An explosion-proof mechanism for a robotic arm motor

Abstract

The present invention discloses an explosion-proof mechanism for a manipulator motor, comprising an explosion-proof base; an explosion-proof motor assembly fixedly mounted on the explosion-proof base, the explosion-proof motor assembly comprising an outer shell, a motor built into the outer shell, and at least one explosion-proof cavity surrounded by the outer shell, wherein the rotating shaft of the motor passes through the outer shell and extends outward; a first square tube connector connected to the output end of the rotating shaft of the explosion-proof motor assembly; and a second square tube connector connected to the explosion-proof base. Multiple explosion-proof motor assemblies cooperate with the first and second square tube connectors to achieve multi-angle rotation of the manipulator. During this process, the provision of multiple explosion-proof cavities can provide an explosion-proof effect. The second explosion-proof cavity B can wrap the motor body to isolate internal electric sparks. The first explosion-proof cavity A serves as a redundant explosion-proof layer. If the second explosion-proof cavity B fails, secondary explosion-proofing can be provided, further ensuring the safety of the motor during operation.

Description

Technical Field

[0001] The present invention relates to the technical field of robotic arms, and in particular to an explosion-proof mechanism of a robotic arm motor. Background Art

[0002] When a robotic arm operates in an explosive environment, its joint motors can become ignition sources due to sparks and high-temperature surfaces. Current mainstream explosion-proof solutions have the following limitations: The entire robotic arm is housed in a large explosion-proof cabinet. This solution results in a bulky robotic arm, loss of flexibility, and increased costs.

[0003] Chinese invention patent publication number CN113319835A discloses a positive-pressure explosion-proof six-axis robot. Compressed air is fed from the air control system through an air inlet pipe into a positive-pressure explosion-proof chamber, and then returned to the air control system through an exhaust pipe. The shaft seat is equipped with an air inlet pipe, an air outlet pipe, and an air control system that coordinate with the positive-pressure explosion-proof chamber. A controller is provided to coordinate with the first, second, third, fourth, fifth, and sixth drive mechanisms and the air control system. This patent utilizes a single-layer explosion-proof chamber design that achieves explosion protection through air pressure regulation. This design lacks redundant explosion-proof layers. If the single-chamber seal fails, the explosion flames will escape directly, lacking a secondary containment mechanism. Summary of the Invention

[0004] In view of the problems in the prior art, the present invention aims to overcome the deficiencies of the prior art and provide an explosion-proof mechanism for a robotic arm motor.

[0005] The technical solution adopted by the present invention to solve the technical problem is: an explosion-proof mechanism for a robotic arm motor, comprising:

[0006] Explosion-proof base;

[0007] an explosion-proof motor assembly fixedly disposed on the explosion-proof base, the explosion-proof motor assembly comprising an outer shell, a motor built into the outer shell, and at least one explosion-proof cavity surrounded by the outer shell, wherein a rotating shaft of the motor passes through the outer shell and extends outward;

[0008] a first square tube connector connected to the output end of the rotating shaft of the explosion-proof motor assembly;

[0009] The second square tube connector is connected to the explosion-proof base.

[0010] Preferably, the outer shell of the explosion-proof motor assembly comprises: an outer sleeve,

[0011] A bottom cover fixedly covers the bottom opening of the outer sleeve;

[0012] An inner upper cover, fixedly sealing the inner side of the top end of the outer sleeve;

[0013] The outer cover is connected to the explosion-proof base by bolts, fixedly sealed to the top of the outer sleeve, and covers the inner cover;

[0014] A first explosion-proof chamber A is formed between the outer upper cover and the inner upper cover, a second explosion-proof chamber B is formed between the inner upper cover, the outer sleeve and the bottom cover, and the motor is located in the second explosion-proof chamber B.

[0015] Preferably, the rotating shaft passes through the outer upper cover, the first explosion-proof chamber A, the inner upper cover, the bottom end of the outer sleeve, the second explosion-proof chamber B, and the bottom cover in sequence and extends outward.

[0016] Preferably, a first skeleton oil seal is provided between the bottom cover and the rotating shaft for achieving dynamic sealing of the bottom end of the second explosion-proof chamber B.

[0017] Preferably, a second skeleton oil seal is provided between the outer upper cover and the rotating shaft to prevent the entry of dust and water.

[0018] Preferably, a first sealing ring is provided at the joint surface between the outer upper cover and the outer side of the top end of the outer sleeve, for achieving static sealing between the first explosion-proof cavity A and the external environment;

[0019] A second sealing ring is provided at the joint surface between the bottom cover and the inner side of the top end of the outer sleeve, for achieving static sealing between the second explosion-proof chamber B and the external environment.

[0020] Preferably, the explosion-proof motor assembly further comprises a connector, which is fixedly arranged on the bottom cover and extends into the explosion-proof cavity for introducing the motor cable.

[0021] Preferably, the first square tube connector is a tubular connector with a rectangular cross section, one end of which is provided with a threaded through hole adapted to the output end of the rotating shaft, and the first square tube connector is connected to the rotating shaft by bolts;

[0022] A vertical groove is formed on the vertical side of the first square tube connector; another set of explosion-proof motor components is connected to the first square tube connector through the vertical groove;

[0023] The second square tube connector is a tubular connector with a rectangular cross section, and a connecting groove is provided on its side wall. A group of explosion-proof motor components are connected to the second square tube connector through the connecting groove.

[0024] Preferably, there is at least one set of first square tube connectors between the two sets of explosion-proof motor assemblies; and there is at least one set of second square tube connectors between the two sets of explosion-proof motor assemblies.

[0025] Preferably, the explosion-proof base includes a mounting portion for fixing to an external structure, and a supporting portion for supporting and fixing the explosion-proof motor assembly.

[0026] Beneficial effects of the present invention:

[0027] The explosion-proof mechanism of a robotic arm motor described in the present invention comprises multiple explosion-proof motor assemblies, a first square tube connector, and a second square tube connector, thereby realizing multi-angle rotation of the robotic arm. In this process, the provision of multiple explosion-proof chambers can achieve explosion-proof effects. The second explosion-proof chamber B can wrap the motor body and isolate internal electric sparks. The first explosion-proof chamber A serves as a redundant explosion-proof layer. If the second explosion-proof chamber B fails, secondary explosion-proofing can be provided, further ensuring the safety of the motor during operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The present invention will be further described below with reference to the accompanying drawings and examples.

[0029] Figure 1 A schematic diagram of the overall structure of a preferred embodiment of an explosion-proof mechanism for a robotic arm motor provided by the present invention;

[0030] Figure 2 For the present invention Figure 1 Axis view;

[0031] Figure 3 Schematic diagram of the three-dimensional structure of the second square tube connector in the present invention;

[0032] Figure 4 This is an exploded view of the explosion-proof motor assembly of the present invention;

[0033] Figure 5 This is a diagram showing the position of the skeleton oil seal in the present invention;

[0034] Figure 6 This is a cross-sectional view of the explosion-proof motor assembly in the present invention.

[0035] Reference numerals:

[0036] 1. Explosion-proof base; 2. Explosion-proof motor assembly; 2-1. Second skeleton oil seal; 2-2. Rotating shaft; 2-3. Outer cover; 2-4. Inner cover; 2-5. First sealing ring; 2-6. Outer sleeve; 2-7. Motor; 2-8. First skeleton oil seal; 2-9. Second sealing ring; 2-10. Bottom cover; 2-11. Connector;

[0037] 3. First square tube connector; 3-1. Threaded through hole; 3-2. Vertical groove; 4. Second square tube connector. DETAILED DESCRIPTION

[0038] In order to make the technical means, creative features, objectives and effects achieved by the present invention easier to understand, the present invention is further described below in conjunction with specific implementation methods.

[0039] It should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0040] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed connection, detachable connection, or integral connection; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0041] like Figures 1-6 As shown, the explosion-proof mechanism of a robotic arm motor according to the present invention includes:

[0042] Explosion-proof base 1;

[0043] An explosion-proof motor assembly 2 is fixedly mounted on the explosion-proof base 1. The explosion-proof motor assembly 2 includes an outer shell, a motor 2-7 built into the outer shell, and at least one explosion-proof cavity surrounded by the outer shell. The rotating shaft 2-2 of the motor 2-7 passes through the outer shell and extends outward.

[0044] A first square tube connector 3 is connected to the output end of the rotating shaft 2-2 of the explosion-proof motor assembly 2;

[0045] The second square tube connector 4 is connected to the explosion-proof base 1 .

[0046] The explosion-proof base 1 is fixed to the robot arm frame, and the motor 2-7 is encapsulated in the explosion-proof cavity formed by the outer shell to block the electric spark from contacting the explosive gas; the rotating shaft 2-2 outputs power to the first square tube connector 3 to drive the robot arm to move; multiple explosion-proof motor assemblies 2 cooperate with the first square tube connector 3 and the second square tube connector 4 to realize multi-angle rotation of the robot arm. In this process, the setting of multiple explosion-proof cavities can play an explosion-proof role. The rotating shaft 2-2 of the explosion-proof motor assembly 2 drives the first square tube connector 3 connected to it to rotate during the rotation process. Explosion-proof cavities are provided on both sides of the explosion-proof motor assembly 2 to ensure the normal operation of the explosion-proof motor assembly 2.

[0047] In one embodiment, the outer shell of the explosion-proof motor assembly 2 includes: an outer sleeve 2-6,

[0048] A bottom cover 2-10 is fixedly sealed to the bottom opening of the outer sleeve 2-6;

[0049] The inner upper cover 2-4 is fixedly sealed on the inner side of the top end of the outer sleeve 2-6;

[0050] The outer cover 2-3 is connected to the explosion-proof base 1 by bolts, fixedly sealed on the top of the outer sleeve 2-6, and covers the inner cover 2-4.

[0051] A first explosion-proof chamber A is formed between the outer upper cover 2-3 and the inner upper cover 2-4, a second explosion-proof chamber B is formed between the inner upper cover 2-4, the outer sleeve 2-6 and the bottom cover 2-10, and the motor 2-7 is located in the second explosion-proof chamber B.

[0052] The second explosion-proof chamber B can wrap the motor 2-7 body and isolate internal electric sparks. The first explosion-proof chamber A serves as a redundant explosion-proof layer. If the second explosion-proof chamber B fails, it can provide secondary explosion-proof protection, further ensuring the safety of the motor 2-7 during operation. The bottom cover 2-10 and the outer sleeve 2-6 are fixed by threaded connection, and disassembly and assembly are convenient and quick. The outer upper cover 2-3 is threadedly connected to the outer sleeve 2-6. The first explosion-proof chamber A and the second explosion-proof chamber B are formed through structural design to achieve the purpose of secondary explosion-proofing.

[0053] In one embodiment, the rotating shaft 2-2 passes through the outer upper cover 2-3, the first explosion-proof chamber A, the inner upper cover 2-4, the bottom end of the outer sleeve 2-6, the second explosion-proof chamber B, the bottom cover 2-10 in sequence and extends outward.

[0054] The rotating shaft 2-2 passes through all the cavities, the inner upper cover 2-4 and the bottom cover 2-10 in sequence to form a continuous power output channel, and a sealing structure is set at each shaft-penetrating point.

[0055] In one embodiment, a first skeleton oil seal 2-8 is provided between the bottom cover 2-10 and the rotating shaft 2-2 for achieving dynamic sealing of the bottom end of the second explosion-proof chamber B.

[0056] A second skeleton oil seal 2-1 is provided between the outer upper cover 2-3 and the rotating shaft 2-2 to prevent the entry of dust and water.

[0057] A first sealing ring 2-5 is provided at the joint surface between the outer cover 2-3 and the outer top end of the outer sleeve 2-6, for achieving a static seal between the first explosion-proof cavity A and the external environment;

[0058] A second sealing ring 2-9 is provided at the joint surface between the bottom cover 2-10 and the inner side of the top end of the outer sleeve 2-6, for achieving static sealing between the second explosion-proof chamber B and the external environment.

[0059] The first skeleton oil seal 2-8 prevents flames from escaping, enhancing the sealing of the second explosion-proof chamber B. The second skeleton oil seal 2-1 provides dust and water protection, ensuring the stability of the internal environment of the motor 2-7 during operation. The first sealing ring 2-5 provides a static seal between the first explosion-proof chamber A and the external environment, while the second sealing ring 2-9 provides a static seal between the second explosion-proof chamber B and the external environment. The outer cover 2-3 and the bottom cover 2-10 are both threadedly connected to the outer sleeve 2-6. The threads, together with the first sealing ring 2-5 and the second sealing ring 2-9, achieve a multi-layered seal. This seal blocks all paths of explosion propagation. According to seal life tests, equivalent to 10 years of robotic arm operation, the oil seal wear is less than 0.1mm, and the sealing ring compression set rate is 8%.

[0060] In one embodiment, the explosion-proof motor assembly 2 further includes a connector 2-11, which is fixedly disposed on the bottom cover 2-10 and extends into the explosion-proof cavity for introducing the motor cable.

[0061] Connector 2-11 is a cast-in-place structure, with the cable entry filled with epoxy resin to prevent sparks from escaping. Connector 2-11 is a Class IICT6 connector, and its connection to motor 2-7 meets explosion-proof requirements.

[0062] In one embodiment, the first square tube connector 3 is a tubular connector with a rectangular cross section, one end of which is provided with a threaded through hole 3-1 adapted to the output end of the rotating shaft 2-2, and the first square tube connector 3 is connected to the rotating shaft 2-2 by bolts;

[0063] A vertical groove 3-2 is formed on the vertical side of the first square tube connector 3; another set of explosion-proof motor components 2 is connected to the first square tube connector 3 through the vertical groove 3-2;

[0064] The second square tube connector 4 is a tubular connector with a rectangular cross section, and a connecting groove 4 - 1 is opened on its side wall. A set of explosion-proof motor components 2 are connected to the second square tube connector 4 through the connecting groove 4 - 1.

[0065] There is at least one set of first square tube connectors 3 between the two sets of explosion-proof motor assemblies 2; and / or

[0066] There is at least one set of second square tube connectors 4 between the two sets of explosion-proof motor assemblies 2 .

[0067] The first square tube connector 3 is rigidly connected to the rotating shaft 2-2 by bolts to transmit torque. The vertical groove 3-2 and the connecting groove 4-1 allow adjacent mechanisms to be quickly plugged in and bolted. They support multiple joints in series (the actual connection time is 2 minutes / joint), and the tolerance of the tube mating surface is controlled at ±0.1mm.

[0068] Table 1 shows the comparison results of multi-joint robotic arm construction

[0069]

[0070] In one embodiment, the explosion-proof base 1 includes a mounting portion 1 - 1 for fixing to an external structure, and a supporting portion 1 - 2 for supporting and fixing the explosion-proof motor assembly 2 .

[0071] The mounting portion 1 - 1 is connected and fits with the bottom of the explosion-proof motor assembly 2 , and the supporting portion 1 - 2 is fixed to the robotic arm frame, providing stable support for the explosion-proof motor assembly 2 .

[0072] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0073] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the above-described embodiments. The above-described embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An explosion-proof mechanism for a robotic arm motor, characterized in that: include: Explosion-proof base; an explosion-proof motor assembly fixedly disposed on the explosion-proof base, the explosion-proof motor assembly comprising an outer shell, a motor built into the outer shell, and at least one explosion-proof cavity surrounded by the outer shell, wherein a rotating shaft of the motor passes through the outer shell and extends outward; a first square tube connector connected to the output end of the rotating shaft of the explosion-proof motor assembly; A second square tube connector connected to the explosion-proof base; The outer shell of the explosion-proof motor assembly includes: an outer sleeve; A bottom cover fixedly covers the bottom opening of the outer sleeve; An inner upper cover, the inner upper cover is fixedly sealed on the inner side of the top end of the outer sleeve; The outer upper cover is connected to the explosion-proof base by bolts, fixedly sealed on the top of the outer sleeve, and covers the inner upper cover; a first explosion-proof chamber A is formed between the outer upper cover and the inner upper cover, and a second explosion-proof chamber B is formed between the inner upper cover, the outer sleeve and the bottom cover, and the motor is located in the second explosion-proof chamber B.

2. The explosion-proof mechanism of a robotic arm motor according to claim 1, characterized in that: The rotating shaft sequentially passes through the outer upper cover, the first explosion-proof chamber A, the inner upper cover, the bottom end of the outer sleeve, the second explosion-proof chamber B, and the bottom cover and extends outward.

3. The explosion-proof mechanism of a robotic arm motor according to claim 1, characterized in that: A first skeleton oil seal is provided between the bottom cover and the rotating shaft for achieving dynamic sealing of the bottom end of the second explosion-proof chamber B.

4. The explosion-proof mechanism of a robotic arm motor according to claim 3, characterized in that: A second skeleton oil seal is provided between the outer upper cover and the rotating shaft.

5. The explosion-proof mechanism of a robotic arm motor according to claim 4, characterized in that: A first sealing ring is provided at the joint surface between the outer upper cover and the outer side of the top end of the outer sleeve, for achieving static sealing between the first explosion-proof cavity A and the external environment; A second sealing ring is provided at the joint surface between the bottom cover and the inner side of the top end of the outer sleeve, for achieving static sealing between the second explosion-proof chamber B and the external environment.

6. The explosion-proof mechanism of a robot arm motor according to claim 5, characterized in that: The explosion-proof motor assembly further comprises a connector, which is fixedly arranged on the bottom cover and extends into the explosion-proof cavity for introducing the motor cable.

7. The explosion-proof mechanism of a robot arm motor according to claim 1, characterized in that: The first square tube connector is a tubular connector with a rectangular cross section, one end of which is provided with a threaded through hole adapted to the output end of the rotating shaft, and the first square tube connector is connected to the rotating shaft by bolts; A vertical groove is formed on the vertical side of the first square tube connector; another set of explosion-proof motor components is connected to the first square tube connector through the vertical groove; The second square tube connector is a tubular connector with a rectangular cross section, and a connecting groove is provided on its side wall. A group of explosion-proof motor components are connected to the second square tube connector through the connecting groove.

8. The explosion-proof mechanism of a robot arm motor according to claim 7, characterized in that: There is at least one set of first square tube connectors between the two sets of explosion-proof motor assemblies; and / or There is at least one set of second square tube connectors between the two sets of explosion-proof motor components.

9. The explosion-proof mechanism of a robotic arm motor according to claim 1, characterized in that: The explosion-proof base includes a mounting portion for fixing to an external structure, and a supporting portion for supporting and fixing the explosion-proof motor assembly.

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