Positive pressure explosion-proof robot, control method and controller thereof, and storage medium

Abstract

The application provides a positive pressure explosion-proof robot and a control method, a controller and a storage medium thereof. The positive pressure explosion-proof robot comprises a robot body, a robot control cabinet, a controller, a detection device and the like. The controller is electrically connected with the robot body. The detection device is electrically connected with the controller, arranged on the robot body and configured to detect a state parameter in the robot body and feed back a detection result to the controller. The positive pressure explosion-proof robot has a simplified structure, a small volume and low cost.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of positive pressure explosion-proof robots, in particular to a positive pressure explosion-proof robot, a control method and controller of the positive pressure explosion-proof robot, and a computer readable storage medium. BACKGROUND

[0002] The existing positive pressure explosion-proof robot is provided with a robot control cabinet and an explosion-proof control cabinet, the explosion-proof control cabinet is provided with a safety PLC, and the safety PLC, a safety relay, and a flow / pressure detection sensor are used for detection control, so that the product has a complex structure, a large size, and a high cost. SUMMARY

[0003] An object of the present application is to provide a positive pressure explosion-proof robot, which aims to simplify the structure of the positive pressure explosion-proof robot, reduce the size, and reduce the cost.

[0004] To solve the above technical problems, the present application adopts the following technical solutions:

[0005] The present application provides a positive pressure explosion-proof robot, which comprises:

[0006] a robot body;

[0007] a robot control cabinet provided with a controller, the controller being electrically connected with the robot body;

[0008] a detection device electrically connected with the controller, the detection device being arranged on the robot body and configured to detect a state parameter in the robot body and feed back a detection result to the controller.

[0009] According to a technical solution of the present application, the controller stores executable instructions and is used for executing the executable instructions, wherein the following method steps are realized when the controller executes the executable instructions:

[0010] controlling the robot body to be powered on;

[0011] judging whether an explosion-proof failure condition is met in the robot body according to the state parameter in the robot body;

[0012] if the explosion-proof failure condition is met, controlling the robot body to be powered off.

[0013] According to a technical solution of the present application, the robot body is provided with a power line and an encoder line, the power line and the encoder line are electrically connected with the robot control cabinet, and the step of controlling the robot body to be powered off specifically comprises:

[0014] disconnecting the electrical connection between the power line and the robot control cabinet;

[0015] Disconnect the electrical connection between the encoder line and the robot control cabinet after a preset time length.

[0016] According to one of the technical solutions of the present application, the state parameters include gas pressure, wherein the step of determining whether the anti-explosion failure condition is met in the robot body according to the state parameters in the robot body comprises:

[0017] Obtaining the gas pressure and determining the size relationship between the gas pressure and a first preset threshold value;

[0018] If the gas pressure is less than or equal to the first preset threshold value, it is determined that the anti-explosion failure condition is met in the robot body.

[0019] According to one of the technical solutions of the present application, the state parameters include a hardware exception signal, wherein the step of determining whether the anti-explosion failure condition is met in the robot body according to the state parameters in the robot body comprises:

[0020] When the hardware exception signal is obtained, it is determined that the anti-explosion failure condition is met in the robot body.

[0021] According to one of the technical solutions of the present application, the positive pressure anti-explosion robot further comprises:

[0022] An air inlet valve connected to the robot body, and when the air inlet valve is opened, the robot body is supplied with air along the air inlet valve, wherein the controller is electrically connected to the air inlet valve and can control the opening and closing of the air inlet valve;

[0023] A gas supplement flow path connected to the robot body, and when the gas supplement flow path is turned on, the robot body is supplied with air along the gas supplement flow path, wherein the controller is electrically connected to the gas supplement flow path and can control the on-off of the gas supplement flow path.

[0024] According to one of the technical solutions of the present application, the gas flow rate when the robot body is supplied with air along the air inlet valve is greater than the gas flow rate when the robot body is supplied with air along the gas supplement flow path.

[0025] According to one of the technical solutions of the present application, when the controller executes the executable instruction, the following method steps are also implemented:

[0026] Obtaining the gas pressure in the robot body and determining the size relationship between the gas pressure and a second preset threshold value;

[0027] If the gas pressure is less than or equal to the second preset threshold value, the air inlet valve is controlled to be opened;

[0028] If the gas pressure is greater than the second preset threshold value, the gas supplement flow path is controlled to be turned on, and the air inlet valve is controlled to be closed.

[0029] According to one of the technical solutions of the present application, before the step of controlling the robot body to be powered on, the following steps are further included:

[0030] Controlling the intake valve to be opened;

[0031] Obtaining the gas flow in the robot body and determining the size relationship between the gas flow and a preset flow value;

[0032] If the gas flow is greater than or equal to the preset flow value, the intake volume in the robot body is started to be calculated until the intake volume is greater than or equal to a set volume.

[0033] According to one of the technical solutions of the present application, after the step of controlling the robot body to be powered on, the following steps are further included:

[0034] Controlling the intake valve to be closed and controlling the air supplement flow path to be conducted;

[0035] Obtaining the gas pressure in the robot body and determining the size relationship between the gas pressure and a third preset threshold value and a fourth preset threshold value, wherein the third preset threshold value is less than the fourth preset threshold value;

[0036] If the gas pressure is less than or equal to the third preset threshold value, the intake valve is controlled to be opened until the gas pressure is greater than the fourth preset threshold value, and then the intake valve is controlled to be closed and the air supplement flow path is controlled to be conducted;

[0037] If the gas pressure is greater than the third preset threshold value and less than or equal to the fourth preset threshold value, the intake valve is maintained to be closed and the air supplement flow path is maintained to be conducted.

[0038] According to one of the technical solutions of the present application, the state parameter includes at least one of the gas pressure and the gas flow;

[0039] The detection device includes a flow detection part and a pressure detection part;

[0040] The flow detection part is electrically connected with the controller and is configured to be able to detect the gas flow in the robot body and feed back the detection result to the controller;

[0041] The pressure detection part is electrically connected with the controller and is configured to be able to detect the gas pressure in the robot body and feed back the detection result to the controller.

[0042] According to one of the technical solutions of the present application, the detection device is provided with a safety structure, and the safety structure has an open state and a closed state;

[0043] When the gas pressure in the robot body is greater than or equal to a preset safety pressure, the safety structure is switched from the closed state to the open state, so that the robot body can exhaust along the safety structure.

[0044] When the gas pressure in the robot body is less than the preset safety pressure, the safety structure is in the closed state.

[0045] According to a technical solution of the present application, the safety structure comprises an air outlet, a movable piece and an elastic piece.

[0046] When the safety structure is in the closed state, the elastic force of the elastic piece pushes against the movable piece, so that the movable piece blocks the air outlet.

[0047] When the safety structure is in the open state, the movable piece opens the air outlet, and the movable piece and the elastic piece abut against each other, so that the elastic piece is compressed.

[0048] Another aspect of the present application also provides a control method of a positive pressure explosion-proof robot, which is used for the positive pressure explosion-proof robot in any of the above technical solutions, and the control method comprises the following steps:

[0049] controlling the robot body of the positive pressure explosion-proof robot to be powered on;

[0050] determining whether the explosion-proof failure condition is met in the robot body according to a state parameter in the robot body;

[0051] if yes, controlling the robot body to be powered off.

[0052] According to a technical solution of the present application, the step of controlling the robot body to be powered off comprises the following steps:

[0053] disconnecting the electrical connection between the power line of the robot body and the robot control cabinet of the positive pressure explosion-proof robot;

[0054] disconnecting the electrical connection between the encoder line of the robot body and the robot control cabinet after a preset time length.

[0055] According to a technical solution of the present application, the state parameter comprises a gas pressure, and the step of determining whether the explosion-proof failure condition is met in the robot body according to the state parameter in the robot body comprises the following steps:

[0056] acquiring the gas pressure and determining the size relationship between the gas pressure and a first preset threshold;

[0057] if the gas pressure is less than or equal to the first preset threshold, it is determined that the explosion-proof failure condition is met in the robot body.

[0058] According to a technical solution of the present application, the state parameter comprises a hardware exception signal, wherein the step of determining whether the anti-explosion failure condition is met in the robot body according to the state parameter in the robot body comprises:

[0059] When the hardware exception signal is acquired, it is determined that the anti-explosion failure condition is met in the robot body.

[0060] According to a technical solution of the present application, the control method further comprises:

[0061] acquiring the gas pressure in the robot body and determining the size relationship between the gas pressure and a second preset threshold value;

[0062] if the gas pressure is less than or equal to the second preset threshold value, controlling the air inlet valve of the positive pressure anti-explosion robot to open;

[0063] if the gas pressure is greater than the second preset threshold value, controlling the air supplement flow path of the positive pressure anti-explosion robot to be conducted, and controlling the air inlet valve to be closed.

[0064] According to a technical solution of the present application, before the step of controlling the robot body to be powered on, the following steps are further included:

[0065] controlling the air inlet valve of the positive pressure anti-explosion robot to open;

[0066] acquiring the gas flow in the robot body and determining the size relationship between the gas flow and a preset flow value;

[0067] if the gas flow is greater than or equal to the preset flow value, starting to calculate the air inlet volume in the robot body until the air inlet volume is greater than or equal to a set volume.

[0068] According to a technical solution of the present application, after the step of controlling the robot body to be powered on, the following steps are further included:

[0069] controlling the air inlet valve of the positive pressure anti-explosion robot to be closed, and controlling the air supplement flow path of the positive pressure anti-explosion robot to be conducted;

[0070] acquiring the gas pressure in the robot body and determining the size relationship between the gas pressure and a third preset threshold value and a fourth preset threshold value, wherein the third preset threshold value is less than the fourth preset threshold value;

[0071] if the gas pressure is less than or equal to the third preset threshold value, controlling the air inlet valve to open until the gas pressure is greater than the fourth preset threshold value, then controlling the air inlet valve to be closed and controlling the air supplement flow path to be conducted;

[0072] If the gas pressure is greater than the third preset threshold and less than or equal to the fourth preset threshold, the intake valve is maintained closed and the air supplement flow path is turned on.

[0073] Another aspect of the present application also provides a controller of a positive pressure explosion-proof robot, comprising:

[0074] a processor;

[0075] a memory for storing executable instructions of the processor, wherein the processor is configured to execute the executable instructions stored in the memory to implement the steps of the control method of the positive pressure explosion-proof robot according to any one of the preceding technical solutions.

[0076] Another aspect of the present application also provides a computer readable storage medium having a computer program stored thereon, wherein the computer program is configured to implement the control method of the positive pressure explosion-proof robot according to any one of the preceding technical solutions when executed by a processor.

[0077] In the present application, the controller is arranged in a robot control cabinet, and the controller in the robot control cabinet is electrically connected with a detection device in a robot body to perform communication transmission of data, so as to achieve the feedback regulation purpose. Compared with the structure that the traditional explosion-proof control cabinet communicates with the robot control cabinet, the explosion-proof control cabinet is omitted, the product structure is simplified, the volume is smaller, the cost is lower, and the fault diagnosis is more convenient.

[0078] It should be understood that the foregoing general description and the following detailed description are only exemplary and are not limiting to the present application. BRIEF DESCRIPTION OF DRAWINGS

[0079] The above and other objects, features and advantages of the present application will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings in which:

[0080] Figure 1 is a schematic view of a part of structure of a conventional positive pressure explosion-proof robot.

[0081] Figure 2 is a structural schematic view of a positive pressure explosion-proof robot according to an embodiment.

[0082] Figure 3 is a structural schematic view of a positive pressure explosion-proof robot according to an embodiment.

[0083] Figure 4 is a structural schematic view of a detection device according to an embodiment.

[0084] Figure 5 is a flow chart of a control method of a positive pressure explosion-proof robot according to an embodiment.

[0085] Figure 6 is a flow chart of a positive pressure explosion-proof robot control method according to an embodiment.

[0086] Figure 7 is a structural block diagram of a controller of a positive pressure explosion-proof robot according to an embodiment.

[0087] The reference signs are explained as follows:

[0088] Robot control cabinet 001; power line 002; main gas source air pipe 003; first air pipe and communication cable 004; explosion-proof control cabinet 005; power line 006; encoder line 007; second air pipe and communication cable 008;

[0089] Robot body 100; power line 111; encoder line 112; connecting line 113; explosion-proof air inlet passage 114; base 120; one-axis motor 131; two-axis motor 132; three-axis motor 133; four-axis motor 134; five-axis motor 135; six-axis motor 136; shell piece 140; explosion-proof cavity 150; robot control cabinet 200; detection device 300; flow detection part 310; differential pressure detection piece 311; throttling structure 312; pressure detection part 320; safety structure 330; movable piece 331; air outlet 332; elastic piece 333; base body 340; power line 410; main gas source air pipe 420; controller 500; processor 510; memory 520. DETAILED DESCRIPTION

[0090] While the present application can be susceptible to various modifications and alternative forms, the drawings illustrated and the specification describe in detail only the specific implementations that were tested by the inventors. However, it should be understood by those skilled in the art that the description is to be considered in a demonstrative sense only and not limiting of the present application as described herein.

[0091] Therefore, one feature indicated in the specification will be used to illustrate one feature of an embodiment of the present application, rather than implying that every embodiment of the present application must have the illustrated feature. In addition, it should be noted that the specification describes many features. Although some features can be combined together to show possible system designs, these features can also be used in other combinations that are not explicitly described. Therefore, the described combinations are not intended to be limiting unless otherwise specified.

[0092] In the embodiments shown in the drawings, the indications of directions, such as up, down, left, right, front and back, are used to explain the structure and movement of various elements of the present application and are not absolute but relative. These indications are appropriate when these elements are in the positions shown in the drawings. If the positions of these elements change, the indications of these directions will also change accordingly.

[0093] Example implementations are now described in further detail with reference to the drawings. Example implementations can take form in various arrangements of components and specific examples described herein are not intended to limit the spirit and scope of example implementations. Furthermore, example implementations can take different forms of implementation without departing from the spirit or essential characteristics thereof. Thus, specific implementations discussed are not to be taken as limiting but are provided to give real examples to those skilled in the art. Like numbers refer to like elements throughout.

[0094] The preferred embodiments of the present application will be further described in detail with reference to the drawings.

[0095] An embodiment of one aspect of the present application provides a positive pressure explosion-proof robot, comprising: a robot body, a robot control cabinet, a detection device.

[0096] The robot control cabinet is provided with a controller, and the controller is electrically connected with the robot body. The detection device is electrically connected with the controller, and the detection device is arranged on the robot body and is configured to detect a state parameter (the state parameter specifically includes at least one of a gas pressure or a gas flow in the robot body) in the robot body and feed back a detection result to the controller.

[0097] The embodiment is described in more detail as follows:

[0098] Please refer to Figure 1 , Figure 1 is a schematic diagram of a part of structure of a conventional positive pressure explosion-proof robot.

[0099] The conventional positive pressure explosion-proof robot includes a robot control cabinet 001 and an explosion-proof control cabinet 005. The robot control cabinet 001 is provided with a power line 002 and a main gas source gas pipe 003. The explosion-proof control cabinet 005 is provided with a PLC (Programmable Logic Controller). The robot control cabinet 001 and the explosion-proof control cabinet 005 are in gas flow through a first gas pipe and a communication cable 004. The PLC and the robot control cabinet 001 transmit signals through the first gas pipe and the communication cable 004. The explosion-proof control cabinet 005 is provided with a second gas pipe and a communication cable 008 for gas flow with the robot body and signal transmission between the detection device on the robot body. The robot control cabinet 001 is provided with a power line 006 and an encoder line 007 for connecting with the robot body to transmit power and signals.

[0100] Please refer to Figure 2 , Figure 2 is a structural schematic diagram of a positive pressure explosion-proof robot according to an embodiment of the present application.

[0101] Take the positive pressure explosion-proof spraying robot as an example. The robot body 100 is used to perform the spraying operation. Of course, for the positive pressure explosion-proof robot used for other operation types, the robot body 100 is used to perform the corresponding type of operation, and is not limited to the example of the spraying operation. More specifically, the robot body 100 is a six-axis robot body 100, which specifically includes a base 120 and a working arm arranged on the base 120, the working arm including a plurality of shaft arms and a plurality of shaft motors for driving the shaft arms, such as a one-axis motor 131, a two-axis motor 132, a three-axis motor 133, a four-axis motor 134, a five-axis motor 135, and a six-axis motor 136 in the figure. Through motor driving, the corresponding shaft arm can perform corresponding rotary motion as a movable joint.

[0102] More specifically, as shown in Figure 2 The robot control cabinet 200 is provided with a power line 410, a power line 111 and an encoder line 112, and the power line 111 and the encoder line 112 are respectively electrically connected with the robot body 100 for corresponding power transmission and / or signal transmission, so as to power on the robot body 100 and / or control the robot body 100 to work.

[0103] It can be understood that the robot body 100 is used to work in some special environments with explosion-proof requirements, for example, the robot body 100 is located in an environment B with flammable medium (for example, a paint spraying room) to work. The robot control cabinet 200 is located in a safe area A (which can be understood as a relatively safe area compared with the environment B with flammable medium).

[0104] The robot control cabinet 200 is provided with a main gas source gas pipe 420. An explosion-proof cavity 150 is formed in the robot body 100. An explosion-proof air inlet passage 114 is connected between the robot control cabinet 200 and the base 120. The explosion-proof air inlet passage 114 is in communication with the explosion-proof cavity 150, and is used for the robot control cabinet 200 to input gas into the explosion-proof cavity 150 along the explosion-proof air inlet passage 114, so that the explosion-proof cavity 150 forms a positive pressure explosion-proof environment, thereby achieving the purpose of positive pressure explosion-proof.

[0105] The robot control cabinet 200 in the embodiment is provided with a controller 500, the robot body 100 is provided with a detection device 300, the detection device 300 is electrically connected with the controller 500 in the robot control cabinet 200, the detection device 300 is used for detecting the state parameters in the robot body 100 in real time, and the detection result is fed back to the controller 500 in the robot control cabinet 200, so that the controller 500 in the robot control cabinet 200 controls according to the detection result. For example, the controller 500 controls the power-on or power-off of the robot body 100 according to the detection result, and / or the controller 500 controls the gas supply condition (such as gas supply mode, gas supply flow, gas supply pressure, gas supply on-off) of the robot control cabinet 200 to the robot body 100 according to the detection result.

[0106] Compared with the traditional positive pressure explosion-proof robot, the detection device 300 on the robot body 100 is electrically connected with the controller 500 in the robot control cabinet 200, realizes the feedback regulation purpose, saves the explosion-proof control cabinet, the product structure is more simplified, the volume is smaller, saves about 90% of the volume compared with the traditional positive pressure explosion-proof robot, the cost is also lower, and the controller 500 integrated in the modular design of the robot control cabinet 200 is also more conducive to fault diagnosis.

[0107] Further, as shown in Figure 2 , the detection device 300 on the robot body 100 is connected with the controller 500 through a connecting line 113, and the communication is realized by transmitting signals through the connecting line 113.

[0108] Further, as shown in Figure 2 , the working arm of the robot body 100 has a housing 140, which serves as part of an explosion-proof cavity 150 and is in communication with the explosion-proof air inlet passage 114. At least one of the one-axis motor 131, the two-axis motor 132, the three-axis motor 133, the four-axis motor 134, the five-axis motor 135 and the six-axis motor 136 is located in the housing 140.

[0109] Please refer to Figure 3 , Figure 3 is a structure schematic diagram of a positive pressure explosion-proof robot according to an embodiment of the present application. Among them, Figure 3 The arrow shows the flow direction of the gas in the positive pressure explosion-proof robot.

[0110] As shown in Figure 3As shown, the gas from the gas source enters the robot control cabinet 200 through the main gas source pipe 420, and is transported from the robot control cabinet 200 to the base 120 of the robot body 100 through the explosion-proof gas inlet channel 114, and is sent to the explosion-proof cavity 150 through the base 120 of the robot body 100, and is circulated in the explosion-proof cavity 150, and is discharged from the explosion-proof cavity 150 into the base 120, and is finally discharged through the gas outlet 332 at the base 120.

[0111] Please refer to Figure 4 , Figure 4 is a structural schematic diagram of a detection device 300 according to an embodiment of the present application.

[0112] In an embodiment of the present application, as shown in Figure 4 , the gas outlet 332 is arranged on the detection device 300. The explosion-proof cavity 150 is discharged along the gas outlet 332 on the detection device 300.

[0113] More specifically, as shown in Figure 4 , the detection device 300 is provided with a safety structure 330, and the detection device 300 is provided with the safety structure 330, and the safety structure 330 has an open state and a closed state. When the safety structure 330 is in the open state, it can be understood that the gas outlet 332 is open, and at this time, the explosion-proof cavity 150 can be inhaled and discharged along the gas outlet 332. When the safety structure 330 is in the closed state, it can be understood that the gas outlet 332 is closed.

[0114] Further, when the gas pressure in the robot body 100 is greater than or equal to the preset safety pressure Px, the safety structure 330 is switched from the closed state to the open state, so that the robot body 100 can be discharged along the safety structure 330; when the gas pressure in the robot body 100 is less than the preset safety pressure Px, the safety structure 330 is in the closed state.

[0115] For example, the safety structure 330 specifically includes the gas outlet 332, the movable piece 331 and the elastic piece 333. When the safety structure 330 is in the closed state, the elastic force of the elastic piece 333 pushes against the movable piece 331, so that the movable piece 331 blocks the gas outlet 332; when the safety structure 330 is in the open state, the movable piece 331 opens the gas outlet 332, and the movable piece 331 and the elastic piece 333 abut to compress the elastic piece 333.

[0116] More specifically, as shown in Figure 4 , the detection device 300 includes a base 340, which is a hollow cavity. The explosion-proof cavity 150 communicates with the hollow cavity. The gas outlet 332 is formed on the base 340, and the base 340 is provided with a flange along the circumference of the gas outlet 332. The movable piece 331 is located in the base 340.

[0117] When the gas pressure in the explosion-proof cavity 150 is less than or equal to the preset safety pressure Px, the elastic force of the elastic member 333 is greater than the gas pressure in the explosion-proof cavity 150, the elastic force of the elastic member 333 is applied to the movable member 331, so that the movable member 331 abuts against the stop edge and blocks the gas outlet 332, thereby realizing the closure of the gas outlet 332 and realizing that the safety structure 330 is in a closed state.

[0118] When the gas pressure in the explosion-proof cavity 150 is greater than the preset safety pressure Px, the elastic force of the elastic member 333 is less than or equal to the gas pressure in the explosion-proof cavity 150, the gas pressure acts on the movable member 331, so that the movable member 331 moves and compresses the elastic member 333, so that the movable member 331 is separated from the stop edge by moving, so that the gas outlet 332 is opened, realizing that the safety structure 330 is in an open state.

[0119] Through the above safety structure 330, the gas outlet 332 can be automatically opened for exhaust when the gas pressure in the explosion-proof cavity 150 exceeds the preset safety pressure Px, so that the safety of the explosion-proof cavity 150 can be better guaranteed, and the high-pressure hidden danger can be avoided. The safety structure 330 has the advantages of simple structure, and the safety structure 330 is integrated in the detection device 300, so that the product has high modularization and integration, and safety and fault diagnosis are more convenient.

[0120] Of course, the present scheme is not limited to this, in other embodiments, the safety structure 330 can also be designed to adopt an electronic valve component such as a solenoid valve, and after the detection device 300 detects the gas pressure in the robot body 100, the solenoid valve is controlled to work according to the real-time detected gas pressure, so as to effectively limit the gas pressure in the robot body 100 to be below the preset safety pressure Px.

[0121] In some embodiments of the present application, the preset safety pressure Px has a value range of 2mbar-6mbar.

[0122] In a specific embodiment of the present application, the preset safety pressure Px is 4mbar.

[0123] In some embodiments of the present application, as shown in Figure 4 The detection device 300 includes a flow detection part 310 and a pressure detection part 320. The flow detection part 310 is electrically connected with the controller 500 and is configured to detect the gas flow in the robot body 100 and feed back the detection result to the controller 500. The pressure detection part 320 is electrically connected with the controller 500 and is configured to detect the gas pressure in the robot body 100 and feed back the detection result to the controller 500.

[0124] In this way, the detection device 300 integrates the air pressure detection function and the flow detection function, realizes the multifunctional integrated setting of the detection device 300, and is more convenient, safe and fault diagnosis. And through the integration of air pressure detection and flow detection of the detection device 300, the communication transmission between the detection device 300 and the controller 500 is facilitated, for example, the controller 500 and the detection device 300 can be electrically connected in communication through a connection line 113, and the product structure is more simplified.

[0125] Further, as shown in Figure 4 , the inner cavity is formed in the hollow inside the base body 340 of the detection device 300. When the detection device 300 is assembled on the robot body 100, specifically, for example, when the base body 340 of the detection device 300 is assembled on the base 120 of the robot body 100, the inner cavity is in communication with the explosion-proof cavity 150. The flow detection part 310 specifically includes a differential pressure detection piece 311 and a throttling structure 312, and the throttling structure 312 is specifically a hole plate formed in the inner cavity. The differential pressure detection piece 311 is used to detect the pressure difference before and after the hole plate. In this way, when the positive pressure air F passes through the hole plate in the inner cavity, the air flow will be locally contracted, so that the flow rate increases and the static pressure decreases. The pressure drop, i.e. the pressure difference, will occur before and after the hole plate. The greater the flow of the purge air, the greater the pressure difference before and after the throttling hole of the hole plate. According to Bernoulli's principle, the flow of the positive pressure air can be calculated by the pressure difference, so as to realize the detection of the air flow.

[0126] Further, as shown in Figure 4 , the base body 340 is provided with a through hole in communication with the inner cavity, and the differential pressure detection piece 311 includes a differential pressure transmitter. The differential pressure transmitter is located outside the inner cavity and detects the pressure difference before and after the hole plate through the through hole.

[0127] Further, as shown in Figure 4 , the detection device 300 is provided with a plurality of differential pressure transmitters. Part of the differential pressure transmitters are used to detect the pressure difference before and after the hole plate for calculating the gas flow, realizing the flow detection. The other part of the differential pressure transmitters (i.e. the pressure detection part 320) are used to detect the gas pressure inside and outside the inner cavity, realizing the pressure detection.

[0128] In an embodiment of the present application, the controller stores executable instructions and is used to execute the executable instructions. When the controller executes the executable instructions, the following method steps are realized:

[0129] The robot body 100 is powered on;

[0130] According to the state parameters in the robot body 100, it is judged whether the explosion-proof failure condition in the robot body 100 is met;

[0131] If so, the robot body 100 is powered off.

[0132] Through the scheme of the above embodiment, the robot body 100 can be controlled to be powered off in time when the positive pressure environment in the robot body 100 is destroyed, and safety is ensured. It can be understood that the controller is integrated in the robot control cabinet 200, and the controller can control the robot body 100 to be powered off in time according to the state parameters in the robot body 100 after the state parameters in the robot body 100 are obtained, and the control is more timely and accurate.

[0133] In a specific embodiment of the present application, the step of controlling the robot body 100 to be powered off specifically comprises:

[0134] disconnecting the electrical connection between the power line 111 and the robot control cabinet 200;

[0135] disconnecting the electrical connection between the encoder line 112 and the robot control cabinet 200 after a preset time length.

[0136] The above technical scheme realizes emergency stop of the robot body 100 in the case of explosion-proof failure in the robot body 100, that is, disconnecting the electrical connection between the power line 111 and the robot control cabinet 200, and better ensures safety, and by disconnecting the electrical connection between the encoder line 112 and the robot control cabinet 200 after a preset time length, it is ensured that the encoder data can be stored in time within the preset time length of delay, so that for a positive pressure explosion-proof robot with a teach pendant, the teach pendant can monitor and diagnose the parameters of the controller throughout the process, and even if the explosion-proof fails, the parameters can be queried.

[0137] More specifically, when the robot body 100 meets the explosion-proof failure condition, the controller disconnects the double-redundant dry contacts (the dry contacts are connected to the external emergency stop input of the robot), at this time the controller has no external emergency stop input signal, and the robot body 100 is in an emergency stop state, at this time the robot body 100 stops according to the STOP1 mode.

[0138] In a specific embodiment of the present application, the state parameters include gas pressure, and the step of determining whether the robot body 100 meets the explosion-proof failure condition according to the state parameters in the robot body 100 comprises:

[0139] acquiring the gas pressure and determining the size relationship between the gas pressure and the first preset threshold Pmin;

[0140] If the gas pressure is less than or equal to the first preset threshold, it is determined that the robot body 100 meets the explosion-proof failure condition.

[0141] In the technical solution, when P≤Pmin, it is determined that the explosion-proof failure condition is met in the robot body 100, and the robot body 100 is controlled to be powered off, so that the safety hazard of the explosion-proof failure can be avoided, and the product is safer and more reliable.

[0142] It can be understood that Pmin is a minimum positive pressure setting value in the robot body 100, and the normal positive pressure environment in the robot body 100 requires P>Pmin. When P≤Pmin, it can be considered that the positive pressure environment in the robot body 100 is abnormal or does not meet the positive pressure explosion-proof safety requirement. The specific value of Pmin can be reasonably selected by a person skilled in the art according to the robot body 100 and the corresponding explosion-proof standard, and will not be described here.

[0143] In one specific embodiment of the present application, the state parameter includes a hardware exception signal, and the step of determining whether the explosion-proof failure condition is met in the robot body 100 according to the state parameter in the robot body 100 includes:

[0144] When the hardware exception signal is obtained, it is determined that the explosion-proof failure condition is met in the robot body 100.

[0145] For example, if the controller detects that there may be damage or leakage of part of the detection device 300 or the explosion-proof cavity 150 according to the abnormal air pressure value and / or the abnormal flow value in the robot body 100, generates a hardware exception signal after checking and confirming, or generates a hardware exception signal through self-checking of the positive pressure explosion-proof robot, when the hardware exception signal is detected, it is determined that the explosion-proof failure condition is met in the robot body 100, and the robot body 100 is controlled to be powered off, so that the safety hazard of the explosion-proof failure can be avoided, and the product is safer and more reliable.

[0146] In one specific embodiment of the present application, the positive pressure explosion-proof robot further includes an air inlet valve and a gas supplement flow path.

[0147] The air inlet valve is connected to the robot body 100, and when the air inlet valve is opened, the robot body 100 is supplied with air along the air inlet valve, wherein the controller is electrically connected to the air inlet valve and can control the opening and closing of the air inlet valve.

[0148] The gas supplement flow path is connected to the robot body 100, and when the gas supplement flow path is turned on, the robot body 100 is supplied with air along the gas supplement flow path, wherein the controller is electrically connected to the gas supplement flow path and can control the on-off of the gas supplement flow path.

[0149] The gas flow along the air inlet valve is greater than the gas flow along the gas supplement flow path.

[0150] In this way, the controller can adjust the air intake form and air intake flow rate of the robot body 100 according to the real-time gas conditions (such as the air pressure condition, the air flow condition, etc.) in the robot body 100 by controlling the air intake valve and the air supplement flow path, so as to better meet the different air intake requirements of the robot body 100 in different running stages, and the control mode is more flexible, and the structure is relatively simple and low in cost.

[0151] In one specific embodiment of the present application, when the controller executes the executable instructions, the following method steps are also implemented:

[0152] The air pressure in the robot body 100 is obtained, and the size relationship between the air pressure and the second preset threshold Pe is judged.

[0153] If the air pressure is less than or equal to the second preset threshold Pe, the air intake valve is controlled to be opened.

[0154] If the air pressure is greater than the second preset threshold Pe, the air supplement flow path is controlled to be conducted, and the air intake valve is controlled to be closed.

[0155] It can be understood that in the real scene, the explosion-proof cavity 150 is not an absolutely closed cavity, and there will inevitably be gas leakage and the like. In the embodiment, when P≤Pe, the air intake valve is controlled to be opened, which can help the robot body 100 to quickly blow in when the internal air pressure is low, so as to quickly and effectively re-establish a positive pressure explosion-proof environment in the robot body 100, and ensure safety. When P>Pe, the air supplement flow path is controlled to be conducted, and the air intake valve is controlled to be closed, so that the air intake in the robot body 100 is maintained at a relatively small flow rate, which can well compensate for the gas leakage in the explosion-proof cavity 150. This not only effectively ensures the reliability of the positive pressure environment in the explosion-proof cavity 150, but also makes the air flow and air pressure in the explosion-proof cavity 150 relatively stable, thereby avoiding frequent large-flow blow-sweeping of the explosion-proof cavity 150, avoiding the adverse situation of frequent pressure fluctuations in the spraying robot, and making the positive pressure explosion-proof robot run more smoothly. At the same time, the air flow and pressure stability in the explosion-proof cavity 150 of the positive pressure explosion-proof robot are better maintained, thereby improving the working environment of the instruments in the explosion-proof cavity 150, and also helping to reduce the leakage in the explosion-proof cavity 150.

[0156] It can be understood that the second preset threshold Pe can be understood as the minimum warning pressure in the robot body 100, and the normal internal pressure requirement of the robot body 100 needs to be greater than the Pe value for safety consideration, that is, P>Pe. As for the specific value of Pe, those skilled in the art can make a reasonable selection according to the safety level of the robot body 100, the corresponding explosion-proof standard and other factors, which will not be described here.

[0157] In some embodiments, the first preset threshold Pm and the second preset threshold satisfy the following relationship: Pe > Pm.

[0158] In an embodiment of the present application, before the step of controlling the robot body 100 to be powered on, the method further comprises the following steps:

[0159] controlling the intake valve to open;

[0160] acquiring the gas flow in the robot body 100 and determining the relationship between the gas flow and a preset flow value Qmin;

[0161] If the gas flow is greater than or equal to the preset flow value Qmin, the intake volume in the robot body 100 is calculated until the intake volume is greater than or equal to a set volume Vy.

[0162] By setting the gas flow to be greater than or equal to the preset flow value, the intake in the robot body 100 can be ensured to be stable. At this time, the intake volume in the robot body 100 is calculated until the intake volume is greater than or equal to the set volume. For example, the result that the intake volume is greater than or equal to the set volume can be used to trigger the control of the intake valve to close. In this way, the purge volume in the robot body 100 can be ensured to be at least the set volume, so as to ensure the establishment of a reliable positive pressure explosion-proof environment, making the positive pressure explosion-proof function more reliable, and also avoiding resource waste.

[0163] In some embodiments, the set volume is greater than or equal to 5 times the volume of the explosion-proof cavity 150.

[0164] In an embodiment of the present application, after the step of controlling the robot body 100 to be powered on, the method further comprises the following steps:

[0165] controlling the intake valve to close and controlling the air supplement flow path to be conducted;

[0166] acquiring the gas pressure in the robot body 100 and determining the relationship between the gas pressure and a third preset threshold Pmin (which can be understood as being the same value as the first preset threshold Pmin) and a fourth preset threshold Pmax, wherein the third preset threshold Pmin is less than the fourth preset threshold Pmax;

[0167] If the gas pressure is less than or equal to the third preset threshold Pmin, the intake valve is controlled to open. In this way, the robot body 100 can quickly and effectively re-establish a good positive pressure environment, ensuring the explosion-proof effect.

[0168] Until the gas pressure is greater than the fourth preset threshold Pmax, the intake valve is controlled to close and the air supplement flow path is controlled to be conducted;

[0169] If the gas pressure is greater than the third preset threshold Pmin and less than or equal to the fourth preset threshold Pmax, the intake valve is maintained closed and the air supplement flow path is turned on.

[0170] The above technical solution, through monitoring of the actual gas flow and gas pressure in the robot body 100, realizes intake of the robot body 100 in a non-normal positive pressure state, intake in a positive pressure state, entering a pressure maintaining state, and intake when the pressure maintaining state value is less than the normal value Pmin. Such a self-feedback closed loop control can effectively prevent combustible gas from entering the robot body 100, so that the positive pressure explosion-proof robot always works in a safe environment.

[0171] Please refer to Figure 5 , Figure 5 is a flow chart of a control method of a positive pressure explosion-proof robot according to an embodiment of the present application.

[0172] The control method of the positive pressure explosion-proof robot provided in the embodiment is used for the positive pressure explosion-proof robot as described in any of the above embodiments, and includes the following steps.

[0173] S102, powering on the robot body of the positive pressure explosion-proof robot;

[0174] S104, determining whether the explosion-proof failure condition is met in the robot body according to a state parameter (the state parameter specifically includes at least one of a gas pressure or a gas flow in the robot body) in the robot body.

[0175] S106, if the explosion-proof failure condition is met, powering off the robot body.

[0176] Through the above-mentioned solution of the embodiment, the robot body can be powered off in time when the positive pressure environment in the robot body is destroyed, thereby ensuring safety. It can be understood that the controller is integrated in the robot control cabinet, and the controller can control the robot body to be powered off in time according to the state parameter in the robot body, thereby controlling more timely and accurately.

[0177] In an embodiment of the present application, the step of powering off the robot body specifically includes:

[0178] disconnecting the electrical connection between the power line of the robot body and the robot control cabinet of the positive pressure explosion-proof robot;

[0179] disconnecting the electrical connection between the encoder line of the robot body and the robot control cabinet after a preset time length.

[0180] The above technical solution realizes emergency stop of the robot body in the case of explosion-proof failure in the robot body, that is, disconnecting the electrical connection between the power line and the robot control cabinet, and better ensures safety, and by disconnecting the electrical connection between the encoder line and the robot control cabinet after a preset time, it is ensured that the encoder data can be stored in time within the preset time delay, so that for the positive pressure explosion-proof robot with a teacher, the teacher can monitor and diagnose the corresponding parameters throughout the process, and even if the explosion-proof fails, the parameters can be queried.

[0181] More specifically, when the explosion-proof failure condition is met in the robot body, the controller double-redundant dry contacts are disconnected (the dry contacts are connected to the external emergency stop input of the robot), at this time, the controller has no external emergency stop input signal, and the robot body is in an emergency stop state, at this time, the robot body stops according to the STOP1 mode.

[0182] In an embodiment of the present application, the state parameter includes gas pressure, and the step of determining whether the explosion-proof failure condition is met in the robot body according to the state parameter in the robot body includes:

[0183] The gas pressure is obtained, and the size relationship between the gas pressure and a first preset threshold Pmin is determined.

[0184] If the gas pressure is less than or equal to the first preset threshold, it is determined that the explosion-proof failure condition is met in the robot body.

[0185] In the above technical solution, when P≤Pmin, it is determined that the explosion-proof failure condition is met in the robot body, so as to control the robot body to be disconnected accordingly, which can avoid the safety hazard of explosion-proof failure, and the product is safer and more reliable.

[0186] It can be understood that Pmin is the minimum positive pressure setting value in the robot body, and the normal positive pressure environment in the robot body requires P>Pm. When P≤Pmin, it can be considered that the positive pressure environment in the robot body is abnormal or does not meet the positive pressure explosion-proof safety requirement. The specific value of Pmin can be reasonably selected by those skilled in the art according to the robot body and the corresponding explosion-proof standard, which will not be described here.

[0187] In a specific embodiment of the present application, the state parameter includes a hardware abnormal signal, and the step of determining whether the explosion-proof failure condition is met in the robot body according to the state parameter in the robot body includes:

[0188] When the hardware abnormal signal is obtained, it is determined that the explosion-proof failure condition is met in the robot body.

[0189] For example, if the controller detects that there may be a possibility of damage to the partial detection device or damage to the explosion-proof cavity, leakage, etc. according to the abnormal gas pressure value and / or abnormal flow value in the robot body, after checking and confirming, a hardware abnormal signal is sent, or the hardware abnormal signal is generated through the positive pressure explosion-proof robot self-checking, and when the hardware abnormal signal is detected, it is judged that the explosion-proof failure condition in the robot body is met, so as to control the robot body to be powered off, which can avoid the safety hazard of explosion-proof failure and make the product more safe and reliable.

[0190] In one specific embodiment of the present application, the control method further comprises:

[0191] acquiring the gas pressure in the robot body, and judging the size relationship between the gas pressure and the second preset threshold Pe;

[0192] If the gas pressure is less than or equal to the second preset threshold Pe, the intake valve is opened;

[0193] If the gas pressure is greater than the second preset threshold Pe, the air supplement flow path is turned on, and the intake valve is closed.

[0194] It can be understood that in the real scene, the explosion-proof cavity is not an absolutely closed cavity, and there will inevitably be gas leakage and the like. In this embodiment, when P≤Pe, the intake valve is opened, which can help the robot body to quickly blow in and intake when the internal pressure is low, so as to quickly and effectively re-establish a positive pressure explosion-proof environment in the robot body and ensure safety. When P>Pe, the air supplement flow path is turned on, and the intake valve is closed, so that the robot body maintains relatively small flow intake, which can well compensate for the gas leakage in the explosion-proof cavity, which not only effectively ensures the reliability of the positive pressure environment in the explosion-proof cavity, but also makes the gas flow and pressure in the explosion-proof cavity change relatively gently, thereby avoiding frequent large-flow blowout and air supplement of the explosion-proof cavity, avoiding the adverse situation of frequent pressure fluctuations in the spraying robot, and making the positive pressure explosion-proof robot run more smoothly. At the same time, the gas flow and pressure in the explosion-proof cavity of the positive pressure explosion-proof robot are also better maintained, thereby improving the working environment of the instruments in the explosion-proof cavity and helping to reduce the leakage in the explosion-proof cavity.

[0195] It can be understood that the second preset threshold Pe can be understood as the minimum warning pressure in the robot body, and the normal internal pressure of the robot body needs to be greater than Pe value for safety consideration, that is, P>Pe. As for the specific value of Pe, those skilled in the art can make reasonable selection according to the safety level of the robot body, the corresponding explosion-proof standard and other factors, which will not be described here.

[0196] In some embodiments, the size relationship between the first preset threshold Pm and the second preset threshold satisfies: Pe>Pm.

[0197] In one embodiment of the present application, before the step of controlling the robot body to be powered on, further comprising the following steps:

[0198] controlling the intake valve to open;

[0199] acquiring the gas flow in the robot body, and determining the size relationship between the gas flow and a preset flow value Qmin;

[0200] If the gas flow is greater than or equal to the preset flow value Qmin, start calculating the intake volume in the robot body until the intake volume is greater than or equal to a set volume Vy.

[0201] By the gas flow being greater than or equal to the preset flow value, the intake in the robot body can be roughly stabilized. At this time, the intake volume in the robot body is started to be calculated until the intake volume is greater than or equal to the set volume. For example, the result that the intake volume is greater than or equal to the set volume can be used to trigger the control of the intake valve to close. In this way, the purge volume in the robot body can be guaranteed to be at least the set volume, ensuring the establishment of a reliable positive pressure explosion-proof environment, making the positive pressure explosion-proof function more reliable, and also avoiding resource waste.

[0202] In some embodiments, the set volume is greater than or equal to 5 times the volume of the explosion-proof cavity.

[0203] In one embodiment of the present application, after the step of controlling the robot body to be powered on, further comprising the following steps:

[0204] controlling the intake valve to close and controlling the air supplement flow path to be conducted;

[0205] acquiring the gas pressure in the robot body, and determining the size relationship between the gas pressure and a third preset threshold Pmin (which can be understood as the same value as the first preset threshold Pmin) and a fourth preset threshold Pmax, wherein the third preset threshold Pmin is less than the fourth preset threshold Pmax;

[0206] If the gas pressure is less than or equal to the third preset threshold Pmin, control the intake valve to open. In this way, the robot body can quickly and effectively re-establish a good positive pressure environment, ensuring the explosion-proof effect.

[0207] Until the gas pressure is greater than the fourth preset threshold Pmax, control the intake valve to close and control the air supplement flow path to be conducted;

[0208] If the gas pressure is greater than the third preset threshold Pmin and less than or equal to the fourth preset threshold Pmax, maintain the intake valve closed and the air supplement flow path conducted.

[0209] The above technical scheme, through monitoring of actual gas flow, gas pressure and the like in the robot body, realizes intake of the robot body in abnormal positive pressure state, intake in positive pressure state, entering pressure maintaining state, and intake again when the pressure maintaining state value is less than the normal value Pmin, so that self-feedback closed loop control is realized, combustible gas is effectively prevented from entering the robot body, and the positive pressure explosion-proof robot always works in a safe environment.

[0210] Please refer to Figure 6 , Figure 6 is a flow chart of a positive pressure explosion-proof robot control method according to an embodiment of the present application.

[0211] S202, determining whether P < Pmin is met; if yes, S204 is executed, and if no, S2044 is executed;

[0212] S2042, controlling the intake valve to open;

[0213] S2044, determining whether Pmin < P < Pe is met; if yes, returning to S2042, and if no, S216 is executed;

[0214] S206, determining whether Px < P is met; if yes, S208 is executed, and if no, returning to S204;

[0215] S208, the outlet opening;

[0216] S210, determining whether Q > Qmin is met; if yes, S212 is executed, and if no, returning to S204;

[0217] S212, determining whether V > Vy is met; if yes, S214 is executed, and if no, returning to S204;

[0218] S214, controlling the intake valve to close, the air supplement flow path to be conducted, and the outlet opening;

[0219] S216, determining whether Pmin < P < Px is met; if yes, S218 is executed, and if no, returning to S214;

[0220] S218, controlling the intake valve to close, the air supplement flow path to be conducted, and the outlet to be closed;

[0221] S220, determining whether P ≤ Pmin is met; if yes, S222 is executed, and if no, returning to S218;

[0222] S222, controlling the intake valve to open;

[0223] S224, determining whether P > Pmax is met; if yes, returning to S214, and if no, returning to S222.

[0224] Among them, the gas pressure detection value inside the robot body: P (unit: mbar);

[0225] Maximum positive pressure setting within the robot body: Pmax (unit: mbar);

[0226] Minimum positive pressure setting within the robot body: Pm (unit: mbar);

[0227] Minimum alarm pressure within the robot body: Pe (unit: mbar);

[0228] Air intake flow rate within the robot body: Q (unit: NI / min);

[0229] Minimum air intake flow rate setting for the robot body: Qm (unit: NI / min).

[0230] In this embodiment, the positive pressure explosion-proof robot includes: a robot body, a robot control cabinet, and an explosion-proof module. The explosion-proof module includes an explosion-proof control module (i.e., a controller) and an explosion-proof sensor module (i.e., a detection device). The explosion-proof control module is located in the robot control cabinet, and the explosion-proof sensor module is located in the base of the robot body.

[0231] like Figure 2 As shown, the layout of the positive pressure explosion-proof robot is divided into a safe area A and a non-safe area B, with C being the robot's active area. The robot control cabinet is located outside the paint booth (considered safe area A), while the robot itself is placed inside the paint booth (considered non-safe area B). The robot control cabinet and the robot are connected via power cables, encoder cables, explosion-proof sensor cables, and air intake pipes (explosion-proof air intake channels). The explosion-proof control module is installed in the robot control cabinet.

[0232] Figure 2 In the positive pressure explosion-proof robot structure shown, the robot body is equipped with six motors and the six motors drive six joint axes respectively. The motors are placed in the outer shell casting of the robot body (i.e., the outer shell 140), the explosion-proof sensor module is placed in the robot base, and the air outlet is placed on the explosion-proof sensor module.

[0233] See Figure 3 The gas flow direction indicated by the middle arrow designates the robot control cabinet as the "master station" for the entire positive pressure explosion-proof robot's gas supply. All parts of the positive pressure explosion-proof robot that require a gas supply are connected to the "master station" gas source. This layout makes the system's gas supply access very clear.

[0234] See Figure 3The gas flow direction is indicated by the arrow. The gas flowing from the robot control cabinet to the robot base (hereinafter referred to as cleaning gas) is mainly to inject clean air into the explosion-proof cavity of the robot body. The control of the cleaning air is controlled by a two-position three-way electromagnetic valve. That is, the two-position three-way electromagnetic valve is used to control the switching between the air inlet valve and the air supplement flow path. The cleaning air is circulated and purged through the robot body, and finally flows out of the robot body through the outlet of the explosion-proof sensor module.

[0235] Figure 6 In the control method flow chart shown, the entire control process is divided into three stages: cleaning stage I, inflation stage II, and pressure maintaining stage III. The cleaning stage I is mainly to fill clean gas into the robot body when the system is just started, and the combustible gas in the robot body is discharged by the cleaning valve (i.e. safety structure). The specific process is as follows: when the system is just started, the pressure value P in the robot body is detected. When the pressure value P in the robot body is less than the minimum set value Pmin, the air inlet valve in the robot control cabinet is opened. At the same time, when the air pressure is greater than 4mbar (i.e. Px), the air outlet valve (i.e. safety structure) is opened, and the air inlet flow value Q is monitored. If the value is greater than the minimum air inlet flow value Qmin, the air supply to the robot body is continued, and the cleaning time is Ts. At this time, the controller starts to calculate the cleaning volume (i.e. air inlet volume V). When the cleaning volume is greater than the set cleaning volume (i.e. set volume Vy), the air inlet electromagnetic valve (air inlet valve) is closed, and the three-way valve is switched to another air supplement circuit (i.e. air supplement flow path) to start supplementing air to the robot body. The air pipe of the air supplement circuit is a columnar solid, and the middle is a 1mm aperture pipe plug.

[0236] When the cleaning action is completed, due to the sealing problem of the robot body, there will be a small amount of gas leakage. The air supplement circuit timely supplements the gas in the robot body.

[0237] When the internal pressure P of the robot body is greater than Pm and less than 4mbar, the air outlet valve (i.e. safety structure) is closed. At this time, the body maintains a positive pressure state. When the body leakage flow is greater than the air supplement flow, P is less than Pm at some time, the air inlet valve is opened, and the above-mentioned cycle is repeated. The explosion-proof sensor module has a spring (i.e. elastic member) + metal ball (i.e. movable member, the movable member is not limited to metal ball, but also can be a sealing plate). When the internal pressure of the robot body is greater than 4mbar, the ball (i.e. movable member) is pushed open by the air, and the air outlet is opened. When the air pressure is less than 4mbar, the ball (i.e. movable member) closes the air outlet under the action of its own gravity and the spring.

[0238] Figure 6In the flowchart shown, the cleaning stage I is completed before the robot system is powered on, and the combustible gas in the robot body reaches the flammable value range (which can be tested by the certification agency) when the cleaning is completed. The robot body can be powered on. The inflation stage III and the pressure maintaining stage II are after the robot body is started. In the inflation stage III and the pressure maintaining stage II, the gas pressure value in the robot body is monitored in real time. Once the box body is damaged or deflated, a signal is sent to the controller to perform the operation of controlling the robot body to be powered off. In the step of controlling the robot body to be powered off in the embodiment, in the case of explosion-proof failure, the robot body is stopped in the form of STOP1, the controller is disconnected, the motor line (i.e. the power line) of the robot body is disconnected with the robot control cabinet, and the encoder cable (i.e. the encoder line) is disconnected with the robot control cabinet after a delay setting of a preset time length, so that the encoder data can be stored in time within the delay time.

[0239] Through the above embodiment, the control method of the positive pressure explosion-proof robot is provided. Through the above flow control between the controller and the robot body, the robot body is safely powered on, and can be powered off in time when the positive pressure environment is destroyed.

[0240] And it can be understood that when the positive pressure explosion-proof robot system is started, the internal gas pressure of the robot body is detected, that is, the gas pressure in the robot body is detected through S102 and compared with Pmin. When the internal gas pressure of the robot body is in positive pressure (P>Pm), the comparison result of P>Pm does not mean that the internal pressure can meet the explosion-proof positive pressure requirement, so it is further judged whether Pm

[0241] When Pm

[0242] Pmax is the maximum pressure setting value of the robot body, that is, the gas pressure of the robot body should not exceed this value. The setting of this value needs to be set in combination with the sealing property of the body.

[0243] Pm is the minimum setting value, which needs to be taken from the parameter value range in the explosion-proof standard. For safety consideration, the normal body pressure requirement needs to be greater than this value, that is, P>Pe is required. The normal positive pressure environment in the robot body requires Pm

[0244] When the air pressure in the robot body is Pm < P < Pe, it is considered that the air pressure is in an abnormal required value and cleaning needs to be performed, and if Pmax > P > Pe, it is considered that the air pressure is normal.

[0245] 4mbar (i.e. Px) is mainly to control the on-off of the air outlet valve (air outlet), and the detection device is internally provided with a mechanical ball (gravity type or elastic type), when the internal air pressure is greater than 4mbar, the ball is opened by the air pressure, and the internal gas of the robot body is discharged, when the internal air pressure is less than 4mbar, the ball is closed by gravity, and the air outlet is cut off.

[0246] At the same time, through the control of the air inlet flow and pressure by the detection device and the monitoring of the actual gas, flow, pressure value and flow of the robot body, the robot body realizes non-positive pressure state air inlet, positive pressure state air inlet, and enters the pressure maintaining state, and the air pressure value is less than the normal value, and then the air inlet is performed again. Such a self-feedback closed loop control makes the robot body always maintain a positive pressure state, can effectively avoid the combustible gas into the robot body, makes the spraying robot always work in a safe environment, realizes the stability and safety of the system. At the same time, it also avoids the waste of resources.

[0247] And the positive pressure explosion-proof robot adopts the modular design of controller and sensor for the explosion-proof control part, and the flow pressure sensor can transmit data to the explosion-proof control unit in time through only one communication line, thereby saving the volume of the whole robot control cabinet. According to the measured calculation data, the volume is saved by 90% compared with the traditional explosion-proof control cabinet unit. At the same time, the modular design is beneficial to fault diagnosis.

[0248] Please refer to Figure 7 , Figure 7 It is a structure block diagram of the controller of the positive pressure explosion-proof robot according to an embodiment of the application.

[0249] As Figure 7 shown, another aspect of the embodiment of the application also proposes a controller 500 of a positive pressure explosion-proof robot, which comprises a processor 510 and a memory 520. The memory 520 is used to store executable instructions of the processor 510.

[0250] Wherein, the processor 510 is used to execute the executable instructions stored in the memory 520 to realize the steps of the control method of the positive pressure explosion-proof robot in any of the above embodiments.

[0251] Another aspect of the embodiment of the application also proposes a computer readable storage medium, which stores a computer program, wherein the computer program is executed by the processor to realize the control method of the positive pressure explosion-proof robot in any of the above embodiments.

[0252] While the application has been described with reference to several exemplary embodiments, it will be understood by those skilled in the art that various changes can be made and equivalents can be substituted for elements thereof without departing from the scope of the application. In addition, many modifications can be made to adapt a particular situation or material to the teachings of the application without departing from the central inventive concept described herein.

[0253] Those skilled in the art will appreciate that embodiments of the application can be devised for a method, an apparatus (system), or a computer program product. Accordingly, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application can take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage devices, and the like) embodying computer readable program code.

[0254] The present application is described with reference to the accompanying drawings, which are incorporated in and constitute a part of this specification. The drawings illustrate exemplary embodiments of the application and, together with the description, serve to explain the principles of the application. In the drawings: Figure 1 one or more flows and / or blocks Figure 1 means for performing the functions specified in the flow or flows and / or blocks.

[0255] These computer program instructions can also be stored in a computer- readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the flow Figure 1 one or more flows and / or blocks Figure 1 means for performing the functions specified in the flow or flows and / or blocks.

[0256] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the flow Figure 1 one or more flows and / or blocks Figure 1 means for performing the functions specified in the flow or flows and / or blocks.

[0257] It is to be noticed that the singular form "a", "an", and, "the", include plural references unless the context clearly dictates otherwise. The terms "comprises", "comprising", "includes", "including" and "contains", "containing" are inclusive and do not exclude other components or steps. The terms "first", "second" and the like do not imply an order in time but do not exclude such an order. The terms "one", "another" and the like do not exclude the presence of more than one. The terms "a", "an" and "the" do not exclude the presence of plural referents. The term "about" includes the exact value.

Claims

1. A positive pressure explosion-proof robot, characterized by, The robot body is provided with a robot control cabinet, a detection device, an air inlet valve and a gas supplement flow path. The robot control cabinet is provided with a controller electrically connected with the robot body. The detection device is electrically connected with the controller, is arranged on the robot body and is configured to detect a state parameter in the robot body and feed back a detection result to the controller. The controller can determine whether an anti-explosion failure condition in the robot body is met according to the state parameter in the robot body after the robot body is powered on, and control the robot body to be powered off if the anti-explosion failure condition is met. The air inlet valve is connected with the robot body, and when the air inlet valve is opened, the robot body is allowed to intake air along the air inlet valve. The controller is electrically connected with the air inlet valve and can control opening and closing of the air inlet valve. The gas supplement flow path is connected with the robot body, and when the gas supplement flow path is turned on, the robot body is allowed to intake air along the gas supplement flow path. The controller is electrically connected with the gas supplement flow path and can control on-off of the gas supplement flow path. The gas flow along the air inlet valve is greater than the gas flow along the gas supplement flow path. The controller stores executable instructions and is used to execute the executable instructions. The method steps are realized when the controller executes the executable instructions. The air inlet valve is controlled to be opened to blow off the robot body. The robot body is powered on. The air inlet valve is controlled to be closed, and the gas supplement flow path is controlled to be turned on. The gas pressure in the robot body is obtained, and the size relationship between the gas pressure and third and fourth preset thresholds is determined. If the gas pressure is less than or equal to the third preset threshold, the air inlet valve is controlled to be opened until the gas pressure is greater than the fourth preset threshold, and then the air inlet valve is controlled to be closed and the gas supplement flow path is controlled to be turned on.

2. The positive pressure explosion-proof robot according to claim 1, characterized in that, If the gas pressure is greater than the third preset threshold and less than or equal to the fourth preset threshold, the air inlet valve is maintained to be closed and the gas supplement flow path is maintained to be turned on. The state parameter includes a hardware abnormal signal. If the hardware abnormal signal is obtained, it is determined that the anti-explosion failure condition in the robot body is met. The detection device includes multiple differential pressure transmitters. The robot body is provided with power lines and encoder lines, which are electrically connected with the robot control cabinet. The power lines and the encoder lines are respectively electrically connected with the robot control cabinet. The step of controlling the robot body to be powered off specifically includes: The electrical connection between the power lines and the robot control cabinet is disconnected. disengage the electrical connection between the encoder line and the robot control cabinet after a preset time period.

3. A positive pressure explosion-proof robot according to claim 1 or 2, c h a r a c t e r i z e d in that The state parameter includes gas pressure, and the step of determining whether the explosion-proof failure condition is met in the robot body according to the state parameter in the robot body includes: acquiring the gas pressure and determining the size relationship between the gas pressure and a first preset threshold value; if the gas pressure is less than or equal to the first preset threshold value, it is determined that the explosion-proof failure condition is met in the robot body.

4. A positive pressure explosion-proof robot according to claim 1 or 2, characterized in that, When the controller executes the executable instructions, the following method steps are also implemented: acquiring the gas pressure in the robot body and determining the size relationship between the gas pressure and a second preset threshold value; if the gas pressure is less than or equal to the second preset threshold value, controlling the air inlet valve to open; if the gas pressure is greater than the second preset threshold value, controlling the air supplement flow path to be conducted, and controlling the air inlet valve to close.

5. The positive pressure explosion-proof robot according to claim 1 or 2, characterized in that, The step of controlling the air inlet valve to open to purge the robot body includes: controlling the air inlet valve to open; acquiring the gas flow in the robot body and determining the size relationship between the gas flow and a preset flow value; if the gas flow is greater than or equal to the preset flow value, starting to calculate the air inlet volume in the robot body until the air inlet volume is greater than or equal to a set volume.

6. The positive pressure explosion-proof robot according to claim 1 or 2, wherein the state parameter includes at least one of gas pressure and gas flow; the detection device includes a flow detection part and a pressure detection part; the flow detection part is electrically connected with the controller and is configured to be able to detect the gas flow in the robot body and feed back the detection result to the controller; the pressure detection part is electrically connected with the controller and is configured to be able to detect the gas pressure in the robot body and feed back the detection result to the controller.

7. The positive pressure explosion-proof robot according to claim 1 or 2, wherein the detection device is provided with a safety structure, and the safety structure has an open state and a closed state; when the gas pressure in the robot body is greater than or equal to a preset safety pressure, the safety structure is switched from the closed state to the open state, so that the robot body can exhaust along the safety structure; when the gas pressure in the robot body is less than the preset safety pressure, the safety structure is in the closed state.

8. The positive pressure explosion-proof robot according to claim 7, wherein the safety structure includes an air outlet, a movable part and an elastic part; when the safety structure is in the closed state, the elastic force of the elastic part pushes against the movable part, so that the movable part blocks the air outlet; when the safety structure is in the open state, the movable part opens the air outlet, and the movable part and the elastic part abut against each other so that the elastic part is compressed.

9. A control method of a positive pressure explosion-proof robot, for the positive pressure explosion-proof robot according to any one of claims 1 to 8, characterized by, The control method includes: controlling the air inlet valve to open to purge the robot body; controlling the robot body of the positive pressure explosion-proof robot to be powered on; determining whether the robot body satisfies an explosion-proof failure condition according to a state parameter in the robot body; if yes, controlling the robot body to be powered off; controlling the air inlet valve to be closed and the air supplement flow path to be conducted; acquiring a gas pressure in the robot body and determining a size relationship between the gas pressure and a third preset threshold and a fourth preset threshold, wherein the third preset threshold is smaller than the fourth preset threshold; if the gas pressure is less than or equal to the third preset threshold, controlling the air inlet valve to be opened until the gas pressure is greater than the fourth preset threshold, then controlling the air inlet valve to be closed and the air supplement flow path to be conducted; if the gas pressure is greater than the third preset threshold and less than or equal to the fourth preset threshold, maintaining the air inlet valve to be closed and the air supplement flow path to be conducted; the state parameter includes a hardware abnormal signal, wherein the step of determining whether the robot body satisfies an explosion-proof failure condition according to a state parameter in the robot body includes: when the hardware abnormal signal is acquired, it is determined that the robot body satisfies the explosion-proof failure condition; wherein the hardware abnormal signal is generated by a detection device or a positive pressure explosion-proof robot self-check.

10. The control method of the positive pressure explosion-proof robot according to claim 9, characterized by, the step of controlling the robot body to be powered off specifically includes: disconnecting the electrical connection between the power line of the robot body and the robot control cabinet of the positive pressure explosion-proof robot; after a preset time, disconnecting the electrical connection between the encoder line of the robot body and the robot control cabinet.

11. The control method of the positive pressure explosion-proof robot according to claim 9 or 10, characterized by, the state parameter includes a gas pressure, and the step of determining whether the robot body satisfies an explosion-proof failure condition according to a state parameter in the robot body includes: acquiring the gas pressure and determining the size relationship between the gas pressure and a first preset threshold; if the gas pressure is less than or equal to the first preset threshold, it is determined that the robot body satisfies the explosion-proof failure condition.

12. The control method of the positive pressure explosion-proof robot according to claim 9 or 10, characterized by, the control method further includes: acquiring the gas pressure in the robot body and determining the size relationship between the gas pressure and a second preset threshold; if the gas pressure is less than or equal to the second preset threshold, controlling the air inlet valve of the positive pressure explosion-proof robot to be opened; if the gas pressure is greater than the second preset threshold, controlling the air supplement flow path of the positive pressure explosion-proof robot to be conducted and the air inlet valve to be closed.

13. The control method of the positive pressure explosion-proof robot according to claim 9 or 10, characterized by, before the step of controlling the robot body to be powered on, the following steps are further included: controlling the air inlet valve of the positive pressure explosion-proof robot to be opened; acquiring the gas flow in the robot body and determining the size relationship between the gas flow and a preset flow value; if the gas flow is greater than or equal to the preset flow value, starting to calculate the air inlet volume in the robot body until the air inlet volume is greater than or equal to a set volume.

14. A controller for a positive pressure explosion-proof robot, characterized in that including: a processor; a memory for storing executable instructions of the processor, wherein the processor is used to execute the executable instructions stored in the memory to realize the steps of the control method of the positive pressure explosion-proof robot according to any one of claims 9 to 13.

15. A computer readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by a processor to implement the control method of the positive pressure explosion-proof robot in any one of claims 9 to 13.

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