Explosion-proof coordinate robot

Abstract

The invention relates to the technical field of automatic logistics equipment, and provides an anti-explosion coordinate robot which comprises an end supporting mechanism and an anti-explosion mechanism. An intermediate support mechanism; the X-axis moving mechanism is arranged on the end supporting mechanism; the Y-axis moving mechanism is movably arranged on the X-axis moving mechanism, and the X-axis moving mechanism is used for driving the Y-axis moving mechanism to move in the X direction; the Z-axis moving mechanism is movably arranged on the side face of the Y-axis moving mechanism, the Y-axis moving mechanism is used for driving the Z-axis moving mechanism to move in the Y direction, and the Z-axis moving mechanism is used for driving the target object to move in the Z direction; each moving mechanism adopts an anti-explosion design and is used for eliminating friction or metal collision in operation so as to avoid sparks; through the anti-explosion design of each moving mechanism, the safety requirement of the anti-explosion environment is met, the risk of friction sparks and metal collision sparks is eliminated, the safety requirement can be met for different types of anti-explosion environments such as gas and dust, and the application range of the equipment is expanded.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic logistics equipment, and in particular to an explosion-proof coordinate robot. BACKGROUND

[0002] As a common and efficient logistics equipment, the coordinate robot is widely used by the body mechanism cooperating with different clamps, but the conventional coordinate robot has more friction and metal bumping in the running process, which is easy to produce sparks and cause safety accidents, and cannot be applied in explosion-proof environment.

[0003] Specifically, the motion assembly of the conventional coordinate robot generally adopts the contact and cooperation design of metal and metal, such as the sliding friction of metal sliding block and sliding rail and the meshing transmission of metal gear and rack, which is easy to produce sparks due to dry friction in the running process, and the collision and debris splashing of metal parts may also cause ignition source, which directly threatens the operation safety of flammable and explosive environment; although some equipment tries to reduce the risk through local protection, it does not form a full-dimensional explosion-proof system, and still has safety hazards. SUMMARY

[0004] The present application provides an explosion-proof coordinate robot to solve the defects of conventional coordinate robots in the prior art that cause safety accidents due to component friction, metal bumping or electrical sparks when running in flammable and explosive environment.

[0005] The present application provides an explosion-proof coordinate robot, comprising: An end support mechanism, wherein an oil pump is arranged on the end support mechanism; An intermediate support mechanism arranged between adjacent end support mechanisms; An X-axis moving mechanism arranged on the end support mechanism; A Y-axis moving mechanism movably arranged on the X-axis moving mechanism, wherein the X-axis moving mechanism is used to drive the Y-axis moving mechanism to move in the X direction; A Z-axis moving mechanism movably arranged on the side surface of the Y-axis moving mechanism, wherein the Y-axis moving mechanism is used to drive the Z-axis moving mechanism to move in the Y direction, and the Z-axis moving mechanism is used to drive the target object to move in the Z direction; each moving mechanism adopts an explosion-proof design to eliminate friction or metal bumping in the running process to avoid producing sparks.

[0006] According to the explosion-proof coordinate robot provided by the present application, the X-axis moving mechanism comprises: An X-axis bearing beam installed on the end support mechanism; An X-axis sliding rail arranged on the X-axis bearing beam; An X-axis rack arranged on one side of the X-axis sliding rail; X-axis sliding table assembly, movably mounted on the X-axis sliding rail; X-axis stop block, provided with a pair, respectively mounted on both ends of the X-axis bearing beam, for preventing the X-axis sliding table assembly from being separated from the X-axis sliding rail.

[0007] According to the present application, the X-axis sliding table assembly comprises: X-axis sliding table, provided with X-axis sliding table base plate, for connecting the Y-axis moving mechanism; Non-metal X-axis sliding block, provided at the bottom of the X-axis sliding table, and slidingly matched with the X-axis sliding rail; X-axis drive motor, provided on the X-axis sliding table; X-axis felt gear, provided on the power output shaft of the X-axis drive motor, meshed with the X-axis rack, and connected with the oil pump through the oil pipe; X-axis gear protective cover, provided at the bottom of the X-axis sliding table, covering the meshing area of the X-axis felt gear and the X-axis rack.

[0008] According to the present application, the X-axis limiting assembly comprises: X-axis sensor support, one end of which is connected with the X-axis sliding table; X-axis origin explosion-proof proximity switch, provided on the X-axis sensor support; X-axis origin stop block, provided on the side of the X-axis bearing beam, and close to the end of the X-axis bearing beam; X-axis limiting stop block, provided with two, respectively provided on both ends of the X-axis bearing beam, and respectively spaced from both ends of the X-axis bearing beam, the X-axis limiting stop block and the X-axis origin stop block are located on the same side, and the distance between one of the X-axis limiting stop blocks and the end of the X-axis bearing beam is less than the distance between the X-axis origin stop block and the corresponding end; X-axis limiting explosion-proof proximity switch, provided with two, installed side by side on the X-axis sensor support.

[0009] According to the present application, the X-axis drag chain assembly comprises: X-axis drag chain support, provided on the outer side of the X-axis bearing beam; X-axis drag chain groove, provided above the X-axis drag chain support; X-axis drag chain, movably provided in the X-axis drag chain groove, one end of which is connected with the X-axis sliding table, for accommodating cables.

[0010] According to the present application, the Y-axis moving mechanism comprises: Y axis bearing beam, mounted on the X axis sliding table base plate, and the Y axis bearing beam is perpendicular to the X axis bearing beam; Y axis sliding rail, arranged on the inner side of the Y axis bearing beam; Y axis rack, arranged on one side of the Y axis sliding rail; Y axis sliding table assembly, movably mounted on the Y axis sliding rail; Y axis stop block, arranged in pairs, respectively mounted on both ends of the Y axis bearing beam, for preventing the Y axis sliding table assembly from leaving the Y axis sliding rail.

[0011] According to the present application, the Y axis sliding table assembly comprises: Y axis sliding table, provided with a Y axis sliding table base plate for connecting the Z axis moving mechanism; Non-metallic Y axis sliding block, arranged on the Y axis sliding table and in sliding cooperation with the Y axis sliding rail; Y axis drive motor, arranged on the Y axis sliding table; Y axis felt gear, arranged on the power output shaft of the Y axis drive motor, the Y axis felt gear is engaged with the Y axis rack, and the Y axis felt gear is connected with the oil pump through an oil pipe.

[0012] According to the present application, the explosion-proof coordinate robot further comprises a Y axis limiting assembly, the Y axis limiting assembly comprises: Y axis sensor support, one end of which is connected with the Y axis sliding table; Y axis origin stop block, arranged on the top surface of the Y axis bearing beam and spaced from the end of the Y axis bearing beam; Y axis origin explosion-proof proximity switch, arranged on the Y axis sensor support; Y axis limiting stop block, arranged in two, respectively arranged on both ends of the Y axis bearing beam and respectively spaced from both ends of the Y axis bearing beam, the Y axis limiting stop block is located on the same side as the Y axis origin stop block, and the distance between one of the Y axis limiting stop blocks and the end of the Y axis bearing beam is less than the distance between the Y axis origin stop block and the corresponding end; Y axis limiting explosion-proof proximity switch, arranged in two and installed side by side on the Y axis sensor support.

[0013] According to the present application, the explosion-proof coordinate robot further comprises a Y axis drag chain assembly, the Y axis drag chain assembly comprises: Y axis drag chain support, arranged on the outer side of the Y axis bearing beam; Y axis drag chain groove, arranged above the Y axis drag chain support; A Y-axis drag chain movably arranged in the Y-axis drag chain slot, one end of which is connected with the Y-axis sliding table, for accommodating cables.

[0014] According to the present application, the Z-axis moving mechanism comprises: A Z-axis base plate arranged parallel to the Z direction and connected with the Y-axis sliding table base plate; A Z-axis sliding rail mounted on the side of the Z-axis base plate away from the Y-axis sliding table base plate; A Z-axis rack arranged on one side of the Z-axis base plate; A Z-axis sliding table assembly movably mounted on the Z-axis sliding rail; A pair of Z-axis stop blocks mounted on the two ends of the Z-axis base plate respectively, for preventing the Z-axis sliding table assembly from disengaging from the Z-axis sliding rail.

[0015] According to the present application, the Z-axis sliding table assembly comprises: A Z-axis clamp base plate for mounting a clamp; A non-metal Z-axis sliding block arranged on the Z-axis clamp base plate and in sliding cooperation with the Z-axis sliding rail; A Z-axis driving motor arranged on the Z-axis clamp base plate; A Z-axis felt gear arranged on the power output shaft of the Z-axis driving motor, the Z-axis felt gear being engaged with the Z-axis rack, and the Z-axis felt gear being connected with the oil pump through an oil pipe.

[0016] According to the present application, the Z-axis limiting assembly comprises: A Z-axis limiting stop block mounted on the back of the Z-axis clamp base plate; A Z-axis origin explosion-proof proximity switch mounted on one end of the Z-axis base plate and spaced from the end of the Z-axis base plate; Two Z-axis limiting explosion-proof proximity switches arranged on the two ends of the Z-axis base plate respectively and spaced from the two ends of the Z-axis base plate respectively, the Z-axis limiting explosion-proof proximity switches being located on the same side as the Z-axis origin explosion-proof proximity switch, and the spacing between one of the Z-axis limiting explosion-proof proximity switches and the end of the Z-axis base plate being smaller than the spacing between the Z-axis origin explosion-proof proximity switch and the corresponding end.

[0017] According to the present application, the Z-axis drag chain assembly comprises: A Z-axis drag chain support mounted on the other side of the Z-axis base plate; A Z-axis drag chain laid in the Z-axis drag chain support, for accommodating cables.

[0018] The application provides an explosion-proof coordinate robot, which comprises an end support mechanism, an X-axis moving mechanism, a Y-axis moving mechanism and a Z-axis moving mechanism, the X-axis moving mechanism is arranged on the end support mechanism, the Y-axis moving mechanism is movably arranged on the X-axis moving mechanism, the X-axis moving mechanism is used for driving the Y-axis moving mechanism to move in the X direction, the Z-axis moving mechanism is movably arranged on the side of the Y-axis moving mechanism, the Y-axis moving mechanism is used for driving the Z-axis moving mechanism to move in the Y direction, and the Z-axis moving mechanism is used for driving a target object to move in the Z direction; each moving mechanism adopts an explosion-proof design, which is used for eliminating friction or metal knocking during operation, so as to avoid generating sparks; the explosion-proof design of each moving mechanism meets the safety requirements of an explosion-proof environment, eliminates the risks of friction sparks and metal knocking sparks, can meet the safety requirements of different types of explosion-proof environments such as gas and dust, and expands the application range of the equipment. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the application or prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0020] Figure 1 is a perspective structural schematic view of an explosion-proof coordinate robot provided by the embodiment of the application; Figure 2 is a partial enlarged view of Figure 1 ; Figure 3 is a front view of an explosion-proof coordinate robot provided by the embodiment of the application; Figure 4 is a side view of an explosion-proof coordinate robot provided by the embodiment of the application; Figure 5 is a partial enlarged view of Figure 4 ; Figure 6 is a structural schematic view of an X-axis drag chain assembly and a Y-axis drag chain assembly provided by the embodiment of the application; Figure 7 is a partial enlarged view of Figure 6 ; Figure 8 is a structural schematic view of an explosion-proof coordinate robot without installing a gear protection cover provided by the embodiment of the application; Figure 9 is one of structural schematic views of an X-axis limiting assembly provided by the embodiment of the application; Figure 10 is another of structural schematic views of an X-axis limiting assembly provided by the embodiment of the application; Figure 11 is one of the Y-axis sliding table assembly structure schematic diagram provided by the embodiment of the application; Figure 12 is the second Y-axis sliding table assembly structure schematic diagram provided by the embodiment of the application; Figure 13 is the structure schematic diagram of the X-axis moving mechanism, the Y-axis moving mechanism and the Z-axis moving mechanism at the connection; Figure 14 is a partial enlarged view of Figure 13 ; Figure 15 is the structure schematic diagram of the Z-axis moving mechanism provided by the embodiment of the application; Figure 16 is the structure schematic diagram of the Z-axis moving mechanism provided by the embodiment of the application.

[0021] Reference signs: 1, end support mechanism; 11, end bearing column; 12, anchor plate; 13, adjusting bolt; 14, end top plate; 15, end pad plate; 16, end pad plate positioning piece; 17, oil pump; 2, middle support mechanism; 21, middle bearing column; 22, anchor plate; 23, adjusting bolt; 24, middle top plate; 25, middle pad plate; 26, middle pad plate positioning piece; 3, X-axis moving mechanism; 31, X-axis bearing beam; 32, first connecting piece; 33, second connecting piece; 34, X-axis sliding rail; 35, X-axis rack; 36, X-axis sliding table assembly; 361, X-axis sliding table; 362, X-axis sliding table pad plate; 363, non-metal X-axis sliding block; 364, X-axis driving motor; 365, X-axis felt gear; 366, X-axis oil distribution device; 367, gear protective cover; 37, X-axis stop block; 38, X-axis limiting assembly; 381, X-axis origin stop block; 382, X-axis origin anti-explosion proximity switch; 383, X-axis sensor support; 384, X-axis limiting stop block; 385, X-axis limiting anti-explosion proximity switch; 39, X-axis drag chain assembly; 391, X-axis drag chain support; 392, X-axis drag chain groove; 393, X-axis drag chain; 4, Y-axis moving mechanism; 41, Y-axis carrying beam; 42, Y-axis slide rail; 43, Y-axis rack; 44, Y-axis slide table assembly; 441, Y-axis slide table; 442, Y-axis slide table backing plate; 443, non-metal Y-axis slide block; 444, Y-axis driving motor; 445, Y-axis felt gear; 446, Y-axis oil way distributor; 45, Y-axis stop block; 46, Y-axis limiting assembly; 461, Y-axis origin stop block; 462, Y-axis origin anti-explosion proximity switch; 463, Y-axis sensor support; 464, Y-axis limiting stop block; 465, Y-axis limiting anti-explosion proximity switch; 466, Y-axis anti-explosion box support; 47, Y-axis drag chain assembly; 471, Y-axis drag chain support; 472, Y-axis drag chain groove; 473, Y-axis drag chain; 5, Z-axis moving mechanism; 51, Z-axis base; 52, Z-axis slide rail; 53, Z-axis rack; 54, Z-axis slide table assembly; 541, Z-axis clamp base; 542, non-metal Z-axis slide block; 543, Z-axis driving motor; 544, Z-axis felt gear; 545, Z-axis oil way distributor; 55, Z-axis stop block; 56, Z-axis limiting assembly; 561, Z-axis limiting stop block; 562, Z-axis origin anti-explosion proximity switch; 563, Z-axis limiting anti-explosion proximity switch; 57, Z-axis drag chain support; 58, Z-axis drag chain. DETAILED DESCRIPTION

[0022] To make the objectives, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described below in connection with the drawings in the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0023] The present application will be described below in connection with Figures 1-16 A kind of anti-explosion coordinate robot is described in the present application.

[0024] The present application provides a kind of anti-explosion coordinate robot, comprising: end support mechanism, X-axis moving mechanism 3, Y-axis moving mechanism 4 and Z-axis moving mechanism 5, X-axis moving mechanism 3 is arranged on end support mechanism;Y-axis moving mechanism 4 is movably arranged on X-axis moving mechanism 3, X-axis moving mechanism 3 is used to drive Y-axis moving mechanism 4 moves along X direction;Z-axis moving mechanism 5 is movably arranged on the side of Y-axis moving mechanism 4, Y-axis moving mechanism 4 is used to drive Z-axis moving mechanism 5 moves along Y direction, Z-axis moving mechanism 5 is used to drive target object moves along Z direction;Each moving mechanism is used anti-explosion design, for eliminating the friction or metal knock in operation, to avoid producing spark.

[0025] In this embodiment, two X-axis moving mechanisms 3 are provided, each of which comprises an X-axis carrying beam 31, an X-axis sliding rail 34, an X-axis rack 35, an X-axis sliding table assembly 36 and an X-axis stopper 37. Figure 1 As shown in the drawings, the X-axis carrying beam 31 is provided with a pair of X-axis carrying beams 31, which are arranged in parallel and spaced apart, and the X-axis carrying beam 31 is installed on the end support mechanism; the X-axis sliding rail 34 is arranged on the X-axis carrying beam 31; the X-axis rack 35 is arranged on one side of the X-axis sliding rail 34; the X-axis sliding table assembly 36 is movably installed on the X-axis sliding rail 34; the X-axis stopper 37 is provided with a pair of X-axis stoppers 37, which are respectively installed on both ends of the X-axis carrying beam 31, and are used to prevent the X-axis sliding table assembly 36 from being separated from the X-axis sliding rail 34.

[0026] Among them, the X-axis stopper 37 is made of non-metallic material, such as rubber block, when the X-axis sliding table assembly 36 collides with the X-axis stopper 37, through the flexible contact of non-metallic material, the rigid impact between metal parts is avoided, so as to prevent the generation of knocking sparks.

[0027] Optionally, the X-axis carrying beam 31 can be formed by combining a plurality of square tubes, and the length of each square tube is not more than 5 meters.

[0028] Referring to Figure 2 , further comprising a first connecting piece 32 and a second connecting piece 33 arranged on different sides of the square tube, for example, the first connecting piece 32 is an X-axis positioning plate, which is installed on one side of the connection between two square tubes, and plays a positioning role between the square tubes; the second connecting piece 33 is an X-axis positioning pin, which is installed on the other side of the connection between two square tubes, and plays a positioning role between the square tubes, which together ensure the reliability of the connection between the square tubes.

[0029] As shown in the drawings, Figure 5 , Figure 7 and Figure 8 , the X-axis sliding table assembly 36 comprises an X-axis sliding table 361, a non-metallic X-axis sliding block 363, an X-axis driving motor 364, an X-axis felt gear 365 and an X-axis gear protective cover 367, the X-axis sliding table 361 is provided with an X-axis sliding table pad 362 for connecting the Y-axis moving mechanism 4; the non-metallic X-axis sliding block 363 is arranged at the bottom of the X-axis sliding table 361 and is in sliding cooperation with the X-axis sliding rail 34; the X-axis driving motor 364 is arranged on the X-axis sliding table 361; the X-axis felt gear 365 is arranged on the power output shaft of the X-axis driving motor 364, the X-axis felt gear 365 is engaged with the X-axis rack 35, the X-axis rack 35 is installed laterally, so that the contact surface of the X-axis rack 35 and the X-axis felt gear 365 is arranged laterally, which can avoid the accumulation of powder and ensure the continuity and stability of transmission; the X-axis gear protective cover 367 is arranged at the bottom of the X-axis sliding table 361 and covers the meshing area of the X-axis felt gear 365 and the X-axis rack 35.

[0030] In this way, on the one hand, if a small amount of sparks is generated due to abnormal friction during the meshing of the gear and the rack, the protective cover can directly block the sparks from escaping, avoid the sparks from contacting the surrounding flammable and explosive medium such as hazardous chemical dust and gas, cut off the possibility of ignition and explosion, and further improve the operation safety level of the robot in the explosion-proof environment. On the other hand, the protective cover can effectively block foreign matters such as external dust, debris and liquid from entering the meshing area, prevent the motion accuracy from being reduced due to meshing jamming, reduce the wear of the tooth surface, prolong the service life of the gear and the rack, and reduce the maintenance cost.

[0031] Referring to Figure 9 、 Figure 10 In the embodiment, the X-axis limiting assembly 38 also includes an X-axis sensor support 383, an X-axis origin explosion-proof proximity switch 382, an X-axis origin stop block 381, two X-axis limiting stop blocks 384, and two X-axis limiting explosion-proof proximity switches 385. One end of the X-axis sensor support 383 is connected to the X-axis sliding table 361. The X-axis origin explosion-proof proximity switch 382 is arranged on the X-axis sensor support 383. The X-axis origin stop block 381 is arranged on the side of the X-axis bearing beam 31 and close to the end of the X-axis bearing beam 31. The two X-axis limiting stop blocks 384 are arranged at the two ends of the X-axis bearing beam 31, respectively, and are spaced apart from the two ends of the X-axis bearing beam 31. The X-axis limiting stop blocks 384 and the X-axis origin stop block 381 are located on the same side. The spacing between one of the X-axis limiting stop blocks 384 and the end of the X-axis bearing beam 31 is smaller than the spacing between the X-axis origin stop block 381 and the corresponding end. The two X-axis limiting explosion-proof proximity switches 385 are installed side by side on the X-axis sensor support 383.

[0032] The X-axis origin explosion-proof proximity switch 382 and the X-axis limiting explosion-proof proximity switch 385 are both explosion-proof proximity switches, which can avoid sparks generated by electrical components during operation and adapt to flammable and explosive environments.

[0033] The electronic limiting method using proximity switches and stop blocks replaces the traditional mechanical collision limiting, reduces the risk of metal collision sparks, and provides a stable initial reference position for X-axis movement through the cooperation of the X-axis origin stop block 381 and the X-axis origin explosion-proof proximity switch 382. This ensures accurate calibration after each start or reset and guarantees the positioning accuracy of goods handling. The X-axis limiting stop blocks 384 at both ends and the X-axis limiting explosion-proof proximity switches 385 form a travel boundary constraint to prevent the X-axis sliding table 361 from moving excessively beyond the safe range and avoid collisions or structural damage caused by the sliding table coming off the slide rail.

[0034] Moreover, the two X-axis limiting explosion-proof proximity switches 385 are installed side by side, so even if one of them fails, the other can still function normally to limit the travel, greatly reducing the safety risk in a fault state and ensuring the long-term stable operation of the robot.

[0035] Referring to Figure 6 Further, the X-axis drag chain assembly 39 includes an X-axis drag chain bracket 391, an X-axis drag chain groove 392, and an X-axis drag chain 393. The X-axis drag chain bracket 391 is arranged outside the X-axis carrying beam 31 to support and fix the X-axis drag chain groove 392. The X-axis drag chain groove 392 is arranged above the X-axis drag chain bracket 391. The X-axis drag chain 393 is movably arranged in the X-axis drag chain groove 392, with one end connected to the X-axis sliding table 361 to accommodate cables.

[0036] In this way, the drag chain bracket is arranged outside the X-axis carrying beam 31, which does not occupy the movement space of the X-axis and can adapt to the long-stroke movement requirement of the X-axis. The X-axis drag chain 393 can completely accommodate cables such as motors and sensors, thereby playing a protection role, reducing the erosion of dust and oil stains on the cables, avoiding the friction between the cables and metal structures such as the X-axis carrying beam 31 when the cables move with the X-axis sliding table 361, preventing the breakage of the cable insulation layer caused by electrical sparks, prolonging the service life of the cables and the overall equipment, and reducing maintenance costs. The cables are moved synchronously and orderly with the X-axis sliding table 361 through the constraint of the drag chain bracket and the drag chain groove, avoiding the breakage caused by excessive winding, stretching, or bending of the cables, ensuring the stability of the electrical system signal transmission and power supply, and reducing the risk of equipment failure.

[0037] In this embodiment, the Y-axis moving mechanism 4 includes a Y-axis carrying beam 41, a Y-axis sliding rail 42, a Y-axis rack 43, a Y-axis sliding table assembly 44, and a Y-axis stop block 45. Figures 11-12 As shown in FIG. 4, the Y-axis moving mechanism 4 is movably arranged above a pair of X-axis moving mechanisms 3. Specifically, the Y-axis carrying beam 41 is installed on the X-axis sliding table pad 362, and the Y-axis carrying beam 41 is perpendicular to the X-axis carrying beam 31. The two ends of the Y-axis carrying beam 41 are respectively installed on the X-axis sliding table pad 362 of the pair of X-axis moving mechanisms 3. The Y-axis sliding rail 42 is arranged inside the Y-axis carrying beam 41, and two Y-axis sliding rails 42 can be arranged. The Y-axis rack 43 is arranged inside the Y-axis carrying beam 41. The Y-axis sliding table assembly 44 is movably installed on the Y-axis sliding rail 42. The Y-axis stop block 45 is arranged in pairs and is installed at the two ends of the Y-axis carrying beam 41 to prevent the Y-axis sliding table assembly 44 from disengaging from the Y-axis sliding rail 42.

[0038] The Y-axis stop block 45 is made of a non-metallic material, such as a rubber block. When the Y-axis sliding table assembly 44 collides with the Y-axis stop block 45, the flexible contact of the non-metallic material avoids the rigid impact between metal parts, thereby eliminating the generation of bumping sparks.

[0039] Further, the Y-axis sliding table assembly 44 comprises a Y-axis sliding table 441, a non-metal Y-axis sliding block 443, a Y-axis driving motor 444 and a Y-axis felt gear 445. The Y-axis sliding table 441 is provided with a Y-axis sliding table base plate 442 for connecting the Z-axis moving mechanism 5. The non-metal Y-axis sliding block 443 is arranged on the Y-axis sliding table 441 and is in sliding cooperation with the Y-axis sliding rail 42. The Y-axis driving motor 444 is arranged on the Y-axis sliding table 441. The Y-axis felt gear 445 is arranged on the power output shaft of the Y-axis driving motor 444 and is in mesh with the Y-axis rack 43.

[0040] Preferably, the Y-axis rack 43 is arranged downward along the Z direction, so that the contact surface of the Y-axis rack 43 and the Y-axis felt gear 445 is arranged downward along the Z direction, which can avoid powder accumulation and ensure the continuity and stability of transmission.

[0041] Referring to Figure 14 In the embodiment, the Y-axis limiting assembly 46 further comprises a Y-axis sensor support 463, a Y-axis origin stopper 461, a Y-axis origin explosion-proof proximity switch 462, two Y-axis limiting stoppers 464 and two Y-axis limiting explosion-proof proximity switches 465. One end of the Y-axis sensor support 463 is connected with the Y-axis sliding table 441. The Y-axis origin stopper 461 is arranged on the top surface of the Y-axis bearing beam 41 and is spaced apart from the end of the Y-axis bearing beam 41. The Y-axis origin explosion-proof proximity switch 462 is arranged on the Y-axis sensor support 463. The two Y-axis limiting stoppers 464 are arranged on the two ends of the Y-axis bearing beam 41 respectively and are spaced apart from the two ends of the Y-axis bearing beam 41 respectively. The Y-axis limiting stoppers 464 are located on the same side as the Y-axis origin stopper 461. The spacing between one of the Y-axis limiting stoppers 464 and the end of the Y-axis bearing beam 41 is smaller than the spacing between the Y-axis origin stopper 461 and the corresponding end. The two Y-axis limiting explosion-proof proximity switches 465 are installed side by side on the Y-axis sensor support 463.

[0042] The Y-axis origin explosion-proof proximity switch 462 and the Y-axis limiting explosion-proof proximity switch 465 are both explosion-proof proximity switches, which can avoid sparks generated by electrical components during operation and adapt to flammable and explosive environments.

[0043] In this way, the electronic limiting method using proximity switch sensing and stopper triggering is adopted to replace the traditional mechanical collision limiting, which can reduce the risk of metal collision sparks. The Y-axis origin stopper 461 and the Y-axis origin explosion-proof proximity switch 462 cooperate to provide a stable initial reference position for Y-axis movement, which can ensure accurate calibration after each start or reset and protect the positioning accuracy of the goods. The Y-axis limiting stoppers 464 at the two ends and the Y-axis limiting explosion-proof proximity switches 465 form a travel boundary constraint, which can prevent the Y-axis sliding table 441 from moving excessively beyond the safe range and avoid the sliding table from being separated from the sliding rail to cause collision or structural damage.

[0044] And two Y-axis limit position explosion-proof proximity switch 465 are installed side by side, even if one fails, the other can still play a limiting role, avoid the run out of control, greatly reduce the risk of failure state, ensure the long-term stable operation of the robot.

[0045] Referring to Figure 6 , Figure 13 Further, it also includes Y-axis drag chain assembly 47, Y-axis drag chain assembly 47 includes: Y-axis drag chain bracket 471, Y-axis drag chain groove 472 and Y-axis drag chain 473, Y-axis drag chain bracket 471 is arranged on the outer side of Y-axis bearing beam 41, used to support and fix Y-axis drag chain groove 472; Y-axis drag chain groove 472 is arranged above Y-axis drag chain bracket 471; Y-axis drag chain 473 is movably arranged in Y-axis drag chain groove 472, one end of which is connected with Y-axis sliding table 441, used to accommodate cables.

[0046] So set, the drag chain bracket is arranged on the outer side of Y-axis bearing beam 41, which does not occupy the movement space of Y-axis, Y-axis drag chain 473 can completely accommodate the cables of motor, sensor and the like, which plays a protection role, can reduce the erosion of dust and oil stains on the cables, and can also avoid the friction between the cables and metal structures such as Y-axis bearing beam 41 when the cables move with Y-axis sliding table 441, prevent the cables from being damaged to cause electrical sparks, prolong the service life of the cables and the whole equipment, and reduce the maintenance cost; the cables are moved synchronously and orderly with Y-axis sliding table 441 through the constraint of drag chain bracket and drag chain groove, which avoids the breakage and poor contact caused by excessive winding, stretching or bending of the cables, ensures the stable signal transmission and power supply of electrical system, and reduces the risk of equipment failure.

[0047] Further, it also includes Y-axis explosion-proof box bracket 466, used to install explosion-proof box, which is fixed on the side of Y-axis bearing beam 41, the inside of the explosion-proof box is integrated with terminal and control module, the explosion-proof box is sealed connected with the drive motor cables and proximity switch cables of X-axis, Y-axis and Z-axis through explosion-proof sealing joint, used to isolate electrical sparks and realize centralized wiring protection of electrical system.

[0048] In the embodiment, Z-axis moving mechanism 5 includes: Z-axis base 51, Z-axis sliding rail 52, Z-axis rack 53, Z-axis sliding table assembly 54 and Z-axis stop block 55, Z-axis base 51 is arranged parallel to Z direction and connected with Y-axis sliding table backing plate 442; Z-axis sliding rail 52 is installed on the side of Z-axis base 51 away from Y-axis sliding table backing plate 442; Z-axis rack 53 is arranged on one side of Z-axis base 51, that is, Z-axis rack 53 and Z-axis sliding rail 52 are respectively installed on two faces of Z-axis base 51; Z-axis sliding table assembly 54 is movably installed on Z-axis sliding rail 52; Z-axis stop block 55 is arranged in pairs and installed on both ends of Z-axis base 51, used to prevent Z-axis sliding table assembly 54 from disengaging from Z-axis sliding rail 52.

[0049] The Z-axis stop 55 is made of non-metallic material, such as rubber. When the Z-axis slide assembly 54 collides with the Z-axis stop 55, the flexible contact of the non-metallic material avoids the rigid impact between metal parts, thus eliminating the generation of collision sparks.

[0050] like Figures 15-16 As shown, the Z-axis slide assembly 54 includes: a Z-axis fixture base 541, a non-metallic Z-axis slider 542, a Z-axis drive motor 543, and a Z-axis felt gear 544. The Z-axis fixture base 541 is used to mount the fixture; the non-metallic Z-axis slider 542 is disposed on the Z-axis fixture base 541 and slides in cooperation with the Z-axis slide rail 52; the Z-axis drive motor 543 is disposed on the Z-axis fixture base 541; the Z-axis felt gear 544 is disposed on the power output shaft of the Z-axis drive motor 543 and meshes with the Z-axis rack 53. Since the Z-axis rack 53 is installed laterally and is arranged along the Z-direction, the contact surface between the Z-axis rack 53 and the Z-axis felt gear 544 extends along the Z-direction, which can avoid the accumulation of powder and ensure the continuity and stability of the transmission.

[0051] Furthermore, it also includes a Z-axis limiting component 56, which includes: a Z-axis limiting block 561, a Z-axis origin explosion-proof proximity switch 562, and a Z-axis limiting explosion-proof proximity switch 563. The Z-axis limiting block 561 is installed on the back of the Z-axis fixture base 541; the Z-axis origin explosion-proof proximity switch 562 is installed at one end of the Z-axis base 51 and is spaced from the end of the Z-axis base 51; two Z-axis limiting explosion-proof proximity switches 563 are provided, respectively located at both ends of the Z-axis base 51 and spaced from both ends of the Z-axis base 51. The Z-axis limiting explosion-proof proximity switches 563 and the Z-axis origin explosion-proof proximity switches are located on the same side, and the distance between one of the Z-axis limiting explosion-proof proximity switches 563 and the end of the Z-axis base 51 is smaller than the distance between the Z-axis origin explosion-proof proximity switch and the corresponding end.

[0052] Among them, the Z-axis origin explosion-proof proximity switch 562 and the Z-axis limit explosion-proof proximity switch 563 are both explosion-proof certified proximity switches, which prevent sparks from being generated when electrical components are working and are suitable for flammable and explosive environments.

[0053] When the Z-axis sliding table assembly 54 is lifted along the Z-axis sliding rail 52, the Z-axis limiting stopper 561 mounted on the back of the Z-axis clamp base 541 moves synchronously with the assembly; when the Z-axis limiting stopper 561 moves to the sensing area of the Z-axis original point explosion-proof proximity switch 562, the proximity switch sends a signal to the control system, and the system confirms the initial reference position of the Z-axis and completes the original point calibration. When the Z-axis sliding table assembly 54 moves to the end of the Z-axis base 51, the Z-axis limiting stopper 561 approaches the Z-axis limiting explosion-proof proximity switch 563 at the end (the limiting proximity switch is closer to the end of the base than the original point proximity switch), and the proximity switch triggers a stop signal, and the Z-axis drive motor 543 stops immediately to limit excessive movement; the Z-axis limiting explosion-proof proximity switch 563 at the other end triggers the same protection mechanism when moving in the opposite direction to the limit position.

[0054] The two Z-axis limiting explosion-proof proximity switches 563 correspond to the upper and lower limit positions respectively, and even if a single proximity switch fails, the other proximity switch can still play a limiting role, greatly reducing the risk of failure and ensuring the long-term stable operation of the Z-axis.

[0055] Further, a Z-axis drag chain assembly is also included, which comprises a Z-axis drag chain support 57 and a Z-axis drag chain 58. The Z-axis drag chain support 57 is mounted on the other side of the Z-axis base 51, and the Z-axis drag chain 58 is laid in the Z-axis drag chain support 57 for accommodating cables.

[0056] In this way, the Z-axis drag chain support 57 is mounted on the other side of the Z-axis base 51, without occupying the Z-axis lifting space. The Z-axis drag chain 58 can completely accommodate the power cables and signal cables of the Z-axis drive motor 543 and the clamp, avoiding the damage of the insulation layer caused by the friction between the cables and the metal structures such as the Z-axis base 51 and the Z-axis sliding rail 52 during lifting movement, and eliminating the generation of electrical sparks. At the same time, the contact between the cables and the external flammable and explosive dust and medium is isolated, meeting the requirements of the explosion-proof environment from the cable protection dimension.

[0057] In this embodiment, an intermediate support mechanism 2 is also included, which is arranged between adjacent end support mechanisms 1. The end support mechanism 1 is provided with an oil pump 17, and the oil pump 17 is connected with an oil distribution device. The oil distribution device is connected with the X-axis felt gear 365, the Y-axis felt gear 445 and the Z-axis felt gear 544 through oil pipes.

[0058] In this way, the oil pump 17 is started to distribute lubricating oil to each oil pipe through the oil distribution device, and the oil pipes are connected with each felt gear respectively. The lubricating oil is adsorbed and stored by the porous structure of the felt gear. When each axis felt gear rotates with the drive motor and engages with the corresponding rack, the felt gear ring applies lubricating oil to the rack tooth surface during engagement, realizing continuous lubrication at the engagement place of the gear and the rack. The sparks generated by dry friction are completely eliminated, and the lubricating oil can reduce the engagement impact, thereby blocking the risk of spark-induced explosion from the source, and adapting to flammable and explosive environments.

[0059] It should be noted that the felt gear is composed of a metal hub and a felt gear ring. The metal hub is used for rigid connection with the motor output shaft or transmission shaft to ensure the stability of power transmission. The felt gear ring is made of high-density industrial felt. The tooth shape is fully engaged with the shaft rack, and it has the functions of flexible contact and oil storage. The felt gear ring is connected with the oil path distributor through the oil pipe. The lubricating oil continuously delivered by the oil pump can be absorbed and stored by the felt.

[0060] As shown in Figures 13-14 , the oil path distributor includes an X-axis oil path distributor 366, a Y-axis oil path distributor 446, and a Z-axis oil path distributor 545. The X-axis oil path distributor 366 is arranged on the X-axis sliding table 361. The Y-axis oil path distributor 446 can be arranged on the Y-axis sliding table 441. The Z-axis oil path distributor 545 is arranged on the Z-axis clamp base 541.

[0061] Referring to Figure 1 , Figure 3 , in some embodiments, the end support mechanism 1 is arranged at the end of the X-axis bearing beam 31. The end support mechanism 1 includes an end bearing column 11, a foot plate 12, an adjusting bolt 13, an end top plate 14, an end pad plate 15, and an end pad plate positioning piece 16. As shown, the foot plate 12 is installed below the end bearing column 11. The adjusting bolt 13 is used to connect the foot plate 12 to the ground. The end top plate 14 is installed above the end bearing column 11. The end pad plate 15 is installed above the end top plate 14 and is used to connect the X-axis bearing beam 31 of the X-axis moving mechanism 3. The end pad plate positioning piece 16 is fixed above the end top plate 14 and serves as a positioning and calibration function for the installation of the end pad plate 15. The oil pump 17 can be installed on the side of any end support mechanism 1 to provide lubricating oil.

[0062] Optionally, a first positioning hole is arranged on the side of the end pad plate 15, and a second positioning hole is arranged on the side of the end pad plate positioning piece 16. When the first positioning hole corresponds to the second positioning hole during the installation of the end pad plate 15, it proves that the end pad plate 15 is installed to the desired position.

[0063] Referring to Figure 1 , Figure 4Further, the intermediate support mechanism 2 comprises an intermediate support column 21, a footing 22, an adjusting bolt 23, an intermediate top plate 24, a pair of intermediate pads 25 and an intermediate pad positioning member 26, wherein the footing 22 is installed below the intermediate support column 21; the adjusting bolt 23 is used to connect the footing 22 with the ground; the intermediate top plate 24 is installed above the intermediate support column 21; the pair of intermediate pads 25 are installed above the intermediate top plate 24 in parallel and are used to connect the X-axis moving mechanism 3; and the intermediate pad positioning member 26 is installed above the intermediate top plate 24 and plays a role of positioning and calibrating the installation of the intermediate pads 25, for example, positioning holes are respectively arranged on the intermediate pads 25 and the intermediate pad positioning member 26, and when the positioning holes of the two correspond to each other during the installation of the intermediate pads 25, it is proved that the intermediate pads 25 are installed to the appropriate position.

[0064] Preferably, the surface area of the intermediate top plate 24 is greater than that of the end top plate 14, which can provide sufficient support for the part between the two ends of the X-axis bearing beam 31 and ensure the stability of the overall structure without bending deformation.

[0065] In some specific embodiments, when the total length of the X-axis bearing beam 31 is greater than 7 meters, the intermediate support force is provided by increasing the intermediate support mechanism 2 to ensure the stability of the overall structure, and the distance between the intermediate support mechanism 2 and the end support mechanism 1 is not greater than 5 meters.

[0066] The embodiment of the present application provides an explosion-proof coordinate robot, and the use process is as follows: During work, after receiving a position signal, the clamp (used for grabbing goods) of the Z-axis clamp base 541 is respectively operated to a specified position along the X-axis, the Y-axis and the Z-axis, and a completion signal is fed back, waiting for the next instruction.

[0067] Taking the movement of the X-axis sliding table assembly 36 as an example, the movement of the X-axis sliding table assembly 36 is further described.

[0068] During operation, the X-axis felt gear 365 is driven to rotate by the X-axis driving motor 364, the X-axis felt gear 365 is engaged with the X-axis rack 35, so as to drive the X-axis sliding table assembly 36 to move along the X-axis rack 35, and at the same time, the non-metal X-axis sliding block 363 moves along the X-axis sliding rail 34, so as to ensure the smooth movement of the X-axis sliding table assembly 36 along a straight line.

[0069] The oil pump 17 pumps oil into the oil pipe, part of the oil enters the X-axis oil distribution device 366, and is further distributed to the X-axis felt gear 365 and the non-metal X-axis sliding block 363; when the X-axis sliding table assembly 36 operates, the lubricating oil on the X-axis felt gear 365 is applied to the X-axis rack 35, and the lubricating oil on the non-metal X-axis sliding block 363 is applied to the X-axis sliding rail 34, so as to play a lubricating role.

[0070] When the X-axis origin explosion-proof proximity switch 382 installed on the X-axis sliding table assembly 36 moves to the X-axis origin stopper 381, the origin signal is fed back to the control system, and at this time, the X-axis is at the origin position.

[0071] When the X-axis limit explosion-proof proximity switch 385 moves to either end of the X-axis limit stopper 384, the stop signal is fed back to the control system, and at this time, the X-axis drive motor 364 stops running, playing a protective role.

[0072] When the X-axis limit assembly 38 fails, the X-axis limit stopper 384 moves to either end of the X-axis without stopping and continues to move in the direction of the end, the side of the X-axis sliding table 361 will collide with the X-axis stopper 37, preventing the X-axis sliding table assembly 36 from disengaging from the X-axis sliding rail 34, thereby causing other safety accidents.

[0073] The following is an example of Y-axis movement to further illustrate the movement of the Y-axis sliding table assembly 44.

[0074] The Y-axis drive motor 444 starts, driving the Y-axis felt gear 445 on the power output shaft to rotate; because the Y-axis felt gear 445 is engaged with the Y-axis rack 43, and the Y-axis sliding table 441 is in sliding cooperation with the Y-axis sliding rail 42 through the non-metallic Y-axis sliding block 443, the Y-axis sliding table assembly 44 moves along the Y-axis sliding rail 42. The Z-axis movement mechanism 5 installed on the Y-axis sliding table pad 442 moves synchronously with the Y-axis sliding table 441, achieving the position adjustment of the target object in the Y direction.

[0075] During movement, part of the oil provided by the oil pump 17 enters the Y-axis oil distribution device 446, which is further distributed to the Y-axis felt gear 445 and the non-metallic Y-axis sliding block 443. After the felt gear absorbs the lubricating oil, it is evenly applied to the tooth surface when it is engaged with the rack, ensuring that the engagement area is always in a lubricated state and eliminating the risk of dry friction.

[0076] When the Y-axis origin explosion-proof proximity switch 462 installed on the Y-axis sliding table assembly 44 moves to the Y-axis origin stopper 461, the origin signal is fed back to the control system, and at this time, the Y-axis is at the origin position.

[0077] When the Y-axis limit explosion-proof proximity switch 465 moves to either end of the Y-axis limit stopper 464, the stop signal is fed back to the control system, and at this time, the Y-axis drive motor 444 stops running, playing a protective role.

[0078] When the Y-axis limit assembly 46 fails, the Y-axis limit stopper 464 moves to either end of the Y-axis without stopping and continues to move in the direction of the end, the side of the Y-axis sliding table 441 will collide with the Y-axis stopper 45, preventing the Y-axis sliding table assembly 44 from disengaging from the Y-axis sliding rail 42, thereby causing other safety accidents.

[0079] The following takes the Z-axis movement as an example to further illustrate the movement of the Z-axis sliding table assembly 54.

[0080] In operation, the Z-axis driving motor 543 is started to drive the Z-axis felt gear 544 on the power output shaft to rotate. Since the Z-axis felt gear 544 is engaged with the Z-axis rack 53, and the Z-axis clamp base 541 is in sliding fit with the Z-axis sliding rail 52 through the non-metal Z-axis sliding block 542, the Z-axis sliding table assembly 54 moves along the Z-axis sliding rail 52. When the Z-axis sliding table assembly 54 moves to the sensing range of the Z-axis original point explosion-proof proximity switch 562, the system confirms the initial position of the Z-axis, and completes the original point calibration.

[0081] After receiving the carrying instruction, the Z-axis driving motor 543 is forward or reverse rotated as required to drive the Z-axis clamp base 541 to vertically ascend or descend along the Z-axis sliding rail 52, and the clamp installed on the Z-axis clamp base 541 completes the goods grabbing or releasing action. During the movement, the Z-axis felt gear 544 continuously adsorbs and applies lubricating oil to the tooth surface of the Z-axis rack 53 to realize synchronous lubrication of the meshing area. When the Z-axis sliding table assembly 54 approaches the limit position, the Z-axis limit explosion-proof proximity switch 563 triggers a stop signal, and the Z-axis driving motor 543 stops to avoid the assembly from being separated from the sliding rail.

[0082] The present application realizes the accurate displacement of target objects in three-dimensional space, cooperates with the accurate positioning assembly of each axis, ensures high repeat positioning accuracy, avoids the collision and leakage risk caused by positioning deviation during the dangerous goods carrying process, and improves the logistics operation efficiency. Each movement mechanism is designed to be explosion-proof, such as using a non-metal sliding block to avoid metal friction, a rubber block to buffer the collision, and an explosion-proof proximity switch to eliminate electrical sparks. At the same time, it cooperates with the lubrication and cable protection design to fully meet the safety requirements of the explosion-proof environment, eliminates the risk of friction sparks and metal collision sparks, realizes the technical effects of full-dimensional explosion-proof safety protection, accurate and stable operation of large-span operation, multi-axis centralized lubrication efficient transmission, and orderly cable protection, and can be stably applied to flammable and explosive scenes such as chemical industry and dangerous goods storage. For different types of explosion-proof environments such as gas and dust, the safety requirements can be met, and the application range of the equipment is expanded.

[0083] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. An explosion-proof coordinate robot, characterized in that, include: An end support mechanism (1) is provided with an oil pump (17). An intermediate support mechanism (2) is disposed between adjacent end support mechanisms (1); The X-axis moving mechanism (3) is mounted on the end support mechanism (1); The Y-axis moving mechanism (4) is movably mounted on the X-axis moving mechanism (3), and the X-axis moving mechanism (3) is used to drive the Y-axis moving mechanism (4) to move along the X direction; The Z-axis moving mechanism (5) is movably disposed on the side of the Y-axis moving mechanism (4). The Y-axis moving mechanism (4) is used to drive the Z-axis moving mechanism (5) to move along the Y direction. The Z-axis moving mechanism (5) is used to drive the target object to move along the Z direction. Each moving mechanism adopts an explosion-proof design to eliminate friction or metal collision during operation in order to avoid generating sparks.

2. The explosion-proof coordinate robot according to claim 1, characterized in that, The X-axis moving mechanism (3) includes: X-bearing beam (31) is installed on the end support mechanism (1). The X-axis slide rail (34) is mounted on the X-bearing beam (31); X-axis rack (35) is disposed on one side of the X-axis slide rail (34); The X-axis slide assembly (36) is movably mounted on the X-axis slide rail (34); A pair of X-axis stops (37) are provided and are respectively installed at both ends of the X-bearing beam (31) to prevent the X-axis slide assembly (36) from disengaging from the X-axis slide rail (34).

3. The explosion-proof coordinate robot according to claim 2, characterized in that, The X-axis slide assembly (36) includes: X-axis slide (361), the X-axis slide (361) is provided with X-axis slide pad (362) for connecting the Y-axis moving mechanism (4); A non-metallic X-axis slider (363) is disposed at the bottom of the X-axis slide (361) and slides in cooperation with the X-axis slide rail (34); The X-axis drive motor (364) is mounted on the X-axis slide (361); The X-axis felt gear (365) is mounted on the power output shaft of the X-axis drive motor (364). The X-axis felt gear (365) meshes with the X-axis rack (35), and the X-axis felt gear (365) is connected to the oil pump (17) through an oil pipe. An X-axis gear protective cover (367) is provided at the bottom of the X-axis slide (361) and covers the meshing area of ​​the X-axis felt gear (365) and the X-axis rack (35).

4. The explosion-proof coordinate robot according to claim 3, characterized in that, It also includes an X-axis limiting component (38) and an X-axis cable chain component (39), wherein the X-axis limiting component (38) includes: X-axis sensor bracket (383), one end of which is connected to the X-axis slide (361); An explosion-proof proximity switch (382) for the X-axis origin is mounted on the X-axis sensor bracket (383); The X-axis origin stop block (381) is provided on the side of the X-bearing beam (31) and near the end of the X-bearing beam (31); Two X-axis limiting blocks (384) are provided, respectively located at both ends of the X-bearing beam (31) and spaced apart from both ends of the X-bearing beam (31). The X-axis limiting blocks (384) and the X-axis origin blocks (381) are located on the same side. The distance between one of the X-axis limiting blocks (384) and the end of the X-bearing beam (31) is smaller than the distance between the X-axis origin blocks (381) and the corresponding end. Two X-axis limit explosion-proof proximity switches (385) are provided and installed side by side on the X-axis sensor bracket (383); The X-axis cable chain assembly (39) includes: X-axis drag chain bracket (391) is disposed on the outside of the X-bearing beam (31); The X-axis cable chain groove (392) is located above the X-axis cable chain bracket (391); The X-axis cable chain (393) is movably disposed in the X-axis cable chain groove (392), one end of which is connected to the X-axis slide (361) for accommodating cables.

5. The explosion-proof coordinate robot according to claim 3, characterized in that, The Y-axis moving mechanism (4) includes: The Y-bearing support beam (41) is mounted on the X-axis slide plate (362), and the Y-bearing support beam (41) is perpendicular to the X-bearing support beam (31). Y-axis slide rail (42) is located on the inner side of the Y-bearing beam (41); Y-axis rack (43) is disposed on the inner side of the Y-bearing beam (41); The Y-axis slide assembly (44) is movably mounted on the Y-axis slide rail (42); A pair of Y-axis stops (45) are provided and are respectively installed at both ends of the Y-bearing beam (41) to prevent the Y-axis slide assembly (44) from disengaging from the Y-axis slide rail (42).

6. The explosion-proof coordinate robot according to claim 5, characterized in that, The Y-axis slide assembly (44) includes: Y-axis slide (441), Y-axis slide (441) is provided with Y-axis slide pad (442) for connecting the Z-axis moving mechanism (5). A non-metallic Y-axis slider (443) is disposed on the Y-axis slide (441) and slides in cooperation with the Y-axis slide rail (42); The Y-axis drive motor (444) is mounted on the Y-axis slide (441); Y-axis felt gear (445) is mounted on the power output shaft of the Y-axis drive motor (444). The Y-axis felt gear (445) meshes with the Y-axis rack (43), and the Y-axis felt gear (445) is connected to the oil pump (17) through an oil pipe.

7. The explosion-proof coordinate robot according to claim 6, characterized in that, It also includes a Y-axis limiting component (46) and a Y-axis cable chain component (47), wherein the Y-axis limiting component (46) includes: Y-axis sensor bracket (463), one end of which is connected to the Y-axis slide (441); The Y-axis origin stop block (461) is set on the top surface of the Y-bearing beam (41) and is spaced from the end of the Y-bearing beam (41); The Y-axis origin explosion-proof proximity switch (462) is mounted on the Y-axis sensor bracket (463); Two Y-axis limiting blocks (464) are provided, respectively located at both ends of the Y-bearing beam (41) and spaced apart from both ends of the Y-bearing beam (41). The Y-axis limiting blocks (464) and the Y-axis origin blocks (461) are located on the same side. The distance between one of the Y-axis limiting blocks (464) and the end of the Y-bearing beam (41) is less than the distance between the Y-axis origin blocks (461) and the corresponding end. Two Y-axis limit explosion-proof proximity switches (465) are provided and installed side by side on the Y-axis sensor bracket (463); The Y-axis cable chain assembly (47) includes: Y-axis drag chain bracket (471) is disposed on the outside of the Y-bearing beam (41); The Y-axis cable chain groove (472) is disposed above the Y-axis cable chain bracket (471); The Y-axis cable chain (473) is movably disposed in the Y-axis cable chain groove (472), one end of which is connected to the Y-axis slide (441) for accommodating cables.

8. The explosion-proof coordinate robot according to claim 6, characterized in that, The Z-axis moving mechanism (5) includes: The Z-axis base (51) is arranged parallel to the Z-direction and is connected to the Y-axis slide plate (442); Z-axis slide rail (52) is installed on the side of the Z-axis base (51) away from the Y-axis slide plate (442); Z-axis rack (53) is disposed on one side of the Z-axis base (51); Z-axis slide assembly (54) is movably mounted on the Z-axis slide rail (52); A pair of Z-axis stops (55) are provided and are respectively installed at both ends of the Z-axis base (51) to prevent the Z-axis slide assembly (54) from disengaging from the Z-axis slide rail (52).

9. The explosion-proof coordinate robot according to claim 8, characterized in that, The Z-axis slide assembly (54) includes: Z-axis clamp base (541) is used to mount clamps; A non-metallic Z-axis slider (542) is disposed on the Z-axis fixture base (541) and slides in cooperation with the Z-axis slide rail (52); The Z-axis drive motor (543) is mounted on the Z-axis fixture base (541); Z-axis felt gear (544) is mounted on the power output shaft of the Z-axis drive motor (543). The Z-axis felt gear (544) meshes with the Z-axis rack (53), and the Z-axis felt gear (544) is connected to the oil pump (17) through an oil pipe.

10. The explosion-proof coordinate robot according to claim 9, characterized in that, It also includes a Z-axis limiting component (56) and a Z-axis cable chain component, wherein the Z-axis limiting component (56) includes: Z-axis limiting block (561) is installed on the back of the Z-axis fixture base (541); The Z-axis origin explosion-proof proximity switch (562) is installed at one end of the Z-axis base (51) and is spaced apart from the end of the Z-axis base (51); Two Z-axis limit explosion-proof proximity switches (563) are provided, respectively located at both ends of the Z-axis base (51) and spaced apart from both ends of the Z-axis base (51). The Z-axis limit explosion-proof proximity switches (563) and the Z-axis origin explosion-proof proximity switches (562) are located on the same side. The distance between one of the Z-axis limit explosion-proof proximity switches (563) and the end of the Z-axis base (51) is smaller than the distance between the Z-axis origin explosion-proof proximity switches (562) and the corresponding end. The Z-axis cable chain assembly includes: Z-axis cable carrier bracket (57) is installed on the other side of the Z-axis base (51); Z-axis cable chain (58) is laid inside the Z-axis cable chain bracket (57) to accommodate cables.

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