CN208041601U - A kind of big flow low temperature automatic liquid feeder - Google Patents
A kind of big flow low temperature automatic liquid feeder Download PDFInfo
- Publication number
- CN208041601U CN208041601U CN201820118828.0U CN201820118828U CN208041601U CN 208041601 U CN208041601 U CN 208041601U CN 201820118828 U CN201820118828 U CN 201820118828U CN 208041601 U CN208041601 U CN 208041601U
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- China
- Prior art keywords
- mechanical arm
- automatic liquid
- arm
- low temperature
- big flow
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Abstract
The utility model discloses a kind of big flow low temperature automatic liquid feeders, including：Pedestal, the driving arm seat being connect with base rotation, the first mechanical arm device with driving arm seat rotation connection, and the second mechanical arm device with the rotation connection of first mechanical arm device；Second mechanical arm device end is connect by gripper with automatic liquid-feeding rifle.Be applicable in the automatic liquid-feeding rifle without specification, it can be achieved that big flow filling, the specification size of charging line is almost unrestricted；By the mechanical arm configuration of high-freedom degree, meet the docking filling of any angle；Configurable pattern recognition device realizes automatic capture positioning and docking, high degree of automation.
Description
Technical field
The utility model is related to the technical field of cryogen filling, more particularly to a kind of big flow low temperature automatic liquid-feeding dress
It sets.
Background technology
Natural gas（LNG）It is more and more favored as clean energy resource, LNG is all classified as preferred fuels, day by many countries
Right ratio of the gas in energy supply increases sharply.With the increase of the cryogenic liquid gas import volume such as LNG, how to realize in ship
Oceangoing ship, tank car and large-sized liquefied gas receive between harbour and receiving station, quick, efficient and safe filling with point turn low temperature liquid
Gas becomes most important.
Currently, for the filling of the liquid cryogenic fluids such as LNG, mainly flange is used to be threadedly coupled pipeline, carries out liquid
Filling and point turn；Common liquid feeding rifle is also mainly hand-held, non-automated.Flow when it is filled is limited, filling
Efficiency is also restrained.
Utility model content
The purpose of utility model：The utility model discloses a kind of big flow low temperature automatic liquid feeder, is applicable in and does not have to specification
Automatic liquid-feeding rifle, it can be achieved that big flow filling；By the mechanical arm configuration of high-freedom degree, the docking for meeting any angle is filled
Note.
Technical solution：In order to achieve the goal above, the utility model discloses a kind of big flow low temperature automatic liquid feeder,
Including：Pedestal, the driving arm seat being connect with base rotation, the first mechanical arm device with driving arm seat rotation connection, Yi Jiyu
The second mechanical arm device of first mechanical arm device rotation connection；Second mechanical arm device end is by gripper and automatically
Liquid feeding rifle connects.
Further, above-mentioned a kind of big flow low temperature automatic liquid feeder, the second mechanical arm device include rotating arm,
Rotating arm driving device and second mechanical arm seat, described rotating arm one end are connect with gripper, and the other end is filled with rotating arm driving
Connection is set, the rotating arm driving device is fixedly mounted on second mechanical arm seat, the second mechanical arm seat and the first machinery
Arm assembly end is rotatablely connected.
Further, above-mentioned a kind of big flow low temperature automatic liquid feeder, the first mechanical arm device include linking arm,
Connecting rod and driving rod drive, described linking arm one end are rotatablely connected with second mechanical arm seat, the other end and driving arm seat rotation
Connection, described connecting rod one end are connect with driving rod drive, and the other end is rotatablely connected with second mechanical arm seat.
Further, above-mentioned a kind of big flow low temperature automatic liquid feeder, the rotating arm driving device include fixed pacify
Gear-box on second mechanical arm seat, and it is fixedly mounted on the rotating arm driving motor of gear-box side.
Further, above-mentioned a kind of big flow low temperature automatic liquid feeder, second mechanical arm seat both sides are equipped with and connect
Connect the hinged first connecting portion of arm, be equipped among the second mechanical arm seat protrusion and with connecting rod one end is hinged second connect
Portion；The driving rod drive includes the connecting rod servo motor being arranged in driving arm seat both sides, and is connected with connecting rod servo motor
The drive connection portion of the protrusion connect, drive connection portion end are hinged with connecting rod.
Further, above-mentioned a kind of big flow low temperature automatic liquid feeder, the second connecting portion and drive connection portion to
It protrudes the same side of linking arm.
Further, above-mentioned a kind of big flow low temperature automatic liquid feeder, the automatic liquid-feeding rifle are filled with second mechanical arm
It sets and is arranged in parallel.
Further, above-mentioned a kind of big flow low temperature automatic liquid feeder, the gripper end are filled equipped with image recognition
It sets, described image identification device and the filling end of automatic liquid-feeding rifle are arranged in the same direction.
Further, above-mentioned a kind of big flow low temperature automatic liquid feeder, the pedestal is equipped with control cabinet and chassis rotates
Motor, the driving arm seat are rotatablely connected with pedestal by chassis rotating part, and the chassis rotating part connects with chassis electric rotating machine
It connects.
Above-mentioned technical proposal can be seen that the utility model and have the advantages that：
（1）A kind of big flow low temperature automatic liquid feeder described in the utility model is applicable in the automatic liquid-feeding without specification
Rifle, it can be achieved that big flow filling；By the mechanical arm configuration of high-freedom degree, meet the docking filling of any angle.
（2）A kind of big flow low temperature automatic liquid feeder described in the utility model, first mechanical arm and second mechanical arm
Structure it is simple, stablize, wherein first mechanical arm, which passes through, pulls connecting rod to realize to swing；Ensureing that overall structure is simple, at low cost
On the basis of, whole mechanical arm has 5 degree of freedom, moves and docks more flexible convenience.
（3）A kind of big flow low temperature automatic liquid feeder described in the utility model, the set-up mode master of automatic liquid-feeding rifle
It to be conveniently replaceable by the clamping of gripper, and suitable for the automatic liquid-feeding rifle and its charging line of different size, charging line
Setting is arranged in parallel outside second mechanical arm device, and with rotating arm, therefore the specification size of charging line is almost unrestricted,
Charging line of the caliber between DN25-300mm can use, and accessible flow is big.
（4）A kind of big flow low temperature automatic liquid feeder described in the utility model is realized certainly by pattern recognition device
It is dynamic to capture positioning and docking, high degree of automation.
（5）A kind of big flow low temperature automatic liquid feeder described in the utility model may be implemented by automation control
Automatic liquid-feeding rifle is quickly connected and is detached with filler；Also, full-automatic control, substantially reduces the safety wind of personnel
Danger.
Description of the drawings
Fig. 1, Fig. 2 are a kind of structural schematic diagram of big flow low temperature automatic liquid feeder described in the utility model；
In figure：1- pedestals, the chassis 11- rotating part, 2- drive arm seat, 3- first mechanical arm devices, 31- linking arms, 32- companies
Bar, 33- driving rod drives, 331- connecting rod servo motors, 332- drive connections portion, 4- second mechanical arm devices, 41- rotations
Arm, 42- rotating arm driving devices, 421- gear-boxes, 422- rotating arm driving motors, 43- second mechanical arm seats, 431- first connect
Socket part, 432- second connecting portions, 5- grippers, 6- automatic liquid-feeding rifles, 61- filling end, 7- pattern recognition devices, 8- control cabinets,
The chassis 9- electric rotating machine.
Specific implementation mode
Below in conjunction with the accompanying drawings, specific embodiment of the present invention is described in detail.
Embodiment
A kind of big flow low temperature automatic liquid feeder of the utility model, as depicted in figs. 1 and 2, including pedestal 1 and bottom
The driving arm seat 2 of 1 rotation connection of seat, the first mechanical arm device 3 being rotatablely connected with driving arm seat 2, and and first mechanical arm
The second mechanical arm device 4 that device 3 is rotatablely connected；4 end of second mechanical arm device passes through gripper 5 and automatic liquid-feeding rifle
6 connections.
Second mechanical arm device described in the present embodiment 4 includes rotating arm 41, rotating arm driving device 42 and the second machinery
Arm seat 43,41 one end of the rotating arm are connect with gripper 5, and the other end is connect with rotating arm driving device 42, the rotating arm
Driving device 42 is fixedly mounted on second mechanical arm seat 43, the second mechanical arm seat 43 and 3 end of first mechanical arm device
Rotation connection.The first mechanical arm device 3 includes linking arm 31, connecting rod 32 and driving rod drive 33, the linking arm 31
One end is rotatablely connected with second mechanical arm seat 43, and the other end is rotatablely connected with driving arm seat 2, and 32 one end of the connecting rod is driven with connecting rod
Dynamic device 33 connects, and the other end is rotatablely connected with second mechanical arm seat 43.The rotating arm driving device 42 includes being fixedly mounted
Gear-box 421 on second mechanical arm seat 43, and it is fixedly mounted on the rotating arm driving motor 422 of 421 side of gear-box.
43 both sides of second mechanical arm seat described in the present embodiment are equipped with the first connecting portion 431 hinged with linking arm 31, institute
It states and is equipped with second connecting portion 432 protrusion and hinged with 32 one end of connecting rod among second mechanical arm seat 43；The connecting rod driving
Device 33 includes the connecting rod servo motor 331 being arranged in driving arm seat 2 both sides, and is connect with connecting rod servo motor 331 convex
The drive connection portion 332 gone out, 332 end of drive connection portion are hinged with connecting rod 32.The second connecting portion 432 connects with driving
Socket part 332 is protruded to the same side of linking arm 31.
Automatic liquid-feeding rifle described in the present embodiment 6 is arranged in parallel with second mechanical arm device 4.Automatic liquid-feeding rifle 6 includes adding
Liquid pipe road, charging line setting are arranged in parallel outside second mechanical arm device 4, and with rotating arm 41, therefore charging line
Specification size is almost unrestricted, and charging line of the caliber between DN25-300mm can use.
The end of gripper 5 described in the present embodiment is equipped with pattern recognition device 7, and described image identification device 7 adds with automatic
The filling end 61 of liquid rifle 6 is arranged in the same direction.
Pedestal 1 described in the present embodiment is equipped with control cabinet 8 and chassis electric rotating machine 9, and the driving arm seat 2 is logical with pedestal 1
The rotation connection of chassis rotating part 11 is crossed, the chassis rotating part 11 is connect with chassis electric rotating machine 9.
When larger vehicles are parked fills region in punching, start the device；It is captured and is identified by pattern recognition device 7
Filler position, signal feed back to control cabinet 8；It drives chassis electric rotating machine 9 to operate by control cabinet 8, passes through chassis electric rotating machine 9
And chassis rotating part 11 realizes the rotation of driving arm seat 2；8 drive link driving device 33 of control cabinet is run, and pulls connecting rod 32, real
The swing of existing first mechanical arm device 3；Control cabinet 8 drives rotating arm driving device 42 and operation, and rotating arm 41 is driven to rotate；This
In the process, pattern recognition device 7 persistently captures identification and filler position and signal is fed back to control cabinet 8, the device automatically into
Line position sets adjustment until automatic liquid-feeding rifle 6 reaches accurate location；Signal is sent out by control cabinet 8 again, control automatic liquid-feeding rifle 6 adds
It docks, lock and punching dress with filler in note end 61；Control cabinet 8, which controls automatic liquid-feeding rifle 6, after punching dress can cut off supply, exit
Locking state；Control cabinet 8 controls the device and restores initial position.
The above is only the preferred embodiment of the utility model, it should be noted that for the ordinary skill of the art
For personnel, without departing from the principle of this utility model, several improvement can also be made, these improvement also should be regarded as this
The protection domain of utility model.
Claims (9)
1. a kind of big flow low temperature automatic liquid feeder, it is characterised in that：Including：Pedestal（1）With pedestal（1）Rotation connection
Drive arm seat（2）And driving arm seat（2）The first mechanical arm device of rotation connection（3）, and with first mechanical arm device（3）
The second mechanical arm device of rotation connection（4）；The second mechanical arm device（4）End passes through gripper（5）With automatic liquid-feeding
Rifle（6）Connection.
2. a kind of big flow low temperature automatic liquid feeder according to claim 1, it is characterised in that：The second mechanical arm
Device（4）Including rotating arm（41）, rotating arm driving device（42）With second mechanical arm seat（43）, the rotating arm（41）One end
With gripper（5）Connection, the other end and rotating arm driving device（42）Connection, the rotating arm driving device（42）It is fixedly mounted
In second mechanical arm seat（43）On, the second mechanical arm seat（43）With first mechanical arm device（3）End is rotatablely connected.
3. a kind of big flow low temperature automatic liquid feeder according to claim 2, it is characterised in that：The first mechanical arm
Device（3）Including linking arm（31）, connecting rod（32）And driving rod drive（33）, the linking arm（31）One end and the second machinery
Arm seat（43）Rotation connection, the other end and driving arm seat（2）Rotation connection, the connecting rod（32）One end and driving rod drive
（33）Connection, the other end and second mechanical arm seat（43）Rotation connection.
4. a kind of big flow low temperature automatic liquid feeder according to claim 2, it is characterised in that：The rotating arm driving
Device（42）Including being fixedly mounted on second mechanical arm seat（43）On gear-box（421）, and it is fixedly mounted on gear-box
（421）The rotating arm driving motor of side（422）.
5. a kind of big flow low temperature automatic liquid feeder according to claim 3, it is characterised in that：The second mechanical arm
Seat（43）Both sides are equipped with and linking arm（31）Hinged first connecting portion（431）, the second mechanical arm seat（43）Centre is equipped with
Protrude and and connecting rod（32）The hinged second connecting portion in one end（432）；The driving rod drive（33）It is being driven including setting
Swing arm seat（2）The connecting rod servo motor of both sides（331）, and with connecting rod servo motor（331）The drive connection of the protrusion of connection
Portion（332）, the drive connection portion（332）End and connecting rod（32）It is hinged.
6. a kind of big flow low temperature automatic liquid feeder according to claim 5, it is characterised in that：The second connecting portion
（432）With drive connection portion（332）To linking arm（31）The same side protrusion.
7. a kind of big flow low temperature automatic liquid feeder according to claim 1, it is characterised in that：The automatic liquid-feeding rifle
（6）With second mechanical arm device（4）It is arranged in parallel.
8. a kind of big flow low temperature automatic liquid feeder according to claim 1, it is characterised in that：The gripper（5）
End is equipped with pattern recognition device（7）, described image identification device（7）With automatic liquid-feeding rifle（6）Filling end（61）It sets in the same direction
It sets.
9. a kind of big flow low temperature automatic liquid feeder according to claim 1, it is characterised in that：The pedestal（1）If
There is control cabinet（8）With chassis electric rotating machine（9）, the driving arm seat（2）With pedestal（1）Pass through chassis rotating part（11）Rotation connects
It connects, the chassis rotating part（11）With chassis electric rotating machine（9）Connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820118828.0U CN208041601U (en) | 2018-01-24 | 2018-01-24 | A kind of big flow low temperature automatic liquid feeder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820118828.0U CN208041601U (en) | 2018-01-24 | 2018-01-24 | A kind of big flow low temperature automatic liquid feeder |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208041601U true CN208041601U (en) | 2018-11-02 |
Family
ID=63954096
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820118828.0U Active CN208041601U (en) | 2018-01-24 | 2018-01-24 | A kind of big flow low temperature automatic liquid feeder |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208041601U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112797312A (en) * | 2021-01-04 | 2021-05-14 | 宁波市巴克蓄能器技术有限公司 | Intelligent inflation equipment |
-
2018
- 2018-01-24 CN CN201820118828.0U patent/CN208041601U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112797312A (en) * | 2021-01-04 | 2021-05-14 | 宁波市巴克蓄能器技术有限公司 | Intelligent inflation equipment |
| CN112797312B (en) * | 2021-01-04 | 2022-09-09 | 宁波市巴克蓄能器技术有限公司 | Intelligent inflation equipment |
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