CN108789489B - Mechanical arm adaptive to dust environment - Google Patents
Mechanical arm adaptive to dust environment Download PDFInfo
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- CN108789489B CN108789489B CN201710311415.4A CN201710311415A CN108789489B CN 108789489 B CN108789489 B CN 108789489B CN 201710311415 A CN201710311415 A CN 201710311415A CN 108789489 B CN108789489 B CN 108789489B
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- assembly
- pressure
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- tail end
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
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Abstract
The invention relates to a manipulator, in particular to a manipulator suitable for a dust environment. The pressure-changing device comprises a base component, a large arm component, a small arm component, a tail end component, an active pressure-supplementing subsystem, a passive pressure-supplementing system and a passive pressure-maintaining subsystem, wherein the base component, the large arm component, the shells of the small arm component and the tail end component are sequentially connected in a rotating mode, the tail end component is telescopic, one end of the active pressure-supplementing subsystem is connected with the small arm component in a static sealing mode, the other end of the active pressure-supplementing subsystem is connected with the tail end component in a rotating mode, the active pressure-supplementing subsystem can be kept in passive follow-up with the tail end component in the axis direction of the tail end component, the inner cavities of the base component, the large arm component, the small arm component, the tail end component. The invention only consumes energy at the time of the action of the manipulator, and under the condition of no action of the machine, the positive pressure is maintained without consuming energy, and dust is automatically discharged through the action similar to breathing.
Description
Technical Field
The invention relates to a manipulator, in particular to a manipulator suitable for a dust environment.
Background
Horizontal multi-joint robot, Chinese translation name: a compliant assembly robot arm is selected. With four axes and four degrees of freedom of movement: the translational freedom degree in X, Y and Z directions and the rotational freedom degree around the Z axis. The large arm and the small arm are in a two-rod structure connected in series, and can extend into a limited space to carry out work like a human arm and then retract. The basic configuration is four parts of a base, a big arm, a small arm and an end member.
The existing dust-proof method is to use a sealing structure containing felt, which is a positive pressure shell (ventilation and inflation type), and introduce fresh air or inert gas with certain pressure into the shell of the equipment, so that surrounding combustible gas can not enter the shell, thereby preventing an ignition source from contacting with the explosive gas and achieving the purpose of preventing explosion. The common explosion-proof principle, positive pressure type, can adopt different explosion-proof measures according to three factors of combustion and explosion, and prevent electrical equipment from becoming an ignition source. The key to an electrical apparatus of positive pressure type is that the pressure of the protective gas inside the apparatus enclosure is at least 50Pa above the pressure of the environment. Therefore, the equipment needs to be provided with a blower, a pipeline, a wind pressure relay and the like, is generally used for large motors and control switch equipment, and has a complex structure and high cost.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a manipulator adapted to a dust environment, which consumes energy only when the manipulator is operating, and in a case where the manipulator is not operating, a positive pressure is maintained without consuming energy, and dust is automatically discharged by a function similar to breathing, thereby achieving an object of adapting the manipulator to a dusty environment.
In order to achieve the above object, the present invention adopts the following technical features:
a manipulator adapting to a dust environment comprises a base component, a large arm component, a small arm component, a tail end component, an active pressure supplementing subsystem, a passive air supplementing system and a passive pressure maintaining subsystem, wherein the base component, the large arm component, the small arm component and the tail end component are sequentially connected in a rotating mode, the tail end component can stretch out and draw back, one end of the active pressure supplementing subsystem is connected with the small arm component in a static sealing mode, the other end of the active pressure supplementing subsystem is connected with the tail end component in a rotating mode and can keep passive follow-up with the tail end component in the axial direction of the tail end component, inner cavities of the base component, the large arm component, the small arm component, the tail end component and the active pressure supplementing subsystem are sequentially communicated to form a pressure changing area, and the passive air supplementing system; when the tail end assembly extends out and drives the active pressure supplementing subsystem to expand, the pressure changing area sucks clean air through the passive air supplementing system; when the tail end component drives the active pressure supplementing subsystem to contract, gas in the pressure changing area is exhausted through the passive pressure maintaining subsystem.
The passive air supply system comprises a one-way valve, an air pipe a and an air pipe b, wherein an air inlet of the one-way valve is communicated with a clean environment normal pressure area through the air pipe b, and an air outlet of the one-way valve is communicated with a pressure changing area in the base assembly through the air pipe a.
The passive pressure maintaining subsystem comprises an air pressure energy accumulator and an adjustable pressure maintaining valve, the air pressure energy accumulator is communicated with a pressure changing area in the base assembly through a pipeline, and the adjustable pressure maintaining valve is arranged at the top of the air pressure energy accumulator.
The air pressure energy accumulator is of a corrugated pipe structure.
The active pressure compensating subsystem is of a corrugated pipe structure, one end of the active pressure compensating subsystem is fixedly connected with the shell of the small arm component, and the other end of the active pressure compensating subsystem is rotatably connected with the tail end component.
And the rotary joints among the base assembly, the large arm assembly, the small arm assembly and the shell of the tail end assembly and the rotary joints between the active pressure supplementing subsystem and the tail end assembly are all in rotary dynamic sealing through a rotary sealing subsystem.
The small arm component is provided with a protruding part used for accommodating the linear stroke of the tail end component.
The manipulator further comprises a control system, and the control system is used for controlling the rotation of each joint of the manipulator and the telescopic motion of the tail end assembly.
The control system comprises an explosion-proof electric appliance cabinet and an explosion-proof cable, wherein the explosion-proof electric appliance cabinet is connected with the base assembly through the explosion-proof cable.
The large arm assembly and the small arm assembly can perform infinite rotation movement, and the tail end assembly can perform lifting movement, infinite rotation movement or spiral movement.
The invention has the advantages and beneficial effects that:
1. compared with the prior art, the moving member has smaller moving inertia, so that the servo regenerative resistor has smaller power consumption and is more energy-saving.
2. The mechanical arm provided by the invention has small impact vibration to the installation base in the braking process.
3. The invention has no high-pressure pipeline and is safe and reliable.
4. The invention only consumes energy under the condition that the mechanical arm moves, does not consume positive pressure energy under the condition that the mechanical arm does not move, and is energy-saving and environment-friendly.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Wherein: 101 is a control system, 102 is an explosion-proof cable, 103 is an internal vent hole, 104 is a static sealing calling cover, 105 is a base component, 106 is an air pipe a, 107 is a passive air supply system, 108 is an air pipe b, 109 is an adjustable pressure stabilizing valve, 110 is an air pressure accumulator, 111 is a large arm component, 112 is a small arm component, 113 is a ball spline rod, 114 is a protruding part, 115 is an active pressure supply subsystem, 116 is a rotary sealing subsystem, 117 is a pressure changing area, 118 is a dust environment normal pressure area, 119 is a clean environment normal pressure area, and 120 is a tail end component.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, the robot adapted to a dust environment provided by the present invention includes a base assembly 105, a large arm assembly 111, a small arm assembly 112, a terminal assembly 120, an active pressure compensation subsystem 115, a passive air compensation system 107 and a passive pressure maintaining subsystem, wherein the base assembly 105, the large arm assembly 111, the small arm assembly 112 and the terminal assembly 120 are sequentially connected in a rotating manner, and the terminal assembly 120 is retractable, one end of the active pressure compensation subsystem 115 is statically sealed with the small arm assembly 112, and the other end thereof is rotatably connected with the terminal assembly 120 and can keep passively following the terminal assembly 120 in an axial direction of the terminal assembly 120, so that a change in an internal pressure of the small arm assembly 120 can be kept while the terminal assembly 120 is moving linearly. The inner cavities of the base component 105, the large arm component 111, the small arm component 112, the tail end component 120 and the active pressure supplementing subsystem 115 are sequentially communicated to form a pressure changing area 117, and the passive air supplementing system 107 and the passive pressure maintaining subsystem are communicated with the pressure changing area 117; when the terminal assembly 120 extends out and drives the active pressure compensation subsystem 115 to expand in volume, the pressure changing area 117 sucks clean air through the passive air compensation system 107; when the end assembly 120 retracts the active pressure compensating subsystem 115, the gas in the pressure changing region 117 is exhausted through the passive pressure maintaining subsystem.
The passive air supply system 107 includes a one-way valve, an air pipe a106 and an air pipe b108, wherein the air inlet of the one-way valve is communicated with the clean environment normal pressure area 119 through the air pipe b108, and the air outlet of the one-way valve is communicated with the pressure changing area 117 located in the base assembly 105 through the air pipe a 106.
The passive pressure maintaining subsystem comprises an air pressure accumulator 110 and an adjustable pressure maintaining valve 109, the air pressure accumulator 110 is communicated with a pressure changing area 117 in the base assembly 105 through a pipeline, and the adjustable pressure maintaining valve 109 is arranged at the top of the air pressure accumulator 110.
When the volume of the active pressure compensation subsystem 115 is expanded, the one-way valve is opened, and the pressure change area 117 sucks clean air through the one-way valve; when the terminal assembly 120 drives the active pressure compensation subsystem 115 to contract, the check valve is closed, and the gas in the pressure changing area 117 enters the gas pressure accumulator 110.
Further, the pneumatic accumulator 110 has a bellows structure. The pneumatic accumulator 110 converts the excess pressure energy in the gas system into the elastic potential energy of the compression bellows of the bellows by means of the compression bellows of the bellows, and stores the potential energy and releases the potential energy when necessary. The structure is simple, and the cost is low.
The active pressure compensating subsystem 115 is a bellows structure, one end of which is fixedly connected to the housing of the small arm assembly 112, and the other end of which is rotatably connected to the terminal assembly 120 and can move linearly with the terminal assembly 120.
The rotational connections between the base assembly 105, the large arm assembly 111, the small arm assembly 112, and the housing of the tip assembly 120, and the rotational connections between the active pressure replenishment subsystem 115 and the tip assembly 120 are all rotationally and dynamically sealed by the rotary seal subsystem 116. The rotary seal subsystem 116 may employ labyrinth seals.
The outside of the manipulator has a great amount of combustible materials such as explosive dust, gas and the like with high concentration, and the combustible materials attempt to enter the inside of the manipulator according to the diffusion theory, while the rotary sealing subsystem 116 is selected as an entrance door, and the combustible materials such as explosive dust, gas and the like are prevented from entering due to the rotary sealing subsystem 116 of the invention. Due to the structural particularity of the invention, even if a heat source (open fire or high temperature) exists in the electric part in the manipulator, dust cannot explode, so that the manipulator is safe and reliable.
The small arm assembly 112 is provided with a protrusion 114 for accommodating the linear travel of the tip assembly 120, and the protrusion 114 accommodates any spatial movement of the tip assembly 120 without interference.
The robot further includes a control system 101 for controlling the rotation of the joints of the robot and the telescoping movement of the end assembly 120. The control system 101 includes an explosion-proof type electrical cabinet and an explosion-proof cable 102, the explosion-proof type electrical cabinet being connected with the base assembly 105 through the explosion-proof cable 102.
The large arm assembly 111 and the small arm assembly 112 may perform an infinite rotation motion, and the tip assembly 120 may perform an elevating motion, an infinite rotation motion, or a screw motion.
Two motors are arranged in the base component 105, wherein one motor transmits the motion to a spline nut on the ball spline rod 113 through transmission mechanisms such as a synchronous belt, a bearing, a synchronous pulley and the like in the large arm and the small arm, so that the horizontal rotation motion of the tail end component 120 is realized. The other motor transmits the motion to a lead screw nut on the ball spline rod 113 through a transmission mechanism such as a synchronous belt, a bearing, a synchronous pulley and the like in the large arm and the small arm. Effecting up and down movement of the tip assembly 120. When both motors are simultaneously operated, a helical motion of the tip assembly 120 is achieved.
The working principle of the invention is as follows:
the base assembly 105, the large arm assembly 111, the small arm assembly 112, the end assembly 120 and the active pressure supplementing subsystem 115 form a pressure changing area 117, and the dust environment normal pressure area 118 is arranged outside the base assembly 105, the large arm assembly 111, the small arm assembly 112, the end assembly 120 and the active pressure supplementing subsystem 115. The dust environment atmospheric region 118 is a working region and may contain combustible substances such as flammable and explosive dust, gas and the like. When the end assembly 120 moves downward (i.e., an extension movement), the active pressure compensating subsystem 115 expands in volume, and the pressure changing area 117 draws clean air containing combustible materials such as flammable and explosive dust, gas and the like from the clean environment normal pressure area 119 through the passive air compensating system 107. When the tip assembly 120 moves upward (i.e., a retracting motion), the active pressure compensation subsystem 115 retracts and compresses the air, which is forced into the pneumatic accumulator 110 by the passive air compensation system 107 closing the pneumatic circuit. The gas compression energy stored in the gas pressure accumulator 110 is converted into elastic potential energy. When the air pressure accumulator 110 slowly releases the compressed air, the combustible materials such as dust, gas and the like which are combustible and explosive are blown out of the rotary sealing subsystem 116. The above work is far from the breathing principle similar to the sealing failure, but the failure principle is converted into the protection principle, and clean air is sucked and simultaneously impurity air containing dust in the variable pressure area 117 is ejected. Because the passive pressure maintaining subsystem can enable the active pressure supplementing subsystem 115 to select a smaller model, the adjustable pressure stabilizing valve 109 can compensate the anisotropy of the mass production of the manipulator adapting to the dust environment.
The invention only consumes energy at the moment when the manipulator acts, but does not consume energy when the machine does not act, and automatically discharges dust through the action similar to breathing, thereby achieving the purpose that the manipulator adapts to dusty environment.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (10)
1. A manipulator adapting to a dust environment is characterized by comprising a base assembly (105), a large arm assembly (111), a small arm assembly (112), a tail end assembly (120), an active pressure supplementing subsystem (115), a passive air supplementing system (107) and a passive pressure maintaining subsystem, wherein the base assembly (105), the large arm assembly (111), the small arm assembly (112) and the tail end assembly (120) are sequentially connected in a rotating mode, the tail end assembly (120) is telescopic, one end of the active pressure supplementing subsystem (115) is connected with the small arm assembly (112) in a static sealing mode, the other end of the active pressure supplementing subsystem (115) is connected with the tail end assembly (120) in a rotating mode and can be kept in the axial direction of the tail end assembly (120) to follow the tail end assembly (120) passively, inner cavities of the base assembly (105), the large arm assembly (111), the small arm assembly (112), the tail end assembly (120) and the active pressure supplementing subsystem (115) are sequentially communicated to form a, the passive air supply system (107) and the passive pressure maintaining subsystem are both communicated with a pressure changing area (117); when the tail end assembly (120) extends out and drives the active pressure supplementing subsystem (115) to expand, the pressure changing area (117) sucks clean air through the passive air supplementing system (107); when the terminal component (120) drives the active pressure-supplementing subsystem (115) to contract, the gas in the pressure-changing area (117) is exhausted through the passive pressure-maintaining subsystem.
2. A dust environment robot as claimed in claim 1, wherein said passive air supply system (107) comprises a one-way valve, an air pipe a (106) and an air pipe b (108), wherein the air inlet of the one-way valve is connected to the clean environment normal pressure area (119) through the air pipe b (108), and the air outlet of the one-way valve is connected to the pressure changing area (117) in the base assembly (105) through the air pipe a (106).
3. The dust environment robot of claim 1, wherein the passive pressure maintaining subsystem comprises a pneumatic accumulator (110) and an adjustable pressure maintaining valve (109), the pneumatic accumulator (110) is communicated with a pressure changing area (117) in the base assembly (105) through a pipeline, and the adjustable pressure maintaining valve (109) is arranged on the top of the pneumatic accumulator (110).
4. A dust environment robot as claimed in claim 3, wherein said pneumatic accumulator (110) is of bellows structure.
5. The dust environment adaptive manipulator according to claim 1, wherein the active pressure compensating subsystem (115) is a bellows structure, one end of which is fixedly connected with the housing of the small arm assembly (112), and the other end of which is rotatably connected with the end assembly (120).
6. The dust environment robot of claim 5, wherein the rotational joints between the base assembly (105), the large arm assembly (111), the small arm assembly (112), and the housing of the end assembly (120), and the rotational joints between the active pressure compensating subsystem (115) and the end assembly (120) are all rotationally and dynamically sealed by a rotary sealing subsystem (116).
7. The robot hand adapted to a dusty environment of claim 1, wherein the small arm assembly (112) is provided with a protrusion (114) for accommodating a linear stroke of the tip assembly (120).
8. The dust environment robot of claim 1, further comprising a control system (101) for controlling the rotation of the joints of the robot and the telescopic movement of the tip assembly (120).
9. The dust environment robot of claim 8, wherein the control system (101) comprises an explosion-proof electric cabinet and an explosion-proof cable (102), and the explosion-proof electric cabinet is connected with the base assembly (105) through the explosion-proof cable (102).
10. The dust environment robot of claim 1, wherein the large arm assembly (111) and the small arm assembly (112) are capable of infinite rotation, and the tip assembly (120) is capable of elevation, infinite rotation or screw motion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710311415.4A CN108789489B (en) | 2017-05-05 | 2017-05-05 | Mechanical arm adaptive to dust environment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710311415.4A CN108789489B (en) | 2017-05-05 | 2017-05-05 | Mechanical arm adaptive to dust environment |
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| Publication Number | Publication Date |
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| CN108789489A CN108789489A (en) | 2018-11-13 |
| CN108789489B true CN108789489B (en) | 2021-01-22 |
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| JP2002031105A (en) * | 2000-07-14 | 2002-01-31 | Pascal Kk | Work support |
| CN101618551A (en) * | 2009-07-17 | 2010-01-06 | 清华大学 | System and method of positive-pressure explosion protection for robot |
| CN102079094A (en) * | 2009-11-26 | 2011-06-01 | 鸿富锦精密工业（深圳）有限公司 | Robot structure |
| CN202486569U (en) * | 2012-03-20 | 2012-10-10 | 昆山华恒焊接股份有限公司 | Explosion-proof device for spraying robot |
| CN103302672A (en) * | 2012-03-16 | 2013-09-18 | 鸿富锦精密工业（深圳）有限公司 | Anti-explosion robot |
| CN105216012A (en) * | 2015-11-04 | 2016-01-06 | 浙江钱江摩托股份有限公司 | Dust explosion protection structure in a kind of robot manipulating task system |
-
2017
- 2017-05-05 CN CN201710311415.4A patent/CN108789489B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002031105A (en) * | 2000-07-14 | 2002-01-31 | Pascal Kk | Work support |
| CN101618551A (en) * | 2009-07-17 | 2010-01-06 | 清华大学 | System and method of positive-pressure explosion protection for robot |
| CN102079094A (en) * | 2009-11-26 | 2011-06-01 | 鸿富锦精密工业（深圳）有限公司 | Robot structure |
| CN103302672A (en) * | 2012-03-16 | 2013-09-18 | 鸿富锦精密工业（深圳）有限公司 | Anti-explosion robot |
| CN202486569U (en) * | 2012-03-20 | 2012-10-10 | 昆山华恒焊接股份有限公司 | Explosion-proof device for spraying robot |
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| CN108789489A (en) | 2018-11-13 |
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