Tank filling system

Abstract

The tank container filling system provided by the present invention includes: an operating platform including a robotic arm fixing frame, a filling frame, and a tool frame; a robotic arm placed in the robotic arm fixing frame and capable of clamping the charging interface pipeline assembly and the exhaust interface pipeline assembly on the tool frame to perform filling operations on the container tank below the filling frame; the charging interface pipeline assembly connected to the tool frame and used to complete the connection to the charging port under the drive of the robotic arm to facilitate filling of the container tank; the exhaust interface pipeline assembly connected to the tool frame and used to complete the connection to the exhaust port under the drive of the robotic arm to facilitate exhausting of the container tank. The tank container filling system provided by the present invention can complete the automated filling of container tanks by integrating the operating platform, the robotic arm, the charging interface pipeline assembly, and the exhaust interface pipeline assembly.

Description

Technical Field

[0001] The present invention relates to the technical field of container tank filling, in particular to a tank box filling system. Background Art

[0002] Existing container tank filling equipment mostly relies on a combination of manual labor and equipment, requiring manual operation, resulting in low efficiency. Furthermore, the structural characteristics of tank containers make full automation challenging. The present invention addresses this challenge with a uniquely designed tank filling system based on these structural characteristics. Summary of the Invention

[0003] The technical problem to be solved by the embodiments of the present invention is to provide a tank filling system to solve the problem of fully automated filling of containers.

[0004] In order to solve the above technical problems, the present invention provides a tank container filling system, comprising:

[0005] An operating platform (6000), comprising a robotic arm fixing frame (6100), a filling frame (6200) and a tool frame (6300);

[0006] The robot arm (9000) is placed in the robot arm fixed frame (6100) and is capable of clamping the charging interface pipeline assembly (7000) and the exhaust interface pipeline assembly (8000) on the tool frame (6300) to perform a filling operation on the container tank below the filling frame (6200);

[0007] The filling interface pipeline assembly (7000) is connected to the tool frame (6300) and is used to complete the connection of the filling port under the drive of the robotic arm to facilitate the filling of the container tank;

[0008] The exhaust interface pipe assembly (8000) is connected to the tool frame (6300) and is used to complete the connection of the exhaust port under the drive of the robotic arm to facilitate the exhaust of the container tank.

[0009] The tank filling system provided by the present invention can complete the automatic filling of container tanks by integrating an operating platform and a mechanical arm, a charging interface pipeline assembly, and an exhaust interface pipeline assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 A schematic diagram of the three-dimensional structure of an embodiment of the present invention;

[0011] Figure 2 A schematic diagram of a structure in use state according to an embodiment of the present invention;

[0012] Figure 3A schematic diagram of the decomposed structure of an embodiment of the present invention;

[0013] Figure 4 Schematic diagram of the overall structure of an embodiment of the present invention.

[0014] Figure 5 Schematic diagram of the three-dimensional structure of the robotic arm according to an embodiment of the present invention.

[0015] Figure 6 Schematic diagram of the three-dimensional structure of the butterfly valve operating tool according to an embodiment of the present invention.

[0016] Figure 7 Schematic diagram of the three-dimensional structure of the butterfly valve operating tool according to an embodiment of the present invention.

[0017] Figure 8 Schematic diagram of the three-dimensional structure of the front-end tool connection module according to an embodiment of the present invention (one of the springs is omitted);

[0018] Figure 9 Schematic diagram of the three-dimensional structure of the front-end tool connection module according to an embodiment of the present invention;

[0019] Figure 10 This is a schematic diagram of the decomposed structure of the front-end tool connection module according to an embodiment of the present invention;

[0020] Figure 11 This is a schematic diagram of the decomposed structure of the front-end tool connection module according to an embodiment of the present invention.

[0021] Figure 12 It is a schematic diagram of the three-dimensional structure of the front-end tool connection module according to an embodiment of the present invention.

[0022] Figure 13 This is a schematic diagram of the three-dimensional structure of a container tank.

[0023] Figure 14 for Figure 13 A partial enlarged view of the .

[0024] Figure 15 for Figure 13 A partial enlarged view of the .

[0025] Figure 16 It is a schematic diagram of the three-dimensional structure of the exhaust interface pipeline assembly.

[0026] Figure 17 This is a cross-sectional view of the exhaust interface pipe assembly.

[0027] Figure 18 This is a cross-sectional view of the exhaust interface pipe assembly.

[0028] Figure 19 This is a schematic diagram of the assembly structure of the exhaust interface pipeline component.

[0029] Figure 20 It is a schematic diagram of the overall structure of the exhaust interface pipeline assembly.

[0030] Figure 21 This is a partial enlarged view of the exhaust interface pipe assembly.

[0031] Figure 22 This is a partial enlarged view of the exhaust interface pipe assembly.

[0032] Figure 23 This is a partial enlarged view of the exhaust interface pipe assembly.

[0033] Figure 24 This is a schematic diagram of the usage status of the charging interface pipeline assembly.

[0034] Figure 25 This is a cross-sectional view of the charging interface pipeline assembly.

[0035] Figure 26 for Figure 25 A partial enlarged view of the .

[0036] Figure 27 This is a schematic diagram of the appearance of the charging interface pipeline assembly.

[0037] In the picture:

[0038] 1000-Container tank; 1010-Vent port; 1020-Filling port; 1011 Notch; 1012-Annular groove;

[0039] 6000-operating platform;

[0040] 6100-Robotic arm fixed frame;

[0041] 6200-Filling frame;

[0042] 6300-Tool Framework;

[0043] 6400-operating ladder;

[0044] 6510-U-shaped reinforcement; 6520-diagonal tie rod;

[0045] 6610-first lifting beam; 6620-second lifting beam; 6630-load-bearing beam.

[0046] 7000-Filling interface pipeline assembly;

[0047] 7100-Filling fixed base plate;

[0048] 7200-Filling module connector;

[0049] 7300-Filling rigid pipe joint module; 7310-Rigid main pipe; 7320-Rigid side pipe; 7301-Control valve;

[0050] 7400 - charging rotation module; 7410 - charging drive motor; 7420 - charging drive gear; 7430 - charging large gear; 7440 - charging rotation sleeve; 7450 - charging locking piece;

[0051] 7500 - charging sealing and locking module; 7510 - charging fixing ring; 7520 - charging connecting ring; 7521 - charging inner sealing ring; 7522 - charging outer sealing ring; 7523 - charging locking plug; 7524 - step sealing ring;

[0052] 7600-Filling and opening unit;

[0053] 7700-Filling flexible pipe;

[0054] 7800-Filling control unit; 7810-Filling pump; 7820-Air blowing pump;

[0055] 7900- Tailings collection unit; 7910- Telescopic mechanism; 7920- Rotating mechanism; 7930- Recovery box.

[0056] 8000-Exhaust interface pipe assembly;

[0057] 8100-Exhaust fixed base plate;

[0058] 8200-Exhaust module connector;

[0059] 8300-Exhaust rigid pipe joint module; 8310-Exhaust lower connecting pipe; 8320-Exhaust upper connecting pipe;

[0060] 8400-Exhaust rotary module; 8410-Exhaust drive motor; 8420-Exhaust drive gear; 8430-Exhaust large gear; 8440-Exhaust rotary sleeve; 8450-Exhaust locking piece;

[0061] 8500 - Exhaust sealing locking module; 8510 - Exhaust fixing sleeve; 8520 - Exhaust sealing connecting pipe; 8521 - Exhaust inner sealing ring; 8522 - Exhaust outer sealing ring; 8523 - Exhaust locking plug;

[0062] 8600 - Exhaust cover opening unit; 8610 - First exhaust fixing piece; 8620 - Second exhaust fixing piece; 8630 - Exhaust linear guide rail; 8640 - Exhaust drive cylinder; 8650 - Exhaust clamping rotary head;

[0063] 8700-exhaust pipe;

[0064] 8800-Exhaust control module; 8810-Exhaust tee pipe; 8820-Exhaust module; 8830-Air supply module.

[0065] 9000-Robotic Arm;

[0066] 9100-butterfly valve operating tool; 9110-fixed base plate; 9120-fixed arm; 9130-movable arm; 9121-return hook structure; 9122-abutment portion; 9131-clamping portion; 9111-linear guide rail; 9112-slider; 9113-telescopic drive device; 9114-frame structure.

[0067] 9200-Gun module connector;

[0068] 9300-front-end tool connection module; 9310-fixed disk; 9320-connecting rod; 9330-spring; 9340-support plate; 9341-annular boss; 9342-mounting groove; 9343-conical hole; 9350-elastic base plate; 9360-conical cylinder; 9370-elastic disk; 9380-guide groove structure; 9381-guide groove; 9382-guide block; 9383-guide block.

[0069] 9400-Robot body;

[0070] 9500-3D camera; 9600-imaging device. DETAILED DESCRIPTION

[0071] To make the above-mentioned objects, features, and advantages of the present invention more readily apparent, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings. The following description sets forth numerous specific details to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways than those described herein, and those skilled in the art may make similar modifications without departing from the scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0072] like Figure 1-27 As shown, the tank container filling system provided by the present invention includes:

[0073] The operating platform 6000 includes a robot arm fixing frame 6100, a filling frame 6200, and a tool frame 6300;

[0074] The robotic arm 9000 is placed in the robotic arm fixed frame 6100 and is capable of clamping the charging interface pipe assembly 7000 and the exhaust interface pipe assembly 8000 on the tool frame 6300 to perform filling operations on the container tank below the filling frame 6200;

[0075] The filling interface pipe assembly 7000 is connected to the tool frame 6300 and is used to complete the connection of the filling port under the drive of the robotic arm to facilitate filling of the container tank;

[0076] The exhaust interface pipe assembly 8000 is connected to the tool frame 6300 and is used to complete the connection of the exhaust port under the drive of the robotic arm to facilitate the exhaust of the container tank.

[0077] The tank filling system provided by the present invention can complete the automatic filling of container tanks by integrating an operating platform and a mechanical arm, a charging interface pipeline assembly, and an exhaust interface pipeline assembly.

[0078] like Figure 1-4 As shown, the operating platform 6000 includes:

[0079] The robot arm fixing frame 6100 is used to house the robot arm and is a semi-enclosed frame structure. The front end of the robot 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;

[0080] The filling frame 6200 includes two independent door frames, which are detachably connected to both sides of the rear end of the robot arm fixed frame 6100 to form a filling operation space in the middle;

[0081] The tool frame 6300 is detachably connected to the rear end of the filling frame 6200 and is used to carry filling operation tools;

[0082] The operating ladder 6400 is detachably connected to the tool frame so as to be able to enter the filling operation space of the filling frame 6200 .

[0083] The filling operation tool includes a filling interface pipeline assembly and an exhaust interface pipeline assembly.

[0084] The bottoms of the two door frames of the filling frame 6200 are detachably connected via a U-shaped reinforcement 6510 , and the U-shaped reinforcement 6510 is further detachably connected to the tool frame 6300 via a diagonal rod 6520 .

[0085] There are two diagonal tie rods 6520 symmetrically arranged on the U-shaped reinforcement 6510 .

[0086] An L-shaped support rod is also provided at the bottom center of the U-shaped reinforcement 6510 to support the overflow box cover on the top of the container tank.

[0087] A first hanging beam 6610 is further provided between the tops of the two door frames of the filling frame 6200 for installing hanging tools.

[0088] A second suspension beam 6620 is also provided at the top rear end of the robot arm fixing frame 6100 .

[0089] A load-bearing beam 6630 is also provided at the top front end of the robot arm fixed frame 6100 for supporting the material interface ends of the charging interface pipeline assembly and the exhaust interface pipeline assembly.

[0090] The operating platform provided by the present invention can disassemble detachable structures such as the filling frame, tool frame, and operating ladder, and place them together with the robotic arm in the robotic arm fixed frame, thereby reducing the original size of the entire machine by more than half. In addition, the overall appearance of the operating platform after packaging and storage is a square frame, which is convenient for transportation. During the on-site installation and debugging process, there is no need to move the robotic arm, avoiding accidental damage to the robotic arm.

[0091] like Figure 5 As shown, the present invention provides a robotic arm 9000, including a robotic arm body 9400, a material gun module connector 9200, a butterfly valve operating tool 9100 and a front-end tool connecting module 9300, the material gun module connector 9200 and the butterfly valve operating tool 9100 are respectively connected to the front-end tool connecting module 9300, and the front-end tool connecting module 9300 is connected to the front end of the robotic arm body 9400; wherein, the front-end tool connecting module is an elastic connection structure, the front-end tool connecting module and the front-end of the robotic arm body are coaxially arranged, the material gun module connector and the front-end tool connecting module are coaxially arranged, the butterfly valve operating tool is located on the side of the material gun module connector, and when the front end of the robotic 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 connector, thereby facilitating the butterfly valve operating tool 9100 to operate the valve stem of the butterfly valve to open or close the butterfly valve, so that the material gun module connector 9200 can move the filling interface pipeline assembly 7000 or the exhaust interface pipeline assembly 8000 to the specified position for filling operation.

[0092] The front-end tool connection module 9300 adopts an elastic structure design, which can buffer the collision stress of the butterfly valve operating tool and the material gun module connector 9200 during movement, and can protect the robotic arm, front-end operating tools and operated parts.

[0093] The robotic arm provided by the present invention also includes a 3D camera 9500 and an imaging device 9600, each fixedly connected to a fixed plate 9310 of the front-end tool connection module 9300. The 3D camera 9500 is used to identify the butterfly valve, while the imaging device 9600 is used to image the pressure gauge on the container tank and identify the pressure in the image. Both the 3D camera 9500 and the imaging device 9600 are fixedly connected to the fixed plate 9310, ensuring they remain stationary and prevent vibration caused by the elasticity of the front-end tool connection module 9300.

[0094] The gun module connector is a male connector, and correspondingly a female connector (charging module connector 7200, exhaust module connector 8200) is also provided on the charging interface pipeline assembly 7000 or the exhaust interface pipeline assembly 8000 to connect the two and move the charging interface pipeline assembly 7000 or the exhaust interface pipeline assembly 8000.

[0095] The robot body is a 4-7 degree of freedom robot arm.

[0096] like Figure 6-7 As shown, the present invention provides a butterfly valve operating tool 9100, including a fixed base plate 9110, a fixed arm 9120 and a movable arm 9130, wherein the fixed arm 9120 is fixedly connected to the fixed base plate 9110. When in use, the fixed base plate 9110 is fixedly connected to the tool end of the robot arm; the movable 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 return hook structure 9121 is provided at the end of the fixed arm 9120, and a vertical The abutment portion 9122, and the top of the return hook structure 9121 is lower than the top of the abutment portion 9122; the movable arm 9130 is located on the side of the fixed arm 9120, and extends downwardly together with the fixed arm 9120, and is provided with a vertically downward clamping portion 9131 at the end. The lower end of the clamping portion 9131 is lower than the top of the return hook structure 9121 but not lower than the bottom of the return hook structure 9121, and the upper end of the clamping portion 9131 is flush with the height of the abutment portion 9122, so that when the clamping portion 9131 retracts, the distance between it and the abutment portion 9122 becomes smaller, so that the valve stem can be clamped and unlocked, so as to facilitate the valve stem to be further lifted and opened.

[0097] The butterfly valve operating tool provided by the present invention is installed on a mechanical arm and can be operated to open and close the valve stem of the butterfly valve under the drive of the mechanical arm. In particular, when the movable arm is extended and opened, the return hook structure can pass through the bottom of the valve stem, and then the movable arm is retracted by the telescopic drive device to clamp the valve stem. With the help of the limiting effect of the return hook structure, the valve stem can be lifted up and the butterfly valve can be opened. Similarly, the butterfly valve can also be closed. The present invention solves the problem of clamping the butterfly valve stem and opening the butterfly valve in the narrow space on the container tank.

[0098] Both the fixed arm 9120 and the movable arm 9130 extend downward at an angle in order to avoid the tools directly connected to the tool end of the robotic arm. The inclined downward extension method can facilitate the operation of the valve stem of the butterfly valve. The inclined method makes it easier to cut into the gap between the valve stem of the butterfly valve and the upper surface of the container tank.

[0099] The abutment portion 9122 is formed by an abutment block connected to the fixed arm 9120. At this time, the abutment portion is a separate structural component independent of the fixed arm 9120 and is fixed to the fixed arm by screw connection. Therefore, the abutment portion can be designed separately and can be replaced to meet the needs of different working scenarios.

[0100] The abutment portion 9122 is integrally formed on the fixed arm 9120. The use of an integrally formed abutment portion can reduce the structural size of the fixed arm and is more convenient to operate.

[0101] The abutment portion 9122 includes a rubber surface, thereby ensuring that the clamped valve stem will not easily rotate, become unhooked, etc.

[0102] The downward tilt angle of the movable arm 9130 is smaller than the downward tilt angle of the fixed arm 9120, thereby forming a sharp angle structure between the movable arm and the fixed arm, and the distance between the ends of the movable arm and the fixed arm is maximized, thereby preventing the supported valve stem from moving upward along the gap between the fixed arm and the movable arm.

[0103] The length of the return hook structure 9121 in the vertical direction does not exceed half of the abutment portion 9122 , thereby making it easier for the return hook structure 9121 to cut into between the valve stem and the upper surface of the container tank.

[0104] The inclination angle of the fixed arm 9120 and the movable arm 9130 is between 30-60 degrees, and in extreme cases, it can also be between 15-75 degrees.

[0105] A horizontally extending linear guide rail 9111 and a slider 9112 are provided on the fixed base plate 9110 . The slider is connected to the movable arm 9130 , and is driven to move by a telescopic driving device 9113 on the fixed base plate 9110 .

[0106] The telescopic drive device is a telescopic cylinder.

[0107] The tool also includes a frame structure 9114, which is sleeved onto the exterior of the fixed base plate 9110. The movable arm 9130 and the slider are fixedly connected to the frame structure. A telescopic drive device is connected to the lower portion of the fixed base plate 9110 to drive the frame structure, which in turn drives the slider. The design of the frame structure 9114 allows the drive position of the telescopic drive device to be different from the connection position of the slider, thereby optimizing the overall layout of the butterfly valve operating tool and reducing space usage.

[0108] The frame structure 9114 is a U-shaped structure formed by splicing and connecting four flat plates.

[0109] like Figure 8-12As shown, the present invention provides a front-end tool connection module of a robotic arm, comprising a fixed plate 9310, four connecting rods 9320, four springs 9330, a support plate 9340, an elastic base plate 9350, a cone 9360 and an elastic plate 9370, wherein the fixed plate is connected to the front end of the robotic arm body, and the fixed plate 9310 is fixedly connected to the four sides of the support plate 9340 through the four connecting rods 9320, thereby constructing a accommodating space between the fixed plate 9310 and the support plate 9340 to accommodate the elastic base plate 9350 and allow the elastic base plate 9350 to be elastically moved. The elastic base plate 9350 moves between the fixed plate and the supporting plate; a tapered hole 9343 is provided in the center of the supporting plate 9340, and a cone 9360 is adaptively connected to the tapered hole 9343. The cone 9360 is in a shape of a larger top and a smaller bottom. The upper end of the cone 9360 is fixedly connected to the elastic base plate 9350, and the lower end is fixedly connected to the elastic plate 9370. The elastic base plate 9350 and the elastic plate 9370 are fixedly connected through the cone 9360, thereby forming an integral structure. When the elastic plate 9370 is subjected to stress, it can pass through the cone 9360. The spring 9330 is arranged between the fixed disk 9310 and the elastic base 9350, and the connecting rod 9320 and the spring 9330 are arranged in a staggered manner around the four sides of the elastic base 9350, and the spring 9330 is arranged in a staggered manner around the four sides of the elastic base 9350, and the spring 9330 is arranged between the fixed disk 9310 and ... An inner groove opening allowing the connecting rod 9320 to pass through is provided on the elastic base plate 9350 corresponding to the installation position of each connecting rod 9320. The connecting rod 9320 avoids the inner groove opening and maintains a certain distance from the edge of the inner groove opening, so that the elastic base plate 9350 will not collide with the connecting rod 9320 during the movement toward the fixed disk 9310, and the connecting rod 9320 will not restrict the movement of the elastic base plate 9350; the conical cylinder 9360 and the conical hole 9343 are connected by a guide groove structure 9380 that can guide and prevent torsion.

[0110] The radius of the mounting position of the connecting rod 9320 relative to the axis of the cone 9360 does not exceed the radius of the mounting position of the spring 9330 relative to the axis of the cone 9360. This makes the radial dimension of the entire connection module smaller, occupies less space, and facilitates the movement of the robot arm.

[0111] The guide groove structure 9380 includes a guide groove 9381 and a guide block 9382. One of the guide groove 9381 and the guide block 9382 is provided on the side wall of the cone 9360, and the other is provided on the inner wall of the tapered hole 9343 of the support plate 9340. The guide groove structure 9380 can guide the movement of the cone 9360 and prevent the cone 9360 from rotating in the axial direction.

[0112] Two guide groove structures 9380 are symmetrically arranged on either side of the cone 9360, oriented in the same direction as the pair of connecting rods 9320. The number of guide groove structures 9380 should not be too large, as this would create significant friction and restrict the swing of the cone 9360. Compared to the commonly used three-point positioning structure, which uses three guide grooves, two symmetrically arranged guide groove structures 9380 provide an optimal solution.

[0113] 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 distance 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 by clearance fit.

[0114] The guide block 9383 cooperates with the guide block 9382 through the trapezoidal platform. The trapezoidal platform structure can minimize the contact area and provide stable support.

[0115] The support plate 9340 is provided with an annular boss 9341 surrounding the cone 9360. The annular boss 9341 can not only increase the area of ​​the cone hole, but also greatly improve the strength of the support plate 9340.

[0116] When the guide groove 9381 is set on the tapered hole 9343, the guide groove 9381 separates the annular boss 9341, and a concave mounting groove 9342 is provided on the support plate 9340 at a position corresponding to the guide block 9383, and a positioning groove is formed at the connection position between the mounting groove and the guide groove.

[0117] A spring 9330 groove is provided on the elastic base 9350 at a position connected to the spring 9330 to accommodate the end of the spring 9330 .

[0118] The front-end tool connection module of the robotic arm provided by the present invention reduces the overall structural size by rationally designing the spring and the connecting rod, especially by avoiding the elastic substrate for the connecting rod; when placed at the front end of the robotic arm, the robotic arm is operated to drive the tool at the tool end to work, which can play a buffering role; further, through the matching structure of the trapezoidal platform of the guide block and the guide block, it can avoid the cone cylinder from rotating along the tapered hole, and can minimize the restriction on the cone cylinder swing, thereby improving the elastic matching margin.

[0119] like Figure 13-15As shown, the exhaust port 1010 of the existing container tank 1000 is arranged in the overflow box on the top of the container tank 1000, and the exhaust port 1010 and the charging port 1020 are usually sealed by a screw cap. The exhaust port 1010 and the charging port 1020 are internally provided with a butterfly valve that can be opened and closed. The number of notches on the top circumference of the exhaust port 1010 and the charging port 1020 is the same as that on the exhaust port, and the position corresponds to the notch 1011, and an annular groove 1012 is provided on the lower outer side of the notch.

[0120] like Figure 16-23 As shown, the present invention provides an exhaust interface pipe assembly 8000, comprising:

[0121] The exhaust fixing base plate 8100 provides a fixed support foundation for the entire interface module. It is usually a flat plate structure. If necessary, it can also be fixedly connected to other structures at the edge or have connection points for connecting to other structures at the edge. The exhaust fixing base plate 8100 is an overall special-shaped structure.

[0122] The exhaust module connector 8200 is fixedly connected to the upper portion of the exhaust fixed base plate 8100 and can be connected to the gun module connector of the robot arm. The exhaust module connector 8200 and the gun module connector can adopt a common structure or a separately designed structure that can be positioned and connected to each other;

[0123] The exhaust rigid pipe joint module 8300 is vertically connected to the exhaust fixed base plate 8100, with the lower end of the exhaust rigid pipe joint module 8300 located below the exhaust fixed base plate 8100. The upper portion of the exhaust rigid pipe joint module 8300 is used to connect to the exhaust pipeline. The exhaust pipeline is generally flexible to enable movement under the drive of the robotic arm. The lower portion of the exhaust rigid pipe joint module 8300 is used to connect to the exhaust port 1010 of the container tank 1000 and seal it.

[0124] The exhaust rotating module 8400 is sleeved onto the exterior of the exhaust rigid pipe joint module 8300 and is coaxially arranged with the exhaust rigid pipe joint module 8300 at the connection position. The bottom of the exhaust rotating module 8400 has the same number of notches as the exhaust port, and the positions correspond to the exhaust locking member 8450. The exhaust locking member 8450 can move downward along with the exhaust fixed base plate 8100 through the notches 1011 of the exhaust port 1010 of the container tank 1000 and, after being driven to rotate, form an axial lock with the exhaust port 1010 of the container tank 1000. The function of the exhaust rotating module 8400 is to form a lock with the exhaust port of the container tank 1000 to ensure a good seal between the exhaust rigid pipe joint module 8300 and the exhaust port 1010.

[0125] 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 sealed with the lower end of the exhaust rigid pipe joint module 8300. The exhaust sealing and locking module 8500 is provided with an exhaust outer sealing ring 8522 on the outside. When the exhaust sealing and locking module 8500 is docked with the exhaust port of the container tank, a seal is formed between the exhaust outer sealing ring 8522 and the exhaust port 1010 of the container tank. The exhaust sealing and locking module 8500 is also provided with at least one An exhaust locking plug 8523 is located outside the exhaust outer sealing ring 8522 and arranged vertically downward. The exhaust locking plug 8523 is higher than the exhaust locking member 8450 and can be inserted into the notch 1011 of the exhaust port 1010 of the container tank. The exhaust sealing locking module 8500 is arranged at the lower end of the exhaust rigid pipe joint module 8300 and can serve as a transition seal. On the one hand, it seals with the exhaust rigid pipe joint module, and on the other hand, it is sealed with the exhaust port 1010.

[0126] The exhaust cover opening unit 8600 is fixedly mounted on the exhaust fixed base plate 8100 and is located on one side of the exhaust rotating module 8400. It is capable of opening the exhaust cover on the exhaust port. The exhaust cover opening unit 8600 opens the exhaust cover from the exhaust port by clamping, rotating, and retracting the exhaust cover, and reattaches the exhaust cover to the exhaust port after filling is completed.

[0127] The exhaust pipe 8700 is connected to the exhaust rigid pipe joint module 8300. The exhaust pipe 8700 is usually a flexible pipe to facilitate movement under the operation of the robot arm;

[0128] The exhaust control module 8800 is connected to the exhaust pipeline 8700 and is used to control the exhaust of the exhaust pipeline 8700. The exhaust control module 8800 can control the exhaust of the pipeline to keep the pressure in the container tank within a preset range. When necessary, the container tank can also be replenished with air to maintain the internal pressure of the container tank.

[0129] The exhaust interface pipe assembly provided by the present invention can be connected to the robotic arm through the exhaust module joint. Its exhaust cover opening unit is clamped and opened by the exhaust cover of the container tank under the drive of the robotic arm, and is docked and sealed with the exhaust port of the container tank through the exhaust sealing locking module. The exhaust port is locked by the exhaust rotating module, thereby facilitating exhaust and ensuring the sealing and stability of the container tank during the filling process.

[0130] The exhaust cover opening unit 8600 can telescope downward to open the exhaust cover on the exhaust port and retract upward; when the exhaust cover opening unit 8600 telescopes downward, 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; when the exhaust cover opening unit 8600 retracts upward, the exhaust clamping rotary head 8650 is higher than the bottom height of the exhaust rotary module 8400;

[0131] Preferably, the exhaust and cover opening unit 8600 includes:

[0132] The first exhaust fixing member 8610 is fixedly connected to the exhaust fixing base plate 8100. The first exhaust fixing member 8610 is a non-standard component. It mainly constructs a vertical fixing base surface to facilitate the fixation of the entire exhaust cover unit 8600 and can move synchronously with the exhaust fixing base plate 8100.

[0133] The exhaust linear guide rail 8630 is vertically connected to the outer side surface of the first exhaust fixing member 8610;

[0134] The second exhaust fixing member 8620 is slidably connected to the exhaust linear guide rail 8630 so as to be able to slide in the vertical direction along the exhaust linear guide rail 8630;

[0135] 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;

[0136] The exhaust clamping rotary head 8650 can clamp the exhaust cover and rotate it to a predetermined angle, and then retract and open along the exhaust linear guide rail 8630 under the drive of the exhaust driving cylinder 8640.

[0137] The exhaust control module 8800 includes:

[0138] Exhaust tee pipe 8810 is connected to the rear end of the exhaust pipe 8700;

[0139] The exhaust module 8820 is connected to a branch of the exhaust tee pipe 8810 and is connected to the exhaust device;

[0140] The air supply module 8830 is connected to the other branch of the exhaust tee pipe 8810 and is connected to the air pump device;

[0141] The exhaust module 8820 and the air supply module 8830 are respectively provided with a control valve and a pressure detection device.

[0142] The exhaust rigid pipe joint module 8300 includes a lower exhaust connecting pipe 8310, the top of which is fixedly connected to the exhaust fixed base plate 8100. A corresponding through-hole is provided in the exhaust fixed base plate 8100 to allow the lower exhaust connecting pipe 8310 to pass through. The lower exhaust connecting pipe 8310 is made of a rigid material, ensuring good deformation resistance and facilitating connection with the exhaust port.

[0143] The exhaust rigid pipe joint module 8300 also includes an upper exhaust connecting pipe 8320, which is sealed to the top of the lower exhaust connecting pipe 8310. The upper exhaust connecting pipe 8320 is also typically made of rigid material. Its curved shape allows for the positioning of the exhaust module joint 8200, the robotic arm connected to it, and the exhaust drive motor 8410, thereby optimizing the overall structural layout. The top of the upper exhaust connecting pipe 8320 is connected to the exhaust pipeline.

[0144] The exhaust rotary module 8400 includes:

[0145] The exhaust drive motor 8410 is fixedly connected to the upper portion of the exhaust fixed base plate 8100, and the output shaft of the exhaust drive motor 8410 passes through the exhaust fixed base plate 8100;

[0146] The exhaust drive gear 8420 is located below the exhaust fixed base plate 8100 and is fixedly connected to the output shaft of the exhaust drive motor 8410. The exhaust drive motor 8410 and the exhaust drive gear 8420 are separated on both sides of the exhaust fixed base plate 8100, thereby making the overall structural layout of the module more reasonable.

[0147] The exhaust gear 8430 is meshed with the exhaust drive gear 8420 and is coaxially connected to the exterior of the exhaust lower connecting pipe 8310. The exhaust gear 8430 is connected to the exhaust fixed base plate 8100 via a bearing so that the exhaust gear 8430 can rotate around the exhaust lower connecting pipe 8310.

[0148] The exhaust rotating sleeve 8440 is fixedly connected to the exhaust gear 8430 and rotates under the drive of the exhaust gear 8430. The exhaust rotating sleeve 8440 is directly connected to the side of the exhaust gear 8430 via a flange, and the exhaust gear 8430 drives the exhaust rotating sleeve 8440 to rotate synchronously. The exhaust gear 8430 and the exhaust rotating sleeve 8440 are coaxially arranged with the exhaust lower connecting pipe 8310, thereby driving the exhaust locking member 8450 to rotate coaxially around the exhaust port.

[0149] The exhaust locking pieces 8450 have the same number and corresponding positions as the notches on the exhaust port, are located on the bottom inner side of the exhaust rotating sleeve 8440 and are evenly distributed in the axial direction.

[0150] 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 pass through the gap of the exhaust port of the container tank axially and then rotate radially into the annular groove.

[0151] The bottom inner wall of the exhaust rotating sleeve 8440 is processed to form an annular boss, the inner diameter of which 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.

[0152] Exhaust sealing and locking module 8500 includes:

[0153] The exhaust fixing sleeve 8510 is sleeved onto the exterior of the exhaust lower connecting pipe 8310 and is fixedly connected to the exhaust fixing base plate 8100 via a flange. The exhaust fixing sleeve 8510 provides rigid support for the exhaust lower connecting pipe 8310, thereby preventing the exhaust lower connecting pipe 8310 from tilting and deforming when connected to the exhaust port, ensuring accurate docking and sealing between the exhaust lower connecting pipe 8310 and the exhaust port 1010. The exhaust fixing sleeve 8510 and the exhaust lower connecting pipe 8310 are coaxially arranged.

[0154] 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 sealed and connected to the outer wall of the exhaust lower connecting pipe 8310 through the exhaust inner sealing ring 8521. The exhaust outer sealing ring 8522 is set on the outer wall of the exhaust sealing connecting pipe 8520 and is used to seal between the inner pipe mouth of the exhaust port. A step structure is set at the position of the exhaust outer sealing ring 8522, and an annular groove for accommodating the exhaust outer sealing ring 8522 is set at the step structure. When the outer sealing ring 8522 is sealed with the exhaust port, the exhaust outer sealing ring 8522 is compressed and restricted by the step structure, thereby achieving a better sealing effect; the exhaust locking plug 8523 is fixedly connected to the exhaust sealing connecting pipe 8520, and is located on the outside of the exhaust outer sealing ring 8522. The exhaust locking plug 8523 has a shape that is adapted to the notch 1011 of the exhaust port 1010, and the number of exhaust locking plugs 8523 is also the same as the number of notches 1011, so that it can be inserted into all notches 1011.

[0155] The exhaust sealing connecting pipe 8520 and the exhaust fixing sleeve 8510 are connected in a detachable manner.

[0156] The exhaust fixed sleeve 8510 and the exhaust sealing connecting pipe 8520 are both coaxially arranged with the exhaust lower connecting pipe 8310 .

[0157] The exhaust locking plug 8523 has the same number and corresponding positions as the notches on the exhaust port, so that it can be inserted into the notches on the exhaust port to limit mutual rotation. A guiding relationship is formed between the exhaust locking plug 8523 and the notch 1011 on the exhaust port 1010, so that the exhaust locking plug 8523 can move axially along the notch 1011.

[0158] like Figures 24-27 As shown, the present invention provides a charging interface pipeline assembly, comprising:

[0159] The filling and fixing base plate 7100 provides a fixed support foundation for the entire interface module. It is usually a flat plate structure. When necessary, it can also be fixedly connected to other structures at the edge or have connection points for connecting to other structures at the edge. The filling and fixing base plate 7100 is an overall special-shaped structure.

[0160] The charging module connector 7200 is fixedly connected to the upper portion of the charging fixed base plate 7100 and can be connected to the gun module connector of the robot arm. The charging module connector 7200 and the gun module connector can adopt a common structure or a separately designed structure that can be positioned and connected to each other;

[0161] The charging rigid pipe joint module 7300 is vertically connected to the charging fixed base plate 7100, with the lower end of the charging rigid pipe joint module 7300 located below the charging fixed base plate 7100. The upper portion of the charging rigid pipe joint module 7300 is used to connect to the charging pipeline. The charging pipeline is usually flexible to allow it to move under the control of the robot arm. The lower portion of the charging rigid pipe joint module 7300 is used to connect with and seal the charging port 1010 of the container tank 1000. A control valve 7301 is installed in the charging rigid pipe joint module 7300.

[0162] The charging rotation module 7400 is sleeved onto the exterior of the charging rigid pipe joint module 7300 and is coaxially arranged with the charging rigid pipe joint module 7300 at the connection position. The bottom of the charging rotation module 7400 has the same number of notches as the charging port, and the position corresponds to the charging locking member 7450. The charging locking member 7450 can move downward along with the entire charging interface pipeline assembly 7000, pass through the notch 1011 of the charging port 1010 of the container tank 1000, and be driven to rotate to form an axial lock with the charging port 1010 of the container tank 1000. The function of the charging rotation module 7400 is to form a lock with the charging port of the container tank 1000 to ensure a good seal between the charging rigid pipe joint module 7300 and the charging port 1010.

[0163] The charging sealing and locking module 7500 is located between the charging rigid pipe joint module 7300 and the charging rotating module 7400, and is sealed with the lower end of the charging rigid pipe joint module 7300 and the charging port of the container tank. The charging sealing and locking module 7500 also has at least one charging locking plug 7523, which is located outside the charging outer sealing ring 7522 and arranged vertically downward. The charging locking plug 7523 is higher than the charging locking member 7450 and can be inserted into the notch 1011 of the charging port 1010 of the container tank. The charging sealing and locking module 7500 is arranged at the lower end of the charging rigid pipe joint module 7300 and can provide a transition seal. On the one hand, it seals with the charging rigid pipe joint module, and on the other hand, it is sealed with the charging port 1010.

[0164] The filling and opening cover unit 7600 is fixedly mounted on the filling fixed base plate 7100;

[0165] The front end of the flexible charging pipe 7700 is connected to the rigid charging pipe joint module 7300. The flexible charging pipe 7700 can move freely without restriction under the drive of the robotic arm, facilitating charging.

[0166] The charging control unit 7800 is connected to the rear end of the charging flexible pipeline 7700 and is used to provide power for charging. It can also blow air into the pipeline after charging is completed to quickly clean up the residual materials.

[0167] The outside of the charging sealing and locking module 7500 is provided with a charging outer sealing ring 7522. When the charging interface pipeline assembly 7000 is docked with the charging port of the container tank, a seal is formed between the charging outer sealing ring 7522 and the charging port 1010 of the container tank; the charging sealing and locking module 7500 is also provided with a step sealing ring 7524, which is sealed and connected to the step surface in the charging port of the container tank.

[0168] The charging 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 the control valve is located in the rigid main pipe 7310. A conical mouth structure adapted to the control valve 7301 is provided in the rigid main pipe 7310.

[0169] The charging rotary module 7400 includes:

[0170] The charging drive motor 7410 is fixedly connected to the upper portion of the charging fixed base plate 7100, and the output shaft of the charging drive motor 7410 passes through the charging fixed base plate 7100;

[0171] The charging drive gear 7420 is located below the charging fixed base plate 7100 and is fixedly connected to the output shaft of the charging drive motor 7410. The charging drive motor 7410 and the charging drive gear 7420 are separated on both sides of the charging fixed base plate 7100, thereby making the overall structural layout of the module more reasonable.

[0172] The charging gear 7430 is meshed with the charging drive gear 7420 for transmission, and the charging gear 7430 is coaxially connected to the outside of the rigid main pipe 7310. The charging gear 7430 is connected to the charging fixed base plate 7100 through a bearing so that the charging gear 7430 can rotate around the rigid main pipe 7310.

[0173] The charging rotary sleeve 7440 is fixedly connected to the charging gear 7430 and rotates under the drive of the charging gear 7430. The charging rotary sleeve 7440 is directly connected to the side of the charging gear 7430 through a flange, and the charging gear 7430 drives the charging rotary sleeve 7440 to rotate synchronously. The charging gear 7430 and the charging rotary sleeve 7440 are coaxially arranged with the rigid main pipe 7310, thereby driving the charging locking member 7450 to rotate coaxially around the charging port.

[0174] The charging locking pieces 7450 have the same number and corresponding positions as the notches on the charging port, are located on the bottom inner side of the charging rotating sleeve 7440 and are evenly distributed in the axial direction.

[0175] 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 pass through the gap of the filling port of the container tank axially and then rotate radially into the annular groove.

[0176] Filling, sealing and locking module 7500 includes:

[0177] The charging fixing ring 7510 is sleeved onto the exterior of the rigid main pipe 7310 and fixedly connected to the charging fixing base plate 7100 via a flange. The charging fixing ring 7510 provides rigid support for the rigid main pipe 7310, thereby preventing the rigid main pipe 7310 from tilting and deforming when connected to the charging port, ensuring accurate docking and sealing between the rigid main pipe 7310 and the charging port 1010. The charging fixing ring 7510 and the rigid main pipe 7310 are coaxially arranged.

[0178] The charging connection ring 7520 is fixedly connected to the lower end of the charging fixed ring 7510. The inner wall of the charging connection ring 7520 is sealed with the outer wall of the rigid main pipe 7310 through the charging inner sealing ring 7521. The charging outer sealing ring 7522 is set on the outer wall of the charging connection ring 7520. The step sealing ring 7524 is set in the annular groove on the end face of the charging connection ring 7520 for sealing with the inner pipe mouth of the charging port. A step structure is provided at the position of the charging outer sealing ring 7522, and a step structure is provided at the step structure to accommodate the charging outer sealing ring 7524. The annular groove 522, when the charging outer sealing ring 7522 is sealed with the charging port, the charging outer sealing ring 7522 is compressed and restricted by the step structure, thereby achieving a better sealing effect; the charging locking plug 7523 is fixedly connected to the charging connecting ring 7520, and is located on the outside of the charging outer sealing ring 7522, the charging locking plug 7523 has a shape that is adapted to the notch 1011 of the charging port 1010, and the number of the charging locking plugs 7523 is also the same as the number of the notches 1011, so that it can be inserted into all the notches 1011.

[0179] The charging connecting ring 7520 and the charging fixing ring 7510 are connected in a detachable manner.

[0180] The charging fixing ring 7510 and the charging connecting ring 7520 are both coaxially arranged with the rigid main pipe 7310 .

[0181] The charging locking plug 7523 has the same number and corresponding position as the notches on the charging port, so that it can be inserted into the notches on the charging port to limit mutual rotation. A guiding relationship is formed between the charging locking plug 7523 and the notch 1011 on the charging port 1010, so that the charging locking plug 7523 can move axially along the notch 1011.

[0182] The charging control unit 7800 includes a charging pump 7810 and an air blowing pump 7820 , wherein the charging pump 7810 and the air blowing pump 7820 are connected to the charging flexible pipeline 7700 via a three-way valve.

[0183] The charging interface pipeline assembly 7000 also includes a tail material collection unit 7900, which is connected to the charging fixed base plate 7100 and is used to collect the tail material at the outlet of the rigid main pipe 7310 after the charging is completed to avoid contamination.

[0184] The tail material collection unit 7900 includes a telescopic mechanism 7910, a rotating mechanism 7920, and a recovery box 7930. The telescopic mechanism 7910 is connected to the lower portion of the charging station base 7100 and can be extended and retracted downward. The rotating mechanism 7920 is connected to the bottom of the telescopic mechanism 7910 and moves vertically driven by the telescopic mechanism 7910 and can also rotate horizontally. The recovery box 7930 is connected to the rotating mechanism 7920 and can be rotated to the bottom of the rigid main pipe 7310 by the rotating mechanism 7920. The tail material collection unit 7900 effectively ensures that after charging is completed, residual materials will not contaminate the equipment or the environment.

[0185] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0186] The above embodiments merely illustrate several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent. It should be noted that a person skilled in the art would be able to make various modifications and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the patent for this invention shall be determined by the appended claims.

Claims

1. Tank filling system, including: An operating platform (6000), comprising a robotic arm fixing frame (6100), a filling frame (6200) and a tool frame (6300); The robot arm (9000) is placed in the robot arm fixed frame (6100) and is capable of clamping the charging interface pipeline assembly (7000) and the exhaust interface pipeline assembly (8000) on the tool frame (6300) to perform a filling operation on the container tank (1000) below the filling frame (6200); The charging interface pipeline assembly (7000) is connected to the tool frame (6300) and is used to complete the connection with the charging port (1020) under the drive of the mechanical arm (9000) to facilitate the charging of the container tank (1000); The exhaust interface pipe assembly (8000) is connected to the tool frame (6300) and is used to complete the connection to the exhaust port (1010) under the drive of the robot arm (9000) to facilitate the exhaust of the container tank (1000); The robot arm (9000) comprises a robot arm body (9400), a gun module connector (9200), a butterfly valve operating tool (9100) and a front-end tool connection module (9300), wherein the gun module connector (9200) and the butterfly valve operating tool (9100) are respectively connected to the front-end tool connection module (9300), and the front-end tool connection module (9300) is connected to the front end of the robot arm body (9400); wherein the front-end tool connection module (9300) is elastic The front-end tool connection module (9300) is coaxially arranged with the front end of the robot body (9400), the material gun module connector (9200) is coaxially arranged with the front-end tool connection module (9300), the butterfly valve operating tool (9100) is located on the side of the material gun module connector (9200), and when the front end of the robot 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 connector (9200); The butterfly valve operating tool (9100) comprises a fixed base plate (9110), a fixed arm (9120) and a movable arm (9130), wherein the fixed arm (9120) is fixedly connected to the fixed base plate (9110), and the movable 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 provided at the end of the fixed arm (9120), and the inner side of the hook structure (9121) is fixed. A vertical abutment portion (9122) is provided on the arm (9120), and the top of the return hook structure (9121) is lower than the top of the abutment portion (9122); the movable arm (9130) is located on the side of the fixed arm (9120), and extends downwardly together with the fixed arm (9120), and is provided with a vertical downward clamping portion (9131) at the end, the lower end of the clamping portion (9131) is lower than the top of the return hook structure (9121) but not lower than the bottom of the return hook structure (9121), and the upper end of the clamping portion (9131) is at the same height as the abutment portion (9122).

2. The tank container filling system according to claim 1, characterized in that: Operating platform (6000), including: The robot arm fixing frame (6100) is used to accommodate the robot arm and is a semi-enclosed frame structure. The front end of the robot 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); The filling frame (6200) comprises two independent door frames, which are detachably connected to both sides of the rear end of the robot arm fixed frame (6100) to form a filling operation space in the middle; A tool frame (6300) is detachably connected to the rear end of the filling frame (6200) and is used to carry a filling interface pipeline assembly and an exhaust interface pipeline assembly; The operating ladder (6400) is detachably connected to the tool frame so as to be able to enter the filling operation space of the filling frame (6200).

3. The tank filling system according to claim 2, characterized in that: The bottoms of the two door frames of the filling frame (6200) are detachably connected via a U-shaped reinforcement (6510), and the U-shaped reinforcement (6510) is also detachably connected to the tool frame (6300) via a diagonal rod (6520).

4. The tank filling system according to claim 3, characterized in that: There are two diagonal tie rods (6520) symmetrically arranged on the U-shaped reinforcement (6510).

5. The tank container filling system according to claim 3, characterized in that: An L-shaped support rod is also provided at the center of the bottom of the U-shaped reinforcement (6510) for supporting the overflow box cover on the top of the container tank (1000).

6. The tank filling system according to claim 3, characterized in that: A first hanging beam (6610) is also provided between the tops of the two door frames of the filling frame (6200) for installing a hanging tool.

7. The tank container filling system according to claim 6, characterized in that: A second suspension beam (6620) is also provided at the top rear end of the robot arm fixing frame (6100).

8. The tank filling system according to claim 7, characterized in that: A load-bearing beam (6630) is also provided at the top front end of the robot arm fixed frame (6100) for supporting the material interface ends of the charging interface pipeline assembly (7000) and the exhaust interface pipeline assembly (8000).

9. The tank container filling system according to claim 1, characterized in that: The gun module connector (9200) is a male connector, and a corresponding female connector is also provided on the charging interface pipeline assembly (7000) or the exhaust interface pipeline assembly (8000) to connect the two and move the charging interface pipeline assembly (7000) or the exhaust interface pipeline assembly (8000).

10. The tank container filling system according to claim 1, characterized in that: The robotic arm body (9400) is a 4-7 degree-of-freedom robotic arm.

11. The tank filling system according to claim 1, characterized in that: The abutment portion (9122) is formed by an abutment block connected to the fixed arm (9120); alternatively, the abutment portion (9122) is integrally formed on the fixed arm (9120).

12. The tank filling system according to claim 1, characterized in that: The abutment portion (9122) includes a rubber surface.

13. The tank container filling system according to claim 1, characterized in that: The downward tilt angle of the movable arm (9130) is smaller than the downward tilt angle of the fixed arm (9120), so that a sharp angle structure is formed between the movable arm (9130) and the fixed arm (9120), and the distance between the ends of the movable arm (9130) and the fixed arm (9120) is maximized.

14. The tank filling system according to claim 1, characterized in that: The length of the hook structure (9121) in the vertical direction does not exceed half of the abutment portion (9122).

15. The tank container filling system according to claim 1, characterized in that: The inclination angles of the fixed arm (9120) and the movable arm (9130) are between 30 and 60 degrees.

16. The tank container filling system according to claim 1, characterized in that: A horizontally extending linear guide rail (9111) and a slider (9112) are provided on the fixed base plate (9110); the slider is connected to the movable arm (9130), and the slider (9112) is driven to move by a telescopic drive device (9113) on the fixed base plate (9110).

17. The tank container filling system according to claim 16, characterized in that: The telescopic drive device (9113) is a telescopic cylinder.

18. The tank filling system according to claim 16, characterized in that: The butterfly valve operating tool (9100) further includes a frame structure (9114), which is sleeved on the outside of the fixed base plate (9110), and the movable arm (9130) and the slider (9112) are respectively fixedly connected to the frame structure (9114); the telescopic drive device (9113) is connected to the lower part of the fixed base plate (9110) to drive the frame structure (9114), thereby driving the slider (9112) to move through the frame structure (9114).

19. The tank container filling system according to claim 18, characterized in that: The frame structure (9114) is a U-shaped structure formed by splicing and connecting four flat plates.

20. The tank container filling system according to claim 1, characterized in that: The front-end tool connection module (9300) includes a fixed disk (9310), four connecting rods (9320), four springs (9330), a support plate (9340), an elastic base plate (9350), a cone (9360) and an elastic disk (9370), wherein the fixed disk is connected to the front end of the robot arm body (9400), the fixed disk (9310) is fixedly connected to the four sides of the support plate (9340) through four connecting rods (9320), a cone hole is provided in the center of the support plate (9340), the cone (9360) is adaptively connected to the cone hole, the cone (9360) is in a shape of being larger at the top and smaller at the bottom, the upper end of the cone (9360) is fixedly connected to the elastic base plate (9350), and the lower end is fixedly connected to the elastic disk (9370). , the elastic disk (9370) is connected to the gun module connector (9200) and the butterfly valve operating tool (9100); the elastic base plate (9350) is located between the fixed disk (9310) and the support plate (9340), and the spring (9330) is arranged between the fixed disk (9310) and the elastic base plate (9350), the connecting rod (9320) and the spring (9330) are arranged in a staggered manner around the elastic base plate (9350), and the elastic base plate (9350) is provided with an inner groove opening corresponding to the installation position of each connecting rod (9320) to allow the connecting rod (9320) to pass through; the conical cylinder (9360) and the conical hole are connected by a guide groove structure (9380) that can guide and prevent torsion.

21. The tank filling system according to claim 20, characterized in that: The radius of the installation position of the connecting rod (9320) relative to the axis of the cone (9360) does not exceed the radius of the installation position of the spring (9330) relative to the axis of the cone (9360).

22. The tank filling system according to claim 20, characterized in that: The guide groove structure (9380) includes 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 cone cylinder (9360), and the other is arranged on the inner wall of the cone hole of the support plate (9340).

23. The tank filling system according to claim 22, characterized in that: There are two guide groove structures (9380), which are symmetrically arranged on both sides of the cone (9360) and have the same installation orientation as a pair of connecting rods (9320) therein.

24. The tank filling system according to claim 22, characterized in that: The guide block (9382) is arranged on the side wall of the conical cylinder (9360), and the guide groove (9381) is arranged on the conical hole; correspondingly, the guide groove structure (9380) also includes two guide blocks (9383) arranged in the guide groove (9381), and the distance 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) by clearance fit.

25. The tank filling system according to claim 24, characterized in that: The guide block (9383) cooperates with the guide block (9382) through the trapezoidal platform.

26. The tank filling system according to claim 24, characterized in that: The support plate (9340) is provided with an annular boss (9341) surrounding the cone (9360).

27. The tank container filling system according to claim 26, characterized in that: When the guide groove (9381) is arranged on the tapered hole, the guide groove (9381) separates the annular boss (9341), and a concave mounting groove (9342) is provided on the support plate (9340) at a position corresponding to the guide block (9383), and a positioning notch is formed at the connection position between the mounting groove (9342) and the guide groove (9381).

28. The tank filling system according to claim 20, characterized in that: A spring groove is provided on the elastic substrate (9350) at a position connected to the spring (9330) to accommodate the end of the spring (9330).

29. The tank filling system according to claim 20, characterized in that: The robotic arm (9000) further comprises a 3D camera (9500) and an imaging device (9600), which are respectively fixedly connected to the fixed plate (9310).

30. The tank filling system according to claim 1, characterized in that: The exhaust interface pipe assembly (8000) includes: Exhaust fixing base plate (8100); An exhaust module connector (8200) is fixedly connected to the upper portion of the exhaust fixed base plate (8100) and can be detachably connected to the robotic arm; An 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 exhaust rotating module (8400) is sleeved on the outside of the exhaust rigid pipe joint module (8300) and is coaxially arranged with the exhaust rigid pipe joint module (8300) at the connection position. The number of notches on the bottom of the exhaust rotating module (8400) and the exhaust port are the same, and the position corresponds to the exhaust locking member (8450). The exhaust locking member (8450) can move downward along with the exhaust fixed base plate (8100) through the notch of the exhaust port of the container tank (1000), and after being driven to rotate, form an axial lock between the exhaust port of the container tank (1000); An exhaust sealing and locking module (8500) is located between the exhaust rigid pipe joint module (8300) and the exhaust rotating module (8400), and is sealed to the lower end of the exhaust rigid pipe joint module (8300). An exhaust outer sealing ring (8522) is provided on the outside of the exhaust sealing and locking module (8500). When the exhaust sealing and locking module (8500) is docked with the exhaust port of the container tank (1000), a seal is formed between the exhaust outer sealing ring (8522) and the exhaust port (1010) of the container tank (1000). The exhaust sealing and locking module (8500) is also provided with at least one exhaust locking plug (8523) that can be inserted into the notch (1011) of the exhaust port (1010) of the container tank (1000). An exhaust cover opening unit (8600) is fixedly mounted on the exhaust fixed base plate (8100) and is located on one side of the exhaust rotary module (8400), capable of opening the exhaust cover on the exhaust port (1010); The exhaust pipe (8700) is connected to the exhaust rigid pipe joint module (8300); The exhaust control module (8800) is connected to the exhaust pipeline (8700) and is used to control the exhaust of the exhaust pipeline (8700).

31. The tank filling system according to claim 30, characterized in that: The exhaust cover opening unit (8600) is capable of telescoping downward to open the exhaust cover on the exhaust port (1010) and retracting upward; when the exhaust cover opening unit (8600) is telescoping downward, the height of the exhaust clamping rotating head (8650) of the exhaust cover opening unit (8600) is lower than the bottom height of the exhaust rotating module (8400); when the exhaust cover opening unit (8600) is retracted upward, the height of the exhaust clamping rotating head (8650) is higher than the bottom height of the exhaust rotating module (8400).

32. The tank filling system according to claim 31, characterized in that: The exhaust and cover opening unit (8600) comprises: A first exhaust fixing member (8610) is fixedly connected to the exhaust fixing base plate (8100); An exhaust linear guide rail (8630) is vertically connected to the outer side surface of the first exhaust fixing member (8610); A second exhaust fixing member (8620) is slidably connected to the exhaust linear guide rail (8630); An exhaust drive cylinder (8640) is fixedly connected to the first exhaust fixture (8610) and drives the second exhaust fixture (8620) to move vertically along the exhaust linear guide rail (8630); The exhaust clamping rotary head (8650) is capable of clamping the exhaust cover and rotating it to a predetermined angle, and then retracting and opening along the exhaust linear guide rail (8630) under the drive of the exhaust driving cylinder (8640).

33. The tank filling system according to claim 30, characterized in that: The exhaust control module (8800) includes: An exhaust tee pipe (8810) is connected to the rear end of the exhaust pipeline (8700); An exhaust module (8820) is connected to a branch of the exhaust tee (8810) and is connected to an exhaust device; The air supply module (8830) is connected to the other branch of the exhaust tee (8810) and is connected to the air pump device; A control valve and a pressure detection device are respectively provided on the exhaust module (8820) and the air supply module (8830).

34. The tank filling system according to claim 30, characterized in that: The exhaust rigid pipe joint module (8300) includes an exhaust lower connecting pipe (8310), the top of which is fixedly connected to the exhaust fixed base plate (8100), and a through hole is provided on the exhaust fixed base plate (8100) to allow the exhaust lower connecting pipe (8310) to pass through.

35. The tank filling system according to claim 34, characterized in that: The exhaust rigid pipe joint module (8300) further comprises an exhaust upper connecting pipe (8320), wherein the exhaust upper connecting pipe (8320) is sealedly connected to the top of the exhaust lower connecting pipe (8310).

36. The tank filling system according to claim 34, characterized in that: The exhaust rotary module (8400) comprises: An exhaust drive motor (8410) is fixedly connected to the upper portion of the exhaust fixed base plate (8100), and an output shaft of the exhaust drive motor (8410) passes through the exhaust fixed base plate (8100); An exhaust drive gear (8420), located below the exhaust fixed base plate (8100), and fixedly connected to the output shaft of the exhaust drive motor (8410); An exhaust gear (8430) is meshed with the exhaust drive gear (8420) for transmission, and the exhaust gear (8430) is coaxially connected to the outside of the exhaust lower connecting pipe (8310). The exhaust gear (8430) is connected to the exhaust fixed base plate (8100) via a bearing, so that the exhaust gear (8430) can rotate around the exhaust lower connecting pipe (8310); An exhaust rotating sleeve (8440) is fixedly connected to the exhaust gear (8430) and rotates under the drive of the exhaust gear (8430); The exhaust locking pieces (8450) have the same number and corresponding positions as the notches on the exhaust port, are located on the inner side of the bottom of the exhaust rotating sleeve (8440) and are evenly distributed in the axial direction.

37. The tank filling system according to claim 36, characterized in that: The exhaust locking member (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 (1000), so that the roller structure can pass through the notch of the exhaust port of the container tank (1000) along the axial direction and then rotate radially into the annular groove.

38. The tank filling system according to claim 36, characterized in that: The bottom inner wall of the exhaust rotating sleeve (8440) is processed to form an annular boss, the inner diameter of which is slightly larger than the outer diameter of the exhaust port (1010) of the container tank (1000), so that the exhaust rotating sleeve (8440) can rotate outside the exhaust port (1010) of the container tank (1000).

39. The tank filling system according to claim 34, characterized in that: The exhaust sealing and locking module (8500) comprises: An exhaust fixing sleeve (8510) is sleeved on the outside of the exhaust lower connecting pipe (8310) and fixedly connected to the exhaust fixing base plate (8100); 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 sealedly connected to the outer wall of the exhaust lower connecting pipe (8310) through the exhaust inner sealing ring (8521), and the exhaust outer sealing ring (8522) is arranged on the outer wall of the exhaust sealing connecting pipe (8520); the exhaust locking plug (8523) is fixedly connected to the exhaust sealing connecting pipe (8520).

40. The tank filling system according to claim 39, characterized in that: The exhaust sealing connecting pipe (8520) and the exhaust fixing sleeve (8510) are connected in a detachable manner.

41. The tank filling system according to claim 40, characterized in that: The exhaust fixing sleeve (8510) and the exhaust sealing connecting pipe (8520) are both coaxially arranged with the exhaust lower connecting pipe (8310).

42. The tank filling system according to claim 40, characterized in that: The exhaust locking plug (8523) has the same number and corresponding positions as the notches on the exhaust port.

43. The tank filling system according to claim 1, characterized in that: The charging interface pipeline assembly (7000) comprises: Filling and fixing base plate (7100); A charging module connector (7200) is fixedly connected to the upper portion of the charging fixed base plate (7100) and is capable of being connected to a gun module connector of a robotic arm; A charging rigid pipe joint module (7300) is vertically connected to the charging fixed base plate (7100), and the lower end of the charging rigid pipe joint module (7300) is located below the charging fixed base plate (7100); a control valve (7301) is installed in the charging rigid pipe joint module (7300); The charging rotation module (7400) is sleeved on the outside of the charging rigid pipe joint module (7300) and is coaxially arranged with the charging rigid pipe joint module (7300) at the connection position. The bottom of the charging rotation module (7400) has the same number of notches as the notch on the charging port, and the position corresponds to the charging locking member (7450). The charging locking member (7450) can move downward along with the entire charging interface pipeline assembly (7000) through the notch of the charging port of the container tank (1000), and after being driven to rotate, form an axial lock between the charging port of the container tank (1000); The charging sealing and locking module (7500) is located between the charging rigid pipe joint module (7300) and the charging rotating module (7400), and is sealed with the lower end of the charging rigid pipe joint module (7300) and the charging port of the container tank (1000); the charging sealing and locking module (7500) is further provided with a charging locking plug (7523), which is located outside the charging outer sealing ring (7522) and arranged vertically downward. The height of the charging locking plug (7523) is higher than the height of the charging locking member (7450) and can be inserted into the notch of the charging port of the container tank (1000); A filling and opening cover unit (7600) is fixedly mounted on a filling fixed base plate (7100); A charging flexible pipe (7700), the front end of which is connected to a charging rigid pipe joint module (7300); The charging control unit (7800) is connected to the rear end of the charging flexible pipeline (7700).

44. The tank filling system according to claim 43, characterized in that: The outside of the charging sealing and locking module (7500) is provided with a charging outer sealing ring (7522), and when the charging interface pipeline assembly (7000) is docked with the charging port of the container tank (1000), a seal is formed between the charging outer sealing ring (7522) and the charging port of the container tank (1000); the charging sealing and locking module (7500) is also provided with a step sealing ring (7524), which is sealed and connected to the step surface in the charging port of the container tank (1000).

45. The tank filling system according to claim 44, characterized in that: The charging 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 the control valve is located in the rigid main pipe (7310). A conical mouth structure adapted to the control valve (7301) is provided in the rigid main pipe (7310).

46. ​​The tank filling system according to claim 45, characterized in that: The charging rotation module (7400) comprises: A charging drive motor (7410) is fixedly connected to the upper portion of the charging fixed base plate (7100), and an output shaft of the charging drive motor (7410) passes through the charging fixed base plate (7100); A charging drive gear (7420) is located below the charging fixed base plate (7100) and is fixedly connected to the output shaft of the charging drive motor (7410); The charging gear (7430) is meshed with the charging drive gear (7420) for transmission, and the charging gear (7430) is coaxially connected to the outside of the rigid main pipe (7310). The charging gear (7430) is connected to the charging fixed base plate (7100) via a bearing so that the charging gear (7430) can rotate around the rigid main pipe (7310); A charging rotary sleeve (7440) is fixedly connected to the charging gear (7430) and rotates under the drive of the charging gear (7430); The charging locking pieces (7450) have the same number and corresponding positions as the notches on the charging port, are located on the inner side of the bottom of the charging rotating sleeve (7440) and are evenly distributed in the axial direction.

47. The tank filling system according to claim 43, characterized in that: The charging 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 charging port of the container tank (1000), so that the roller structure can pass through the notch of the charging port of the container tank (1000) along the axial direction and then rotate radially into the annular groove.

48. The tank filling system according to claim 45, characterized in that: The filling, sealing and locking module (7500) comprises: A charging fixing ring (7510) is sleeved on the outside of the rigid main pipe (7310) and fixedly connected to the charging fixing base plate (7100); The charging connection ring (7520) is fixedly connected to the lower end of the charging fixing ring (7510), the inner wall of the charging connection ring (7520) is sealed with the outer wall of the rigid main pipe (7310) through the charging inner sealing ring (7521), the charging outer sealing ring (7522) is arranged on the outer wall of the charging connection ring (7520), and the step sealing ring (7524) is arranged in the annular groove on the end face of the charging connection ring (7520); the charging locking plug (7523) is fixedly connected to the charging connection ring (7520) and is located on the outside of the step sealing ring (7524).

49. The tank filling system according to claim 48, characterized in that: The charging connection ring (7520) and the charging fixing ring (7510) are connected in a detachable manner.

50. The tank filling system according to claim 49, characterized in that: The charging fixing ring (7510) and the charging connecting ring (7520) are both coaxially arranged with the rigid main pipe (7310).

51. The tank filling system according to claim 43, characterized in that: The charging control unit (7800) includes a charging pump (7810) and an air blowing pump (7820), wherein the charging pump (7810) and the air blowing pump (7820) are connected to the charging flexible pipeline (7700) via a three-way valve.

52. The tank filling system according to claim 43, characterized in that: The charging interface pipeline assembly (7000) further includes a tail material collection unit (7900), which is connected to the charging fixed base plate (7100) and is used to collect the tail material at the outlet of the rigid main pipe (7310) after the charging is completed to avoid contamination.

53. The tank filling system according to claim 52, characterized in that: The tail material collection 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 charging fixed base plate (7100) and is capable of telescoping downward; the rotating mechanism (7920) is connected to the bottom of the telescopic mechanism (7910), moves in the vertical direction under the drive of the telescopic mechanism (7910), and can rotate on the horizontal plane; the recovery box (7930) is connected to the rotating mechanism (7920) and can rotate to the bottom of the rigid main pipe (7310) under the drive of the rotating mechanism (7920).

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