A kind of manipulator adapting to dust atmosphereTechnical field
The present invention relates to a kind of manipulator, more particularly to a kind of manipulator adapting to dust atmosphere.
Background technology
Horizontal articulated robot, Chinese translation：Selection compliance puts together machines arm.There are four axis and four movements for toolDegree of freedom：X, Y, the translational degree of freedom of Z-direction and rotational freedom about the z axis.There is biddability on X, Y-direction, and in Z axisThere is good rigidity, large arm and forearm are concatenated two rod structures, and the arm of similar people can put in limited sky on directionBetween middle carry out operation, then withdraw.Basic configuration is four pedestal, large arm, forearm and terminal link parts.
Current dust-control method is with the sealing structure containing felt, is pressurized enclosure (ventilation, Puffer-type), in equipmentIt is passed through the fresh air or inert gas of certain pressure in shell, prevents the imflammable gas of surrounding from entering enclosure,To prevent ignition source from contacting with explosive gas, achieve the purpose that prevent explosion.Commonly use the explosion-proof principle of explosion-proof type -- justDifferent explosion precautions may be used according to the three elements of burning and explosion in die mould, and electrical equipment is avoided to become ignition source.Positive pressureThe key of type electrical equipment is that the pressure of device housings interior protective gas is higher than the pressure at least 50Pa of environment.Therefore, ifStandby to need to configure air blower, pipeline and air pressure relay etc., it is generally used for high capacity motor and control switchgear, and structureComplexity, it is of high cost.
Invention content
In view of the above-mentioned problems, the purpose of the present invention is to provide a kind of manipulators adapting to dust atmosphere, only in machineryManually as at the time of consume energy, and in the case where machinery is failure to actuate, positive pressure maintenance does not consume energy, by being similar to breathingEffect, automatic dust discharge, so achieve the purpose that manipulator adapt to dirty environment.
To achieve the goals above, the present invention uses following technical characteristic：
A kind of manipulator adapting to dust atmosphere, including base assembly, big arm component, small arm component, connector assembly, activeFtercompction subsystem, passive air compensating system and passive pressurize subsystem, wherein base assembly, big arm component, small arm component and endComponent is rotatablely connected successively and the connector assembly is scalable, and one end of the active ftercompction subsystem and small arm component are staticIt is tightly connected, the other end is rotatably connected with connector assembly and is positively retained on the axis direction of connector assembly and connector assembly quiltIt is dynamic servo-actuated, the base assembly, big arm component, small arm component, connector assembly and active ftercompction subsystem inner cavity be sequentially communicatedAllobar is formed, the passive air compensating system and the passive pressurize subsystem are connected to allobar；The connector assembly is stretchedWhen going out and the active ftercompction subsystem being driven to expand, the allobar draws cleaned air by passive air compensating system；It is describedWhen connector assembly drives active ftercompction subsystem to shrink, the gas in the allobar is arranged by the passive pressurize subsystemGo out.
The passive air compensating system includes check valve, tracheae a and tracheae b, wherein the air inlet of check valve by tracheae b withClean environment atmospheric area is connected to, and the gas outlet of the check valve is connected by tracheae a and the allobar in the base assemblyIt is logical.
The passive pressurize subsystem includes air pressure accumulator and adjustable pressure maintaining valve, and the air pressure accumulator passes through pipelineIt is connected to the allobar in the base assembly, the adjustable pressure maintaining valve is set to the top of the air pressure accumulator.
The air pressure accumulator is bellows structure.
The active ftercompction subsystem is bellows structure, and one end and the shell of the small arm component are connected, the other endIt is rotatablely connected with the connector assembly.
It is at rotation connection between the base assembly, big arm component, small arm component and the shell of connector assembly and describedRotation dynamic is carried out by rotatory sealing subsystem at rotation connection between active ftercompction subsystem and the connector assemblySealing.
The small arm component is equipped with the protrusion for accommodating the connector assembly rectilinear path.
The manipulator further comprises that control system, the control system are used to control turning for each joint of the manipulatorThe stretching motion of the dynamic and described connector assembly.
The control system includes explosion-proof type Electric Appliance Cabinet and anti-explosion cable, the explosion-proof type Electric Appliance Cabinet by anti-explosion cable withThe base assembly connection.
The big arm component and small arm component can carry out unlimited rotary movement, the connector assembly can carry out elevating movement,Unlimited rotary moves or screw.
Advantages of the present invention and advantageous effect are：
1. compared to the prior art, moving link movement inertia of the invention is smaller, such servo regenerates resistance consumption work(Rate is smaller, more energy saving.
2. manipulator provided by the invention is smaller to the impact vibration of installation foundation during braking.
3. the present invention is without pressure duct, securely and reliably.
4. the present invention only consumes energy in robot movement, positive pressure is not consumed under manipulator not motion conditionsEnergy, energy conservation and environmental protection.
Description of the drawings
Fig. 1 is the structural diagram of the present invention.
Wherein：101 systems in order to control, 102 be anti-explosion cable, and 103 be inner vent hole, and 104 call cover together for static seal, 105It is tracheae a for base assembly, 106,107 be passive air compensating system, and 108 be tracheae b, and 109 be adjustable pressure maintaining valve, and 110 be gasAccumulator is pressed, 111 be big arm component, and 112 be small arm component, and 113 be ball spline bar, and 114 be protrusion, and 115 is activelyFtercompction subsystem, 116 be rotatory sealing subsystem, and 117 be allobar, and 118 be dust atmosphere atmospheric area, and 119 be clean environmentAtmospheric area, 120 be connector assembly.
Specific implementation mode
To make the objectives, technical solutions, and advantages of the present invention clearer, right in the following with reference to the drawings and specific embodimentsThe present invention is described in detail.
As shown in Figure 1, a kind of manipulator adapting to dust atmosphere provided by the invention, including base assembly 105, large arm groupPart 111, small arm component 112, connector assembly 120, active ftercompction subsystem 115, passive air compensating system 107 and passive pressurize subsystemSystem, wherein base assembly 105, big arm component 111, small arm component 112 and connector assembly 120 are rotatablely connected successively and end groupPart 120 is scalable, and one end of active ftercompction subsystem 115 is connect with 112 static sealing of small arm component, the other end and connector assembly120 are rotatably connected and are positively retained on the axis direction of connector assembly 120 is passively servo-actuated with connector assembly 120, may remain inIn the case that connector assembly 120 moves in a straight line, change the variation of 120 internal pressure of small arm component.Base assembly 105, large armComponent 111, small arm component 112, connector assembly 120 and active ftercompction subsystem 115 inner cavity be sequentially communicated to form allobar117, passive air compensating system 107 and passive pressurize subsystem are connected to allobar 117；Connector assembly 120 stretches out and drives masterWhen dynamic ftercompction 115 volume expanded of subsystem, allobar 117 draws cleaned air by passive air compensating system 107；Connector assemblyWhen 120 drive active ftercompction subsystems 115 are shunk, the gas in allobar 117 passes through the passive pressurize subsystem and is discharged.
Passive air compensating system 107 includes check valve, tracheae a106 and tracheae b108, and the air inlet of wherein check valve passes through gasPipe b108 is connected to clean environment atmospheric area 119, and the gas outlet of check valve is by tracheae a106 and in base assembly 105Allobar 117 is connected to.
The passive pressurize subsystem includes air pressure accumulator 110 and adjustable pressure maintaining valve 109, and air pressure accumulator 110 is logicalIt crosses pipeline to be connected to the allobar 117 in base assembly 105, adjustable pressure maintaining valve 109 is set to air pressure accumulator 110Top.
When active ftercompction 115 volume expanded of subsystem, check valve is opened, and allobar 117 is drawn clean empty by check valveGas；When connector assembly 120 drives active ftercompction subsystem 115 to shrink, closed check valve, the gas in allobar 117 enters gasIt presses in accumulator 110.
Further, air pressure accumulator 110 is bellows structure.Air pressure accumulator 110 relies on the compresses bellows of bellowsThe compresses bellows elastic potential energy that overpressure in gas system can be converted into bellows stores, and is released when needingIt goes.Its is simple in structure, and cost is relatively low.
Active ftercompction subsystem 115 is bellows structure, and the shell of one end and small arm component 112 is connected, the other end withConnector assembly 120 is rotatablely connected and can be for linear motion with connector assembly 120.
Rotation connection between base assembly 105, big arm component 111, small arm component 112 and the shell of connector assembly 120It is carried out by rotatory sealing subsystem 116 at rotation connection between place and active ftercompction subsystem 115 and connector assembly 120Rotate dynamic sealing.Labyrinth seal can be used in rotatory sealing subsystem 116.
There are the combustibles such as explosive dust, the gas of a large amount of high concentrations in the outside of manipulator, according to diffusion theory, it is intended toInto the inside of manipulator, and it is the portal entered to select rotatory sealing subsystem 116, formally due to the rotatory sealing of the present inventionSubsystem 116 prevents the entrance of the combustibles such as explosive dust, gas.Due to the particularity of structure of the invention, in manipulatorEven if portion's electricity piece has heat source (open fire or high temperature), since dust is not into going, do not explode, so securely and reliably yet.
Small arm component 112 is equipped with the protrusion 114 for accommodating 120 rectilinear path of connector assembly, protrusion 114The arbitrary spatial movement of connector assembly 120 can be accommodated without interfering.
The manipulator further comprises control system 101, control system for each joint of control machinery hand rotation andThe stretching motion of connector assembly 120.Control system 101 includes explosion-proof type Electric Appliance Cabinet and anti-explosion cable 102, and explosion-proof type Electric Appliance Cabinet is logicalAnti-explosion cable 102 is crossed to connect with base assembly 105.
Big arm component 111 and small arm component 112 can carry out unlimited rotary movement, connector assembly 117 can carry out elevating movement,Unlimited rotary moves or screw.
Set in base assembly 105 there are two motor, one of motor by synchronous belt in large arm and forearm, bearing,The transmission mechanisms such as synchronous pulley transmit motion on the spline mother on ball spline bar 113, realize the level of connector assembly 120Rotary motion.Another motor is passed movement by transmission mechanisms such as synchronous belt, bearing, synchronous pulleys in large arm and forearmIt is delivered on the mother lead screw on ball spline bar 113.Realize the oscilaltion campaign of connector assembly 120.Two motors act simultaneouslyWhen, realize the screw of connector assembly 120.
The present invention operation principle be：
Base assembly 105, big arm component 111,115 shape of small arm component 112, connector assembly 120 and active ftercompction subsystemAt allobar 117, base assembly 105, big arm component 111, small arm component 112, connector assembly 120 and active ftercompction subsystem115 outside is dust atmosphere atmospheric area 118.Dust atmosphere atmospheric area 118 is working region, may contain inflammable and explosive powderThe combustibles such as dirt, gas.When connector assembly 120 moves downward (i.e. stretching routine), 115 volume expanded of active ftercompction subsystem,Allobar 117 is drawn from clean environment atmospheric area 119 without containing inflammable and explosive dust, gas by passive air compensating system 107The cleaned air of equal combustibles.When connector assembly 120 moves upwards (i.e. contractile motion), active ftercompction subsystem 115 is shunk simultaneouslyCompressed air, closing gas circuit due to passive air compensating system 107 causes gas to head into air pressure accumulator 110.In air pressure accumulator 110Gas compression energy storage be changed into elastic potential energy.In the case of 110 slow release compressed air of air pressure accumulator, it will purgeGo out having for rotatory sealing subsystem 116 and fires the combustibles such as explosive dust, gas.Above work is far from similar to seal failureBreathing principle, only convert failure factors to protection philosophy, while sucking clean air eject allobar 117 includeThere is the impurity air of dust.Because passive pressurize subsystem can allow the selection of active ftercompction subsystem 115 compared with ting model, it is adjusted steadyPressure valve 109 can compensate the anisotropic for adapting to the production of dust atmosphere manipulator because of batch production.
The present invention only consumes energy at the time of manipulator behavior, and in the case where machinery is failure to actuate, positive pressure maintainsEnergy is not consumed, by the effect similar to breathing, automatic dust discharge, and then achieve the purpose that manipulator adapts to dirty environment.
Mode the above is only the implementation of the present invention is not intended to limit the scope of the present invention.It is all in the present inventionSpirit and principle within any modification, equivalent replacement, improvement, extension etc., be all contained in protection scope of the present inventionIt is interior.