CN110131571B - Automatic gas filling robot suitable for gas filling places - Google Patents
Automatic gas filling robot suitable for gas filling places Download PDFInfo
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- CN110131571B CN110131571B CN201910486269.8A CN201910486269A CN110131571B CN 110131571 B CN110131571 B CN 110131571B CN 201910486269 A CN201910486269 A CN 201910486269A CN 110131571 B CN110131571 B CN 110131571B
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- gas
- gas filling
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17C—VESSELS FOR CONTAINING OR STORING COMPRESSED, LIQUEFIED OR SOLIDIFIED GASES; FIXED-CAPACITY GAS-HOLDERS; FILLING VESSELS WITH, OR DISCHARGING FROM VESSELS, COMPRESSED, LIQUEFIED, OR SOLIDIFIED GASES
- F17C13/00—Details of vessels or of the filling or discharging of vessels
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17C—VESSELS FOR CONTAINING OR STORING COMPRESSED, LIQUEFIED OR SOLIDIFIED GASES; FIXED-CAPACITY GAS-HOLDERS; FILLING VESSELS WITH, OR DISCHARGING FROM VESSELS, COMPRESSED, LIQUEFIED, OR SOLIDIFIED GASES
- F17C13/00—Details of vessels or of the filling or discharging of vessels
- F17C13/02—Special adaptations of indicating, measuring, or monitoring equipment
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17C—VESSELS FOR CONTAINING OR STORING COMPRESSED, LIQUEFIED OR SOLIDIFIED GASES; FIXED-CAPACITY GAS-HOLDERS; FILLING VESSELS WITH, OR DISCHARGING FROM VESSELS, COMPRESSED, LIQUEFIED, OR SOLIDIFIED GASES
- F17C13/00—Details of vessels or of the filling or discharging of vessels
- F17C13/04—Arrangement or mounting of valves
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17C—VESSELS FOR CONTAINING OR STORING COMPRESSED, LIQUEFIED OR SOLIDIFIED GASES; FIXED-CAPACITY GAS-HOLDERS; FILLING VESSELS WITH, OR DISCHARGING FROM VESSELS, COMPRESSED, LIQUEFIED, OR SOLIDIFIED GASES
- F17C5/00—Methods or apparatus for filling containers with liquefied, solidified, or compressed gases under pressures
- F17C5/002—Automated filling apparatus
- F17C5/007—Automated filling apparatus for individual gas tanks or containers, e.g. in vehicles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Filling Or Discharging Of Gas Storage Vessels (AREA)
- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
Abstract
The invention discloses an automatic gas filling robot suitable for a gas filling place, which comprises a grabbing mechanism, a fixing mechanism and a positioning and gas filling mechanism, wherein the grabbing mechanism is used for grabbing a gas filling place; the gas storage tank is grabbed from the conveyor belt and conveyed to the fixing mechanism through the grabbing mechanism, and after gas is added, the gas storage tank is grabbed from the fixing mechanism and conveyed back to the conveyor belt; the positioning and air filling of the air charging port of the air storage tank are realized through the positioning and air filling mechanism. The automatic gas filling device has higher safety, can realize unattended operation during automatic gas filling, liberate labor force, reduce the threat of dangerous and toxic gas to workers in the gas filling process, improve the gas filling efficiency and reduce the labor intensity of workers.
Description
Technical Field
The invention relates to the field of robots, in particular to an automatic gas filling robot suitable for gas filling places.
Background
Due to the special physical characteristics of gas, the gas storage tank is often adopted to store and transport the gas, so that the gas is required to be manually added into the gas storage tank in advance, but the work is often the most dangerous, and some gas has dangerous factors such as flammability, explosiveness, toxicity and the like, so that the gas-filling worker has certain threats to the mind and body of the gas-filling worker. At present, few robots special for automatic air filling are available in the market, and a manual air filling mode is often adopted, but the traditional manual air filling mode is low in working efficiency and greatly improved in danger. Therefore, an automatic gas filling robot suitable for a gas filling place is needed to replace manual gas filling, so that the working efficiency is further improved, and the danger is reduced.
Disclosure of Invention
Aiming at the problems, the invention provides an automatic gas filling robot suitable for a gas filling place.
The invention is realized by the following technical scheme:
an automatic gas filling robot suitable for a gas filling place comprises a grabbing mechanism, a fixing mechanism and a positioning and gas filling mechanism; the air storage tank is grabbed from the conveyor belt and conveyed to the fixing mechanism through the grabbing mechanism; the positioning and air filling of the air charging port of the air storage tank are realized through the positioning and air filling mechanism.
Further, the grabbing mechanism comprises a turntable driving motor, an air cylinder I, a turntable I, an air cylinder II and a movable clamping arm of an air storage tank; the turntable I is arranged on the turntable driving motor and is driven to rotate by the rotation of the turntable driving motor; one end of the air cylinder I is installed on the rotary table I, the other end of the air cylinder I is connected with the air cylinder II, the air cylinder II is driven to move back and forth through back and forth movement of the air cylinder I, the air storage tank moving clamping arm is installed on the air cylinder II, and the moving clamping arm is tensioned through back and forth movement of the air cylinder II.
Further, the fixing mechanism comprises a gear I, a hydraulic chuck, a turntable II, a gear driving motor and a hydraulic chuck power device; the gear I is arranged on a gear driving motor, and the hydraulic chuck is arranged on a rotary table II; the gear II is connected with the turntable II through a transmission shaft and is meshed with the gear I; the hydraulic chuck power device is arranged below the transmission shaft of the gear II.
Further, the positioning and air-entrapping mechanism comprises a positioning device I, a screwing device and an air-entrapping device; the positioning device I and the screwing device are arranged above the fixing device, wherein the positioning device I enables the position of an inflation inlet of the gas storage tank to be initially aligned with the gas filling device, and the screwing device is used for screwing or unscrewing a valve of the gas storage tank.
Further, positioner I includes gas holder inflation inlet alignment camera, and this gas holder inflation inlet alignment camera is installed on support frame I, and gas holder inflation inlet alignment camera passes through control system and links to each other with the carousel driving motor in the fixed establishment, constitutes visual module through gas holder inflation inlet alignment camera, feeds back gas holder inflation inlet position to carousel driving motor in real time, realizes constantly rotating the gas holder for gas holder inflation inlet position is tentatively aimed at the air entrainment device.
Further, the tightening device comprises a gas storage tank valve tightening motor, a gas storage tank valve tightening wrench and a moving part; the gas storage tank valve tightening wrench is installed on a gas storage tank valve tightening motor, the gas storage tank valve tightening motor is installed on the support frame I, and the gas storage tank valve tightening motor rotates to drive the gas storage tank valve tightening wrench to rotate so as to achieve screwing-off or screwing-down of the gas storage tank valve; the moving part comprises a height adjusting arm of a gas storage tank tightening wrench, a gear IV and gear IV matching teeth; the top of the air storage tank tightening wrench height adjustment arm is connected with the support frame I, the gear IV is matched with the rack and is installed on the inner side of the air storage tank tightening wrench height adjustment arm, the gear IV and the gear IV form meshing transmission and rotate through the gear IV, so that the air storage tank tightening wrench height adjustment arm is driven to move up and down, and the air storage tank valve tightening wrench is driven to move up and down.
Further, the gas filling device comprises a height positioning camera, a gas pipe, a belt wheel driving motor and a belt wheel I; the belt wheel I is connected with a belt wheel driving motor, the air pipe is provided with a belt wheel II matched with the belt wheel I, a belt is directly arranged on the belt wheel I and the belt wheel II, the air pipe is rotated by the belt wheel driving motor, and the air pipe is in threaded connection with an inflation inlet of the air storage tank; the height positioning camera is connected with the Z-direction moving motor through the control system, the height positioning camera forms a visual module, the position of the gas storage tank inflation inlet is fed back to the Z-direction moving motor in real time, and the Z-direction position of the trachea is continuously adjusted, so that the trachea is preliminarily aligned to the gas storage tank inflation inlet
Further, the device also comprises a positioning device II, wherein the positioning device II comprises an infrared reflection sensor, a gear V and a gear V matching rack; the infrared reflection sensor and the gear V matching rack are arranged on the support frame II, the gear V and the gear V matching rack form meshing transmission, and the infrared reflection sensor moves up and down through the rotation of the gear V; the infrared reflection sensor is connected with the Z-direction moving motor and the fixing device turntable driving motor through the control system, the infrared reflection sensor rises to the relative position of the air pipe and continuously identifies a special mark on a valve of the air storage tank, the position of an inflation inlet of the air storage tank is determined again, the position of the inflation inlet of the air storage tank is fed back to the Z-direction moving motor and the fixing device turntable driving motor in real time, and the air pipe is further aligned to the air inlet of the storage tank
Further, the device also comprises a six-dimensional force sensor; the six-dimensional force sensor is installed on the air pipe, when the air pipe is in threaded connection with the air storage tank inflation inlet, the stress condition is detected, when the stress is uneven, the air pipe returns, the position of the air storage tank inflation inlet is fed back to a rotary table driving motor or a Z-direction driving motor in a fixing mechanism in real time, continuous rotation of the air storage tank or movement of the air pipe in the Z direction is achieved, the air inflation inlet of the air storage tank is further aligned to the air inflation pipe, fine positioning of the air storage tank inflation inlet is achieved, and air inflation is carried out until the air pipe is in threaded connection with the air storage tank inflation inlet.
Further, the gas filling device is connected with a moving part I, and the moving part I comprises an X-direction driving motor, a gear IV and a gear IV matching rack; the gear IV matching rack and the gear IV form meshing transmission, and the gear IV rotates to drive the gear IV matching rack to move in the X-axis direction, so as to drive the gas filling device to move in the X-axis direction; the gas filling device is connected with a moving part II, and the moving part II comprises a Y-direction moving motor, a gear VI and a gear VI matching rack; the gear VI is matched with the rack and arranged on the device supporting frame III to form meshing transmission with the gear VI, so that the purpose that the gear VI rotates to realize the movement of the gear VI in the Y-axis direction is realized, and further the movement of the gas filling device in the Y-axis direction is realized; the gas filling device is connected with a moving part III, and the moving part III comprises a Z-direction moving motor, a gear III and a gear III matching rack; the gear III is matched with a rack and is arranged on the device support frame IV to form meshing transmission with the gear III, and the purpose is to realize the Z-axis direction movement of the device through the rotation of the gear III, so that the up-and-down movement of the electric gas filling device is realized.
The invention has the beneficial effects that:
1. the device has higher safety, can realize unattended operation when automatic gas filling, liberates labor force, reduces the threat of dangerous toxic gas to workers in the gas filling process, improves the gas filling efficiency and reduces the labor intensity.
2. The device can realize the accurate positioning and connection of the charging port of the gas storage tank, and realize three positioning modes of coarse positioning, fine positioning and fine positioning, firstly, the visual module is utilized to realize the coarse positioning of the gas storage tank, secondly, the infrared reflection sensor is utilized to carry out the fine positioning, and finally, the force sensor is utilized to realize the accurate positioning of the charging port of the gas storage tank; by adopting the three modes, the accurate positioning of the air charging port of the air storage tank is realized, and the effective connection and the automatic air charging of the air charging pipe and the air charging port of the air storage tank are facilitated.
3. The device has intelligent, automatic characteristic, and the arm snatchs the gas holder from the conveyer belt to the gas filling pipe is with the accurate butt joint of air entrainment valve and arrive the gas entrainment again and accomplish and send the conveyer belt to, and whole realization are automatic, have guaranteed gas entrainment efficiency.
Drawings
Fig. 1 is a first front view of an automatic gas filling robot suitable for a gas filling place of the present invention;
fig. 2 is a second front view of the automatic gas filling robot suitable for a gas filling place of the invention;
FIG. 3 is a top view of an automatic dispensing robot suitable for dispensing locations in accordance with the present invention;
FIG. 4 is a first side view of an automatic dispensing robot for a dispensing location of the present invention;
FIG. 5 is a second side view of an automatic dispensing robot for dispensing location of the present invention;
fig. 6 is a partially enlarged view of an automatic gas filling robot suitable for a gas filling place according to the present invention.
Detailed Description
In order to make the implementation objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be described in more detail below with reference to the accompanying drawings in the embodiments of the present invention. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are only some, but not all embodiments of the invention. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
As shown in fig. 1 to 6, an automatic gas filling robot suitable for a gas filling place comprises a grabbing mechanism, a fixing mechanism and a positioning and gas filling mechanism; the air storage tank is grabbed from the conveyor belt and conveyed to the fixing mechanism through the grabbing mechanism; the positioning and air filling of the air charging port of the air storage tank are realized through the positioning and air filling mechanism.
As shown in fig. 1 and 2, the automatic gas filling robot gripping mechanism suitable for a gas filling place comprises a turntable driving motor 1, a cylinder I2, a turntable I3, a cylinder II 4 and a gas storage tank movable clamping arm 5; the turntable driving motor 1 is arranged on the turntable I3, and the purpose is to drive the turntable I3 to rotate through the rotation of the turntable driving motor 1 so as to realize the rotation of the air storage tank; the cylinder I2 is arranged at the rear end of the cylinder II 4, and the purpose is to drive the cylinder II 4 to move back and forth through the back and forth movement of the cylinder I2, so as to drive the air storage tank to move and tighten the movement of the arm 5 in the front and back directions; the gas holder removes to step up arm 5 and installs on cylinder II 4, and the purpose is in order to realize removing to step up 5 tensionings of arm through cylinder II 4's back-and-forth movement to the realization snatchs the gas holder.
With continued reference to fig. 1 and 2, the fixing mechanism of the automatic gas filling robot suitable for the gas filling place comprises a gear I6, a hydraulic chuck 7, a turntable II8, a gear II 9, a gear driving motor 10 and a hydraulic chuck power device 11; the gear I6 is mounted on the gear driving motor 10 in order to transmit the rotational force provided by the gear driving motor 10; the hydraulic chuck 7 is arranged on the turntable II8 and aims to realize automatic clamping of the air storage tank; the gear II 9 is connected with the turntable II8 through a transmission shaft and is meshed with the gear I6 at the same time, so that the gear II 9 and the gear I6 form gear meshing transmission to drive the turntable II8 to rotate; a hydraulic chuck power unit 11 is mounted under the drive shaft of the gear II 9 in order to power the hydraulic chuck 7.
As shown in fig. 3, 4, 5, and 6, the automatic gas filling robot positioning and gas filling mechanism suitable for a gas filling place includes a height positioning camera 12, a gas storage tank valve tightening motor 13, a gas storage tank charging port alignment camera 14, a gas storage tank valve tightening wrench 15, a gear III 16, a Z-direction moving motor 17, a gear III matching rack 18, a Y-direction moving motor 19, a gear IV matching rack 20, a gear IV 21, a gas storage tank tightening wrench height adjusting arm 22, a pulley driving motor 23, a pulley 24, a six-dimensional force sensor 25, a gas pipe 26, an X-direction driving motor 27, a gear IV 28, a gear IV matching rack 29, a gear V30, a gear V matching rack 31, an infrared reflection sensor 32, a gear VI 33, and a gear VI matching rack 34; the gas storage tank inflation inlet alignment camera 14 is mounted on the device support frame I, and the purpose is to ensure that after the gas storage tank is fixed, the gas storage tank inflation inlet alignment camera 14 forms a visual module, the position of the gas storage tank inflation inlet is fed back to the turntable driving motor 1 in real time, the gas storage tank is rotated continuously, the position of the gas storage tank inflation inlet is aligned to the gas filling device preliminarily, and the gas storage tank inflation inlet is roughly positioned; the gas storage tank valve tightening motor 13 is arranged on the gas storage tank valve tightening wrench 15, and the purpose is to drive the gas storage tank valve tightening wrench 15 to rotate by the rotation of the gas storage tank valve tightening motor 13 after coarse positioning is realized, so that the gas storage tank valve is screwed off or the gas storage tank valve is screwed after gas filling is finished; the gear IV matching rack 20 is arranged on the inner side of a height adjusting arm 22 of a gas storage tank tightening wrench and forms meshing transmission with a gear IV 21, and the purpose is to drive the height adjusting arm 22 of the gas storage tank tightening wrench to move up and down through the rotation of the gear IV 21 so as to drive a gas storage tank valve tightening wrench 15 to move up and down; the gear V30 and the gear V matching rack 31 form meshing transmission, and the gear V matching rack 31 is fixedly arranged on a device support frame, so that the infrared reflection sensor 32 moves up and down through the rotation of the gear V30; the infrared reflection sensor 32 is arranged on the device support frame II, and the purpose is to raise to the relative position of the air pipe through the infrared reflection sensor 32 and continuously identify a special mark on a valve of the air storage tank, determine the position of an inflation inlet of the air storage tank again, feed back the position of the inflation inlet of the air storage tank to the turntable driving motor 1 and the Z-direction driving motor 17 in real time, realize the continuous rotation of the air storage tank and the movement of the air pipe in the Z direction, further position the air pipe through the inflation inlet of the air storage tank, and realize the fine positioning of the inflation inlet of the air storage; a Z-direction moving motor 17 is mounted on the gear III 16 in order to drive the gear III 16 to rotate by rotation of the Z-direction moving motor 17; the gear III is matched with the rack 18 and fixedly arranged on the device support frame IV, and forms meshing transmission with the gear III 16, so that the gear III and the gear III 16 rotate to drive the electric gas filling device to move up and down; the Y-direction moving motor 19 is installed on the gear VI 33, so as to realize the rotation of the gear VI 33 through the rotation of the Y-direction moving motor 19; the gear VI matching rack 34 is arranged on the device supporting frame III and forms meshing transmission with the gear VI 33, and the purpose is to realize the Y-axis direction movement of the device through the rotation of the gear VI 33 and further realize the Y-axis direction movement of the gas filling device; the X-direction driving motor 27 is arranged on the gear IV 28, and aims to drive the gear IV 28 to rotate through the rotation of the X-direction driving motor 27; the gear IV matching rack 29 and the gear IV 28 form meshing transmission, and the purpose is to drive the gear IV matching rack 29 to move in the X-axis direction through the rotation of the gear IV 28, and further drive the gas filling device to move in the X-axis direction; the height positioning camera 12 is arranged on the device support frame, and aims to align the air pipe 26 with the inflation inlet of the air storage tank; the belt wheel driving motor 23 is installed on the belt wheel 24, so as to drive the belt wheel 24 to rotate through the belt by the rotation of the belt wheel driving motor 23; a belt wheel matched with the belt wheel 24 is installed on the air pipe 26, and the air pipe 26 is driven to rotate through the rotation of the belt wheel 24, so that the threaded connection between the air pipe 26 and the charging port of the air storage tank is realized; six dimension force transducer 25 installs on trachea 26, the purpose is in order to when trachea 26 and gas holder inflation inlet threaded connection, detect the atress condition, when the atress is uneven, trachea 26 returns, feed back in carousel driving motor 1 or Z direction driving motor 17 with the gas holder inflation inlet position in real time, realize constantly rotatory or trachea Z direction's removal to the gas holder for gas holder inflation inlet position further aims at the air entrainment device, realize carrying out the accurate positioning to the gas holder inflation inlet, constitute threaded connection until trachea 26 and gas holder inflation inlet, carry out the gassing work.
The working principle is as follows: firstly, a mechanical arm in a grabbing mechanism grabs and conveys the gas storage tank from a conveyor belt to a fixing mechanism; then, aligning a camera through a valve inflation inlet to realize coarse positioning of the inflation inlet of the air storage tank, finely positioning the inflation inlet of the air storage tank by using an infrared reflection sensor, and finely positioning the inflation inlet of the air storage tank by using a six-dimensional force sensor to realize alignment of the inflation inlet of the air storage tank with an air adding pipe; and finally, the gas filling pipe is in threaded connection with the gas filling port of the gas storage tank to realize the gas filling process.
In summary, the invention relates to an automatic gas filling robot suitable for gas filling places. The existing gas filling places have the dangerous factors of flammability, explosiveness, toxicity and the like, and have certain threat to the mind and body of workers. The automatic gas filling robot can realize the automatic gas filling function, realizes the identification and the accurate positioning of the gas tank opening by utilizing vision, photoelectricity, multi-dimensional force detection and the like, can automatically connect the gas tank and the gas filling pipe, can realize the automatic tightening and loosening of the safety valve, realizes the full automation of the gas filling process, avoids the participation of manpower, reduces the labor intensity of workers, greatly improves the safety degree of a workplace, and improves the gas filling efficiency. After the invention is implemented, a plurality of problems of gas filling places can be solved, and the application prospect is wide.
The present invention and its embodiments have been described above schematically, without limitation, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if the person skilled in the art receives the teaching, without departing from the spirit of the invention, the person skilled in the art shall not inventively design the similar structural modes and embodiments to the technical solution, but shall fall within the scope of the invention.
Claims (7)
1. The utility model provides an automatic gas filling robot that is suitable for gas filling place which characterized in that: comprises a grabbing mechanism, a fixing mechanism and a positioning and air-entrapping mechanism;
the air storage tank is grabbed from the conveyor belt and conveyed to the fixing mechanism through the grabbing mechanism; the positioning and air-entrapping mechanism is used for positioning and air-entrapping the air-inflating opening of the air storage tank;
the fixing mechanism comprises a gear I, a hydraulic chuck, a turntable II, a gear driving motor and a hydraulic chuck power device;
the gear I is arranged on a gear driving motor, and the hydraulic chuck is arranged on a rotary table II; the gear II is connected with the turntable II through a transmission shaft and is meshed with the gear I; the hydraulic chuck power device is arranged below a transmission shaft of the gear II;
the positioning and air-entrapping mechanism comprises a positioning device I, a screwing device and an air-entrapping device;
the positioning device I and the screwing device are arranged above the fixing device, wherein the positioning device I enables the position of an inflation inlet of the gas storage tank to be initially aligned with the gas filling device, and the screwing device is used for screwing or unscrewing a valve of the gas storage tank;
the gas filling device comprises a height positioning camera, a gas pipe, a belt wheel driving motor and a belt wheel I;
the belt wheel I is connected with a belt wheel driving motor, the air pipe is provided with a belt wheel II matched with the belt wheel I, the belt wheel I and the belt wheel II are connected with a belt, the air pipe is rotated by the belt wheel driving motor, and the air pipe is in threaded connection with an inflation inlet of the air storage tank; the height positioning camera is connected with the Z-direction moving motor through the control system, the height positioning camera forms a visual module, the position of the gas storage tank inflation inlet is fed back to the Z-direction moving motor in real time, and the Z-direction position of the trachea is continuously adjusted, so that the trachea is preliminarily aligned to the gas storage tank inflation inlet.
2. An automatic gas filling robot suitable for a gas filling place according to claim 1, characterized in that: the grabbing mechanism comprises a turntable driving motor, an air cylinder I, a turntable I, an air cylinder II and a movable clamping arm of an air storage tank;
the turntable I is arranged on the turntable driving motor and is driven to rotate by the rotation of the turntable driving motor; one end of the air cylinder I is installed on the rotary table I, the other end of the air cylinder I is connected with the air cylinder II, the air cylinder II is driven to move back and forth through back and forth movement of the air cylinder I, the air storage tank moving clamping arm is installed on the air cylinder II, and the moving clamping arm is tensioned through back and forth movement of the air cylinder II.
3. An automatic gas filling robot suitable for a gas filling place according to claim 1, characterized in that: the positioning device I comprises a gas storage tank inflation inlet alignment camera, the gas storage tank inflation inlet alignment camera is installed on the support frame I, the gas storage tank inflation inlet alignment camera is connected with a rotary table driving motor in the fixing mechanism through a control system, the vision module is formed by the gas storage tank inflation inlet alignment camera, the position of a gas storage tank inflation inlet is fed back to the rotary table driving motor in real time, continuous rotation of a gas storage tank is achieved, and the gas storage tank inflation inlet is aligned to the gas filling device preliminarily.
4. An automatic gas filling robot suitable for a gas filling place according to claim 1, characterized in that: the tightening device comprises a gas storage tank valve tightening motor, a gas storage tank valve tightening wrench and a moving part; the gas storage tank valve tightening wrench is installed on a gas storage tank valve tightening motor, the gas storage tank valve tightening motor is installed on the support frame I, and the gas storage tank valve tightening motor rotates to drive the gas storage tank valve tightening wrench to rotate so as to achieve screwing-off or screwing-down of the gas storage tank valve;
the moving part comprises a height adjusting arm of a gas storage tank tightening wrench, a gear IV and a gear IV matching rack; the top of the air storage tank tightening wrench height adjustment arm is connected with the support frame I, the gear IV is matched with the rack and is installed on the inner side of the air storage tank tightening wrench height adjustment arm, the gear IV and the gear IV form meshing transmission and rotate through the gear IV, so that the air storage tank tightening wrench height adjustment arm is driven to move up and down, and the air storage tank valve tightening wrench is driven to move up and down.
5. An automatic gas filling robot suitable for a gas filling place according to claim 1, characterized in that: the positioning device II comprises an infrared reflection sensor, a gear V and a gear V matching rack;
the infrared reflection sensor and the gear V matching rack are arranged on the support frame II, the gear V and the gear V matching rack form meshing transmission, and the infrared reflection sensor moves up and down through the rotation of the gear V;
the infrared reflection sensor is connected with the Z-direction moving motor and the fixing device turntable driving motor through the control system, the infrared reflection sensor rises to the relative position of the air pipe and continuously identifies a special mark on a valve of the air storage tank, the position of an inflation opening of the air storage tank is determined again, the position of the inflation opening of the air storage tank is fed back to the Z-direction moving motor and the fixing device turntable driving motor in real time, and the air pipe is further aligned with the inflation opening of the air storage tank.
6. An automatic gas filling robot suitable for a gas filling place according to claim 5, characterized in that: the six-dimensional force sensor is also included; the six-dimensional force sensor is installed on the air pipe, when the air pipe is in threaded connection with the air storage tank inflation inlet, the stress condition is detected, when the stress is uneven, the air pipe returns, the position of the air storage tank inflation inlet is fed back to a rotary table driving motor or a Z-direction driving motor in a fixing mechanism in real time, continuous rotation of the air storage tank or movement of the air pipe in the Z direction is achieved, the air inflation inlet of the air storage tank is further aligned to the air inflation pipe, fine positioning of the air storage tank inflation inlet is achieved, and air inflation is carried out until the air pipe is in threaded connection with the air storage tank inflation inlet.
7. An automatic gas filling robot suitable for a gas filling place according to claim 5, characterized in that: the gas filling device is connected with a moving part I, and the moving part I comprises an X-direction driving motor, a gear IV and a gear IV matching rack; the gear IV matching rack and the gear IV form meshing transmission, and the gear IV rotates to drive the gear IV matching rack to move in the X-axis direction, so as to drive the gas filling device to move in the X-axis direction;
the gas filling device is connected with a moving part II, and the moving part II comprises a Y-direction moving motor, a gear VI and a gear VI matching rack; the gear VI is matched with the rack and arranged on the device supporting frame III to form meshing transmission with the gear VI, so that the purpose that the gear VI rotates to realize the movement of the gear VI in the Y-axis direction is realized, and further the movement of the gas filling device in the Y-axis direction is realized;
the gas filling device is connected with a moving part III, and the moving part III comprises a Z-direction moving motor, a gear III and a gear III matching rack; the gear III is matched with a rack and is arranged on the device support frame IV to form meshing transmission with the gear III, and the purpose is to realize the Z-axis direction movement of the device through the rotation of the gear III, so that the up-and-down movement of the electric gas filling device is realized.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910486269.8A CN110131571B (en) | 2019-06-05 | 2019-06-05 | Automatic gas filling robot suitable for gas filling places |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910486269.8A CN110131571B (en) | 2019-06-05 | 2019-06-05 | Automatic gas filling robot suitable for gas filling places |
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| CN110131571A CN110131571A (en) | 2019-08-16 |
| CN110131571B true CN110131571B (en) | 2020-11-03 |
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|---|---|---|---|---|
| FR2682080B1 (en) * | 1991-10-02 | 1994-01-14 | Butagaz | PROCESS FOR THE AUTOMATIC HANDLING OF BOTTLES OF LARGE CAPACITY, PARTICULARLY LIQUEFIED GAS, AND INSTALLATION FOR IMPLEMENTING THE PROCESS. |
| JP2520224B2 (en) * | 1993-12-27 | 1996-07-31 | 明光産業株式会社 | LP gas filling device |
| JP3313082B2 (en) * | 1998-02-10 | 2002-08-12 | 株式会社電元社製作所 | Gas filling welding equipment |
| CN102248514A (en) * | 2011-07-20 | 2011-11-23 | 无锡昌华机电制造有限公司 | Torque controllable cylinder valve loader-unloader set |
| CN103328876B (en) * | 2012-01-18 | 2017-06-09 | 丹尼尔·卡米洛蒂 | Automatic compact systems and method for filling gas |
| CN203384637U (en) * | 2013-06-24 | 2014-01-08 | 东北大学 | Gas cylinder safety charging control system based on double labels and IC (integrated circuit) card |
| CN103867886A (en) * | 2014-03-05 | 2014-06-18 | 北京正拓气体科技有限公司 | Gas filling system and method of high-pressure gas cylinder |
| CN204345258U (en) * | 2014-12-10 | 2015-05-20 | 福建泉惠梅塞尔气体有限公司 | A kind of head that fills can the cylinder filling frame of automatic lifting band device for monitoring temperature |
| CN204525468U (en) * | 2015-03-13 | 2015-08-05 | 浙江财经大学东方学院 | A kind of daily management boosting manipulator device |
| CN206455662U (en) * | 2016-11-23 | 2017-09-01 | 江苏光大电控设备有限公司 | A kind of new type fuse automatic production line mechanical arm |
| CN207071551U (en) * | 2017-06-13 | 2018-03-06 | 惠州市华阳多媒体电子有限公司 | A kind of battery core testing, sorting machine |
| CN107237977B (en) * | 2017-07-27 | 2019-08-06 | 济宁协力特种气体有限公司 | Gas cylinder automatic charging device and its methods for filling |
-
2019
- 2019-06-05 CN CN201910486269.8A patent/CN110131571B/en active Active
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Application publication date: 20190816 Assignee: XUZHOU XINNANHU TECHNOLOGY Co.,Ltd. Assignor: XUZHOU University OF TECHNOLOGY Contract record no.: X2023980038911 Denomination of invention: An Automatic Gas Filling Robot Suitable for Gas Filling Places Granted publication date: 20201103 License type: Common License Record date: 20230802 |
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