阅读说明：本技术 一种用于正压防爆自动化搬运系统的控制方法 (Control method for positive-pressure explosion-proof automatic handling system ) 是由 刘军 于 2021-01-07 设计创作，主要内容包括：本发明公开了一种用于正压防爆自动化搬运系统的控制方法,包括以下步骤：换气阶段：通过正压系统向搬运系统的正压腔体直接式输入气体至换气倒计时结束,替换正压腔体中的气体,使正压腔体中存在的可燃性粉尘或气体排出；充气阶段：换气阶段结束后,通过正压系统向正压腔体持续直接式输入气体,使正压腔体内压力增大；运行阶段：当充气阶段完成后,正压系统向正压腔体持续输入小流量气体,此时对正压腔体内压力值进行检测,并根据检测结果判定搬运系统是否可以进行工作。本发明的控制方法能实时监测机器人本体及机器人控制柜内的压力,通过向机器人本体及机器人控制柜内充入洁净压缩空气,使机器人本体和控制柜形成正压,大大提高了安全性。(The invention discloses a control method for a positive pressure explosion-proof automatic handling system, which comprises the following steps: and (3) air exchange stage: directly inputting gas into a positive pressure cavity of the carrying system through the positive pressure system until the air exchange countdown is finished, and replacing the gas in the positive pressure cavity to discharge combustible dust or gas existing in the positive pressure cavity; and (3) an inflation stage: after the air exchange stage is finished, continuously and directly inputting gas into the positive pressure cavity through the positive pressure system to increase the pressure in the positive pressure cavity; and (3) an operation stage: after the inflation stage is completed, the positive pressure system continuously inputs small-flow gas into the positive pressure cavity, the pressure value in the positive pressure cavity is detected at the moment, and whether the carrying system can work or not is judged according to the detection result. The control method can monitor the pressure in the robot body and the robot control cabinet in real time, and the robot body and the robot control cabinet are positively pressurized by filling clean compressed air into the robot body and the robot control cabinet, so that the safety is greatly improved.)

1. A control method for a positive pressure explosion-proof automatic handling system is characterized by comprising the following steps:

and (3) air exchange stage: directly inputting gas into a positive pressure cavity of the carrying system through the positive pressure system until the air exchange countdown is finished, and replacing the gas in the positive pressure cavity to discharge combustible dust or gas existing in the positive pressure cavity;

and (3) an inflation stage: after the ventilation stage is finished, continuously and directly inputting gas into the positive pressure cavity through the positive pressure system to increase the pressure in the positive pressure cavity;

and (3) an operation stage: after the inflation stage is completed, the positive pressure system continuously inputs small-flow gas into the positive pressure cavity, the pressure value in the positive pressure cavity is detected at the moment, and whether the carrying system can work or not is judged according to the detection result.

2. The control method for the positive pressure explosion-proof automatic handling system according to claim 1, characterized in that: and in the air exchange stage, the gas quantity input into the positive pressure cavity of the carrying system by the positive pressure system is not less than 5 times of the volume in the positive pressure cavity.

3. The control method for the positive pressure explosion-proof automatic handling system according to claim 1, wherein the specific steps of the air exchange stage comprise:

s1, detecting the internal pressure value of the positive pressure cavity of the carrying system;

s2, if the detected pressure value in the positive pressure cavity is lower than the set lower limit of the pressure value, directly inputting gas into the positive pressure cavity through the positive pressure system, and closing an exhaust port of the positive pressure cavity;

if the detected pressure value in the positive pressure cavity is higher than the set lower limit of the pressure value, directly inputting gas into the positive pressure cavity through a positive pressure system, and opening an exhaust port of the positive pressure cavity;

and S3, starting the positive pressure system to perform air exchange countdown and enter the air exchange process, directly inputting gas into the positive pressure cavity by the positive pressure system in the air exchange process until the countdown is finished, and enabling the exhaust port of the positive pressure cavity to be in an open state.

4. The control method for the positive pressure explosion-proof automatic handling system according to claim 3, characterized in that: in S3 of the ventilation stage, if the internal pressure value of the positive pressure cavity is lower than the lower limit of the set pressure value during the ventilation process, the exhaust port of the positive pressure cavity is closed, and the positive pressure system keeps directly inputting gas into the positive pressure cavity; simultaneously starting a positive pressure system to start a 10-second buffer interval;

if the pressure value in the positive pressure cavity in the buffer interval of 10 seconds is higher than the lower limit of the set pressure value, the air exchange process is not interrupted, and the air exchange countdown continues to time;

if the pressure value in the positive pressure cavity is still lower than the lower limit of the set pressure value within the buffer interval of 10 seconds, the positive pressure system stops the air exchange process and returns to the standby state.

5. The control method for the positive pressure explosion-proof automatic handling system according to claim 3, characterized in that: in S3 of the stage of taking a breath, the pressure value in the positive pressure cavity is higher than the upper limit of the set pressure value in the process of taking a breath, the positive pressure system stops inputting gas to the positive pressure cavity directly, the exhaust port of the positive pressure cavity is opened, and the countdown of taking a breath stops, the positive pressure system sends out an alarm signal until the pressure recovers to be lower than the upper limit of the set pressure value, and the countdown of taking a breath continues to time.

6. The control method for the positive pressure explosion-proof automatic handling system according to claim 1, wherein the following judgment conditions are shared in the operation stage according to the detection result of the internal pressure value of the positive pressure cavity:

a. the internal pressure of the positive pressure cavity is between the upper limit range and the lower limit range of the set pressure value, at the moment, the positive pressure system continuously inputs small-flow gas to the positive pressure cavity, the exhaust port of the positive pressure cavity is closed, the positive pressure system alarms and is closed, and the carrying system can work;

b. when the internal pressure of the positive pressure cavity is reduced and is not lower than the set lower limit of the pressure value, the positive pressure system directly inputs gas into the positive pressure cavity, an exhaust port of the positive pressure cavity is closed, the positive pressure system alarms to be started, and the carrying system can work;

c. when the internal pressure of the positive pressure cavity is lower than the set lower limit of the pressure value, the positive pressure system directly inputs gas into the positive pressure cavity, an exhaust port of the positive pressure cavity is closed, the positive pressure system alarms to be started, and the gas enters a 10-second buffer interval;

if the internal pressure of the positive pressure cavity is higher than the lower limit of the set pressure value within the 10-second buffer interval, the carrying system continues to work;

if the internal pressure value of the positive pressure cavity is still lower than the set lower limit pressure value within the buffer interval of 10 seconds, the carrying system stops working;

d. the internal pressure of the positive pressure cavity is higher than the upper limit of the set pressure value, at the moment, the positive pressure system stops directly inputting gas into the positive pressure cavity, an exhaust port of the positive pressure cavity is opened, the positive pressure system alarms to be opened, and the carrying system can work;

e. and in the operation stage, if the internal temperature of the positive pressure cavity is higher than the upper temperature limit, the positive pressure system enters a high-temperature treatment stage, gas is directly input into the positive pressure cavity by the positive pressure system in the high-temperature treatment stage, and an exhaust port of the positive pressure cavity is opened to perform ventilation and cooling.

7. The control method for the positive pressure explosion-proof automatic handling system according to claim 1, characterized in that: the direct input gas of the positive pressure system is input gas through an electromagnetic valve, and the input low-flow gas of the positive pressure system is input gas through an overflow valve.

Technical Field

The invention relates to the field of robot control, in particular to a control method for a positive-pressure explosion-proof automatic handling system.

Background

The application of industrial robots is an important sign of the national level of industrial automation. With the rapid development of modern science and technology, industrial robots have been widely used in various fields, and in the environment of combustible dust, as the combustible dust is flammable and explosive, the combustible dust may explode when meeting sparks or reaching a certain temperature, which causes serious consequences, the general robot needs to be subjected to explosion-proof treatment to be applied in the environment of combustible dust.

The application of the explosion-proof robot can not only improve the quality and the yield of products, but also has important significance for ensuring personal safety, improving labor environment, reducing labor intensity, improving labor efficiency, saving raw material consumption and reducing production cost, and plays a positive role in promoting the development of China to intelligent industry. Therefore, the development of the positive pressure explosion-proof robot has important social benefits, economic significance and wide application prospect.

Disclosure of Invention

The invention aims to provide an automatic positive pressure control method for a positive pressure explosion-proof automatic handling system.

The technical scheme for realizing the purpose of the invention is as follows: a control method for a positive pressure explosion-proof automatic handling system comprises the following steps:

and (3) air exchange stage: directly inputting gas into a positive pressure cavity of the carrying system through the positive pressure system until the air exchange countdown is finished, and replacing the gas in the positive pressure cavity to discharge combustible dust or gas existing in the positive pressure cavity;

and (3) an inflation stage: after the ventilation stage is finished, continuously and directly inputting gas into the positive pressure cavity through the positive pressure system to increase the pressure in the positive pressure cavity;

and (3) an operation stage: after the inflation stage is completed, the positive pressure system continuously inputs small-flow gas into the positive pressure cavity, the pressure value in the positive pressure cavity is detected at the moment, and whether the carrying system can work or not is judged according to the detection result.

And in the air exchange stage, the gas quantity input into the positive pressure cavity of the carrying system by the positive pressure system is not less than 5 times of the volume in the positive pressure cavity.

The specific steps of the ventilation phase include:

s1, detecting the internal pressure value of the positive pressure cavity of the carrying system;

s2, if the detected pressure value in the positive pressure cavity is lower than the set lower limit of the pressure value, directly inputting gas into the positive pressure cavity through the positive pressure system, and closing an exhaust port of the positive pressure cavity;

if the detected pressure value in the positive pressure cavity is higher than the set lower limit of the pressure value, directly inputting gas into the positive pressure cavity through a positive pressure system, and opening an exhaust port of the positive pressure cavity;

and S3, starting the positive pressure system to perform air exchange countdown and enter the air exchange process, directly inputting gas into the positive pressure cavity by the positive pressure system in the air exchange process until the countdown is finished, and enabling the exhaust port of the positive pressure cavity to be in an open state.

In S3 of the ventilation stage, if the internal pressure value of the positive pressure cavity is lower than the lower limit of the set pressure value during the ventilation process, the exhaust port of the positive pressure cavity is closed, and the positive pressure system keeps directly inputting gas into the positive pressure cavity; simultaneously starting a positive pressure system to start a 10-second buffer interval;

if the pressure value in the positive pressure cavity in the buffer interval of 10 seconds is higher than the lower limit of the set pressure value, the air exchange process is not interrupted, and the air exchange countdown continues to time;

if the pressure value in the positive pressure cavity is still lower than the lower limit of the set pressure value within the buffer interval of 10 seconds, the positive pressure system stops the air exchange process and returns to the standby state.

In S3 of the stage of taking a breath, the pressure value in the positive pressure cavity is higher than the upper limit of the set pressure value in the process of taking a breath, the positive pressure system stops inputting gas to the positive pressure cavity directly, the exhaust port of the positive pressure cavity is opened, and the countdown of taking a breath stops, the positive pressure system sends out an alarm signal until the pressure recovers to be lower than the upper limit of the set pressure value, and the countdown of taking a breath continues to time.

In the operation stage, according to the detection result of the internal pressure value of the positive pressure cavity, the following judgment conditions are shared:

a. the internal pressure of the positive pressure cavity is between the upper limit range and the lower limit range of the set pressure value, at the moment, the positive pressure system continuously inputs small-flow gas to the positive pressure cavity, the exhaust port of the positive pressure cavity is closed, the positive pressure system alarms and is closed, and the carrying system can work;

b. when the internal pressure of the positive pressure cavity is reduced and is not lower than the set lower limit of the pressure value, the positive pressure system directly inputs gas into the positive pressure cavity, an exhaust port of the positive pressure cavity is closed, the positive pressure system alarms to be started, and the carrying system can work;

c. when the internal pressure of the positive pressure cavity is lower than the set lower limit of the pressure value, the positive pressure system directly inputs gas into the positive pressure cavity, an exhaust port of the positive pressure cavity is closed, the positive pressure system alarms to be started, and the gas enters a 10-second buffer interval;

if the internal pressure of the positive pressure cavity is higher than the lower limit of the set pressure value within the 10-second buffer interval, the carrying system continues to work;

if the internal pressure value of the positive pressure cavity is still lower than the set lower limit pressure value within the buffer interval of 10 seconds, the carrying system stops working;

d. the internal pressure of the positive pressure cavity is higher than the upper limit of the set pressure value, at the moment, the positive pressure system stops directly inputting gas into the positive pressure cavity, an exhaust port of the positive pressure cavity is opened, the positive pressure system alarms to be opened, and the carrying system can work;

e. and in the operation stage, if the internal temperature of the positive pressure cavity is higher than the upper temperature limit, the positive pressure system enters a high-temperature treatment stage, gas is directly input into the positive pressure cavity by the positive pressure system in the high-temperature treatment stage, and an exhaust port of the positive pressure cavity is opened to perform ventilation and cooling.

The direct input gas of the positive pressure system is input gas through an electromagnetic valve, and the input low-flow gas of the positive pressure system is input gas through an overflow valve.

By adopting the technical scheme, the invention has the following beneficial effects: the control method can monitor the pressure in the robot body and the robot control cabinet in real time, and the robot body and the robot control cabinet form positive pressure by filling clean compressed air into the robot body and the robot control cabinet, so that hazardous gas or powder is prevented from entering the robot body and the control cabinet when the robot body and the control cabinet work, the safety is greatly improved, and the robot body and the control cabinet can be applied to work in hazardous places; the control method of the invention realizes ventilation before positive pressure so as to discharge combustible gas and explosive dust possibly existing in the cavity, continuously fills gas to increase the pressure in the cavity, keeps gas inlet and exhaust during operation, and takes away heat in the cavity while keeping the pressure.

Detailed Description

Example one

The control method for the positive pressure explosion-proof automatic handling system comprises the following steps:

and (3) air exchange stage: directly inputting gas into a positive pressure cavity of the carrying system through the positive pressure system until the air exchange countdown is finished, and replacing the gas in the positive pressure cavity to discharge combustible dust or gas existing in the positive pressure cavity;

and (3) an inflation stage: after the air exchange stage is finished, continuously and directly inputting gas into the positive pressure cavity through the positive pressure system to increase the pressure in the positive pressure cavity;

and (3) an operation stage: after the inflation stage is completed, the positive pressure system continuously inputs small-flow gas into the positive pressure cavity, the pressure value in the positive pressure cavity is detected at the moment, and whether the carrying system can work or not is judged according to the detection result.

And in the air exchange stage, the gas quantity input into the positive pressure cavity of the carrying system by the positive pressure system is not less than 5 times of the volume in the positive pressure cavity.

The specific steps of the ventilation phase include:

s1, detecting the internal pressure value of the positive pressure cavity of the carrying system;

s2, if the detected pressure value in the positive pressure cavity is lower than the set lower limit of the pressure value, directly inputting gas into the positive pressure cavity through the positive pressure system, and closing an exhaust port of the positive pressure cavity;

if the detected pressure value in the positive pressure cavity is higher than the set lower limit of the pressure value, directly inputting gas into the positive pressure cavity through a positive pressure system, and opening an exhaust port of the positive pressure cavity;

and S3, starting the positive pressure system to perform air exchange countdown and enter the air exchange process, directly inputting gas into the positive pressure cavity by the positive pressure system in the air exchange process until the countdown is finished, and enabling the exhaust port of the positive pressure cavity to be in an open state.

In S3 of the air exchange stage, if the internal pressure value of the positive pressure cavity is lower than the set lower limit pressure value in the air exchange process, the exhaust port of the positive pressure cavity is closed, and the positive pressure system keeps directly inputting gas into the positive pressure cavity; simultaneously starting a positive pressure system to start a 10-second buffer interval;

if the pressure value in the positive pressure cavity in the buffer interval of 10 seconds is higher than the lower limit of the set pressure value, the air exchange process is not interrupted, and the air exchange countdown continues to time;

if the pressure value in the positive pressure cavity is still lower than the lower limit of the set pressure value within the buffer interval of 10 seconds, the positive pressure system stops the air exchange process and returns to the standby state.

In S3 of the ventilation stage, the pressure value inside the positive pressure cavity is higher than the set upper limit of the pressure value in the ventilation process, the positive pressure system stops directly inputting gas into the positive pressure cavity, the exhaust port of the positive pressure cavity is opened, the ventilation countdown is stopped, the positive pressure system sends out an alarm signal until the pressure recovers to be lower than the set upper limit of the pressure value, and the ventilation countdown continues to time.

In the operation stage, according to the detection result of the internal pressure value of the positive pressure cavity, the following judgment conditions are shared:

a. the internal pressure of the positive pressure cavity is between the upper limit range and the lower limit range of the set pressure value, at the moment, the positive pressure system continuously inputs small-flow gas to the positive pressure cavity, the exhaust port of the positive pressure cavity is closed, the positive pressure system alarms and is closed, and the carrying system can work;

b. when the internal pressure of the positive pressure cavity is reduced and is not lower than the set lower limit of the pressure value, the positive pressure system directly inputs gas into the positive pressure cavity, an exhaust port of the positive pressure cavity is closed, the positive pressure system alarms to be started, and the carrying system can work;

c. when the internal pressure of the positive pressure cavity is lower than the set lower limit of the pressure value, the positive pressure system directly inputs gas into the positive pressure cavity, an exhaust port of the positive pressure cavity is closed, the positive pressure system alarms to be started, and the gas enters a 10-second buffer interval;

if the internal pressure of the positive pressure cavity is higher than the lower limit of the set pressure value within the 10-second buffer interval, the carrying system continues to work;

if the internal pressure value of the positive pressure cavity is still lower than the set lower limit pressure value within the buffer interval of 10 seconds, the carrying system stops working;

d. the internal pressure of the positive pressure cavity is higher than the upper limit of the set pressure value, at the moment, the positive pressure system stops directly inputting gas into the positive pressure cavity, an exhaust port of the positive pressure cavity is opened, the positive pressure system alarms to be opened, and the carrying system can work;

e. and in the operation stage, if the internal temperature of the positive pressure cavity is higher than the upper temperature limit, the positive pressure system enters a high-temperature treatment stage, gas is directly input into the positive pressure cavity by the positive pressure system in the high-temperature treatment stage, and an exhaust port of the positive pressure cavity is opened to perform ventilation and cooling.

The direct input gas of the positive pressure system is input gas through an electromagnetic valve, and the input low-flow gas of the positive pressure system is input gas through an overflow valve.

The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.