An air compressor air storage tank leak detection device

Abstract

The present invention relates to the field of airtightness detection, in particular to a leak detection device for an air compressor storage tank, comprising: a positioning device for positioning the storage tank; a conveying device having a conveying channel, and the positioning device moves in the conveying channel; the conveying channel has a to-be-grabbed area, and when the positioning device moves to the to-be-grabbed area, it is temporarily fixed; a grabbing device for grabbing the storage tank in the to-be-grabbed area; and a handling device having an execution end, the grabbing device is arranged on the execution end, and the handling device drives the grabbing device to move back and forth between the to-be-grabbed area and the water tank; through the above structure, the storage tank in the positioning device is stably transported into the water tank. The present invention can ensure that the storage tank always remains stable during the moving process through the grabbing device, so that the storage tank can smoothly enter the water, will not cause a large fluctuation on the water surface, is convenient for observing the bubbles in the water, and improves the detection efficiency.

Description

Technical Field

[0001] The present invention relates to the field of airtightness detection, and in particular to a leak detection device for an air compressor storage tank. Background Art

[0002] A storage tank refers to a container specifically used to store gas. The storage tank is usually connected to an air compressor to store the compressed gas formed by the air compressor. The storage tank is composed of parts and components such as a cylinder body, a head, a flange, a nozzle, a sealing element, and a support. These parts and components are generally fixed by welding. Therefore, after welding is completed, it is necessary to perform airtightness detection on the welds formed by welding (especially the circumferential welds at the nozzles) to ensure the airtightness of the storage tank.

[0003] In the prior art, the method for leak detection (i.e., airtightness detection) of a storage tank is as follows: First, each interface on the storage tank is manually sealed with a plug, then the entire storage tank is placed in water, and then the inside of the storage tank is inflated. Whether there are bubbles in the water is observed to determine whether the storage tank leaks.

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

[0005] 1) In order to store a large amount of compressed air, air compressor storage tanks generally have a relatively large volume (for example, 20 - 50L), and the storage tanks are usually made of steel, which results in a relatively large weight of the entire storage tank and is not convenient for manual handling. In addition, due to the inconvenience of handling, when the storage tank is placed in water, it may fall into the water because the storage tank is not evenly stressed, resulting in a large fluctuation on the water surface, which is not conducive to observing whether there are bubbles in the water. Therefore, it is necessary to wait for a long time until the water surface returns to calm, which seriously reduces the detection efficiency.

[0006] 2) When plugging the nozzles of the storage tank, it is necessary to manually install plugs one by one onto the openings of the corresponding nozzles. However, there are usually a relatively large number of nozzles on the storage tank, such as switch nozzles, sewage nozzles, three-way nozzles, etc. And it should be noted that the diameters of these nozzles are different, which leads to the need to select plugs of corresponding specifications during plugging, resulting in very low plugging efficiency. In addition, after the airtightness detection is completed, the previous plugs need to be removed again, further reducing the detection efficiency. Summary of the Invention

[0007] To solve the problem that the above-mentioned gas storage tank is not easy to carry, resulting in low detection efficiency, the purpose of the present invention is to provide a leak detection device for an air compressor gas storage tank. By placing the gas storage tank to be leak-detected on a corresponding positioning device, and moving the positioning device through a conveying device, the gas storage tank is conveyed to a predetermined position. After plugging each connection pipe of the gas storage tank at the predetermined position, the gas storage tank is taken out from the positioning device by a grasping device and a handling device and smoothly placed into water. There is no need for manual handling of the gas storage tank, and it can ensure that the gas storage tank is stressed evenly during handling, so that the gas storage tank can smoothly enter the water, facilitating the observation of the generation of bubbles.

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

[0009] A leak detection device for an air compressor gas storage tank, comprising:

[0010] A positioning device for positioning the gas storage tank;

[0011] A conveying device having a conveying channel, and the positioning device moves in the conveying channel; the conveying channel has a to-be-grabbed area, and when the positioning device moves to the to-be-grabbed area, it is temporarily fixed;

[0012] A grasping device for grasping the gas storage tank in the to-be-grabbed area; and

[0013] A handling device having an execution end, the grasping device is arranged on the execution end, and the handling device drives the grasping device to move back and forth between the to-be-grabbed area and the water tank;

[0014] Through the above structure, the gas storage tank in the positioning device is smoothly transported into the water tank.

[0015] In summary, the advantages of the present invention are as follows: By placing the gas storage tank upside down on the positioning device, it is convenient for positioning the gas storage tank and prevents the gas storage tank from moving during transportation. The automatic transportation of the positioning device by the conveying device eliminates the need for manual handling and improves the transportation efficiency of the gas storage tank. In addition, the conveying device can transport the positioning device to a predetermined position, where through the cooperation of the grasping device and the handling device, the gas storage tank can be smoothly transported from the positioning device to the water tank, reducing the manual burden. More importantly, through the grasping device, it can ensure that the gas storage tank always remains stable during movement, so that the gas storage tank can smoothly enter the water without causing large fluctuations on the water surface, facilitating the observation of bubbles in the water and improving the detection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic structural diagram of the gas storage tank.

[0017] Figure 2 It is a schematic structural diagram of the leak detection device for an air compressor gas storage tank.

[0018] Figure 3 It is a schematic structural diagram of the positioning device.

[0019] Figure 4 It is a schematic structural diagram of the gas storage tank installed on the positioning device.

[0020] Figure 5 It is a schematic structural diagram of another perspective of the gas storage tank installed on the positioning device.

[0021] Figure 6 It is a schematic structural diagram of the conveying device.

[0022] Figure 7 It is a schematic structural diagram of the blocking mechanism in the conveying device.

[0023] Figure 8 It is a schematic structural diagram of the lifting mechanism in the conveying device.

[0024] Figure 9 It is a schematic structural diagram of the conveying mechanism, lifting and translation mechanism, and buffer mechanism in the conveying device.

[0025] Figure 10 It is a schematic structural diagram of the lifting and translation mechanism.

[0026] Figure 11 It is a schematic structural diagram of the buffer mechanism.

[0027] Figure 12 It is a schematic structural diagram of the grasping device and the handling device.

[0028] Figure 13 It is a schematic structural diagram of the grasping device.

[0029] Figure 14 For Figure 13 The partial enlarged view at position A in

[0030] Figure 15 For Figure 13 The partial enlarged view at position B in

[0031] Figure 16 It is a schematic structural diagram of the cooperation between the grasping device and the gas storage tank installed in the positioning device.

[0032] Figure 17 It is an exploded schematic diagram of the grasping device and the plugging device.

[0033] Figure 18 It is a schematic structural diagram of the whole of the grasping device and the plugging device.

[0034] Figure 19 It is a schematic structural diagram of another perspective of the whole of the grasping device and the plugging device.

[0035] Figure 20 It is a schematic structural diagram of a partial structure of the plugging device.

[0036] Figure 21 It is a schematic structural diagram of the left perforation plugging mechanism, the right perforation plugging mechanism and the linkage mechanism.

[0037] Figure 22 It is a schematic structural diagram of a perspective view in which the gas storage tank is installed on the positioning device and cooperates with the grasping device and the plugging device.

[0038] Figure 23 It is a schematic structural diagram of another perspective view in which the gas storage tank is installed on the positioning device and cooperates with the grasping device and the plugging device. Detailed implementation manners

[0039] Since the leak detection equipment of the present application is specifically used for the air tightness detection of the air compressor gas storage tank, the structure of the air compressor gas storage tank will be introduced first as follows. As Figure 1 shown, the air compressor gas storage tank 90 in the present application includes a hollow cylindrical barrel 91, in Figure 1 which the axis of the barrel 91 extends in the left-right direction, and a left head 92 and a right head 93 are respectively arranged at the left and right ends of the barrel 91. Both the left head 92 and the right head 93 have a disc-shaped outer shape with the center protruding outward. A left perforation (not shown due to perspective) communicating with the inside of the barrel 91 and a right perforation 931 are respectively arranged at the centers of the left head 92 and the right head 93. A switch connection pipe 94 with an axis extending longitudinally is arranged at the top of the barrel 91 near the right end, and a tee connection pipe 95 with an axis inclined forward is arranged on the front side of the switch connection pipe 94. Both the switch connection pipe 94 and the tee connection pipe 95 are straight pipes and are both communicated with the inside of the barrel 91. Two substrates 96 distributed front and back are arranged at the middle position of the top of the barrel 91. The upper end surface of the substrate 96 is a horizontal plane, which is used for connecting with the air compressor, and mounting holes 961 for connecting with the air compressor are arranged on this horizontal plane. A wheel bracket 97 for installing wheels is arranged at the bottom of the barrel 91 near the left end, and the bottom surface of the wheel bracket 97 is a horizontal plane. A foot pad bracket 98 with an axis extending vertically downward is arranged at the bottom of the barrel 91 near the right end. The foot pad bracket 98 is a hollow tubular structure, and the bottom of the foot pad bracket 98 is used for connecting with the ground or other supports, so as to place the gas storage tank stably on the ground or other supports. A sewage connection pipe 99 with an axis inclined forward is arranged on the front side of the foot pad bracket 98. The sewage connection pipe 99 is a straight pipe and is communicated with the inside of the barrel 91.

[0040] It should be noted that all components on the cylinder body 91 are fixed to the cylinder body 91 by welding. Therefore, airtightness detection needs to be carried out on the welds, especially the circumferential welds at the switch connection pipe 94, the tee connection pipe 95, and the sewage discharge connection pipe 99. In addition, it is noted that the left perforation and the right perforation 931 are also connected to the inside of the cylinder body 91. Therefore, when plugging, the left perforation and the right perforation 931 also need to be plugged together. Furthermore, it is noted that after plugging, the inside of the gas storage tank 90 needs to be inflated. Therefore, an inflation connection pipe also needs to be installed in one of the connection pipes or perforations when plugging. In this embodiment, taking the left perforation and the right perforation 931 as an example for air intake, that is, when plugging the gas storage tank 90, the inflation device also needs to be connected to the left perforation and / or the right perforation 931, but the possibility of inflating through other connection pipes is not excluded.

[0041] In order to detect the airtightness of the above-mentioned gas storage tank 90, the present application provides an air compressor gas storage tank leak detection device, which is used to automatically transport the gas storage tank 90 to be leak-detected to a predetermined position after positioning, plug each connection pipe on the gas storage tank 90 at the predetermined position, and then smoothly place the gas storage tank 90 into water for airtightness detection.

[0042] To achieve the above purpose, as Figure 2 shown, the device includes a positioning device 10 for positioning the gas storage 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 to facilitate plugging the gas storage tank 90 and taking out the gas storage tank 90 from the positioning device 10. A grabbing device 30 and a handling device 40 are arranged on the to-be-grabbed area of the conveying device 20. The grabbing device 30 is connected to the execution end of the handling device 40. Above the execution end of the handling device 40, a water tank or a pool with an upper opening (not shown in the figure) is arranged. The grabbing device 30 is used to grab the gas storage tank 90 in the positioning device 10, and the handling device 40 is used to drive the grabbing device 30 to move in space, so that the gas storage tank 90 in the positioning device 10 is taken out and put into water. The water tank or the pool usually needs to be equipped with a water treatment system for purifying and cleaning the water to ensure that the texture of the water is clear, so as to facilitate observing whether there are bubbles in the water.

[0043] When the device is in use, first, the gas storage tank 90 is placed in the positioning device 10 for positioning to ensure the consistency of the position of the gas storage tank 90, which is convenient for the transportation of the gas storage tank 90 and subsequent plugging and grasping operations on the gas storage 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 towards the area to be grasped. When the (one or more) positioning devices 10 move to the area to be grasped, they are temporarily fixed. At this time, an operator plugs each connecting pipe on the gas storage tank 90 manually. After that, under the action of the handling device 40, the (one or more) grasping devices 30 are moved above the area to be grasped, and the grasping device 30 clamps the gas storage tank 90 in the positioning device 10. Then, the handling device 40 drives the (one or more) grasping devices 30 and the gas storage tank 90 thereon to move above the water tank, and slowly puts the grasping device 30 and the gas storage tank 90 into the water to avoid large fluctuations on the water surface. After the water surface is calm, the inside of the gas storage tank 90 is inflated to observe whether bubbles are generated. After the detection is completed, the handling device 40 takes out the grasping device 30 and the gas storage tank 90 from the water, and places the gas storage tank 90 at a specified position (not back into the positioning device 10). The qualified gas storage tanks 90 enter the subsequent production process.

[0044] It should be noted that when plugging the gas storage tank 90, it can also be achieved by using the plugging device 50 provided on the grasping device 30 in the following text. In this case, first, the gas storage tank 90 in the positioning device 10 is grasped by the grasping device 30, and at the same time, it is necessary to ensure that the grasping position of the grasping device 30 is correct to ensure that the plugging device 50 is in the correct position. Then, the plugging device 50 automatically plugs each connecting pipe, which saves the time of manual plugging, is beneficial to improving the plugging efficiency, and can ensure the quality of plugging. The specific structure of the plugging device 50 will be described in detail in the following text.

[0045] Such as Figure 3As shown in the figure, the positioning device 10 includes a horizontally arranged and flat tray 11. In the middle of the upper end surface of the tray 11, there are two independent support frames 12 spaced apart from each other. The two support frames 12 are used to support the cylinder body 91 of the gas storage tank 90 from below. During positioning, one support frame 12 is relatively closer to the left side of the cylinder body 91, and the other support frame 12 is relatively closer to the right side of the cylinder body 91, which can prevent the cylinder body 91 from tipping over and ensure the stability of the cylinder body 91 during transportation. In addition, to further improve the stability of the cylinder body 91, positioning claws 13 that open outward in the front-rear direction are provided 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 roughly forms a Y shape, and a positioning groove 14 for positioning the cylinder body 91 is formed between the front and rear positioning claws 13. When the cylinder body 91 is placed in the positioning grooves 14 of the left and right support frames 12, the cylinder body 91 will only have two degrees of freedom, namely translational movement in the left-right direction and rotational movement around the axis. To limit these two freedoms, a substrate positioning component 15 is provided inside the support frame 12 for positioning the substrate 96 on the cylinder body 91, thereby realizing the complete positioning of the gas storage tank 90.

[0046] Specifically, the substrate positioning component 15 includes an adapter plate 151 provided inside the support frame 12 (the side facing between the two support frames 12). At the end of the adapter plate 151, there is a substrate positioning pin 152 with an axis extending upward. The substrate positioning pin 152 is used to cooperate with the mounting hole 961 on the substrate 96, thereby realizing the complete positioning of the gas storage tank 90.

[0047] It should be noted that the number of substrate positioning components 15 is at least two. The two substrate positioning components 15 can be Figure 3 arranged on one support frame 12 respectively as shown, or the two substrate positioning components 15 can be arranged on one of the support frames 12 at the same time. In addition, the substrate positioning component 15 can position two mounting holes 961 on one substrate 96, or can position two substrates 96 respectively.

[0048] Furthermore, as Figure 3 shown, a support block 131 is provided on the side of the positioning claw 13 facing the positioning groove 14. The end face of the support block 131 protrudes toward the position where the positioning groove 14 is located, so that when the cylinder body 91 is installed, it only contacts the end face of the support block 131, thereby further ensuring the positioning effect of the cylinder body 91.

[0049] As Figure 4 and Figure 5As shown, when the gas storage tank 90 is installed on the positioning device 10, first invert the gas storage tank 90, that is, make the wheel bracket 97 at the bottom of the gas storage tank 90 face upward and the substrate 96 face downward. Then carry the inverted gas storage tank 90 above the support frame 12 and slowly move the gas storage tank 90 downward until the front and rear sides of the lower part of the cylinder body 91 contact the inclined support blocks 131. At this time, adjust the left and right positions of the cylinder body 91 so that the mounting holes 961 on the substrate 96 are connected to the substrate positioning pins 152. At this time, place the cylinder body 91 on the support blocks 131 to complete the positioning of the gas storage tank 90. And under the action of its own gravity, the gas storage tank 90 is fixed in the positioning device 10.

[0050] The positioning device 10 has the following advantages: Position the cylinder body 91 through two substantially Y-shaped support frames 12, which is convenient for placing the cylinder body 91 during the positioning process. A substrate positioning component 15 for positioning the substrate 96 is provided on the support frame 12, so that the gas storage tank 90 is completely positioned. The advantage of this is that the structure of the substrate positioning component 15 itself is simple. More importantly, the position of the substrate positioning component 15 is in the middle of the cylinder body 91 and will not interfere with other connecting pipes, maximizing the space required for blocking the connecting pipes and being beneficial to subsequent blocking of the connecting pipes.

[0051] As Figure 6 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 double-speed chains (prior art, the specific structure will not be described in detail herein) and lifting mechanisms 22 provided at both ends of the conveying mechanism 21. The conveying mechanism 21 has upper and lower layers, and the conveying directions of the upper and lower layers are opposite. In this embodiment, refer to Figure 2 and Figure 6 , the upper layer conveys from right to left, and the lower layer conveys from left to right. That is, the upper layer is used to convey the positioning device 10 equipped with the gas storage tank 90 to the position where the grasping device 30 is located, and the lower layer is used to send the empty positioning device 10 back to the right side. As can be seen from the above, the positioning device 10 needs to be temporarily fixed in the area to be grasped. For this reason, a blocking mechanism 23 is provided on the conveying assembly 21. The blocking mechanism 23 is used to block the tray 11 on the positioning device 10, thereby realizing 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 (refer to Figure 7 , the structure of the blocking cylinder is prior art and will not be described in detail).

[0052] When the conveying device 20 is in use, the gas storage tank 90 is installed in the positioning device 10 located on the upper layer of the conveying mechanism 21. The gas storage tank 90 is conveyed to the area to be grabbed 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 grabbed, facilitating necessary operations on the gas storage tank (such as plugging, grabbing, etc.). After the gas storage tank 90 is taken out, the blocking mechanism 23 resets. The empty positioning device 10 continues to move along the conveying mechanism 21 driven by the conveying mechanism 21 until the positioning device 10 moves into the lifting mechanism 22 located at the left end of the conveying mechanism 21. The lifting mechanism 22 drives the positioning device 10 to move downward, so that the height of the positioning device 10 is the same as the height of the lower layer of the conveying mechanism 21. Thus, 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, realizing a cycle.

[0053] As Figure 8 shown, the lifting mechanism 22 includes an outer frame 221. An opening is provided on one side ( Figure 8 the front side in the figure) of the outer frame 221. The opening is docked at one end of the conveying mechanism 21, and the opening is for the positioning device 10 to enter and exit. An elevating assembly 222 extending longitudinally is arranged inside the outer frame 221. An elevating platform 223 is arranged at the output end of the elevating assembly 222. The elevating platform 223 is lifted under the action of the elevating assembly 222. A transmission assembly 224 extending in the front-rear direction is arranged on the elevating platform 223. The transmission assembly 224 is used to send the positioning device 10 into or out of the elevating platform 223. Specifically, side limiting plates 2231 extending in the front-rear direction are arranged on both sides of the elevating platform 223. The height of the side limiting plates 2231 is higher than that of the transmission assembly 224. The side limiting plates 2231 are used to limit both sides of the positioning device 10 to prevent the positioning device 10 from shifting when entering the elevating platform 223. An end limiting plate 2232 is arranged at the end (the end far from the opening) of the elevating platform 223. The end limiting plate 2232 is used to limit the end of the positioning device 10 to prevent the positioning device 10 from falling out of the elevating platform 223.

[0054] 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. Then, under the action of the transmission assembly 224, it drives the positioning device 10 to move inside the lifting platform 223 until the entire positioning device 10 moves from the conveying mechanism 21 to the lifting platform 223. After that, the lifting assembly 222 drives the lifting platform 223 to move downward, making the height of the transmission assembly 224 consistent with the height of the lower layer of the conveying mechanism 21. Then, the transmission assembly 224 drives the positioning device 10 to move towards the conveying mechanism 21 until the positioning device 10 completely disengages from the lifting platform 223. At this time, the lifting platform 223 is reset upward under the action of the lifting assembly 222, making the height of the lifting platform 223 correspond to the upper layer of the conveying mechanism 21.

[0055] As Figure 8 shown in the figure, the lifting assembly 222 includes a vertically arranged lifting cylinder 2221 and a vertically 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 slidably connected to the lifting slide rails 2222 on both sides. Thus, the lifting cylinder 2221 can drive the lifting platform 223 to slide longitudinally on the lifting slide rails 2222.

[0056] As an improvement to the lifting assembly 222, a lifting cylinder 2221 can be provided on both the left and right sides of the outer frame 211, and the left and right sides of the lifting platform 223 are respectively arranged on a lifting cylinder 2221, so that the lifting platform 223 can lift more smoothly.

[0057] In addition, buffer elements and positioning elements can be provided at both 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.

[0058] As Figure 8 shown in the figure, the conveying assembly 224 includes two conveying chains 2241 arranged left and right on the lifting platform 223. Sprockets 2242 are provided at the front and rear ends of the conveying chain 2241. For example, the front one is the driving sprocket and the rear one is the driven sprocket. The two front driving sprockets are connected together by a driving shaft 2243. A power source (not shown) is connected to the driving shaft 2243, and the power source drives the driving shaft 2243 to rotate, thereby driving the left and right conveying chains 2241 to drive simultaneously, so as to realize the conveyance of the positioning device 10. The power source can be a motor.

[0059] As Figure 9As shown, a loading area is also provided on the conveying mechanism 21. In the loading area, the loading of the gas storage tank 90 is realized, that is, the gas storage tank 90 is installed in the positioning device 10 in the loading area. Specifically, a lifting and translation mechanism 24 is provided in the loading area. The lifting and translation mechanism 24 is located on the side away from the area to be grabbed, that is, the position where the lifting and translation mechanism 24 is located is in front of the area to be grabbed. The positioning device 10 passing through the lifting and translation mechanism 24 will enter the area to be grabbed. On the side of the lifting and translation mechanism 24 facing the conveying direction of the conveying mechanism 21 (on the left side in Figure 9 ), a blocking mechanism 23 is provided to facilitate stopping the positioning device 10 in the lifting and translation mechanism 24. In addition, a buffer mechanism 25 is also provided at a position on one side of the conveying mechanism 21 corresponding to the lifting and translation mechanism 24.

[0060] During 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. The installation of the gas storage tank 90 is realized on the buffer mechanism 25. After the installation is completed, the buffer mechanism 25 sends the positioning device 10 equipped with the gas storage tank 90 back to the lifting and translation mechanism 24, and the lifting and translation mechanism 24 drives the positioning device 10 to move downward and places the positioning device 10 back into the conveying mechanism 21.

[0061] As Figure 9 and 10 shown, the lifting and translation mechanism 24 includes a mounting frame 241 fixedly provided on the conveying mechanism 21. The mounting frame 241 includes two independent front and rear vertical plates 2411 and a horizontally extending bottom plate 2412 provided 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 realize the fixation of the bottom plate 2412. A longitudinally arranged lifting cylinder 242 is provided on the bottom plate 2412 (at the bottom of the bottom plate 2412 in Figure 10 ). A liftable lifting plate 243 is provided above the bottom plate 2412. A plurality of longitudinally extending first guide rods 244 are also provided between the lifting plate 243 and the bottom plate 2412 to ensure the stability of the lifting plate 243 during lifting and prevent the lifting plate 243 from shifting. A plurality of first rollers 244 are rotatably provided on the lifting plate 243. These 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 rollers 244, and the first driving component 245 drives the first rollers 244 to rotate, thereby realizing the translation of the positioning device 10.

[0062] As Figure 9 and 11As shown in the figure, the buffer mechanism 25 includes a buffer rack 251 disposed on one side of the conveying mechanism 21. A support platform 252 is fixedly provided in the middle of the buffer rack 251. In the middle of the upper end surface of the support platform 252, a longitudinally extending buffer cylinder 253 is provided. Above the buffer cylinder 253, a buffer platform 254 capable of lifting in the vertical direction is provided. 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 provided 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 axial direction of the second rollers 255 is parallel to the conveying direction of the conveying mechanism 21. A second driving member (not shown) is connected to the second rollers 255, and the second driving member drives the second rollers 255 to rotate. The second driving member can adopt a motor. A plurality of longitudinally extending second guide rods 256 are provided 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 will not shift during lifting. A longitudinally extending blocking plate 257 is provided 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 end of the second rollers 255, so that after the positioning device 10 moves onto the second rollers 255, it will be blocked by the blocking plate 257, preventing the positioning device 10 from moving outside the buffer mechanism 25.

[0063] The lifting and translation mechanism 24 and the buffer mechanism 25 are used as follows: The hollow positioning device 10 in the previous text moves along the conveying mechanism 21 to the position where the lifting and translation mechanism 24 is located. Then, the blocking mechanism 23 blocks the front end of the positioning device 10, causing the positioning device 10 to stay above the lifting and translation mechanism 24. At this time, the lifting cylinder 242 drives the lifting plate 243 to move upward, causing the positioning device 10 to be 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, making the height of the second roller 255 on the buffer platform 254 the same as 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, causing the positioning device 10 to translate towards the position where the buffer mechanism 25 is located until the positioning device 10 enters the second roller 255. At the same time, the second driving component drives the second roller 255 to rotate, moving the entire positioning device 10 onto the second roller 255 until the outer side (the side away from the lifting and translation mechanism 24) of the positioning device 10 is blocked by the blocking plate 257, at which point the second driving component stops. Place the gas storage tank 90 into the positioning device 10 located in the buffer mechanism 25. Then, the second driving component drives the second roller 255 to rotate in the reverse direction, causing the positioning device 10 to return to the lifting and translation mechanism 24 again. Then, the lifting and translation mechanism 24 lowers the positioning device 10 back into the conveying mechanism 21. After that, the blocking mechanism 23 resets downward, and the positioning device 10 is conveyed towards the area to be grabbed under the action of the conveying mechanism 21.

[0064] The conveying device 20 has the following advantages: Through the cooperation of the conveying mechanism 21 and the blocking mechanism 23, the positioning device 10 can be accurately conveyed to the area to be grabbed, ensuring the normal progress of subsequent processes. And by arranging the lifting mechanisms 22 at both ends of the conveying mechanism 21, the positioning device 10 can be continuously recycled in the conveying mechanism 21, facilitating the improvement of transportation efficiency. By arranging the lifting and translation mechanism 24 and the buffer mechanism 25 on the conveying mechanism 21, the empty positioning device 10 can be moved from the conveying mechanism 21 to the buffer mechanism 25, facilitating the installation of the gas storage tank 90 onto the empty positioning device 10. And after the installation of the gas storage tank 90 is completed, the positioning device 10 can also be automatically conveyed back to the conveying mechanism 21, facilitating the feeding of the gas storage tank 90.

[0065] As Figure 12 shown, the handling device 40 includes a first handling mechanism 41 that moves in the first direction, a second handling mechanism 42 that moves in the second direction, and a third handling mechanism 43 that moves in the third direction. The first handling mechanism 41, the second handling mechanism 42, and the third handling mechanism 43 are connected in sequence, and the grasping device 30 is arranged at the output end of the third handling mechanism 43. The above-mentioned first direction, second direction, and third direction are perpendicular to each other pairwise.

[0066] Specifically, in this embodiment, refer to Figure 12 As shown, the first handling mechanism 41 performs a translational movement in the left - right horizontal direction, the second handling mechanism 42 performs a translational movement in the front - rear direction, and the third handling mechanism 43 performs a translational movement in the up - down vertical direction. Thus, the gripping device 30 has translational degrees of freedom in three directions and can achieve the action of transporting the gas storage tank 90 from the conveying mechanism 21 to the water tank.

[0067] As Figure 12 shown, the first handling mechanism 41, the second handling mechanism 42, and the third handling mechanism 43 all adopt a combination of a motor, gears, and racks to achieve translational movement in one direction.

[0068] Furthermore, multiple gripping devices 30 can be simultaneously arranged on the third handling mechanism 43. For example, four gripping devices 30 are arranged side - by - side in Figure 12 , which can improve the gripping efficiency and handling efficiency of the gas storage tank 90, thereby facilitating the airtightness detection of a large number of gas storage tanks.

[0069] In addition, it should be noted that in other embodiments, the handling device 40 can also be implemented by an industrial robotic arm with three or more degrees of freedom, and only one or more gripping devices 30 need to be configured at the output end of the robotic arm.

[0070] As Figure 13 shown, the gripping device 30 includes a connecting frame 31 and a gripping mechanism 32 installed on the connecting frame 31. The connecting frame 31 is used to connect with the handling device 40 to drive the gripping mechanism 32 to move in space. The gripping mechanism 32 is used to grip the cylinder body 91 of the gas storage tank 90. Specifically, it grips from both sides in the radial direction of the cylinder body 91.

[0071] Specifically, refer to Figure 13 , the connecting frame 31 includes an upper connecting plate 311 and a lower base plate 312. The connecting plate 311 and the base plate 312 are fixedly connected by longitudinally arranged connecting rods 313. The connecting plate 311 is used to connect with the handling device 40, and the base plate 312 is used to connect with the gripping mechanism 32.

[0072] As Figure 13 shown, the gripping mechanism 32 includes at least two jaw assemblies 321 and a gripping cylinder 322 for controlling the jaw assemblies 321 to perform gripping or releasing. The jaw assemblies 321 are used to grip the cylinder body 91 of the gas storage tank 90. The two jaw assemblies 321 are arranged facing each other, and a gripping area for gripping the cylinder body 91 is formed between the two jaw assemblies 321. The gripping cylinder 322 is used to control the two jaw assemblies 321 to move closer to or away from each other. Obviously, when the jaw assemblies 321 move closer to each other, the gripping action is performed; when the jaw assemblies 321 move away from each other, the releasing action is performed.

[0073] In addition, it should be noted that the jaw assemblies 321 can approach each other by translation or by rotation. In this embodiment, the example of rotation is taken. In Figure 13 and Figure 16 , the gripping cylinder 322 is a double-arm rotary cylinder (for example, model K63AS), that is, the gripping cylinder 322 has two rotatable connecting arms 3221, and the upper ends of the jaw assemblies 321 are arranged on one connecting arm 3221, so that the two jaw assemblies 321 can approach or move away from each other by rotation.

[0074] As Figure 13 shown, the jaw assembly 321 includes a jaw seat 3211 for connecting to the output end of the gripping cylinder 322 (i.e., the connecting arm 3221) and a jaw 3212 for gripping the cylinder body 91. The jaw 3212 is arranged on the jaw seat 3211. The jaw 3212 has a connecting portion 32121 extending longitudinally and jaw portions 32122 arranged at the upper and lower ends of the connecting portion 32121. The jaw portions 32122 open outward from the connecting portion 32121 and are inclined, so as to form a generally U-shaped jaw groove on the jaw 3212. When gripping, the cylinder body 91 is located in the jaw groove, and the jaw portions 32122 of the jaw 3212 abut against the outer surface of the cylinder body 91, thereby clamping the cylinder body 91.

[0075] In addition, it is noted that the cylinder body 91 has a relatively large axial length. Therefore, in order to ensure the stability of the cylinder body 91 after gripping and prevent the cylinder body 91 from shaking, the number of jaws 3212 is at least two. These jaws 3212 are at the same height and are spaced apart from each other by a certain distance (see Figure 16 ).

[0076] Optionally, as Figure 13 shown, a clamping-in-place detection component 33 (such as a proximity switch) is further arranged on the jaw assembly 321. The clamping-in-place detection component 33 can be arranged on the jaw seat 3211 and face the gripping area. When the jaw 3212 completes the gripping action, that is, when the jaw 3212 is connected to the outer surface of the cylinder body 91, the clamping-in-place detection component 33 just contacts the outer surface of the cylinder body 91. Thus, the clamping-in-place detection component 33 sends a clamping-in-place signal to the control module of the gripping device 30, indicating that the jaw 3212 has gripped in place.

[0077] Optionally, as Figure 13 and Figure 14As shown, a positioning component 34 is further provided on the connecting frame 31. The positioning component 34 is located at the bottom of the connecting frame 31 and extends longitudinally downward. The position of the positioning component 34 corresponds to the position of the foot support 98 on the gas storage tank 90. During the grasping process, the lower end of the positioning component 34 extends into the interior of the foot support 98 from top to bottom, so as to ensure that the grasping device 30 is in the correct position without deviation in the left - right or front - back directions, ensuring that the clamping jaw 3212 contacts the same position on the gas storage tank 90 each time it grasps, thereby ensuring that the grasping device 30 can stably grasp the gas storage tank 90. More importantly, it enables the blocking device 50 provided on the grasping device 30 in the following text to correctly block each connecting pipe.

[0078] Specifically, as Figure 14 shown, the positioning component 34 includes a pin shaft 341 that extends longitudinally downward and is cylindrical. The diameter of the pin shaft 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 shaft 341. During the grasping process, the pin shaft 341 moves downward and enters the interior of the foot support 98 from above, thereby realizing the positioning of the grasping mechanism 32.

[0079] Optionally, as Figure 13 and Figure 15 shown, a clamping jaw in - place detection component 35 is further provided on the connecting frame 31. The clamping jaw in - place detection component 35 is used to detect the position of the grasping device 30 when the grasping device 30 moves towards the gas storage tank 90, ensuring that the grasping mechanism 32 is finally located at a suitable position above the gas storage tank 90, so that the clamping jaw assembly 321 is at a suitable height when grasping, ensuring that the clamping jaw assembly 321 can accurately grasp the side surface of the cylinder body 91. Instead of the clamping jaw assembly 321 being located at a position above or below the gas storage tank 90, resulting in abnormal grasping.

[0080] Specifically, as Figure 13 and 15 shown, the clamping jaw in - place detection component 35 includes a sleeve 351 provided at the bottom of the base plate 312 and extending longitudinally downward. The sleeve 351 is long and cylindrical, and a channel extending along the length (axial) direction is provided inside the sleeve 351. The channel opens at the bottom of the sleeve 351. A rod - shaped detection rod 352 is slidably arranged up and down in the channel. The lower end of the detection rod 352 extends out from the opening at the bottom of the sleeve 351. A detection element 353 (such as a proximity switch) is provided at the top of the channel, used to detect the distance between the top of the detection rod 352 and the detection element 353 to judge the relative height between the grasping device 30 and the gas storage tank 90 during grasping.

[0081] Further, a long slot 3511 communicating with the internal channel is provided on the side wall of the sleeve 351. The long slot 3511 extends longitudinally. A first fixing member 354 is arranged in the long slot 3511. The inner end of the first fixing member 354 is fixedly arranged on the detection rod 353, and the outer end of the first fixing member 354 extends outside 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 slot 3511. A second fixing member 355 is arranged below the long slot 3511. The second fixing member 355 is fixedly arranged on the side wall of the sleeve 351. An elastic member 356 is arranged between the first fixing member 354 and the second fixing member 355. The elastic member 356 applies a force that makes the first fixing member 354 and the second fixing member 355 approach each other. Thus, when the lower end of the detection rod 352 is not subjected to an external force, the detection rod 352 is located at the lower part of the sleeve 351, and the distance between the upper end of the detection rod 352 and the detection element 353 is relatively large.

[0082] As Figure 16 shown, when the jaw in-place detection assembly 35 is in use, the position of the detection rod 352 is 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 be generated between the detection rod 352 and the sleeve 351. The distance between the top end of the detection rod 352 and the detection element 353 gradually decreases until a predetermined distance is reached. 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 jaw in-place signal to the control module of the grasping device 30, and the grasping device 30 stops moving downward.

[0083] As Figure 16 shown, when the grasping device 30 performs a grasping action, the handling device 40 first moves the grasping device 30 above the positioning device 10, and then the handling device 40 drives the grasping device 30 to move downward slowly. During this process, the bottom of the detection rod 353 in the jaw in-place detection assembly 35 first contacts the upper surface of the wheel bracket 97, and then the bottom of the positioning assembly 34 gradually extends into the inside of the footrest bracket 98. Finally, the upper end of the detection rod 353 moves to a predetermined position, that is, the grasping device 30 is at the correct height. At this time, the handling device 40 stops moving downward, and the grasping mechanism 32 in the grasping device 30 starts to act. The grasping cylinder 322 drives the two jaw assemblies 321 to approach each other, so that the jaw assemblies 321 move toward the side of the cylinder body 91, and finally the jaws 3212 in the jaw assemblies 321 abut against the side of the cylinder body 91. At the same time, the clamping in-place detection assembly 33 also just contacts the side of the cylinder body 91, that is, the jaws 3212 are clamped in place. Then the handling device 40 drives the grasping device 30 to move upward, and the grasping device 30 drives the gas storage tank 90 to move upward together.

[0084] The gripping device 30 has the following advantages: The gripping cylinder 322 controls a pair of jaw assemblies 321 to move closer to or away from each other, realizing the gripping action of the gas storage tank. Moreover, the jaw assembly 321 has jaws 3212 that open outward, enabling the jaws 3212 to closely adhere to the side wall of the cylinder body 91 during gripping, achieving a good fixing effect. Additionally, by providing a clamping-in-place detection component 33, it can be ensured that the jaws 3212 have come into contact with the side wall of the cylinder body 91, preventing the phenomenon of the jaws 3212 gripping in vain. By providing a jaw-in-place detection component 35, the height of the jaws 3212 can be detected to ensure that the jaws 3212 are at an appropriate height, such that the jaws 3212 just come into contact with the side wall of the cylinder body 91 after clamping, and the situation where the jaws 3212 are located above or below the cylinder body 91 will not occur. By providing a positioning component 34, it can be ensured that the jaws 3212 are at an appropriate position in the axial direction of the cylinder body 91, preventing the jaws 3212 from being overly biased towards the two ends of the cylinder body 91, ensuring that the gas storage tank 90 will not flip after being gripped by the jaws 3212, and at the same time ensuring that the forces on the left and right sides of the jaws 3212 are evenly distributed.

[0085] As Figure 17 shown, in order to plug the nozzles on the gas storage tank 90 for subsequent airtightness detection, a plugging device 50 is further provided on the gripping device 30. The plugging device 50 is used to plug each nozzle and perforation on the gas storage tank 90 after the gripping device 30 completes the gripping action of the gas storage tank 90.

[0086] Specifically, the plugging device 50 is arranged on the connecting frame 31 of the grasping device 30. The plugging device 50 includes: a switch connection pipe plugging mechanism 51 for plugging the switch connection pipe 94, a tee connection pipe plugging mechanism 52 for plugging the tee connection pipe 95, a sewage discharge connection pipe plugging mechanism 53 for plugging the sewage discharge connection pipe 99, a left perforation plugging mechanism 54 for plugging the left perforation, and a right perforation plugging mechanism 55 for plugging the right perforation 931. As can be seen from the previous text, the gas storage tank 90 is inverted on the positioning device 10. Therefore, the switch connection pipe 94 and the tee connection pipe 95 are located at the bottom of the gas storage tank 90. So, the switch connection pipe plugging mechanism 51 and the tee connection pipe plugging mechanism 52 are correspondingly located on both sides below the gas storage tank 90, and both the switch connection pipe plugging mechanism 51 and the tee connection pipe plugging mechanism 52 move towards the switch connection pipe 94 and the tee connection pipe 95 respectively by rotation, so as to realize the plugging of the switch connection pipe 94 and the tee connection pipe 95. The sewage discharge connection pipe 99 is located above the gas storage tank 90. Therefore, the sewage discharge connection pipe plugging mechanism 53 is located above the gas storage tank 90 and is inclined. The sewage discharge connection pipe plugging mechanism 53 can perform a linear displacement towards the position where the sewage discharge connection pipe 99 is located, so as to block the sewage discharge connection pipe 99. The left perforation plugging mechanism 54 and the right perforation plugging mechanism 55 are respectively located at one end of the gas storage tank 90. Both the left perforation plugging mechanism 54 and the right perforation plugging mechanism 55 can displace towards the end of the gas storage tank 90 (which can be linear movement or rotational movement), so as to realize the plugging of the left perforation and the right perforation 931.

[0087] As Figure 17 and Figure 18 shown, the switch connection pipe plugging mechanism 51 includes a switch connection pipe plug 511 and a first plugging driving assembly 512 for driving the switch connection pipe plug 511 to perform a plugging action. The switch connection pipe plug 511 is located at the lower part of the grasping area, and can move towards the position where the grasping area is located under the action of the first plugging driving assembly 512. And when plugging, the switch connection pipe plug 511 abuts against the switch connection pipe 94 from below and directly opposite above. To be exact, the movement track of the switch connection pipe plug 511 should pass through the switch connection pipe 94. So, when the first plugging driving assembly 512 drives the switch connection pipe plug 511 to move, the switch connection pipe plug 511 will block the switch connection pipe 94.

[0088] In this embodiment, since the switch connection pipe 94 is located at the bottom of the grasping area and the grasping device 30 moves downward from above the air storage tank 90, when the grasping device 30 moves downward or upward, the plug 511 of the switch connection pipe should be located outside the side of the cylinder body 91; otherwise, the path of the plug 511 of the switch connection pipe will interfere with the cylinder body 91. To achieve this purpose, the plug 511 of the switch connection pipe is sealed by rotation, that is, when the grasping device 30 moves upward or downward, the plug 511 of the switch connection pipe rotates to the outside of the cylinder body 91; when the grasping device 30 is grasping, the plug 511 of the switch connection pipe rotates in the direction of the grasping area, so as to achieve sealing. For this reason, the first sealing drive assembly 512 needs to have a rotating function. For example, the first sealing drive assembly 512 can adopt a rotary cylinder, the output end of the rotary cylinder is located on the rotary arm, and the plug 511 of the switch connection pipe is arranged on the rotary arm.

[0089] As Figure 17 and Figure 18 shown, the three-way connection pipe sealing mechanism 52 includes a three-way connection pipe plug 521 and a second sealing drive assembly 522 for driving the three-way connection pipe plug 521 to perform a sealing action. The three-way connection pipe plug 521 is located at the lower part of the grasping area. Under the action of the second sealing drive assembly 522, the three-way connection pipe plug 521 can move towards the position where the grasping area is located, and when sealing, the three-way connection pipe plug 521 abuts against the three-way connection pipe 95 obliquely from below to above. Exactly speaking, the movement track of the three-way connection pipe plug 521 should pass through the three-way connection pipe 95, so that when the second sealing drive assembly 522 drives the three-way connection pipe plug 521 to move, the three-way connection pipe plug 521 will block the three-way connection pipe 95.

[0090] For similar reasons to the switch connection pipe sealing mechanism 51, the second sealing drive assembly 522 also needs to have a rotating function. The second sealing drive assembly 522 can adopt a rotary cylinder, and the three-way connection pipe plug 521 is arranged on the rotary arm of the rotary cylinder.

[0091] As Figure 17 shown, the sewage connection pipe sealing mechanism 53 includes a sewage connection pipe plug 531 and a third sealing drive assembly 532 for driving the sewage connection pipe plug 531 to perform a sealing action. The third sealing drive assembly 532 is located above the grasping area. Under the action of the third sealing drive assembly 532, the sewage connection pipe plug 531 can move towards the position where the grasping area is located, and when sealing, the sewage connection pipe plug 531 abuts against the sewage connection pipe 99 obliquely from above to below. Exactly speaking, the movement track of the sewage connection pipe plug 531 should pass through the sewage connection pipe 99, so that when the third sealing drive assembly 532 drives the sewage connection pipe plug 531 to move, the sewage connection pipe plug 531 will block the sewage connection pipe 99.

[0092] It should be noted that the sewage discharge connection pipe 99 is located above the grasping area. Therefore, when the grasping device 30 moves up or down, the sewage discharge connection pipe plug 531 will not interfere with the gas storage tank 90. Therefore, the third plugging drive assembly 532 only needs to drive the sewage discharge connection pipe plug 531 to move linearly, but this does not exclude the third plugging drive assembly 532 from having a rotating function. In this embodiment, the third plugging drive assembly 532 adopts a linear motion cylinder, and the sewage discharge connection pipe plug 531 is arranged at 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 discharge connection pipe 99, so that the sewage discharge connection pipe plug 531 abuts against the sewage discharge connection pipe 99.

[0093] As Figure 17 shown, the left perforation plugging mechanism 54 is located at one end of the grasping area. The left perforation plugging 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 grasping device 30. 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 grasping area. And when plugging, the height of the left plug 542 corresponds to the left perforation at the center of the left head 92.

[0094] In order to realize the plugging action of the left plug 542, a separate driving component, such as a cylinder, etc., can be arranged on the left bracket 541. But preferably, the linkage mechanism 56 described later can be used for driving. For this purpose, the left bracket 541 is slidably arranged on the connecting frame 31 through a left slide rail 543. The specific driving method will be introduced later.

[0095] As Figure 17 shown, the right perforation plugging mechanism 55 is located at the other end of the grasping area. The right perforation plugging 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 grasping device 30. 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 grasping area. And when plugging, the height of the right plug 552 corresponds to the right perforation 931 at the center of the right head 93.

[0096] Similar to the left plug 542, a separate driving component, such as a cylinder, can be arranged on the right bracket 551 to drive the right head 93 to realize the plugging action. But preferably, the linkage mechanism 56 described later can be used for driving. For this purpose, the right bracket 551 is slidably arranged on the connecting frame 31 through a right slide rail 553.

[0097] The structure of the linkage mechanism 56 is introduced below. As Figure 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 plugging action simultaneously. Specifically, the linkage mechanism 56 includes a rotary disk 561 disposed on the substrate 312 and capable of rotating, a rotary drive assembly 562 connected to the input end of the rotary disk 561 to drive the rotary disk 561 to rotate, a first connecting rod 563 connected to the first output end of the rotary disk 561, and a second connecting rod 564 connected to the second output end of the rotary disk 561. The first connecting rod 563 serves as one output end of the linkage mechanism 56 and is connected to the left bracket 541. The second connecting rod 564 serves as the other output end of the linkage mechanism 56 and is connected to the right bracket 551. Thus, when the rotary disk 561 rotates, the first connecting rod 563 and the second connecting rod 564 drive the left bracket 541 and the right bracket 551 to move respectively, causing the two to perform the plugging action or the reset action, that is, driving the left bracket 541 to move towards the left perforation or away from the left perforation, and driving the right bracket 551 to move towards the right perforation 931 or away from the right perforation 931.

[0098] Specifically, as Figure 21 shown, the rotary disk 561 has a longitudinally extending rotary axis 5611, and the rotary disk 561 rotates in the horizontal plane around the rotary axis 5611. First arms 5612, 5613, and 5614 protruding outward are arranged at intervals in the circumferential direction of the rotary disk 561. The first arm 5612 and the second arm 5613 serve as the first output end and the second output end of the rotary disk 561 respectively, and the third arm 5614 serves as the input end of the rotary 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 rotary drive assembly 562.

[0099] When the rotary disk 561 moves, the rotary drive assembly 562 drives the third arm 5614 to move in the horizontal plane. For example, in Figure 21 , the right end of the third arm 5614 is driven to move to the right. At this time, the rotary disk 561 will rotate clockwise around the rotary axis 5611, so that the first arm 5612 and the second arm 5613 rotate clockwise accordingly. Further, the first arm 5612 drives the first connecting rod 563 to move to the right, causing the entire left bracket 541 to slide towards the right, that is, the left plug 542 abuts against the left perforation of the left head 92; the second arm 5613 drives the second connecting rod 564 to move to the left, causing the entire right bracket 551 to slide to the left, that is, the right plug 552 abuts against the right perforation 931 of the right head 93.

[0100] As Figure 21As shown, it is noted that the rotary disk 561 performs a rotational motion, while the left support 541 and the right support 551 both perform linear motions. To achieve 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 a shaft connection, and the other end of the first connecting rod 563 is rotationally connected to the left support 541 through a shaft connection. Similarly, one end of the second connecting rod 564 is rotationally connected to the second arm 5613 through a shaft connection, and the other end of the second connecting rod 564 is rotationally connected to the right support 551 through a shaft connection.

[0101] As Figure 21 shown, the rotary drive assembly 562 includes a push-pull rod 5621 and a push-pull drive component 5622 for driving the push-pull rod 5621 to perform a 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 drive component 5622. Under the action of the push-pull drive 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 drive component 5622 can be a cylinder body, and the push-pull rod 5621 is arranged in the cylinder body, and the change of the fluid (gas or liquid) in the cylinder body drives the push-pull rod 5621 to perform a linear displacement. Usually, the push-pull rod 5621 and the push-pull drive component 5622 can jointly form a pneumatic cylinder or a hydraulic cylinder.

[0102] As Figure 21 shown, a seat body 565 is arranged on one side of the push-pull drive component 5622. The push-pull drive component 5622 is fixed to the seat body 565 through a rotational connection method, so that when the push-pull drive component 5622 drives the push-pull rod 5621 to perform a linear motion, the push-pull drive component 5622 itself performs a rotational motion, so that the push-pull rod 5621 performs a rotational motion while performing a linear motion, which is beneficial to realizing the rotation of the rotary disk 561. In addition, in order to limit the rotation angle of the rotary disk 561 and prevent it from rotating excessively, resulting in the left support 541 and the right support 542 falling off the substrate 312 when moving outwards, a limit block 566 is arranged 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 rotary disk 561 rotates counterclockwise, that is, when the left support 541 and the right support 542 move outwards, 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 support 541 and the right support 542 from detaching from the substrate 312.

[0103] As can be seen from the above, after blocking the connecting pipes of the gas storage tank 90, it is also necessary to inflate the inside of the gas storage tank 90. Therefore, an inflation device 60 is also provided on the blocking device 50. The inflation device 60 has a gas source (not shown) and an air outlet connecting pipe 61 communicated with the gas source. The air outlet connecting 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.

[0104] Specifically, in this embodiment, as Figure 21 shown, the air outlet connecting pipe 61 is arranged on the left plug 542 and / or the right plug 552, and the gas storage tank is inflated through the left plug 542 and / or the right plug 552.

[0105] As Figure 22 and Figure 23 shown, the working process of the blocking device 50 and the inflation device 60 is as follows: After the jaw assembly 321 in the grasping device 30 grabs the cylinder body 91, the blocking device 50 is started. Specifically, the first blocking driving component 512 in the switch connecting pipe blocking mechanism 51 drives the switch connecting pipe plug 511 to rotate, so that the switch connecting pipe plug 511 abuts against the switch connecting pipe 94; the second blocking driving component 522 in the three-way connecting pipe blocking mechanism 52 drives the three-way connecting pipe plug 521 to rotate, so that the three-way connecting pipe plug 521 abuts against the three-way connecting pipe 95; the third blocking driving component 532 in the sewage discharge connecting pipe blocking mechanism 53 drives the sewage discharge connecting pipe plug 531 to move linearly, so that the sewage discharge connecting pipe plug 531 abuts against the sewage discharge connecting pipe 99; the left perforation blocking mechanism 54 and the right perforation blocking mechanism 55 work simultaneously under the action of the linkage mechanism 56, that is, the rotary driving component 562 drives the rotary disk 561 to rotate, so that the rotary disk 561 drives the left perforation blocking mechanism 54 and the right perforation blocking mechanism 55 to move towards the left perforation and the right perforation 931 through the first connecting rod 563 and the second connecting rod 564 respectively, and finally the left plug 542 in the left perforation blocking mechanism 54 abuts against the left perforation, and the right plug 552 in the right perforation blocking mechanism 55 abuts against the right perforation 931. At this time, all the connecting pipes on the gas storage tank are blocked. Then, under the action of the handling device 40, the gas storage tank 90 is put into the water. After that, the gas source in the inflation device 60 inflates the left plug 542 and / or the right plug 552 through the inflation connecting pipe 61, so that the gas enters the inside of the gas storage tank 90 through the plug and the perforation. At this time, observe whether there are bubbles in the water to judge the air tightness of the gas storage tank.

[0106] After adopting the above plugging device 50 and inflation device 60, the following advantages are achieved: the plugging of the switch connection pipe 94, three-way connection pipe 55 and sewage connection pipe 99 is automatically realized through the switch connection pipe plugging mechanism 51, three-way connection pipe plugging mechanism 52 and sewage connection pipe plugging mechanism 53, improving the plugging efficiency and avoiding the problem of low plugging efficiency caused by searching for corresponding plugs in the prior art. 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 storage tank 90 (which can be ensured by the positioning mechanism 34 in the above text), the accuracy of plugging can be guaranteed, and air leakage caused by inaccurate plugging will not occur. Integrating the inflation device 60 on the plugging device 50 eliminates the need for separate installation of the inflation connection pipe, further improving the detection efficiency.

[0107] In summary, the advantages of the present invention are as follows: placing the gas storage tank upside down on the positioning device 10 facilitates the positioning of the gas storage tank and prevents the gas storage tank from moving during transportation. The positioning device 10 is automatically transported by the transportation device 20 without manual handling, improving the transportation efficiency of the gas storage tank 90. In addition, the transportation device 20 can transport the positioning device 10 to a predetermined position, where through the cooperation of the grasping device 30 and the handling device 40, the gas storage tank can be smoothly transported from the positioning device 10 to the water tank, reducing the manual burden. More importantly, the grasping device 30 can ensure that the gas storage tank always remains stable during movement, so that the gas storage tank can smoothly enter the water without causing large fluctuations on the water surface, facilitating the observation of bubbles in the water and improving the detection efficiency. The plugging device 50 and the inflation device 60 are integrated on the grasping device 30, so that after the gas storage tank 90 is grasped, the plugging action can be automatically performed, improving the plugging efficiency and ensuring the accuracy of plugging, reducing the waiting time required for plugging in the prior art.

[0108] The above is the description of the embodiments of the present invention. Through the above description of the disclosed embodiments, those skilled in the art can implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art. 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 herein, but will conform to the widest scope consistent with the principles and novel points disclosed herein.

Claims

1. An air compressor air storage tank leak detection device, characterized in that, Including: A positioning device (10) for positioning a gas storage tank (90); A conveying device (20) having a conveying channel, and the positioning device (10) moves in the conveying channel; the conveying channel has a to-be-gripped area, and when the positioning device (10) moves to the to-be-gripped area, it is temporarily fixed; A gripping device (30) for gripping the gas storage tank (90) in the to-be-gripped area; and A handling device (40) having an execution end, the gripping device (30) is arranged on the execution end, and the handling device (40) drives the gripping device (30) to move back and forth between the to-be-gripped area and the water tank; With the above structure, the gas storage tank (90) in the positioning device (10) is smoothly transported into the water tank; The gripping device (30) includes: A connecting frame (31) for connecting with the execution end of the gripping device (40); and A gripping mechanism (32) arranged on the connecting frame (31), and the gripping mechanism (32) is used for gripping the cylinder body (91) of the gas storage tank (90); the gripping mechanism (32) includes: A jaw assembly (321), the jaw assembly (321) has at least two and is arranged oppositely, and a jaw groove for clamping the side surface of the cylinder body (91) is formed on the jaw assembly (321), and a gripping area is formed between the two jaw grooves; and A gripping cylinder (322) connected to the jaw assembly (321), and the gripping cylinder (322) is used for controlling the jaw assembly (321) to perform a gripping action or a releasing action; The gripping device (30) further includes: A jaw-in-place detection component (35) for calibrating the longitudinal position of the gripping mechanism (32) before the gripping mechanism (32) performs a gripping action, so that the gripping mechanism (32) is in the correct position; the jaw-in-place detection component (35) includes: A sleeve (351) fixedly arranged on the connecting frame (31) and extending downward, and a channel extending along the axial direction is arranged inside the sleeve (351); A detection rod (352) slidably arranged in the channel, and the lower end of the detection rod (352) extends out from the bottom of the sleeve (351); and A detection element (353) arranged at the top of the channel, and the detection element (353) is used for measuring the distance between the detection rod (352) and the detection element (353) when the gripping mechanism (32) approaches the gas storage tank (90), so as to judge the relative height between the gripping mechanism (32) and the gas storage tank (90).

2. The air compressor storage tank leak detection device according to claim 1, characterized in that, The gas storage tank (90) is positioned upside down in the positioning device (10); the positioning device (10) includes: A tray (11); A support frame (12) arranged on the tray (11), and a positioning groove (14) with an upper opening is formed in the upper part of the support frame (12), and the positioning groove (14) is used for positioning the cylinder body (91) of the gas storage tank (90) from below; and A substrate positioning component (15) for positioning with the substrate (96) of the gas storage tank (90); the substrate positioning component (15) includes: The substrate positioning pin (152) has an axis extending longitudinally and is used to insert into the mounting hole (961) of the substrate (96). The complete positioning of the gas storage tank (90) is achieved through the positioning groove (14) and the substrate positioning pin (152).

3. The leak detection device for an air compressor air storage tank according to claim 1, characterized in that, The handling device (40) includes: A first handling mechanism (41) whose output end has a degree of freedom in a first direction; A second handling mechanism (42) connected to the output end of the first handling mechanism (41); the output end of the second handling mechanism (42) has a degree of freedom in a second direction; and A third handling mechanism (43) connected to the output end of the second handling mechanism (42); the output end of the third handling mechanism (43) has a degree of freedom in a third direction; The first direction, the second direction, and the third direction are perpendicular to each other in pairs; the grasping device (30) is arranged at the output end of the third handling mechanism (43), so that the grasping device (30) has degrees of freedom in three different directions and can perform the function of handling the gas storage tank (90).

4. An air compressor storage tank leak detection device according to claim 1, characterized in that, The jaw assembly (321) includes: A jaw seat (3211) connected to the output end of the grasping cylinder (322); and Jaws (3212) having the jaw grooves described above; the jaws (3212) include: A connecting portion (32121) extending in the vertical direction; and Jaw portions (32122) arranged at the upper and lower ends of the connecting portion (32121), and the jaw portions (32122) open outward toward the outer end of the connecting portion (32121), forming a U-shaped jaw groove between the connecting portion (32121) and the jaw portions (32122).

5. The leak detection device for an air compressor air storage tank according to claim 1, characterized in that, The grasping device (30) further includes: A positioning assembly (34) for calibrating the horizontal position of the grasping mechanism (32) before the grasping mechanism (32) performs the grasping action, so that the grasping mechanism (32) is in the correct position; the positioning assembly (34) includes: A pin shaft (341) arranged at the bottom of the connecting frame (31), and the axis of the pin shaft (341) extends downward. The pin shaft (341) is used to extend into the inside of the foot support (98) of the gas storage tank (90) to ensure the correct position of the grasping mechanism (32) in the horizontal direction.

6. The leak detection device for an air compressor air storage tank according to claim 1, wherein, The equipment further includes: A plugging device (50) for plugging the gas storage tank (90) after the grasping device (30) completes the grasping action; the plugging device (50) is arranged on the grasping device (30), and the plugging device (50) includes: A switch connection pipe plugging mechanism (51) for plugging the switch connection pipe (94) on the gas storage tank (90); the switch connection pipe plugging mechanism (51) is located at the bottom of the grasping area; A tee connection pipe plugging mechanism (52) for plugging the tee connection pipe (95) on the gas storage tank (90); the tee connection pipe plugging mechanism (52) is located at the bottom of the grasping area; The sewage discharge connection blocking mechanism (53) is used to block the sewage discharge connection (99) on the gas storage tank (90); the sewage discharge connection blocking mechanism (53) is located at the upper part of the grasping area; The left perforation blocking mechanism (54) is used to block the left perforation on the gas storage tank (90); the left perforation blocking mechanism (54) is located at one end of the grasping area in the axial direction; The right perforation blocking mechanism (55) is used to block the right perforation (931) on the gas storage tank (90); the right perforation blocking mechanism (55) is located at the other end of the grasping area in the axial direction.

7. An air compressor air storage tank leak detection device according to claim 6, characterized in that, The switch connection blocking mechanism (51) and the tee connection blocking mechanism (52) respectively block the switch connection (94) and the tee connection (95) by rotation; the sewage discharge connection blocking mechanism (53), the left perforation blocking mechanism (54) and the right perforation blocking mechanism (55) respectively block the sewage discharge connection (99), the left perforation and the right perforation (931) by linear movement.

8. An air compressor gas storage tank leak detection device according to claim 6, characterized in that, The left perforation blocking mechanism (54) and the right perforation blocking mechanism (55) are both arranged on the grasping device (30) by linear sliding, and a linkage mechanism (56) is arranged between the left perforation blocking mechanism (54) and the right perforation blocking mechanism (55). The linkage mechanism (56) has two output ends. One output end is connected to the left perforation blocking mechanism (54), and the other output end is connected to the right perforation blocking mechanism (55). The linkage mechanism (56) controls the movement of the two output ends to make the left perforation blocking mechanism (54) and the right perforation blocking mechanism (55) complete the blocking action simultaneously; The linkage mechanism (56) includes: A rotary disk (561) that rotates around a longitudinal rotation axis (5611). The rotary disk (561) has an input end, a first output end and a second output end; A rotary drive assembly (562) that is connected to the input end of the rotary disk (561) and drives the rotary disk (561) to rotate; A first connecting rod (563) whose one end is connected to the first output end of the rotary disk (561) and the other end is connected to the left perforation blocking mechanism (54); And A second connecting rod (564) whose one end is connected to the second output end of the rotary disk (561) and the other end is connected to the right perforation blocking mechanism (55); When the rotary disk (561) rotates, the first connecting rod (563) and the second connecting rod (564) respectively drive the left perforation blocking mechanism (54) and the right perforation blocking mechanism (55) to approach or move away from the grasping area simultaneously.

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