Positive pressure type anti-explosion collaborative robot

Abstract

The utility model relates to the technical field of robots, in particular to a positive pressure type anti-explosion collaborative robot which comprises a positive pressure control cabinet arranged in a safe area and a robot body arranged in a dangerous area. An operation control panel, a positive pressure control system, a robot electrical system and a gas path system are arranged in the positive pressure control cabinet; the positive-pressure control cabinet has the beneficial effects that air is continuously supplied to the positive-pressure control cabinet by arranging the electric box cooling throttle valve and the electric box cooling exhaust port, the working heat of electric appliance elements in the positive-pressure control cabinet can be taken away at any time, rapid and efficient heat dissipation can be realized, and the positive-pressure control cabinet has a good heat dissipation function; the base and the robot tail end are both provided with the pressure detection modules, when the pressure of any one of the base or the robot tail end is abnormal, the robot body is immediately powered off, and the explosion-proof collaborative robot system can be protected more efficiently.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, and particularly relates to a positive-pressure explosion-proof collaborative robot. Background Technique

[0002] With the rapid development of industrial automation, collaborative robots, as new types of industrial robots, play an increasingly important role in industrial production with their advantages of high safety, strong flexibility, and high execution accuracy. However, although the existing collaborative robot technology has improved production efficiency to a certain extent, its application is still greatly restricted when facing high-risk and highly dangerous working environments.

[0003] Traditional collaborative robots mainly rely on direct operation or remote monitoring by staff to complete tasks. In dangerous areas such as chemical plants, mines, and oil fields, these robots often cannot work independently, and staff need to enter the dangerous areas in person for operation or monitoring. This not only increases the safety risks of the staff but also limits the application scope of collaborative robots in these fields.

[0004] To solve this problem, the research and development of positive-pressure explosion-proof collaborative robots are particularly important. A positive-pressure explosion-proof collaborative robot is a robot system that can work safely and stably in an explosive environment. It adopts positive-pressure explosion-proof technology to maintain a positive-pressure environment inside the robot, preventing external explosive gases from entering the robot, thus ensuring the safe operation of the robot in dangerous areas. Content of the Utility Model

[0005] To solve the above problems, the embodiment of the utility model provides a positive-pressure explosion-proof collaborative robot, achieving the purpose of solving the problems proposed in the background technique.

[0006] The embodiment of the utility model specifically adopts the following technical solutions to achieve the above purpose: A positive-pressure explosion-proof collaborative robot includes a positive-pressure control cabinet arranged in a safe area and a robot body arranged in a dangerous area;

[0007] The inside of the positive-pressure control cabinet is provided with an operation control panel, a positive-pressure control system, a robot electrical system, and a gas circuit system;

[0008] The robot electrical system includes a fiberglass antenna arranged on the outer shell of the positive-pressure control cabinet, a wireless AP receiver arranged inside the positive-pressure control cabinet, a robot electrical module arranged inside the positive-pressure control cabinet, a wireless explosion-proof teaching pendant for transmitting operation instructions to the fiberglass antenna, and a cable for electrically connecting the robot body and the positive-pressure control cabinet;

[0009] The gas path system includes an explosion-proof flowmeter, a filter pressure regulator valve connected to the explosion-proof flowmeter through a conduit, an electric box cooling throttle valve connected to the explosion-proof flowmeter through a conduit, a robot throttle valve provided at the end of the conduit, a robot speed regulator valve connected to the robot throttle valve, a negative pressure exhaust port provided on the conduit, an electric box cooling exhaust port provided on the positive pressure control cabinet, a purging air pipe and a pressure measuring pipe for connecting the positive pressure control cabinet and the robot body;

[0010] The robot body includes a base, an explosion-proof robotic arm body installed on the base, a robot end installed on the explosion-proof robotic arm body, a flame arrestor exhaust valve installed on the robot end, and an end pressure acquisition board installed on the flame arrestor exhaust valve.

[0011] As a further improvement of the above technical solution:

[0012] The operation control panel includes an end pressure controller, a positive pressure controller, a power switch, and a buzzer; the end pressure controller and the buzzer are respectively connected to the positive pressure controller.

[0013] The positive pressure control system includes an explosion-proof pressure transmitter, a safety barrier for providing power to the end pressure acquisition board and collecting end pressure signals, and an AC contactor provided on one side of the safety barrier;

[0014] The explosion-proof pressure transmitter of the positive pressure control system can receive pressure acquisitions from the pressure measuring pipe and the end pressure acquisition board and convert them into electrical signals.

[0015] The beneficial effects of the embodiments of the present utility model are:

[0016] By setting an electric box cooling throttle valve and an electric box cooling exhaust port, continuous air supply is provided to the positive pressure control cabinet without interruption, and the working heat of the electrical components in the positive pressure control cabinet can be taken away at any time, enabling fast and efficient heat dissipation, and having a good heat dissipation function;

[0017] Pressure detection modules are provided on both the base and the robot end. When the pressure of either the base or the robot end is abnormal, the robot body will immediately cut off the power, which can more efficiently protect the explosion-proof collaborative robot system;

[0018] Using a wireless explosion-proof teaching pendant to transmit operation instructions to a fiberglass antenna, and the fiberglass antenna transmits the signal to a wireless AP receiver to control the operation of the robot electrical system, which can make the control of the robot body more efficient;

[0019] The robot body is placed in a dangerous area through a wireless teaching pendant, and the staff operates the robot body through the operation system panel in a safe area. Description of the Drawings

[0020] Figure 1It is a schematic structural diagram of the present utility model;

[0021] Figure 2 It is a schematic diagram of the gas path system of the present utility model.

[0022] In the figure: 1. Operation control panel; 101. End pressure controller; 102. Positive pressure controller; 103. Power switch; 104. Buzzer; 2. Positive pressure control system; 201. Explosion-proof pressure transmitter; 202. AC contactor; 203. Safety barrier; 3. Robot electrical system; 301. Fiberglass antenna; 302. Wireless AP receiver; 303. Robot electrical module; 304. Wireless explosion-proof teaching pendant; 305. Cable; 4. Gas path system; 401. Filter pressure regulator; 402. Explosion-proof flowmeter; 403. Electric box cooling throttle valve; 404. Robot throttle valve; 405. Robot speed control valve; 406. Purge air pipe; 407. Pressure measurement air pipe; 408. Negative pressure exhaust port; 409. Electric box cooling exhaust port; 5. Robot body; 501. Base; 502. Robot end; 503. End pressure acquisition board; 504. Flame arrestor exhaust valve; 505. Manipulator body. Specific embodiments

[0023] The following describes the preferred embodiments of the present utility model with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principle of the present utility model and are not intended to limit the protection scope of the present utility model.

[0024] See Figures 1 to 2 , the embodiment of the present utility model discloses a positive pressure explosion-proof collaborative robot, including a positive pressure control cabinet arranged in the safe area and a robot body 5 arranged in the dangerous area;

[0025] The inside of the positive pressure control cabinet is provided with an operation control panel 1, a positive pressure control system 2, a robot electrical system 3, and a gas path system 4;

[0026] The robot electrical system 3 includes a fiberglass antenna 301 arranged on the outer shell of the positive pressure control cabinet, a wireless AP receiver 302 arranged inside the positive pressure control cabinet, a robot electrical module 303 arranged inside the positive pressure control cabinet, a wireless explosion-proof teaching pendant 304 for transmitting operation instructions to the fiberglass antenna 301, and a cable 305 for electrically connecting the robot body 5 and the positive pressure control cabinet;

[0027] The wireless explosion-proof teaching pendant 304 transmits the operation instructions to the fiberglass antenna 301, and the fiberglass antenna 301 transmits the signal to the wireless AP receiver 302 to control the operation of the robot electrical system 3, which can make the robot work more efficiently;

[0028] The gas path system 4 includes an explosion-proof flowmeter 402, a filter pressure regulator 401 connected to the explosion-proof flowmeter 402 through a conduit, an electrical box cooling throttle valve 403 connected to the explosion-proof flowmeter 402 through a conduit, a robot throttle valve 404 arranged at the end of the conduit, a robot speed regulator valve 405 connected to the robot throttle valve 404, a negative pressure exhaust port 408 arranged on the conduit, an electrical box cooling exhaust port 409 arranged on the positive pressure control cabinet, a purging air pipe 406 for connecting the positive pressure control cabinet and the robot body 5, and a pressure measuring air pipe 407;

[0029] The filter pressure regulator 401 filters the gas entering the explosion-proof flowmeter 402, thereby ensuring the cleanliness of the gas entering the explosion-proof flowmeter 402. The robot throttle valve 404 and the robot speed regulator valve 405 cooperate together to adjust the flow rate provided to the robot body 5, and the robot body 5 is purged through the purging air pipe 406;

[0030] The electrical box cooling throttle valve 403 continuously supplies air to the positive pressure control cabinet without interruption. The working heat of the electrical components in the positive pressure control cabinet can be discharged through the electrical box cooling exhaust port 409 at any time, enabling fast and efficient heat dissipation and having a good heat dissipation function;

[0031] The robot body 5 includes a base 501, an explosion-proof robotic arm body 505 installed on the base 501, a robot end 502 installed on the explosion-proof robotic arm body 505, a flame arrestor exhaust valve 504 installed on the robot end 502, and a terminal pressure acquisition board 503 installed on the flame arrestor exhaust valve 504; Pressure detection modules are provided on both the base 501 and the terminal pressure acquisition board 503. When the pressure of either the base 501 or the terminal pressure acquisition board 503 is abnormal, the robot module will immediately cut off the power, which can more efficiently protect the explosion-proof collaborative robot system.

[0032] The operation control panel 1 includes a terminal pressure controller 101, a positive pressure controller 102, a power switch 103, and a buzzer 104; The terminal pressure controller 101 and the buzzer 104 are respectively connected to the positive pressure controller 102.

[0033] The positive pressure control system 2 includes an explosion-proof pressure transmitter 201, a safety barrier 203 for providing power to the terminal pressure acquisition board 503 and collecting terminal pressure signals, and an AC contactor 202 arranged on one side of the safety barrier 203;

[0034] The explosion-proof pressure transmitter 201 of the positive pressure control system 2 can receive the pressure acquisitions from the pressure measuring air pipe 407 and the terminal pressure acquisition board 503 and convert them into electrical signals.

[0035] Working principle: After the robot trachea is connected to the air source, open the intake and exhaust ball valves to purge the cavity. By adjusting the robot throttle valve 404 and the robot speed control valve 405, keep the pressure in the cavity within the normal working pressure range; turn on the power switch 103 of the operation control panel 1 to energize the positive pressure controller 102, press the positive pressure start button to enter the air change stage, and start a 30-minute countdown. If the pressure is not within the normal working range, it is necessary to adjust through the robot throttle valve 404 and the robot speed control valve 405; after the air change is completed, the pressure in the cabinet is kept within the normal working range, and the system automatically enters the robot operation stage;

[0036] The operator operates the wireless explosion-proof teaching pendant 304. The wireless explosion-proof teaching pendant 304 transmits the signal to the wireless AP receiver 302 through the fiberglass antenna 301 to control the operation of the robot electrical system 3, and then controls the operation of the robot body 5; when the robot body 5 needs to work, signals are collected through the end pressure acquisition board 503 and the pressure detection module on the base 501. When the internal pressure value reaches 100 Pa and is lower than 500 Pa, the robot body 5 works normally in the dangerous area; when the internal pressure of the robot is lower than 100 Pa but higher than 70 Pa or higher than 500 Pa but lower than 2000 Pa, the positive pressure controller 102 will send an alarm signal. Press the self-locking button to stop the alarm; but when the internal pressure of the robot is lower than 70 Pa or higher than 2000 Pa, the system will automatically cut off the power and the robot will stop working.

[0037] It should be noted that in the description of the present utility model, the terms indicating directions or positional relationships such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings. This is only for the convenience of description, rather than indicating or implying that the device or element must have a specific orientation, be constructed and operated in a specific orientation, so it cannot be understood as a limitation of the present utility model. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0038] In addition, it should also be noted that in the description of the present utility model, unless otherwise clearly specified and limited, the terms "installation", "connection", "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those skilled in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.

[0039] The term "comprising" or any other similar term is intended to cover non-exclusive inclusion, such that a process, article, or apparatus / device that comprises a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to those processes, articles, or apparatus / devices.

[0040] So far, the technical solution of the present utility model has been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easily understood by those skilled in the art that the protection scope of the present utility model is obviously not limited to these specific embodiments. Without departing from the principle of the present utility model, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the protection scope of the present utility model.

Claims

1. A positive pressure explosion-proof collaborative robot, characterized in that, It includes a positive pressure control cabinet arranged in the safe area and a robot body (5) arranged in the dangerous area; An operation control panel (1), a positive pressure control system (2), a robot electrical system (3), and a gas circuit system (4) are arranged inside the positive pressure control cabinet; The robot electrical system (3) includes a fiberglass antenna (301) arranged on the outer shell of the positive pressure control cabinet, a wireless AP receiver (302) arranged inside the positive pressure control cabinet, a robot electrical module (303) arranged inside the positive pressure control cabinet, a wireless explosion-proof teaching pendant (304) for transmitting operation instructions to the fiberglass antenna (301), and a cable (305) for electrically connecting the robot body (5) and the positive pressure control cabinet; The gas circuit system (4) includes an explosion-proof flowmeter (402), a filter pressure regulator (401) connected to the explosion-proof flowmeter (402) through a conduit, an electrical box cooling throttle valve (403) connected to the explosion-proof flowmeter (402) through a conduit, a robot throttle valve (404) arranged at the end of the conduit, a robot speed regulator (405) connected to the robot throttle valve (404), a negative pressure exhaust port (408) arranged on the conduit, an electrical box cooling exhaust port (409) arranged on the positive pressure control cabinet, a purge air pipe (406) for connecting the positive pressure control cabinet and the robot body (5), and a pressure measuring air pipe (407); The robot body (5) includes a base (501), an explosion-proof robotic arm body (505) installed on the base (501), a robot end (502) installed on the explosion-proof robotic arm body (505), a fireproof exhaust valve (504) installed on the robot end (502), and an end pressure acquisition board (503) installed on the fireproof exhaust valve (504).

2. The positive pressure explosion-proof collaborative robot according to claim 1, characterized in that, The operation control panel (1) includes an end pressure controller (101), a positive pressure controller (102), a power switch (103), and a buzzer (104); the end pressure controller (101) and the buzzer (104) are respectively connected to the positive pressure controller (102).

3. The positive pressure explosion-proof collaborative robot according to claim 1, wherein The positive pressure control system (2) includes an explosion-proof pressure transmitter (201), a safety barrier (203) for supplying power to the end pressure acquisition board (503) and collecting end pressure signals, and an AC contactor (202) arranged on one side of the safety barrier (203); The explosion-proof pressure transmitter (201) of the positive pressure control system (2) can receive pressure acquisitions from the pressure measuring air pipe (407) and the end pressure acquisition board (503) and convert them into electrical signals.

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