Method of filling a canister

Abstract

The tank box filling method provided by the application comprises the following steps: firstly, recognizing the overflow box cover and the pressure gauge in sequence, then opening the exhaust cover of the exhaust port, connecting the exhaust interface pipeline assembly, and performing exhaust; secondly, recognizing the filling port, then opening the filling cover of the filling port, connecting the filling interface pipeline assembly, and performing filling; and finally, closing the butterfly valve and reconnecting the exhaust cover and the filling cover to the exhaust port and the filling port after the filling is completed. The tank box filling method provided by the application can complete the automatic filling of the container tank through the operation platform, the mechanical arm, the filling interface pipeline assembly, and the exhaust interface pipeline assembly.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of container tank filling, in particular to a tank filling method. BACKGROUND

[0002] The existing container tank filling equipment mostly relies on manual operation combined with equipment, and cannot be separated from manual operation, so the efficiency is low. The structural characteristics of the container tank also determine that it is difficult to realize full automation. The present application is a tank filling system designed separately based on the structural characteristics of the container tank, which solves the problem of full automatic filling. SUMMARY

[0003] The technical problem to be solved by the embodiments of the present application is to provide a tank filling method to solve the problem of full automatic filling of the container.

[0004] In order to solve the above technical problems, the tank filling method provided by the present application comprises:

[0005] Step A, identifying the overflow box cover on the container tank, and opening the overflow box cover by using a mechanical arm to operate a butterfly valve operating tool;

[0006] Step B, identifying the air pressure of the pressure gauge and the exhaust port, connecting an exhaust interface pipeline assembly by using a mechanical arm, opening the exhaust cover by using an exhaust cover opening unit, then docking the exhaust interface pipeline assembly with the exhaust port and releasing the exhaust interface pipeline assembly, opening the exhaust butterfly valve at the exhaust port by using the mechanical arm to drive the butterfly valve operating tool, and then starting the exhaust;

[0007] Step C, identifying the filling port, connecting a filling interface pipeline assembly by using a mechanical arm, opening the filling cover by using a filling cover opening unit, then docking the filling interface pipeline assembly with the filling port and releasing the filling interface pipeline assembly, opening the filling butterfly valve at the filling port by using the mechanical arm to drive the butterfly valve operating tool, and then starting the filling;

[0008] Step D, after the filling is completed, closing the filling butterfly valve at the filling port by using the mechanical arm to drive the butterfly valve operating tool;

[0009] Step E, connecting the filling interface pipeline assembly by using a mechanical arm, separating the filling interface pipeline assembly from the filling port, then connecting the filling cover on the filling port by operating the filling cover opening unit, and then releasing the filling interface pipeline assembly by operating the mechanical arm;

[0010] Step F, identifying the pressure value of the pressure gauge, stopping the exhaust when the pressure value is within a preset interval, and closing the exhaust butterfly valve on the exhaust port by using the mechanical arm to operate the butterfly valve operating tool;

[0011] Step G, connect the exhaust interface pipeline assembly with the mechanical arm, drive the exhaust interface pipeline assembly to separate from the exhaust port, operate the exhaust cover opening unit to connect the exhaust cover on the exhaust port, and then release the exhaust interface pipeline assembly;

[0012] Step H, use the mechanical arm to operate the butterfly valve operating tool to close the overflow box cover, and complete the filling of the container tank.

[0013] The tank filling method provided by the application can complete the automatic filling of the container tank through the operation platform and the mechanical arm, the filling interface pipeline assembly and the exhaust interface pipeline assembly. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 It is a three-dimensional structure schematic diagram of the embodiment of the application;

[0015] Figure 2 It is a three-dimensional structure schematic diagram of the embodiment of the application;

[0016] Figure 3 It is a three-dimensional structure schematic diagram of the embodiment of the application;

[0017] Figure 4 It is a three-dimensional structure schematic diagram of the embodiment of the application.

[0018] Figure 5 It is a three-dimensional structure schematic diagram of the mechanical arm of the embodiment of the application.

[0019] Figure 6 It is a three-dimensional structure schematic diagram of the butterfly valve operating tool of the embodiment of the application.

[0020] Figure 7 It is a three-dimensional structure schematic diagram of the butterfly valve operating tool of the embodiment of the application.

[0021] Figure 8 It is a three-dimensional structure schematic diagram of the front end tool connecting module of the embodiment of the application (one spring is omitted);

[0022] Figure 9 It is a three-dimensional structure schematic diagram of the front end tool connecting module of the embodiment of the application;

[0023] Figure 10 It is a three-dimensional structure schematic diagram of the front end tool connecting module of the embodiment of the application;

[0024] Figure 11 It is a three-dimensional structure schematic diagram of the front end tool connecting module of the embodiment of the application.

[0025] Figure 12 It is a three-dimensional structure schematic diagram of the front end tool connecting module of the embodiment of the application.

[0026] Figure 13It is a schematic diagram of the three-dimensional structure of the container tank.

[0027] Figure 14 It is a partial enlarged view in Figure 13

[0028] Figure 15 It is a partial enlarged view in Figure 13

[0029] Figure 16 It is a schematic diagram of the three-dimensional structure of the exhaust interface pipeline assembly.

[0030] Figure 17 It is a sectional view of the exhaust interface pipeline assembly.

[0031] Figure 18 It is a sectional view of the exhaust interface pipeline assembly.

[0032] Figure 19 It is a schematic diagram of the assembly structure of the exhaust interface pipeline assembly.

[0033] Figure 20 It is a schematic diagram of the overall structure of the exhaust interface pipeline assembly.

[0034] Figure 21 It is a partial enlarged view of the exhaust interface pipeline assembly.

[0035] Figure 22 It is a partial enlarged view of the exhaust interface pipeline assembly.

[0036] Figure 23 It is a partial enlarged view of the exhaust interface pipeline assembly.

[0037] Figure 24 It is a schematic diagram of the use state of the filling interface pipeline assembly.

[0038] Figure 25 It is a sectional view of the filling interface pipeline assembly.

[0039] Figure 26 It is a partial enlarged view in Figure 25

[0040] Figure 27 It is a schematic diagram of the appearance of the filling interface pipeline assembly.

[0041] In the figure:

[0042] 1000-container tank; 1010-exhaust port; 1011-notch; 1020-pressure gauge; 1030-exhaust butterfly valve; 1040-filling port;

[0043] 6000-operation platform;

[0044] 6100-mechanical arm fixed frame; ​​​

[0045] 6200 - filling frame;

[0046] 6300 - tool frame;

[0047] 6400 - operation ladder;

[0048] 6510 - U-shaped reinforcement; 6520 - inclined rod;

[0049] 6610 - first hanging beam; 6620 - second hanging beam; 6630 - carrying beam.

[0050] 7000 - filling interface pipeline assembly;

[0051] 7100 - filling fixed base plate;

[0052] 7200 - filling module joint;

[0053] 7300 - filling rigid pipe joint module; 7310 - rigid main pipe; 7320 - rigid side pipe; 7301 - control valve;

[0054] 7400 - filling rotation module; 7410 - filling drive motor; 7420 - filling drive gear; 7430 - filling large gear; 7440 - filling rotation sleeve; 7450 - filling locking piece;

[0055] 7500 - filling sealing and locking module; 7510 - filling fixed ring; 7520 - filling connecting ring; 7521 - filling inner sealing ring; 7522 - filling outer sealing ring; 7523 - filling locking plug; 7524 - step sealing ring;

[0056] 7600 - filling cover opening unit;

[0057] 7700 - filling flexible pipeline;

[0058] 7800 - filling control unit; 7810 - filling pump; 7820 - blowing pump;

[0059] 7900 - tail material collection unit; 7910 - telescopic mechanism; 7920 - rotating mechanism; 7930 - recovery box.

[0060] 8000 - exhaust interface pipeline assembly;

[0061] 8100 - exhaust fixed base plate;

[0062] 8200 - exhaust module joint;

[0063] 8300 - exhaust rigid pipe joint module; 8310 - exhaust lower connecting pipe; 8320 - exhaust upper connecting pipe;

[0064] 8400-exhaust rotation module; 8410-exhaust driving motor; 8420-exhaust driving gear; 8430-exhaust bull gear; 8440-exhaust rotation sleeve; 8450-exhaust locking element;

[0065] 8500-exhaust sealing locking module; 8510-exhaust fixed sleeve; 8520-exhaust sealing connecting pipe; 8521-exhaust inner sealing ring; 8522-exhaust outer sealing ring; 8523-exhaust locking plug;

[0066] 8600-exhaust cover opening unit; 8610-first exhaust fixing element; 8620-second exhaust fixing element; 8630-exhaust linear guide rail; 8640-exhaust driving cylinder; 8650-exhaust clamping rotary head;

[0067] 8700-exhaust pipeline;

[0068] 8800-exhaust control module; 8810-exhaust tee pipe; 8820-exhaust module; 8830-air supplement module.

[0069] 9000-robotic arm;

[0070] 9100-butterfly valve operating tool; 9110-fixed base plate; 9120-fixed arm; 9130-moving arm; 9121-backhook structure; 9122-abutment portion; 9131-clamping portion; 9111-linear guide rail; 9112-sliding block; 9113-telescopic driving device; 9114-frame structure.

[0071] 9200-gun module connector;

[0072] 9300-front-end tool connection module; 9310-fixed disc; 9320-connecting rod; 9330-spring; 9340-pallet; 9341-annular boss; 9342-mounting groove; 9343-tapered hole; 9350-flexible base plate; 9360-tapered cylinder; 9370-flexible disc; 9380-guide groove structure; 9381-guiding groove; 9382-guiding block; 9383-guiding block.

[0073] 9400-robotic arm body;

[0074] 9500-3D camera; 9600-imaging device. DETAILED DESCRIPTION

[0075] In order to make the above objectives, characteristics and advantages of the present application more apparent, a detailed description of the specific embodiments of the present application is given below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, the present application can be practiced in a number of different manners, which are different from those described herein, and it can be apparent to those skilled in the art that similar modifications of the embodiments described herein can be made without departing from the scope of the present application, and therefore the present application is not limited to the specific embodiments disclosed below.

[0076] As shown in Figures 1-27 The tank filling system provided by the present application comprises:

[0077] The operation platform 6000 comprises a mechanical arm fixing frame 6100, a filling frame 6200 and a tool frame 6300.

[0078] The mechanical arm 9000 is arranged in the mechanical arm fixing frame 6100 and can clamp the filling interface pipeline assembly 7000 and the exhaust interface pipeline assembly 8000 on the tool frame 6300 to perform filling operation on the container tank below the filling frame 6200.

[0079] The filling interface pipeline assembly 7000 is connected to the tool frame 6300 and is used to connect the filling port under the driving of the mechanical arm to facilitate filling of the container tank.

[0080] The exhaust interface pipeline assembly 8000 is connected to the tool frame 6300 and is used to connect the exhaust port under the driving of the mechanical arm to facilitate exhaust of the container tank.

[0081] The tank filling system provided by the present application can complete automatic filling of the container tank through the operation platform and the mechanical arm, the filling interface pipeline assembly and the exhaust interface pipeline assembly.

[0082] As shown in Figures 1-4 The operation platform 6000 comprises:

[0083] The mechanical arm fixing frame 6100 is used to arrange the mechanical arm and is a semi-enclosed frame structure. The front end of the mechanical arm fixing frame 6100 is provided with an openable cabinet door, and the rear end is an open structure to communicate with the filling frame 6200.

[0084] The filling frame 6200 comprises two independent door frames which are detachably connected to the two sides of the rear end of the mechanical arm fixing frame 6100 to form a filling operation space in the middle.

[0085] The tool frame 6300 is detachably connected to the rear end of the filling frame 6200 and is used to carry filling operation tools.

[0086] The operation ladder 6400 is detachably connected to the tool frame to enable access to the filling operation space of the filling frame 6200.

[0087] The filling operation tool comprises a filling interface pipeline assembly and an exhaust interface pipeline assembly.

[0088] The two door frame bottoms of the filling frame 6200 are detachably connected through the U-shaped reinforcing piece 6510, and the U-shaped reinforcing piece 6510 is further detachably connected with the tool frame 6300 through the inclined pull rod 6520.

[0089] The inclined pull rod 6520 is provided with two, which are symmetrically arranged on the U-shaped reinforcing piece 6510.

[0090] The bottom center of the U-shaped reinforcing piece 6510 is further provided with an L-shaped support rod for supporting the overflow box cover of the top of the container tank.

[0091] A first hanging beam 6610 is further arranged between the two door frame tops of the filling frame 6200, for mounting the suspension tool.

[0092] A second hanging beam 6620 is further arranged at the top rear end of the mechanical arm fixing frame 6100.

[0093] A bearing beam 6630 is further arranged at the top front end of the mechanical arm fixing frame 6100, for bearing the material interface end of the filling interface pipeline assembly and the exhaust interface pipeline assembly.

[0094] The operation platform provided by the application can detach the filling frame, the tool frame and the operation ladder, and place them together with the mechanical arm in the mechanical arm fixing frame after being detached, so that the original overall size of the machine is reduced by more than half, and the overall appearance of the packed operation platform is a square box, which is convenient for transportation; during the on-site installation and debugging process, the mechanical arm does not need to be moved, and accidental damage to the mechanical arm is avoided.

[0095] As Figure 5As shown, the present application provides a mechanical arm 9000, comprising a mechanical arm body 9400, a material gun module joint 9200, a butterfly valve operating tool 9100 and a front end tool connecting module 9300, the material gun module joint 9200 and the butterfly valve operating tool 9100 are connected on the front end tool connecting module 9300 respectively, and the front end tool connecting module 9300 is connected on the front end of the mechanical arm body 9400; wherein the front end tool connecting module is a flexible connection structure, the front end tool connecting module is coaxially arranged with the front end of the mechanical arm body, the material gun module joint is coaxially arranged with the front end tool connecting module, the butterfly valve operating tool is located on the side of the material gun module joint, and when the front end of the mechanical arm body is in a vertical state, the front end height of the butterfly valve operating tool is lower than the height of the material gun module joint, so as to facilitate the butterfly valve operating tool 9100 to operate the valve rod of the butterfly valve to open or close the butterfly valve, so as to facilitate the material gun module joint 9200 to move the filling interface pipeline assembly 7000 or the exhaust interface pipeline assembly 8000 to the specified position for filling operation.

[0096] The front end tool connecting module 9300 adopts a flexible structure design, so as to buffer the collision stress of the butterfly valve operating tool and the material gun module joint 9200 in the moving process, and can protect the mechanical arm, the front end operating tool and the operated parts.

[0097] The mechanical arm provided by the present application further comprises a 3D camera 9500 and an imaging device 9600, which are fixedly connected on the fixing disc 9310 of the front end tool connecting module 9300. The 3D camera 9500 is used for identifying the butterfly valve, and the imaging device 9600 is used for imaging the pressure gauge on the container tank and identifying the pressure in the image. The 3D camera 9500 and the imaging device 9600 are both fixedly connected on the fixing disc 9310, so as to remain stationary and not to shake with the flexibility of the front end tool connecting module 9300.

[0098] The material gun module joint is a male joint, and a female joint (filling module joint 7200, exhaust module joint 8200) is arranged on the filling interface pipeline assembly 7000 or the exhaust interface pipeline assembly 8000 correspondingly, so as to connect the two and move the filling interface pipeline assembly 7000 or the exhaust interface pipeline assembly 8000.

[0099] The mechanical arm body is a 4-7 degree of freedom mechanical arm.

[0100] As Figures 6-7As shown, the present application provides a butterfly valve operating tool 9100, which comprises a fixed base plate 9110, a fixed arm 9120 and a moving arm 9130, the fixed arm 9120 is fixedly connected to the fixed base plate 9110, and when in use, the fixed base plate 9110 is fixedly connected to the tool end of the mechanical arm; the moving arm 9130 is movably connected to the fixed base plate 9110 and can move relative to the fixed arm 9120; wherein the fixed arm 9120 extends obliquely downward from the fixed base plate 9110, and a hook structure 9121 is arranged at the end of the fixed arm 9120, and a vertical abutting portion 9122 is arranged on the inner side of the fixed arm 9120 of the hook structure 9121, and the top of the hook structure 9121 is lower than the top of the abutting portion 9122; the moving arm 9130 is located on the side of the fixed arm 9120 and extends obliquely downward together with the fixed arm 9120, and a vertical downward clamping portion 9131 is arranged at the end, the lower end of the clamping portion 9131 is lower than the top of the hook structure 9121 but not lower than the bottom of the hook structure 9121, and the upper end of the clamping portion 9131 is flush with the height of the abutting portion 9122, so that when the clamping portion 9131 is retracted, the distance between the clamping portion 9131 and the abutting portion 9122 becomes smaller, so that the valve rod can be clamped and unlocked, so as to further lift the valve rod to open the operation.

[0101] The butterfly valve operating tool provided by the present application is installed on a mechanical arm and can operate the valve rod of the butterfly valve under the driving of the mechanical arm, especially when the moving arm is elongated and opened, the hook structure can pass through the bottom of the valve rod, and then the retracting driving device is retracted to drive the moving arm to recover, so as to clamp the valve rod, and then the valve rod can be lifted up by the limiting action of the hook structure, and then the butterfly valve is opened; similarly, the butterfly valve can also be closed; the present application solves the problem of clamping the valve rod of the butterfly valve and opening the butterfly valve in the narrow space on the container tank.

[0102] Both the fixed arm 9120 and the moving arm 9130 extend obliquely downward, which is to avoid the tools directly connected to the tool end of the mechanical arm, and the oblique downward extending mode can facilitate the operation of the valve rod of the butterfly valve, and the oblique mode is more convenient for cutting into the gap between the valve rod of the butterfly valve and the upper surface of the container tank.

[0103] The abutting portion 9122 is formed by an abutting block connected to the fixed arm 9120, at this time, the abutting portion is a separate structure component independent of the fixed arm 9120, which is fixed on the fixed arm by screw connection, so that the abutting portion can be designed and replaced separately to adapt to different working scenes.

[0104] The abutting portion 9122 is integrally formed on the fixed arm 9120, and the integrally formed abutting portion can reduce the structure size of the fixed arm and is more convenient to operate.

[0105] The abutting part 9122 comprises a rubber surface, so as to ensure that the clamped valve rod cannot be easily rotated or unhooked.

[0106] The downward tilting angle of the moving arm 9130 is smaller than that of the fixed arm 9120, so as to form a sharp angle between the moving arm and the fixed arm, and the distance between the end of the moving arm and the end of the fixed arm is maximized, so as to avoid the clamped valve rod from moving upward along the gap between the fixed arm and the moving arm.

[0107] The length of the hook structure 9121 in the vertical direction is not more than half of the abutting part 9122, so as to make the hook structure 9121 more easily cut into between the valve rod and the upper surface of the container tank.

[0108] The tilting angle of the fixed arm 9120 and the moving arm 9130 is between 30-60 degrees, and in extreme cases, it can also be between 15-75 degrees.

[0109] The fixed base plate 9110 is provided with a horizontally extending straight guide rail 9111 and a sliding block 9112, the sliding block is connected with the moving arm 9130, and the sliding block is driven to move by the telescopic driving device 9113 on the fixed base plate 9110.

[0110] The telescopic driving device is a telescopic cylinder.

[0111] It also comprises a frame structure 9114, the frame structure 9114 is sleeved outside the fixed base plate 9110, and the moving arm 9130 and the sliding block are respectively fixedly connected with the frame structure; the telescopic driving device is connected to the lower part of the fixed base plate 9110 to drive the frame structure, so as to drive the sliding block to move through the frame structure. The design of the frame structure 9114 can make the driving position of the telescopic driving device different from the connection position of the sliding block, so as to make the structure layout of the whole butterfly valve operating tool more reasonable and reduce the occupation of space.

[0112] The frame structure 9114 is a mouth-shaped structure formed by splicing and connecting four flat plates.

[0113] As Figures 8-12As shown, the present application provides a front end tool connecting module of a mechanical arm, which comprises a fixed disc 9310, four connecting rods 9320, four springs 9330, a supporting plate 9340, an elastic base plate 9350, a conical cylinder 9360 and an elastic disc 9370, wherein the fixed disc is connected with the front end of the mechanical arm body, the fixed disc 9310 is fixedly connected with the periphery of the supporting plate 9340 through the four connecting rods 9320, so as to form a containing space between the fixed disc 9310 and the supporting plate 9340, so as to contain the elastic base plate 9350 and allow the elastic base plate 9350 to move between the fixed disc and the supporting plate; the center of the supporting plate 9340 is provided with a conical hole 9343, the conical cylinder 9360 is adaptively connected in the conical hole 9343, the conical cylinder 9360 is in the shape of large at the top and small at the bottom, the upper end of the conical cylinder 9360 is fixedly connected with the elastic base plate 9350, the lower end is fixedly connected with the elastic disc 9370, the elastic base plate 9350 and the elastic disc 9370 are fixedly connected through the conical cylinder 9360, so as to form an integral structure, when the elastic disc 9370 bears stress, the stress can be transmitted to the elastic base plate 9350 through the conical cylinder 9360, the spring on the elastic base plate 9350 is used for buffering and limiting, and when the external force disappears or decreases, the conical cylinder 9360 falls back into the conical hole, the elastic disc is connected with a lance module joint and a butterfly valve operating tool; the elastic base plate 9350 is located between the fixed disc 9310 and the supporting plate 9340, the springs 9330 are arranged between the fixed disc 9310 and the elastic base plate 9350, the connecting rods 9320 and the springs 9330 are arranged around the periphery of the elastic base plate 9350 in an interlaced manner, and the elastic base plate 9350 is provided with an inner recess corresponding to the mounting position of each connecting rod 9320, the connecting rod 9320 avoids the inner recess and keeps a certain distance from the edge of the inner recess, so that the elastic base plate 9350 does not collide with the connecting rod 9320 in the process of moving towards the fixed disc 9310, and the connecting rod 9320 does not limit the movement of the elastic base plate 9350; the conical cylinder 9360 and the conical hole 9343 are connected through a guide groove structure 9380 capable of guiding and preventing twisting.

[0114] The radius of the mounting position of the connecting rod 9320 relative to the axis of the conical cylinder 9360 is not more than the radius of the mounting position of the spring 9330 relative to the axis of the conical cylinder 9360, so that the radial dimension of the whole connecting module is smaller, the space occupied is smaller, and the movement of the mechanical arm is facilitated.

[0115] The guide groove structure 9380 comprises a guide groove 9381 and a guide block 9382, one of the guide groove 9381 and the guide block 9382 is arranged on the side wall of the conical cylinder 9360, and the other is arranged on the inner wall of the conical hole 9343 of the supporting plate 9340. The movement of the conical cylinder 9360 can be guided through the guide groove structure 9380, and the rotation of the conical cylinder 9360 in the axial direction can be prevented.

[0116] The guide groove structure 9380 is two, arranged in a symmetrical manner on both sides of the conical cylinder 9360, and the installation orientation of one pair of connecting rods 9320 is the same. The number of guide groove structures 9380 should not be too much, otherwise it will bring greater friction resistance and will limit the swing of the conical cylinder 9360. Compared with the three-point positioning structure commonly used, that is, three guide groove structures are used, the use of two symmetrically arranged guide groove structures 9380 can provide the optimal solution.

[0117] The guide block 9382 is arranged on the side wall of the conical cylinder 9360, and the guide groove is arranged on the conical hole 9343; correspondingly, the guide groove structure 9380 also includes two guide blocks 9383 arranged in the guide groove, and the spacing between the two guide blocks 9383 is slightly larger than the width of the guide block 9382, so that the guide block 9382 can be connected between the two guide blocks 9383 in a clearance fit manner.

[0118] The guide block 9383 is matched between the trapezoidal table and the guide block 9382, and the trapezoidal table structure can maximize the contact area and provide stable support.

[0119] The support plate 9340 is provided with an annular boss 9341 around the conical cylinder 9360, which can increase the area of the conical hole and greatly improve the strength of the support plate 9340.

[0120] When the guide groove 9381 is arranged on the conical hole 9343, the guide groove 9381 will separate the annular boss 9341, and the recessed mounting groove 9342 is arranged on the support plate 9340 corresponding to the position of the guide block 9383, and the positioning notch is formed at the junction position of the mounting groove and the guide groove.

[0121] The spring 9330 groove is arranged on the elastic substrate 9350 at the position connected with the spring 9330, so as to accommodate the end of the spring 9330.

[0122] The front end tool connecting module of the mechanical arm provided by the application reduces the overall structure size by reasonably designing the spring and the connecting rod, especially avoiding the connecting rod from the elastic substrate; when arranged at the front end of the mechanical arm, the mechanical arm drives the tool at the tool end to work, which can play a buffering role; further, the trapezoidal table of the guide block and the guide block can avoid the conical cylinder rotating along the conical hole, and can maximize the reduction of the restriction on the swing of the conical cylinder, and improve the elastic fitting allowance.

[0123] As Figures 13-15As shown, the exhaust port 1010 of the existing container tank 1000 is arranged in the overflow box at the top of the container tank 1000, the exhaust port 1010 and the filling port 1020 are usually sealed and connected by a screw cap, a butterfly valve capable of being opened and closed is arranged inside the exhaust port 1010 and the filling port 1020, and a circular groove 1012 is arranged on the top circumference of the exhaust port 1010 and the filling port 1020, corresponding to the number and position of the notches 1011 on the exhaust port.

[0124] As shown, Figures 16-23 The exhaust interface pipe assembly 8000 provided by the application comprises:

[0125] The exhaust fixed base plate 8100 can provide a fixed support base for the entire interface module, is usually in a flat plate structure, and can be fixedly connected with other structures at the edge or provided with a connection part for connecting other structures at the edge when needed, and the exhaust fixed base plate 8100 as a whole is a special-shaped structure;

[0126] The exhaust module joint 8200 is fixedly connected to the upper part of the exhaust fixed base plate 8100 and can be connected with a material gun module joint of a mechanical arm, and the exhaust module joint 8200 and the material gun module joint can adopt a universal structure or a separately designed structure capable of being positioned and connected with each other;

[0127] The exhaust rigid pipe joint module 8300 is vertically connected to the exhaust fixed base plate 8100, and the lower end of the exhaust rigid pipe joint module 8300 is located below the exhaust fixed base plate 8100, the upper part of the exhaust rigid pipe joint module 8300 is used for being connected with an exhaust pipe, and the exhaust pipe usually has a certain flexibility to be able to move position under the driving of the mechanical arm, and the lower part of the exhaust rigid pipe joint module 8300 is used for being connected with and sealed with the exhaust port 1010 of the container tank 1000;

[0128] The exhaust rotating module 8400 is sleeved outside the exhaust rigid pipe joint module 8300 and coaxially arranged with the exhaust rigid pipe joint module 8300 at the connection position, the bottom of the exhaust rotating module 8400 is provided with the same number and position of exhaust locking pieces 8450 as the notches 1011 of the exhaust port, the exhaust locking pieces 8450 can pass through the notches 1011 of the exhaust port 1010 of the container tank 1000 under the downward movement of the exhaust fixed base plate 8100 and form axial locking with the exhaust port 1010 of the container tank 1000 after being driven to rotate; the function of the exhaust rotating module 8400 is to form locking with the exhaust port of the container tank 1000 to ensure good sealing between the exhaust rigid pipe joint module 8300 and the exhaust port 1010;

[0129] The exhaust sealing and locking module 8500 is located between the exhaust rigid pipe joint module 8300 and the exhaust rotating module 8400, and is sealingly connected with the lower end of the exhaust rigid pipe joint module 8300. The exhaust sealing and locking module 8500 is externally provided with an exhaust outer sealing ring 8522, which forms a seal between the exhaust sealing and locking module 8500 and the exhaust port 1010 of the tank when the exhaust sealing and locking module 8500 is docked with the exhaust port 1010 of the tank. The exhaust sealing and locking module 8500 is also provided with at least one exhaust locking plug 8523, which is arranged vertically downward outside the exhaust outer sealing ring 8522. The height of the exhaust locking plug 8523 is higher than the height of the exhaust locking piece 8450, and the exhaust locking plug 8523 can be inserted into the notch 1011 of the exhaust port 1010 of the tank. The exhaust sealing and locking module 8500 is arranged at the lower end of the exhaust rigid pipe joint module 8300, and can play a role in transitional sealing, which can seal the exhaust rigid pipe joint module and the exhaust port 1010 at the same time.

[0130] The exhaust cover opening unit 8600 is fixedly installed on the exhaust fixed base plate 8100 and located on one side of the exhaust rotating module 8400, and can open the exhaust cover of the exhaust port. The exhaust cover opening unit 8600 opens the exhaust cover from the exhaust port by clamping, rotating and retracting, and reconnects the exhaust cover to the exhaust port after filling is completed.

[0131] The exhaust pipeline 8700 is in communication with the exhaust rigid pipe joint module 8300. The exhaust pipeline 8700 usually adopts a flexible pipeline, so as to be moved under the operation of the mechanical arm.

[0132] The exhaust control module 8800 is connected with the exhaust pipeline 8700, and is used for controlling the exhaust of the exhaust pipeline 8700. The exhaust control module 8800 can control the exhaust of the pipeline, keep the pressure in the tank within a preset range, and supplement the tank with air when necessary, so as to maintain the internal pressure of the tank.

[0133] The exhaust interface pipeline assembly provided by the application can be connected with the mechanical arm through the exhaust module joint. The exhaust cover opening unit of the exhaust interface pipeline assembly is clamped and opened with the exhaust cover of the tank under the driving of the mechanical arm. The exhaust interface pipeline assembly is docked and sealed with the exhaust port of the tank through the exhaust sealing and locking module, and the exhaust port is locked through the exhaust rotating module, so as to facilitate the exhaust and ensure the sealing and stability of the tank during filling.

[0134] The exhaust cover opening unit 8600 can be telescoped downward to open the exhaust cover on the exhaust port and telescoped upward; when the exhaust cover opening unit 8600 is telescoped downward, the height of the exhaust clamping rotary head 8650 of the exhaust cover opening unit 8600 is lower than the bottom height of the exhaust rotary module 8400, and when the exhaust cover opening unit 8600 is telescoped upward, the height of the exhaust clamping rotary head 8650 is higher than the bottom height of the exhaust rotary module 8400;

[0135] Preferably, the exhaust cover opening unit 8600 comprises:

[0136] The first exhaust fixing member 8610 is fixedly connected to the exhaust fixing base plate 8100, and is a non-standard part, mainly to form a vertical fixing base surface, facilitating the fixation of the entire exhaust cover opening unit 8600 and enabling synchronous movement with the exhaust fixing base plate 8100;

[0137] The exhaust linear guide rail 8630 is vertically connected to the outer side of the first exhaust fixing member 8610;

[0138] The second exhaust fixing member 8620 is slidingly connected to the exhaust linear guide rail 8630, thereby enabling vertical sliding along the exhaust linear guide rail 8630;

[0139] The exhaust driving cylinder 8640 is fixedly connected to the first exhaust fixing member 8610 and drives the second exhaust fixing member 8620 to move vertically along the exhaust linear guide rail 8630;

[0140] The exhaust clamping rotary head 8650 can clamp the exhaust cover and rotate to a predetermined angle, and then retract under the driving of the exhaust driving cylinder 8640 to open along the exhaust linear guide rail 8630.

[0141] The exhaust control module 8800 comprises:

[0142] The exhaust tee 8810 is connected to the rear end of the exhaust pipeline 8700;

[0143] The exhaust module 8820 is connected to one branch of the exhaust tee 8810 and connected to the air extraction device;

[0144] The air supplement module 8830 is connected to the other branch of the exhaust tee 8810 and connected to the air pumping device;

[0145] Control valves and pressure detection devices are respectively provided on the exhaust module 8820 and the air supplement module 8830.

[0146] The exhaust rigid pipe joint module 8300 comprises an exhaust lower connecting pipe 8310, which is fixedly connected to the top of the exhaust fixed base plate 8100 and corresponds to the through hole provided on the exhaust fixed base plate 8100 to allow the exhaust lower connecting pipe 8310 to pass through. The exhaust lower connecting pipe 8310 is made of rigid material, so as to ensure that it has good anti-deformation ability, thereby facilitating the butt joint with the exhaust port.

[0147] The exhaust rigid pipe joint module 8300 further comprises an exhaust upper connecting pipe 8320, which is sealingly connected to the top of the exhaust lower connecting pipe 8310. The exhaust upper connecting pipe 8320 is also usually made of rigid material, and the exhaust upper connecting pipe 8320 adopts a curved shape to avoid the positions of the exhaust module joint 8200, the mechanical arm and the exhaust driving motor 8410 connected to the exhaust module joint 8200, so as to make the overall structural layout more reasonable. The top of the exhaust upper connecting pipe 8320 is connected to the exhaust pipeline.

[0148] The exhaust rotating module 8400 comprises:

[0149] The exhaust driving motor 8410 is fixedly connected to the upper part of the exhaust fixed base plate 8100, and the output shaft of the exhaust driving motor 8410 penetrates the exhaust fixed base plate 8100;

[0150] The exhaust driving gear 8420 is located below the exhaust fixed base plate 8100 and is fixedly connected to the output shaft of the exhaust driving motor 8410. The exhaust driving motor 8410 and the exhaust driving gear 8420 are separated on both sides of the exhaust fixed base plate 8100, so as to make the overall structural layout of the module more reasonable;

[0151] The exhaust large gear 8430 is in meshing transmission with the exhaust driving gear 8420, and the exhaust large gear 8430 is coaxially connected to the outside of the exhaust lower connecting pipe 8310. The exhaust large gear 8430 is connected to the exhaust fixed base plate 8100 through a bearing, so that the exhaust large gear 8430 can rotate around the exhaust lower connecting pipe 8310;

[0152] The exhaust rotating sleeve 8440 is fixedly connected to the exhaust large gear 8430 and rotates under the driving of the exhaust large gear 8430. The exhaust rotating sleeve 8440 is directly connected to the side surface of the exhaust large gear 8430 through a flange, so that the exhaust rotating sleeve 8440 is synchronously rotated by the exhaust large gear 8430. The exhaust large gear 8430 and the exhaust rotating sleeve 8440 are coaxially arranged with the exhaust lower connecting pipe 8310, so as to drive the exhaust locking piece 8450 to rotate coaxially around the exhaust port;

[0153] The exhaust locking piece 8450 is in the same number and position as the notch on the exhaust port, is located on the inner side of the bottom of the exhaust rotating sleeve 8440 and is uniformly distributed in the axial direction.

[0154] The exhaust locking piece 8450 is a roller structure, and the diameter of the roller structure is smaller than the width of the annular groove outside the exhaust port of the container tank, so that the roller structure can rotate radially into the annular groove after passing through the gap of the exhaust port of the container tank along the axial direction.

[0155] The bottom inner wall of the exhaust rotating sleeve 8440 is processed to form an annular boss, and the inner diameter of the annular boss is slightly larger than the outer diameter of the exhaust port of the container tank, so that the exhaust rotating sleeve 8440 can rotate outside the exhaust port of the container tank.

[0156] The exhaust sealing locking module 8500 includes:

[0157] The exhaust fixed sleeve 8510 is sleeved outside the exhaust lower connecting pipe 8310 and fixedly connected to the exhaust fixed base plate 8100 through a flange. The exhaust fixed sleeve 8510 can provide rigid support for the exhaust lower connecting pipe 8310, thereby avoiding the inclination deformation of the exhaust lower connecting pipe 8310 when connected to the exhaust port, and ensuring the accurate butt joint and sealing between the exhaust lower connecting pipe 8310 and the exhaust port 1010. The exhaust fixed sleeve 8510 and the exhaust lower connecting pipe 8310 are coaxially arranged;

[0158] The exhaust sealing connecting pipe 8520 is fixedly connected to the lower end of the exhaust fixed sleeve 8510. The inner wall of the exhaust sealing connecting pipe 8520 is sealingly connected to the outer wall of the exhaust lower connecting pipe 8310 through an exhaust inner sealing ring 8521. An exhaust outer sealing ring 8522 is arranged on the outer wall of the exhaust sealing connecting pipe 8520 and used for sealing with the inner pipe port of the exhaust port. A stepped structure is arranged at the position of the exhaust outer sealing ring 8522, and an annular groove accommodating the exhaust outer sealing ring 8522 is arranged at the stepped structure. When the exhaust outer sealing ring 8522 is sealingly connected to the exhaust port, the exhaust outer sealing ring 8522 is pressed and limited by the stepped structure, thereby achieving better sealing effect. An exhaust locking plug 8523 is fixedly connected to the exhaust sealing connecting pipe 8520 and located outside the exhaust outer sealing ring 8522. The exhaust locking plug 8523 has a shape suitable for the gap 1011 of the exhaust port 1010, and the number of the exhaust locking plug 8523 is the same as that of the gap 1011, so that the exhaust locking plug 8523 can be inserted into all the gaps 1011.

[0159] The exhaust sealing connecting pipe 8520 and the exhaust fixed sleeve 8510 are connected in a detachable manner.

[0160] The exhaust fixed sleeve 8510 and the exhaust sealing connecting pipe 8520 are coaxially arranged with the exhaust lower connecting pipe 8310.

[0161] The exhaust locking plug 8523 is the same as the number of gaps on the exhaust port and corresponds to the position, so as to be inserted into the gap on the exhaust port to limit mutual rotation, and a guide relationship is formed between the exhaust locking plug 8523 and the gap 1011 on the exhaust port 1010, so that the exhaust locking plug 8523 can move axially along the gap 1011.

[0162] As shown in Figures 24-27 The present application provides a filling interface pipeline assembly, comprising:

[0163] The filling fixed base plate 7100 can provide a fixed support base for the entire interface module, and is usually in a flat plate structure, and can be fixedly connected with other structures at the edge or provided with a connecting part for connecting other structures at the edge when needed, and the filling fixed base plate 7100 is an irregular structure as a whole;

[0164] The filling module joint 7200 is fixedly connected to the upper part of the filling fixed base plate 7100 and can be connected with the gun module joint of the mechanical arm, and the filling module joint 7200 and the gun module joint can adopt a universal structure or a separately designed structure capable of being positioned and connected with each other;

[0165] The filling rigid pipe joint module 7300 is vertically connected to the filling fixed base plate 7100, and the lower end of the filling rigid pipe joint module 7300 is located below the filling fixed base plate 7100, the upper part of the filling rigid pipe joint module 7300 is used for connecting with the filling pipeline, and the filling pipeline usually has a certain flexibility to move position under the driving of the mechanical arm, and the lower part of the filling rigid pipe joint module 7300 is used for abutting and sealing with the filling port 1010 of the container tank 1000; the control valve 7301 is installed in the filling rigid pipe joint module 7300;

[0166] The filling rotation module 7400 is sleeved outside the filling rigid pipe joint module 7300 and coaxially arranged with the filling rigid pipe joint module 7300 at the connecting position, the bottom of the filling rotation module 7400 is provided with the filling locking piece 7450 which is the same as the number of gaps on the filling port and corresponds to the position, the filling locking piece 7450 can move downward through the gap 1011 of the filling port 1010 of the container tank 1000 and be axially locked with the filling port 1010 of the container tank 1000 after being driven to rotate; the filling rotation module 7400 is used for forming a lock with the filling port of the container tank 1000 to ensure a good sealing between the filling rigid pipe joint module 7300 and the filling port 1010;

[0167] The filling sealing and locking module 7500 is located between the filling rigid pipe joint module 7300 and the filling rotary module 7400, and is sealingly connected with the lower end of the filling rigid pipe joint module 7300 and the filling port of the container tank; the filling sealing and locking module 7500 is also provided with at least one filling locking plug 7523 located outside the filling outer sealing ring 7522 and arranged vertically downward, the height of the filling locking plug 7523 is higher than the height of the filling locking piece 7450, and the filling locking plug 7523 can be inserted into the notch 1011 of the filling port 1010 of the container tank; the filling sealing and locking module 7500 is arranged at the lower end of the filling rigid pipe joint module 7300, and can play a role of transition sealing, which can be sealingly connected with the filling rigid pipe joint module and the filling port 1010 at the same time;

[0168] The filling cover opening unit 7600 is fixedly installed on the filling fixed base plate 7100;

[0169] The filling flexible pipe 7700 is connected at the front end of the filling rigid pipe joint module 7400; the filling flexible pipe 7700 can be freely moved under the driving of the mechanical arm without limitation, and is convenient for filling;

[0170] The filling control unit 7800 is connected at the rear end of the filling flexible pipe 7700, and is used for providing power for filling and blowing air to the pipe after filling is completed, so as to promote rapid cleaning of residual materials.

[0171] The filling sealing and locking module 7500 is provided with a filling outer sealing ring 7522, when the filling interface pipe assembly 7000 is connected with the filling port of the container tank, the filling outer sealing ring 7522 and the filling port 1010 of the container tank form a seal; the filling sealing and locking module 7500 is also provided with a stepped sealing ring 7524, which is sealingly connected with the stepped surface in the filling port of the container tank.

[0172] The filling rigid pipe joint module 7300 includes a rigid main pipe 7310 and a rigid side pipe 7320, the rigid main pipe is a straight pipe, and a control valve is located in the rigid main pipe 7310, and a taper structure matched with the control valve 7301 is arranged in the rigid main pipe 7310.

[0173] The filling rotary module 7400 includes:

[0174] The filling driving motor 7410 is fixedly connected to the upper part of the filling fixed base plate 7100, and the output shaft of the filling driving motor 7410 penetrates the filling fixed base plate 7100;

[0175] The filling driving gear 7420 is located below the filling fixed base plate 7100 and is fixedly connected to the output shaft of the filling driving motor 7410. The filling driving motor 7410 and the filling driving gear 7420 are separated on both sides of the filling fixed base plate 7100, so that the overall structural layout of the module is more reasonable.

[0176] The filling large gear 7430 is in meshing transmission with the filling driving gear 7420, and the filling large gear 7430 is coaxially connected to the outside of the filling lower connecting pipe 7310. The filling large gear 7430 is connected to the filling fixed base plate 7100 through a bearing, so that the filling large gear 7430 can rotate around the filling lower connecting pipe 7310.

[0177] The filling rotating sleeve 7440 is fixedly connected to the filling large gear 7430 and rotates under the driving of the filling large gear 7430. The filling rotating sleeve 7440 is directly connected to the side of the filling large gear 7430 through a flange, and is driven by the filling large gear 7430 to rotate synchronously. The filling large gear 7430 and the filling rotating sleeve 7440 are coaxially arranged with the filling lower connecting pipe 7310, so as to drive the filling locking member 7450 to rotate coaxially around the filling port.

[0178] The filling locking member 7450 is the same as the number of notches on the filling port and corresponds to the position, is located at the bottom inside of the filling rotating sleeve 7440 and is uniformly distributed in the axial direction.

[0179] The filling locking member 7450 is a roller structure, and the diameter of the roller structure is smaller than the width of the annular groove outside the filling port of the container tank, so that the roller structure can rotate radially into the annular groove after passing through the notch of the filling port of the container tank in the axial direction.

[0180] The filling sealing locking module 7500 comprises:

[0181] The filling fixed ring 7510 is sleeved outside the filling lower connecting pipe 7310 and is fixedly connected to the filling fixed base plate 7100 through a flange. The filling fixed ring 7510 can provide rigid support for the filling lower connecting pipe 7310, so as to avoid the inclination deformation of the filling lower connecting pipe 7310 when connected with the filling port, and ensure the accurate butt joint and sealing between the filling lower connecting pipe 7310 and the filling port 1010. The filling fixed ring 7510 and the filling lower connecting pipe 7310 are coaxially arranged;

[0182] The filling connection ring 7520 is fixedly connected to the lower end of the filling fixed ring 7510. The inner wall of the filling connection ring 7520 is sealingly connected to the outer wall of the filling lower connecting pipe 7310 through the filling inner sealing ring 7521. The filling outer sealing ring 7522 is arranged on the outer wall of the filling connection ring 7520. The stepped sealing ring 7524 is arranged in the annular groove of the end surface of the filling connection ring 7520 and is used for sealing between the inner pipe port of the filling port and the filling outer sealing ring 7522. The stepped structure is arranged at the position of the filling outer sealing ring 7522, and the annular groove accommodating the filling outer sealing ring 7522 is arranged at the stepped structure. When the filling outer sealing ring 7522 is sealed with the filling port, the filling outer sealing ring 7522 is compressed and limited through the stepped structure, thereby achieving better sealing effect. The filling locking plug 7523 is fixedly connected to the filling connection ring 7520 and is located outside the filling outer sealing ring 7522. The filling locking plug 7523 has a shape suitable for the notch 1011 of the filling port 1010, and the number of the filling locking plug 7523 is the same as that of the notch 1011, so that the filling locking plug 7523 can be inserted into all the notches 1011.

[0183] The filling connection ring 7520 and the filling fixed ring 7510 are connected in a detachable manner.

[0184] The filling fixed ring 7510 and the filling connection ring 7520 are coaxially arranged with the filling lower connecting pipe 7310.

[0185] The number of the filling locking plug 7523 is the same as that of the notch on the filling port, and the positions correspond, so that the filling locking plug 7523 can be inserted into the notch on the filling port to limit mutual rotation. A guiding relationship is formed between the filling locking plug 7523 and the notch 1011 on the filling port 1010, so that the filling locking plug 7523 can move axially along the notch 1011.

[0186] The filling control unit 7800 includes a filling pump 7810 and a blowing pump 7820. The filling pump 7810 and the blowing pump 7820 are connected to the filling flexible pipeline 7700 through a three-way valve.

[0187] The filling interface pipeline assembly 7000 further includes a tail collection unit 7900 connected to the filling fixed base plate 7100. The tail collection unit 7900 is used for collecting tail at the outlet of the rigid main pipe 7310 after filling is completed, thereby avoiding pollution.

[0188] The tail material collecting unit 7900 comprises a telescopic mechanism 7910, a rotating mechanism 7920 and a recovery box 7930. The telescopic mechanism 7910 is connected to the lower part of the filling fixed base plate 7100 and can be telescoped downward. The rotating mechanism 7920 is connected to the bottom of the telescopic mechanism 7910 and can move in the vertical direction under the driving of the telescopic mechanism 7910 and can rotate in the horizontal plane. The recovery box 7930 is connected to the rotating mechanism 7920 and can be rotated to the lower side of the rigid main pipe 7310 under the driving of the rotating mechanism 7920. The tail material collecting unit 7900 effectively ensures that the residual material will not pollute the equipment and the environment after the filling is completed.

[0189] The application also provides a tank filling method, comprising the following steps:

[0190] Step A, identifying the overflow box cover on the container tank and opening the overflow box cover by using the mechanical arm to operate the butterfly valve operating tool;

[0191] Step B, identifying the air pressure of the pressure gauge and the exhaust port, connecting the exhaust interface pipeline assembly by using the mechanical arm, opening the exhaust cover by using the exhaust cover opening unit, then connecting the exhaust interface pipeline assembly to the exhaust port and releasing the exhaust interface pipeline assembly, opening the exhaust butterfly valve at the exhaust port by using the mechanical arm to drive the butterfly valve operating tool, and then starting the exhaust;

[0192] Step C, identifying the filling port, connecting the filling interface pipeline assembly by using the mechanical arm, opening the filling cover by using the filling cover opening unit, then connecting the filling interface pipeline assembly to the filling port and releasing the filling interface pipeline assembly, opening the filling butterfly valve at the filling port by using the mechanical arm to drive the butterfly valve operating tool, and then starting the filling;

[0193] Step D, after the filling is completed, closing the filling butterfly valve at the filling port by using the mechanical arm to drive the butterfly valve operating tool;

[0194] Step E, connecting the filling interface pipeline assembly by using the mechanical arm, separating the filling interface pipeline assembly from the filling port, then connecting the filling cover to the filling port by using the filling cover opening unit, and then releasing the filling interface pipeline assembly by using the mechanical arm;

[0195] Step F, identifying the pressure value of the pressure gauge, stopping the exhaust when the pressure value is in the preset interval, and closing the exhaust butterfly valve on the exhaust port by using the mechanical arm to operate the butterfly valve operating tool;

[0196] Step G, connecting the exhaust interface pipeline assembly by using the mechanical arm, separating the exhaust interface pipeline assembly from the exhaust port, connecting the exhaust cover to the exhaust port by using the exhaust cover opening unit, and then releasing the exhaust interface pipeline assembly;

[0197] Step H, closing the overflow box cover by using the mechanical arm to operate the butterfly valve operating tool, and completing the filling of the container tank.

[0198] Step B further comprises Step B1, identifying the reading of the pressure gauge 1020 on the exhaust port 1010, and when the pressure corresponding to the reading or pointer of the pressure gauge 1020 is within the preset range, starting Step B2;

[0199] Step B2, identifying the position, height and inclination angle of the exhaust port 1010 on the container tank by the identification device of the tool end of the mechanical arm;

[0200] Step B3, according to the parameters of the exhaust port 1010 identified in Step B2, opening the exhaust cover on the exhaust port 1010 by the exhaust cover opening unit 8600 on the exhaust interface pipeline assembly 8000 with the mechanical arm, and clamping the exhaust cover;

[0201] Step B4, using the mechanical arm to drive the exhaust interface pipeline assembly 8000 to dock with the exhaust port 1010, and then releasing the exhaust interface pipeline assembly 8000;

[0202] Step B5, opening the exhaust butterfly valve 1030 on the exhaust port 1010 by the butterfly valve operating tool 9100 of the mechanical arm, and then filling the material into the container tank;

[0203] Step B6, when the filling is completed, identifying the reading of the pressure gauge 1020 on the exhaust port 1010 again, and when the pressure corresponding to the reading or pointer of the pressure gauge 1020 is within the preset range, closing the exhaust butterfly valve 1030 on the exhaust port 1010 by the butterfly valve operating tool 9100 of the mechanical arm;

[0204] Step B7, using the mechanical arm to release the exhaust interface pipeline assembly 8000 from the exhaust port 1010 and move it away;

[0205] Step B8, using the mechanical arm to operate the exhaust cover opening unit 8600 on the exhaust interface pipeline assembly 8000 to connect the exhaust cover clamped by it to the exhaust port 1010.

[0206] In Step B5, the identification device is further used to identify the exhaust butterfly valve 1030.

[0207] In Step B5, during the filling of the container tank, the reading of the pressure gauge 1020 is identified at intervals, and when the pressure corresponding to the reading or pointer of the pressure gauge 1020 exceeds the preset range, the exhaust is controlled, and when it is lower than the preset range, the air supplement is controlled.

[0208] When the exhaust port 1010 of the container tank 1000 is provided with the notch 1011 and the ring-cut groove 1012 and connected with the exhaust cover through the notch 1011 and the ring-cut groove 1012, the exhaust interface pipeline assembly 8000 is correspondingly provided with the exhaust rigid pipe joint module 8300, the exhaust rotation module 8400 and the exhaust sealing locking module 8500, so as to make the exhaust interface pipeline assembly 8000 and the exhaust port 1010 sealingly and lockingly connected after the exhaust cover is removed by the mechanical arm.

[0209] In step B4, when the exhaust port 1010 is docked, the mechanical arm is operated to make the exhaust rigid pipe joint module 8300 have the same inclination as the exhaust port 1010 and coaxial with the exhaust port 1010;

[0210] Then the position of the exhaust locking piece 8450 of the exhaust rotation module 8400 is adjusted to make the position of the exhaust locking piece 8450 correspond to the position of the exhaust locking plug 8523 of the exhaust sealing locking module 8500, and the orientation of the exhaust locking plug 8523 corresponds to the orientation of the notch 1011 on the exhaust port 1010;

[0211] The mechanical arm is operated to move the exhaust rigid pipe joint module 8300 along the axial direction of the exhaust port 1010 towards the exhaust port 1010, so that the exhaust locking piece 8450 passes through the notch 1011 and is placed in the ring-cut groove 1012, and the exhaust locking plug 8523 is inserted into the notch 1011;

[0212] The exhaust rotation module 8400 is operated to rotate the exhaust locking piece 8450, so that the exhaust locking piece 8450 is offset from the notch 1011 to form a limit.

[0213] Step C, further comprising:

[0214] Step C1, identifying the opening and closing state of the filling butterfly valve 1050 on the filling port 1040;

[0215] Step C2, identifying the position, height and inclination angle of the filling port;

[0216] Step C3, opening the filling cover on the filling port;

[0217] Step C4, connecting the filling interface pipeline assembly 7000 to the filling port;

[0218] Step C5, opening the filling butterfly valve;

[0219] Step C6, filling the material into the container tank;

[0220] Step C7, closing the filling butterfly valve;

[0221] Step C8, covering the filling cover.

[0222] Step C1, identify the filling butterfly valve 1050 on the filling port 1040 and determine that the filling butterfly valve 1050 is in a closed state;

[0223] Step C2, use the recognition device of the tool end of the mechanical arm to identify the position, height and inclination angle of the filling port 1040 on the container tank;

[0224] Step C3, according to the filling port 1040 parameters identified in step C2, use the mechanical arm to operate the filling cover opening unit 7600 on the filling interface pipeline assembly 7000 to open the filling cover on the filling port 1040 and clamp the filling cover;

[0225] Step C4, use the mechanical arm to drive the filling interface pipeline assembly 7000 to dock the filling port 1040, so that the filling locking piece 7450 of the filling rotation module 7400 passes through the gap and then enters the ring cutting groove to rotate and lock, and the filling locking plug 7523 of the filling sealing and locking module 7500 is inserted into the gap, the filling rigid pipe joint module 7300 is inserted into the filling port 1040 and sealed, and then the mechanical arm operates the filling gun module joint 9200 to release the filling interface pipeline assembly 7000;

[0226] Step C5, use the butterfly valve operating tool 9100 of the mechanical arm to open the filling butterfly valve 1050 on the filling port 1040, and then fill the material into the container tank.

[0227] Step C7, when the filling is completed, use the butterfly valve operating tool 9100 of the mechanical arm to close the filling butterfly valve 1050 on the filling port 1040;

[0228] Step C8, use the filling gun module joint 9200 of the mechanical arm to connect with the filling interface pipeline assembly 7000, operate the filling rotation module 7400 to make the filling locking piece 7450 rotate to the gap position, then separate the filling interface pipeline assembly 7000 from the filling port 1040; and reconnect the filling cover held by the filling cover opening unit 7600 to the filling port 1040.

[0229] In step C4, when docking with the filling port 1040, operate the mechanical arm to make the filling rigid pipe joint module 7300 have the same inclination angle as the filling port 1040, and make the filling rigid pipe joint module 7300 coaxial with the filling port 1040;

[0230] Then adjust the position of the filling locking piece 7450 of the filling rotation module 7400, so that the filling locking piece 7450 corresponds to the position of the filling locking plug 7523 of the filling sealing and locking module 7500, and adjust the orientation of the filling locking plug 7523 to correspond to the orientation of the gap on the filling port 1040;

[0231] The operation mechanical arm moves the filling rigid pipe joint module 7300 along the axis of the filling port 1040 towards the filling port 1040, and the filling locking member 7450 passes through the gap and is placed in the ring cutting groove, and the filling locking plug 7523 is inserted into the gap;

[0232] The operation of the filling rotation module 7400 rotates the filling locking member 7450, and the filling locking member 7450 is staggered with the gap to form a limit.

[0233] The technical features of the above embodiments can be combined in any manner. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described, but as long as the combinations of the technical features do not exist contradictory, they should be considered as the scope of the description.

[0234] The above embodiments only express several embodiments of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the patent. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of the present application. Therefore, the scope of the patent protection of the present application should be subject to the appended claims.

Claims

1. A method of filling a tank, characterized in that The method comprises the following steps: Step A, identifying the overflow box cover on the container tank, and opening the overflow box cover by using the mechanical arm to operate the butterfly valve operating tool; Step B, identifying the air pressure of the pressure gauge and the exhaust port, connecting the exhaust interface pipeline assembly by using the mechanical arm, opening the exhaust cover by using the exhaust cover opening unit, then connecting the exhaust interface pipeline assembly to the exhaust port, releasing the exhaust interface pipeline assembly, opening the exhaust butterfly valve at the exhaust port by using the mechanical arm to drive the butterfly valve operating tool, and then starting the exhaust; Step C, identifying the filling port, connecting the filling interface pipeline assembly by using the mechanical arm, opening the filling cover by using the filling cover opening unit, then connecting the filling interface pipeline assembly to the filling port, releasing the filling interface pipeline assembly, opening the filling butterfly valve at the filling port by using the mechanical arm to drive the butterfly valve operating tool, and then starting the filling; Step D, after the filling is completed, closing the filling butterfly valve at the filling port by using the mechanical arm to drive the butterfly valve operating tool; Step E, connecting the filling interface pipeline assembly by using the mechanical arm, operating the filling interface pipeline assembly to separate from the filling port, then operating the filling cover opening unit to connect the filling cover to the filling port, and then releasing the filling interface pipeline assembly; Step F, identifying the pressure value of the pressure gauge, stopping the exhaust when the pressure value is within the preset range, and closing the exhaust butterfly valve on the exhaust port by using the mechanical arm to operate the butterfly valve operating tool; Step G, connecting the exhaust interface pipeline assembly by using the mechanical arm, separating the exhaust interface pipeline assembly from the exhaust port, operating the exhaust cover opening unit to connect the exhaust cover to the exhaust port, and then releasing the exhaust interface pipeline assembly; Step H, closing the overflow box cover by using the mechanical arm to operate the butterfly valve operating tool, and completing the filling of the container tank; Steps B and C have no sequence.

2. The tank filling method according to claim 1, wherein step B further comprises step B1, identifying the reading of the pressure gauge (1020) on the exhaust port (1010), and starting step B2 when the pressure corresponding to the reading or pointer of the pressure gauge (1020) is within the preset range; Step B2, identifying the position, height and inclination angle of the exhaust port (1010) on the container tank by using the identification device of the tool end of the mechanical arm; Step B3, opening the exhaust cover on the exhaust port (1010) by using the exhaust cover opening unit (8600) on the exhaust interface pipeline assembly (8000) according to the parameters of the exhaust port (1010) identified in step B2, and clamping the exhaust cover; Step B4, connecting the exhaust interface pipeline assembly (8000) to the exhaust port (1010) by using the mechanical arm, and then releasing the exhaust interface pipeline assembly (8000); Step B5, opening the exhaust butterfly valve (1030) on the exhaust port (1010) by using the butterfly valve operating tool (9100) of the mechanical arm, and then filling the container tank with the material; ​ Step B6, after the filling is completed, the reading of the pressure gauge (1020) on the exhaust port (1010) is identified again, when the reading or the pressure corresponding to the pointer of the pressure gauge (1020) is within the preset range, the butterfly valve operating tool (9100) of the mechanical arm is used to close the exhaust butterfly valve (1030) on the exhaust port (1010); Step B7, the exhaust interface pipeline assembly (8000) is released from the exhaust port (1010) by using the mechanical arm, and is moved away; Step B8, the exhaust cover connected by the exhaust cover opening unit (8600) on the exhaust interface pipeline assembly (8000) is connected to the exhaust port (1010) by using the mechanical arm.

3. The tank container filling method according to claim 2, wherein, In step B5, the exhaust butterfly valve (1030) is identified by using the identification device.

4. The tank container filling method according to claim 3, wherein, In step B5, during the filling of the tank container, the reading of the pressure gauge (1020) is identified every certain time interval, when the reading or the pressure corresponding to the pointer of the pressure gauge (1020) exceeds the preset range, the exhaust is controlled, and when it is lower than the preset range, the air supplement is controlled.

5. The tank container filling method according to claim 4, wherein, When the exhaust port (1010) of the tank container (1000) is provided with a notch (1011) and a circumferential groove (1012) and is connected with the exhaust cover through the notch (1011) and the circumferential groove (1012), the exhaust interface pipeline assembly (8000) is correspondingly provided with an exhaust rigid pipe joint module (8300), an exhaust rotation module (8400) and an exhaust sealing locking module (8500), so that the exhaust interface pipeline assembly (8000) is sealingly and lockingly connected with the exhaust port (1010) after the exhaust cover is moved away by the mechanical arm.

6. The tank container filling method according to claim 2, wherein, In step B4, when the exhaust port (1010) is docked, the mechanical arm is operated to make the exhaust rigid pipe joint module (8300) have the same inclination as the exhaust port (1010) and make the exhaust rigid pipe joint module (8300) coaxial with the exhaust port (1010); Then the position of the exhaust locking piece (8450) of the exhaust rotation module (8400) is adjusted, the position of the exhaust locking piece (8450) corresponds to the position of the exhaust locking plug (8523) of the exhaust sealing locking module (8500) one by one, and the orientation of the exhaust locking plug (8523) corresponds to the orientation of the notch (1011) on the exhaust port (1010) one by one; The mechanical arm is operated to make the exhaust rigid pipe joint module (8300) move towards the exhaust port (1010) along the axial direction of the exhaust port (1010), so that the exhaust locking piece (8450) passes through the notch (1011) and is placed in the circumferential groove (1012), and the exhaust locking plug (8523) is inserted into the notch (1011). The exhaust rotating module (8400) rotates the exhaust locking member (8450) to misalign the exhaust locking member (8450) with the gap (1011) to form a limit.

7. The method of claim 1, wherein, Step C further comprises: Step C1, identifying the opening and closing state of the filling butterfly valve (1050) on the filling port (1040); Step C2, identifying the position, height and inclination angle of the filling port (1040); Step C3, opening the filling cover on the filling port; Step C4, connecting the filling interface pipeline assembly (7000) to the filling port; Step C5, opening the filling butterfly valve; Step C6, filling the container with the material; Step C7, closing the filling butterfly valve; Step C8, covering the filling cover.

8. The method of claim 7, wherein, in the step C1, the filling butterfly valve (1050) on the filling port (1040) is identified and determined to be in a closed state; in the step C2, the position, height and inclination angle of the filling port (1040) on the container are identified by the identification device of the tool end of the mechanical arm (9000); in the step C3, according to the parameters of the filling port (1040) identified in the step C2, the filling cover opening unit (7600) on the filling interface pipeline assembly (7000) is operated by the mechanical arm to open the filling cover on the filling port (1040) and hold the filling cover; in the step C4, the filling interface pipeline assembly (7000) is connected to the filling port (1040) by the mechanical arm (9000), the filling locking member (7450) of the filling rotating module (7400) passes through the gap and then rotates to lock in the ring cutting groove, the filling locking plug (7523) of the filling sealing locking module (7500) is inserted into the gap, the filling rigid pipe joint module (7300) is inserted into the filling port (1040) and sealed, and then the filling interface pipeline assembly (7000) is released by the mechanical arm (9000) operating the filling gun module joint (9200); in the step C5, the filling butterfly valve (1050) on the filling port (1040) is opened by the butterfly valve operating tool (9100) of the mechanical arm, and then the container is filled with the material; in the step C7, when the filling is completed, the filling butterfly valve (1050) on the filling port (1040) is closed by the butterfly valve operating tool (9100) of the mechanical arm; in the step C8, the filling gun module joint (9200) of the mechanical arm (9000) is connected with the filling interface pipeline assembly (7000), the filling locking member (7450) of the filling rotating module (7400) is rotated to the gap position by operation, and then the filling interface pipeline assembly (7000) is separated from the filling port (1040); the filling cover held by the filling cover opening unit (7600) is reconnected to the filling port (1040).

9. The method of claim 8, wherein, In step C4, the operating mechanical arm makes the filling rigid pipe joint module (7300) have the same inclination as the filling port (1040) when it is docked with the filling port (1040), and makes the filling rigid pipe joint module (7300) coaxial with the filling port (1040); Then the position of the filling locking piece (7450) of the filling rotation module (7400) is adjusted so that the filling locking piece (7450) is one-to-one corresponding to the position of the filling locking plug (7523) of the filling sealing locking module (7500), and the orientation of the filling locking plug (7523) is one-to-one corresponding to the orientation of the notch on the filling port (1040); The operating mechanical arm (9000) makes the filling rigid pipe joint module (7300) move along the axis of the filling port (1040) towards the filling port (1040), so that the filling locking piece (7450) passes through the notch and is placed in the annular groove, and the filling locking plug (7523) is inserted into the notch; The operating filling rotation module (7400) rotates the filling locking piece (7450), so that the filling locking piece (7450) is staggered with the notch, forming a limit.

10. The tank box filling method according to claim 1, wherein The mechanical arm (9000) comprises a mechanical arm body (9400), a material gun module joint (9200), a butterfly valve operating tool (9100) and a front end tool connecting module (9300), the material gun module joint (9200) and the butterfly valve operating tool (9100) are connected to the front end tool connecting module (9300) respectively, and the front end tool connecting module (9300) is connected to the front end of the mechanical arm body (9400); wherein the front end tool connecting module (9300) is a flexible connection structure, the front end tool connecting module (9300) is coaxially arranged with the front end of the mechanical arm body (9400), the material gun module joint (9200) is coaxially arranged with the front end tool connecting module (9300), the butterfly valve operating tool (9100) is located on the side of the material gun module joint (9200), and when the front end of the mechanical arm body (9400) is in a vertical state, the front end height of the butterfly valve operating tool (9100) is lower than the height of the material gun module joint (9200).

11. The tank box filling method according to claim 10, wherein The butterfly valve operating tool (9100) comprises a fixed base plate (9110), a fixed arm (9120) and a moving arm (9130), characterized in that the fixed arm (9120) is fixedly connected to the fixed base plate (9110), the moving arm (9130) is movably connected to the fixed base plate (9110) and can move relative to the fixed arm (9120); wherein the fixed arm (9120) extends downwardly from the fixed base plate (9110) at an angle, a hook structure (9121) is arranged at the end of the fixed arm (9120), a vertical abutting portion (9122) is arranged on the inner side of the hook structure (9121), and the top of the hook structure (9121) is lower than the top of the abutting portion (9122); the moving arm (9130) is located at the side of the fixed arm (9120) and extends downwardly at an angle together with the fixed arm (9120), and a vertical downward clamping portion (9131) is arranged at the end of the moving arm (9130), the lower end of the clamping portion (9131) is lower than the top of the hook structure (9121) but not lower than the bottom of the hook structure (9121), and the upper end of the clamping portion (9131) is level with the height of the abutting portion (9122).

12. The tank filling method according to claim 11, wherein The abutting portion (9122) is formed by an abutting block connected to the fixed arm (9120); or the abutting portion (9122) is integrally formed on the fixed arm (9120).

13. The tank filling method according to claim 12, wherein The abutting portion (9122) comprises a rubber surface.

14. The tank filling method according to claim 11, wherein The downward inclination angle of the moving arm (9130) is smaller than the downward inclination angle of the fixed arm (9120), so that a sharp angle structure is formed between the moving arm (9130) and the fixed arm (9120), and the distance between the ends of the moving arm (9130) and the fixed arm (9120) is maximum.

15. The tank filling method according to claim 11, wherein The length of the hook structure (9121) in the vertical direction is not more than half of the length of the abutting portion (9122).

16. The tank filling method according to claim 11, wherein The inclination angle of the fixed arm (9120) and the moving arm (9130) is between 30-60 degrees.

17. The tank filling method according to claim 11, wherein A horizontal linear guide rail (9111) and a sliding block (9112) are arranged on the fixed base plate (9110), the sliding block (9112) is connected to the moving arm (9130), and a telescopic driving device (9113) on the fixed base plate (9110) drives the sliding block to move.

18. The tank filling method according to claim 17, wherein The telescopic driving device (9113) is a telescopic cylinder.

19. The tank box filling method according to claim 17, characterized in that, The butterfly valve operating tool (9100) further comprises a frame structure (9114) sleeved outside the fixed base plate (9110), and the moving arm (9130) and the sliding block (9112) are fixedly connected with the frame structure (9114) respectively; the telescopic driving device (9113) is connected at the lower part of the fixed base plate (9110) to drive the frame structure (9114) so as to drive the sliding block (9112) to move through the frame structure (9114).

20. The tank box filling method according to claim 19, characterized in that, The frame structure (9114) is a square structure formed by splicing four flat plates.

21. The tank box filling method according to claim 10, characterized in that, The front end tool connecting module (9300) comprises a fixed disc (9310), four connecting rods (9320), four springs (9330), a supporting plate (9340), an elastic base plate (9350), a tapered cylinder (9360) and an elastic disc (9370), wherein the fixed disc is connected with the front end of the mechanical arm body, the fixed disc (9310) is fixedly connected with the periphery of the supporting plate (9340) through the four connecting rods (9320), the center of the supporting plate (9340) is provided with a tapered hole, the tapered cylinder (9360) is adaptively connected in the tapered hole, the tapered cylinder (9360) is large at the upper end and small at the lower end, the upper end of the tapered cylinder (9360) is fixedly connected with the elastic base plate (9350), the lower end is fixedly connected with the elastic disc (9370), the elastic disc (9370) is connected with the material gun module connector (9200) and the butterfly valve operating tool (9100); the elastic base plate (9350) is located between the fixed disc (9310) and the supporting plate (9340), the springs (9330) are arranged between the fixed disc (9310) and the elastic base plate (9350), the connecting rods (9320) and the springs (9330) are arranged around the periphery of the elastic base plate (9350) in an interlaced manner, and the elastic base plate (9350) is provided with an inner recessed slot corresponding to the installation position of each connecting rod (9320) to allow the connecting rod (9320) to pass through; the tapered cylinder (9360) and the tapered hole are connected through a guide groove structure (9380) capable of guiding and preventing twisting.

22. The tank box filling method according to claim 21, characterized in that, The radius of the installation position of the connecting rod (9320) relative to the axis of the tapered cylinder (9360) is not more than the radius of the installation position of the spring (9330) relative to the axis of the tapered cylinder (9360).

23. The tank box filling method according to claim 21, characterized in that, The guide groove structure (9380) includes a guide groove (9381) and a guide block (9382), one of which is arranged on the side wall of the taper cylinder (9360), and the other is arranged on the inner wall of the taper hole of the support plate (9340).

24. The tank filling method according to claim 23, wherein, The guide groove structure (9380) is arranged symmetrically on both sides of the taper cylinder (9360) and has the same mounting orientation as one pair of connecting rods (9320).

25. The tank filling method according to claim 24, wherein, The guide block (9382) is arranged on the side wall of the taper cylinder (9360), and the guide groove (9381) is arranged on the taper hole; correspondingly, the guide groove structure (9380) further includes two guide blocks (9383) arranged in the guide groove, and the distance between the two guide blocks (9383) is slightly greater than the width of the guide block (9382), so that the guide block (9382) can be connected between the two guide blocks (9383) in a clearance fit manner.

26. The tank filling method according to claim 25, wherein, The guide block (9383) is matched with the guide block (9382) through a trapezoidal platform.

27. The tank filling method according to claim 25, wherein, The support plate (9340) is provided with an annular protrusion (9341) surrounding the taper cylinder (9360).

28. The tank filling method according to claim 27, wherein, When the guide groove (9381) is arranged on the taper hole, the guide groove (9381) separates the annular protrusion (9341), and the support plate (9340) is provided with a recessed mounting groove (9342) corresponding to the position of the guide block (9383), and a positioning notch is formed at the junction of the mounting groove and the guide groove.

29. The tank filling method according to claim 21, wherein, A spring (9330) groove is arranged on the elastic substrate (9350) at the position connected with the spring (9330) to accommodate the end of the spring (9330).

30. The tank filling method according to claim 21, wherein, The mechanical arm (9000) further includes a 3D camera (9500) and an imaging device (9600), which are respectively fixedly connected to the fixed disc (9310).

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