CN117021050B - Positive pressure composite explosion-proof robot - Google Patents
Positive pressure composite explosion-proof robot Download PDFInfo
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- CN117021050B CN117021050B CN202311302981.0A CN202311302981A CN117021050B CN 117021050 B CN117021050 B CN 117021050B CN 202311302981 A CN202311302981 A CN 202311302981A CN 117021050 B CN117021050 B CN 117021050B
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- 239000002131 composite material Substances 0.000 title claims description 17
- 238000004891 communication Methods 0.000 claims abstract description 5
- 230000002159 abnormal effect Effects 0.000 claims description 8
- 239000003638 chemical reducing agent Substances 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 6
- 238000004880 explosion Methods 0.000 claims description 6
- 238000004458 analytical method Methods 0.000 claims description 3
- 230000007613 environmental effect Effects 0.000 claims description 2
- 238000003825 pressing Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 3
- 150000001875 compounds Chemical class 0.000 abstract 1
- 238000004519 manufacturing process Methods 0.000 description 6
- 239000000463 material Substances 0.000 description 4
- 229910000831 Steel Inorganic materials 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000002360 explosive Substances 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 231100001261 hazardous Toxicity 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 238000013024 troubleshooting Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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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
- B25J19/06—Safety devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The application discloses compound explosion-proof robot of malleation includes: the automatic guided vehicle comprises an AGV body, a robot arm, an air pump, an air control unit and an air pipe; the top surface of the AGV body is provided with a robot arm, a first positive pressure cavity is arranged in the AGV body, a second positive pressure cavity is arranged in the robot arm, and the first positive pressure cavity is communicated with the second positive pressure cavity; an air pump is arranged on the AGV body and is in communication connection with the pneumatic control unit, the air pump is connected with an air pipe, the air pipe extends to the first positive pressure cavity and the second positive pressure cavity to form a first air passage and a second air passage, and the first air passage and the second air passage form a positive pressure circulation loop. The explosion-proof device not only effectively improves the explosion-proof effect, but also has compact and simple integral structure and no redundancy.
Description
Technical Field
The application relates to the technical field of industrial automation, in particular to a positive pressure composite explosion-proof robot.
Background
Explosion-proof AGV (Automated Guided Vehicle, automatic guided vehicle), adopt explosion-proof design and special material generally, be the transportation equipment of an autopilot, possess bearing capacity and navigation ability, can accomplish tasks such as transport, transportation and stacking of material automatically according to preset route or instruction, can be connected with warehouse management system or production line control system even, realize intelligent dispatch and coordinate, improve production efficiency to and realize substituting artifical transport in dangerous environment, reduce the risk of workman's contact dangerous material.
The explosion-proof robot is intelligent industrial equipment capable of executing various tasks in dangerous environments, has explosion-proof capacity and a protective shell, can bear high temperature and explosion risks, can carry various sensors and tools, can execute tasks such as patrol, investigation, rescue and the like, and reduces the risk of personnel exposure in dangerous environments.
The explosion-proof robot combines together with explosion-proof AGV, can realize the automation and the intellectuality of a plurality of tasks such as material transportation, equipment operation and trouble shooting under the hazardous environment, improves the security and the efficiency of production line by a wide margin. In addition, their operation can be controlled by remote operation or centralized monitoring, reducing the risk of injury to personnel, and providing a more reliable workflow. At present, the technical form of carrying an explosion-proof robot for operation by an explosion-proof AGV is widely applied in the spraying industry.
However, in practice, it is found that the explosion-proof robot and the explosion-proof AGV in the prior art are simply combined, and in particular, the explosion-proof robot and the explosion-proof AGV respectively adopt independent explosion-proof modes, so that the problems of complexity and heaviness, redundancy of components, huge volume, difficult maintenance and the like of the whole equipment are caused.
Meanwhile, due to the combination mode of the explosion-proof robot and the explosion-proof AGV in the prior art, an inverter is required to be externally configured, and the volume of the whole equipment and the manufacturing and maintenance cost are further increased.
Disclosure of Invention
In view of the above, an object of the present application is to provide a positive pressure composite explosion-proof robot to solve the above problems.
In order to achieve the above object, an embodiment of the present application provides a positive pressure composite explosion-proof robot, which is improved by including: the automatic guided vehicle comprises an AGV body, a robot arm, an air pump, an air control unit and an air pipe;
the automatic guided vehicle comprises an AGV body, wherein a robot arm is arranged on the top surface of the AGV body, a first positive pressure cavity is arranged in the AGV body, a second positive pressure cavity is arranged in the robot arm, and the first positive pressure cavity is communicated with the second positive pressure cavity;
the AGV body is provided with the air pump, the air pump is in communication connection with the pneumatic control unit, the air pump is connected with the air pipe, the air pipe extends to the first positive pressure cavity and the second positive pressure cavity to form a first air path and a second air path, and the first air path and the second air path form a positive pressure circulation loop.
Further, a branch pipeline is arranged on the second gas path, and the branch pipeline extends to the first positive pressure cavity.
Further, an electric control cabinet is arranged on the AGV body, and an electric loop module and an inverter are arranged in the electric control cabinet;
the electric loop module input is used for connecting external power supply, electric loop module output is connected the dc-to-ac converter input, the dc-to-ac converter output is connected the power consumption unit of robot arm, and the power consumption unit of AGV automobile body.
Further, a manual charging interface is arranged on one side of the electric control cabinet and is connected with the electric loop module; and one side of the electric control cabinet is also provided with a charging brush, and the charging brush is connected with the electric loop module.
Further, a driver, a motor and a speed reducer are arranged in the electric control cabinet, and the driver, the motor and the speed reducer are integrated into a whole to form a driving unit.
Further, the driving unit is arranged in the sealed box body, and the box body is communicated with the first positive pressure cavity.
Further, the traveling part is arranged on the bottom surface of the AGV body and is connected with the driving unit, and 4 Mecanum wheels are adopted for the traveling part.
Further, the pneumatic control unit is connected with the safety detection module, the safety detection module monitors the equipment state and the concentration of the environmental gas in real time, analyzes the monitored data, and adjusts the air pressure according to the abnormal condition when the analysis result is abnormal.
Further, a laser navigation sensor, an indicator light and an emergency stop button are arranged on the AGV body;
the laser navigation sensor scans and measures distance to a target object through a laser beam, and then a map is constructed to realize navigation;
the indicator light is connected with the laser navigation sensor, and sends out a bright alarm prompt when an obstacle appears in navigation;
the emergency stop button is connected with the electric control cabinet and is used for receiving the pressing signal so as to control the AGV body to stop when the power is off.
Further, the AGV body edge sets up and touches the limit.
Compared with the prior art, the positive pressure composite explosion-proof robot has the following advantages:
this application is through the second malleation chamber intercommunication in first malleation chamber and the robot arm in with the AGV automobile body, the constitution robot arm and AGV automobile body integral type, holistic malleation explosion-proof circuit for whole equipment all belongs to malleation explosion-proof, consequently, can keep the atmospheric pressure of malleation circuit to be higher than external environment, effectively prevent in the external inflammable and explosive gas entering return circuit, and then effectively improved explosion-proof effect.
This application is owing to combine robot arm and AGV automobile body, and not with the simple combination of robot and AGV automobile body, consequently, effectively utilized the advantage of robot arm and AGV for equipment overall structure is compact, retrench, redundancy-free, provides more high-efficient, safer scheme for industrial intelligent production.
Drawings
Fig. 1 is an isometric view of a positive pressure composite explosion-proof robot provided in an embodiment of the present application;
FIG. 2 is a schematic view of the first gas path of FIG. 1 (the direction of the arrow represents the path direction);
FIG. 3 is a schematic view of the second gas circuit of FIG. 1 (the direction of the arrow represents the direction of the gas circuit);
FIG. 4 is a schematic diagram of the gas tube and inverter of FIG. 1;
FIG. 5 is a left side view of a positive pressure composite explosion-proof robot provided by an embodiment of the present application;
fig. 6 is a schematic diagram of the driving unit in fig. 1.
Wherein, the part reference numerals are:
1: AGV automobile body, 2: robot arm, 3: air pump, 4: pneumatic control unit, 5: an air pipe;
11: electric control cabinet, 12: inverter, 13: manual charging interface, 14: charging brush, 15: laser navigation sensor, 16: indicator lamp, 17: scram button, 18: edge touching;
111: driver, 112: motor, 113: a speed reducer.
Detailed Description
The technical solutions of the present application will be clearly and completely described below in conjunction with specific embodiments, but it should be understood by those skilled in the art that the embodiments described below are only for illustrating the present application and should not be construed as limiting the scope of the present application. All other embodiments, based on the embodiments herein, which would be apparent to one of ordinary skill in the art without undue burden are within the scope of the present application.
As shown in fig. 1, a positive pressure composite explosion-proof robot provided in an embodiment of the present application includes: the automatic guided vehicle comprises an AGV body 1, a robot arm 2, an air pump 3, an air control unit 4 and an air pipe 5;
the top surface of the AGV body 1 is provided with a robot arm 2, a first positive pressure cavity is arranged in the AGV body 1, a second positive pressure cavity is arranged in the robot arm 2, and the first positive pressure cavity is communicated with the second positive pressure cavity;
the AGV body 1 is provided with the air pump 3, the air pump 3 is in communication connection with the pneumatic control unit 4, the air pump 3 is connected with the air pipe 5, the air pipe 5 extends to the first positive pressure cavity and the second positive pressure cavity to form a first air passage and a second air passage, the first air passage and the second air passage form a positive pressure circulation loop, and the integrated positive pressure explosion-proof gas control of the AGV body 1 and the robot arm 2 is realized.
When in specific use, the air pump 3 provides an air source according to the control instruction of the air control unit 4, and the air source fills the first positive pressure cavity with positive pressure air through a first air path (shown in fig. 2), namely: the air pressure is increased for the AGV body 1, harmful gas is prevented from entering the interior of the body, explosion risk is reduced, and safety in the operation process is ensured;
the air source fills the second positive pressure cavity with positive pressure air through a second air path (shown in fig. 3), namely: the air pressure is increased for the robot arm 2, harmful gas is prevented from entering the inside of the robot arm 2, explosion risk is reduced, and safety in the operation process is ensured.
Wherein, AGV automobile body 1 adopts steel construction full-weld to form, and skeleton portion adopts square steel welding, guarantees the leakproofness when being connected with the outside, all adopts gram head to be connected with external connection trompil part to ensure that AGV automobile body 1 is whole to be sealed, and then for the positive pressure provides closed cavity.
It is seen that through the second malleation chamber intercommunication in first malleation chamber and the robot arm 2 in with the AGV automobile body 1, the constitution robot arm 2 and AGV automobile body 1 integral type, holistic malleation explosion-proof circuit for whole equipment all belongs to malleation explosion-proof, consequently, can keep the atmospheric pressure in malleation circuit to be higher than external environment, effectively prevent in the external inflammable and explosive gas gets into the return circuit, and then effectively improved explosion-proof effect.
Meanwhile, as the robot arm 2 is combined with the AGV body 1 instead of simply combining the robot with the AGV body 1, the advantages of the robot arm 2 and the AGV are effectively utilized, the whole structure of the device is compact, simplified and free of redundancy, and a more efficient and safer scheme is provided for industrial intelligent production.
In some embodiments, a branch pipe is disposed on the second air path, and the branch pipe extends to the first positive pressure cavity, so as to complete the supplement of the partial positive pressure air of the AGV body 1 through the branch pipe.
In some embodiments, as shown in fig. 4, an electric control cabinet 11 is arranged on the AGV car body 1, and an electric loop module and an inverter 12 are arranged in the electric control cabinet 11;
the input end of the electric loop module is used for being connected with an external power supply, the output end of the electric loop module is connected with the input end of the inverter 12, and the output end of the inverter 12 is connected with the power utilization unit of the robot arm 2 and the power utilization unit of the AGV body 1.
When the AGV power supply is specifically used, the electric loop module is connected with an external power supply, and outputs a 96V direct current power supply to the inverter 12, and the power supply is supplied to the power utilization unit of the robot arm 2 and the power utilization unit of the AGV body 1 through the inverter 12.
Obviously, through combining the electrical control of the robot arm 2 and the electrical control of the AGV into a whole, the integrated electric control cabinet 11 is constructed, so that the redundancy of electrical elements caused by the simple combination of the explosion-proof robot and the explosion-proof AGV is avoided, the space of the whole equipment is saved, and the workload of electric control personnel is reduced.
Meanwhile, as the inverter 12 is arranged in the electric control cabinet 11, compared with a direct combination (explosion-proof robot+explosion-proof AGV) mode, the external space is saved, the appearance of the whole equipment is tidy, and the inverter 12 can be customized individually, so that the size of the inverter 12 can be further reduced, and the suitability is improved.
In this embodiment, as shown in fig. 5, a manual charging interface 13 is disposed on one side of the electric control cabinet 11, and the manual charging interface 13 is connected with the electric circuit module so as to facilitate manual charging.
One side of the electric control cabinet 11 is also provided with a charging brush 14, and the charging brush 14 is connected with an electric loop module.
In some embodiments, as shown in fig. 6, a driver 111, a motor 112 and a speed reducer 113 are disposed in the electric control cabinet 11, and the driver 111, the motor 112 and the speed reducer 113 are integrated into a whole to form a driving unit.
Obviously, due to the integrated design of the driver 111, the motor 112 and the speed reducer 113, the wiring length and the wiring difficulty are reduced, and the electric control cabinet 11 is simplified.
In this embodiment, the driving unit is disposed in the sealed box, and the box is communicated with the first positive pressure cavity, so as to provide positive pressure explosion protection for the driving unit.
In some embodiments, the bottom surface of the AGV body 1 is provided with a walking part, and the walking part is connected with a driving unit, wherein the walking part can adopt 4 Mecanum wheels to realize 360-degree accurate walking, and the positioning accuracy is +/-5 mm.
In some embodiments, the air control unit 4 is connected to a safety detection module, where the safety detection module monitors the device status and the concentration of the ambient gas in real time, analyzes the monitored data, and when the analysis result is abnormal, the air control unit 4 adjusts the air pressure according to the abnormal situation to prevent accidents, for example:
when the increase of the pressure of the ambient gas is monitored and reaches a preset value, an abnormal signal is sent to the pneumatic control unit 4, and the pneumatic control unit 4 controls the air pump 3 to provide an air source according to the abnormal signal so as to dynamically increase the air pressure in the first positive pressure cavity and the second positive pressure cavity.
Obviously, through the arrangement, potential safety hazards can be found and eliminated in time.
In some embodiments, a laser navigation sensor 15 is arranged on the AGV body 1, and the laser navigation sensor 15 scans and measures distance to a target object through a laser beam, so that a map is built, and navigation is realized.
In the embodiment, an indicator lamp 16 and an emergency stop button 17 are further arranged on the AGV body 1, the indicator lamp 16 is connected with the laser navigation sensor 15, and a bright light alarm prompt is sent out when an obstacle appears in navigation;
the emergency stop button 17 is connected with the electric control cabinet 11, and when a user captures a bright alarm prompt, the emergency stop button 17 is pressed to control the vehicle body to stop in a power-off mode.
In some embodiments, the edges of the AGV body 1 are provided with a strike 18 to provide protection to the body.
While the application has been described in detail with respect to the general description and specific embodiments thereof, it will be apparent to those skilled in the art that certain modifications and improvements may be made thereto based upon the application. Accordingly, such modifications or improvements may be made without departing from the spirit of the application and are intended to be within the scope of the invention as claimed.
Claims (8)
1. The utility model provides a positive pressure composite explosion-proof robot which characterized in that includes: the automatic guided vehicle comprises an AGV body, a robot arm, an air pump, an air control unit and an air pipe;
the automatic guided vehicle comprises an AGV body, wherein a robot arm is arranged on the top surface of the AGV body, a first positive pressure cavity is arranged in the AGV body, a second positive pressure cavity is arranged in the robot arm, and the first positive pressure cavity is communicated with the second positive pressure cavity;
the AGV body is provided with the air pump which is in communication connection with the pneumatic control unit, the air pump is connected with the air pipe, the air pipe extends to the first positive pressure cavity and the second positive pressure cavity to form a first air path and a second air path, and the first air path and the second air path form a positive pressure circulation loop;
a branch pipeline is arranged on the second gas circuit, and extends to the first positive pressure cavity;
an electric control cabinet is arranged on the AGV body, and an electric loop module and an inverter are arranged in the electric control cabinet;
the electric loop module input is used for connecting external power supply, electric loop module output is connected the dc-to-ac converter input, the dc-to-ac converter output is connected the power consumption unit of robot arm, and the power consumption unit of AGV automobile body.
2. The positive pressure composite explosion-proof robot according to claim 1, wherein a manual charging interface is arranged on one side of the electric control cabinet and is connected with the electric loop module; and one side of the electric control cabinet is also provided with a charging brush, and the charging brush is connected with the electric loop module.
3. The positive pressure composite explosion-proof robot according to claim 1, wherein a driver, a motor and a speed reducer are arranged in the electric control cabinet, and the driver, the motor and the speed reducer are integrated into a whole to form a driving unit.
4. A positive pressure composite explosion proof robot according to claim 3, wherein the drive unit is disposed within a sealed housing, the housing being in communication with the first positive pressure chamber.
5. The positive pressure composite explosion-proof robot according to claim 3, wherein a traveling part is arranged on the bottom surface of the AGV body and is connected with the driving unit, and 4 Mecanum wheels are adopted for the traveling part.
6. The positive pressure composite explosion-proof robot according to claim 1, wherein the pneumatic control unit is connected with the safety detection module, the safety detection module monitors the equipment state and the concentration of the environmental gas in real time and analyzes the monitored data, and when the analysis result is abnormal, the pneumatic control unit adjusts the air pressure according to the abnormal condition.
7. The positive pressure composite explosion-proof robot of claim 1, wherein a laser navigation sensor, an indicator light and an emergency stop button are arranged on the AGV body;
the laser navigation sensor scans and measures distance to a target object through a laser beam, and then a map is constructed to realize navigation;
the indicator light is connected with the laser navigation sensor, and sends out a bright alarm prompt when an obstacle appears in navigation;
the emergency stop button is connected with the electric control cabinet and is used for receiving the pressing signal so as to control the AGV body to stop when the power is off.
8. The positive pressure composite explosion proof robot of claim 1, wherein the AGV body edge is provided with a touch edge.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311302981.0A CN117021050B (en) | 2023-10-10 | 2023-10-10 | Positive pressure composite explosion-proof robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311302981.0A CN117021050B (en) | 2023-10-10 | 2023-10-10 | Positive pressure composite explosion-proof robot |
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| Publication Number | Publication Date |
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| CN117021050A CN117021050A (en) | 2023-11-10 |
| CN117021050B true CN117021050B (en) | 2024-04-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202311302981.0A Active CN117021050B (en) | 2023-10-10 | 2023-10-10 | Positive pressure composite explosion-proof robot |
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| CN118372270B (en) * | 2024-06-24 | 2024-08-27 | 洛阳千歌机器人科技有限公司 | Intelligent control method for positive pressure type explosion-proof robot |
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- 2023-10-10 CN CN202311302981.0A patent/CN117021050B/en active Active
Patent Citations (8)
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| WO2021196529A1 (en) * | 2020-04-02 | 2021-10-07 | 同济人工智能研究院(苏州)有限公司 | Air-ground cooperative intelligent inspection robot and inspection method |
| CN112696612A (en) * | 2021-01-07 | 2021-04-23 | 湖南军成科技有限公司 | Positive pressure explosion-proof system |
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| CN117021050A (en) | 2023-11-10 |
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