surfaces of the base (1), the explosion-proof speed reducer (3) and the moving parts.
8. The explosion-proof articulated robotic device of claim 1, wherein: the temperature protection device comprises an isolation module (8), an intrinsic safety power supply (9), a temperature control module (10), a safety control loop (11) and a controller (12), wherein the intrinsic safety power supply (9) is electrically connected to the isolation module (8), a plurality of intrinsic safety temperature sensing elements (4) are electrically connected to the temperature control module (10) through the isolation module (8), the temperature control module (10) is also electrically connected with the safety control loop (11) and the controller (12), and the temperature control module (10) can control the safety control loop (11) to be connected or disconnected according to detection signals fed back by the intrinsic safety temperature sensing elements (4) and feed back temperature control states to the controller (12);
the temperature protection device is arranged in a safety area, and the safety area is an explosion-proof isolation box arranged outside a robot working environment or in the working environment.
9. The explosion-proof articulated robotic device of claim 1, wherein: the robot structure is provided with a grounding protection device, and the grounding protection device comprises a grounding resistance monitoring device (13), a first cable (14), a second cable (15), a first grounding body (16) and a second grounding body (17) which are buried in a robot use field;
a robot explosion-proof junction box (18) is arranged in the base (1), a PE wire of the explosion-proof motor (2), a PE wire of the robot explosion-proof junction box (18) and a PE wire of an external explosion-proof control cabinet (19) are sequentially connected to the first grounding body (16) through the first cable (14), and the base (1) is connected to the second grounding body (17) through the second cable (15) so as to form a grounding loop;
the grounding resistance monitoring equipment (13) is used for monitoring the resistance value of the grounding loop in real time.
10. The explosion-proof articulated robotic device of claim 1, wherein: the base (1) and the plurality of moving parts are made of metal materials or non-metal materials;
the metal material is one or more of stainless steel, aluminum alloy and titanium alloy, and the nonmetal material is a modified conductive composite material or a carbon fiber reinforced epoxy resin composite material.
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| CN202210909259.2A CN114952805A (en) | 2022-07-29 | 2022-07-29 | Explosion-proof joint robot device |
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| CN202210909259.2A CN114952805A (en) | 2022-07-29 | 2022-07-29 | Explosion-proof joint robot device |
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