A hydrogen-powered automated rail-mounted trolley hydrogenation system and method

Abstract

The application discloses a hydrogen power automatic rail-mounted crane following type hydrogenation system and method, which provides hydrogen fuel for the hydrogen power automatic rail-mounted crane by using the following type hydrogenation device, drives the hydrogenation device to run to the butt joint area of the target hydrogen power rail-mounted crane based on the power driving system of the hydrogenation device, controls the rotating mechanism and the joint driving mechanism, makes the hydrogen filling mechanism of the hydrogenation device face the hydrogen filling inlet of the target hydrogen storage bottle group, then controls the mechanical fixing arm to clamp the hydrogen filling inlet support, realizes one-time butt joint of the target hydrogenation device and the target hydrogen storage bottle group, further drives the hydrogenation port of the target hydrogenation device to implement secondary butt joint with the hydrogen filling inlet of the target hydrogen storage bottle group based on the positioning of the positioning mechanism of the target hydrogenation device, and finally controls the filling sealing mechanism to seal the interface, so that the hydrogen storage bottle group of the hydrogen power automatic rail-mounted crane can be supplemented with hydrogen fuel in a following type mode during operation; and the technical problems of large manual operation amount, long hydrogenation time and inconvenient operation are solved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of automated container wharf, in particular, relates to a hydrogen-powered automated rail-mounted crane following type hydrogen refueling device and method. BACKGROUND

[0002] The current hydrogen-powered automated rail-mounted crane uses detachable hydrogen storage bottle cabinet to store hydrogen to provide hydrogen fuel for the rail-mounted crane. When the hydrogen is insufficient and needs to be refueled, the hydrogen storage bottle cabinet needs to be detached from the rail-mounted crane, filled with hydrogen, and then hoisted onto the rail-mounted crane. This hydrogen refueling method has the problems of large manual operation workload, long replacement time, and inconvenient operation, resulting in low hydrogen refueling efficiency and affecting the effective and sustainable operation of the power system of the equipment. SUMMARY

[0003] To improve the hydrogen energy utilization efficiency and hydrogen refueling reliability of the rail-mounted crane, a hydrogen-powered automated rail-mounted crane following type hydrogen refueling system and method are proposed. A hydrogen refueling device is designed to provide automatic hydrogen refueling service for the hydrogen storage bottle cabinet on the hydrogen-powered automated rail-mounted crane. Based on the hydrogen refueling power device and the interface dynamic docking technology, the hydrogen refueling device can realize the accompanying hydrogen refueling of the hydrogen storage bottle cabinet on the rail-mounted crane during loading and unloading operations. The hydrogen refueling device adopts a rotary base control to provide hydrogen refueling service for multiple hydrogen-powered automated rail-mounted cranes. Compared with the current manual hydrogen refueling method, the hydrogen refueling device not only solves the problems of large manual operation workload, long time, and inconvenient operation, but also greatly improves the hydrogen refueling efficiency, optimizes the power system of the equipment, reduces the complexity and maintenance amount of the mechanism, and realizes zero emission of the rail-mounted crane.

[0004] The present application is implemented by using the following technical solutions:

[0005] A hydrogen-powered automated rail-mounted crane following type hydrogen refueling system is proposed, which includes:

[0006] The hydrogen-powered automated rail-mounted crane runs in the yard and includes a hydrogen storage bottle group that provides hydrogen and has a hydrogen injection inlet.

[0007] The power drive system is arranged on the side of the yard and is used to drive the hydrogen refueling device and the target hydrogen-powered automated rail-mounted crane that needs to be refueled to run synchronously and implement hydrogen refueling on the hydrogen storage bottle group during operation.

[0008] The hydrogen refueling device, located on the side of the storage yard, consists of a main support, a rotating mechanism, a joint drive mechanism, a mechanical fixed arm, and a hydrogen refueling mechanism. The rotating mechanism changes the refueling direction, and the joint drive mechanism changes the refueling position. The hydrogen refueling mechanism comprises a hydrogen refueling port, a positioning mechanism, a drive telescopic mechanism, and a refueling sealing mechanism. The drive telescopic mechanism, based on the positioning mechanism, drives the hydrogen refueling port to perform a secondary docking with the hydrogen injection port of the hydrogen storage cylinder group. The refueling sealing mechanism seals the interface after the hydrogen refueling port and the hydrogen injection port are docked.

[0009] The hydrogen injection port bracket allows the hydrogen refueling device to be clamped by the mechanical fixing arm, enabling the hydrogen refueling device to be docked with the hydrogen injection port in one go.

[0010] In some embodiments of the present invention, the power drive system is an electromagnetic power drive system, which consists of an electromagnetic power track, an electromagnetic actuator, a permanent magnet base and an electromagnetic drive module; the electromagnetic actuator is disposed at the bottom of the main support of the hydrogen refueling device and the permanent magnet base is disposed in the electromagnetic power track.

[0011] In some embodiments of the present invention, the positioning mechanism consists of a miniature binocular camera and an image recognition positioning module. The miniature binocular camera acquires an image of the hydrogen injection port, and the image recognition positioning module locates the position of the hydrogen injection port based on the recognition of the image, so as to enable the hydrogen filling port to perform secondary docking with the hydrogen injection port of the hydrogen storage cylinder group.

[0012] In some embodiments of the present invention, the filling and sealing mechanism consists of a ring-shaped distributed hook mounting bracket, a common ring tooth, a rotating arm claw, a transmission gear, a motor, and an electric push-pull rod; wherein, the rotating arm claw is connected in a ring shape by the transmission gear, the common ring tooth meshes with each transmission gear, the motor drives the common ring tooth, and the common ring tooth drives the transmission gear, thereby causing the rotating arm claw to rotate to achieve the sealing of the hydrogen filling port and the hydrogen injection port; after rotating to the correct position, the electric push-pull rod applies compressive stress to the interface.

[0013] In some embodiments of the present invention, the hydrogen injection port is configured with a hydrogen input horn-shaped mechanism.

[0014] In some embodiments of the present invention, the hydrogen refueling mechanism further includes a sealing ring disposed around the hydrogen refueling port.

[0015] A hydrogen-powered automated rail-mounted gantry crane following hydrogen refueling method is proposed and applied to the hydrogen-powered automated rail-mounted gantry crane following hydrogen refueling system described above, including:

[0016] Monitor the pressure of the hydrogen storage cylinder group of the hydrogen-powered automated rail crane, set the hydrogen storage cylinder group whose pressure reaches the set threshold as the target hydrogen storage cylinder group, and send a hydrogen refueling request to the hydrogen refueling system;

[0017] The hydrogen refueling system selects the target hydrogen refueling device, drives it to the docking area of ​​the target hydrogen storage cylinder group, controls its rotation mechanism and joint drive mechanism to make its hydrogen refueling mechanism face the hydrogen injection port of the target hydrogen storage cylinder group, and then controls its mechanical fixing arm to clamp its hydrogen injection port bracket, thus realizing a docking between the target hydrogen refueling device and the target hydrogen storage cylinder group.

[0018] Based on the positioning mechanism of the target hydrogen refueling device, drive its hydrogen refueling port to perform a secondary docking with the hydrogen injection port of the target hydrogen storage cylinder group.

[0019] The control unit's filling sealing mechanism applies a seal to the interface;

[0020] The driving force of the target hydrogen refueling unit's power drive system is removed, allowing the target hydrogen refueling unit to follow the target hydrogen-powered rail crane and perform hydrogen refueling operations during operation.

[0021] In some embodiments of the present invention, the method further includes:

[0022] The target hydrogen refueling device begins hydrogen refueling at a first set pressure; the first set pressure is higher than the pressure inside the target hydrogen cylinder group.

[0023] Stop adding hydrogen when the hydrogen pressure in the target hydrogen cylinder group reaches the first set pressure;

[0024] The hydrogen gas inside the target hydrogenation device is emptied so that its internal pressure equals the external atmospheric pressure.

[0025] The hydrogen filling port of the target hydrogen refueling device is separated from the hydrogen injection port of the target hydrogen storage cylinder group in one step;

[0026] The mechanical fixing arm of the target hydrogen refueling device is separated from the hydrogen injection port support of the target hydrogen cylinder group to achieve secondary separation;

[0027] Based on the next work instruction, the target hydrogen refueling unit is driven to leave the current hydrogen-powered automated rail-mounted crane.

[0028] Compared with the prior art, the advantages and positive effects of the present invention are as follows: The hydrogen-powered automated rail-mounted gantry crane following hydrogen refueling system and method proposed in this invention uses a following hydrogen refueling device to provide hydrogen fuel to the hydrogen-powered automated rail-mounted gantry crane. When the gas storage pressure in the onboard hydrogen storage cylinder group of the hydrogen-powered automated rail-mounted gantry crane is lower than a set threshold, a hydrogen refueling request is sent to the hydrogen refueling system. After receiving the hydrogen refueling request, the hydrogen refueling system selects the target hydrogen refueling device, drives it to the docking area of ​​the target hydrogen-powered rail-mounted gantry crane based on the power drive system of the target hydrogen refueling device, controls its rotation mechanism and joint drive mechanism to make its hydrogen filling mechanism face the hydrogen injection port of the target hydrogen storage cylinder group, and then controls its mechanical fixing arm to clamp it. The hydrogen injection port bracket enables the initial docking of the target hydrogen refueling device with the target hydrogen cylinder group. Then, based on the positioning mechanism of the target hydrogen refueling device, it drives its hydrogen refueling port to perform a secondary docking with the hydrogen injection port of the target hydrogen storage cylinder group. Finally, it controls the filling and sealing mechanism to seal the interface. This allows for hydrogen refueling of the hydrogen storage cylinder group in a follow-up manner during the operation of the hydrogen-powered automated rail-mounted gantry crane. Compared with the existing manual operation of hydrogen-powered automated rail-mounted gantry cranes, this solves the technical problems of large amount of manual operation, long refueling time, and inconvenience in hydrogen refueling. It also significantly improves hydrogen refueling efficiency, optimizes the equipment power system, reduces the complexity of the mechanism and maintenance, and achieves zero emissions from the rail-mounted gantry crane.

[0029] Other features and advantages of the present invention will become clearer after reading the detailed description of the embodiments of the present invention in conjunction with the accompanying drawings. Attached Figure Description

[0030] The accompanying drawings, as part of this invention, are provided to further illustrate the invention. The illustrative embodiments and descriptions are used to explain the invention but do not constitute an undue limitation thereof. Clearly, the drawings described below are merely some embodiments; those skilled in the art can obtain other drawings based on these drawings without creative effort.

[0031] Figure 1 This is a schematic diagram of the overall structure of the hydrogen-powered automated rail-mounted gantry-following hydrogen refueling system proposed in this invention;

[0032] Figure 2 This is a schematic diagram of the hydrogen refueling device in the hydrogen-powered automated rail-mounted gantry-following hydrogen refueling system proposed in this invention;

[0033] Figure 3 This is a schematic diagram of the filling and sealing mechanism in the hydrogen refueling system of the automated rail-mounted gantry crane proposed in this invention;

[0034] Figure 4 This is a schematic diagram of the hydrogen refueling mechanism in the hydrogen-powered automated rail-mounted gantry-following hydrogen refueling system proposed in this invention;

[0035] Figure 5 This is a schematic diagram of the method steps for the hydrogen-powered automated rail-mounted gantry crane hydrogen refueling method proposed in this invention;

[0036] Reference numerals: 1-Hydrogen storage tank assembly, 11-Hydrogen injection port, 12-Hydrogen injection port support, 13-Hydrogen input horn mechanism; 2-Hydrogen-powered automated rail crane; 3-Power drive system, 31-Electromagnetic power rail, 32-Electromagnetic actuator, 33-Permanent magnet base; 4-Hydrogen refueling device, 41-Main support, 42-Rotating mechanism, 43-Joint drive mechanism, 44-Mechanical fixed arm, 45-Hydrogen refueling mechanism; 451-Hydrogen refueling port, 452-Positioning mechanism, 453-Drive telescopic mechanism, 454-Refueling sealing mechanism, 455-Sealing ring; 4541-Annularly distributed hook mounting bracket, 4542-Common ring tooth, 4543-Rotating arm claw, 4544-Transmission gear, 4545-Motor, 4546-Electric push-pull rod.

[0037] It should be noted that these accompanying drawings and textual descriptions are not intended to limit the scope of the invention in any way, but rather to illustrate the concept of the invention to those skilled in the art by referring to specific embodiments. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the accompanying drawings. The following embodiments are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0039] In the description of this invention, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0040] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or a connection indirectly through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0041] like Figures 1 to 4 As shown, the hydrogen-powered automated rail-mounted gantry-following hydrogen refueling system proposed in this invention includes:

[0042] The hydrogen-powered automated rail-mounted crane 2, operating in the storage yard, includes a hydrogen storage cylinder group 1 that provides hydrogen and has a hydrogen injection port 11.

[0043] The power drive system 3 is located on the side of the storage yard and is used to drive the hydrogen refueling unit 4 to operate synchronously with the target hydrogen-powered automated rail crane that needs to be refueled, and to refuel its hydrogen storage cylinder group during operation.

[0044] The hydrogen refueling device 4, located on the side of the storage yard, consists of a main support 41, a rotating mechanism 42, a joint drive mechanism 43, a mechanical fixed arm 44, and a hydrogen refueling mechanism 45. The rotating mechanism 42 is used to change the refueling direction of the hydrogen refueling mechanism 45, and the joint drive mechanism 43 is used to change the refueling position of the hydrogen refueling mechanism 45. The hydrogen refueling mechanism 45 consists of a hydrogen refueling port 451, a positioning mechanism 452, a drive telescopic mechanism 453, and a refueling sealing mechanism 454. The drive telescopic mechanism 453 drives the hydrogen refueling port 451 to perform a secondary docking with the hydrogen injection port 11 of the hydrogen storage cylinder group 1 based on the positioning of the positioning mechanism 452. The refueling sealing mechanism 454 is used to seal the interface after the hydrogen refueling port 451 docks with the hydrogen injection port 11.

[0045] The hydrogen injection port bracket 12 is used to clamp the hydrogen refueling device 4 with the mechanical fixing arm 44 to achieve one-time docking between the hydrogen refueling device 4 and the hydrogen injection port 11.

[0046] Based on the hydrogen-powered automated rail-mounted gantry crane following hydrogen refueling system provided by the present invention, when the hydrogen storage cylinder group of a certain hydrogen-powered automated rail-mounted gantry crane needs to be refueled with hydrogen, the system can assign a target hydrogen refueling device to perform following hydrogen refueling for the hydrogen-powered automated rail-mounted gantry crane according to factors such as workload, instruction priority, order of receiving hydrogen refueling requests, and service distance.

[0047] Specifically, the power drive system 3 drives the target hydrogen refueling device to the hydrogen-powered automated rail-mounted gantry crane (hereinafter referred to as the target hydrogen-powered automated rail-mounted gantry crane) that needs to be refueled with hydrogen. It then drives the rotating mechanism 42 and the joint drive mechanism 43 to orient the hydrogen refueling mechanism 45 toward the hydrogen injection port 11 of the target hydrogen storage cylinder group and position it within the designated docking area. The mechanical fixing arm 44 then clamps the hydrogen injection port support 12, performing a docking between the target hydrogen refueling device and the target hydrogen storage cylinder group. The docking area is defined as follows: within this docking area, the drive extension mechanism 453 of the hydrogen refueling mechanism 45 can drive the hydrogen refueling port 451 to the dockable range of the hydrogen injection port 11, allowing the positioning mechanism 452 to identify and locate the accurate position of the hydrogen injection port 11. The determination of the docking area can be achieved using a position sensor.

[0048] After the first docking, the drive telescopic mechanism 453 of the hydrogen refueling mechanism 45 drives the hydrogen refueling port 451 to approach the hydrogen injection port 11. During this period, the positioning mechanism 452 identifies and positions the hydrogen injection port 11, so that the drive telescopic mechanism 453 can accurately drive the hydrogen refueling port 451 and the hydrogen injection port 11 to perform a second docking based on the positioning data.

[0049] After the second docking, the hydrogen filling port 451 of the control filling and sealing mechanism 454 docks with the hydrogen injection port 11 and applies a seal to the interface.

[0050] After the hydrogen refueling port 451 is connected and sealed with the hydrogen injection port 11 of the target hydrogen storage cylinder group, the driving force of the power drive system 3 is eliminated. The target hydrogen refueling device 4 can then follow the target hydrogen-powered automated rail gantry crane to replenish its hydrogen storage cylinder group in a follow-up manner. Compared with the existing manual operation of hydrogen-powered automated rail gantry cranes, this solves the technical problems of large amount of manual operation, long refueling time, and inconvenience in operation. It also significantly improves the refueling efficiency, optimizes the equipment power system, reduces the complexity of the mechanism and maintenance, and achieves zero emissions from the rail gantry crane.

[0051] In some embodiments of the present invention, the power drive system 3 is an electromagnetic power drive system, consisting of an electromagnetic power track 31, an electromagnetic actuator 32, a permanent magnet base 33, and an electromagnetic drive module. The electromagnetic actuator 32 is disposed at the bottom of the main support 41 of the hydrogen refueling device 4, and the permanent magnet base 33 is disposed in the electromagnetic power track 31. The electromagnetic drive module drives the permanent magnet base 33 to generate a strong magnetic field, and the magnetic force is transmitted to the electromagnetic actuator 32. The electromagnetic actuator 32 generates a controllable driving force through the permanent magnet base 33 and forms a levitation state, thereby enabling the hydrogen refueling device 4 to rotate in both directions. The movement of the hydrogen refueling device 4 can be controlled by controlling the strength and direction of the magnetic field, so that the hydrogen refueling device 4, based on the rotary base and track coordination control, can provide hydrogen refueling services to multiple hydrogen-powered automated rail-mounted cranes in adjacent storage yards.

[0052] Once the hydrogen refueling unit 4 has completed the first and second docking with the target hydrogen storage cylinder group and been sealed, the drive of the power drive system 3 can be canceled, allowing the hydrogen refueling unit 4 to follow the target based on the drive of the hydrogen-powered automated rail gantry crane, during which hydrogen fuel can be replenished.

[0053] In some embodiments of the present invention, the positioning mechanism 452 consists of a miniature binocular camera and an image recognition positioning module. The miniature binocular camera acquires an image of the hydrogen injection port 11, and the image recognition positioning module locates the position of the hydrogen injection port 11 based on the image recognition, so that the hydrogen filling port 451 can be reconnected with the hydrogen injection port 11 of the hydrogen storage cylinder group 1. The specific image recognition and positioning can be achieved using existing technologies and are not limited to the present invention.

[0054] In some embodiments of the present invention, the filling and sealing mechanism 454 consists of an annularly distributed hook mounting bracket 4541, a common ring tooth 4542, a rotating arm claw 4543, a transmission gear 4544, a motor 4545, and an electric push-pull rod 4546. The rotating arm claw 4543 is connected in an annular shape by the transmission gears 4544. The common ring tooth 4542 meshes with each of the transmission gears 4544. The motor 4545 drives the common ring tooth 4542, which in turn drives the transmission gears 4544, thereby causing the rotating arm claw 4543 to rotate and achieve the sealing between the hydrogen filling port 451 and the hydrogen injection port 11. After rotating to the correct position, the electric push-pull rod 4546 applies compressive stress to the interface.

[0055] In some embodiments of the present invention, the hydrogen injection port 11 is equipped with a hydrogen input horn mechanism 13, which guides the hydrogen filling port 451 to connect with the hydrogen injection port 11 through the horn.

[0056] In some embodiments of the present invention, the hydrogen filling mechanism 45 further includes a sealing ring 455 disposed around the hydrogen filling port 451. The hydrogen filling port 451 adopts a forward pressure resistance design. After the hydrogen filling port 451 is connected to the hydrogen injection port 11, the hydrogen pump starts to add hydrogen. The hydrogen filling pressure is greater than the hydrogen pressure inside the hydrogen storage cylinder group. The pressure difference between the inside and outside makes the sealing ring 455 securely fixed to the hydrogen injection port 11 and / or the hydrogen input horn mechanism 13 of the hydrogen storage cylinder group. Under the action of the internal and external pressure, the hydrogen injection port 11 opens, and the hydrogen is successfully injected into the hydrogen storage cylinder group. When the internal and external pressures are equal, the internal and external pressures are balanced, and the hydrogen addition stops. At this time, the hydrogen pump can empty the hydrogen in the hydrogen filling mechanism 45, so that the hydrogen filling port pressure is equal to the external atmospheric pressure. The sealing ring 455 can be easily pulled out when there is no pressure difference. Moreover, the hydrogen pressure inside the hydrogen storage cylinder group is greater than the external atmospheric pressure, so that the hydrogen injection port 11 is tightly closed under the action of internal and external pressure, thereby realizing the hydrogen addition without leakage and easy insertion and removal function.

[0057] Based on the aforementioned hydrogen-powered automated rail-mounted gantry crane following hydrogen refueling system, this invention also proposes a hydrogen-powered automated rail-mounted gantry crane following hydrogen refueling method, such as... Figure 5 As shown, it includes:

[0058] S51: Monitor the pressure of the hydrogen storage cylinder group of the hydrogen-powered automated rail crane, set the hydrogen storage cylinder group whose pressure reaches the set threshold as the target hydrogen storage cylinder group, and send a hydrogen refueling request to the hydrogen refueling system.

[0059] When the hydrogen-powered automated rail-mounted gantry crane operates in the automated storage yard, the hydrogen in the hydrogen storage cylinders loaded on the equipment is continuously consumed, and the pressure inside the cylinders drops. When the pressure drops to a set threshold, the rail-mounted gantry crane system sends a hydrogen refueling request to the hydrogen refueling system.

[0060] S52: The hydrogen refueling system selects the target hydrogen refueling device, drives it to the docking area of ​​the target hydrogen storage cylinder group, controls its rotation mechanism and joint drive mechanism to make its hydrogen refueling mechanism face the hydrogen injection port of the target hydrogen storage cylinder group, and then controls its mechanical fixing arm to clamp its hydrogen injection port bracket, thus realizing one docking between the target hydrogen refueling device and the target hydrogen storage cylinder group.

[0061] After receiving a hydrogen refueling request, the hydrogen refueling system analyzes factors such as the workload of the rail-mounted gantry crane in the future set time period, the priority of the instruction, the order in which the hydrogen refueling request signal was received, and the service distance, and designates a target hydrogen refueling unit for the rail-mounted gantry crane that needs to be refueled with hydrogen fuel, and issues a hydrogen refueling instruction to the target hydrogen refueling unit.

[0062] The target hydrogen refueling unit is given a hydrogen refueling command and moves to the target hydrogen storage tank group location via its power drive system 3 to perform a docking.

[0063] In actual operation, hydrogen refueling targets are determined according to priority, which is as follows: Priority Level 1: Hydrogen pressure is lower than the set threshold (Level 1 threshold) > Priority Level 2: Loading and unloading of ship receiving and dispatching containers on the sea side > Priority Level 3: Hydrogen pressure is between the set threshold and the general set threshold (Level 2 threshold) > Priority Level 4: Time to receive hydrogen refueling signal > Priority Level 5: Distance to the target rail crane position.

[0064] Specifically, the power drive system 3 drives the target hydrogen refueling device 04 to the docking area of ​​the hydrogen storage cylinder group of the target hydrogen-powered automated rail crane that needs to be refueled. At this time, through system information interaction, the hydrogen refueling device is micro-moved to the position of the rail crane trolley. The rotating mechanism 42 and the joint drive mechanism 43 of the hydrogen refueling device turn and rise to the hydrogen injection port support 12 of the target hydrogen storage cylinder group. The mechanical fixing arm 44 is controlled to clamp the hydrogen injection port support 12, and the target hydrogen refueling device 4 and the target hydrogen storage cylinder group 1 are docked for the first time.

[0065] S53: Based on the positioning mechanism of the target hydrogen refueling device, drive its hydrogen refueling port to perform a secondary docking with the hydrogen injection port of the target hydrogen storage cylinder group.

[0066] The hydrogen injection port 11 is imaged by a miniature binocular camera. After image recognition and positioning, the telescopic mechanism 453 is controlled to lift the hydrogen filling port 451 and achieve precise secondary docking with the hydrogen injection port 11.

[0067] S54: Control the filling and sealing mechanism of the target hydrogenation unit to apply a seal to the interface.

[0068] The motor 4545 of the sealing mechanism 454 drives the common ring gear 4542, which in turn drives the transmission gear 4544, thereby causing the rotating arm claw 4543 to rotate and achieve the sealing of the hydrogen filling port 451 and the hydrogen injection port 11. After rotating to the position, the electric push-pull rod 4546 applies compressive stress to the interface.

[0069] S55: Cancel the driving force of the power drive system of the target hydrogen refueling unit, so that the target hydrogen refueling unit follows the target hydrogen-powered rail crane and performs hydrogen refueling operation during operation.

[0070] After the above-mentioned first docking, second docking and sealing operations, the drive of the pneumatic drive system 3 is canceled, and it runs synchronously with the rail crane in a following mode, with hydrogen being added during operation.

[0071] S551: The target hydrogenation unit begins hydrogenation at the first set pressure.

[0072] This invention employs a forward-resistance method for hydrogen addition, where the first set pressure P1 is greater than the target hydrogen storage cylinder group's internal pressure P2.

[0073] The hydrogen injection pressure is greater than the hydrogen pressure inside the hydrogen storage cylinder group. The pressure difference between the inside and outside makes the sealing ring 455 securely fixed to the hydrogen injection port 11 and / or the hydrogen input horn mechanism 13 of the hydrogen storage cylinder group. Under the action of the internal and external pressure, the hydrogen injection port 11 is opened, and the hydrogen is successfully injected into the hydrogen storage cylinder group.

[0074] S552: Stop adding hydrogen when the hydrogen pressure in the target hydrogen cylinder group reaches the first set pressure.

[0075] When the internal and external pressures are equal, the internal and external pressures are balanced, and hydrogen addition is stopped.

[0076] S553: ​​Empty the hydrogen gas in the target hydrogenation unit so that its internal pressure equals the external atmospheric pressure.

[0077] The hydrogen pump empties the hydrogen in the hydrogen filling mechanism 45, so that the pressure at the hydrogen filling port is equal to the external atmospheric pressure.

[0078] S554: The hydrogen filling port of the target hydrogen filling device is separated from the hydrogen injection port of the target hydrogen storage cylinder group.

[0079] The pressure at the hydrogen filling port is equal to the external atmospheric pressure, and the sealing ring 455 can be easily pulled out without a pressure difference.

[0080] S555: The mechanical fixing arm of the target hydrogen refueling device is separated from the hydrogen injection port support of the target hydrogen cylinder group to perform secondary separation.

[0081] After secondary separation, the hydrogen pressure inside the hydrogen storage cylinder group is greater than the external atmospheric pressure, causing the hydrogen injection port 11 to close tightly under the action of internal and external pressure, thus achieving the functions of leak-free hydrogen refueling and easy insertion.

[0082] S556: Drive the target hydrogen refueling unit away from the current hydrogen-powered automated rail crane based on the next work instruction.

[0083] The target hydrogen refueling unit can either be driven back to its initial position (the initial position can be customized by the system to be the docking position of the hydrogen refueling unit during non-operation periods), or driven to the next hydrogen-powered automated rail-mounted crane that needs to be refueled based on the next work instruction to carry out follow-up hydrogen refueling.

[0084] This invention is not limited to the examples described above. Any changes, modifications, additions, or substitutions made by those skilled in the art within the scope of this invention should also be considered within the protection scope of this invention.

Claims

1. A hydrogen-powered automated rail-mounted gantry crane following hydrogen refueling system, comprising: The hydrogen-powered automated rail-mounted gantry crane (2) operates in the stockyard and includes a hydrogen storage cylinder group (1) that provides hydrogen. The hydrogen storage cylinder group (1) has a hydrogen inlet (11) and a hydrogen inlet support (12). Its features are, include: The power drive system (3) is located on the side of the storage yard and is used to drive the hydrogen refueling unit (4) to operate synchronously with the target hydrogen-powered automated rail crane that needs to be refueled and to refuel its hydrogen storage cylinder group during operation; the power drive system (3) is an electromagnetic power drive system, which consists of an electromagnetic power track (31), an electromagnetic actuator (32), a permanent magnet base (33) and an electromagnetic drive module; the electromagnetic actuator (32) is located at the bottom of the main support (41) of the hydrogen refueling unit (4) and the permanent magnet base (33) is located in the electromagnetic power track (31); The hydrogen refueling device (4) is located on the side of the storage yard and consists of a main support (41), a rotating mechanism (42), a joint drive mechanism (43), a mechanical fixing arm (44), and a hydrogen refueling mechanism (45). The rotating mechanism (42) is used to change the refueling direction of the hydrogen refueling mechanism (45), and the joint drive mechanism (43) is used to change the refueling position of the hydrogen refueling mechanism (45). The mechanical fixing arm (44) of the hydrogen refueling device (4) clamps the hydrogen injection port support (12) to realize the one-time docking of the hydrogen refueling device (4) with the hydrogen injection port (11). The hydrogen filling mechanism (45) consists of a hydrogen filling port (451), a positioning mechanism (452), a drive telescopic mechanism (453), and a filling sealing mechanism (454). The drive telescopic mechanism (453) drives the hydrogen filling port (451) to perform a secondary docking with the hydrogen injection port (11) of the hydrogen storage cylinder group (1) based on the positioning of the positioning mechanism (452). The filling sealing mechanism (454) is used to seal the interface after the hydrogen filling port (451) docks with the hydrogen injection port (11). After the hydrogen filling port (451) is connected and sealed with the hydrogen injection port (11) of the target hydrogen storage cylinder group (1), the driving force of the power drive system (3) of the target hydrogen filling device is canceled, so that the target hydrogen filling device (4) follows the target hydrogen power rail crane and performs hydrogen filling operation during operation.

2. The hydrogen-powered automated rail-mounted gantry-following hydrogen refueling system according to claim 1, characterized in that, The positioning mechanism (452) consists of a miniature binocular camera and an image recognition positioning module. The miniature binocular camera acquires an image of the hydrogen injection port (11). The image recognition positioning module locates the position of the hydrogen injection port (11) based on the recognition of the image, so that the hydrogen filling port (451) can be docked with the hydrogen injection port (11) of the hydrogen storage cylinder group (1) for a second time.

3. The hydrogen-powered automated rail-mounted gantry-following hydrogen refueling system according to claim 1, characterized in that, The filling and sealing mechanism (454) consists of an annularly distributed hook mounting bracket (4541), a common ring tooth (4542), a rotating arm claw (4543), a transmission gear (4544), a motor (4545), and an electric push-pull rod (4546). The rotating arm claw (4543) is connected in an annular shape by the transmission gear (4544). The common ring tooth (4542) meshes with each transmission gear (4544). The motor (4545) drives the common ring tooth (4542), which in turn drives the transmission gear (4544), thereby causing the rotating arm claw (4543) to rotate and seal the hydrogen filling port (451) and the hydrogen injection port (11). After rotating to the correct position, the electric push-pull rod (4546) applies compressive stress to the interface.

4. The hydrogen-powered automated rail-mounted gantry-following hydrogen refueling system according to claim 1, characterized in that, The hydrogen injection port (11) is equipped with a hydrogen input horn mechanism (13).

5. The hydrogen-powered automated rail-mounted gantry-following hydrogen refueling system according to claim 4, characterized in that, The hydrogen filling mechanism (45) also includes a sealing ring (455) located around the hydrogen filling port (451).

6. A hydrogen-powered automated rail-mounted gantry crane following hydrogen refueling method, applied to the hydrogen-powered automated rail-mounted gantry crane following hydrogen refueling system as described in any one of claims 1-5, characterized in that, include: Monitor the pressure of the hydrogen storage cylinder group of the hydrogen-powered automated rail crane, set the hydrogen storage cylinder group whose pressure reaches the set threshold as the target hydrogen storage cylinder group, and send a hydrogen refueling request to the hydrogen refueling system; The hydrogen refueling system selects the target hydrogen refueling device, drives it to the docking area of ​​the target hydrogen storage cylinder group, controls its rotation mechanism and joint drive mechanism to make its hydrogen refueling mechanism face the hydrogen injection port of the target hydrogen storage cylinder group, and then controls its mechanical fixing arm to clamp its hydrogen injection port bracket, thus realizing a docking between the target hydrogen refueling device and the target hydrogen storage cylinder group. Based on the positioning mechanism of the target hydrogen refueling device, drive its hydrogen refueling port to perform a secondary docking with the hydrogen injection port of the target hydrogen storage cylinder group. The control unit's filling sealing mechanism applies a seal to the interface; After the hydrogen filling port is connected and sealed with the hydrogen injection port of the target hydrogen storage cylinder group, the driving force of the power drive system of the target hydrogen filling device is canceled, so that the target hydrogen filling device follows the target hydrogen-powered rail crane and performs hydrogen filling operation during operation.

7. The hydrogen-powered automated rail-mounted crane following hydrogen refueling method according to claim 6, characterized in that, The method further includes: The target hydrogen refueling device begins hydrogen refueling at a first set pressure; the first set pressure is higher than the pressure inside the target hydrogen cylinder group. Stop adding hydrogen when the hydrogen pressure in the target hydrogen cylinder group reaches the first set pressure; The hydrogen gas inside the target hydrogenation device is emptied so that its internal pressure equals the external atmospheric pressure. The hydrogen filling port of the target hydrogen refueling device is separated from the hydrogen injection port of the target hydrogen storage cylinder group in one step; The mechanical fixing arm of the target hydrogen refueling device is separated from the hydrogen injection port support of the target hydrogen cylinder group to achieve secondary separation; Based on the next work instruction, the target hydrogen refueling unit is driven to leave the current hydrogen-powered automated rail-mounted crane.

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