Automatic guiding type vehicle-mounted positive pressure explosion-proof collaborative robot

Abstract

The utility model relates to the technical field of explosion-proof robots, in particular to an automatic guiding type vehicle-mounted positive pressure explosion-proof collaborative robot which comprises a transfer module and an operation module as a transfer carrier of the operation module, and the operation module can be driven by the transfer module to move to different operation areas for operation. The operation module comprises a base used in cooperation with the supporting plate, a control box is arranged above the base, a mechanical arm is arranged above the control box, a power module for providing electric energy for operation of the mechanical arm is arranged in the control box, and a positive pressure air supply module connected with the mechanical arm is arranged on the outer side of the control box. Through the integrated design of the mechanical arm, the power source and the air source, the influence of a circuit and an air path on the operation range of the equipment can be avoided, the operation range and flexibility of the equipment are improved, meanwhile, the operation module can be transferred more flexibly through the split design of the transfer module and the operation module, and manual intervention during equipment transferring is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of explosion-proof robots, in particular to an automatic guided vehicle-mounted positive pressure explosion-proof collaborative robot. Background Art

[0002] Explosion-proof collaborative robots are widely used in automated integrated production lines, assembly, picking, welding, grinding, painting, and other fields in explosive gas and combustible dust environments. Because the robot's operating environment may contain flammable gases or dust, and the robot's servo motors, drives, reducers, encoders, sensors, actuators, and other components are electrical components, they can generate sparks, high mechanical temperatures, and hot surfaces during normal operation. If flammable gases or dust accumulation occur at the work site, fires and even explosions are very likely to occur, leading to serious accidents. With the exception of positive-pressure explosion-proof types, other explosion-proof types limit the flexibility of collaborative robots to a certain extent. Therefore, a positive-pressure explosion-proof collaborative robot is needed to effectively block sparks from contacting flammable gases and dust, preventing serious accidents such as fires and explosions during operation.

[0003] The positive-pressure explosion-proof collaborative robot adopts a unique dual-joint module design. One motion module contains two joints, forming a unique kinematic structure, which can achieve higher flexibility when working. However, the positive-pressure explosion-proof collaborative robot needs to be powered by cables laid from the distribution cabinet at the work site. At the same time, the positive pressure inside the robot shell needs to be supplied by air pipes laid from the air compressor in the safe area, which limits the large-scale movement of the explosion-proof robot. As a result, the operating range of the explosion-proof robot can only be within the pipeline supply range of the power and air source, affecting the flexibility of the equipment.

[0004] Therefore, we propose an automatically guided vehicle-mounted positive pressure explosion-proof collaborative robot, which can automatically guide and position itself according to the set program in explosive and dangerous environments, work freely, replace workers to complete dangerous work, greatly reduce operational risks, and be conveniently used in mechanical processing, surface spraying, automobile refueling, pharmaceutical product transportation, electric vehicle charging, military industry, civil explosives, petroleum and petrochemical and other application places closely related to people's lives. Utility Model Content

[0005] In order to solve the above problems, an embodiment of the present utility model provides an automatically guided vehicle-mounted positive pressure explosion-proof collaborative robot with its own power supply and positive pressure gas source, which can move flexibly in dangerous areas and the movement range is not limited by pipelines.

[0006] In order to achieve the above-mentioned purpose, the embodiment of the present utility model specifically adopts the following technical solutions: an automatic guided vehicle-mounted positive pressure explosion-proof collaborative robot, including a transfer module and an operation module, the transfer module includes a walking body, the upper part of the walking body is provided with a control panel, the front side of the walking body is provided with a pallet, the operation module includes a base used in conjunction with the pallet, a control box is provided above the base, a robotic arm is provided above the control box, a power supply module is provided in the control box, and a positive pressure air supply module connected to the robotic arm is provided on the outside of the control box.

[0007] As a further improvement of the above technical solution:

[0008] The lower part of the base is provided with supporting columns, and the number of the supporting columns is multiple and distributed in a matrix. A plug-in gap for use with a supporting plate is provided between two adjacent supporting columns.

[0009] The positive pressure air supply module includes a gas cylinder arranged on a base, and a gas supply pipeline connected to the robotic arm is provided at the gas outlet of the gas cylinder.

[0010] It also includes a pressure detection system, which includes a pressure detector 1 set on the control box and a pressure detector 2 set on the robotic arm.

[0011] The walking body is an AGV trolley, the front end of the AGV trolley is provided with a lifting seat for installing a supporting plate, and the lower part of the lifting seat is provided with a positioning plate.

[0012] One end of the support plate is connected to the positioning plate, and the other end is provided with a guide arc for plugging with the base. A roller is provided in the middle of the support plate.

[0013] The power module includes a battery, and a charging connector electrically connected to the battery is provided on the side wall of the control box.

[0014] The beneficial effects of the embodiments of the present utility model are: 1. The automatic guided vehicle-mounted positive pressure explosion-proof collaborative robot includes a transfer module and an operation module. As a transfer carrier of the operation module, the transfer module can drive the operation module to move to different operation areas for operation.

[0015] 2. The operation module includes a base used in conjunction with the pallet, a control box is provided above the base, a robotic arm is provided above the control box, a power module is provided in the control box to provide power for the operation of the robotic arm, and a positive pressure air supply module connected to the robotic arm is provided on the outside of the control box. The integrated design of the robotic arm, power supply and air source can avoid the influence of the circuit and air path on the operating range of the equipment, thereby increasing the operating range and flexibility of the equipment. At the same time, the split design of the transfer module and the operation module can make the operation module more flexible to transfer, reducing human intervention during equipment transfer. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0017] Figure 2 This is a structural diagram of the transfer module and the operation module in the present invention in a separated state;

[0018] Figure 3 This is a schematic diagram of the installation structure of the robotic arm in the present utility model;

[0019] Figure 4 This is a schematic diagram of the structure of the power module in the utility model.

[0020] In the figure: 1. Walking body; 2. Control panel; 3. Pallet; 4. Base; 5. Control box; 6. Robotic arm; 7. Support column; 8. Insertion gap; 9. Gas cylinder; 10. Gas supply pipe; 12. Pressure tester 1; 13. Pressure tester 2; 14. Lifting seat; 15. Positioning plate; 16. Guide arc; 17. Roller; 18. Battery; 19. Charging connector. DETAILED DESCRIPTION

[0021] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0022] like Figure 1-4 As shown, the automatic guided vehicle-mounted positive pressure explosion-proof collaborative robot of this embodiment includes a transfer module and an operation module. The transfer module includes a walking body 1. The upper part of the walking body 1 is provided with a control panel 2. The front side of the walking body 1 is provided with a tray 3 for connecting with the operation module. The transfer module can drive the operation module to move to different operation areas for operation. As a transfer carrier of the operation module, the control panel 3 can display the power and operation information of the walking body 1.

[0023] The operation module includes a base 4 used in conjunction with the pallet 3, a control box 5 is provided above the base 4, a robotic arm 6 is provided above the control box 5, a power supply module for providing electrical energy for the operation of the robotic arm 6 is provided in the control box 5, and a positive pressure air supply module connected to the robotic arm 6 is provided on the outside of the control box 5. Through the integrated design of the robotic arm, power supply and air source, the influence of the circuit and air path on the operating range of the equipment can be avoided, and the operating range and flexibility of the equipment can be increased. At the same time, the split design of the transfer module and the operation module can make the operation module more flexible to transfer, reducing human intervention during equipment transfer.

[0024] The lower part of the base 4 is provided with support columns 7. There are multiple support columns 7 distributed in a matrix. A plug-in gap 8 for use with the pallet 3 is provided between two adjacent support columns 7 to facilitate the transfer operation after the transfer module and the operation module are connected.

[0025] The positive pressure gas supply module includes a gas cylinder 9 arranged on the base 4, and a gas supply pipe 10 connected to the robotic arm 6 is provided at the gas outlet of the gas cylinder 9. A filter pressure regulating valve, an explosion-proof flow meter and a one-way throttle valve are installed on the gas supply pipe 10. A porous gland joint is provided at the lower part of the robotic arm 6. The gas supply pipe 10 injects gas into the robotic arm 6 to increase the pressure and maintain a positive pressure of 500-2000Pa to prevent powder and flammable gas in a dangerous environment from entering the interior of the robotic arm 6.

[0026] The automatic guided vehicle-mounted positive pressure explosion-proof collaborative robot also includes a pressure detection system, which includes a pressure detector 12 arranged on the control box 5 and a pressure detector 2 13 arranged on the robotic arm 6. The pressure in the control box 5 and the robotic arm 6 is detected by the pressure detector 12 and the pressure detector 2 13. When the pressure is abnormal (lower than 70Pa), the power supply of the equipment is cut off and the operation is stopped.

[0027] The walking body 1 is an AGV trolley. The front end of the AGV trolley is provided with a lifting seat 14 for installing the pallet 3. The lower part of the lifting seat 14 is provided with a positioning plate 15. One end of the pallet 3 is connected to the positioning plate 15, and the other end is provided with a guide arc 16 for plugging with the base 4. A roller 17 is provided in the middle of the pallet 3.

[0028] The power module includes a battery 18. A charging connector 19 electrically connected to the battery 18 is provided on the side wall of the control box 5. A controller is also provided in the control box 5 for monitoring the power and the on-off state of the circuit.

[0029] It should be noted that in the description of this utility model, terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer" indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. This is merely for ease of description and does not indicate or imply that the device or element described must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0030] Furthermore, it should be noted that, in the description of this utility model, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; direct connections, indirect connections through an intermediate medium, and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on specific circumstances.

[0031] The term "comprise" or any other similar term is intended to cover non-exclusive inclusion, such that a process, article, or apparatus / device that comprises a list of elements includes not only those elements but also other elements not expressly listed or inherent to such process, article, or apparatus / device.

[0032] Thus far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art may make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will fall within the scope of protection of the present invention.

Claims

1. An automatic guided vehicle-mounted positive pressure explosion-proof collaborative robot, characterized by: It comprises a transfer module and an operation module, wherein the transfer module comprises a walking body (1), a control panel (2) is provided on the upper part of the walking body (1), and a support plate (3) is provided on the front side of the walking body (1); The operation module comprises a base (4) used in conjunction with a support plate (3); a control box (5) is provided above the base (4); a mechanical arm (6) is provided above the control box (5); a power module is provided inside the control box (5); and a positive pressure air supply module connected to the mechanical arm (6) is provided outside the control box (5).

2. The automatic guided vehicle-mounted positive pressure explosion-proof collaborative robot according to claim 1, characterized in that: The lower part of the base (4) is provided with a supporting column (7), the supporting columns (7) are multiple and distributed in a matrix, and a plug-in gap (8) for use with the support plate (3) is provided between two adjacent supporting columns (7).

3. The automatic guided vehicle-mounted positive pressure explosion-proof collaborative robot according to claim 1, characterized in that: The positive pressure air supply module comprises a gas cylinder (9) arranged on a base (4), and a gas supply pipe (10) connected to the mechanical arm (6) is provided at the gas outlet of the gas cylinder (9).

4. The automatic guided vehicle-mounted positive pressure explosion-proof collaborative robot according to claim 1, characterized in that: It also includes a pressure detection system, which includes a pressure detector 1 (12) arranged on the control box (5) and a pressure detector 2 (13) arranged on the mechanical arm (6).

5. The automatic guided vehicle-mounted positive pressure explosion-proof collaborative robot according to claim 1, characterized in that: The walking body (1) is an AGV trolley, and the front end of the AGV trolley is provided with a lifting seat (14) for installing a supporting plate (3), and the lower part of the lifting seat (14) is provided with a positioning plate (15).

6. The automatic guided vehicle-mounted positive pressure explosion-proof collaborative robot according to claim 5, characterized in that: One end of the support plate (3) is connected to the positioning plate (15), and the other end is provided with a guide arc (16) for plugging with the base (4). A roller (17) is provided in the middle of the support plate (3).

7. The automatic guided vehicle-mounted positive pressure explosion-proof collaborative robot according to claim 1, characterized in that: The power module includes a battery (18), and a charging connector (19) electrically connected to the battery (18) is provided on the side wall of the control box (5).

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