An air compressor gas tank grabbing module with blocking function

Abstract

The present invention relates to the field of air tightness detection, and in particular to an air compressor gas tank grabbing module with a blocking function, comprising: a grabbing device, a blocking device arranged on the grabbing device and used to block the gas tank; the grabbing device comprises: a connecting frame and a grabbing mechanism arranged on the connecting frame, a grabbing area is formed in the grabbing mechanism, and when grabbing, the gas tank is located in the grabbing area; the blocking device is arranged on the connecting frame and faces the grabbing area, and the blocking device comprises: a switch pipe blocking mechanism, a three-way pipe blocking mechanism, a sewage pipe blocking mechanism, a left perforation blocking mechanism and a right perforation blocking mechanism; after the grabbing mechanism completes the grabbing action, the blocking device is actuated to block the gas tank. The advantages of the present invention are: a blocking device is integrated on the grabbing device, and when the grabbing device completes the grabbing action of the gas tank, the blocking device can automatically block the gas tank, thereby improving the blocking efficiency.

Description

Technical Field

[0001] The invention relates to the field of air tightness detection, in particular to an air compressor gas storage tank grabbing module with a blocking function. Background Art

[0002] A gas tank is a container specially used to store gas. It is usually connected to an air compressor to store the compressed gas formed by the air compressor. The gas tank is composed of parts and components such as a cylinder, a head, a flange, a pipe, a sealing element and a support. These parts and components are generally fixed by welding. Therefore, after welding is completed, the welds formed by welding (especially the annular welds at the pipes) need to be tested for air tightness to ensure the air tightness of the gas tank.

[0003] In the prior art, the method for leak detection (i.e., air tightness detection) of a gas tank is as follows: first, each interface on the gas tank is manually sealed with a plug, and then the entire gas tank is placed in water, and then the inside of the gas tank is inflated, and whether the gas tank is leaking is determined by observing whether there are bubbles in the water.

[0004] The above-mentioned prior art has the following deficiencies:

[0005] 1) In order to store a large amount of compressed air, the air compressor air tank generally has a large volume (for example, 20-50L), and the air tank is usually made of steel, which makes the entire air tank quite heavy and inconvenient to carry manually. In addition, due to the inconvenience of carrying, when the air tank is placed in the water, it will fall into the water due to the unstable force, causing large fluctuations on the water surface, which is not conducive to observing whether there are bubbles in the water. Therefore, it takes a long time to wait until the water surface returns to calm, which seriously reduces the detection efficiency.

[0006] 2) When plugging the pipes of the gas tank, it is necessary to manually install the plugs one by one on the openings of the corresponding pipes, but the gas tank is usually equipped with a large number of pipes, such as switch pipes, sewage pipes, three-way pipes, etc., and it is worth noting that the pipe diameters of these pipes are different, which leads to the need to select plugs of corresponding specifications when plugging, resulting in very low plugging efficiency. In addition, after completing the air tightness test, the previous plug needs to be removed again, further reducing the efficiency of the test. Summary of the invention

[0007] In order to solve the problem of low detection efficiency caused by the blocking of the above-mentioned gas tank, the purpose of the present invention is to provide an air compressor gas tank grabbing module with a sealing function. After the grabbing device grabs the gas tank, the sealing device automatically seals the gas tank without manual blocking, thereby improving the sealing efficiency and further improving the efficiency of air tightness detection.

[0008] For the purpose of the present invention, the following technical solutions are adopted to implement:

[0009] An air compressor gas tank grabbing module with a blocking function, comprising:

[0010] A gripping device for gripping gas tanks,

[0011] A blocking device provided on the grabbing device and used for blocking the gas storage tank;

[0012] The gripping device includes:

[0013] A connecting frame and a grabbing mechanism arranged on the connecting frame, wherein a grabbing area is formed in the grabbing mechanism, and during grabbing, the gas storage tank is located in the grabbing area;

[0014] The blocking device is arranged on the connecting frame and faces the gripping area, and the blocking device comprises:

[0015] A switch pipe sealing mechanism for sealing the switch pipe on the gas tank,

[0016] A three-way pipe plugging mechanism for plugging the three-way pipe on the gas storage tank,

[0017] A sewage pipe plugging mechanism for plugging the sewage pipe on the gas storage tank,

[0018] The left perforation blocking mechanism is used to block the left perforation on the gas storage tank.

[0019] A right perforation blocking mechanism for blocking the right perforation on the gas storage tank;

[0020] After the grabbing mechanism completes the grabbing action, the blocking device is activated to block the gas storage tank.

[0021] In summary, the advantages of the present invention are: a plugging device is integrated on the grabbing device, and when the grabbing device completes the grabbing action of the gas tank, the plugging device can automatically plug the gas tank, thereby improving the plugging efficiency. In addition, each different pipe on the gas tank is equipped with a corresponding plugging mechanism, so that each pipe can be accurately plugged, thereby solving the problem of low plugging efficiency caused by the need to find a corresponding plug to plug the pipe in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the structure of the gas tank.

[0023] Figure 2 This is a schematic diagram of the structure of the air compressor gas tank leak detection equipment.

[0024] Figure 3 It is a structural schematic diagram of the positioning device.

[0025] Figure 4 This is a schematic diagram of the structure in which the gas storage tank is installed on the positioning device.

[0026] Figure 5 This is a structural schematic diagram of another perspective of the gas storage tank installed on the positioning device.

[0027] Figure 6 It is a schematic diagram of the structure of the conveying device.

[0028] Figure 7 It is a schematic diagram of the structure of the blocking mechanism in the conveying device.

[0029] Figure 8 It is a structural schematic diagram of the lifting mechanism in the conveying device.

[0030] Fig. 9 It is a schematic diagram of the structure of the conveying mechanism, lifting and translation mechanism and buffer mechanism in the conveying device.

[0031] Fig.10 It is a structural schematic diagram of the jacking and translation mechanism.

[0032] Fig.11 A schematic diagram of the structure of the cache mechanism.

[0033] Fig.12 It is a schematic diagram of the structure of the grabbing device and the handling device.

[0034] Fig.13 It is a schematic diagram of the structure of the grabbing device.

[0035] Fig.14 for Fig.13 A partial enlarged view of point A in the middle.

[0036] Fig.15 for Fig.13 A partial enlarged view of point B in the middle.

[0037] Fig.16 It is a schematic diagram of the structure of the grabbing device cooperating with the gas storage tank installed in the positioning device.

[0038] Fig.17 It is a schematic diagram of the exploded view of the grabbing device and the blocking device.

[0039] Fig.18 It is a schematic diagram of the overall structure of the grabbing device and the blocking device.

[0040] Fig.19 This is a schematic diagram of the structure of the grabbing device and the blocking device as a whole from another perspective.

[0041] Fig. 20 It is a structural schematic diagram of part of the structure of the plugging device.

[0042] Fig.21It is a structural schematic diagram of the left perforation blocking mechanism, the right perforation blocking mechanism and the linkage mechanism.

[0043] Fig. 22 It is a structural schematic diagram from one perspective that the gas storage tank is installed on the positioning device and cooperates with the grasping device and the blocking device.

[0044] Fig.23 It is a schematic structural diagram from another perspective showing that the gas storage tank is installed on the positioning device and cooperates with the gripping device and the blocking device. DETAILED DESCRIPTION

[0045] The following first introduces the structure of the air compressor gas tank. Figure 1 As shown, the air compressor gas storage tank 90 in the present application includes a hollow cylindrical body 91. Figure 1 The axis of the middle cylinder 91 extends in the left-right direction, and a left end cap 92 and a right end cap 93 are respectively arranged at the left and right ends of the cylinder 91. The left end cap 92 and the right end cap 93 are both disc-shaped with the center protruding outward. A left through hole (not shown for viewing angle reasons) and a right through hole 931 communicating with the inside of the cylinder 91 are respectively arranged at the center of the left end cap 92 and the right end cap 93. A switch pipe 94 with an axis extending in the longitudinal direction is arranged near the right end of the top of the cylinder 91, and a three-way pipe 95 with an axis inclined forward is arranged on the front side of the switch pipe 94. Both the switch pipe 94 and the three-way pipe 95 are straight pipes and are both connected to the inside of the cylinder 91. Two base plates 96 distributed front and back are arranged in the middle position of the top of the cylinder 91. The upper end surface of the base plate 96 is a horizontal plane, which is used to connect with the air compressor, and a mounting hole 961 for connecting with the air compressor is arranged on the horizontal plane. A wheel bracket 97 for mounting a wheel is provided at the bottom of the cylinder 91 near the left end, and the bottom surface of the wheel bracket 97 is a horizontal surface. A foot bracket 98 with an axis extending longitudinally downward is provided at the bottom of the cylinder 91 near the right end, and the foot bracket 98 is a hollow tubular structure, and the bottom of the foot bracket 98 is used to connect with the ground or other supports, so that the gas tank is stably placed on the ground or other supports. A sewage pipe 99 with an axis tilted forward is provided on the front side of the foot bracket 98, and the sewage pipe 99 is a straight pipe and communicates with the inside of the cylinder 91.

[0046] It should be noted that all components on the cylinder 91 are fixed to the cylinder 91 by welding, so it is necessary to test the air tightness of the welds, especially the annular welds at the switch pipe 94, the three-way pipe 95 and the sewage pipe 99. In addition, it is noted that the left through hole and the right through hole 931 are also connected to the inside of the cylinder 91, so when plugging, the left through hole and the right through hole 931 need to be plugged together. In addition, it is noted that the inside of the gas tank 90 needs to be inflated after plugging, so when plugging, the inflation pipe needs to be installed in one of the pipes or through holes. In this embodiment, the air intake of the left through hole and the right through hole 931 is taken as an example, that is, when plugging the gas tank 90, the inflation device needs to be connected to the left through hole and / or the right through hole 931, but the possibility of inflation through other pipes is not excluded.

[0047] In order to detect the air tightness of the above-mentioned gas tank 90, the present application provides an air compressor gas tank leak detection device, which is used to automatically transport the gas tank 90 to be leak-tested to a predetermined position after positioning, and to seal each connecting pipe on the gas tank 90 at the predetermined position, and then steadily place the gas tank 90 into water for air tightness detection.

[0048] In order to achieve the above purpose, Figure 2 As shown, the device includes a positioning device 10 for positioning the gas tank 90 and a conveying device 20 for conveying the positioning device 10. The conveying device 20 has a to-be-grabbed area (i.e., the predetermined position mentioned above). When the positioning device 10 is conveyed to the to-be-grabbed area, it is temporarily fixed so as to seal the gas tank 90 and remove the gas tank 90 from the positioning device 10. A grasping device 30 and a carrying device 40 are arranged on the to-be-grabbed area of ​​the conveying device 20. The grasping device 30 is connected to the execution end of the carrying device 40. A water tank or a pool with an upper opening is arranged within the motion range of the execution end of the carrying device 40 (not shown in the figure). The grasping device 30 is used to grasp the gas tank 90 in the positioning device 10, and the carrying device 40 is used to drive the grasping device 30 to move in space, so that the gas tank 90 in the positioning device 10 is taken out and put into water. The water tank or pool usually needs to be equipped with a water treatment system for purifying and cleaning the water to ensure that the water is clear, so as to facilitate observation of whether there are bubbles in the water. A blocking device 50 is also provided on the grabbing device 30, and the blocking device 50 is used to block the gas storage tank 90. ​​An inflating device 60 is provided on the blocking device 50, and the inflating device 60 is used to inflate the inside of the gas storage tank 90 after the gas storage tank 90 enters the water.

[0049] When the device is used, the gas tank 90 is first placed in the positioning device 10 for positioning to ensure the consistency of the position of the gas tank 90, so as to facilitate the transportation of the gas tank 90 and the subsequent blocking and grabbing of the gas tank 90; then the positioning device 10 is placed in the conveying device 20, and the conveying device 20 drives the positioning device 10 to move toward the area to be grabbed. When (one or more) positioning devices 10 move to the area to be grabbed, they are temporarily fixed, and at this time, the blocking device 50 blocks the gas tank 90. ​​Afterwards, under the action of the conveying device 40, the (one or more) grabbing devices 30 are moved above the area to be grabbed, and the grabbing device 30 clamps the gas tank 90 in the positioning device 10, and then the conveying device 40 drives (one or more) grabbing devices 30 and the gas tank 90 thereon to move above the water tank, and slowly puts the grabbing device 30 and the gas tank 90 into the water to avoid large fluctuations on the water surface. After the water surface is calm, the inflating device 60 inflates the inside of the gas tank 90 to observe whether bubbles are generated. After the inspection is completed, the transport device 40 takes the grasping device 30 and the gas tank 90 out of the water, and puts the gas tank 90 in a designated position (not back to the positioning device 10), and the qualified gas tank 90 enters the subsequent production process.

[0050] like Figure 3 As shown, the positioning device 10 includes a horizontally arranged and flat tray 11, and two support frames 12 are arranged in the middle of the upper end surface of the tray 11, which are independent of each other and spaced apart from each other. The two support frames 12 are used to support the cylinder 91 of the gas storage tank 90 from below. During positioning, one support frame 12 is relatively close to the left side of the cylinder 91, and the other support frame 12 is relatively close to the right side of the cylinder 91, so that the cylinder 91 can be prevented from overturning, thereby ensuring the stability of the cylinder 91 during transportation. In addition, in order to further improve the stability of the cylinder 91, a positioning claw 13 that opens outward in the front and rear directions is arranged on the upper part of the support frame 12, and the front and rear positioning claws 13 are symmetrical to each other, so that the entire support frame 12 is roughly Y-shaped, and a positioning groove 14 for positioning the cylinder 91 is formed between the front and rear positioning claws 13. When the cylinder 91 is placed in the positioning grooves 14 of the left and right support frames 12, the cylinder 91 will only have two degrees of freedom: translational movement in the left and right directions and rotational movement around the axis. In order to limit these two degrees of freedom, a substrate positioning component 15 is provided on the inner side of the support frame 12 for positioning the substrate 96 on the cylinder 91, thereby achieving complete positioning of the gas tank 90.

[0051] Specifically, the substrate positioning component 15 includes an adapter plate 151 arranged on the inner side of the support frame 12 (the side facing between the two support frames 12), and a substrate positioning pin 152 with an axis extending upward is provided at the end of the adapter plate 151. The substrate positioning pin 152 is used to cooperate with the mounting hole 961 on the substrate 96, thereby achieving complete positioning of the gas tank 90.

[0052] It should be noted that the number of the substrate positioning components 15 is at least two, and the two substrate positioning components 15 can be as follows: Figure 3 In that way, they are respectively arranged on one support frame 12, and two substrate positioning components 15 can also be simultaneously arranged on one of the support frames 12. In addition, the substrate positioning component 15 can position two mounting holes 961 on one substrate 96, and can also position two substrates 96 respectively.

[0053] Further, if Figure 3 As shown, a support block 131 is provided on the side of the positioning claw 13 facing the positioning groove 14, and the end surface of the support block 131 protrudes toward the position where the positioning groove 14 is located, so that when the cylinder 91 is installed, it only contacts the end surface of the support block 131, thereby further ensuring the positioning effect of the cylinder 91.

[0054] like Figure 4 and Figure 5 As shown, when the gas tank 90 is installed on the positioning device 10, the gas tank 90 is first inverted, that is, the wheel bracket 97 at the bottom of the gas tank 90 faces upward, and the base plate 96 faces downward. Then the inverted gas tank 90 is moved to the top of the support frame 12, and the gas tank 90 is slowly moved downward until the front and rear sides of the lower part of the cylinder 91 contact the inclined support block 131. At this time, the left and right positions of the cylinder 91 are adjusted so that the mounting holes 961 on the base plate 96 are connected to the base plate positioning pins 152. At this time, the cylinder 91 is placed on the support block 131 to complete the positioning of the gas tank 90, and under the gravity of the gas tank 90 itself, the gas tank 90 is fixed in the positioning device 10.

[0055] The positioning device 10 has the following advantages: the cylinder 91 is positioned by two roughly Y-shaped support frames 12, which facilitates the placement of the cylinder 91 during the positioning process. A substrate positioning component 15 for positioning the substrate 96 is arranged on the support frame 12, so that the gas storage tank 90 is completely positioned. This has the advantage that the structure of the substrate positioning component 15 itself is simple, and more importantly, the position of the substrate positioning component 15 is in the middle of the cylinder 91, and will not interfere with other pipes, and the space required for pipe plugging is reserved to the maximum extent, which is conducive to the subsequent plugging of the pipe.

[0056] like Figure 6As shown, in this embodiment, the conveying device 20 adopts a double-speed chain conveyor line, but other devices with conveying functions are not excluded. Specifically, the conveying device 20 includes a conveying mechanism 21 formed by a double-speed chain (existing technology, the specific structure is not repeated in this article) and a lifting mechanism 22 arranged at both ends of the conveying mechanism 21. The conveying mechanism 21 has two layers, the upper and lower layers, and the conveying directions of the upper and lower layers are opposite. In this embodiment, see Figure 2 and Figure 6 , the upper layer is transported from right to left, and the lower layer is transported from left to right. That is, the upper layer is used to transport the positioning device 10 equipped with the gas tank 90 to the position of the grasping device 30, and the lower layer is used to send the empty positioning device 10 back to the right. As can be seen from the above, the positioning device 10 needs to be temporarily fixed in the area to be grasped. To this end, a blocking mechanism 23 is provided on the conveying assembly 21, and the blocking mechanism 23 is used to block the pallet 11 on the positioning device 10, thereby achieving the blocking of the positioning device 10. That is, the positioning device 10 can be temporarily fixed in the conveying mechanism 21. The blocking mechanism 23 can adopt a blocking cylinder (see Figure 7 The structure of the blocking cylinder is prior art and will not be described in detail).

[0057] When the conveying device 20 is in use, the gas tank 90 is installed in the positioning device 10 located on the upper layer of the conveying mechanism 21, and the gas tank 90 is conveyed to the area to be grasped by the conveying mechanism 21. At this time, the blocking mechanism 23 blocks the positioning device 10, so that the positioning device 10 temporarily stays in the area to be grasped, so as to facilitate the necessary operations (such as blocking, grasping, etc.) on the gas tank. After the gas tank 90 is taken out, the blocking mechanism 23 is reset, and the empty positioning device 10 continues to move along the conveying mechanism 21 under the drive of the conveying mechanism 21 until the positioning device 10 moves to the lifting mechanism 22 located at the left end of the conveying mechanism 21, and the lifting mechanism 22 drives the positioning device 10 to move downward, so that the height of the positioning device 10 is consistent with the height of the lower layer of the conveying mechanism 21, so that the positioning device 10 moves to the lower layer of the conveying mechanism 21, and moves to the right end of the conveying mechanism 21 in the opposite direction to the upper layer, and then is lifted by the lifting mechanism 22 on the right side and sent back to the upper layer of the conveying mechanism 21, completing a cycle.

[0058] like Figure 8 As shown, the lifting mechanism 22 includes an outer frame 221, one side of the outer frame 221 ( Figure 8An opening is provided on the front and middle side of the outer frame 221, and the opening is connected to one end of the conveying mechanism 21, and the opening is used for the positioning device 10 to enter and exit. A lifting component 222 extending longitudinally is provided inside the outer frame 221, and a lifting platform 223 is provided on the output end of the lifting component 222, and the lifting platform 223 is lifted and lowered under the action of the lifting component 222. A transmission component 224 extending in the front-to-back direction is provided on the lifting platform 223, and the transmission component 224 is used to send the positioning device 10 into or out of the lifting platform 223. Specifically, side limit plates 2231 extending in the front-to-back direction are provided on both sides of the lifting platform 223, and the height of the side limit plates 2231 is higher than that of the transmission component 224. The side limit plates 2231 are used to limit the two sides of the positioning device 10 to prevent the positioning device 10 from shifting when entering the lifting platform 223. An end limit plate 2232 is provided at the end of the lifting platform 223 (the end away from the opening), and the end limit plate 2232 is used to limit the end of the positioning device 10 to prevent the positioning device 10 from falling out of the lifting platform 223 .

[0059] When the lifting mechanism 22 is in use (taking the lifting mechanism 22 on the left side of the conveying mechanism 21 as an example), the left end of the positioning device 10 first enters the lifting platform 223 from the opening of the outer frame 211, and then, under the action of the transmission component 224, drives the positioning device 10 to move inside the lifting platform 223 until the positioning device 10 is completely moved from the conveying mechanism 21 to the lifting platform 223. After that, the lifting component 222 drives the lifting platform 223 to move downward, so that the height of the transmission component 224 is consistent with the height of the lower layer of the conveying mechanism 21, and then the transmission component 224 drives the positioning device 10 to move toward the conveying mechanism 21 until the positioning device 10 is completely separated from the lifting platform 223. At this time, the lifting platform 223 is reset upward under the action of the lifting component 222, so that the height of the lifting platform 223 corresponds to the upper layer of the conveying mechanism 21.

[0060] like Figure 8 As shown, the lifting assembly 222 includes a longitudinally arranged lifting cylinder 2221 and a longitudinally arranged lifting slide rail 2222. The lifting slide rail 2222 is located on the left and right sides of the outer frame 221. The lifting platform 223 is connected to the output end of the lifting cylinder 2221, and the lifting platform 223 is slidingly connected to the lifting slide rails 2222 on both sides, so that the lifting cylinder 2221 can drive the lifting platform 223 to slide longitudinally on the lifting slide rail 2222.

[0061] As an improvement of the lifting assembly 222, a lifting cylinder 2221 can be set on both sides of the outer frame 211, and the left and right sides of the lifting platform 223 are respectively set on a lifting cylinder 2221, so that the lifting platform 223 can be lifted and lowered more smoothly.

[0062] In addition, buffer elements and positioning elements can be set at the upper and lower ends of the lifting assembly 222, so that when the lifting platform 223 moves to the upper or lower end, it is buffered by the buffer elements and positioned by the positioning elements, ensuring that the lifting platform 223 stops at the correct height and ensuring that the positioning device 10 can enter or leave the lifting platform 223.

[0063] like Figure 8 As shown, the conveying assembly 224 includes two conveying chains 2241 arranged on the lifting platform 223 in a left-right distribution, and sprockets 2242 are arranged on the front and rear ends of the conveying chain 2241. For example, the front side is a driving sprocket, and the rear side is a driven sprocket. The two driving sprockets on the front side are connected together through a driving shaft 2243. The driving shaft 2243 is connected to a power source (not shown). The power source drives the driving shaft 2243 to rotate, thereby driving the left and right conveying chains 2241 to transmit at the same time, thereby realizing the conveyance of the positioning device 10. The power source can be a motor.

[0064] like Fig. 9 As shown, a loading area is also provided on the conveying mechanism 21, in which the gas tank 90 is loaded, that is, the gas tank 90 is installed in the positioning device 10 in the loading area. Specifically, a lifting and translating mechanism 24 is provided in the loading area, and the lifting and translating mechanism 24 is located on the side away from the area to be grasped, that is, the lifting and translating mechanism 24 is located in front of the area to be grasped, and the positioning device 10 passing through the lifting and translating mechanism 24 will enter the area to be grasped. On the side of the lifting and translating mechanism 24 facing the conveying direction of the conveying mechanism 21 (at Fig. 9 A blocking mechanism 23 is provided on the left side of the conveying mechanism 21 to facilitate the positioning device 10 to stay in the lifting and translation mechanism 24. In addition, a buffer mechanism 25 is also provided on one side of the conveying mechanism 21 and at a position corresponding to the lifting and translation mechanism 24.

[0065] When in use, the lifting and translation mechanism 24 lifts the empty positioning device 10 upward to separate the positioning device 10 from the conveying mechanism 21, and then translates the positioning device 10 into the buffer mechanism 25 to install the gas tank 90 on the buffer mechanism 25. After installation, the buffer mechanism 25 returns the positioning device 10 with the gas tank 90 to the lifting and translation mechanism 24, and the lifting and translation mechanism 24 drives the positioning device 10 to move downward, and puts the positioning device 10 back into the conveying mechanism 21.

[0066] like Fig. 9 and 10As shown, the lifting and translation mechanism 24 includes a mounting frame 241 fixedly arranged on the conveying mechanism 21, and the mounting frame 241 includes two independent vertical plates 2411 at the front and rear and a horizontally extending bottom plate 2412 arranged at the bottom of the two vertical plates 2411. The vertical plates 2411 are used to be fixedly connected to the conveying mechanism 21 to achieve the fixation of the bottom plate 2412. Fig.10 A longitudinally arranged lifting cylinder 242 is arranged (in the middle, the bottom of the bottom plate 2412), a lifting plate 243 capable of lifting and lowering is arranged above the bottom plate 2412, and a plurality of longitudinally extending first guide rods 244 are arranged between the lifting plate 243 and the bottom plate 2412 to ensure the stability of the lifting plate 243 during lifting and lowering and prevent the lifting plate 243 from deflecting. A plurality of first rollers 244 are rotatably arranged on the lifting plate 243, the first rollers 244 are parallel to each other and in a horizontal plane, and the axial direction of the first rollers 244 is consistent with the conveying direction of the conveying mechanism 21. A first driving component 245 (such as a motor) is connected to the first roller 244, and the first driving component 245 drives the first roller 244 to rotate, thereby realizing the translation of the positioning device 10.

[0067] like Fig. 9 and 11 As shown, the buffer mechanism 25 includes a buffer rack 251 arranged on one side of the conveying mechanism 21, a support platform 252 is fixedly arranged in the middle of the buffer rack 251, a buffer cylinder 253 extending longitudinally is arranged in the middle of the upper end surface of the support platform 252, and a buffer platform 254 that can be lifted and lowered in the vertical direction is arranged above the buffer cylinder 253. The buffer platform 254 is connected to the output end of the buffer cylinder 253 and is lifted and lowered by the buffer cylinder 253. A plurality of second rollers 255 are rotatably arranged on the upper part of the buffer platform 254. These second rollers 255 are parallel to each other and in a horizontal plane, and the axis direction of the second roller 255 is parallel to the conveying direction of the conveying mechanism 21. A second driving component (not shown) is connected to the second roller 255, and the second driving component drives the second roller 255 to rotate. The second driving component can be a motor. A plurality of second guide rods 256 extending longitudinally are arranged between the buffer platform 254 and the support platform 252. The buffer platform 254 is guided by the second guide rods 256 to ensure that it does not deviate during lifting and lowering. A blocking plate 257 extending longitudinally is arranged on the side of the buffer platform 254 away from the lifting and translation mechanism 24. The upper end of the blocking plate 257 at least exceeds the top of the second roller 255, so that after the positioning device 10 moves onto the second roller 255, it will be blocked by the blocking plate 257 to prevent the positioning device 10 from moving outside the buffer mechanism 25.

[0068] The use process of the lifting and translation mechanism 24 and the buffer mechanism 25 is as follows: the hollow positioning device 10 mentioned above moves along the conveying mechanism 21 to the position where the lifting and translation mechanism 24 is located, and then the blocking mechanism 23 blocks the front end of the positioning device 10, so that the positioning device 10 stays above the lifting and translation mechanism 24. At this time, the lifting cylinder 242 drives the lifting plate 243 to move upward, so that the positioning device 10 is lifted and thus separated from the conveying mechanism 21. At the same time, the buffer cylinder 253 in the buffer mechanism 25 drives the buffer platform 254 to move upward, so that the height of the second roller 255 on the buffer platform 254 is consistent with the height of the first roller 244 on the lifting plate 243. Then the first driving component 245 drives the first roller 244 to rotate, so that the positioning device 10 is translated toward the position of the buffer mechanism 25, until the positioning device 10 enters the second roller 255, and at the same time the second driving component drives the second roller 255 to rotate, and moves the positioning device 10 as a whole to the second roller 255, until the outer side of the positioning device 10 (the side away from the lifting and translation mechanism 24) is blocked by the blocking plate 257, and then the second driving component stops. The gas tank 90 is placed in the positioning device 10 located in the buffer mechanism 25. Then the second driving component drives the second roller 255 to rotate in the opposite direction, so that the positioning device 10 returns to the lifting and translation mechanism 24, and then the positioning device 10 is placed downwardly back into the conveying mechanism 21 through the lifting and translation mechanism 24, and then the blocking mechanism 23 is reset downward, and the positioning device 10 is conveyed to the area to be grasped under the action of the conveying mechanism 21.

[0069] The conveying device 20 has the following advantages: the positioning device 10 can be accurately conveyed to the area to be grasped by the cooperation of the conveying mechanism 21 and the blocking mechanism 23, ensuring the normal progress of the subsequent process. And by setting the lifting mechanism 22 at both ends of the conveying mechanism 21, the positioning device 10 can be continuously recycled in the conveying mechanism 21, which is convenient for improving the transportation efficiency. The jacking translation mechanism 24 and the buffer mechanism 25 are set on the conveying mechanism 21, which can move the empty positioning device 10 from the conveying mechanism 21 to the buffer mechanism 25, which is convenient for installing the gas tank 90 on the empty positioning device 10, and after the gas tank 90 is installed, the positioning device 10 can be automatically conveyed back to the conveying mechanism 21, which is convenient for loading the gas tank 90.

[0070] like Fig.12 As shown, the transport device 40 includes a first transport mechanism 41 moving in a first direction, a second transport mechanism 42 moving in a second direction, and a third transport mechanism 43 moving in a third direction. The first transport mechanism 41, the second transport mechanism 42, and the third transport mechanism 43 are connected in sequence, and the gripping device 30 is arranged at the output end of the third transport mechanism 43. The first direction, the second direction, and the third direction are perpendicular to each other.

[0071] Specifically, in this embodiment, see Fig.12 As shown, the first transport mechanism 41 performs translational movement in the left-right horizontal direction, the second transport mechanism 42 performs translational movement in the front-back direction, and the third transport mechanism 43 performs translational movement in the up-down vertical direction. Thus, the gripping device 30 has translational freedom in three directions, and can realize the action of transporting the gas tank 90 from the conveying mechanism 21 to the water tank.

[0072] like Fig.12 As shown, the first conveying mechanism 41, the second conveying mechanism 42 and the third conveying mechanism 43 all use a combination of a motor, a gear and a rack to achieve translational movement in one direction.

[0073] Furthermore, a plurality of gripping devices 30 may be provided on the third transport mechanism 43 at the same time, for example Fig.12 Four grabbing devices 30 are arranged side by side in the middle, which can improve the grabbing efficiency and the transportation efficiency of the gas storage tank 90, thereby facilitating the air tightness detection of a large number of gas storage tanks.

[0074] In addition, it should be noted that, in other embodiments, the handling device 40 can also be implemented by an industrial robot arm with three axes or more degrees of freedom, and it is only necessary to configure one or more grasping devices 30 on the output end of the robot arm.

[0075] like Fig.13 As shown, the grabbing device 30 includes a connecting frame 31 and a grabbing mechanism 32 mounted on the connecting frame 31. The connecting frame 31 is used to connect with the transport device 40 to drive the grabbing mechanism 32 to move in space. The grabbing mechanism 32 is used to grab the cylinder 91 of the gas storage tank 90, to be precise, to grab from both sides of the cylinder 91 in the radial direction.

[0076] For details, see Fig.13 The connecting frame 31 includes a connecting plate 311 located at the upper layer and a base plate 312 located at the lower layer. The connecting plate 311 and the base plate 312 are fixedly connected by a longitudinally arranged connecting rod 313. The connecting plate 311 is used to connect with the transport device 40, and the base plate 312 is used to connect with the grabbing mechanism 32.

[0077] like Fig.13 As shown, the grasping mechanism 32 includes at least two clamping jaw assemblies 321 and a grasping cylinder 322 for controlling the clamping jaw assemblies 321 to grasp or release. The clamping jaw assemblies 321 are used to grasp the cylinder 91 of the gas storage tank 90. ​​The two clamping jaw assemblies 321 are arranged opposite to each other, and a grasping area for grasping the cylinder 91 is formed between the two clamping jaw assemblies 321. The grasping cylinder 322 is used to control the two clamping jaw assemblies 321 to move closer to or farther from each other. Obviously, when the clamping jaw assemblies 321 move closer to each other, a grasping action is performed; when the clamping jaw assemblies 321 move farther from each other, a release action is performed.

[0078] In addition, it should be noted that the clamping jaws assemblies 321 can be moved closer to each other by translation or by rotation. Fig.13 and Fig.16 In the figure, the grabbing cylinder 322 is a double-arm rotary cylinder (for example, model K63AS), that is, the grabbing cylinder 322 has two rotatable connecting arms 3221, and the upper end of the clamping jaw assembly 321 is arranged on a connecting arm 3221, so that the two clamping jaw assemblies 321 can approach or move away from each other by rotation.

[0079] like Fig.13 As shown, the clamping jaw assembly 321 includes a clamping jaw seat 3211 for connecting with the output end (i.e., the connecting arm 3221) of the grabbing cylinder 322 and a clamping jaw 3212 for grabbing the cylinder 91. The clamping jaw 3212 is arranged on the clamping jaw seat 3211. The clamping jaw 3212 has a connecting portion 32121 extending in the longitudinal direction and clamping jaw portions 32122 arranged at the upper and lower ends of the connecting portion 32121. The clamping jaw portions 32122 are opened to the outside of the connecting portion 32121 and are arranged obliquely, so that a substantially U-shaped clamping jaw groove is formed on the clamping jaw 3212. When grabbing, the cylinder 91 is located in the clamping jaw groove, and the clamping jaw portion 32122 of the clamping jaw 3212 abuts against the outer surface of the cylinder 91, thereby clamping the cylinder 91.

[0080] In addition, it is noted that the cylinder 91 has a large axial length. Therefore, in order to ensure the stability of the cylinder 91 after grasping and prevent the cylinder 91 from shaking, the number of the clamping jaws 3212 is at least two. These clamping jaws 3212 are at the same height and are spaced apart from each other by a distance (see Fig.16 ).

[0081] Optional, such as Fig.13 As shown, a clamping position detection component 33 (such as a proximity switch) is also provided on the clamping jaw assembly 321. The clamping position detection component 33 can be set on the clamping jaw seat 3211 and face the grasping area. When the clamping jaw 3212 completes the grasping action, that is, when the clamping jaw 3212 is connected to the outer surface of the cylinder 91, the clamping position detection component 33 also happens to contact the outer surface of the cylinder 91, so that the clamping position detection component 33 sends a clamping position signal to the control module of the grasping device 30, indicating that the clamping jaw 3212 is grasped in place.

[0082] Optional, such as Fig.13 and Fig.14As shown, a positioning assembly 34 is also provided on the connecting frame 31. The positioning assembly 34 is located at the bottom of the connecting frame 31 and extends longitudinally downward. The position of the positioning assembly 34 corresponds to the position of the foot support 98 on the gas tank 90. ​​During the grasping process, the lower end of the positioning assembly 34 extends from top to bottom into the interior of the foot support 98, thereby ensuring that the grasping device 30 is in the correct position without any deviation in the left and right or front and back directions, ensuring that the clamping claw 3212 contacts the same position on the gas tank 90 each time it grasps, thereby ensuring that the grasping device 30 can grasp the gas tank 90 smoothly. More importantly, the blocking device 50 set on the grasping device 30 later can correctly block each pipe.

[0083] Specifically, Fig.14 As shown, the positioning assembly 34 includes a cylindrical pin 341 extending longitudinally downward, the diameter of the pin 341 is slightly smaller than the inner diameter of the foot support 98, and a chamfer is provided on the side surface of the lower end of the pin 341. During the grasping process, the pin 341 moves downward and enters the interior of the foot support 98 from above, thereby realizing the positioning of the grasping mechanism 32.

[0084] Optional, such as Fig.13 and Fig.15 As shown, a clamping jaw in-position detection assembly 35 is also provided on the connecting frame 31. The clamping jaw in-position detection assembly 35 is used to detect the position of the grasping device 30 when the grasping device 30 moves toward the gas tank 90, to ensure that the grasping mechanism 32 is finally located at a suitable position above the gas tank 90, so that the clamping jaw assembly 321 is at a suitable height when grasping, and to ensure that the clamping jaw assembly 321 can accurately grasp the side of the cylinder 91. The clamping jaw assembly 321 will not be located above or below the gas tank 90, resulting in failure to grasp normally.

[0085] Specifically, Fig.13 and 15 As shown, the clamping jaw in-position detection assembly 35 includes a sleeve 351 disposed at the bottom of the base plate 312 and extending longitudinally downward. The sleeve 351 is in the shape of a long cylinder, and a channel extending along the length (axial) direction is disposed inside the sleeve 351, and the channel opens at the bottom of the sleeve 351. A rod-shaped detection rod 352 is slidably disposed in the channel, and the lower end of the detection rod 352 extends from the opening at the bottom of the sleeve 351. A detection element 353 (such as a proximity switch) is disposed at the top of the channel, which is used to detect the distance between the top of the detection rod 352 and the detection element 353, so as to determine the relative height between the grasping device 30 and the gas storage tank 90 when grasping.

[0086] Furthermore, a long groove 3511 connected to the internal channel is provided on the side wall of the sleeve 351, and the long groove 3511 extends in the longitudinal direction. A first fixing member 354 is provided in the long groove 3511, and the inner end of the first fixing member 354 is fixed on the detection rod 353, and the outer end of the first fixing member 354 extends out of the sleeve 351. When the detection rod 353 moves up and down in the channel, the first fixing member 354 moves up and down in the long groove 3511. A second fixing member 355 is provided below the long groove 3511, and the second fixing member 355 is fixedly provided on the side wall of the sleeve 351. An elastic member 356 is provided between the first fixing member 354 and the second fixing member 355, and the elastic member 356 applies a force to the first fixing member 354 and the second fixing member 355 to move closer to each other, so that when the lower end of the detection rod 352 is not subjected to external force, the detection rod 352 is located at the lower part of the sleeve 351, and the upper end of the detection rod 352 is far away from the detection element 353.

[0087] like Fig.16 As shown, when the clamping jaw in-position detection assembly 35 is in use, the detection rod 352 is located above the wheel bracket 97. When the grasping device 30 moves downward, the lower end of the detection rod 352 will contact the wheel bracket 97. As the grasping device 30 continues to move downward, a relative displacement will occur between the detection rod 352 and the sleeve 351. The distance between the top of the detection rod 352 and the detection element 353 gradually decreases and eventually reaches a predetermined distance. For example, the top of the detection element 353 contacts the bottom of the detection element 353. At this time, the detection element 353 sends a clamping jaw in-position signal to the control module of the grasping device 30, and the grasping device 30 stops moving downward.

[0088] like Fig.16 As shown, when the grasping device 30 performs the grasping action, the transport device 40 first moves the grasping device 30 to the top of the positioning device 10, and then the transport device 40 drives the grasping device 30 to move slowly downward. During this process, the bottom of the detection rod 353 in the clamping jaw in place detection component 35 first contacts the upper surface of the wheel bracket 97, and then the bottom of the positioning component 34 gradually extends into the interior of the foot bracket 98, and finally the upper end of the detection rod 353 moves to the predetermined position, that is, the grasping device 30 is at the correct height. At this time, the transport device 40 stops moving downward, and the grasping mechanism 32 in the grasping device 30 starts to move. The grabbing cylinder 322 drives the two jaw assemblies 321 to approach each other, so that the jaw assembly 321 moves toward the side of the cylinder 91, and finally the jaw 3212 in the jaw assembly 321 abuts against the side of the cylinder 91. At the same time, the clamping detection assembly 33 also happens to contact the side of the cylinder 91, that is, the jaw 3212 is clamped in place, and then the conveying device 40 drives the grabbing device 30 to move upward, and the grabbing device 30 drives the gas tank 90 to move upward together.

[0089] The grasping device 30 has the following advantages: a pair of clamping jaws assemblies 321 are controlled to move closer or farther from each other by the grasping cylinder 322, so as to realize the grasping action of the gas tank, and the clamping jaws assemblies 321 have clamping jaws 3212 that are opened outward, so that when grasping, the clamping jaws 3212 can be tightly attached to the side wall of the cylinder 91, achieving a good fixing effect. In addition, by setting the clamping in place detection assembly 33, it can be ensured that the clamping jaws 3212 have been in contact with the side wall of the cylinder 91, and the phenomenon of the clamping jaws 3212 grabbing nothing can be prevented. By setting the clamping jaw in place detection assembly 35, the height of the clamping jaws 3212 can be detected to ensure that the clamping jaws 3212 are at a suitable height, so that the clamping jaws 3212 are in contact with the side wall of the cylinder 91 after clamping, and the clamping jaws 3212 will not be located above or below the cylinder 91. By setting the positioning component 34, it can be ensured that the clamping jaw 3212 is in a suitable position in the axial direction of the cylinder 91, preventing the clamping jaw 3212 from being too biased toward the two ends of the cylinder 91, ensuring that the gas tank 90 will not flip over after the clamping jaw 3212 grabs the gas tank 90, and at the same time ensuring that the left and right sides of the clamping jaw 3212 are evenly stressed.

[0090] like Fig.17 As shown, in order to seal the connecting pipes on the gas tank 90 for subsequent air tightness testing, a sealing device 50 is also provided on the grasping device 30. The sealing device 50 is used to seal the connecting pipes and perforations on the gas tank 90 after the grasping device 30 completes the grasping action of the gas tank 90.

[0091] Specifically, the blocking device 50 is arranged on the connecting frame 31 of the grasping device 30, and the blocking device 50 includes: a switch pipe blocking mechanism 51 for blocking the switch pipe 94, a three-way pipe blocking mechanism 52 for blocking the three-way pipe 95, a sewage pipe blocking mechanism 53 for blocking the sewage pipe 99, a left perforation blocking mechanism 54 for blocking the left perforation, and a right perforation blocking mechanism 55 for blocking the right perforation 931. As can be seen from the foregoing, the gas tank 90 is inverted on the positioning device 10, so the switch pipe 94 and the three-way pipe 95 are located at the bottom of the gas tank 90, so the switch pipe blocking mechanism 51 and the three-way pipe blocking mechanism 52 are also correspondingly located on both sides below the gas tank 90, and the switch pipe blocking mechanism 51 and the three-way pipe blocking mechanism 52 are respectively moved toward the switch pipe 94 and the three-way pipe 95 by rotating, thereby achieving the blocking of the switch pipe 94 and the three-way pipe 95. The sewage pipe 99 is located above the gas tank 90, so the sewage pipe blocking mechanism 53 is located above the gas tank 90 and is inclined, and the sewage pipe blocking mechanism 53 can move linearly toward the position of the sewage pipe 99, thereby blocking the sewage pipe 99. The left perforation sealing mechanism 54 and the right perforation sealing mechanism 55 are respectively located at one end of the gas storage tank 90. ​​The left perforation sealing mechanism 54 and the right perforation sealing mechanism 55 can both be displaced toward the end of the gas storage tank 90 (either linearly or rotationally), thereby achieving the sealing of the left perforation and the right perforation 931.

[0092] like Fig.17 and Fig.18 As shown, the switch pipe plugging mechanism 51 includes a switch pipe plug 511 and a first plugging drive assembly 512 for driving the switch pipe plug 511 to perform a plugging action. The switch pipe plug 511 is located at the lower part of the gripping area, and can move toward the position where the gripping area is located under the action of the first plugging drive assembly 512, and when plugging, the switch pipe plug 511 abuts against the switch pipe 94 from the bottom to the top. To be precise, the movement trajectory of the switch pipe plug 511 should pass through the switch pipe 94, so that when the first plugging drive assembly 512 drives the switch pipe plug 511 to move, the switch pipe plug 511 will be blocked on the switch pipe 94.

[0093] In this embodiment, since the switch pipe 94 is located at the bottom of the grasping area, and the grasping device 30 moves downward from the top of the gas tank 90, when the grasping device 30 moves down or up, the switch pipe plug 511 should be located outside the side of the cylinder 91, otherwise the path of the switch pipe plug 511 will interfere with the cylinder 91. In order to achieve this purpose, the switch pipe plug 511 is blocked by rotation, that is, when the grasping device 30 is rising or moving down, the switch pipe plug 511 rotates to the outside of the cylinder 91; when the grasping device 30 is grasping, the switch pipe plug 511 rotates in the direction of the grasping area, thereby achieving blocking. To this end, the first blocking drive component 512 needs to have a rotating function. For example, the first blocking drive component 512 can use a rotating cylinder, the output end of the rotating cylinder is located at the rotating arm, and the switch pipe plug 511 is set on the rotating arm.

[0094] like Fig.17 and Fig.18 As shown, the three-way pipe plugging mechanism 52 includes a three-way pipe plug 521 and a second plugging drive assembly 522 for driving the three-way pipe plug 521 to perform a plugging action. The three-way pipe plug 521 is located at the lower part of the grasping area. Under the action of the second plugging drive assembly 522, the three-way pipe plug 521 can move toward the position where the grasping area is located, and when plugging, the three-way pipe plug 521 is inclined from the bottom to the top and abuts against the three-way pipe 95. To be precise, the movement trajectory of the three-way pipe plug 521 should pass through the three-way pipe 95, so that when the second plugging drive assembly 522 drives the three-way pipe plug 521 to move, the three-way pipe plug 521 will be blocked on the three-way pipe 95.

[0095] Based on similar reasons to the switch pipe plugging mechanism 51, the second plugging drive assembly 522 also needs to have a rotation function. The second plugging drive assembly 522 can adopt a rotating cylinder, and the three-way pipe plug 521 is set on the rotating arm of the rotating cylinder.

[0096] like Fig.17 As shown, the sewage pipe plugging mechanism 53 includes a sewage pipe plug 531 and a third plugging drive assembly 532 for driving the sewage pipe plug 531 to perform a plugging action. The third plugging drive assembly 532 is located above the grabbing area. Under the action of the third plugging drive assembly 532, the sewage pipe plug 531 can move toward the location of the grabbing area, and when plugging, the sewage pipe plug 531 abuts against the sewage pipe 99 from above and obliquely downward. To be precise, the movement trajectory of the sewage pipe plug 531 should pass through the sewage pipe 99, so that when the third plugging drive assembly 532 drives the sewage pipe plug 531 to move, the sewage pipe plug 531 will block the sewage pipe 99.

[0097] It is noted that the sewage pipe 99 is located above the grabbing area, so when the grabbing device 30 is rising or moving down, the sewage pipe plug 531 will not interfere with the gas tank 90, so the third plugging drive assembly 532 only needs to drive the sewage pipe plug 531 to move linearly, but this does not exclude the third plugging drive assembly 532 from having a rotation function. In this embodiment, the third plugging drive assembly 532 uses a linear motion cylinder, and the sewage pipe plug 531 is set on the output end of the linear motion cylinder, and when plugging, the axis of the linear motion cylinder is directly opposite to the axis of the sewage pipe 99, so that the sewage pipe plug 531 abuts against the sewage pipe 99.

[0098] like Fig.17 As shown, the left perforation sealing mechanism 54 is located at one end of the gripping area, and the left perforation sealing mechanism 54 includes a left bracket 541 and a left plug 542 arranged on the left bracket 541. The upper end of the left bracket 541 is arranged on the connecting frame 31 of the gripping device 30, and the left bracket 541 extends downward as a whole. The left plug 542 is arranged at the lower end of the left bracket 541. The left plug 542 faces the direction of the gripping area, and when sealing, the height of the left plug 542 corresponds to the left perforation in the center of the left head 92.

[0099] In order to realize the sealing action of the left plug 542, a separate driving component, such as a cylinder, can be set on the left bracket 541, but as a preference, the linkage mechanism 56 described later can be used for driving. To this end, the left bracket 541 is slidably set on the connecting frame 31 through the left slide rail 543, and the specific driving method is introduced later.

[0100] like Fig.17 As shown, the right perforation sealing mechanism 55 is located at the other end of the gripping area, and the right perforation sealing mechanism 55 includes a right bracket 551 and a right plug 552 arranged on the right bracket 551. The upper end of the right bracket 551 is arranged on the connecting frame 31 of the gripping device 30, and the right bracket 551 extends downward as a whole. The right plug 552 is arranged at the lower end of the right bracket 551. The right plug 552 faces the direction of the gripping area, and when sealing, the height of the right plug 552 corresponds to the right perforation 931 in the center of the right head 93.

[0101] Similar to the left plug 542, a separate driving component can be set on the right bracket 551, such as a cylinder to drive the right plug 93 to achieve the plugging action, but as a preference, the linkage mechanism 56 described later can be used for driving. For this purpose, the right bracket 551 is slidably set on the connecting frame 31 through the right slide rail 553.

[0102] The structure of the linkage mechanism 56 is described below. Fig.21As shown, the linkage mechanism 56 has two output ends, one of which is connected to the left bracket 541, and the other is connected to the right bracket 551. The linkage mechanism 56 is used to drive the left bracket 541 and the right bracket 551 to perform the blocking action simultaneously. Specifically, the linkage mechanism 56 includes a rotating disk 561 disposed on the substrate 312 and capable of rotating, a rotating drive assembly 562 connected to the input end of the rotating disk 561 to drive the rotating disk 561 to rotate, a first connecting rod 563 connected to the first output end of the rotating disk 561, and a second connecting rod 564 connected to the second output end of the rotating disk 561. The first connecting rod 563 serves as an output end of the linkage mechanism 56. The first connecting rod 563 is connected to the left bracket 541. The second connecting rod 564 serves as another output end of the linkage mechanism 56. The second connecting rod 564 is connected to the right bracket 551. Therefore, when the turntable 561 rotates, the first connecting rod 563 and the second connecting rod 564 respectively drive the left bracket 541 and the right bracket 551 to move, so that the two perform a blocking action or a resetting action, that is, drive the left bracket 541 to move toward the left perforation, or move away from the left perforation, and drive the right bracket 551 to move toward the right perforation 931, or move away from the right perforation 931.

[0103] Specifically, Fig.21 As shown, the rotating disk 561 has a rotating axis 5611 extending longitudinally, and the rotating disk 561 rotates in a horizontal plane around the rotating axis 5611. A first arm 5612, a second arm 5613, and a third arm 5614 protruding outward are arranged at intervals on the circumference of the rotating disk 561. The first arm 5612 and the second arm 5613 serve as the first output end and the second output end of the rotating disk 561, respectively, and the third arm 5614 serves as the input end of the rotating disk 561. That is, the first arm 5612 is connected to the first connecting rod 563, the second arm 5613 is connected to the second connecting rod 564, and the third arm 5614 is connected to the rotating drive assembly 562.

[0104] When the rotary disk 561 moves, the rotary drive assembly 562 drives the third arm 5614 to move in the horizontal plane, for example Fig.21 In the process, the right end of the third arm 5614 is driven to move rightward. At this time, the turntable 561 will rotate clockwise around the rotation axis 5611, so that the first arm 5612 and the second arm 5613 rotate clockwise accordingly, and then the first arm 5612 drives the first connecting rod 563 to move rightward, so that the left bracket 541 slides toward the right as a whole, that is, the left plug 542 abuts against the left through hole of the left head 92; the second arm 5613 drives the second connecting rod 564 to move leftward, so that the right bracket 551 slides toward the left as a whole, that is, the right plug 552 abuts against the right through hole 931 of the right head 93.

[0105] like Fig.21As shown, it is noted that the turntable 561 is a rotating motion, while the left bracket 541 and the right bracket 551 are both linear motions. In order to realize the connection and conversion of the two motions, both ends of the first connecting rod 563 and the second connecting rod 564 are rotationally connected, that is, one end of the first connecting rod 563 is rotationally connected to the first arm 5612 through an axis connection, and the other end of the second connecting rod 563 is rotationally connected to the left bracket 541 through an axis connection. Similarly, one end of the second connecting rod 564 is rotationally connected to the second arm 5613 through an axis connection, and the other end of the second connecting rod 564 is rotationally connected to the right bracket 551 through an axis connection.

[0106] like Fig.21 As shown, the rotary drive assembly 562 includes a push-pull rod 5621 and a push-pull driving component 5622 for driving the push-pull rod 5621 to perform linear motion. One end of the push-pull rod 5621 is movably connected to the third arm 5614, and the other end is connected to the push-pull driving component 5622. Under the action of the push-pull driving component 5622, the push-pull rod 5621 drives the third arm 5614 to move, thereby realizing the rotation of the rotary disk 561. The push-pull driving component 5622 can be a cylinder body, and the push-pull rod 5621 is arranged in the cylinder body. The push-pull rod 5621 is driven to perform linear displacement by the change of the fluid (gas or liquid) in the cylinder body. Usually, the push-pull rod 5621 and the push-pull driving component 5622 can together constitute a cylinder or a hydraulic cylinder.

[0107] like Fig.21 As shown, a seat body 565 is provided on one side of the push-pull driving component 5622, and the push-pull driving component 5622 and the seat body 565 are fixed by a rotating connection, so that when the push-pull driving component 5622 drives the push-pull rod 5621 to perform linear motion, the push-pull driving component 5622 itself performs rotational motion, so that the push-pull rod 5621 performs rotational motion while performing linear motion, which is conducive to the rotation of the turntable 561. In addition, in order to limit the rotation angle of the turntable 561 and prevent it from over-rotating, which would cause the left bracket 541 and the right bracket 542 to fall off the base plate 312 when they move outward, a limit block 566 is provided on one side of the push-pull rod 5621. The limit block 566 limits the push-pull rod 5621 in the horizontal direction, so that when the turntable 561 rotates counterclockwise, that is, when the left bracket 541 and the right bracket 542 move outward, the inner side of the push-pull rod 5621 will be blocked by the limit block 566 and finally stop at a certain position, thereby preventing the left bracket 541 and the right bracket 542 from falling off the base plate 312.

[0108] As can be seen from the above, after the pipe of the gas storage tank 90 is blocked, it is necessary to inflate the inside of the gas storage tank 90, so an inflating device 60 is also provided on the blocking device 50. The inflating device 60 has an air source (not shown) and an air outlet pipe 61 connected to the air source, and the air outlet pipe 61 is connected to the plug in the blocking device 50, so that the inside of the gas storage tank can be inflated through the plug.

[0109] Specifically, in this embodiment, if Fig.21 As shown, the air outlet pipe 61 is arranged on the left plug 542 and / or the right plug 552, and the air storage tank is inflated through the left plug 542 and / or the right plug 552.

[0110] like Fig. 22 and Fig.23 As shown, the use process of the plugging device 50 and the inflation device 60 is as follows: after the clamping claw assembly 321 in the grasping device 30 grabs the cylinder 91, the plugging device 50 is started, specifically: the first plugging driving assembly 512 in the switch pipe plugging mechanism 51 drives the switch pipe plug 511 to rotate, so that the switch pipe plug 511 abuts against the switch pipe 94; the second plugging driving assembly 522 in the three-way pipe plugging mechanism 52 drives the three-way pipe plug 521 to rotate, so that the three-way pipe plug 521 abuts against the three-way pipe 95; the third plugging driving assembly 532 in the sewage pipe plugging mechanism 53 drives the sewage pipe plug 531 to rotate linearly The left perforation plugging mechanism 54 and the right perforation plugging mechanism 55 work simultaneously under the action of the linkage mechanism 56, that is, the rotary drive assembly 562 drives the rotary disk 561 to rotate, so that the rotary disk 561 drives the left perforation plugging mechanism 54 and the right perforation plugging mechanism 55 to move toward the left perforation and the right perforation 931 respectively through the first connecting rod 563 and the second connecting rod 564, and finally the left plugging head 542 in the left perforation plugging mechanism 54 abuts on the left perforation, and the right plugging head 552 in the right perforation plugging mechanism 55 abuts on the right perforation 931, and the plugging of all the pipes on the gas storage tank is completed. Then, under the action of the carrying device 40, the gas storage tank 90 is put into the water. Afterwards, the gas source in the inflation device 60 inflates the left plug 542 and / or the right plug 552 through the inflation pipe 61, so that the gas enters the interior of the gas storage tank 90 through the plug and the perforation. At this time, observe whether bubbles are generated in the water to determine the air tightness of the gas storage tank.

[0111] The above-mentioned plugging device 50 and inflation device 60 have the following advantages: the plugging of the switch pipe 94, the three-way pipe 55 and the sewage pipe 99 is automatically achieved through the switch pipe plugging mechanism 51, the three-way pipe plugging mechanism 52 and the sewage pipe plugging mechanism 53, thereby improving the plugging efficiency, and there is no need to find a corresponding plug in the prior art, which leads to the problem of low plugging efficiency. At the same time, these mechanisms are arranged on the grasping device 30, so that as long as the grasping device 30 grasps the appropriate position of the gas tank 90 (this can be ensured by the positioning mechanism 34 mentioned above), the accuracy of the plugging can be guaranteed, and there will be no leakage caused by inaccurate plugging. The inflation device 60 is integrated into the plugging device 50, so that it is no longer necessary to install the inflation pipe separately, further improving the detection efficiency.

[0112] In summary, the advantages of the present invention are: by placing the gas tank upside down on the positioning device 10, the positioning of the gas tank is facilitated, and the gas tank is prevented from moving during the transportation process. The positioning device 10 is automatically transported by the conveying device 20, without manual handling, thereby improving the transportation efficiency of the gas tank 90. ​​In addition, the conveying device 20 can transport the positioning device 10 to a predetermined position, where the gas tank can be smoothly transported from the positioning device 10 to the water tank through the cooperation of the grasping device 30 and the carrying device 40, thereby reducing the manual burden. More importantly, the grasping device 30 can ensure that the gas tank remains stable during the movement, so that the gas tank can enter the water smoothly without causing large fluctuations on the water surface, which is convenient for observing bubbles in the water and improving the efficiency of detection. The blocking device 50 and the inflating device 60 are integrated on the grasping device 30, so that after the gas tank 90 is grasped, the blocking action can be automatically performed, thereby improving the blocking efficiency, and ensuring the accuracy of the blocking, thereby reducing the waiting time required for the blocking in the prior art.

[0113] The above is a description of the embodiments of the present invention. Through the above description of the disclosed embodiments, professionals and technicians in the field can implement or use the present invention. Various modifications to these embodiments will be apparent to professionals and technicians in the field. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown in this article, but will conform to the widest range consistent with the principles and novelties disclosed herein.

Claims

1. An air compressor gas tank grabbing module with a blocking function, characterized in that: include: A gripping device for gripping gas tanks, A blocking device provided on the grabbing device and used for blocking the gas storage tank; The gripping device includes: A connecting frame and a grabbing mechanism arranged on the connecting frame, wherein a grabbing area is formed in the grabbing mechanism, and during grabbing, the gas storage tank is located in the grabbing area; The blocking device is arranged on the connecting frame and faces the gripping area, and the blocking device comprises: A switch pipe sealing mechanism for sealing the switch pipe on the gas tank, A three-way pipe plugging mechanism for plugging the three-way pipe on the gas storage tank, A sewage pipe plugging mechanism for plugging the sewage pipe on the gas storage tank, The left perforation blocking mechanism is used to block the left perforation on the gas storage tank. A right perforation blocking mechanism for blocking the right perforation on the gas storage tank; After the grabbing mechanism completes the grabbing action, the blocking device is activated to block the gas storage tank; A clamping claw in-position detection component is also provided on the connecting frame, which is used to calibrate the longitudinal position of the grabbing mechanism before the grabbing mechanism performs the grabbing action, so that the grabbing mechanism is in the correct position; The clamping jaw in-position detection assembly comprises a sleeve arranged at the lower part of the connecting frame and with the axis extending downward, a channel extending in the axial direction is arranged inside the sleeve, a detection rod is slidably arranged in the channel, and the lower end of the detection rod extends from the bottom of the sleeve; a detection element is arranged at the top of the channel, and the detection element is used to measure the distance between the detection rod and the detection element when the grasping mechanism approaches the gas storage tank, so as to judge the relative height between the grasping mechanism and the gas storage tank; The left perforation blocking mechanism and the right perforation blocking mechanism are both arranged on the gripping device in a linear sliding manner, and a linkage mechanism is arranged between the left perforation blocking mechanism and the right perforation blocking mechanism. The linkage mechanism has two output ends, one output end is connected to the left perforation blocking mechanism, and the other output end is connected to the right perforation blocking mechanism. The linkage mechanism controls the movement of the two output ends so that the left perforation blocking mechanism and the right perforation blocking mechanism can complete the blocking action at the same time; The linkage mechanism includes a turntable that rotates around a longitudinal rotation axis, the turntable having an input end, a first output end and a second output end in the circumferential direction, the input end is provided with a turntable drive assembly for driving the turntable to rotate, the first output end is provided with a first connecting rod connected to the left perforation blocking mechanism, the second output end is provided with a second connecting rod connected to the right perforation blocking mechanism, when the turntable is driven by the turntable drive assembly to rotate, the first connecting rod and the second connecting rod respectively drive the left perforation blocking mechanism and the right perforation blocking mechanism to approach or move away from the grasping area at the same time.

2. The air compressor gas tank grabbing module with a blocking function according to claim 1 is characterized in that: The gripping mechanism includes a clamping jaw assembly and a gripping cylinder for controlling the clamping jaw assembly to perform gripping or releasing action; there are at least two clamping jaw assemblies arranged opposite to each other, and a clamping groove for clamping the side of the cylinder body of the gas storage tank is formed on the clamping jaw assembly, and the gripping area is formed between the two clamping grooves.

3. The air compressor gas tank grabbing module with a blocking function according to claim 2 is characterized in that: The grabbing cylinder has a rotatable connecting arm, and the clamping jaw assembly is arranged on the connecting arm. The grabbing cylinder controls the clamping jaw assembly to move closer to or farther away from each other in a rotating manner to achieve a grabbing action or a releasing action.

4. The air compressor gas tank grabbing module with a blocking function according to claim 2, characterized in that: The clamping jaw assembly includes a clamping jaw seat connected to the output end of the grabbing cylinder and a clamping jaw arranged on the clamping jaw seat for grabbing the cylinder body. The clamping jaw has a longitudinally extending connecting portion, and clamping jaw portions are arranged on the upper and lower ends of the connecting portion. The clamping jaw portions are opened to the outside of the connecting portion and are inclined so that the clamping groove is formed on the clamping jaw.

5. The air compressor gas tank grabbing module with a blocking function according to claim 2, characterized in that: A positioning assembly is also provided on the connecting frame. The positioning assembly is located at the top of the grabbing area and extends downward. When grabbing, the position of the positioning assembly corresponds to the foot support on the gas tank to ensure that the grabbing device is correctly positioned in the horizontal direction relative to the gas tank.

6. The air compressor gas tank grabbing module with a blocking function according to claim 1, characterized in that: The switch pipe sealing mechanism and the three-way pipe sealing mechanism are located at the bottom of the grasping space; the sewage pipe sealing mechanism is located at the upper part of the grasping area; the left perforation sealing mechanism and the right perforation sealing mechanism are located at the two ends of the axial direction of the grasping area; the switch pipe sealing mechanism and the three-way pipe sealing mechanism both use a rotating method to seal the switch pipe and the three-way pipe respectively; the sewage pipe sealing mechanism, the left perforation sealing mechanism and the right perforation sealing mechanism all use a linear movement method to seal the sewage pipe, the left perforation and the right perforation respectively.

7. The air compressor gas tank grabbing module with a blocking function according to claim 1, characterized in that: The rotary drive assembly includes a push-pull rod and a push-pull rod driving component for driving the push-pull rod to move linearly. One end of the push-pull rod is connected to the input end of the turntable, and the other end is connected to the push-pull rod driving component; the push-pull rod driving component is a cylinder body, which drives the push-pull rod to move linearly in the cylinder body through the changes of the fluid in the cylinder body.

Images