Low-temperature explosion-proof filling system

Abstract

The present invention relates to a cryogenic explosion-proof filling system, belonging to the technical field of automatic filling. The filling system includes a filling station, a safety room, a filling robot and a controller; the filling station is connected with a filling pipeline, and the output port of the filling pipeline is connected with a filling gun; the safety room is arranged close to the filling station and has an accommodation cavity inside, and a safety room opening is provided on one side of the accommodation cavity close to the filling station; there is a parking space for parking vehicles between the safety room and the filling station, and a vehicle detector is provided at the parking space; the filling robot is located in the accommodation cavity and can extend out of the accommodation cavity from the safety room opening; the controller is configured to: when the vehicle to be filled is parked at the parking space, control the filling robot to extend out of the accommodation cavity to pick up the filling gun so as to fill the vehicle with fluid; when the fluid filling is completed, control the filling robot to put back the filling gun, and then control the filling robot to retract into the accommodation cavity. The cryogenic explosion-proof filling system provided by the present invention can automatically fill fluid, and the filling work is not limited by time.

Description

Technical Field

[0001] The invention belongs to the technical field of automatic filling, and in particular relates to a low-temperature explosion-proof filling system. Background Art

[0002] With the advocacy of national energy conservation and emission reduction policies and the improvement of people's environmental awareness, new energy vehicles such as gas vehicles, electric vehicles and hydrogen oil vehicles have developed rapidly, and new energy vehicles are increasingly widely used in people's lives. Gas new energy vehicles mainly refer to vehicles that use liquefied natural gas, hydrogen and other flammable and explosive gases as fuel. Like traditional fuel vehicles, gas new energy vehicles also need to be refueled at designated places, and refueling stations are places that provide gas fuel refueling.

[0003] Since the development of gas-fired new energy vehicles has been going on for a long time, the number of filling stations is relatively small. The traditional manual filling method is inefficient and cannot be operated 24 hours a day. Therefore, the traditional manual filling method cannot meet people's needs. At present, with the advancement of science and technology, more and more filling stations use filling robots for automatic filling. Although filling robots have high filling efficiency and can operate 24 hours a day, gases such as liquefied natural gas and hydrogen will inevitably leak during the filling process. Once a short circuit occurs in the filling robot, it is easy to cause a gas explosion. Especially in the cold north, the ambient temperature is low in winter, which puts high requirements on the low-temperature operation performance of the robot, which undoubtedly increases the production cost of the filling robot. However, if the filling robot is in a low-temperature environment for a long time, its working reliability will be reduced, and it is easy to have problems such as short circuit or exposed lines, resulting in safety hazards in the filling station. Therefore, designing a low-temperature explosion-proof filling system is of great significance to the development of gas-fired new energy vehicles. Summary of the invention

[0004] In view of the shortcomings existing in the related art, the present invention provides a low-temperature explosion-proof filling system for automatically filling fluids, which reduces labor intensity and improves personal safety, and the filling work is not limited by time; and the filling robot is in a constant temperature environment of a safe room during non-working hours to solve the problem in the prior art that the filling robot may be damaged or short-circuited in a low-temperature environment, causing fluid combustion or explosion.

[0005] The present invention provides a low-temperature explosion-proof filling system, comprising:

[0006] A filling station, which is connected to a filling pipeline, and an output port of the filling pipeline is connected to a filling gun;

[0007] A safe room is arranged near the filling station, a receiving chamber is arranged inside the safe room, and a safe room opening is opened on a side of the receiving chamber near the filling station; a parking space for parking vehicles is arranged between the safe room and the filling station; and a vehicle detector is arranged at the parking space for detecting whether there is a vehicle parked at the parking space;

[0008] A filling robot, used to take the filling gun; the filling robot is located in the receiving chamber and can extend out of the receiving chamber from the opening of the safe room;

[0009] The controller is connected to the vehicle detector and the filling robot respectively; the controller is configured to: when the vehicle to be filled is parked in a parking space, control the filling robot to extend from the receiving chamber to take the filling gun, and aim the filling gun at the filling port of the vehicle to fill the vehicle with fluid; when the vehicle fluid is filled, control the filling robot to put back the filling gun and after the filling gun is put back to its original position, control the filling robot to retract into the receiving chamber.

[0010] The technical solution sets up a safe room and uses the safe room to place the filling robot to prevent the filling robot from being exposed to a low-temperature environment for a long time; sets up the filling robot to automatically fill the fluid without time limit; sets up a vehicle detector to detect in real time whether there is a vehicle parked in the parking space. When a vehicle is parked in the parking space, the controller controls the filling robot to take the filling gun for filling.

[0011] In some of the embodiments, the low-temperature explosion-proof filling system also includes an anti-static hook, which is used to eliminate static electricity carried by the vehicle. The anti-static hook is arranged outside the accommodating cavity and close to the parking space; the controller is configured to: when the vehicle to be filled is parked in the parking space, control the filling robot to extend out of the accommodating cavity to take the anti-static hook and connect the anti-static hook to the vehicle, and then control the filling robot to take the filling gun to fill the vehicle with fluid; when the fluid filling of the vehicle to be filled is completed, control the filling robot to put the filling gun back to its original position, and then control the filling robot to disconnect the anti-static hook from the vehicle and put the anti-static hook back to its original position.

[0012] This technical solution eliminates static electricity carried by the vehicle by arranging an anti-static hook; and prevents the static electricity of the vehicle from causing combustion of the fluid by installing the anti-static hook before the vehicle is filled with fluid.

[0013] In some of the embodiments, the filling robot includes a robotic arm and a base, the robotic arm is rotatably connected to the base, the robotic arm is provided with a male head, and the male head is connected to a controller; the filling gun is connected to a first female head that cooperates with the male head, and the anti-static hook is connected to a second female head that cooperates with the male head; the controller is configured to: when the filling robot needs to take the filling gun, control the male head to be connected to the first female head; when the filling robot needs to take the anti-static hook, control the male head to be connected to the second female head.

[0014] This technical solution sets a male head and a first female head and a second female head that match the male head. The male head is connected to the first female head to facilitate the robot arm to pick up the filling gun, and the male head is connected to the second female head to facilitate the robot arm to pick up the anti-static hook.

[0015] In some of the embodiments, a safety door for closing the accommodating chamber is provided at the opening of the safety room, and the safety door is connected to a controller; the controller is configured to: when the vehicle to be refueled is parked in the parking space, control the safety door to open; when the vehicle to be refueled leaves the parking space, control the safety door to close.

[0016] This technical solution sets a safety door to close the containing chamber, which can not only maintain the ambient temperature in the safety room, but also isolate the filling robot and other circuits, electrical components, etc. in the containing chamber from the fluid in the filling station, thereby preventing the circuit in the containing chamber from causing fluid combustion.

[0017] In some of the embodiments, the filling gun is provided with an electric switch for opening or closing the filling pipeline, and the safety room is provided with a gas detector for detecting the concentration of the filling fluid in the accommodating chamber, and both the electric switch and the gas detector are connected to the controller; the controller is configured to: when the concentration detected by the gas detector exceeds a certain value, control the electric switch to close the filling pipeline, and at the same time control the filling robot to put the filling gun back to its original position, and then control the filling robot to retract into the accommodating chamber; when the filling robot retracts into the accommodating chamber, control the safety door to close.

[0018] The technical solution provides an electric switch to control the opening or closing of the filling pipeline; and provides a gas detector to detect the fluid concentration in the accommodating chamber in real time to prevent the circuit in the accommodating chamber from burning and causing serious consequences.

[0019] In some of the embodiments, the safe room is also provided with an alarm system, which is connected to the controller; the controller is configured to control the alarm system to sound an alarm when the concentration detected by the gas detector exceeds a certain value.

[0020] This technical solution sets up an alarm system to warn staff when the fluid concentration in the accommodating chamber exceeds the standard, thereby avoiding the occurrence of combustion and explosion.

[0021] In some of the embodiments, the low-temperature explosion-proof filling system also includes a visual camera for obtaining the position information of the vehicle's filling port, and the visual camera is installed on the robotic arm and connected to the controller; the controller is configured to: control the rotation of the robotic arm according to the filling port position information obtained by the visual camera, so that the filling gun taken by the robotic arm is aimed at the filling port.

[0022] This technical solution sets a visual camera and uses the filling port position information obtained by the visual camera to correct the position of the filling gun so that the filling gun can be aligned with the filling port.

[0023] In some of the embodiments, a temperature control device and a temperature sensor are provided in the accommodating chamber. The temperature control device is used to adjust the temperature in the accommodating chamber so that the temperature of the accommodating chamber is maintained within a certain temperature range. The temperature sensor is used to detect the ambient temperature in the accommodating chamber. Both the temperature control device and the temperature sensor are connected to a controller. The controller is configured to: when the temperature sensor detects that the temperature of the accommodating chamber is lower than the temperature range, control the temperature control device to heat; when the temperature sensor detects that the temperature of the accommodating chamber exceeds the temperature range, control the temperature control device to cool.

[0024] This technical solution provides a suitable environment for the filling robot and related circuits by setting a temperature control device and a temperature sensor to adjust the temperature of the containing chamber.

[0025] In addition, the present invention also provides a method for automatically filling fluid, which uses the above-mentioned low-temperature explosion-proof filling system for filling. The method for automatically filling fluid includes the following steps:

[0026] Vehicle identification: The vehicle to be filled with fluid is parked in the parking space and identified by the vehicle detector;

[0027] Safety door opening: When the vehicle detector detects that there is a vehicle parked in the parking space, the controller controls the safety door to open according to the detection information of the vehicle detector;

[0028] Installing the anti-static hook: the filling robot extends out from the accommodating cavity, and the male head of the filling robot is connected to the second female head, and the controller controls the filling robot to rotate to connect the anti-static hook connected to the second female head to the vehicle to be filled with fluid; when the anti-static hook is connected to the vehicle to be filled with fluid, the controller controls the male head to disconnect from the second female head;

[0029] The filling gun is aligned with the filling port of the vehicle: the controller controls the male head of the filling robot to connect with the first female head, and the filling gun connected with the first female head is aligned with the filling port of the vehicle;

[0030] Fluid filling: The controller controls the electric switch of the filling gun to open the filling pipe to fill the vehicle with fluid;

[0031] Filling gun returns to its original position: After the fluid filling is completed, the controller controls the electric switch to close the filling pipeline, and controls the filling robot to put the filling gun back to its original position, and then disconnects the male connector from the first female connector;

[0032] Return the anti-static hook to its original position: The controller controls the male connector of the filling robot to connect with the second female connector and put the anti-static hook back to its original position, and then disconnects the male connector from the second female connector;

[0033] Filling robot returns to its original position: the controller controls the filling robot to return to the containing chamber;

[0034] Safety door closed: When the vehicle detector does not recognize that there is a vehicle parked in the parking space, the controller controls the safety door to close.

[0035] In some of the embodiments, in the fluid filling step, when the gas detector detects that the concentration of the fluid to be filled in the containing chamber exceeds a certain value, the controller controls the electric switch to close the filling pipeline, and at the same time controls the filling robot to put the filling gun back to its original position, and then controls the filling robot to retract into the containing chamber, and finally controls the safety door to close.

[0036] Based on the above technical scheme, the low-temperature explosion-proof filling system in the embodiment of the present invention can automatically fill the fluid, which reduces the labor intensity and improves personal safety, and the filling work is not limited by time and has high work efficiency; moreover, the filling robot is in a constant temperature environment of a safe room during non-working hours, which avoids the filling robot being damaged or short-circuited in a low-temperature environment and causing fluid combustion or explosion, thereby increasing the safety of the overall structure and working reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0038] Figure 1 It is a structural schematic diagram of an embodiment of a low-temperature explosion-proof filling system of the present invention;

[0039] Figure 2 This is a schematic diagram of the structure of a safe room in one embodiment of the low-temperature explosion-proof filling system of the present invention;

[0040] Figure 3 This is a schematic diagram of the structure of a filling robot in one embodiment of a low-temperature explosion-proof filling system of the present invention;

[0041] Figure 4 This is a schematic diagram of the structure of a filling gun and a static electricity removal hook in one embodiment of a low-temperature explosion-proof filling system of the present invention;

[0042] Figure 5 It is a structural schematic diagram of a male connector in one embodiment of a low-temperature explosion-proof filling system of the present invention;

[0043] Figure 6 This is a structural schematic diagram of the front side of a female connector in one embodiment of the low-temperature explosion-proof filling system of the present invention;

[0044] Figure 7 It is a schematic structural diagram of the reverse side of the female connector in one embodiment of the low-temperature explosion-proof filling system of the present invention.

[0045] In the figure:

[0046] 1. Safe room; 2. Filling robot; 3. Filling gun; 4. Anti-static hook; 5. Filling port; 6. Male connector; 7. Visual camera; 8. Female connector; 9. Mounting bracket;

[0047] 11. Accommodating chamber; 12. Side wall; 13. Bottom surface; 14. Temperature regulating device; 15. Top surface; 16. Safety door;

[0048] 21. base; 22. first mechanical arm; 23. second mechanical arm; 24. third mechanical arm; 25. fourth mechanical arm; 26. connecting arm;

[0049] 61. protrusion; 62. clamping column; 63. male body; 64. positioning hole;

[0050] 81, first female connector; 82, second female connector;

[0051] 811, female head cavity; 812, positioning column; 813, female head step; 814, female head body. DETAILED DESCRIPTION

[0052] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0053] In the description of the present invention, it should be understood that the terms "center", "lateral", "longitudinal", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0054] The terms "first", "second", and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Thus, a feature defined as "first", "second", and "third" may explicitly or implicitly include one or more of the features.

[0055] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0056] As attached Figure 1 As shown, in an illustrative embodiment of the low-temperature explosion-proof filling system of the present invention, the low-temperature explosion-proof filling system includes a filling station 5, a safety room 1, a filling robot 2 and a controller.

[0057] In the above-mentioned low-temperature explosion-proof filling system, the filling station 5 is used to store liquefied natural gas, hydrogen and other substances to be filled; the filling station 5 is connected to a filling pipeline, the filling pipeline is used to transport the filling fluid, and the output port of the filling pipeline is connected to a filling gun 3; the filling gun 3 is used to fill the filling fluid stored in the filling station 5 into the vehicle, and the filling gun 3 is provided with an electric switch for opening or closing the filling pipeline, and the electric switch is connected to the controller; the controller can control the opening and closing of the filling pipeline through the electric switch, when the electric switch opens the filling pipeline, the fluid can flow out of the filling gun 3, and when the electric switch closes the filling pipeline, the fluid cannot be added to the vehicle from the filling gun 3; it should be noted that the power required for the movement of the fluid and the filling gun 3 belong to the prior art and will not be repeated here.

[0058] In the above-mentioned low-temperature explosion-proof filling system, if Figure 1 and Figure 3 As shown, the filling robot 2 is used to take the filling gun 3 to fill the vehicle with fluid; the controller is connected to the filling robot 2 and controls the action of the filling robot 2; a parking space is provided between the filling robot 2 and the filling station 5, and when the vehicle is parked at the parking space, the controller controls the filling robot 2 to take the filling gun 3 and align the filling gun 3 with the filling port of the vehicle, so that the fluid in the filling station 5 is automatically filled into the vehicle; when the fluid filling is completed, the controller controls the filling robot 2 to put the filling gun 3 back to its original position; it should be noted that, as shown in FIG. Figure 3As shown, the filling robot 2 includes a base 21, a first mechanical arm 22, a second mechanical arm 23, a third mechanical arm 24 and a fourth mechanical arm 25. The base 21 is installed on the ground, the first mechanical arm 22 is rotatably connected to the base 21, the second mechanical arm 23 is vertically arranged and rotatably connected to the first mechanical arm 22, the third mechanical arm 24 is rotatably connected to an end of the second mechanical arm 23 away from the first mechanical arm 22, and the fourth mechanical arm 25 is rotatably connected to the third mechanical arm 24. The rotation axis of the first mechanical arm 22 and the base 21 is vertically arranged, the rotation axis of the second mechanical arm 23 and the first mechanical arm 22, and the rotation axis of the second mechanical arm 23 and the third mechanical arm 24 are all horizontally arranged, and the height of the rotation axis of the second mechanical arm 23 and the first mechanical arm 22 is lower than the height of the rotation axis of the second mechanical arm 23 and the third mechanical arm 24, and the rotation axis of the third mechanical arm 24 and the fourth mechanical arm 25 is perpendicular to the rotation axis of the second mechanical arm 23 and the third mechanical arm 24. It should also be noted that, as Figure 5-Figure 7As shown, in order to facilitate taking the filling gun 3, a male head 6 is installed at one end of the fourth mechanical arm 25 away from the third mechanical arm 24, and the filling gun 3 is connected to the first female head 81. The male head 6 is connected to the first female head 81 so that the filling robot 2 can take the filling gun 3 conveniently and quickly; the male head 6 includes a male head body 63, a protrusion 61 is provided in the middle part of the male head body 63, a protrusion cavity is provided inside the protrusion 61, a plurality of clamping columns 62 are provided in the protrusion cavity, and a plurality of clamping column through holes are provided on the periphery of the protrusion 61, and the clamping column 62 can extend out of the protrusion cavity through the clamping column through holes; the male head 6 and the controller The controller can control the clamping column 62 to be retracted into the protruding cavity 61, or to be extended from the protruding cavity 61, and the clamping column 62 is used to increase the diameter of the protrusion 61; the male head body 6 is also provided with a plurality of positioning holes 64, and the plurality of positioning holes 64 are evenly distributed on the periphery of the protrusion 61; the first female head 81 includes a female head body 813, and the middle part of the female head body 813 is provided with a female head cavity 811 that matches with the protrusion 61, and the female head cavity 811 is a structure with openings at both ends, and a female head step 813 is provided inside the female head cavity 811, and the female head step 813 protrudes out of the female head cavity The side wall of 811 is formed so that the upper opening size of the female cavity 811 is smaller than the lower opening size of the female 8. The female body 814 is also provided with a plurality of positioning posts 812, which are evenly distributed on the outer periphery of the female cavity 811 and are arranged one by one in correspondence with the plurality of positioning holes 64. When the male 6 is connected to the first female 81, the protrusion 61 is inserted into the female cavity 811 and the positioning posts 812 are inserted into the positioning holes 64. The controller controls the clamping posts 62 to extend out of the protrusion cavity 61 to increase the diameter size of the protrusion 61. The clamping posts 62 are clamped under the female step 813. 13, the protrusion 61 cannot be pulled out of the female head cavity 811; in addition, it should be noted that the filling robot 2 is an explosion-proof robot, and the controller controls the first robotic arm 22, the second robotic arm 23, the third robotic arm 24 and the fourth robotic arm 25 to rotate so that the filling robot 2 can align the protrusion 61 with the female head cavity 811, and align the filling gun 3 with the filling port; the controller's control of the first robotic arm 22, the second robotic arm 23, the third robotic arm 24 and the fourth robotic arm 25 and the control of the clamping column 62 all belong to the prior art and will not be repeated here.

[0059] Since the filling robot 2 and the electrical components required for the filling robot 2 have low working reliability and are prone to damage in a low-temperature environment, the filling robot 2 is in a low-temperature environment for a long time, which not only has a short service life but is also very likely to cause combustion and explosion due to short circuits or exposed lines.

[0060] In the above-mentioned low-temperature explosion-proof filling system, if Figure 2As shown, the safety room 1 is used to provide a suitable environment for the filling robot 2; the safety room 1 is arranged near the filling station 5, and a receiving chamber 11 is arranged inside the safety room 1, in which the filling robot 2 and related circuits, electrical components, etc. are placed; a safety room opening is opened on the side of the receiving chamber 11 near the filling station 5; a safety door 16 for closing the receiving chamber 11 is arranged at the opening of the safety room to maintain the temperature in the safety room 1, and the safety door 16 can also isolate the filling robot 2 and other circuits, electrical components, etc. in the receiving chamber 11 from the fluid of the filling station 5. When the filling robot 2 or other circuits and electrical components in the receiving chamber 11 are damaged to generate a combustion source, the receiving chamber 11 can be closed by the safety door 16 to prevent the combustion source from contacting the filling station 5. The controller is connected to the safety door 16 to automatically control the opening and closing of the safety door 16; when the safety door 16 is closed, the base 21, the first robotic arm 22, the second robotic arm 23, the third robotic arm 24 and the fourth robotic arm 25 of the filling robot 2 are all located in the accommodating chamber 11; when the safety door 16 is opened, the base 21 and the first robotic arm 22 of the filling robot 2 are located in the accommodating chamber 11, and the second robotic arm 23, the third robotic arm 24 and the fourth robotic arm 25 can extend out of the accommodating chamber 11 to take the filling gun 3 or perform other operations; it should be noted that the parking space is arranged between the safety room 1 and the filling station 5, and the parking space is provided with a vehicle detector for detecting whether there is a vehicle parked in the parking space, and the vehicle The vehicle detector is connected to the controller; when the vehicle detector detects that the vehicle to be refilled is parked in the parking space, the controller controls the safety door 16 to open, so that the refilling robot 2 extends from the accommodating chamber 11 and takes the refilling gun 3 to refill the vehicle with fluid; when the vehicle detector detects that there is no vehicle parked in the parking space, the safety door 16 is controlled to close; it should also be noted that the safety room 1 includes a bottom surface 13, and the bottom surface 13 is surrounded by side walls 12, and the top surface 15 is arranged above the bottom surface 13, and the top surface 15 and the bottom surface 13 are arranged opposite to each other, and the top surface 15, the bottom surface 13 and the side walls 12 around the bottom surface 13 jointly define the accommodating chamber 11, the bottom surface 13 is provided with a through hole, and the base 21 is installed on the ground through the through hole, and the accommodating chamber opening is opened on the side wall 12 close to the refilling station 5; The safety room 1 is also connected to a temperature control device 14 and a temperature sensor. The temperature control device 14 is used to adjust the temperature of the accommodating chamber 11 so that the temperature of the accommodating chamber 11 is maintained within a certain temperature range; the temperature sensor is used to detect the ambient temperature in the accommodating chamber 11, and the temperature control device 14 and the temperature sensor are both connected to a controller; when the temperature sensor detects that the temperature of the accommodating chamber 11 is lower than the temperature range, the controller controls the temperature control device 14 to heat; when the temperature sensor detects that the temperature of the accommodating chamber 11 exceeds the temperature range, the controller controls the temperature control device 14 to cool; the ambient temperature in the accommodating chamber 11 is preferably maintained between 15°C and 20°C; the temperature control device 14 is preferably an air conditioner; in addition, it should be noted that the distribution boxes, lighting lamps and other electrical equipment in the safety room 1 are all explosion-proof.

[0061] In the above-mentioned low-temperature explosion-proof filling system, if Figure 1 and Figure 4 As shown, the low-temperature explosion-proof filling system also includes an anti-static hook 4. Since the vehicle itself carries static electricity, which may cause the fluid to burn, the anti-static hook 4 is provided to eliminate the static electricity carried by the vehicle; the anti-static hook 4 is provided outside the accommodating chamber 11 and close to the parking space; when the vehicle to be filled is parked at the parking space, the controller controls the filling robot 2 to extend out of the accommodating chamber 11 to take the anti-static hook 4 and connect the anti-static hook 4 to the vehicle, so that the static electricity carried by the vehicle is led to the ground through the anti-static hook 4, and then controls the filling robot 2 to take the filling gun 3 to fill the vehicle with fluid; By installing the anti-static hook 4 before the vehicle is filled with fluid, the static electricity of the vehicle can be prevented from causing the fluid to burn when the fluid is filled; when the fluid of the vehicle to be filled is filled, the controller first controls the filling robot 2 to put the filling gun 3 back to its original position, and then controls the filling robot 2 to release the connection between the anti-static hook 4 and the vehicle and put the anti-static hook 4 back to its original position; it should be noted that the anti-static hook 4 is connected to the second female head 82, and the structure of the second female head 82 is the same as that of the first female head 81. The filling robot 2 uses the male head 6 to connect with the second female head 82 to take the anti-static hook 4; it should also be noted that, if Figure 4 As shown, the first male connector 81 and the second female connector 82 are placed on a mounting frame 9 , and the mounting frame 9 is arranged close to the filling station 5 and the safe room 1 , so that the filling robot 2 can take and put back the filling gun 3 and the anti-static hook 4 .

[0062] During the filling process of the filling gun 3, fluid leakage is inevitable, which leads to an increase in the fluid concentration in the air; while the filling robot 2 is filling the fluid, the accommodating chamber 11 is in a semi-closed state, and the air containing the fluid can enter the accommodating chamber 11, but the speed at which the air flows out of the accommodating chamber 11 is slow, which makes it easy for the fluid concentration in the accommodating chamber 11 to increase; when the fluid concentration in the accommodating chamber 11 exceeds a certain value, it may cause combustion or explosion. Therefore, the safe room 1 is provided with a gas detector for detecting the concentration of the filling fluid in the accommodating chamber 11, and the gas detector is connected to the controller; when the gas detector detects that the concentration exceeds a certain value, the gas detector is turned on and the gas detector is turned off. When the value is set, the controller controls the electric switch to close the filling pipeline, and at the same time controls the filling robot 2 to put the filling gun 3 back into the mounting bracket 9, and then controls the filling robot 2 to retract into the accommodating chamber 11; after the filling robot 2 retracts into the accommodating chamber 11, the safety door 16 is controlled to be closed to isolate the accommodating chamber 11 from the external environment, to prevent the fluid from continuing to enter the accommodating chamber 11, and to avoid the increase of the fluid concentration in the accommodating chamber 11; it should be noted that the safety room 1 is also provided with an alarm system, which is connected to the controller; when the gas detector detects a concentration exceeding a certain value, the controller controls the alarm system to alarm to warn the staff and avoid the occurrence of combustion and explosion.

[0063] Since the parking position and status of vehicles in parking spaces are not exactly the same, and the position information and directions of the filling ports of different vehicles are not exactly the same, the process of the filling robot 2 aligning the filling gun 3 with the filling port is also not exactly the same. In the process of aligning the filling gun 3 with the filling port, the position of the filling gun 3 needs to be constantly adjusted so that the filling gun 3 can be accurately aligned with the filling port. Figure 1 and Figure 3 As shown, the above-mentioned low-temperature explosion-proof filling system also includes a visual camera 7 for obtaining the position information of the vehicle's filling port. The visual camera 7 is installed on the male head 6 through the connecting arm 26, and the visual camera 7 is connected to the controller. The controller controls the rotation of the mechanical arm according to the filling port position information obtained by the visual camera 7 to dynamically adjust the position of the filling gun 3, so that the filling gun 3 taken by the mechanical arm can be accurately aligned with the filling port; it should be noted that the control program of the controller controlling the rotation of the mechanical arm according to the visual camera 7 belongs to the prior art and will not be repeated here.

[0064] The filling process of the above-mentioned low-temperature explosion-proof filling system is as follows: when the vehicle detector identifies that a vehicle to be filled with fluid is parked in the parking space, the controller controls the safety door 16 to open, and controls the filling robot 2 to extend from the accommodating chamber 11 and move toward the position of the mounting frame 9 to pick up the anti-static hook 4 placed on the mounting frame 9 and connect the anti-static hook 4 with the vehicle to be filled with fluid, and then return to the position of the mounting frame 9 to pick up the filling gun 3 placed on the mounting frame 9, aim the filling gun 3 at the filling port of the vehicle to be filled with fluid, and the controller controls the electric switch to open the filling pipeline, so that the fluid in the filling station 5 is filled into the vehicle; when the vehicle is filled, the controller controls the electric switch to close the filling pipeline, and controls the filling robot 2 to put the filling gun 3 back to the mounting frame 9, then controls the filling robot 2 to pick up the anti-static hook 4 connected to the vehicle, and puts the anti-static hook 4 back to the mounting frame 9, and then controls the filling robot 2 to retract into the accommodating chamber 11, and finally controls the safety door 16 to close.

[0065] It should be noted that, during the fluid filling process, once the gas detector detects that the concentration of the fluid to be filled in the accommodating chamber 11 exceeds a certain value, the controller immediately controls the electric switch to close the filling pipeline, and at the same time controls the filling robot 2 to put the filling gun 3 back into the mounting bracket 9, and then controls the filling robot 2 to retract into the accommodating chamber 11, and finally controls the safety door 16 to close, so as to prevent the fluid concentration in the accommodating chamber 11 from continuing to increase and causing combustion and explosion; it should also be noted that multiple gas detectors are preferably arranged, and distributed at different positions of the accommodating chamber 11. This is because: the opening of the accommodating chamber is arranged toward the filling station 5, and the fluid enters the accommodating chamber 11 from the opening of the accommodating chamber, so the fluid concentration is highest at the opening of the accommodating chamber, and the accommodating chamber 11 is in a dangerous environment only when the overall average concentration of the accommodating chamber 11 exceeds a certain value; in addition, it should also be noted that calculating the average concentration of the fluid in the accommodating chamber 11 belongs to the prior art and will not be repeated here.

[0066] The above-mentioned low-temperature explosion-proof filling system has a high degree of automation and high working safety. Fluid filling is carried out by the filling robot 2, which not only reduces the labor intensity of the staff, but also the fluid filling work is not limited by time, and has high work efficiency and high work safety. The filling robot 2 is kept warm in the safety room during non-working hours, which improves the safety and reliability of the overall structure.

[0067] Based on the above-mentioned low-temperature explosion-proof filling system, the present invention also provides a method for automatically filling a fluid, which uses the above-mentioned low-temperature explosion-proof filling system for filling, and specifically includes the following steps:

[0068] Vehicle identification: The vehicle to be filled with fluid is parked in the parking space and identified by the vehicle detector;

[0069] Safety door opening: When the vehicle detector detects that there is a vehicle parked in the parking space, the controller controls the safety door 16 to open according to the detection information of the vehicle detector;

[0070] Install the anti-static hook: the filling robot 2 extends from the accommodating chamber 11, and the male connector 6 of the filling robot 2 is connected to the second female connector 82, and the controller controls the filling robot 2 to rotate so as to connect the anti-static hook 4 connected to the second female connector 82 to the vehicle to be filled with fluid; when the anti-static hook 4 is connected to the vehicle to be filled with fluid, the controller controls the male connector 6 to disconnect from the second female connector 82;

[0071] The filling gun is aligned with the filling port of the vehicle: the controller controls the male connector 6 of the filling robot 2 to connect with the first female connector 81, and the filling gun 3 connected with the first female connector 81 is aligned with the filling port of the vehicle;

[0072] Fluid filling: The controller controls the electric switch of the filling gun 3 to open the filling pipe to fill the vehicle with fluid;

[0073] Filling gun returns to its original position: after the fluid filling is completed, the controller controls the electric switch to close the filling pipeline, and controls the filling robot 2 to put the filling gun 3 back to the mounting frame 9, and then disconnects the male connector 6 from the first female connector 81;

[0074] The anti-static hook returns to its original position: the controller controls the male connector 6 of the filling robot 2 to connect with the second female connector 82 and puts the anti-static hook 4 back to the mounting frame 9, and then disconnects the male connector 6 from the second female connector 82;

[0075] Filling robot returns to its original position: the controller controls the filling robot 2 to return to the containing chamber 11;

[0076] Safety door closed: When the vehicle detector does not recognize that there is a vehicle parked in the parking space, the controller controls the safety door 16 to close.

[0077] It should be noted that in the fluid filling step, when the gas detector detects that the concentration of the fluid to be filled in the accommodating chamber 11 exceeds a certain value, the controller controls the electric switch to close the filling pipeline, and at the same time controls the filling robot 2 to put the filling gun 3 back to the mounting bracket 9, and then controls the filling robot 2 to retract into the accommodating chamber 11, and finally controls the safety door 16 to close.

[0078] The above-mentioned automatic fluid filling method has a high degree of automation, is not limited by time, and has high work safety; during the whole process, the gas detector monitors the gas concentration in real time. Once a leakage of the filling fluid occurs, the filling action is stopped immediately and the staff is notified to handle it.

[0079] Finally, it should be noted that: the various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0080] The above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or some technical features can be replaced by equivalents without departing from the spirit of the technical solution of the present invention, which should be included in the scope of the technical solution for protection of the present invention.

Claims

1. Low-temperature explosion-proof filling system, characterized in that, it includes: A filling station, which is connected with a filling pipeline, and the output port of the filling pipeline is connected with a filling gun; A safety room, which is arranged close to the filling station. An accommodation cavity is arranged inside the safety room, and a safety room opening is arranged on one side of the accommodation cavity close to the filling station; A parking space for parking vehicles is arranged between the safety room and the filling station; The parking space is provided with a vehicle detector for detecting whether there is a vehicle parked in the parking space; A filling robot for taking the filling gun; The filling robot is located in the accommodation cavity and can extend out of the accommodation cavity from the safety room opening; A controller, which is respectively connected with the vehicle detector and the filling robot; The controller is configured to: when the vehicle to be filled is parked in the parking space, control the filling robot to extend out of the accommodation cavity to take the filling gun, and align the filling gun with the filling port of the vehicle to fill the vehicle with fluid; After the vehicle fluid filling is completed, control the filling robot to put back the filling gun, and after the filling gun is put back to its original position, control the filling robot to retract into the accommodation cavity; The low-temperature explosion-proof filling system further includes an electrostatic discharge hook, which is used to eliminate the static electricity carried by the vehicle. The electrostatic discharge hook is arranged outside the accommodation cavity and close to the parking space; The controller is configured to: when the vehicle to be filled is parked in the parking space, control the filling robot to extend out of the accommodation cavity to take the electrostatic discharge hook and connect the electrostatic discharge hook with the vehicle, and then control the filling robot to take the filling gun to fill the vehicle with fluid; After the fluid filling of the vehicle to be filled is completed, control the filling robot to put the filling gun back to its original position, and then control the filling robot to disconnect the electrostatic discharge hook from the vehicle and put the electrostatic discharge hook back to its original position; The filling robot includes a robotic arm and a base. The robotic arm is rotatably connected to the base. The robotic arm is provided with a male head, and the male head is connected to the controller; The filling gun is connected with a first female head that mates with the male head, and the electrostatic discharge hook is connected with a second female head that mates with the male head; The controller is configured to: when the filling robot needs to take the filling gun, control the male head to be connected with the first female head; when the filling robot needs to take the electrostatic discharge hook, control the male head to be connected with the second female head; A safety door for closing the accommodation cavity is arranged at the safety room opening, and the safety door is connected with the controller; The controller is configured to: when the vehicle to be filled is parked in the parking space, control the safety door to open; when the vehicle to be filled leaves the parking space, control the safety door to close.

2. The low-temperature explosion-proof filling system according to claim 1, characterized in that, The filling gun is provided with an electric switch for opening or closing the filling pipeline, and the safety room is provided with a gas detector for detecting the concentration of the filling fluid in the accommodation chamber. Both the electric switch and the gas detector are connected to the controller. The controller is configured to: when the concentration detected by the gas detector exceeds a certain value, control the electric switch to close the filling pipeline, and at the same time control the filling robot to place the filling gun back to its original position, and then control the filling robot to retract into the accommodation chamber; when the filling robot retracts into the accommodation chamber, control the safety door to close.

3. The cryogenic explosion-proof filling system according to claim 2, wherein, the safety room is further provided with an alarm system, and the alarm system is connected to the controller. The controller is configured to: when the concentration detected by the gas detector exceeds a certain value, control the alarm system to give an alarm.

4. The cryogenic explosion-proof filling system according to claim 1, wherein, the cryogenic explosion-proof filling system further includes a vision camera for obtaining the position information of the vehicle filling port. The vision camera is installed on the robotic arm and connected to the controller. The controller is configured to: according to the filling port position information obtained by the vision camera, control the robotic arm to rotate so that the filling gun held by the robotic arm is aligned with the filling port.

5. The cryogenic explosion-proof filling system according to claim 4, wherein, a temperature regulating device and a temperature sensor are provided in the accommodation chamber. The temperature regulating device is used to adjust the temperature in the accommodation chamber so that the temperature of the accommodation chamber is maintained within a certain temperature range. The temperature sensor is used to detect the ambient temperature in the accommodation chamber. Both the temperature regulating device and the temperature sensor are connected to the controller. The controller is configured to: when the temperature sensor detects that the temperature of the accommodation chamber is lower than the temperature range, control the temperature regulating device to heat; when the temperature sensor detects that the temperature of the accommodation chamber exceeds the temperature range, control the temperature regulating device to cool.

6. A method for automatic fluid filling, wherein, using the cryogenic explosion-proof filling system according to claim 2 for filling, the method for automatic fluid filling includes the following steps: Vehicle identification: Park the vehicle to be filled with fluid at the parking position and be identified by the vehicle detector. Safety door opening: When the vehicle detector detects that there is a vehicle parked at the parking position, the controller controls the safety door to open according to the detection information of the vehicle detector. Installing the static eliminator hook: The filling robot extends out of the accommodation chamber, and the male head of the filling robot is connected to the second female head. The controller controls the filling robot to rotate to connect the static eliminator hook connected to the second female head to the vehicle to be filled with fluid. When the static eliminator hook is connected to the vehicle to be filled with fluid, the controller controls the male head to disconnect from the second female head. The filling gun is aligned with the vehicle filling port: The controller controls the male connector of the filling robot to be connected to the first female connector, and aligns the filling gun connected to the first female connector with the filling port of the vehicle; Fluid filling: The controller controls the electric switch of the filling gun to open the filling pipeline to fill the vehicle with fluid; The filling gun returns to its original position: After the fluid filling is completed, the controller controls the electric switch to close the filling pipeline, controls the filling robot to put the filling gun back to its original position, and then disconnects the male connector from the first female connector; The electrostatic discharge hook returns to its original position: The controller controls the male connector of the filling robot to be connected to the second female connector and returns the electrostatic discharge hook to its original position, and then disconnects the male connector from the second female connector; The filling robot returns to its original position: The controller controls the filling robot to return to the accommodation cavity; The safety door closes: When the vehicle detector does not recognize that there is a vehicle parked in the parking position, the controller controls the safety door to close.

7. The automatic fluid filling method according to claim 6, wherein, In the fluid filling step, when the gas detector detects that the concentration of the fluid to be filled in the accommodation cavity exceeds a certain value, the controller controls the electric switch to close the filling pipeline, at the same time controls the filling robot to put the filling gun back to its original position, then controls the filling robot to retract into the accommodation cavity, and finally controls the safety door to close.

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