CN104891412A - Multi-joint filling pipe system with self-aligning function - Google Patents
Multi-joint filling pipe system with self-aligning function Download PDFInfo
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Abstract
The invention discloses a multi-joint filling pipe system with a self-aligning function. A gaseous conduit and a liquid phase conduit both vertically arranged are fastened on a base seat and respectively movably connected with a gaseous pipe inner pipe and a liquid phase pipe inner pipe via rotary joints; a liquid phase outer pipe and the liquid phase inner pipe are fixed on two ends of the rotary joint; the liquid phase outer pipe is fixed to a vertical sleeve pipe in a screw joint way; a wire winding mechanism is installed on the top of the vertical sleeve pipe; the wire winding mechanism is connected with a positioning sensor via a sensor fixing rack; the tail end of the vertical sleeve pipe is connected with a sealing system; and a power system is formed by a servo motor, a decelerating system and related mechanisms. The beneficial effects are that automatic operation and alignment of the filling pipe can be achieved; and compared with a truss filling pipe having the same function and beneficial effects of labor intensity reduction and safety risk reduction, the multi-joint pipe system with the self-aligning function has controllable cost, small construction engineering amount, short project period and higher promotion and application values.
Description
Technical field
The invention belongs to technical field of mechanical automation, relate to a kind of multi-joint oil filling riser system with artoregistration function.
Background technology
Oil filling riser: the specialized equipment in petrochemical industry fluid assembly and disassembly process, also known as fluid assembly and disassembly arm.It adopts swivel joint and rigid conduit and elbow to couple together, the vehicular equipment of fluid transfer medium to realize train, between tank wagon and trestle accumulating pipeline, connect to replace old-fashioned flexible pipe, there is very high safety, the features such as alerting ability and life-span length.Product meets GB 50074-2002 " Code for design of petroleum depots " standard, is a kind of desirable specialized equipment in transmitting-receiving oil plant technique, can be widely used in chemical frbre industry and other industry receives and dispatches all kinds of liquid charging stock.
Along with country to safety in production requirement more and more higher, and all trades and professions improve the quality of products and level of management consciousness improve constantly, universal top dress oil filling riser exist deficiency come out gradually, according to different oil filling riser structures, be mainly reflected in following aspect:
Pure mechanical oil filling riser: be made up of pipeline, swivel joint, flexible pipe and equalizing gear, production procedure is by manually dragging, drag and draw oil filling riser to target location, the subject matter of existence is that hand labor intensity is high, potential safety hazard large, and the personal injury of poisonous and harmful medium to operative employee is serious.
S. A. oil filling riser: on the basis of pure mechanical oil filling riser, increase engine installation in each joint, by hydraulic pressure or pneumatic actuation, manually valve realizes advance or the retrogressing of oil filling riser.The defect existed is: contraposition needs manually to observe back and forth, very easily occurs the phenomenon that mechanism collides, operates consuming time and bother very much.
Truss-like oil filling riser: be arranged on and be parallel on the truss of track, run back and forth along track by increasing power driven oil filling riser, advantage is that envelope scope is large, but adopt the construction work amount of this oil filling riser comparatively large, invest more, applicable surface is wideless, is relatively applicable to the automatic improving of Xin Shang producer and large oil filling riser project.
Summary of the invention
The object of this invention is to provide a kind of multi-joint oil filling riser system with artoregistration function, structurally use for reference existing oil filling riser, increase Fu and power is provided, and develop a set of kinetic control system, in conjunction with self align technology, reach following object: 1. a key starts, realize the automatic operation that each mechanical part of oil filling riser launches according to the track of setting, runs and reset; 2., in conjunction with automatic aligning technology, realize the automatic aligning of oil filling riser and tank car tank mouth; 3., with automatic filling control system communication intercommunication, realize the filling station production automation of tank car.
The technical solution adopted in the present invention is, a kind of multi-joint oil filling riser system with artoregistration function, comprises interconnective agent structure, power system, alignment system and control system; Agent structure comprises pipe, liquid phase outer tube, take-up mechanism, vertical pipes and sealing system in pedestal, liquid phase conduit, gas phase conduit, gas phase pipe, liquid phase; Vertically disposed gas phase conduit, liquid phase conduit are fixed on pedestal, realize being flexibly connected with pipe in gas phase pipe and liquid phase respectively by swivel joint, swivel joint; In liquid phase outer tube and liquid phase, pipe is separately fixed at the two ends of swivel joint, be spirally connected by flange method between liquid phase outer tube and vertical pipes fixing, take-up mechanism is installed at the top of vertical pipes, take-up mechanism connects the alignment sensor in alignment system by fixing rack for sensor, and vertical pipes end connects sealing system; Power system is made up of servomotor, deceleration system, comprises the first servomotor, first planet reductor, the first endless screw system, the first turbine system, the second servomotor, the second planetary reducer, the second endless screw system, the second turbine system, the 3rd servomotor, third planet reductor, turbine worm reducer, the 4th servomotor and fourth planet reductor; First servomotor provides power for pipe in liquid phase, and first planet reductor is primary speed-down system, and the first endless screw system and the first turbine system form turbine and worm deceleration system provides double reduction; Second servomotor provides power for liquid phase outer tube, second planetary reducer is primary speed-down system, second endless screw system and the second turbine system form turbine and worm deceleration system, double reduction is provided, 3rd servomotor is connected with third planet reductor, for turbine worm reducer provides power to input, drives take-up mechanism to rotate, steel rope on take-up mechanism is opened or is regained, and drags vertical pipes and sealing system decline or rises; 4th servomotor and fourth planet reductor are fixed, and mouth is connected with fixing rack for sensor, for alignment sensor provides power.
Feature of the present invention is also, control system comprises control housing body, power module, motion-control module, servo-driven module and electric elements, tracing system composition; Servo-driven module comprises four servo-drivers, control the first servomotor of power pack section, the second servomotor, the 3rd servomotor, the 4th servomotor respectively, industrial field bus Ethercat is adopted to carry out communication and control between motion-control module and servo-driven module, receive the detection signal of alignment sensor simultaneously, guide vertical pipes to run.
The machinery that alignment system comprises alignment sensor and is coated on its periphery is fixed, explosion-proof and companion's thermal part, and alignment sensor adopts laser infrared sensor or infrared, ultrasonic, electromagnetic mode.
Power system can also adopt pneumatic, hydraulic pressure and the supporting structure of coder.
The another kind of technical scheme of employing of the present invention is, a kind of multi-joint oil filling riser system with artoregistration function, comprises interconnective agent structure, power system, alignment system and control system; Agent structure comprises pipe, liquid phase outer tube, take-up mechanism, vertical pipes and sealing system in pedestal, liquid phase conduit, gas phase conduit, gas phase pipe, liquid phase; Vertically disposed gas phase conduit, liquid phase conduit are fixed on pedestal, realize being flexibly connected with pipe in gas phase pipe and liquid phase respectively by swivel joint, swivel joint; In liquid phase outer tube and liquid phase, pipe is separately fixed at the two ends of swivel joint, is spirally connected fixing between liquid phase outer tube and vertical pipes by flange method, and take-up mechanism is installed at the top of vertical pipes, and vertical pipes end connects sealing system; Power system is made up of servomotor, deceleration system, comprises the first servomotor, first planet reductor, the first endless screw system, the first turbine system, the second servomotor, the second planetary reducer, the second endless screw system, the second turbine system, the 3rd servomotor, third planet reductor, turbine worm reducer, the 4th servomotor and fourth planet reductor; First servomotor provides power for pipe in liquid phase, and first planet reductor is primary speed-down system, and the first endless screw system and the first turbine system form turbine and worm deceleration system provides double reduction; Second servomotor provides power for liquid phase outer tube, second planetary reducer is primary speed-down system, second endless screw system and the second turbine system form turbine and worm deceleration system, double reduction is provided, 3rd servomotor is connected with third planet reductor, for turbine worm reducer provides power to input, drives take-up mechanism to rotate, steel rope on take-up mechanism is opened or is regained, and drags vertical pipes and sealing system decline or rises; 4th servomotor and fourth planet reductor are fixed, mouth is connected with fixing rack for sensor, fixing rack for sensor connects the alignment sensor in alignment system, and fixing rack for sensor, alignment sensor, the 4th servomotor, fourth planet reductor to be arranged in liquid phase below pipe.
The invention has the beneficial effects as follows the frame mode having used for reference traditional oil filling riser, add necessary power and control system simultaneously, in conjunction with automatic aligning function, achieve oil filling riser and run the automation with contraposition, compare with the same truss oil filling riser that can realize artoregistration, when alleviating hand labor intensity equally, reducing security risk, implementation cost is controlled, construction work amount is little, and the project implementation cycle is short, and the value applied is higher.
Accompanying drawing explanation
Fig. 1 is multi-joint oil filling riser system architecture schematic diagram of the present invention.
Fig. 2 is the structural representation of Control system architecture in the present invention.
Fig. 3 is the another kind of structural representation of multi-joint oil filling riser system of the present invention.
In Fig. 1, 1. pedestal, 2. liquid phase conduit, 3. the first servomotor, 4. first planet reductor, 5. the first endless screw system, 6. the first turbine system, 7. swivel joint, 8. gas phase conduit, 9. swivel joint, 10. gas phase pipe, pipe in 11. liquid phases, 12. second servomotors, 13. second planetary reducers, 14. second endless screw systems, 15. second turbine systems, 16. swivel joint, 17. liquid phase outer tubes, 18. the 3rd servomotors, 19. third planet reductors, 20. take-up mechanisms, 21. turbine worm reducers, 22. the 4th servomotors, 23. fourth planet reductors, 24. fixing rack for sensor, 25. alignment sensors, 26. vertical pipes, 27. sealing systems, 28. control housing bodies, 29. power modules, 30. motion-control modules, 31. servo-driven modules.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
With a multi-joint oil filling riser system for artoregistration function, structure as shown in Figure 1, comprises interconnective agent structure, power system, alignment system and control system;
Agent structure comprises pedestal 1, liquid phase conduit 2, gas phase conduit 8, gas phase pipe 10, pipe 11 in liquid phase, liquid phase outer tube 17, take-up mechanism 20, vertical pipes 26, sealing system 27.
Pedestal 1 is connected with external equipment by lower screws, it is the installation foundation of whole system, vertically disposed gas phase conduit 8, liquid phase conduit 2 are fixed on pedestal 1, realize being flexibly connected with pipe in gas phase pipe 10 and liquid phase 11 respectively by swivel joint 9, swivel joint 7.
Liquid phase outer tube 17 is separately fixed at the two ends of swivel joint 16 with pipe 11 in liquid phase, between liquid phase outer tube 17 and vertical pipes 26, by flange method, is spirally connected fixing.Take-up mechanism 20 is installed at the top of vertical pipes 26, and take-up mechanism 20 connects alignment sensor 25 by fixing rack for sensor 24, and vertical pipes 26 end connects sealing system 27, realizes the sealing in production process and between object.
Power system is made up of servomotor, deceleration system and associated mechanisms, comprises the first servomotor 3, first planet reductor 4, first endless screw system 5, first turbine system 6, second servomotor 12, second planetary reducer 13, second endless screw system 14, second turbine system the 15, three servomotor 18, third planet reductor 19, turbine worm reducer 21, the 4th servomotor 22, fourth planet reductor 23.
First servomotor 3 provides power for pipe in liquid phase 11, first planet reductor 4 is primary speed-down system, first endless screw system 5 and the first turbine system 6 form turbine and worm deceleration system, provide double reduction, drive pipe 11 in liquid phase to horizontally rotate around swivel joint 7.
Second servomotor 12 provides power for liquid phase outer tube 17, second planetary reducer 13 is primary speed-down system, second endless screw system 14 and the second turbine system 15 form turbine and worm deceleration system, provide double reduction, drive liquid phase outer tube 17 to horizontally rotate around swivel joint 16.
3rd servomotor 18 is connected with third planet reductor 19, and for turbine worm reducer 21 provides power to input, drive take-up mechanism 20 to rotate, the steel rope on take-up mechanism is opened or regained, and dragging vertical pipes 26 and sealing system 27 decline or rise.
4th servomotor 22 is fixed together with fourth planet reductor 23, and mouth is connected with fixing rack for sensor 24, for alignment sensor 25 provides power, realizes the rotation of sensor.
The modes such as the machinery that alignment system comprises alignment sensor 25 and is coated on its periphery is fixed, explosion-proof and companion's thermal part, and alignment sensor 25 adopts but is not limited to laser infrared sensor, infrared, ultrasonic or electromagnetism all likely adopt in different occasions;
Control system architecture is shown in Fig. 2, is made up of control housing body 28, power module 29, motion-control module 30, servo-driven module 31 and relevant electric elements, tracing system and software.Control housing body 28 is relatively independent with mechanical structure portion, generally be fixed on the limit of mechanical structured member pedestal 1, power module 29 connects external source, realize Power convert, and provide suitable power supply for each servomotor of control housing body 28 each components and parts inner and power pack section, servo-driven module 31 comprises four servo-drivers, control operation and the stopping of four servomotors of power pack section respectively, realize pipe 11 in liquid phase, liquid phase outer tube 17, take-up mechanism 20 and alignment sensor 25 motion control.Industrial field bus Ethercat is adopted to carry out communication and control between motion-control module 30 and servo-driven module 31, complete multiaxis circular interpolation and interlock, accept the detection signal of alignment sensor 25 simultaneously, judge according to sequential operation, guide vertical pipes 26 to run according to the route of setting.
In sum, indication multi-joint artoregistration oil filling riser system of the present invention, on the basis of common multi-joint oil filling riser, by increasing power driven, in conjunction with artoregistration technology, achieve automatic operation and the contraposition of oil filling riser and tank car tank mouth, in concrete mode, adopt cordless to realize contraposition, employing Fu is power driven, adopt kinetic control system to realize setting and can controlling of motion, concrete operation method comprises the following steps:
Initial setting step, refer to the first time setting carried out after multi-joint oil filling riser is installed to scene, do not have extraordinary circumstances, actual production link does not need again to set:
Step 1: default, measures the location information of the mechanical configuration parameter of multi-joint oil filling riser, each object correlation in production scene, and is inputted by the touch interface of motion-control module 30, completes initial setting;
Step 2: setting coordinate, on the touch interface of motion-control module 30, include the locus of multi-joint oil filling riser and object in the same coordinate system to unite, build space coordinates, set spatial coordinates, path node and safe in operation scope that oil filling riser runs in a coordinate system;
Step 3: alignment sensor 25 travel settings, the actual positional relationship in erecting stage according to object and alignment sensor, the efficiency frontier condition of setting alignment sensor 25.
Normal production stage comprises the following steps:
Step 1: the multi-joint oil filling riser system of band artoregistration function is fixed on the trestle near tank car parking orbit, and tank car is stopped and put in place;
Step 2: manually get on the bus, opens tank car tank mouth and starts to examine car; After inspection car is qualified, manually fix electrostatic chuck, upper trestle starts power module 29, starts motion-control module 30;
Step 3: motion-control module 30 starts, first servomotor 3, second servomotor 12, the 4th servomotor 22 start simultaneously, pipe 11, liquid phase outer tube 17, fixing rack for sensor 24 in liquid phase is driven to rotate, guarantee that vertical pipes 26 arrives position of readiness, alignment sensor 25 is opened, and enters positioning states;
Step 4: the first servomotor 3, second servomotor 12, the 4th servomotor 22 run according to program, pipe 11, liquid phase outer tube 17, fixing rack for sensor 24 in liquid phase is driven to rotate, guarantee that vertical pipes 26 is run according to the route of setting and find target tank mouth, and feed back according to actual conditions;
Step 5: contraposition completes, vertical pipes 26 arrives target location, first servomotor 3, second servomotor 12, the 4th servomotor 22 stop, alignment sensor 25 cuts out, 3rd servomotor 18 brings into operation, drive sealing system 27 action of take-up mechanism 20, sealing system 27 declines and puts in place, and the 3rd servomotor 18 stops;
Step 6: sealing system 27 declines and puts in place, and motion-control module 30 signal that will put in place is sent to automatic filling system, and realize filling automatic production, production completes, and oil filling riser automatically resets, and reaches the object of production automatically.
The effect that the present invention can reach is:
1) oil filling riser Automatic-expanding, operation resetting, can not need manpower intervention, achieves and run and contraposition automation;
2) within the scope of the normal envelope of oil filling riser, oil filling riser automatically runs and completes contraposition, and the time is less than 3min;
3) aligning accuracy of oil filling riser sleeve portion and tank car tank mouth is less than 10mm;
4) the minimum environment for use of standard configuration is-20 DEG C, and change configuration can meet the field operating needs of-40 DEG C.
The multi-joint oil filling riser system of the present invention's another kind band artoregistration function, structure as shown in Figure 3, the structure part uniquely different from Fig. 1 is, fixing rack for sensor 24, alignment sensor 25, the 4th servomotor 22, fourth planet reductor 23 to be arranged in liquid phase below pipe 11
4th servomotor 22 is fixed with fourth planet reductor 23, and mouth is connected with fixing rack for sensor 24, and fixing rack for sensor 24 connects the alignment sensor 25 in alignment system,
Fixing rack for sensor 24, can be elastic along pipe in liquid phase 11 under the driving of the 4th servomotor 22.
This structure is particularly suitable for the larger oil filling riser of envelope scope, and the beneficial effect reached is after oil filling riser launches, because the weight of sleeve portion is too heavy, when mechanism runs less stable, can avoid the impact on positioning precision, improve the operation stability of equipment.
The apparent change that art technology personage carries out according to this patent, all belongs to the protection domain of this patent.
Claims (8)
1. the multi-joint oil filling riser system with artoregistration function, is characterized in that, comprise interconnective agent structure, power system, alignment system and control system;
Described agent structure comprises pipe (11), liquid phase outer tube (17), take-up mechanism (20), vertical pipes (26) and sealing system (27) in pedestal (1), liquid phase conduit (2), gas phase conduit (8), gas phase pipe (10), liquid phase;
Vertically disposed gas phase conduit (8), liquid phase conduit (2) are fixed on pedestal (1), realize being flexibly connected respectively by managing (11) in swivel joint (9), swivel joint (7) and gas phase pipe (10) and liquid phase;
The two ends that (11) are separately fixed at swivel joint (16) are managed in liquid phase outer tube (17) and liquid phase, be spirally connected by flange method between liquid phase outer tube (17) and vertical pipes (26) fixing, take-up mechanism (20) is installed at the top of vertical pipes (26), take-up mechanism (20) connects the alignment sensor (25) in alignment system by fixing rack for sensor (24), and vertical pipes (26) end connects sealing system (27);
Described power system is made up of servomotor, deceleration system, comprises the first servomotor (3), first planet reductor (4), the first endless screw system (5), the first turbine system (6), the second servomotor (12), the second planetary reducer (13), the second endless screw system (14), the second turbine system (15), the 3rd servomotor (18), third planet reductor (19), turbine worm reducer (21), the 4th servomotor (22) and fourth planet reductor (23);
First servomotor (3) provides power for managing (11) in liquid phase, first planet reductor (4) is primary speed-down system, and the first endless screw system (5) and the first turbine system (6) form turbine and worm deceleration system provides double reduction;
Second servomotor (12) provides power for liquid phase outer tube (17), second planetary reducer (13) is primary speed-down system, second endless screw system (14) and the second turbine system (15) form turbine and worm deceleration system, double reduction is provided
3rd servomotor (18) is connected with third planet reductor (19), for turbine worm reducer (21) provides power to input, take-up mechanism (20) is driven to rotate, steel rope on take-up mechanism (20) is opened or is regained, and drags vertical pipes (26) and sealing system (27) decline or rises;
4th servomotor (22) is fixed with fourth planet reductor (23), and mouth is connected with fixing rack for sensor (24), for alignment sensor (25) provides power.
2. a kind of multi-joint oil filling riser system with artoregistration function according to claim 1, it is characterized in that, described control system comprises control housing body (28), power module (29), motion-control module (30), servo-driven module (31) and electric elements, tracing system composition; Servo-driven module (31) comprises four servo-drivers, control first servomotor (1) of power pack section, the second servomotor (12), the 3rd servomotor (18), the 4th servomotor (22) respectively, industrial field bus Ethercat is adopted to carry out communication and control between motion-control module (30) and servo-driven module (31), receive the detection signal of alignment sensor (25) simultaneously, guide vertical pipes (26) to run.
3. a kind of multi-joint oil filling riser system with artoregistration function according to claim 1, it is characterized in that, the machinery that described alignment system comprises alignment sensor (25) and is coated on its periphery is fixed, explosion-proof and companion's thermal part, and alignment sensor (25) adopts laser infrared sensor or infrared, ultrasonic, electromagnetic mode.
4. a kind of multi-joint oil filling riser system with artoregistration function according to claim 1, is characterized in that, described power system can also adopt pneumatic, hydraulic pressure and the supporting structure of coder.
5. the multi-joint oil filling riser system with artoregistration function, is characterized in that, comprise interconnective agent structure, power system, alignment system and control system;
Described agent structure comprises pipe (11), liquid phase outer tube (17), take-up mechanism (20), vertical pipes (26) and sealing system (27) in pedestal (1), liquid phase conduit (2), gas phase conduit (8), gas phase pipe (10), liquid phase;
Vertically disposed gas phase conduit (8), liquid phase conduit (2) are fixed on pedestal (1), realize being flexibly connected respectively by managing (11) in swivel joint (9), swivel joint (7) and gas phase pipe (10) and liquid phase;
The two ends that (11) are separately fixed at swivel joint (16) are managed in liquid phase outer tube (17) and liquid phase, be spirally connected by flange method between liquid phase outer tube (17) and vertical pipes (26) fixing, take-up mechanism (20) is installed at the top of vertical pipes (26), and vertical pipes (26) end connects sealing system (27);
Described power system is made up of servomotor, deceleration system, comprises the first servomotor (3), first planet reductor (4), the first endless screw system (5), the first turbine system (6), the second servomotor (12), the second planetary reducer (13), the second endless screw system (14), the second turbine system (15), the 3rd servomotor (18), third planet reductor (19), turbine worm reducer (21), the 4th servomotor (22) and fourth planet reductor (23);
First servomotor (3) provides power for managing (11) in liquid phase, first planet reductor (4) is primary speed-down system, and the first endless screw system (5) and the first turbine system (6) form turbine and worm deceleration system provides double reduction;
Second servomotor (12) provides power for liquid phase outer tube (17), second planetary reducer (13) is primary speed-down system, second endless screw system (14) and the second turbine system (15) form turbine and worm deceleration system, double reduction is provided
3rd servomotor (18) is connected with third planet reductor (19), for turbine worm reducer (21) provides power to input, take-up mechanism (20) is driven to rotate, steel rope on take-up mechanism (20) is opened or is regained, and drags vertical pipes (26) and sealing system (27) decline or rises;
4th servomotor (22) is fixed with fourth planet reductor (23), mouth is connected with fixing rack for sensor (24), fixing rack for sensor (24) connects the alignment sensor (25) in alignment system, and fixing rack for sensor (24), alignment sensor (25), the 4th servomotor (22), fourth planet reductor (23) are arranged in liquid phase and manage below (11).
6. a kind of multi-joint oil filling riser system with artoregistration function according to claim 5, it is characterized in that, described control system comprises control housing body (28), power module (29), motion-control module (30), servo-driven module (31) and electric elements, tracing system composition; Servo-driven module (31) comprises four servo-drivers, control first servomotor (1) of power pack section, the second servomotor (12), the 3rd servomotor (18), the 4th servomotor (22) respectively, industrial field bus Ethercat is adopted to carry out communication and control between motion-control module (30) and servo-driven module (31), receive the detection signal of alignment sensor (25) simultaneously, guide vertical pipes (26) to run.
7. a kind of multi-joint oil filling riser system with artoregistration function according to claim 5, it is characterized in that, the machinery that described alignment system comprises alignment sensor (25) and is coated on its periphery is fixed, explosion-proof and companion's thermal part, and alignment sensor (25) adopts laser infrared sensor or infrared, ultrasonic, electromagnetic mode.
8. a kind of multi-joint oil filling riser system with artoregistration function according to claim 5, is characterized in that, described power system can also adopt pneumatic, hydraulic pressure and the supporting structure of coder.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510181850.0A CN104891412A (en) | 2015-04-16 | 2015-04-16 | Multi-joint filling pipe system with self-aligning function |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510181850.0A CN104891412A (en) | 2015-04-16 | 2015-04-16 | Multi-joint filling pipe system with self-aligning function |
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| CN201510181850.0A Pending CN104891412A (en) | 2015-04-16 | 2015-04-16 | Multi-joint filling pipe system with self-aligning function |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106769221A (en) * | 2016-11-16 | 2017-05-31 | 唐山中润煤化工有限公司 | A kind of tank car is layered automatic sampling system |
| CN107298424A (en) * | 2017-07-12 | 2017-10-27 | 深圳市奥图威尔科技有限公司 | A kind of high-risk fluid fillers robot |
| CN108793046A (en) * | 2018-06-12 | 2018-11-13 | 新疆中拓新能源技术股份有限公司 | Cantilever elevation formula automatic aligning entrucking oil filling riser |
| CN108840304A (en) * | 2018-07-11 | 2018-11-20 | 天津市正方科技发展有限公司 | Automobile automatic loading system |
| CN109437081A (en) * | 2018-07-30 | 2019-03-08 | 连云港和昌机械有限公司 | A kind of automatic telescopic entrucking arm |
| CN109773779A (en) * | 2018-12-09 | 2019-05-21 | 西安航天精密机电研究所 | A kind of automatic aligning is changed oil the modeling and control method of robot |
| CN109896494A (en) * | 2019-04-29 | 2019-06-18 | 安徽美诺福科技有限公司 | Automatic loading and unloading oil filling riser |
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2015
- 2015-04-16 CN CN201510181850.0A patent/CN104891412A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106769221A (en) * | 2016-11-16 | 2017-05-31 | 唐山中润煤化工有限公司 | A kind of tank car is layered automatic sampling system |
| CN106769221B (en) * | 2016-11-16 | 2019-07-26 | 唐山中润煤化工有限公司 | A kind of tank car layering automatic sampling system |
| CN107298424A (en) * | 2017-07-12 | 2017-10-27 | 深圳市奥图威尔科技有限公司 | A kind of high-risk fluid fillers robot |
| CN108793046A (en) * | 2018-06-12 | 2018-11-13 | 新疆中拓新能源技术股份有限公司 | Cantilever elevation formula automatic aligning entrucking oil filling riser |
| CN108840304A (en) * | 2018-07-11 | 2018-11-20 | 天津市正方科技发展有限公司 | Automobile automatic loading system |
| CN109437081A (en) * | 2018-07-30 | 2019-03-08 | 连云港和昌机械有限公司 | A kind of automatic telescopic entrucking arm |
| CN109773779A (en) * | 2018-12-09 | 2019-05-21 | 西安航天精密机电研究所 | A kind of automatic aligning is changed oil the modeling and control method of robot |
| CN109896494A (en) * | 2019-04-29 | 2019-06-18 | 安徽美诺福科技有限公司 | Automatic loading and unloading oil filling riser |
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Application publication date: 20150909 |