A positive pressure explosion-proof automatic handling system

Abstract

The present invention discloses a positive-pressure explosion-proof automated handling system, comprising a base, a main arm mechanism, a secondary arm mechanism, a positive-pressure explosion-proof mechanism, a connecting arm and a positive-pressure control cabinet; the base, the main arm mechanism, the connecting arm and the secondary arm mechanism are connected in sequence to form a six-axis motion manipulator; the base comprises a base sealing shell; the main arm mechanism comprises a main arm sealing shell; the inner cavities of the base sealing shell and the main arm sealing shell are connected to form a first explosion-proof sealing cavity; the secondary arm mechanism comprises a secondary arm sealing shell; a second explosion-proof sealing cavity is formed inside the secondary arm sealing shell; the positive-pressure control cabinet comprises a cabinet, a robot control system and a flameproof device; the present invention provides positive pressure for the first explosion-proof sealing cavity, the second explosion-proof sealing cavity and the third explosion-proof sealing cavity through the positive-pressure explosion-proof mechanism to prevent dangerous gas or powder from entering, and the robot control system encapsulated in the positive-pressure control cabinet can safely control the main arm mechanism and the secondary arm mechanism.

Description

Technical Field

[0001] The invention relates to the field of robots, and in particular to a positive pressure explosion-proof automatic handling system. Background Art

[0002] The application of industrial robots is an important indicator of a country's industrial automation level. With the rapid development of modern science and technology, industrial robots have been widely used in various fields. In a combustible dust environment, since combustible dust is a flammable and explosive substance, it may explode when it encounters sparks or reaches a certain temperature, causing serious consequences. Therefore, general-purpose robots need to be explosion-proof before they can be used in a combustible dust environment.

[0003] The application of explosion-proof robots can not only improve product quality and output, but also has important significance for protecting personal safety, improving the working environment, reducing labor intensity, improving labor efficiency, saving raw material consumption and reducing production costs. At the same time, it has played a positive role in promoting the development of my country's intelligent industry. Therefore, the development of positive pressure explosion-proof robots has important social benefits, economic significance and broad application prospects. Summary of the invention

[0004] The purpose of the present invention is to provide a positive pressure explosion-proof automatic handling system for use in dangerous gas or powder environments.

[0005] The technical scheme for realizing the purpose of the present invention is: a positive pressure explosion-proof automated handling system, comprising a base, a main arm mechanism, a secondary arm mechanism, a positive pressure explosion-proof mechanism, a connecting arm and a positive pressure control cabinet; the base, the main arm mechanism, the connecting arm and the secondary arm mechanism are connected in sequence and constitute a six-axis motion manipulator; the base comprises a base sealing shell; the main arm mechanism comprises a main arm sealing shell; the inner cavities of the base sealing shell and the main arm sealing shell are connected and constitute a first explosion-proof sealing cavity; the secondary arm mechanism comprises a secondary arm sealing shell; a second explosion-proof sealing cavity is formed inside the secondary arm sealing shell; the positive pressure control cabinet comprises a cabinet, a robot control system and a flameproof device; the cabinet is provided with There is a third explosion-proof sealed cavity and a working cavity; the third explosion-proof sealed cavity and the working cavity are separated by a partition; the robot control system is arranged in the third explosion-proof sealed cavity, and the robot control system controls the operation of the six-axis motion manipulator; the explosion-proof device is embedded on the side wall of the working cavity; there are several explosion-proof devices, and at least two of them are encapsulated with a positive pressure system, and at least one explosion-proof device is encapsulated with a power supply control system; the positive pressure system controls the positive pressure explosion-proof mechanism to input gas into the first explosion-proof sealed cavity, the second explosion-proof sealed cavity and the third explosion-proof sealed cavity, so that positive pressure is formed in the first explosion-proof sealed cavity, the second explosion-proof sealed cavity and the third explosion-proof sealed cavity.

[0006] The positive pressure explosion-proof mechanism includes an air source input pipe and an air circuit component; the first explosion-proof sealed cavity, the second explosion-proof sealed cavity and the third explosion-proof sealed cavity are respectively connected to the air source input pipe through an air circuit component, and the two air circuit components respectively input gas continuously or intermittently to the first explosion-proof sealed cavity, the second explosion-proof sealed cavity and the third explosion-proof sealed cavity; the first explosion-proof sealed cavity, the second explosion-proof sealed cavity and the third explosion-proof sealed cavity are respectively connected to the first automatic pressure relief valve, the second automatic pressure relief valve and the third automatic pressure relief valve for exhausting to the outside at a constant pressure; the first explosion-proof sealed cavity, the second explosion-proof sealed cavity and the third explosion-proof sealed cavity are respectively provided with a first differential pressure sensor, a second differential pressure sensor and a third differential pressure sensor.

[0007] The air circuit assembly of the positive-pressure explosion-proof mechanism comprises a first branch pipe, a manual ball valve and a solenoid valve; a first air inlet port and a first exhaust port connected to a first explosion-proof sealing cavity are respectively provided on the base sealing shell and the main arm sealing shell; a first automatic pressure relief valve is provided on the first exhaust port; a second air inlet port and a second exhaust port connected to a second explosion-proof sealing cavity are provided on the auxiliary arm sealing shell; the input end of the first branch pipe is connected to the air source input pipe, and the output end of the first branch pipe is connected to the first air inlet port or the second air inlet port or the third explosion-proof sealing cavity; a second automatic pressure relief valve is provided on the second exhaust port; the manual ball valve and the solenoid valve are both provided on the first branch pipe.

[0008] The gas circuit assembly of the positive pressure explosion-proof mechanism also includes an overflow regulating valve; the overflow regulating valve is connected to the gas source input pipe through an air circuit branch pipe, and the input end and output end of the overflow regulating valve are respectively connected to the input end and output end of the solenoid valve.

[0009] The gas source input pipe is provided with a pressure reducing valve; the pressure reducing valve is provided with a gas filter.

[0010] The main arm sealing housing is provided with at least two first exhaust ports; the auxiliary arm sealing housing is provided with at least two second exhaust ports.

[0011] The base also includes a pedestal and a turntable transmission assembly; the base sealing shell is arranged on the base; the turntable transmission assembly is arranged in the inner cavity of the base sealing shell; the top of the base sealing shell is fitted with the bottom of the main arm sealing shell, and the inner cavities are interconnected; the main arm mechanism is connected to the turntable transmission assembly.

[0012] The base sealing shell of the base is a cylindrical body with an open top; an air box connected to the inner cavity of the base sealing shell is arranged on the base; and the first air inlet port is arranged on the air box.

[0013] By adopting the above technical solution, the present invention has the following beneficial effects:

[0014] The present invention has an ingenious structure. The positive pressure explosion-proof mechanism provides positive pressure for the first explosion-proof sealed cavity, the second explosion-proof sealed cavity, and the third explosion-proof sealed cavity to prevent dangerous gas or powder from entering the first explosion-proof sealed cavity, the second explosion-proof sealed cavity, and the third explosion-proof sealed cavity. The robot control system encapsulated in the positive pressure control cabinet can safely control the main arm mechanism and the auxiliary arm mechanism to achieve work in a dangerous environment. The explosion-proof device has an ingenious structure. The controller housing and the end cover form a sealed cavity isolated from the outside to place the control board, isolate the control board, avoid explosions in dangerous gas environments and dust environments, and affect the work of the control board, thereby reducing the risk factor. The inner cavity of the base sealing shell and the main arm sealing shell is connected to form a first explosion-proof sealed cavity, so that the two-axis drive assembly and the one-axis drive assembly can work safely. The inner cavities of the three-fourth axis shell, the four-axis arm, the five-axis shell, and the six-axis shell are connected in sequence to form a second explosion-proof sealed cavity, so that the three-axis drive assembly, the four-axis drive assembly, the five-axis drive assembly, and the six-axis drive assembly can work safely. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below according to specific embodiments and in conjunction with the accompanying drawings, wherein

[0016] Figure 1 It is a structural schematic diagram of the base, main arm mechanism, auxiliary arm mechanism and connecting arm of the present invention;

[0017] Figure 2 It is a structural schematic diagram of the auxiliary arm mechanism of the present invention;

[0018] Figure 3 It is a structural schematic diagram of the main arm mechanism of the present invention;

[0019] Figure 4 It is a structural schematic diagram of the positive pressure explosion-proof mechanism of the present invention;

[0020] Figure 5 It is a structural schematic diagram of the positive pressure control cabinet of the present invention;

[0021] Figure 6 It is a structural schematic diagram of the explosion-proof device of the present invention;

[0022] Figure 7 is a cross-sectional view of the explosion isolator of the present invention;

[0023] Figure 8 for Figure 7 A magnified image of area A.

[0024] The figures are:

[0025] Base 1, base sealing shell 1-1, air box 1-1-1, base 1-2, turntable transmission assembly 1-3;

[0026] Main arm mechanism 2, main arm sealing shell 2-1, connecting part 2-1-1, first axis mounting part 2-1-2, second axis mounting part 2-1-3, first axis motor explosion-proof shell 2-1-4, second axis motor explosion-proof shell 2-1-5, main arm airway 2-1-6, first axis drive assembly 2-2, first axis motor 2-2-1, first axis shaft gear 2-2-2, second axis drive assembly 2-3, second axis motor 2-3-1, second axis shaft gear 2-3-2, second axis reducer 2-3-3;

[0027] Auxiliary arm mechanism 3, auxiliary arm sealing shell 3-1, three-axis and four-axis shell 3-2, first installation space 3-2-1, second installation space 3-2-2, upper arm end cover 3-2-3, protective sealing cover 3-2-4, four-axis arm 3-3, five-axis shell 3-4, main body 3-4-1, first extension arm 3-4-2, second extension arm 3-4-3, six-axis shell 3-5, three-axis drive assembly 3-6, three-axis motor 3-6-1, three-axis reducer 3 -6-2, three-axis gear 3-6-3, four-axis drive assembly 3-7, four-axis motor 3-7-1, four-axis reducer 3-7-2, four-axis gear 3-7-3, five-axis drive assembly 3-8, five-axis motor 3-8-1, synchronous belt transmission 3-8-2, five-axis reducer 3-8-3, six-axis drive assembly 3-9, six-axis motor 3-9-1, six-axis reducer 3-9-2, six-axis gear 3-9-3, six-axis end cover 3-9-4;

[0028] Positive pressure explosion-proof mechanism 4, gas source input pipe 4-1, pressure reducing valve 4-1-1, gas filter 4-1-2, gas circuit assembly 4-2, first branch pipe 4-2-1, manual ball valve 4-2-2, solenoid valve 4-2-3, overflow regulating valve 4-2-4, gas circuit branch pipe 4-2-5;

[0029] A first explosion-proof sealing cavity 5, a first automatic pressure relief valve 5-1, and a first differential pressure sensor 5-2;

[0030] A second explosion-proof sealing cavity 6, a second automatic pressure relief valve 6-1, and a second differential pressure sensor 6-2;

[0031] Connecting arm 7;

[0032] Positive pressure control cabinet 8, cabinet 8-1, third explosion-proof sealed cavity 8-1-1, working cavity 8-1-2, partition 8-1-3, electrical installation board 8-1-4, explosion-proof plug 8-1-5, explosion-proof device 8-2, controller housing 8-2-1, visual window 8-2-1-2, explosion-proof visual component 8-2-1-3, explosion-proof glass 8-2-1-3-1, glass pad 8-2-1-3-2, compression plate 8-2- 1-4, connecting port 8-2-1-5, mounting support rod 8-2-1-6, end cover 8-2-2, quick connector 8-2-3, end cover plate 8-2-4, control board 8-2-5, sealing gasket 8-2-6, button hole 8-2-1-7, oil-free bushing 8-2-1-8, button rod 8-2-1-9, extension rod 8-2-1-9-1, return spring 8-2-1-10, gasket 8-2-1-11. DETAILED DESCRIPTION

[0033] Embodiment 1

[0034] See Figures 1 to 8 The positive pressure explosion-proof automated handling system of this embodiment includes a base 1, a main arm mechanism 2, a secondary arm mechanism 3, a positive pressure explosion-proof mechanism 4, a connecting arm 7 and a positive pressure control cabinet 8. The base 1, the main arm mechanism 2, the connecting arm 7 and the secondary arm mechanism 3 are connected in sequence and constitute a six-axis motion manipulator. The base 1 includes a base sealing shell 1-1. The main arm mechanism 2 includes a main arm sealing shell 2-1. The inner cavities of the base sealing shell 1-1 and the main arm sealing shell 2-1 are connected and constitute a first explosion-proof sealing cavity 5. The secondary arm mechanism 3 includes a secondary arm sealing shell 3-1. A second explosion-proof sealing cavity 6 is formed inside the secondary arm sealing shell 3-1. The positive pressure control cabinet 8 includes a cabinet 8-1, a robot control system and a flameproof device 8-2. A third explosion-proof sealing cavity 8-1-1 and a working cavity 8-1-2 are provided in the cabinet 8-1. The third explosion-proof sealing cavity 8-1-1 is isolated from the working cavity 8-1-2 by a partition 8-1-3. The robot control system is arranged in the third explosion-proof sealed cavity 8-1-1, and the robot control system controls the operation of the six-axis motion manipulator. The explosion-proof device 8-2 is embedded in the side wall of the working cavity 8-1-2. There are several explosion-proof devices 8-2, and at least two explosion-proof devices 8-2 are encapsulated with a positive pressure system, and at least one explosion-proof device 8-2 is encapsulated with a power supply control system. The positive pressure system controls the positive pressure explosion-proof mechanism 4 to input gas into the first explosion-proof sealed cavity 5, the second explosion-proof sealed cavity 6 and the third explosion-proof sealed cavity 8-1-1, so that positive pressure is formed in the first explosion-proof sealed cavity 5, the second explosion-proof sealed cavity 6 and the third explosion-proof sealed cavity 8-1-1.

[0035] The explosion-proof device 8-2 includes a controller housing 8-2-1, an end cover 8-2-2, a quick connector 8-2-3, an end cover plate 8-2-4 and a control board 8-2-5. The end cover 8-2-2 is fixedly arranged at the bottom of the controller housing 8-2-1, and forms a sealed cavity 8-2-1-1 inside the controller housing 8-2-1. The quick connector 8-2-3 is arranged on the side wall of the controller housing 8-2-1, and the quick connector 8-2-3 has a sealed channel for the circuit to enter and exit the sealed cavity 8-2-1-1. The control board is arranged in the controller housing 8-2-1. The power supply control system or the positive pressure system is encapsulated in the control board 8-2-5.

[0036] A visual window 8-2-1-2 is provided on the top of the controller housing 8-2-1. An explosion-proof visual component 8-2-1-3 is provided on the inner top surface of the controller housing 8-2-1 to seal the visual window 8-2-1-2.

[0037] The explosion-proof visual component 8-2-1-3 of the controller housing 8-2-1 includes an explosion-proof glass 8-2-1-3-1 that fits the inner side of the visual window 8-2-1-2, and a glass pad 8-2-1-3-2 that surrounds the periphery of the explosion-proof glass 8-2-1-3-1 and seals the visual window 8-2-1-2.

[0038] A clamping plate 8-2-1-4 is provided in the sealed cavity 8-2-1-1 of the controller housing 8-2-1. The clamping plate 8-2-1-4 fits the bottom surface of the glass pad 8-2-1-3-2 of the explosion-proof visual component 8-2-1-3 and is fixed to the inner top surface of the controller housing 8-2-1 by screwing.

[0039] A connection port 8-2-1-5 communicating with the sealing cavity 8-2-1-1 is provided on the peripheral surface of the controller housing 8-2-1. The connection port 8-2-1-5 is threadedly connected to one end of the quick connector 8-2-3.

[0040] A mounting support rod 8-2-1-6 is fixedly provided in the sealed cavity 8-2-1-1 of the controller housing 8-2-1. The two ends of the mounting support rod 8-2-1-6 are respectively fixed to the control board 8-2-5 and the inner top surface of the controller housing 8-2-1. The display area of ​​the control board 8-2-5 faces the visual window 8-2-1-2.

[0041] A sealing gasket 8-2-6 is provided between the end cover plate 8-2-4 and the controller housing 8-2-1.

[0042] A button hole 8-2-1-7 is provided on the top surface of the controller housing 8-2-1. An oil-free bushing 8-2-1-8 is fixed to one end of the button hole 8-2-1-7 facing the sealing cavity 8-2-1-1. A button rod 8-2-1-9 is provided in the button hole 8-2-1-7. The bottom of the button rod 8-2-1-9 passes through the oil-free bushing 8-2-1-8 and is sealed and slidably connected with the oil-free bushing 8-2-1-8. An extension rod 8-2-1-9-1 is provided at the bottom of the button rod 8-2-1-9. The extension rod 8-2-1-9-1 fits with the control button of the control panel 8-2-5. A button return spring 8-2-1-10 cooperating with the button rod 8-2-1-9 is provided in the button hole 8-2-1-7.

[0043] A gasket 8-2-1-11 is provided at the bottom of the button rod 8-2-1-9 of the controller housing 8-2-1, which fits the bottom of the oil-free bushing 8-2-1-8.

[0044] An electrical installation board 8-1-4 is provided in the third explosion-proof sealed cavity 8-1-1 of the cabinet 8-1. The robot control system is provided on the electrical installation board 8-1-4.

[0045] An explosion-proof plug 8-1-5 is embedded on the side wall of the third explosion-proof sealed cavity 8-1-1 of the cabinet 8-1. The explosion-proof plug 8-1-5 is connected to an external power supply through a cable to supply power to the power supply control system.

[0046] The positive pressure explosion-proof mechanism 4 includes an air source input pipe 4-1 and an air circuit assembly 4-2. The first explosion-proof sealed cavity 5, the second explosion-proof sealed cavity 6 and the third explosion-proof sealed cavity 8-1-1 are respectively connected to the air source input pipe 4-1 through an air circuit assembly 4-2, and the two air circuit assemblies 4-2 respectively input gas to the first explosion-proof sealed cavity 5, the second explosion-proof sealed cavity 6 and the third explosion-proof sealed cavity 8-1-1 continuously or intermittently. The first explosion-proof sealed cavity 5, the second explosion-proof sealed cavity 6 and the third explosion-proof sealed cavity 8-1-1 are respectively connected to the first automatic pressure relief valve 5-1, the second automatic pressure relief valve 6-1 and the third automatic pressure relief valve for constant pressure exhaust to the outside. The first explosion-proof sealed cavity 5, the second explosion-proof sealed cavity 6 and the third explosion-proof sealed cavity 8-1-1 are respectively provided with a first differential pressure sensor 5-2, a second differential pressure sensor 6-2 and a third differential pressure sensor.

[0047] The gas circuit assembly 4-2 of the positive pressure explosion-proof mechanism 4 includes a first branch pipe 4-2-1, a manual ball valve 4-2-2 and a solenoid valve 4-2-3. The base sealing shell 1-1 and the main arm sealing shell 2-1 are respectively provided with a first air inlet port and a first exhaust port connected to the first explosion-proof sealing cavity 5. The first exhaust port is provided with a first automatic pressure relief valve 5-1. The auxiliary arm sealing shell 3-1 is provided with a second air inlet port and a second exhaust port connected to the second explosion-proof sealing cavity 6. The input end of the first branch pipe 4-2-1 is connected to the air source input pipe 4-1, and the output end of the first branch pipe 4-2-1 is connected to the first air inlet port or the second air inlet port or the third explosion-proof sealing cavity 8-1-1. The second exhaust port is provided with a second automatic pressure relief valve 6-1. The manual ball valve 4-2-2 and the solenoid valve 4-2-3 are both arranged on the first branch pipe 4-2-1.

[0048] The gas circuit assembly 4-2 of the positive pressure explosion-proof mechanism 4 also includes an overflow regulating valve 4-2-4. The overflow regulating valve 4-2-4 is connected to the gas source input pipe 3-5 through the gas circuit branch pipe 4-2-5, and the input end and output end of the overflow regulating valve 4-2-4 are respectively connected to the input end and output end of the solenoid valve 4-2-3.

[0049] A pressure reducing valve 4-1-1 is provided on the gas source input pipe 4-1. A gas filter 4-1-2 is provided on the pressure reducing valve 4-1-1.

[0050] The main arm sealing housing 2-1 is provided with at least two first exhaust ports, and the auxiliary arm sealing housing 3-1 is provided with at least two second exhaust ports.

[0051] The base 1 also includes a base 1-2 and a turntable transmission assembly 1-3. The base sealing shell 1-1 is arranged on the base 1-2. The turntable transmission assembly 1-3 is arranged in the inner cavity of the base sealing shell 1-1. The top of the base sealing shell 1-1 fits with the bottom of the main arm sealing shell 2-1, and the inner cavities are connected to each other. The main arm mechanism 2 is connected to the turntable transmission assembly 1-3.

[0052] The base sealing shell 1-1 of the base 1 is a cylindrical body with an open top. The base 1 is provided with an air box 1-1-1 which is connected with the inner cavity of the base sealing shell 1-1. The first air inlet port is provided on the air box 1-1-1.

[0053] The main arm mechanism 2 also includes a one-axis drive assembly 2-2 and a two-axis drive assembly 2-3. The main arm sealed housing 2-1 is mounted on the top of the base sealed housing 1-1. The top of the turntable transmission assembly 1-3 of the base 1 extends into the inner cavity of the main arm sealed housing 2-1, and a bearing is provided between the top of the turntable transmission assembly 1-3 and the inner wall of the main arm sealed housing 2-1. The one-axis drive assembly 2-2 and the two-axis drive assembly 2-3 are both arranged in the main arm sealed housing 2-1. The one-axis drive assembly 2-2 and the two-axis drive assembly 2-3 are respectively connected to the turntable transmission assembly 1-3 and the connecting arm 7, and the rotation axes of the one-axis drive assembly 2-2 and the two-axis drive assembly 2-3 are perpendicular to each other in the projection of the vertical plane. The main arm sealed housing 2-1 rotates under the drive of the one-axis drive assembly 2-2. The connecting arm 7 rotates under the drive of the two-axis drive assembly 2-3.

[0054] The main arm sealed housing 2-1 of the main arm mechanism 2 includes a connecting portion 2-1-1, and a one-axis mounting portion 2-1-2 and a two-axis mounting portion 2-1-3 respectively arranged on both sides of the connecting portion 2-1-1. The one-axis mounting portion 2-1-2 and the two-axis mounting portion 2-1-3 are respectively covered with a one-axis motor explosion-proof shell 2-1-4 and a two-axis motor explosion-proof shell 2-1-5. A main arm airway 2-1-6 is provided in the main arm sealed housing 2-1. The main arm airway 2-1-6 is connected to the inner cavity of the connecting portion 2-1-1, the one-axis motor explosion-proof shell 2-1-4 and the two-axis motor explosion-proof shell 2-1-5. The one-axis motor explosion-proof shell 2-1-4 and the two-axis motor explosion-proof shell 2-1-5 are each provided with a first exhaust port connected to the inner cavity.

[0055] The inner wall cover of the connection part 2-1-1 of the main arm mechanism 2 is arranged on the top of the turntable transmission assembly 1-3 of the base 1, and is connected to the inner wall of the connection part 2-1-1 through a bearing. The bottom of the inner cavity of the connection part 2-1-1 is connected to the inner cavity of the base sealing shell 1-1, and the top is connected to the main arm airway 2-1-6.

[0056] The explosion-proof housing 2-1-4 of the one-axis motor of the main arm mechanism 2 is covered on the top of the one-axis mounting portion 2-1-2, and one side of the explosion-proof housing 2-1-4 of the one-axis motor is connected to the main arm airway 2-1-6.

[0057] The one-axis driving assembly 2-2 of the main arm mechanism 2 includes an one-axis motor 2-2-1 and an one-axis gear 2-2-2. The one-axis motor 2-2-1 is fixed on the top of the one-axis mounting portion 2-1-2 and is located in the inner cavity of the one-axis motor explosion-proof shell 2-1-4. The output shaft of the one-axis motor 2-2-1 passes through the one-axis mounting portion 2-1-2 downward. The one-axis gear 2-2-2 is arranged on the output shaft of the one-axis motor 2-2-1, and the output shaft of the one-axis motor 2-2-1 is meshed with the turntable transmission assembly 1-3 of the base 1.

[0058] Circular mounting grooves are provided on both sides of the two-axis mounting part 2-1-3 of the main arm mechanism 2, and the circular mounting grooves on both sides are connected. The explosion-proof housing 2-1-5 of the two-axis motor is provided on the circular mounting groove on one side of the two-axis mounting part 2-1-3, and the inner cavity is connected with the main arm airway 2-1-6. The other side of the two-axis mounting part 2-1-3 is connected to the bottom of one side of the connecting arm 7.

[0059] The two-axis driving assembly 2-3 of the main arm mechanism 2 includes a two-axis motor 2-3-1, a two-axis shaft gear 2-3-2 and a two-axis reducer 2-3-3. The two-axis motor 2-3-1 is arranged on one side of the two-axis mounting portion 2-1-3, and the two-axis motor 2-3-1 is located in the inner cavity of the two-axis motor explosion-proof shell 2-1-5. The two-axis reducer 2-3-3 is fixed in the mounting groove on the other side of the two-axis mounting portion 2-1-3, and the output portion is connected to the bottom of one side of the connecting arm 7. The output shaft of the two-axis motor 2-3-1 passes through the side wall of the two-axis mounting portion 2-1-3 and is connected to the input end of the two-axis reducer 2-3-3.

[0060] The auxiliary arm sealing housing 3-1 of the auxiliary arm mechanism 3 includes a three-four-axis housing 3-2, a four-axis arm 3-3, a five-axis housing 3-4 and a six-axis housing 3-5 that are movably connected in sequence. The inner cavities of the three-four-axis housing 3-2, the four-axis arm 3-3, the five-axis housing 3-4 and the six-axis housing 3-5 are connected in sequence. The three-four-axis housing 3-2 is provided with a second air inlet port connected to the inner cavity. The three-four-axis housing 3-2, the five-axis housing 3-4 and the six-axis housing 3-5 are each provided with a second exhaust port.

[0061] The auxiliary arm mechanism 3 also includes a three-axis drive assembly 3-6, a four-axis drive assembly 3-7, a five-axis drive assembly 3-8 and a six-axis drive assembly 3-9. The four-axis arm 3-3 is rotatably connected to the front of the three-axis housing 3-2. The three-axis drive assembly 3-6 is arranged in the tail of the three-axis housing 3-2, the output part is connected to the top of one side of the connecting arm 7, and the three-axis housing 3-2 is driven to rotate by the output part. The four-axis drive assembly 3-7 is arranged in the front of the three-axis housing 3-2, and the four-axis arm 3-3 is driven to rotate circumferentially by the output part. The rotation axis of the three-axis housing 3-2 is perpendicular to the rotation axis of the four-axis arm 3-3. The five-axis drive assembly 3-8 is arranged in the five-axis housing 3-4, the output part is connected to the six-axis housing 3-5, and the six-axis housing 3-5 is driven to rotate by the output part. The rotation axis of the six-axis housing 3-5 is perpendicular to the rotation axis of the four-axis arm 3-3. The six-axis drive assembly 3-9 is arranged in the six-axis housing 3-5, and the output part is connected to the robot end, and the robot end is driven to rotate through the output part. The rotation axis of the robot end is colinear with the rotation axis of the four-axis arm 3-3.

[0062] The three-axis and four-axis housing 3-2 of the auxiliary arm mechanism 3 is provided with a first installation space 3-2-1 and a second installation space 3-2-2 which are connected to each other. The second installation space 3-2-2 is arranged above the first installation space 3-2-1. An opening is arranged on one side of the first installation space 3-2-1, and an upper arm end cover 3-2-3 is arranged on the opening. An opening is arranged at the rear of the second installation space 3-2-2, and a protective sealing cover 3-2-4 is arranged on the opening. The three-axis drive assembly 3-6 and the four-axis drive assembly 3-7 are respectively arranged in the first installation space 3-2-1 and the second installation space 3-2-2. The four-axis arm 3-3 is connected to the second installation space 3-2-2.

[0063] The four-axis arm 3-3 of the auxiliary arm mechanism 3 is cylindrical, hollow inside, and has openings at the front and back. The five-axis housing 3-4 includes a main body 3-4-1, and a first extension arm 3-4-2 and a second extension arm 3-4-3 located on both sides of the main body 3-4-1. The main body 3-4-1 is fixedly connected to the front of the four-axis arm 3-3, and the inner cavities are interconnected. The main body 3-4-1 is connected to the inner cavities of the first connection part 3-4-2 and the second connection part 3-4-3. The six-axis housing 3-5 is arranged between the first connection part 3-4-2 and the second connection part 3-4-3. One side of the six-axis housing 3-5 is connected to the output end of the five-axis drive assembly 3-8 in the first connection part 3-4-2. The other side of the six-axis housing 3-5 is connected to the second connection part 3-4-3.

[0064] The three-axis driving assembly 3-6 of the auxiliary arm mechanism 3 includes a three-axis motor 3-6-1, a three-axis reducer 3-6-2 and a three-axis shaft gear 3-6-3. The three-axis motor 3-6-1 is arranged in the first installation space 3-2-1 of the three-axis and four-axis housing 3-2. The three-axis reducer 3-6-2 is arranged on a side surface of the three-axis and four-axis housing 3-2, and the output part is connected to the top of one side of the connecting arm 7. The three-axis shaft gear 3-6-3 is arranged on the output shaft of the three-axis motor 3-6-1 and meshes with the input end of the three-axis reducer 3-6-2.

[0065] The four-axis drive assembly 3-7 of the auxiliary arm mechanism 3 includes a four-axis motor 3-7-1, a four-axis reducer 3-7-2 and a four-axis shaft gear 3-7-3. The four-axis motor 3-7-1 is arranged in the second installation space 3-2-2 of the three-axis housing 3-2. The four-axis reducer 3-7-2 is arranged at the front of the three-axis housing 3-2, and the output part is fixed to the rear of the four-axis arm 3-3 through a connecting flange. The four-axis shaft gear 3-7-3 is arranged on the output shaft of the four-axis motor 3-7-1 and meshes with the input end of the four-axis reducer 3-7-2.

[0066] The five-axis driving assembly 3-8 of the auxiliary arm mechanism 3 includes a five-axis motor 3-8-1, a synchronous belt transmission 3-8-2 and a five-axis reducer 3-8-3. The five-axis motor 3-8-1 is arranged in the main body 3-4-1. The synchronous belt transmission 3-8-2 is arranged in the first extension arm 3-4-2. The five-axis reducer 3-8-3 is arranged on a side surface of the first extension arm 3-4-2 facing the second extension arm 3-4-3. The input end and the output end of the synchronous belt transmission 3-8-2 are respectively connected to the output shaft of the five-axis motor 3-8-1 and the input end of the five-axis reducer 3-8-3. The output part of the five-axis reducer 3-8-3 is fixed to one side of the six-axis housing 3-5.

[0067] The six-axis drive assembly 3-9 of the auxiliary arm mechanism 3 includes a six-axis motor 3-9-1, a six-axis reducer 3-9-2, a six-axis shaft gear 3-9-3 and a six-axis end cover 3-9-4. The six-axis motor 3-9-1 is arranged in the inner cavity of the six-axis housing 3-5. The six-axis reducer 3-9-2 is arranged on the front of the six-axis housing 3-5. The six-axis shaft gear 3-9-3 is arranged on the output shaft of the six-axis motor 3-9-1 and meshes with the input end of the six-axis reducer 3-9-2. The six-axis end cover 3-9-4 is fixed to the output part of the six-axis reducer 3-9-2 and is connected to the end of the robot.

[0068] During specific implementation, the gas circuit components 4-2 connected to the first explosion-proof sealed cavity 5, the second explosion-proof sealed cavity 6 and the third explosion-proof sealed cavity 8-1-1 respectively work respectively, and they work asynchronously with each other. When the gas circuit component 4-2 works to provide positive pressure for the first explosion-proof sealed cavity 5, the second explosion-proof sealed cavity 6 or the third explosion-proof sealed cavity 8-1-1, the solenoid valve 4-2-3 is opened, and the gas source enters the first explosion-proof sealed cavity 5, the second explosion-proof sealed cavity 6 or the third explosion-proof sealed cavity 8-1-1 after being decompressed by the pressure reducing valve 4-1-1 on the gas source input pipe 4-1. The first automatic pressure relief valve 5-1, the second automatic pressure relief valve 6-1 and the third automatic pressure relief valve are opened to ventilate the first explosion-proof sealed cavity 5, the second explosion-proof sealed cavity 6 or the third explosion-proof sealed cavity 8-1-1, and discharge the first explosion-proof sealed cavity 5, the second explosion-proof sealed cavity 6 or the third explosion-proof sealed cavity 8-1-1. For the dangerous gas or powder in the three explosion-proof sealed chambers 8-1-1, after the ventilation is completed, the solenoid valve 4-2-3 is continuously opened, and the first automatic pressure relief valve 5-1, the second automatic pressure relief valve 6-1 and the third automatic pressure relief valve are closed, and the first explosion-proof sealed chamber 5, the second explosion-proof sealed chamber 6 or the third explosion-proof sealed chamber 8-1-1 is inflated. After the inflation is completed, the solenoid valve 4-2-3 is closed, and the first explosion-proof sealed chamber 5, the second explosion-proof sealed chamber 6 or the third explosion-proof sealed chamber 8-1-1 is supplemented with gas through the overflow regulating valve 4-2-4 to maintain the positive pressure of the first explosion-proof sealed chamber 5, the second explosion-proof sealed chamber 6 or the third explosion-proof sealed chamber 8-1-1.

[0069] The specific embodiments described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A positive pressure explosion-proof automated handling system, characterized in that: The invention comprises a base (1), a main arm mechanism (2), a secondary arm mechanism (3), a positive pressure explosion-proof mechanism (4), a connecting arm (7) and a positive pressure control cabinet (8); the base (1), the main arm mechanism (2), the connecting arm (7) and the secondary arm mechanism (3) are connected in sequence to form a six-axis motion manipulator; the base (1) comprises a base sealing shell (1-1); the main arm mechanism (2) comprises a main arm sealing shell (2-1); the inner cavities of the base sealing shell (1-1) and the main arm sealing shell (2-1) are connected to form a first explosion-proof sealing cavity (5); the secondary arm mechanism (3) comprises a secondary arm sealing shell (3-1); a second explosion-proof sealing cavity (6) is formed inside the secondary arm sealing shell (3-1); the positive pressure control cabinet (8) comprises a The invention comprises a cabinet (8-1), a robot control system and a flameproof device (8-2); a third flameproof sealed cavity (8-1-1) and a working cavity (8-1-2) are arranged in the cabinet (8-1); the third flameproof sealed cavity (8-1-1) and the working cavity (8-1-2) are isolated by a partition (8-1-3); the robot control system is arranged in the third flameproof sealed cavity (8-1-1), and the robot control system controls the operation of the six-axis motion manipulator; the flameproof device (8-2) is embedded on the side wall of the working cavity (8-1-2); a plurality of flameproof devices (8-2) are provided, and at least two of the flameproof devices (8-2) are encapsulated with a positive pressure system, and at least one of the flameproof devices (8-2) is encapsulated with a power supply control system; The positive pressure system controls the positive pressure explosion-proof mechanism (4) to input gas into the first explosion-proof sealed cavity (5), the second explosion-proof sealed cavity (6) and the third explosion-proof sealed cavity (8-1-1), so that positive pressure is formed in the first explosion-proof sealed cavity (5), the second explosion-proof sealed cavity (6) and the third explosion-proof sealed cavity (8-1-1); the positive pressure explosion-proof mechanism (4) comprises an air source input pipe (4-1) and an air circuit component (4-2); the first explosion-proof sealed cavity (5), the second explosion-proof sealed cavity (6) and the third explosion-proof sealed cavity (8-1-1) are respectively connected to the air source input pipe (4-1) through an air circuit component (4-2), and the two air circuit components (4-2) respectively supply air to the first explosion-proof sealed cavity (5), the second explosion-proof sealed cavity (6) and the third explosion-proof sealed cavity (8-1-1). The third explosion-proof sealed cavity (8-1-1) continuously or intermittently inputs gas; the first explosion-proof sealed cavity (5), the second explosion-proof sealed cavity (6) and the third explosion-proof sealed cavity (8-1-1) are respectively connected to a first automatic pressure relief valve (5-1), a second automatic pressure relief valve (6-1) and a third automatic pressure relief valve for exhausting gas to the outside at a constant pressure; the first explosion-proof sealed cavity (5), the second explosion-proof sealed cavity (6) and the third explosion-proof sealed cavity (8-1-1) are respectively provided with a first differential pressure sensor (5-2), a second differential pressure sensor (6-2) and a third differential pressure sensor; the gas path component (4-2) of the positive pressure explosion-proof mechanism (4) comprises a first branch pipe (4-2-1), a manual ball valve (4-2-2) and a solenoid valve (4-2-3);The base sealing housing (1-1) and the main arm sealing housing (2-1) are respectively provided with a first air inlet port and a first exhaust port connected to the first explosion-proof sealing cavity (5); the first exhaust port is provided with a first automatic pressure relief valve (5-1); the auxiliary arm sealing housing (3-1) is provided with a second air inlet port and a second exhaust port connected to the second explosion-proof sealing cavity (6); the input end of the first branch pipe (4-2-1) is connected to the gas source input pipe (4-1), and the output end of the first branch pipe (4-2-1) is connected to the first air inlet port or the second air inlet port or the third explosion-proof sealing cavity (8-1-1); the second exhaust port is provided with a second automatic pressure relief valve (6-1); the manual ball valve (4-2-2) and the solenoid valve (4-2-3) are both provided on the first branch pipe (4-2-1); the gas source input pipe (4-1) is provided with a pressure reducing valve (4-1-1); and the pressure reducing valve (4-1-1) is provided with a gas filter (4-1-2). ; 2. The positive pressure explosion-proof automated handling system according to claim 1, characterized in that: The gas circuit assembly (4-2) of the positive pressure explosion-proof mechanism (4) further comprises an overflow regulating valve (4-2-4); the overflow regulating valve (4-2-4) is connected to the gas source input pipe (3-5) via a gas circuit branch pipe (4-2-5), and the input end and the output end of the overflow regulating valve (4-2-4) are respectively connected to the input end and the output end of the solenoid valve (4-2-3).

3. The positive pressure explosion-proof automated handling system according to claim 1 is characterized in that: The main arm sealing housing (2-1) is provided with at least two first exhaust ports; and the auxiliary arm sealing housing (3-1) is provided with at least two second exhaust ports.

4. The positive pressure explosion-proof automated handling system according to claim 1, characterized in that: The base (1) further comprises a pedestal (1-2) and a turntable transmission assembly (1-3); the pedestal sealing shell (1-1) is arranged on the pedestal (1-2); the turntable transmission assembly (1-3) is arranged in the inner cavity of the pedestal sealing shell (1-1); the top of the pedestal sealing shell (1-1) is fitted with the bottom of the main arm sealing shell (2-1), and the inner cavities are interconnected; the main arm mechanism (2) is connected to the turntable transmission assembly (1-3).

5. The positive pressure explosion-proof automated handling system according to claim 4, characterized in that: The base sealing shell (1-1) of the base (1) is in the form of a cylindrical body with an open top; the base (1) is provided with an air box (1-1-1) which is in communication with the inner cavity of the base sealing shell (1-1); and the first air inlet port is provided on the air box (1-1-1).

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