A transport robot

Abstract

The application relates to the technical field of primer production equipment, and particularly discloses a carrying robot, which comprises a machine shell and a tray arranged above the shell, a control assembly of the robot is arranged in the shell, springs are fixedly connected between the tray and the shell, a telescopic wall is detachably connected between the tray and the shell, a compression cavity is formed among the telescopic wall, the bottom of the tray and the upper portion of the shell, the bottom of the tray is provided with a first one-way valve for allowing gas to enter the compression cavity from above the tray, the telescopic wall is provided with a first electric control valve, the first electric control valve is electrically connected with the control assembly, and the upper portion of the shell is provided with a second one-way valve for allowing gas in the compression cavity to enter. The patent aims to solve the problem that the existing carrying robot lacks a damping mechanism and is prone to damage.

Description

Technical Field

[0001] The present invention relates to the technical field of explosive production equipment, and in particular to a handling robot. Background Art

[0002] To facilitate the production of DDNP detonators, AGV (Automated Guided Vehicle) transfer robots are used to transport trays between process steps. AGVs, or Automated Guided Vehicles, are the most common current applications, primarily for automated logistics handling and transfer. AGVs navigate specific landmarks and automatically transport items to designated locations. Existing detonator transfer robots used in detonator production lines lack a cushioning mechanism. When carrying production goods, the heavy loads on their tops place increased pressure on uneven surfaces. Over time, these robots can loosen parts and require repair. This can lead to damage to the robot itself, resulting in unnecessary financial losses. Furthermore, detonator production, where detonator transfer robots are primarily used, creates a combustible dust environment. Extensive vibrations can generate large amounts of flammable dust, creating a potential explosion risk. Summary of the Invention

[0003] In view of the shortcomings of the existing technology, the technical problem solved by the present invention is to provide a transport robot to solve the problem that the existing transport robots lack a buffer mechanism and are easily damaged.

[0004] In order to solve the above problems, the technical solution adopted by the present invention is: a handling robot, including a machine shell and a tray arranged above the shell, the robot's control component is arranged in the shell, a spring is fixedly connected between the tray and the shell, a retractable wall is detachably connected between the tray and the shell, a compression chamber is formed between the retractable wall, the bottom of the tray and the upper part of the shell, a first one-way valve is provided at the bottom of the tray for allowing gas to enter the compression chamber from above the tray, a first electric-controlled valve is provided on the retractable wall, the first electric-controlled valve is electrically connected to the control component, and a second one-way valve is provided on the upper part of the shell for allowing gas to enter the compression chamber.

[0005] The technical principle of this solution is: when the goods are placed on the pallet, the pallet moves downward to compress the spring, and the gas in the compression chamber is pressed into the shell through the second one-way valve; when the pallet moves upward under the action of the spring force, the compression chamber becomes larger while the internal gas remains unchanged, thereby forming a negative pressure, thereby drawing the air between the goods and the pallet into the compression chamber through the first one-way valve, and then adsorbing the goods on the pallet through the first one-way valve to prevent the medicine from slipping out of the pallet; when the pallet is pressed down again under the action of the gravity of the goods, the gas in the compression chamber is pressed into the shell again through the second one-way valve, thereby forming a negative pressure again; when the pallet tends to move upward again, since the negative pressure in the compression chamber is lower than the external atmospheric pressure, and since the goods have been adsorbed on the pallet, the gas inhaled by the compression chamber through the first one-way valve is limited, and the volume change of the compression chamber is limited. Therefore, under the dual action of the negative pressure in the compression chamber and the gravity of the goods, the amplitude of the upward movement of the pallet is reduced, thereby playing a role in reducing the amplitude.

[0006] The beneficial effects of this solution are: 1. By adding a spring, when the medicine is placed on the pallet, it is buffered by the spring, and the impact force of the medicine on the buffer pallet is used to prevent damage to the main body of the transport robot, thereby improving the safety of the transport robot main body; 2. When the pallet moves up and down, the gas in the compression chamber is pressed into the shell through the second one-way valve, so that a negative pressure is formed in the compression chamber, and the air between the goods and the pallet is drawn into the compression chamber through the first one-way valve, and then the goods are adsorbed on the pallet through the first one-way valve to prevent the medicine from slipping out of the pallet; 3. After the goods are adsorbed on the pallet, the dual effects of the negative pressure in the compression chamber and the gravity of the goods reduce the amplitude of the upward movement of the pallet, thereby reducing the amplitude.

[0007] Furthermore, the shell wall is provided with an air cavity, the shell side wall is provided with a side wall air cavity along the circumferential direction, the air cavity includes a side wall air cavity arranged along the circumferential direction of the shell side wall, the second one-way valve connects the compression chamber and the top air cavity, a deoxidation layer is provided in the top air cavity along the horizontal direction, and the deoxidation layer is filled with a deoxidizer; the side wall air cavity is provided with a pressure stabilizing structure.

[0008] By setting up a side wall air cavity and a top air cavity, the gas in the compression cavity is stored, and the gas in the compression cavity continuously enters the air cavity through the second one-way valve, so that the air pressure in the air cavity is higher than the pressure of the surrounding working environment, limiting the flammable mixture from entering the shell, preventing the formation of a flammable mixture in the shell, thereby forming positive pressure protection for the control components inside the shell; the air pressure in the air cavity is maintained by a pressure-stabilizing structure, and when the air pressure is too high, the pressure is released through the pressure-stabilizing structure to maintain the internal pressure of the air cavity stable, and the air oxygen entering the air cavity is absorbed by the deoxidizer to reduce the oxygen content in the air cavity, thereby reducing the probability of explosion; when the air cavity pressure is too high and the gas is discharged, the discharged gas has a low oxygen content, thereby diluting the oxygen content in the environment around the shell, further playing an explosion-proof role.

[0009] Furthermore, the pressure stabilizing structure is a pressure stabilizing valve arranged on the outer side wall of the side wall air cavity; the pressure stabilizing valve has a simple structure and is easy to install.

[0010] Furthermore, the pressure stabilizing structure includes a pressure sensor arranged in the side wall air cavity, and a second electrically controlled valve is arranged on the outer wall of the side wall air cavity. The pressure sensor and the second electrically controlled valve are electrically connected to the control component respectively. When the pressure sensor detects that the pressure value exceeds the preset value, the second electrically controlled valve opens.

[0011] By combining the second electrically controlled valve with a pressure sensor, the opening pressure of the second electrically controlled valve can be flexibly set, thereby enabling the handling robot to adapt to different working environment pressures and extending the scope of application of the equipment.

[0012] Furthermore, the housing is cast aluminum. The sidewall and top air cavities divide the housing into an inner and outer wall, with the outer wall having a thickness of 3mm to 7mm. The cast aluminum housing enhances the housing's physical explosion-proof properties, reduces deformation due to explosions, and, together with the housing air cavities, provides dual explosion-proof protection for the control components.

[0013] Furthermore, the deoxidizer is an iron-based deoxidizer, which has readily available raw materials and can rapidly deoxidize.

[0014] Furthermore, a filter layer is provided at the bottom of the compression chamber to filter the air dust in the compression chamber to prevent the dust from entering the air chamber and forming a flammable mixture.

[0015] Furthermore, a buffer structure is provided in the shell, and the buffer structure includes a water tank arranged on the top of the shell, and a buffer rod arranged in the vertical direction, one end of the buffer rod is immersed under the water surface of the water tank, and the other end extends upward and passes through the top wall of the shell and is fixedly connected with the bottom bolt of the tray; a water cavity is opened in the buffer rod in the vertical direction, and a third one-way valve is provided under the water cavity for only allowing water to flow from the water tank into the water cavity; a drainage hole is opened on the side wall of the water cavity at the upper end of the third one-way valve, and the diameter of the drainage hole is smaller than the diameter of the water cavity; a pressure block is provided on the outer wall of the buffer rod in the vertical direction, and the pressure block is slidably connected to the water cavity side wall of the buffer rod through a horizontal slider.

[0016] When the tray moves downward rapidly, the buffer rod is pressed downward into the water in the water tank. As the buffer rod enters the water, it squeezes water to both sides. Under the action of water pressure, the water quickly rushes to the top of the water cavity through the third one-way valve. While the water flows to the top of the water cavity, the slider is pushed away from the water cavity under the impact of the water flow. The movement of the slider pushes the pressure block to the top wall of the shell, thereby increasing the friction between the pressure block and the top wall of the shell under the pressure of the pressure block. As a result, the upward movement amplitude of the tray is reduced due to the friction of the pressure block when it moves upward. Similarly, the movement amplitude is also reduced due to friction when it moves downward, thereby further reducing the shock of the tray. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 Schematic diagram of the handling robot of the present invention.

[0018] Figure 2 for Figure 1 Enlarged view of part A. DETAILED DESCRIPTION

[0019] The following is further described in detail through specific implementation methods:

[0020] The figure marks in the drawings of the specification include: shell 1, side wall air cavity 11, top air cavity 12, deoxidation layer 13, pressure-stabilizing valve 14, second one-way valve 15, tray 2, filter cloth 21, first one-way valve 22, retractable wall 3, first electric-controlled valve 31, spring 4, control component 5, buffer structure 6, buffer rod 61, water tank 62, water cavity 63, third one-way valve 631, drainage hole 632, pressure block 633, slider 634, mesh plate 64.

[0021] Example 1 is basically as shown in the attached Figure 1 As shown: A handling robot includes a robot shell 1, a pallet 2 arranged above the shell 1, the pallet 2 is used to transport materials, and a handling robot drive device for completing vehicle operation according to the navigation path and information; the robot control component 5 is arranged in the shell 1, the control component 5 includes a wireless communication system for data transmission between the upper control system and the vehicle control system, a battery component for providing power to the handling robot, a navigation component for moving the handling robot, and a vehicle control system for navigation, guidance, path selection, vehicle driving, and loading and unloading operations of the handling robot; the control component 5 adopts hardware and systems of existing technology.

[0022] A filter cloth 21 for filtering dust is bolted to the loading surface of tray 2. A spring 4 is bolted between tray 2 and housing 1. A retractable wall 3, made of rubber or a telescopic tube, is bolted between tray 2 and housing 1. A compression chamber is formed between retractable wall 3, the bottom of tray 2, and the top of housing 1. Spring 4 is a damping spring 4 and is located within the compression chamber. A positive-pressure explosion-proof structure connected to the compression chamber is provided on the wall of housing 1. A first one-way valve 22 is provided at the bottom of tray 2 to allow gas to enter the compression chamber from above tray 2. A first electrically controlled valve 31 is provided on the retractable wall 3, which is electrically connected to the control system. A second one-way valve 15 is provided at the top of housing 1 to allow gas from the compression chamber to enter the positive-pressure explosion-proof structure. When the transport robot moves to the feeding point, the control system sends a control signal to open first electrically controlled valve 31. When the transport robot moves again, the control system sends a control signal to close first electrically controlled valve 31.

[0023] The positive-pressure explosion-proof structure includes an air cavity provided in the wall of the housing 1. The air cavity includes a sidewall air cavity 11 provided circumferentially along the sidewall of the housing 1. A top air cavity 12 is provided at the top of the housing 1, communicating with the sidewall air cavity 11. A second one-way valve 15 connects the compression chamber and the top air cavity 12. A deoxidizing layer 13 is provided horizontally within the top air cavity 12, filled with an iron-based deoxidizer. The sidewall air cavity 11 is provided with a pressure-stabilizing structure, employing a pressure-stabilizing valve 14 provided on the outer wall of the sidewall air cavity 11. The opening pressure of the pressure-stabilizing valve 14 is greater than the external working pressure of the transport robot.

[0024] During use, after the goods are placed on the tray 2, the tray 2 moves downward to compress the spring 4, and the gas in the compression chamber is pressed into the shell 1 through the second one-way valve 15; when the tray 2 moves upward under the elastic force of the spring 4, the compression chamber becomes larger while the internal gas remains unchanged, thereby forming a negative pressure, thereby drawing the air between the goods and the tray 2 into the compression chamber through the first one-way valve 22, and then adsorbing the goods on the tray 2 through the first one-way valve 22 to prevent the medicine from slipping out of the tray 2; when the tray 2 is pressed down again under the action of the gravity of the goods, the gas in the compression chamber is pressed into the shell 1 again through the second one-way valve 15, thereby forming a negative pressure again; when the tray 2 has a tendency to move upward again, since the negative pressure in the compression chamber is lower than the external atmospheric pressure, and since the goods have been adsorbed on the tray 2, the gas inhaled by the compression chamber through the first one-way valve 22 is limited, and the volume change of the compression chamber is limited. Therefore, under the dual action of the negative pressure in the compression chamber and the gravity of the goods, the amplitude of the upward movement of the tray 2 is reduced, thereby playing a role in reducing the amplitude.

[0025] During the reciprocating transport process of the transport robot, the gas in the compression chamber continuously enters the air cavity through the second one-way valve 15, so that the air pressure in the air cavity is higher than the pressure of the surrounding working environment, limiting the combustible dust from passing through the shell 1 and entering the working space of the control component 5, preventing the formation of a combustible mixture in the shell 1, thereby forming positive pressure protection for the control component 5 inside the shell 1; the air pressure in the air cavity is maintained by the pressure-stabilizing valve 14, and when the air pressure is too high, the air is released through the pressure-stabilizing valve 14 to maintain the internal pressure of the air cavity stable, and the air oxygen entering the air cavity is absorbed by the deoxidizer to reduce the oxygen content in the air cavity, thereby reducing the probability of explosion; when the air cavity pressure is too high and the gas is discharged, the discharged gas has a low oxygen content, thereby diluting the oxygen content in the environment around the shell 1, further playing an explosion-proof role.

[0026] 2. The difference between Example 2 and Example 1 is that a buffer structure 6 is provided in the shell body 1, and the buffer structure 6 includes a water tank 62 arranged on the top of the shell body 1, and a buffer rod 61 arranged in the vertical direction, one end of the buffer rod 61 is immersed in the water surface of the water tank 62, and the other end extends upward and passes through the top wall of the shell body 1 and is fixedly connected with the bottom bolt of the tray 2; a water cavity 63 is provided in the buffer rod 61 in the vertical direction, and a third one-way valve 631 is provided under the water cavity 63 for only allowing water to flow from the water tank 62 into the water cavity 63; a drainage hole 632 is provided on the side wall of the water cavity at the upper end of the third one-way valve 631, and the ratio between the diameter of the drainage hole 632 and the diameter of the water cavity is 1:5-20; in this embodiment, the drainage hole diameter: water cavity diameter is = 1:10; a pressure block 633 is provided on the outer wall of the buffer rod 61 in the vertical direction, and the pressure block 633 is slidably connected to the water cavity side wall of the buffer rod 61 through a horizontal wedge-shaped slider 634; a mesh plate 64 is provided in the horizontal direction on the water surface of the water cavity.

[0027] When the tray 2 moves downward rapidly, the buffer rod 61 is pressed downward into the water in the water tank 62. As the buffer rod 61 enters the water and squeezes the water to both sides, the water passes through the third one-way valve 631 under the action of water pressure and quickly rushes to the top of the water chamber 63. While the water flows to the top of the water chamber 63, the slider 634 is pushed away from the water chamber under the impact of the water flow. The slider 634 moves and pushes the pressure block 633 to press against the top wall of the shell 1, thereby increasing the friction between the pressure block 633 and the top wall of the shell 1 under the pressure of the pressure block 633. As a result, when the tray 2 moves upward, the upward movement amplitude is reduced due to the friction of the pressure block 633. Similarly, when moving downward, the movement amplitude is also reduced due to the friction, thereby further reducing the shock of the tray 2.

[0028] The water in the water cavity 63 can flow out of the water cavity through the drainage hole 632 and enter the water tank 62 for recovery. Since the diameter of the drainage hole 632 is smaller than the diameter of the water cavity, the water discharge flow rate is lower than the water inlet speed of the third one-way valve 631; the amplitude of the water surface can be reduced by the mesh plate 64 set on the water surface.

[0029] The pressure stabilizing structure includes a pressure sensor arranged in the side wall air cavity 11, and a second electrically controlled valve is arranged on the outer wall of the side wall air cavity 11. The pressure sensor and the second electrically controlled valve are electrically connected to the control component 5 respectively. When the pressure sensor detects that the pressure value exceeds the preset value, the second electrically controlled valve opens.

[0030] The housing 1 is made of cast aluminum. The side wall air cavity 11 and the top air cavity 12 divide the housing 1 into an inner wall and an outer wall. The outer wall of the housing 1 is 5 mm thick. A filter layer is provided at the bottom of the compression chamber. The filter layer is made of anti-static dust removal cloth.

[0031] By combining the second electrically controlled valve with a pressure sensor, the opening pressure of the second electrically controlled valve can be flexibly set, thereby enabling the handling robot to adapt to different working environment pressures and extending the scope of application of the equipment.

[0032] The above is only an embodiment of the present invention, and the common knowledge such as the specific structure and characteristics of the scheme is not described in detail here. It should be pointed out that for those skilled in the art, without departing from the structure of the present invention, several variations and improvements can be made, which should also be regarded as the scope of protection of the present invention, and these will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. A transport robot comprising a housing and a tray disposed above the housing, wherein the robot control assembly is disposed within the housing, and wherein: A spring is fixedly connected between the tray and the shell, and a retractable wall is detachably connected between the tray and the shell. A compression chamber is formed between the retractable wall, the bottom of the tray and the upper part of the shell. The shell wall is provided with a positive pressure explosion-proof structure connected to the compression chamber. A first one-way valve is provided at the bottom of the tray to allow gas to enter the compression chamber from above the tray. A first electrically controlled valve is provided on the retractable wall. The first electrically controlled valve is electrically connected to the control component. A second one-way valve is provided on the upper part of the shell to allow gas in the compression chamber to enter the positive pressure explosion-proof structure. The shell is provided with a buffer structure, which includes a water tank arranged on the top of the shell, a buffer rod arranged in the vertical direction, one end of the buffer rod is immersed in the water surface of the water tank, and the other end extends upward and passes through the top wall of the shell and is fixedly connected with the bottom bolt of the tray; a water cavity is provided in the buffer rod in the vertical direction, and a third one-way valve is provided below the water cavity for only allowing water to flow from the water tank into the water cavity; a drainage hole is provided on the side wall of the water cavity at the upper end of the third one-way valve, and the diameter of the drainage hole is smaller than the diameter of the water cavity; a pressure block is provided on the outer wall of the buffer rod in the vertical direction, and the pressure block is slidably connected to the water cavity side wall of the buffer rod through a horizontal slider; The positive pressure explosion-proof structure includes an air cavity provided on the shell wall, the air cavity includes a side wall air cavity provided circumferentially on the shell side wall, a top air cavity connected to the side wall air cavity is provided on the top of the shell, the second one-way valve connects the compression chamber and the top air cavity, a deoxidation layer is provided in the top air cavity in the horizontal direction, and the deoxidation layer is filled with a deoxidizer; the side wall air cavity is provided with a pressure stabilizing structure.

2. A handling robot according to claim 1, characterized in that: The pressure stabilizing structure is a pressure stabilizing valve arranged on the outer side wall of the side wall air cavity.

3. The transport robot according to claim 1, characterized in that: The pressure stabilizing structure includes a pressure sensor arranged in the side wall air cavity, and a second electrically controlled valve is arranged on the outer wall of the side wall air cavity. The pressure sensor and the second electrically controlled valve are electrically connected to the control component respectively. When the pressure sensor detects that the pressure value exceeds the preset value, the second electrically controlled valve opens.

4. The transport robot according to claim 2, wherein: The shell is a cast aluminum shell. The side wall air cavity and the top air cavity divide the shell into a shell inner wall and a shell outer wall. The thickness of the shell outer wall is 3mm to 7mm.

5. The transport robot according to claim 2, characterized in that: The deoxidizer is an iron-based deoxidizer.

6. The transport robot according to claim 2, characterized in that: A filter layer is provided at the bottom of the compression chamber.

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