WO2024042534A1

WO2024042534A1 - A robotic equipment for loading and unloading of gas cylinders and method thereof

Info

Publication number: WO2024042534A1
Application number: PCT/IN2023/050722
Authority: WO
Inventors: Shailesh GUPTA; Jaya Gupta; Unnat Gupta
Original assignee: Shailesh GUPTA; Jaya Gupta; Unnat Gupta
Priority date: 2022-08-25
Filing date: 2023-07-27
Publication date: 2024-02-29

Abstract

The present invention provides a robotic equipment (100) for loading and unloading gas cylinders (112) to and from a vehicle, comprising: a base frame structure (114); a horizontal telescopic boom (102) mounted on the base frame structure (114) having a stacker region (120); a conveyer belt (116) for transporting gas cylinders (112) from the mainline conveyor (118) to the stacker region (120); a vertical robotic unit (122) allowing the vertical robotic movement to rotate across an angle of 90 degrees; a slider (104) for providing an x-axis movement to a vertical robotic unit (122); a horizontal robotic arm (126), wherein a vertical axis unit (124) allows y-axis movement of the horizontal robotic arm (126); a grabber unit (130) comprising a plurality of grippers (128); and a shifter unit provided in the horizontal robotic arm (126) for controlling the x-axis movement of the grabber unit (130).

Description

A ROBOTIC EQUIPMENT FOR LOADING AND UNLOADING OF GAS CYLINDERS AND METHOD THEREOF FIELD OF INVENTION [0001] The present invention generally relates to automatic/semiautomatic loading and unloading of gas cylinders. More particularly, the present invention relates to a robotic equipment and method of loading and unloading of gas cylinders to and from the transport vehicle. BACKGROUND OF THE INVENTION [0002] Some commercial and industrial work requires a type of system that allows the handling and storage of heavy cylinders containing any product. Such is the case of inflammable gas cylinders, especially LPG cylinders. Traditionally, the task of securing such cylinders containing the product has been carried out manually. The repeated motions of manual labour can become tedious, and depending on the size of the cylinders, such tasks can also become strenuous. Continued transfer of such cylinders can also cause injury to the workers. Further, depending on the output speed and configuration of the conveyor line, multiple workers may be required to properly move the cylinders. [0003] Therefore, conventionally, to transfer, load or unload the heavy cylinders, a lot of time was spent. Therefore, the conventional use of manpower for transfer of cylinders posed a big problem, causing time delay as well as injury to manual labourers. In an effort to reduce workforce size and injury costs, there has been a significant move towards automating this process by utilizing robots. In this regard, automated systems for handling heavy cylinders within a warehouse or during transportation provides various advantages in handling heavy cylinders, including increased speed in loading & unloading the cylinders, rapid movement of cylinders from one place to another, more accurate tracking of product and reduced cost. The automated system may be in the form of one or more conveyors and/or one or more robots moving over a working area. Robots have several advantages over human workers, such as being able to work continuously for days or weeks, while at the same time virtually eliminating human error and preventing any injury to human beings. [0004] US 9139363 B2 discloses an automated warehouse storage system including a multi- level storage array with storage distributed along multiple aisles. Each aisle of which has a set of storage levels and each level has storage locations distributed along the aisle. The guideway network extending through the multilevel storage array and configured for autonomous vehicles to move along the guide-way network within the multilevel storage array. The guide-way network including an inter-aisle guide-way spanning at least two of the multiple aisles and a set of guide-way levels extending in an aisle of the multiple aisles and disposed so that each guide-way level is at a different one of the storage levels and the vehicles on the guide-way level can access the storage locations distributed along the aisle. A ramp guide way communicably connecting each of the set of guide-way levels to the inter- aisle guideway forming a common guide way path connecting the inter-aisle guide-way and each guide way level so that a vehicle moving between inter-aisle guide way and each guide- way level moves along the common guideway path. [0005] US7708514B2 discloses an automated material retrieval handling and storage system for use in manipulating standardized cargo cylinders within cells of a cylinders wherein the system includes a grid track structure which is securely mounted above the cells of the container ship and which defines intersecting and generally perpendicularly oriented tracks on which are guided container transfer units. Each transfer unit is mounted by a plurality of carriages which are mounted within the tracks such that the transfer units are suspended from the tracks and are moveable both from fore to aft and from port to starboard relative to the cells of a cylindership. Each transfer unit includes hoists which are connected to a spreader beam structure which is formed as a frame for engaging and locking on to a standardized cargo container. In order to stabilize cargo cylinders as they are elevated above the cell structures toward the transfer units, each transfer unit includes an extendable stabilizer mechanism which prevents swinging of the container even under rough sea conditions as they are removed from the cells. [0006] US6533510B2 discloses a highway trailer carrier, a system that includes the carrier and at least one stacking device, and a method thereof. The carrier according to the invention includes a support base having a support area for accommodating trailer wheels, at least one lift brace attached to the support base, and at least one trailer support attached to the support base for supporting a part of the trailer remote from the trailer wheels. The trailer support can be collapsible, and adjustable at least between a first position and a second position, which is positioned inwardly of the first position along a longitudinal direction of the support base. The support can include a first section and a second section. The first section can be attached to the support base and the second section can be adjustably and pivotally connected relative to the first section. Specifically, the first section can comprise a pair of front rails and a pair of back rails secured to the support base, and the second section can comprise a front member and a back member, respectively connected to the front and back rails. The front and back members are connected together. Specifically, the front and back members can be detachably connected together. [0007] EP1531747B1 discloses an automated equipment suitable for transporting cylinders arranged in one or more rows of stacks or partial stacks, the equipment including movable engagement means for engaging with one or more cylinders in a row, wherein the equipment is operable to move the engagement means transverse to at least a first row between a first position where the engagement means can engage with any required container in the first row from beside a stack or partial stack and a second position in which the engagement means, any cylinders engaged with the engagement means and any cylinders located thereon are beside said first row, move the engagement means along the first row when the engagement means is located in the second position and move cylinders engaged with the engagement means vertically, thereby allowing a container or partial stack engaged with the engagement means to be placed as required either on another partial stack or on a support for supporting stacks or partial stacks. [0008] While a number of prior art documents disclose various robotic systems and equipment for transferring, stacking, carrying cylinders, none of the prior art documents address the need for loading and unloading of inflammable products like gas cylinders to and from any transport vehicle. In case of such gas cylinders all the loading and unloading tasks are carried out manually whereby the manual labourers are exposed to injury as mostly accidents in the gas plants happen during the loading and unloading of the cylinders to and from the transport vehicle. Moreover, manual process also causes damage to the cylinders. [0009] Therefore, it will be advantageous to provide a solution by way of an equipment and method which provides a convenient, economical and efficient loading and unloading of gas cylinders to and from the transport vehicle. OBJECT OF THE INVENTION [0010] An object of this invention is to develop an efficient equipment and method for loading and unloading of gas cylinders to and from the transport vehicle. [0011] Another object of this invention is to develop an efficient robotic equipment with or without operator and process for loading and unloading of gas cylinders to and from any transport vehicle. [0012] Another object of this invention is to develop an efficient telescopic robotic equipment and process for loading and unloading of gas cylinders to and from any transport vehicle. [0013] Yet another object is to develop an efficient robotic equipment and process for loading and unloading of gas cylinders to and from the transport vehicle where no injury is caused to the existing manpower. [0014] Still another object is to develop an efficient robotic equipment and process for loading and unloading of gas cylinders to and from the transport vehicle which can be uniformly used for any transport vehicle. SUMMARY OF THE INVENTION [0015] In light of the disadvantages mentioned in the previous section, the following summary is provided to facilitate an understanding of some of the innovative features unique to the present invention and is not intended to be a full description. A full appreciation of the various aspects of the invention can be gained by taking the entire specification and drawings as a whole. Embodiments described herein disclose a robotic equipment and process for loading and unloading of gas cylinders to and from the transport vehicle. [0016] According to an embodiment of the present invention, the robotic equipment for loading and unloading gas cylinders to and from a vehicle, comprising: a base frame structure having a first end and a second end, wherein the first end is connected to a damping wheel arrangement and the second end is interfaced to a mainline conveyor; a horizontal telescopic boom mounted on the base frame structure having a stacker region; a conveyer belt disposed on the horizontal telescopic boom for transporting gas cylinders from the mainline conveyor to the stacker region of the horizontal telescopic boom; a vertical robotic unit mounted on a rotary axis unit, wherein the rotary axis unit allows the vertical robotic movement to rotate across an angle of 90 degrees; a slider disposed adjacent to the stacker region of the horizontal telescopic boom for providing an x-axis movement to a vertical robotic unit; a horizontal robotic arm connected to the vertical robotic unit, wherein a vertical axis unit allows y-axis movement of the horizontal robotic arm; a grabber unit disposed on the horizontal robotic arm comprising a plurality of grippers; a shifter unit provided in the horizontal robotic arm for controlling the x-axis movement of the grabber unit. [0017] According to an embodiment of the present invention, the plurality of grippers of the grabber unit of the robotic equipment grips and un-grips the plurality of gas cylinders. [0018] In accordance with an embodiment of the present invention, the robotic equipment comprises of a sensor module with a plurality sensors, wherein the plurality of sensors comprise distance sensors, proximity sensors, pressure sensor, temperature sensors, accelerometers, gyro sensors, position sensors, photoelectric sensor, and diffuse sensor. [0019] In another embodiment of the present invention, one of the plurality of sensors of the robotic equipment controls the movement of the horizontal telescopic boom, the slider, the rotary axis unit and the horizontal axis unit with a pneumatic brake. [0020] According to an embodiment of the present invention, one of the plurality of sensors of the robotic equipment prevents over-travel and collisions of the horizontal telescopic boom, the slider, the rotary axis unit and the horizontal axis unit. [0021] According to an embodiment of the present invention, the damping wheel arrangement of the robotic equipment comprises a pneumatic shock absorber, a plurality of damper wheels with brakes and one or more vertical guide rollers. [0022] According to another embodiment of the present invention, the rotary axis unit of the robotic equipment is provided with a rack and pinion mechanism controlled by a flameproof (FLP) servo motor with a gearbox. [0023] In another embodiment of the present invention, the horizontal telescopic boom of the robotic equipment employs at least one of the plurality of sensors to detect a flap status of the vehicle during loading and unloading of the gas cylinders. The flap status here refers to the top portion of the vehicle, e.g. a top covering or iron rods forming a framework on the top of the vehicle. [0024] In yet another embodiment of the present invention, the robotic equipment comprises a robotic equipment control system that stores instructions to enable the robotic equipment to be operated locally or remotely. [0025] This summary is provided merely for purposes of summarizing some example embodiments, so as to provide a basic understanding of some aspects of the subject matter described herein. Accordingly, it will be appreciated that the above-described features are merely examples and should not be construed to narrow the scope or spirit of the subject matter described herein in any way. BRIEF DESCRIPTION OF THE DRAWING [0026] Figures 1 and 2 illustrates the robotic equipment and process loading and unloading of gas cylinders to and from the transport vehicle according to the embodiments of the present disclosure. [0027] Figure 3 illustrates the telescopic boom of the robotic equipment for loading and unloading of gas cylinders to and from the transport vehicle according to the embodiments of the present disclosure. [0028] Figure 4 illustrate the damping wheel of the robotic equipment for loading and unloading of gas cylinders to and from the transport vehicle according to the embodiments of the present disclosure. [0029] Figures 5 and 6 illustrate the landing gear along with damping wheel of the robotic equipment for loading and unloading of gas cylinders to and from the transport vehicle according to the embodiments of the present disclosure. [0030] Figure 7a and 7b illustrates the slider of the robotic equipment for loading and unloading of gas cylinders to and from the transport vehicle according to the embodiments of the present disclosure. [0031] Figure 8a and 8b illustrates the components of the rotary axis of the robotic equipment for loading and unloading of gas cylinders to and from the transport vehicle according to the embodiments of the present disclosure. [0032] Figure 9 is a block diagram representation of the robotic equipment control unit to operate the robotic equipment in accordance with an embodiment of the present disclosure. [0033] Figure 10a illustrates a schematic view of the robotic equipment (100) and 10b illustrates the telescopic boom of the robotic equipment for loading and unloading of gas cylinders to and from the transport vehicle according to the embodiments of the present disclosure. [0034] Figure 11a illustrates a hydraulic pack and Figure 11b illustrates damping wheel arrangement of the telescopic boom of the robotic equipment for loading and unloading of gas cylinders to and from the transport vehicle according to the embodiments of the present disclosure. DETAILED DESCRIPTION OF THE DRAWINGS [0035] For the purpose of promoting an understanding of the principles of the disclosure, reference will now be made to the embodiment illustrated in the figures and specific language will be used to describe them. It will nevertheless be understood that no limitation of the scope of the disclosure is thereby intended. Such alterations and further modifications in the illustrated system, and such further applications of the principles of the disclosure as would normally occur to those skilled in the art are to be construed as being within the scope of the present disclosure. [0036] The terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process or method that comprises a list of steps does not include only those steps but may include other steps not expressly listed or inherent to such a process or method. Similarly, one or more devices or sub-systems or elements or structures or components preceded by "comprises... a" does not, without more constraints, preclude the existence of other devices, sub-systems, elements, structures, components, additional devices, additional sub-systems, additional elements, additional structures, or additional components. Appearances of the phrase "in an embodiment", "in another embodiment" and similar language throughout this specification may, but not necessarily do, all refer to the same embodiment. [0037] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this disclosure belongs. The system, methods, and examples provided herein are only illustrative and not intended to be limiting. [0038] Embodiments of the present disclosure relate to a robotic equipment and process of loading and unloading of gas cylinders. The robotic equipment comprises of telescopic boom, landing gear with damper, slider and components of the rotary axis. [0039] Referring to figures 1 and 2 illustrate the robotic equipment (100) and process for loading and unloading of gas cylinders to and from the transport vehicle according to the embodiments of the present disclosure. The robotic equipment (100) comprises a base frame structure (114) having a first end and a second end, wherein the first end is connected to a damping wheel arrangement and the second end is interfaced to a mainline conveyor (118);a horizontal telescopic boom (102) mounted on the base frame structure (114) having a stacker region (120);a conveyer belt (116) disposed on the horizontal telescopic boom (102) for transporting gas cylinders (112) from the mainline conveyor (118) to the stacker region (120) of the horizontal telescopic boom (102); a vertical robotic unit (122) mounted on a rotary axis unit (106), wherein the rotary axis unit (106) allows the vertical robotic movement to rotate across an angle of 90 degrees; a slider (104) disposed adjacent to the stacker region (120) of the horizontal telescopic boom (102) for providing an x-axis movement to a vertical robotic unit (122); a horizontal robotic arm (126) connected to the vertical robotic unit (122), wherein a vertical axis unit (124) allows y-axis movement of the horizontal robotic arm (126); a grabber unit (130) disposed on the horizontal robotic arm (126) comprising a plurality of grippers (128); a shifter unit provided in the horizontal robotic arm (126) for controlling the x-axis movement of the grabber unit (130). [0040] According to an embodiment of the present invention, the plurality of grippers (128) of the grabber unit (130) of the robotic equipment (100) grips and un-grips the plurality of gas cylinders (112). [0041] Figure 3 illustrates the horizontal telescopic boom conveyor (102) of the robotic equipment (100) for loading and unloading of gas cylinders (112) to and from the transport vehicle according to the embodiments of the present disclosure. The horizontal telescopic boom conveyor (102)comprises main line conveyor (118) which further includes auto speed control motor with pneumatic brake and distance sensor, speed controller for precise control of cylinder movement on the conveyor belt(116) of variable speed to avoid starvation at stacker region (120). [0042] According to an embodiment of the present invention, the photoelectric sensors are provided to check the presence of cylinders (112) on the stacker region (120), a distance sensor is provided at the front of telescopic boom (102) to detect the vehicle, flap status of the vehicle, and also stop the robot in case if it comes in the range of vehicle end wall. The flap status here refers to the top portion of the vehicle, e.g. a top covering or iron rods forming a framework on the top of the vehicle. Another sensor is provided on the front of the boom to lock the first place position of the gas cylinder in the vehicle. The movement of the telescopic boom (102) is controlled by distance sensor with pneumatic brake. For preventing any collision or over travel, secondary distance sensors, proximity sensors and position sensors are also provided. In case of any failure of the primary sensor or the horizontal telescopic boom conveyor (102) travels beyond the pre-determined limit, the audio or visual alarm is generated. [0043] In accordance with an embodiment of the present invention, the robotic equipment (100) comprises of a sensor module (904) with a plurality sensors, wherein the plurality of sensors comprise distance sensors, proximity sensors, pressure sensor, temperature sensors, accelerometers, gyro sensors, position sensors, photoelectric sensor, and diffuse sensor. [0044] In yet another embodiment of the present invention, at least one of the plurality of sensors of the robotic equipment (100) control the movement of the horizontal telescopic boom (102), the slider (104), the rotary axis unit (106) and the horizontal axis unit (126) with a pneumatic brake. [0045] In yet another embodiment of the present invention, at least one of the plurality of sensors of the robotic equipment (100) prevents over-travel and collisions of the horizontal telescopic boom (102), the slider (104), the rotary axis unit (106) and the horizontal axis unit (126). [0046] Figures 4, 5 and 6 illustrate the landing gear (108) along with the plurality of damping wheels (110) of the robotic equipment (100) for loading and unloading of gas cylinders (112) to and from the transport vehicle according to the embodiments of the present disclosure. The damping wheel arrangement is known as landing gear (108) with the plurality of damper wheels (110). This arrangement has a pneumatic shock absorber for proper movement of the horizontal telescopic boom conveyor (102) on the floor of the vehicle and minimizes the vibration during the loading and unloading process. Moreover, the wheels (110) are provided with a braking facility which will be active during the loading and unloading process and the wheels (110) will retract up when the horizontal telescopic boom conveyor (102) is retracting or positioning itself for placement of gas cylinders (112). Vertical guide rollers are also provided with wheel assembly of horizontal telescopic boom conveyor (102) during the loading and unloading process, for the proper alignment with respect to the vehicle position (conditionally with in tolerance units of ±30mm) parallel with the horizontal telescopic boom conveyor (102). [0047] Figure 7a and 7b illustrates the slider (104) of the robotic equipment (100) for loading and unloading of gas cylinders (112) to and from the transport vehicle according to the embodiments of the present disclosure. The slider (104) is mounted on the horizontal telescopic boom conveyor (102) which provides movement for robotic equipment (100) from stacker region (120) to place the gas cylinders (112) in the vehicle. [0048] According to an embodiment of the present disclosure, the slider unit (104) comprises of an FLP servo motor (702) for facilitating faster speed and precise position. The slider (104) is also provided with an auto speed control feature and a distance sensor which is used for tracking the real-time position feedback of the movement on x-axis. Moreover, for safe movement and redundancy, proximity sensor is also provided at each end of the slider (104) for providing warning to de-accelerate the slider (104) and another sensor is provided for immediately stopping the movement and also provides the end position feedback. The movement of the slider (104) is also controlled by the distance sensor. Additionally, for preventing any over travel or collision, secondary distance sensor, proximity sensor and position sensor are provided. In case of any failure of the primary sensor or the conveyor travels beyond the pre-determined limit, the audio or visual alarm is generated. [0049] Figure 8a and 8b illustrates the rotary axis unit (106) of the robotic equipment (100) for loading and unloading of gas cylinders (112) to and from the transport vehicle according to the embodiments of the present disclosure. The rotary axis unit (106) is mounted on the horizontal telescopic boom conveyor (102) and provides rotary movement of 0 to 90 degrees to the vertical robotic unit (122) to place the gas cylinders (112) from the conveyor belt (116) to the transport vehicle. This rotary axis unit (106) is equipped with rack and pinion mechanism and is controlled by Flame Proof (FLP) Servo motor (802) with gearbox, wherein the FLP servo motor (802) facilitates faster speed and precise position. For safe movement & redundancy, proximity sensors are provided at each end of axis for pre-warning to decelerate the axis and to stop the rotation immediately after getting the position feedback. Proximity sensors are provided for preventing any over travel or collision. In case of any failure of the primary sensor or the conveyor travels beyond the pre-determined limit, the audio or visual alarm is generated. [0050] In addition to above, the robotic equipment (100) and process for loading and unloading of gas cylinders to and from the transport vehicle have some safety features in place. These in addition to other safety measures, primarily include air fail safe, power fail safe, safety during any motion and flap (Cage door) detection. [0051] In an embodiment, primary and secondary sensors are present on each axis of the robotic equipment (100) for safe operation of the robotic equipment (100) during the loading and un-loading process of the gas cylinders (112). [0052] In an embodiment, the air fail-safe feature helps the robotic equipment (100) and the process to stop immediately and resume only after the required air pressure is maintained. After receiving the requisite feedback and rest acknowledgement by the operator, the robotic equipment (100) and the process will start. In case of any air fail, all functions carried out in different axes will be locked and maintained at their respective positions. [0053] In another embodiment, in case of any power failure, the robotic equipment (100) and the process will complete the current step and then stop. The robotic equipment (100) and the process will resume only when the power is back and it is required that all the controls and mechanisms are reset from the Human- Machine Interface (HMI). [0054] In another embodiment, for detecting any kind of motion in the nearby area of the robotic equipment (100), sensors are mounted on the robotic equipment (100). On sensing any object in the pre-determined vicinity of the robotic equipment (100), the sensors send signals to the processors which in turn raise alarms on the HMI screen and the auto-cycle resumes only when the alarms are acknowledged and cleared by the operator. [0055] In another embodiment, the horizontal telescopic boom conveyor (102) is equipped with the distance sensor which detects the flap status of the vehicle during the auto-running of the process of loading and unloading of gas cylinders (112). [0056] In another embodiment, all motors of the robotic equipment (100) run with feature of position feedback in the auto-running mode of the robotic equipment (100) and the process with the help of distance sensor. During the auto-running cycle if any of the motor gets stopped/tripped , then the auto-running cycle pauses immediately and position feedback fault is displayed on the HMI screen. For the safety and interlock purpose, the robotic equipment (100) is equipped with sensors on all the axes. These sensors give the feedback related to position (Positive Limit & Negative Limit) of the arms or equipment (100). Any of the motors can stop immediately if either positive or negative limit is beyond the pre-determined permissible limit. Additionally, an alarm is displayed on the HMI screen. [0057] Figure 9 is a block diagram representation of the robotic equipment control unit to operate the robotic equipment in accordance with an embodiment of the present disclosure. The robotic equipment control system (900) comprises of a sensor module (904) with a primary sensor (906) and a secondary sensor (908) operationally coupled with the robotic equipment (100). The primary sensors (906) and the secondary sensors (908) comprises at least one of a distance sensor, proximity sensor, photoelectric sensor, and diffuse sensor. [0058] According to an embodiment of the present invention, the horizontal telescopic boom conveyor(102) comprises of a distance sensor as the primary sensor (906) for controlling the movement with a pneumatic brake. Further the secondary sensors (908) of the telescopic boom assembly (102) comprises of proximity sensors, position sensors and also distance sensor, wherein the secondary sensors (908) are employed to prevent over travel and collision. In case of any failure or over travel of primary sensor, an audio/visual alarm is generated. [0059] According to an embodiment of the present invention, the slider (104) comprises of a distance sensor as the primary sensor (906) for controlling the movement. The secondary sensors (908) are employed for prevention of over travel and collision, wherein the secondary sensor (908) comprises of the proximity sensors. In case of any failure or over travel of primary sensor, an audio/visual alarm is generated. [0060] According to an embodiment of the present invention, rotary axis assembly (106) comprises of the proximity sensors as primary sensors (906) to control the movement. The secondary sensors (908) are employed for prevention of over travel and collision, wherein the secondary sensor (908) comprises of the proximity sensors. In case of any failure or over travel of primary sensor, an audio/visual alarm is generated. [0061] In another embodiment of the present invention, the horizontal axis unit (126) employs the distance sensor with a pneumatic brake as the primary sensor (906) and the proximity sensors as the secondary sensor (908) to prevent over travel and collision. [0062] According to an embodiment of the present invention, the robotic equipment control system (900) stores instructions to enable the robotic equipment (100) to be operated and controller either remotely by an operator using any wireless interface or locally. [0063] In yet another embodiment of the present invention, an audio alarm or visual alarm is generated upon triggering at least one of the primary sensors (906) and the secondary sensors (908). [0064] Figure 10a illustrates a schematic view of the robotic equipment (100) and 10b illustrates the telescopic boom (102) of the robotic equipment for loading and unloading of gas cylinders (112) to and from the transport vehicle according to the embodiments of the present disclosure. According to an embodiment of the present invention, the telescopic boom (102) employs the conveyor belt (116) to move forward and backward in the transport vehicle to place the gas cylinders (112) at a predefined location. More particularly, the forward and backward movement is facilitated by the FLP servo motor (1004), in a high speed and precise position. [0065] According to an embodiment of the present invention, the stacker region (120) is provided for preparing a batch of 6/7 cylinders as per requirement. Further, the photo-electric sensors (1004) are used to detect the presence of gas cylinders on the stacker region (120). Figure 11a illustrates a hydraulic pack (1102) and Figure 11b illustrates the damping wheel arrangement (1106) of the telescopic boom of the robotic equipment for loading and unloading of gas cylinders to and from the transport vehicle according to the embodiments of the present disclosure. According to an embodiment, the hydraulic pack (1102) is employed for lifting the telescopic boom of the robotic equipment. [0066] As illustrated in the Figure 11b, the damping wheel arrangement (1106) comprising the plurality of damper wheels (110) is provided for facilitating proper movement of the telescopic boom (102) of the robotic equipment on the floor of the transport vehicle and minimizes the vibration during the loading process. Further, the vertical guide rollers (1104) are provided with the damping wheel arrangement (1106) of the telescopic boom during the loading process. Further according to an embodiment of the present disclosure, the robotic equipment is equipped with a purge/FLP panel for all electrical and electronics components. [0067] Various advantages of the robotic equipment (100) and process of loading and unloading of gas cylinders (112) to and from the transport vehicle of the present disclosure comprises of providing safe operation by eradicating human accidents and injuries by existing manual process; increase in efficiency of loading and un-loading of the gas cylinders (112),consistent and uniform operations with respect to time, the loading and un-loading process can be calibrated as per the requirements and prevention of damage to the gas cylinders (112). [0068] Examples described herein can also be used in various other scenarios and for various purposes. It may be noted that the above-described examples of the present solution are for the purpose of illustration only. Although the solution has been described in conjunction with a specific embodiment thereof, numerous modifications/versions may be possible without materially departing from the instructions and advantages of the subject matter described herein. Other substitutions, modifications, and changes may be made without departing from the spirit of the present solution. All of the features disclosed in this specification (including any accompanying claims, abstract, and drawings), and/or all of the steps of any method or process so disclosed, may be combined in any arrangement, except combinations where at least some of such features and/or steps are mutually exclusive. [0069] The present description has been shown and described with reference to the foregoing examples. It is understood, however, that other forms, details, and examples can be made without departing from the spirit and scope of the present subject matter.

Claims

We Claim: 1. A robotic equipment (100) for loading and unloading gas cylinders (112) to and from a vehicle, comprising: a base frame structure (114) having a first end and a second end, wherein the first end is connected to a damping wheel arrangement and the second end is interfaced to a mainline conveyor (118); a horizontal telescopic boom (102) mounted on the base frame structure (114) having a stacker region (120); a conveyer belt (116) disposed on the horizontal telescopic boom (102) for transporting gas cylinders (112) from the mainline conveyor (118) to the stacker region (120) of the horizontal telescopic boom (102); a vertical robotic unit (122) mounted on a rotary axis unit (106), wherein the rotary axis unit (106) allows the vertical robotic movement to rotate across an angle of 90 degrees; a slider (104) disposed adjacent to the stacker region (120) of the horizontal telescopic boom (102) for providing an x-axis movement to a vertical robotic unit (122); a horizontal robotic arm (126) connected to the vertical robotic unit (122), wherein a vertical axis unit (124) allows y-axis movement of the horizontal robotic arm (126); a grabber unit (130) disposed on the horizontal robotic arm (126) comprising a plurality of grippers (128); a shifter unit provided in the horizontal robotic arm (126) for controlling the x- axis movement of the grabber unit (130). 2. The robotic equipment (100) for loading and unloading gas cylinders (112) as claimed in claim 1, wherein the plurality of grippers (128) of the grabber unit (130) grips and un-grips the plurality of gas cylinders (112). 3. The robotic equipment (100) for loading and unloading gas cylinders (112) as claimed in claim 1, wherein the robotic equipment (100) comprises of a sensor module (904) with a plurality sensors, wherein the plurality of sensors comprise distance sensors, proximity sensors, pressure sensor, temperature sensors, accelerometers, gyro sensors, position sensors, photoelectric sensor, and diffuse sensor. 4. The robotic equipment (100) for loading and unloading gas cylinders (112) as claimed in claim 1, wherein at least one of the plurality of sensors control the movement of the horizontal telescopic boom (102), the slider (104), the rotary axis unit (106) and the horizontal axis unit (126) with a pneumatic brake. 5. The robotic equipment (100) for loading and unloading gas cylinders (112) as claimed in claim 1, wherein at least one of the plurality of sensors prevents over-travel and collisions of the horizontal telescopic boom (102), the slider (104), the rotary axis unit (106) and the horizontal axis unit (126). 6. The robotic equipment (100) for loading and unloading gas cylinders (112) as claimed in claim 1, wherein the damping wheel arrangement comprises a pneumatic shock absorber, a plurality of damper wheels (110) with a brakes and one or more vertical guide rollers. 7. The robotic equipment (100) for loading and unloading gas cylinders (112) as claimed in claim 1, wherein the rotary axis unit (106) is provided with a rack and pinion mechanism controlled by a flameproof (FLP) servo motor with a gearbox. 8. The robotic equipment (100) for loading and unloading gas cylinders (112) as claimed in claim 1, wherein the horizontal telescopic boom (102) employs at least one of the plurality of sensors to detect a flap status of the vehicle during loading and unloading of the gas cylinders. 9. The robotic equipment (100) for loading and unloading gas cylinders (112) as claimed in claim 1, wherein a robotic equipment control system (900) stores instructions to enable the robotic equipment (100) to be operated locally or remotely.