Tank container filling control method

Abstract

The present invention provides a tank container filling control method, comprising: step 1, identifying the switch state of a charging butterfly valve (1050) on a charging port (1040); step 2, identifying the position, height, and tilt angle of the charging port; step 3, opening a charging cover on the charging port; step 4, connecting the charging port to a charging interface pipeline assembly (7000); step 5, opening the charging butterfly valve; step 6, filling the tank container with material; step 7, closing the charging butterfly valve; and step 8, closing the charging cover. The tank container filling control method provided by the present invention, by identifying parameters of the charging port and performing cover opening and closing operations on the charging port according to the parameter characteristics of the charging port, can achieve industrial automation under the action of a robotic arm, solving the problem of filling operations for charging ports in complex and irregular positions.

Description

Technical Field

[0001] The present invention relates to the technical field of filling, and in particular to a tank box filling control method when filling a tank box. Background Art

[0002] like Figure 1 As shown, the exhaust port and charging port of a conventional tank container are both arranged at the top of the tank container. Since the tank container has a cylindrical structure and the exhaust port and charging port are located at a non-central position, the exhaust port and charging port are not perpendicular to the horizontal plane (both are inclined, and the inclination angles are usually different). Therefore, when filling the tank container, especially when connecting the charging port, the charging pipe needs to be connected according to the position and inclination angle of the charging port. Even manual operation is difficult, and the difficulty is even greater during automated filling. Summary of the Invention

[0003] The technical problem to be solved by the embodiments of the present invention is to provide a tank container filling control method to solve the problem of sealing connection of the filling port on the tank container.

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

[0005] Step 1: Identify the switch status of the charging butterfly valve (1050) on the charging port (1040);

[0006] Step 2: Identify the position, height and inclination angle of the filling port;

[0007] Step 3: Open the charging cover on the charging port;

[0008] Step 4: Connect the charging port to the charging interface pipe assembly (7000);

[0009] Step 5: Open the charging butterfly valve;

[0010] Step 6: Filling the tank with materials;

[0011] Step 7: Close the charging butterfly valve;

[0012] Step 8: Cover the filling cover.

[0013] In the step 1, the charging butterfly valve (1050) on the charging port (1040) is identified, and it is determined that the charging butterfly valve (1050) is in a closed state;

[0014] In the second step, the position, height and tilt angle of the filling port (1040) on the tank container are identified using an identification device on the tool end of the robotic arm;

[0015] In the step 3, based on the parameters of the charging port (1040) identified in the step 2, the charging cover opening unit (7600) on the charging interface pipeline assembly (7000) is operated by a robotic arm to open the charging cover on the charging port (1040) and clamp the charging cover;

[0016] In the fourth step, the robotic arm drives the charging interface pipeline assembly (7000) to dock with the charging port (1040), so that the charging locking member (7450) of the charging rotation module (7400) passes through the gap and then enters the annular groove to rotate and lock, and the charging locking plug (7523) of the charging sealing locking module (7500) is inserted into the gap, so that the charging rigid pipe joint module (7300) is inserted into the charging port (1040) and sealed, and then the robotic arm operates the gun module joint (9200) to release the charging interface pipeline assembly (7000);

[0017] In step five, the butterfly valve operating tool (9100) of the robotic arm is used to open the filling butterfly valve (1050) on the filling port (1040), and then the tank is filled with materials.

[0018] In step seven, when filling is completed, the butterfly valve operating tool (9100) of the robotic arm is used to close the filling butterfly valve (1050) on the filling port (1040);

[0019] In step eight, the material gun module connector (9200) of the robot arm is connected to the charging interface pipeline assembly (7000), and the charging rotation module (7400) is operated to rotate the charging locking member (7450) to the notch position, and then the charging interface pipeline assembly (7000) is separated from the charging port (1040); and then the charging cover held by the charging cover opening unit (7600) is reconnected to the charging port (1040).

[0020] The recognition device includes a 3D camera (9500) and an imaging device (9600).

[0021] The identification device is connected to the tool end of the robot arm.

[0022] In step 4, when docking with the charging port (1040), the robotic arm is operated so that the charging rigid pipe joint module (7300) has the same inclination angle as the charging port (1040), and the charging rigid pipe joint module (7300) is coaxial with the charging port (1040);

[0023] Then, the position of the charging locking member (7450) of the charging rotating module (7400) is adjusted so that it corresponds to the position of the charging locking plug (7523) of the charging sealing locking module (7500), and the orientation of the charging locking plug (7523) is adjusted so that it corresponds to the orientation of the notch on the charging port (1040);

[0024] The robotic arm is operated to move the charging rigid pipe joint module (7300) along the axial direction of the charging port (1040) toward the charging port (1040), so that the charging locking member (7450) passes through the notch and is placed in the annular groove, and the charging locking plug (7523) is inserted into the notch;

[0025] The charging rotation module (7400) is operated to rotate the charging locking member (7450) so that the charging locking member (7450) is staggered with the notch to form a limit.

[0026] The tank container filling control method provided by the present invention identifies the parameters of the filling port and performs opening and closing operations on the filling port according to the parameter characteristics of the filling port, thereby realizing industrial automation under the action of a robotic arm and solving the problem of filling operations for filling ports in complex and irregular positions. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a schematic diagram of the tank container structure.

[0028] Figure 2 for Figure 1 A partial enlarged view of the .

[0029] Figure 3 This is a schematic diagram of the usage status of the charging interface pipeline assembly.

[0030] Figure 4 This is a cross-sectional view of the charging interface pipeline assembly.

[0031] Figure 5 for Figure 4 A partial enlarged view of the .

[0032] Figure 6 This is a schematic diagram of the appearance of the charging interface pipeline assembly.

[0033] Figure 7 Schematic diagram of the three-dimensional structure of the robotic arm according to an embodiment of the present invention.

[0034] Figure 8 Schematic diagram of the three-dimensional structure of the butterfly valve operating tool according to an embodiment of the present invention.

[0035] Figure 9 Schematic diagram of the three-dimensional structure of the butterfly valve operating tool according to an embodiment of the present invention.

[0036] Figure 10 This is a 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);

[0037] Figure 11 Schematic diagram of the three-dimensional structure of the front-end tool connection module according to an embodiment of the present invention;

[0038] Figure 12 This is a schematic diagram of the decomposed structure of the front-end tool connection module according to an embodiment of the present invention;

[0039] Figure 13 This is a schematic diagram of the decomposed structure of the front-end tool connection module according to an embodiment of the present invention.

[0040] In the picture:

[0041] 1000-tank container; 1010-exhaust port; 1040-filling port; 1050-filling butterfly valve;

[0042] 7000-Filling interface pipeline assembly;

[0043] 7100-Filling fixed base plate;

[0044] 7200-Filling module connector;

[0045] 7300-Filling rigid pipe joint module; 7310-Rigid main pipe; 7320-Rigid side pipe; 7301-Control valve;

[0046] 7400 - charging rotation module; 7410 - charging drive motor; 7420 - charging drive gear; 7430 - charging large gear; 7440 - charging rotation sleeve; 7450 - charging locking piece;

[0047] 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;

[0048] 7600-Filling and opening unit;

[0049] 7700-Filling flexible pipe;

[0050] 7800-Filling control unit; 7810-Filling pump; 7820-Air blowing pump;

[0051] 7900- Tailings collection unit; 7910- Telescopic mechanism; 7920- Rotating mechanism; 7930- Recovery box.

[0052] 9000-Robotic Arm;

[0053] 9100-butterfly valve operating tool; 9110-fixed base plate; 9120-fixed arm; 9130-movable arm; 9121-bending structure; 9122-abutting part; 9131-clamping part; 9111-linear guide rail; 9112-slider; 9113-telescopic drive device; 9114-frame structure.

[0054] 9200-Gun module connector;

[0055] 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.

[0056] 9400-Robot body;

[0057] 9500-3D camera; 9600-imaging device. DETAILED DESCRIPTION

[0058] 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.

[0059] like Figure 1-2 As shown, the filling port 1040 of the existing tank box 1000 is arranged in the overflow box on the top of the tank box 1000. The filling port 1040 is usually sealed by a screw cap. A charging butterfly valve 1050 that can be opened and closed is arranged inside the filling port 1040. The number of notches on the top circumference of the charging port 1040 is the same as that on the charging port, and the positions of the notches correspond to the notches, and a circular groove is provided on the lower outer side of the notch.

[0060] like Figure 3-6 As shown, the present invention provides a charging interface pipeline assembly 7000, comprising:

[0061] 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.

[0062] 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;

[0063] The charging rigid pipe joint module 7300 is vertically connected to the charging fixed base plate 7100, with its lower end 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, which is usually flexible enough to be moved by the robot arm. The lower portion of the charging rigid pipe joint module 7300 is used to connect to and seal the charging port 1010 of the tank container 1000. A control valve 7301 is installed in the charging rigid pipe joint module 7300.

[0064] The charging rotary 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 rotary module 7400 has the same number of notches as the charging port, and the positions correspond 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 notches 1011 of the charging port 1010 of the tank container 1000, and be driven to rotate to form an axial lock with the charging port 1010 of the tank container 1000. The function of the charging rotary module 7400 is to form a lock with the charging port of the tank container 1000 to ensure a good seal between the charging rigid pipe joint module 7300 and the charging port 1010.

[0065] 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 tank container. 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 tank container. 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.

[0066] The filling and opening cover unit 7600 is fixedly mounted on the filling fixed base plate 7100;

[0067] 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 9000, facilitating charging.

[0068] 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.

[0069] An external charging seal ring 7522 is provided on the outside of the charging sealing and locking module 7500. When the charging interface pipeline assembly 7000 is docked with the charging port of the tank container, a seal is formed between the external charging seal ring 7522 and the charging port 1010 of the tank container. The charging sealing and locking module 7500 is also provided with a step seal ring 7524, which is sealed with the step surface in the charging port of the tank container.

[0070] 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.

[0071] The charging rotary module 7400 includes:

[0072] 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;

[0073] 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.

[0074] 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.

[0075] 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.

[0076] 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.

[0077] 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 tank box, so that the roller structure can pass through the gap of the filling port of the tank box along the axial direction and then rotate radially into the annular groove.

[0078] Filling, sealing and locking module 7500 includes:

[0079] 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.

[0080] 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 arranged on the outer wall of the charging connection ring 7520. The step sealing ring 7524 is arranged 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. The annular groove of the ring 7522, 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, and 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.

[0081] The charging connecting ring 7520 and the charging fixing ring 7510 are connected in a detachable manner.

[0082] The charging fixing ring 7510 and the charging connecting ring 7520 are both coaxially arranged with the rigid main pipe 7310 .

[0083] 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.

[0084] 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.

[0085] 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.

[0086] 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.

[0087] like Figure 7 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 connection module 9300, wherein the material 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 robotic arm body 9400; wherein the front-end tool connection module is an elastic connection structure, the front-end tool connection module is coaxially arranged with the front end of the robotic arm body, the material gun module connector is coaxially arranged with the front-end tool connection module, 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 material gun to the specified position for filling operation.

[0088] 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 the operated parts.

[0089] 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 tank container 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.

[0090] The gun module connector is a male connector, and a corresponding female connector is also provided on the gun to connect the two and move the gun.

[0091] The robotic arm body is a 4-7 degree-of-freedom robotic arm.

[0092] like Figure 8-9 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 robotic 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 bending structure 9121 is provided at the end of the fixed arm 9120, and the bending structure is L-shaped or U-shaped, and the fixed arm 9120 on the inner side of the bending structure 9121 A vertical abutment 9122 is provided on it, and the top of the bending structure 9121 is lower than the top of the abutment 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 a vertical downward clamping portion 9131 is provided at the end, and the lower end of the clamping portion 9131 is lower than the top of the bending structure 9121 but not lower than the bottom of the bending structure 9121, and the upper end of the clamping portion 9131 is flush with the height of the abutment 9122, so that when the clamping portion 9131 retracts, the distance between it and the abutment 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.

[0093] 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 bending 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 bending structure, the valve stem can be lifted 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 tank container.

[0094] 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 robot 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 tank container.

[0095] 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.

[0096] The abutment portion 9122 is integrally formed on the fixed arm 9120. By using an integrally formed abutment portion, the structural size of the fixed arm can be reduced and operation is more convenient.

[0097] The abutment portion 9122 includes a rubber surface, thereby ensuring that the clamped valve stem will not easily rotate or become unhooked.

[0098] 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.

[0099] The length of the bending structure 9121 in the vertical direction does not exceed half of the abutting portion 9122, so that the bending structure 9121 can be more easily cut into between the valve stem and the upper surface of the tank box.

[0100] The inclination angles of the fixed arm 9120 and the movable arm 9130 are between 30-60 degrees, and in extreme cases, can also be between 15-75 degrees.

[0101] The fixed base plate 9110 is provided with a horizontally extending linear guide rail 9111 and a slider 9112 . 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 .

[0102] The telescopic driving device is a telescopic cylinder.

[0103] The tool further comprises 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. The telescopic drive device is connected to the lower portion of the fixed base plate 9110 to drive the frame structure, thereby driving 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.

[0104] The frame structure 9114 is a U-shaped structure formed by splicing and connecting four flat plates.

[0105] like Figure 10-13As 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 receiving space between the fixed plate 9310 and the support plate 9340 to accommodate the elastic base plate 9350 and allow the elastic base plate 9370 to be moved. 350 moves between the fixed disk and the supporting plate; a tapered hole 9343 is provided at the center of the supporting plate 9340, and the tapered cylinder 9360 is adaptively connected to the tapered hole 9343. The tapered cylinder 9360 is in a shape of being larger at the top and smaller at the bottom. The upper end of the tapered cylinder 9360 is fixedly connected to the elastic base plate 9350, and the lower end is fixedly connected to the elastic disk 9370. The elastic base plate 9350 and the elastic disk 9370 are fixedly connected through the tapered cylinder 9360, thereby forming an integral structure. When the elastic disk 9370 is subjected to stress, the stress can be transmitted to the elastic disk 9370 through the tapered cylinder 9360. The elastic base plate 9350 is buffered and limited by the spring on the elastic base plate 9350, and when the external force disappears or decreases, the cone cylinder 9360 is forced to fall back into the cone hole. The elastic disk is connected to the gun module connector and the butterfly valve operating tool; 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, and the connecting rod 9320 and the spring 9330 are arranged around the four sides of the elastic base plate 9350 in a staggered manner. The elastic base 9350 is arranged in a manner as follows, and an inner groove opening is provided at the installation position corresponding to each connecting rod 9320 on the elastic base 9350 to allow the connecting rod 9320 to pass through. 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 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 9350; the conical cylinder 9360 and the conical hole 9343 are connected by a guide groove structure 9380 that can guide and prevent torsion.

[0106] 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.

[0107] 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.

[0108] There are two guide groove structures 9380, symmetrically arranged on either side of the cone 9360, and aligned with the pair of connecting rods 9320. The number of guide groove structures 9380 should not be excessive, as this will create significant friction and restrict the swing of the cone 9360. Compared to the commonly used three-point positioning structure (i.e., using three guide grooves), using two symmetrically arranged guide groove structures 9380 provides an optimal solution.

[0109] 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.

[0110] 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.

[0111] 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.

[0112] When the guide groove 9381 is arranged 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.

[0113] A spring 9330 groove is provided on the elastic substrate 9350 at a position connected to the spring 9330 to accommodate the end of the spring 9330 .

[0114] 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.

[0115] An embodiment of the present invention further provides a tank container filling control method, comprising:

[0116] Step 1: Identify the switch status of the charging butterfly valve 1050 on the charging port 1040;

[0117] Step 2: Identify the position, height, and tilt angle of the filling port 1040;

[0118] Step 3: Open the charging cover on the charging port 1040;

[0119] Step 4: Connect the charging port to the charging interface pipe assembly 7000;

[0120] Step 5: Open the charging butterfly valve 1050;

[0121] Step 6: Filling the tank container 1000 with materials;

[0122] Step 7: Close the charging butterfly valve 1050;

[0123] Step 8: Cover the filling cover.

[0124] The tank container filling control method provided by the present invention identifies the parameters of the filling port and performs opening and closing operations on the filling port according to the parameter characteristics of the filling port, thereby realizing industrial automation under the action of a robotic arm and solving the problem of filling operations for filling ports in complex and irregular positions.

[0125] In the step 1, the charging butterfly valve 1050 on the charging port 1040 is identified and it is determined that the charging butterfly valve 1050 is in a closed state;

[0126] In step 2, the position, height, and tilt angle of the filling port 1040 on the tank container are identified using the recognition device on the tool end of the robot arm;

[0127] In step 3, based on the parameters of the charging port 1040 identified in step 2, the charging cover opening unit 7600 on the charging interface pipeline assembly 7000 is operated by the robotic arm to open the charging cover on the charging port 1040 and clamp the charging cover;

[0128] In step 4, the robotic arm drives the charging interface pipe assembly 7000 to dock with the charging port 1040, so that the charging locking member 7450 of the charging rotation module 7400 passes through the gap and then enters the annular groove to rotate and lock, and the charging locking plug 7523 of the charging sealing locking module 7500 is inserted into the gap, so that the charging rigid pipe joint module 7300 is inserted into the charging port 1040 and sealed, and then the robotic arm operates the gun module connector 9200 to release the charging interface pipe assembly 7000;

[0129] In step five, the butterfly valve operating tool 9100 of the robotic arm is used to open the charging butterfly valve 1050 on the charging port 1040, and then the tank container is filled with materials.

[0130] In step seven, when filling is completed, the butterfly valve operating tool 9100 of the robotic arm is used to close the filling butterfly valve 1050 on the filling port 1040;

[0131] In step eight, the material gun module connector 9200 of the robotic arm is connected to the charging interface pipeline assembly 7000, and the charging rotating module 7400 is operated to rotate the charging locking piece 7450 to the notch position, and then the charging interface pipeline assembly 7000 is separated from the charging port 1040; and then the charging cover held by the charging cover opening unit 7600 is reconnected to the charging port 1040.

[0132] The recognition device includes a 3D camera 9500 and an imaging device 9600 .

[0133] The identification device is connected to the tool end of the robot arm.

[0134] In step 4, when docking with the charging port 1040, the robot arm is operated to make the charging rigid pipe joint module 7300 have the same inclination angle as the charging port 1040, and make the charging rigid pipe joint module 7300 coaxial with the charging port 1040;

[0135] Then adjust the position of the charging locking member 7450 of the charging rotating module 7400 so that it corresponds to the position of the charging locking plug 7523 of the charging sealing locking module 7500, and adjust the orientation of the charging locking plug 7523 to correspond to the orientation of the notch on the charging port 1040.

[0136] The robotic arm is operated to move the charging rigid pipe joint module 7300 along the axial direction of the charging port 1040 toward the charging port 1040 , so that the charging locking member 7450 passes through the notch and is placed in the annular groove, and the charging locking plug 7523 is inserted into the notch;

[0137] Operate the charging rotation module 7400 to rotate the charging locking member 7450 so that the charging locking member 7450 is staggered with the notch to form a limit.

[0138] 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.

[0139] 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. A tank container filling control method, comprising: Step 1: Identify the switch status of the charging butterfly valve (1050) on the charging port (1040); Step 2: Identify the position, height and tilt angle of the charging port (1040); Step 3: Open the charging cover on the charging port (1040); Step 4: Connect the charging port (1040) to the charging interface pipe assembly (7000); Step 5: Open the charging butterfly valve (1050); Step 6: Filling the tank container (1000) with materials; Step 7: Close the charging butterfly valve (1050); Step 8: Cover the filling cover; In the step 1, the charging butterfly valve (1050) on the charging port (1040) is identified, and it is determined that the charging butterfly valve (1050) is in a closed state; In the second step, the position, height and tilt angle of the filling port (1040) on the tank container (1000) are identified using an identification device on the tool end of the robotic arm (9000); In the step 3, based on the parameters of the charging port (1040) identified in the step 2, the charging cover opening unit (7600) on the charging interface pipeline assembly (7000) is operated by the robotic arm (9000) to open the charging cover on the charging port (1040) and clamp the charging cover; In the fourth step, the robotic arm (9000) is used to drive the charging interface pipeline assembly (7000) to dock with the charging port (1040), so that the charging locking member (7450) of the charging rotation module (7400) passes through the gap and then enters the annular groove to rotate and lock, and the charging locking plug (7523) of the charging sealing locking module (7500) is inserted into the gap, so that the charging rigid pipe joint module (7300) is inserted into the charging port (1040) and sealed, and then the robotic arm operates the gun module joint (9200) to release the charging interface pipeline assembly (7000); In the step 5, the butterfly valve operating tool (9100) of the robotic arm (9000) is used to open the charging butterfly valve (1050) on the charging port (1040), and then the tank box (1000) is filled with materials; In step seven, after the filling is completed, the butterfly valve operating tool (9100) of the robotic arm (9000) is used to close the filling butterfly valve (1050) on the filling port (1040); In step eight, the gun module connector (9200) of the robotic arm (9000) is connected to the charging interface pipeline assembly (7000), and the charging rotation module (7400) is operated to rotate the charging locking member (7450) to the notch position, and then the charging interface pipeline assembly (7000) is separated from the charging port (1040); and then the charging cover held by the charging cover opening unit (7600) is reconnected to the charging port (1040).

2. The method according to claim 1, characterized in that The recognition device includes a 3D camera (9500) and an imaging device (9600); The identification device is connected to the tool end of the robotic arm (9000).

3. The method according to claim 2, characterized in that In step 4, when docking with the charging port (1040), the robotic arm (9000) is operated to make the charging rigid pipe joint module (7300) have the same inclination angle as the charging port (1040), and to make the charging rigid pipe joint module (7300) coaxial with the charging port (1040); Then, the position of the charging locking member (7450) of the charging rotating module (7400) is adjusted so that it corresponds to the position of the charging locking plug (7523) of the charging sealing locking module (7500), and the orientation of the charging locking plug (7523) is adjusted so that it corresponds to the orientation of the notch on the charging port (1040); Operating the robotic arm (9000) to move the charging rigid pipe joint module (7300) along the axial direction of the charging port (1040) toward the charging port (1040), so that the charging locking member (7450) passes through the notch and is placed in the annular groove, and the charging locking plug (7523) is inserted into the notch; The charging rotation module (7400) is operated to rotate the charging locking member (7450) so that the charging locking member (7450) is staggered with the notch to form a limit.

4. The method according to claim 3, characterized in that Filling interface pipe assembly (7000), including: 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 (1040) of the tank container (1000), and after being driven to rotate, it forms an axial lock between the charging port (1040) of the tank container (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 (1040) of the tank box (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 (1040) of the tank box (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).

5. The method according to claim 4, characterized in that The charging interface pipeline assembly (7000) further includes a tail material collection unit (7900) connected to the charging fixed base plate (7100) and used to collect the tail material at the outlet of the rigid main pipe (7310) after the charging is completed to avoid contamination; 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).

6. The method according to claim 1, characterized in that The robotic arm (9000) comprises a robotic 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 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 robotic arm body (9400); wherein the front-end tool connection module (9300) is an elastic connection structure. 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).

7. The method according to claim 6, characterized in that The gun module connector (9200) is a male connector, and a corresponding female connector is also provided on the gun to connect the two and move the gun.

8. The method according to claim 6, characterized in that The robotic arm body (9400) is a 4-7 degree-of-freedom robotic arm.

9. The method according to claim 6, characterized in that 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 is capable of performing relative movement relative to the fixed arm (9120); wherein the fixed arm (9120) extends obliquely downward from the fixed base plate (9110), and a bending structure (9121) is provided at the end of the fixed arm (9120), wherein the bending structure is L-shaped or U-shaped, and the bending structure (9121) A vertical abutment (9122) is provided on the inner fixed arm (9120), and the top of the bending structure (9121) is lower than the top of the abutment (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 bending structure (9121) but not lower than the bottom of the bending structure (9121), and the upper end of the clamping portion (9131) is at the same height as the abutment (9122).

10. The method according to claim 9, 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).

11. The method according to claim 10, characterized in that The abutment portion (9122) includes a rubber surface.

12. The method according to claim 9, 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.

13. The method according to claim 9, characterized in that The length of the bending structure (9121) in the vertical direction does not exceed half of the abutment portion (9122).

14. The method according to claim 9, characterized in that The inclination angles of the fixed arm (9120) and the movable arm (9130) are between 30 and 60 degrees.

15. The method according to claim 9, characterized in that A horizontally extending linear guide rail (9111) and a slider (9112) are provided on the fixed base plate (9110); the slider (9112) is connected to the movable arm (9130), and is driven to move by a telescopic drive device (9113) on the fixed base plate (9110).

16. The method according to claim 15, characterized in that The telescopic drive device (9113) is a telescopic cylinder.

17. The method according to claim 15, characterized in that The fixed base plate (9110) 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 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).

18. The method according to claim 17, characterized in that The frame structure (9114) is a U-shaped structure formed by splicing and connecting four flat plates.

19. The method according to claim 6, 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, 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.

20. The method according to claim 19, 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).

21. The method according to claim 19, wherein 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).

22. The method according to claim 21, 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.

23. The method 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 is arranged on the conical hole; 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.

24. The method according to claim 23, wherein The guide block (9383) cooperates with the guide block (9382) through the trapezoidal platform.

25. The method according to claim 23, characterized in that The support plate (9340) is provided with an annular boss (9341) surrounding the cone (9360).

26. The method according to claim 25, characterized in that When the guide groove (9381) is provided 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 and the guide groove.

27. The method according to claim 26, characterized in that A spring (9330) groove is provided on the elastic substrate (9350) at a position connected to the spring (9330) to accommodate the end of the spring (9330).

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