CN206946289U - A kind of malleation robot explosion protection system - Google Patents
A kind of malleation robot explosion protection system Download PDFInfo
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- CN206946289U CN206946289U CN201720856747.6U CN201720856747U CN206946289U CN 206946289 U CN206946289 U CN 206946289U CN 201720856747 U CN201720856747 U CN 201720856747U CN 206946289 U CN206946289 U CN 206946289U
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- valve
- pressure cavity
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Abstract
The utility model discloses a kind of malleation robot explosion protection system, provided with explosion proof control case and robot positive pressure cavity, it is characterised in that：Gas source is supplied by the air supply pipe provided with gas supply electromagnetic valve into the robot positive pressure cavity of sealing, explosion-proof solenoid valve is provided with the robot positive pressure cavity, the input of the explosion-proof solenoid valve is by blast pipe with being connected in robot positive pressure cavity, the explosion-proof solenoid valve output end is by blast pipe with being connected outside robot positive pressure cavity, detection pipe is provided with the robot positive pressure cavity, the detection pipe connects pressure sensor, the pressure sensor output pressure signal value PLC, the controller outputs control signals to gas supply electromagnetic valve and explosion-proof solenoid valve, the explosion protection system is simple in construction, stable and reliable operation.
Description
Technical field
Spray robot security technology area is the utility model is related to, specifically a kind of positive-pressure explosion protection for robot system
System.
Background technology
Existing malleation robot explosion protection system, when the general complex and internal pressure of design changes, it is impossible to automatic to adjust
Whole sealing cavity pressure so that explosion protection system it is costly, and must artificial interference manually adjust admission pressure.
Part, which is designed, employs multiple pressure switches, control valve, pressure-reducing valve, fuel gas content detection device, such as in
State's patent discloses a kind of novel spraying machine people positive-pressure explosion-proof system, application number：201510676671.4 the applying date
2015.10.19, whole system wraps a set of fuel gas content detection device, two explosion-proof intrinsic safety pressure switches, three two
Three-way diverter valve, and proportional control valve and flow switch etc..Its deficiency is that the system does not have clean cycle, and system original paper
Numerous, costly and stability is low.
Utility model content
Technical problem to be solved in the utility model is to realize that one kind is simple in construction, and equipment cost is low, safe to use, and
The spray robot positive-pressure explosion-proof system that cavity pressure change can be sealed according to robot and is automatically adjusted.
To achieve these goals, the technical solution adopted in the utility model is：A kind of malleation robot explosion protection system, if
Have an explosion proof control case and robot positive pressure cavity, gas source by robot from the air supply pipe provided with gas supply electromagnetic valve to sealing just
Press in cavity and supply, be provided with explosion-proof solenoid valve in the robot positive pressure cavity, the input of the explosion-proof solenoid valve passes through row
With connect in robot positive pressure cavity, the explosion-proof solenoid valve output end is connected tracheae outside by blast pipe with robot positive pressure cavity
It is logical, detection pipe is provided with the robot positive pressure cavity, the detection pipe connects pressure sensor, the pressure sensor output
Pressure signal value PLC, the controller output control signals to gas supply electromagnetic valve and explosion-proof solenoid valve.
The gas supply electromagnetic valve, pressure sensor and PLC are arranged in explosion proof control case.
The blast pipe is provided with flowmeter, the flowmeter output flow signal to PLC.
The PLC outputs control signals to the supply relay of robot body.
The exhaust outlet of the blast pipe is provided with muffler, and safety valve is provided with the robot positive pressure cavity.
The gas supply electromagnetic valve is guide's two-position three way magnetic valve, and the gas source connects guide two by the first air supply pipe
The input of position-3-way solenoid valve, one of output end of guide's two-position three way magnetic valve are connected by the second air supply pipe
Robot positive pressure cavity, another output end of guide's two-position three way magnetic valve pass through the 3rd air supply pipe provided with pressure-reducing valve
Connect the first air supply pipe.
The gas source is provided with filtering pressure reducing valve and oil mist separator.
The utility model explosion protection system uses clean compressed air, first to robot annular seal space before robot energization
Body is cleaned, it is ensured that air is safe in seal cavity when upper electric, and by pressure sensor, monitors seal cavity in real time
Interior pressure, pressure closed loop control is realized, control in seal cavity barotropic gas all the time in confidence band by PLC, in addition
The explosion protection system is simple in construction, stable and reliable operation.
Brief description of the drawings
The content of every width accompanying drawing expression in the utility model specification and the mark in figure are briefly described below：
Fig. 1 is explosion protection system pneumatic schematic diagram；
Fig. 2 is explosion protection system frame diagram；
Fig. 3 is explosion protection system control flow chart；
Mark in above-mentioned figure is：1st, filtering pressure reducing valve；2nd, oil mist separator；3rd, pressure sensor；4th, pressure-reducing valve；5、
Gas supply electromagnetic valve；6th, safety valve；7th, muffler；8th, flowmeter；9th, explosion-proof solenoid valve；10th, PLC.
Embodiment
Robot body is placed in robot positive pressure cavity, and malleation robot explosion protection system includes filtering pressure reducing valve 1, mist of oil
Separator 2, pressure sensor 3, pressure-reducing valve 4, gas supply electromagnetic valve 5, safety valve 6, muffler 7, flowmeter 8, the He of explosion-proof solenoid valve 9
PLC 10.
The clean positive pressure air of explosion protection system control is filled with robot closed cavity, is realized in robot closed cavity
The protection of electrical equipment, it is set to isolate with explosibility source of the gas, so as to realize the explosion prevention function of robot.For cleaning gas by
Gas source is provided, and gas source is made up of filtering pressure reducing valve 1 and oil mist separator 2, for providing clean compressed air, gas source
Supplied by the air supply pipe provided with gas supply electromagnetic valve 5 into the robot positive pressure cavity of sealing.
As shown in figure 1, gas supply electromagnetic valve 5 is guide's two-position three way magnetic valve, gas source is connected first by the first air supply pipe
The input of two-position three way magnetic valve is led, one of output end of guide's two-position three way magnetic valve is connected by the second air supply pipe
Robot positive pressure cavity, another output end of guide's two-position three way magnetic valve are connected by the 3rd air supply pipe provided with pressure-reducing valve 4
Logical first air supply pipe.Pressure-reducing valve 4 is used for the pressure for adjusting pure air, and guide's two-bit triplet magnetic valve is used to control to robot
The break-make of body inflation.
Explosion-proof solenoid valve 9 is provided with robot positive pressure cavity, explosion-proof solenoid valve 9 is discharged logical for air in seal cavity
Disconnected, by blast pipe with being connected in robot positive pressure cavity, the output end of explosion-proof solenoid valve 9 passes through for the input of explosion-proof solenoid valve 9
Blast pipe outside robot positive pressure cavity with connect, and the exhaust outlet of blast pipe is provided with muffler 7, and muffler 7 is for eliminating annular seal space
Body discharges noise during gas.Safety valve 6 is installed, safety valve 6 is arranged on robot seal cavity on robot positive pressure cavity
On wall, when pressure exceedes setting value in envelope wall body, pressure release can be opened, ensures that internal pressure is not too high and causes seal cavity
Interior damage parts.
In order to control the gas flow of cleaning, blast pipe is provided with flowmeter 8, and the output flow signal of flowmeter 8 to PLC is controlled
Device 10 processed.The volume of gas is discharged when flowmeter 8 is used to detect cleaning out of seal cavity.
Detection pipe is provided with robot positive pressure cavity, detection pipe connects pressure sensor 3, in the robot course of work, pressure
The supervisory-controlled robot body inner air pressure, and pressure value is passed into PLC 10 all the time of force snesor 3.
PLC 10, pressure-reducing valve 4, gas supply electromagnetic valve 5, pressure sensor 3 is in explosion-proof electrical control cubicles, positioned at safety
Region, therefore these components can use non-explosion-proof electric apparatus element, safety valve 6, muffler 7, flowmeter 8, explosion-proof solenoid valve 9
In robot body, positioned at dangerous (explosion-proof) region.
Control method based on above-mentioned malleation robot explosion protection system：
Clean step：When robot starts working, it is necessary to first start explosion proof control case, after anti-explosion cabinet starts, first turn on
Gas supply electromagnetic valve 5, pure air is filled with to robot seal cavity, while opens explosion-proof solenoid valve 9, the original allowed in seal cavity
There is gas discharge, this process is referred to as cleaning and follows bad, in secondary circulation, passes through flowmeter 8 and pressure sensor 3 and detects seal cavity
Interior pressure and the volume of discharge gas.When the volume for discharging gas is more than more than 5 times of seal cavity internal volume, it is believed that clear
Sweep end.
Because in cleaning process, explosion-proof solenoid valve 9 and flowmeter 8 have just been powered when air does not clean completion, therefore
Both parts use intrinsic safety type explosion-proof solenoid valve 9 and intrinsic safety type flowmeter 8.Because of gas supply electromagnetic valve 5 and pressure sensor 3
In explosion-proof electrical control cubicles, positioned at safety zone, therefore non-explosion-proof electric apparatus element can be used in the two electric elements.
Supply step：Cleaning follows bad after terminating, and closes gas supply electromagnetic valve 5, stops the inflation to seal cavity, simultaneously close off
Explosion-proof solenoid valve 9, allow seal cavity to keep sealing, maintain the pressure of seal cavity, now PLC 10 passes through in anti-explosion cabinet
KA31 relays are to electric on robot body, robot setting in motion progress operation.
Pressure holding step：During robot works, by the real-time supervisory-controlled robot seal cavity of pressure sensor 3
Pressure, when detecting that pressure is less than preset lower limit, that is, open gas supply electromagnetic valve 5, robot seal cavity is mended
Gas certain time, if detecting that the pressure value in closed cavity was always below preset lower limit more than 15 seconds, that is, think machine
People's positive-pressure explosion-proof fails, and PLC 10 is powered off and alarmed to robot, it is ensured that spray robot safety.
The utility model is exemplarily described above in conjunction with accompanying drawing, it is clear that the utility model specific implementation not by
The limitation of aforesaid way, as long as employing changing for the various unsubstantialities that methodology and technical scheme of the present utility model are carried out
Enter, or it is not improved by it is of the present utility model design and technical scheme directly apply to other occasions, in the utility model
Protection domain within.
Claims (7)
- A kind of 1. malleation robot explosion protection system, provided with explosion proof control case and robot positive pressure cavity, it is characterised in that：Gas source Supplied into the robot positive pressure cavity of sealing by the air supply pipe provided with gas supply electromagnetic valve, set in the robot positive pressure cavity Have an explosion-proof solenoid valve, the input of the explosion-proof solenoid valve by blast pipe with being connected in robot positive pressure cavity, it is described explosion-proof For magnetic valve output end by blast pipe with connect outside robot positive pressure cavity, the robot positive pressure cavity is interior to be provided with detection pipe, The detection pipe connects pressure sensor, the pressure sensor output pressure signal value PLC, the controller output Control signal is to gas supply electromagnetic valve and explosion-proof solenoid valve.
- 2. malleation robot according to claim 1 explosion protection system, it is characterised in that：The gas supply electromagnetic valve, pressure pass Sensor and PLC are arranged in explosion proof control case.
- 3. malleation robot according to claim 1 or 2 explosion protection system, it is characterised in that：The blast pipe is provided with stream Gauge, the flowmeter output flow signal to PLC.
- 4. malleation robot according to claim 3 explosion protection system, it is characterised in that：The PLC output control Signal to robot body supply relay.
- 5. the malleation robot explosion protection system according to claim 1 or 4, it is characterised in that：The exhaust outlet of the blast pipe Provided with muffler, safety valve is installed on the robot positive pressure cavity.
- 6. malleation robot according to claim 5 explosion protection system, it is characterised in that：The gas supply electromagnetic valve is guide two Position-3-way solenoid valve, the gas source connect the input of guide's two-position three way magnetic valve, the guide by the first air supply pipe One of output end of two-position three way magnetic valve passes through second air supply pipe communicating machine people's positive pressure cavity, the guide two three Another output end of three-way electromagnetic valve connects the first air supply pipe by the 3rd air supply pipe provided with pressure-reducing valve.
- 7. malleation robot according to claim 6 explosion protection system, it is characterised in that：The gas source is provided with filtering and depressurized Valve and oil mist separator.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720856747.6U CN206946289U (en) | 2017-07-14 | 2017-07-14 | A kind of malleation robot explosion protection system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720856747.6U CN206946289U (en) | 2017-07-14 | 2017-07-14 | A kind of malleation robot explosion protection system |
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| CN206946289U true CN206946289U (en) | 2018-01-30 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107229250A (en) * | 2017-07-14 | 2017-10-03 | 希美埃（芜湖）机器人技术有限公司 | A kind of malleation robot explosion protection system and its control method |
| CN109277242A (en) * | 2018-08-17 | 2019-01-29 | 深圳市泰达机器人有限公司 | A kind of positive-pressure explosion-proof spray trigger |
| CN112859944A (en) * | 2021-01-07 | 2021-05-28 | 湖南军成科技有限公司 | Control method for positive-pressure explosion-proof automatic handling system |
| CN113198650A (en) * | 2021-05-25 | 2021-08-03 | 伯朗特机器人股份有限公司 | Spraying robot and positive pressure explosion-proof method thereof |
| CN113359891A (en) * | 2021-06-23 | 2021-09-07 | 库卡机器人制造（上海）有限公司 | Positive pressure explosion-proof system and control method and device thereof, spraying device and storage medium |
| CN114800464A (en) * | 2022-04-29 | 2022-07-29 | 深圳市大族机器人有限公司 | Explosion-proof type cooperative robot and explosion-proof method thereof |
-
2017
- 2017-07-14 CN CN201720856747.6U patent/CN206946289U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107229250A (en) * | 2017-07-14 | 2017-10-03 | 希美埃（芜湖）机器人技术有限公司 | A kind of malleation robot explosion protection system and its control method |
| CN109277242A (en) * | 2018-08-17 | 2019-01-29 | 深圳市泰达机器人有限公司 | A kind of positive-pressure explosion-proof spray trigger |
| CN112859944A (en) * | 2021-01-07 | 2021-05-28 | 湖南军成科技有限公司 | Control method for positive-pressure explosion-proof automatic handling system |
| CN113198650A (en) * | 2021-05-25 | 2021-08-03 | 伯朗特机器人股份有限公司 | Spraying robot and positive pressure explosion-proof method thereof |
| CN113359891A (en) * | 2021-06-23 | 2021-09-07 | 库卡机器人制造（上海）有限公司 | Positive pressure explosion-proof system and control method and device thereof, spraying device and storage medium |
| CN113359891B (en) * | 2021-06-23 | 2022-08-02 | 库卡机器人制造（上海）有限公司 | Positive pressure explosion-proof system and control method and device thereof, spraying device and storage medium |
| CN114800464A (en) * | 2022-04-29 | 2022-07-29 | 深圳市大族机器人有限公司 | Explosion-proof type cooperative robot and explosion-proof method thereof |
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