Tank container exhaust control method

Abstract

The present invention provides a tank container venting control method that detects pressure on a pressure gauge and vent parameters, thereby utilizing a robotic arm to drive a tool to control venting. The method identifies the vent parameters and then utilizes a robotic arm to operate the corresponding tool to remove the vent cap, dock the vent, and reattach the vent cap to the vent after filling is complete. This method enables venting of vents in complex and irregular locations, resolving the challenge of automated venting control during the filling process.

Description

Technical Field

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

[0002] The exhaust port and filling port of a typical tank container are both located at the top of the tank container. Due to the tank container's cylindrical structure, the exhaust port and filling port are located at a non-central position, so that neither the exhaust port nor the filling port is perpendicular to the horizontal plane (both are inclined, and the inclination angles are usually different). Therefore, when filling the tank container, especially when docking the exhaust port, the exhaust pipe needs to be connected according to the position and inclination angle of the exhaust 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 exhaust control method to solve the problem of connecting the exhaust port on the tank container and controlling the exhaust process.

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

[0005] Step 1: Identify the reading of the pressure gauge on the exhaust port. When the pressure gauge reading or the pressure corresponding to the pointer is within the preset range, start step 2;

[0006] Step 2: Use the recognition device on the tool end of the robot arm to identify the position, height and tilt angle of the exhaust port on the tank container;

[0007] Step 3: Based on the exhaust port parameters identified in step 2, the exhaust cover opening unit on the exhaust interface pipeline assembly is operated by the robotic arm to open the exhaust cover on the exhaust port and clamp the exhaust cover;

[0008] Step 4: Use the robotic arm to drive the exhaust interface pipe assembly to dock with the exhaust port, and then release the exhaust interface pipe assembly;

[0009] Step 5: Use the butterfly valve operating tool of the robotic arm to open the exhaust butterfly valve on the exhaust port, and then fill the filling box with materials;

[0010] Step 6. After the filling is completed, identify the reading of the pressure gauge on the exhaust port again. When the pressure gauge reading or the pressure corresponding to the pointer is within the preset range, use the butterfly valve operating tool of the robot arm to close the exhaust butterfly valve on the exhaust port;

[0011] Step 7: Use the robotic arm to release the exhaust interface pipe assembly from the exhaust port and remove it;

[0012] Step 8: Use the robotic arm to operate the exhaust cover opening unit on the exhaust interface pipeline assembly and connect the clamped exhaust cover to the exhaust port.

[0013] The identification device includes a 3D camera and an imaging device, wherein the 3D camera is used to identify the position, height and tilt angle of the exhaust port; and the imaging device is used to image the pressure gauge.

[0014] The identification device is connected to the tool end of the robot arm.

[0015] Step five also includes using an identification device to identify the exhaust butterfly valve (1030).

[0016] Step five also includes identifying the pressure gauge reading at regular intervals during the filling process of the tank container. When the pressure gauge reading or the pressure corresponding to the pointer exceeds a preset range, exhaust is controlled; when it is lower than the preset range, air is controlled.

[0017] When the exhaust port of the tank box is provided with a notch and an annular groove, and is connected to the exhaust cover through the notch and the annular groove, the exhaust interface pipe assembly is correspondingly provided with an exhaust rigid pipe joint module, an exhaust rotating module and an exhaust sealing locking module, so that the exhaust interface pipe assembly is sealed and locked with the exhaust port after the exhaust cover is removed by the robotic arm.

[0018] In step 4, when docking with the exhaust port, the robotic arm is operated so that the exhaust rigid pipe joint module has the same inclination angle as the exhaust port, and the exhaust rigid pipe joint module is coaxial with the exhaust port;

[0019] Then adjust the position of the exhaust locking piece of the exhaust rotating module so that it corresponds to the position of the exhaust locking plug of the exhaust sealing locking module, and adjust the orientation of the exhaust locking plug to correspond to the orientation of the notch on the exhaust port;

[0020] Operate the robotic arm to move the exhaust rigid pipe joint module along the axial direction of the exhaust port toward the exhaust port, so that the exhaust locking piece passes through the notch and is placed in the annular groove, and the exhaust locking plug is inserted into the notch;

[0021] Operate the exhaust rotating module to rotate the exhaust locking piece so that the exhaust locking piece is staggered with the notch to form a limit.

[0022] The tank container exhaust control method provided by the present invention identifies the parameters of the exhaust port, and then uses a robotic arm to operate the corresponding tool to remove the exhaust cover, dock the exhaust port, and reconnect the exhaust cover to the exhaust port after filling is completed, thereby realizing the exhaust operation of the exhaust port in complex and irregular positions, and solving the problem of exhaust control automation during the filling process. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic diagram of the tank container structure.

[0024] Figure 2 for Figure 1 A partial enlarged view of the .

[0025] Figure 3 It is a schematic diagram of the three-dimensional structure of the exhaust interface pipeline assembly.

[0026] Figure 4 This is a cross-sectional view of the exhaust interface pipe assembly.

[0027] Figure 5 This is a cross-sectional view of the exhaust interface pipe assembly.

[0028] Figure 6 This is a schematic diagram of the assembly structure of the exhaust interface pipeline component.

[0029] Figure 7 It is a schematic diagram of the overall structure of the exhaust interface pipeline assembly.

[0030] Figure 8 This is a partial enlarged view of the exhaust interface pipe assembly.

[0031] Figure 9 This is a partial enlarged view of the exhaust interface pipe assembly.

[0032] Figure 10 This is a partial enlarged view of the exhaust interface pipe assembly.

[0033] Figure 11 Schematic diagram of the three-dimensional structure of the robotic arm according to an embodiment of the present invention.

[0034] Figure 12 Schematic diagram of the three-dimensional structure of the butterfly valve operating tool according to an embodiment of the present invention.

[0035] Figure 13 Schematic diagram of the three-dimensional structure of the butterfly valve operating tool according to an embodiment of the present invention.

[0036] Figure 14 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 15 Schematic diagram of the three-dimensional structure of the front-end tool connection module according to an embodiment of the present invention;

[0038] Figure 16 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 17 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; 1011-notch; 1012-circumferential groove; 1020-pressure gauge; 1030-exhaust butterfly valve; 1040-liquid filling port;

[0042] 8000-Exhaust interface pipe assembly;

[0043] 8100-Exhaust fixed base plate;

[0044] 8200-Exhaust module connector;

[0045] 8300-Exhaust rigid pipe joint module; 8310-Exhaust lower connecting pipe; 8320-Exhaust upper connecting pipe;

[0046] 8400-Exhaust rotary module; 8410-Exhaust drive motor; 8420-Exhaust drive gear; 8430-Exhaust large gear; 8440-Exhaust rotary sleeve; 8450-Exhaust locking piece;

[0047] 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;

[0048] 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;

[0049] 8700-exhaust pipe;

[0050] 8800-Exhaust control module; 8810-Exhaust tee pipe; 8820-Exhaust module; 8830-Air supply module.

[0051] 9000-Robotic Arm;

[0052] 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.

[0053] 9200-Gun module connector;

[0054] 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.

[0055] 9400-Robot body;

[0056] 9500-3D camera; 9600-imaging device. DETAILED DESCRIPTION

[0057] 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.

[0058] like Figure 1-2 As shown, the exhaust port 1010 of the existing tank box 1000 is arranged in the overflow box on the top of the tank box 1000. The exhaust port 1010 is usually sealed by a screw cap. A butterfly valve that can be opened and closed is arranged inside the exhaust port 1010. The number of notches on the top circumference of the exhaust port 1010 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.

[0059] like Figure 3-10 As shown, the present invention provides an exhaust interface pipe assembly 8000, comprising:

[0060] 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.

[0061] 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;

[0062] The exhaust rigid pipe joint module 8300 is vertically connected to the exhaust fixed base plate 8100, with its lower end 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 control of the robotic arm. The lower portion of the exhaust rigid pipe joint module 8300 is used to connect to and seal the exhaust port 1010 of the tank container 1000.

[0063] 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 their 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 tank container 1000 and, after being driven to rotate, form an axial lock with the exhaust port 1010 of the tank container 1000. The function of the exhaust rotating module 8400 is to form a lock with the exhaust port of the tank container 1000 to ensure a good seal between the exhaust rigid pipe joint module 8300 and the exhaust port 1010.

[0064] 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 to 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 tank container, a seal is formed between the exhaust outer sealing ring 8522 and the exhaust port 1010 of the tank container. The exhaust sealing and locking module 8500 is also provided with at least one The exhaust locking plug 8523 is located outside the exhaust outer sealing ring 8522 and is arranged vertically downward. The exhaust locking plug 8523 is taller than the exhaust locking member 8450 and can be inserted into the notch 1011 of the exhaust port 1010 of the tank container. The exhaust sealing locking module 8500 is located at the lower end of the exhaust rigid pipe joint module 8300 and can serve as a transition seal, sealing with the exhaust rigid pipe joint module while also being sealed with the exhaust port 1010.

[0065] 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 reconnects the exhaust cover to the exhaust port after filling is completed.

[0066] 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;

[0067] 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 tank container within a preset range. When necessary, it can also add air to the tank container to maintain the internal pressure of the tank container.

[0068] 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 tank box under the drive of the robotic arm, and is docked and sealed with the exhaust port of the tank box 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 tank box during the filling process.

[0069] 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;

[0070] Preferably, the exhaust and cover opening unit 8600 includes:

[0071] 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.

[0072] The exhaust linear guide rail 8630 is vertically connected to the outer side surface of the first exhaust fixing member 8610;

[0073] 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;

[0074] 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;

[0075] 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.

[0076] The exhaust control module 8800 includes:

[0077] An exhaust tee pipe 8810 is connected to the rear end of the exhaust pipe 8700;

[0078] The exhaust module 8820 is connected to a branch of the exhaust tee pipe 8810 and is connected to the exhaust device;

[0079] 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;

[0080] The exhaust module 8820 and the air supply module 8830 are respectively provided with a control valve and a pressure detection device.

[0081] 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.

[0082] 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.

[0083] The exhaust rotary module 8400 includes:

[0084] 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;

[0085] 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.

[0086] 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.

[0087] 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.

[0088] 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.

[0089] 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 tank box, so that the roller structure can pass through the gap of the exhaust port of the tank box along the axial direction and then rotate radially into the annular groove.

[0090] 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 tank box, so that the exhaust rotating sleeve 8440 can rotate outside the exhaust port of the tank box.

[0091] Exhaust sealing and locking module 8500 includes:

[0092] 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.

[0093] 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.

[0094] The exhaust sealing connecting pipe 8520 and the exhaust fixing sleeve 8510 are connected in a detachable manner.

[0095] The exhaust fixed sleeve 8510 and the exhaust sealing connecting pipe 8520 are both coaxially arranged with the exhaust lower connecting pipe 8310 .

[0096] 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.

[0097] like Figure 11 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.

[0098] 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.

[0099] 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.

[0100] 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.

[0101] The robotic arm body is a 4-7 degree-of-freedom robotic arm.

[0102] like Figure 12-13 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.

[0103] 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.

[0104] 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.

[0105] 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.

[0106] 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.

[0107] The abutment portion 9122 includes a rubber surface, thereby ensuring that the clamped valve stem will not easily rotate or become unhooked.

[0108] 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.

[0109] 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.

[0110] 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.

[0111] 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 .

[0112] The telescopic driving device is a telescopic cylinder.

[0113] 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.

[0114] The frame structure 9114 is a U-shaped structure formed by splicing and connecting four flat plates.

[0115] like Figure 14-17As 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.

[0116] 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.

[0117] 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.

[0118] 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.

[0119] 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.

[0120] 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.

[0121] 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.

[0122] 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.

[0123] 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 .

[0124] 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.

[0125] An embodiment of the present invention further provides a tank container exhaust control method, comprising:

[0126] Step 1: Identify the reading of the pressure gauge 1020 on the exhaust port 1010. When the reading of the pressure gauge 1020 or the pressure corresponding to the pointer is within the preset range, start step 2. If the pressure is too low, it is necessary to test the sealing of the tank container to prevent leakage. If the pressure is too high, it is also necessary to determine in advance whether pressure relief is necessary and find the cause to ensure safe operation.

[0127] Step 2: Use the recognition device on the tool end of the robotic arm to identify the position, height, and tilt angle of the exhaust port 1010 on the tank container. Since the tank container 1000 is cylindrical and the exhaust port is usually not located at the top center of the tank container 1000, the exhaust port 1010 has a certain tilt angle. Failure to identify the tilt angle can easily lead to problems with the exhaust cover opening, exhaust pipe connection, and sealing.

[0128] Step 3: Based on the parameters of the exhaust port 1010 identified in step 2, the exhaust cover opening unit 8600 on the exhaust interface pipe assembly 8000 is operated by the robotic arm to open the exhaust cover on the exhaust port 1010 and clamp the exhaust cover. At this time, it is usually necessary to maintain the angle of clamping the exhaust cover unchanged so that the exhaust cover can be reconnected to the exhaust port 1010 according to the opening angle after filling is completed.

[0129] Step 4: Use the robotic arm to drive the exhaust interface pipe assembly 8000 to dock with the exhaust port 1010, and then release the exhaust interface pipe assembly 8000. Since the robotic arm needs to perform other operations, the operation step of releasing the exhaust interface pipe assembly 8000 is extremely important;

[0130] Step 5: Use the butterfly valve operating tool 9100 of the robotic arm to open the exhaust butterfly valve 1030 on the exhaust port 1010, and then fill the tank container with materials;

[0131] Step 6: After filling is completed, the pressure gauge 1020 on the exhaust port 1010 is read again. When the pressure gauge 1020 reading or the pressure corresponding to the pointer is within the preset range, the butterfly valve operating tool 9100 of the robot arm is used to close the exhaust butterfly valve 1030 on the exhaust port 1010. This ensures that the pressure inside the tank container is within a safe range after filling is completed.

[0132] Step 7: Use a robotic arm to release the exhaust interface pipe assembly 8000 from the exhaust port 1010 and remove it. Typically, the exhaust interface pipe assembly 8000 is moved to a specific location on the equipment and placed there for the next tank filling operation.

[0133] Step 8: Use the robotic arm to operate the exhaust cover opening unit 8600 on the exhaust interface pipeline assembly 8000 and connect the clamped exhaust cover to the exhaust port 1010.

[0134] The identification device includes a 3D camera 9500 and an imaging device 9600, wherein the 3D camera 9500 is used to identify the position, height and tilt angle of the exhaust port; and the imaging device is used to image the pressure gauge.

[0135] It also includes identifying the reading of the pressure gauge 1020 at regular intervals during the filling process of the tank container, and controlling exhaust when the reading of the pressure gauge 1020 or the pressure corresponding to the pointer exceeds a preset range, and controlling air replenishment when the reading is lower than the preset range.

[0136] When the exhaust port 1010 of the tank box 1000 is provided with a notch 1011 and an annular groove 1012, and is connected to the exhaust cover through the notch 1011 and the annular groove 1012, the exhaust interface pipe assembly 8000 is correspondingly provided with an exhaust rigid pipe joint module 8300, an exhaust rotating module 8400 and an exhaust sealing locking module 8500, so that the exhaust interface pipe assembly 8000 is sealed and locked with the exhaust port 1010 after the exhaust cover is removed by the robotic arm.

[0137] Step 4: When docking with the exhaust port 1010, operate the robotic arm to make the exhaust rigid pipe joint module 8300 have the same inclination angle as the exhaust port 1010 and make the exhaust rigid pipe joint module 8300 coaxial with the exhaust port 1010;

[0138] Then adjust the position of the exhaust locking member 8450 of the exhaust rotating module 8400 so that it corresponds to the position of the exhaust locking plug 8523 of the exhaust sealing locking module 8500, and adjust the orientation of the exhaust locking plug 8523 to correspond to the orientation of the notch 1011 on the exhaust port 1010.

[0139] The robot arm is operated to move the exhaust rigid pipe joint module 8300 along the axial direction of the exhaust port 1010 toward the exhaust port 1010 , so that the exhaust locking member 8450 passes through the notch 1011 and is placed in the annular groove 1012 , and the exhaust locking plug 8523 is inserted into the notch 1011 ;

[0140] The exhaust rotating module 8400 is operated to rotate the exhaust locking member 8450 so that the exhaust locking member 8450 is staggered with the notch 1011 to form a limit.

[0141] 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.

[0142] 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 exhaust control method, comprising: Step 1: Identify the reading of the pressure gauge (1020) on the exhaust port (1010). When the reading of the pressure gauge (1020) or the pressure corresponding to the pointer is within a preset range, start step 2; Step 2: using the recognition device on the tool end of the robot arm (9000) to identify the position, height and tilt angle of the exhaust port (1010) on the tank container (1000); Step 3: Based on the exhaust port (1010) parameters identified in step 2, the robot arm (9000) operates the exhaust cover opening unit (8600) on the exhaust interface pipe assembly (8000) to open the exhaust cover on the exhaust port (1010) and clamp the exhaust cover; Step 4: Use the robotic arm (9000) to drive the exhaust interface pipe assembly (8000) to dock with the exhaust port (1010), and then release the exhaust interface pipe assembly (8000); Step 5: Use the butterfly valve operating tool (9100) of the robotic arm (9000) to open the exhaust butterfly valve (1030) on the exhaust port (1010), and then fill the tank box (1000) with materials; Step 6: After the filling is completed, the reading of the pressure gauge (1020) on the exhaust port (1010) is identified again. When the reading of the pressure gauge (1020) or the pressure corresponding to the pointer is within the preset range, the exhaust butterfly valve (1030) on the exhaust port (1010) is closed using the butterfly valve operating tool (9100) of the robotic arm (9000); Step 7: Use the robotic arm (9000) to release the exhaust interface pipe assembly (8000) from the exhaust port (1010) and remove it; Step 8: Use the robotic arm (9000) to operate the exhaust cover opening unit (8600) on the exhaust interface pipe assembly (8000) and connect the exhaust cover it holds to the exhaust port (1010).

2. The method according to claim 1, characterized in that The identification device comprises a 3D camera (9500) and an imaging device (9600), wherein the 3D camera (9500) is used to identify the position, height and inclination angle of the exhaust port; and the imaging device (9600) is used to image the pressure gauge.

3. The method according to claim 2, characterized in that The identification device is connected to the tool end of the robot arm.

4. The method according to claim 1, wherein Step five also includes using an identification device to identify the exhaust butterfly valve (1030).

5. The method according to claim 4, characterized in that Step five also includes identifying the reading of the pressure gauge (1020) at regular intervals during the filling process of the tank box (1000), and controlling the exhaust when the reading of the pressure gauge (1020) or the pressure corresponding to the pointer exceeds a preset range, and controlling the air supply when the reading is lower than the preset range.

6. The method according to claim 1, characterized in that When the exhaust port (1010) of the tank box (1000) is provided with a notch (1011) and an annular groove (1012), and is connected to the exhaust cover via the notch (1011) and the annular groove (1012), the exhaust interface pipe assembly (8000) is correspondingly provided with an exhaust rigid pipe joint module (8300), an exhaust rotation module (8400), and an exhaust sealing and locking module (8500), so that the exhaust interface pipe assembly (8000) is sealed and locked with the exhaust port (1010) after the exhaust cover is removed by the robotic arm.

7. The method according to claim 6, characterized in that In step 4, when docking with the exhaust port (1010), the robotic arm is operated so that the exhaust rigid pipe joint module (8300) has the same inclination angle as the exhaust port (1010), and the exhaust rigid pipe joint module (8300) is coaxial with the exhaust port (1010); Then, the position of the exhaust locking member (8450) of the exhaust rotating module (8400) is adjusted so that it corresponds to the position of the exhaust locking plug (8523) of the exhaust sealing locking module (8500), and the orientation of the exhaust locking plug (8523) is adjusted so that it corresponds to the orientation of the notch (1011) on the exhaust port (1010); The robot arm is operated to move the exhaust rigid pipe joint module (8300) along the axial direction of the exhaust port (1010) toward the exhaust port (1010), so that the exhaust locking member (8450) passes through the notch (1011) and is placed in the annular groove (1012), and the exhaust locking plug (8523) is inserted into the notch (1011); The exhaust rotation module (8400) is operated to rotate the exhaust locking member (8450) so that the exhaust locking member (8450) and the notch (1011) are offset to form a limit.

8. The method according to claim 7, characterized in that Exhaust interface pipe assembly, including: 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) is the same as that on the exhaust port, 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 tank box, and after being driven to rotate, it forms an axial lock between the exhaust port of the tank box; 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 tank container, a seal is formed between the exhaust outer sealing ring (8522) and the exhaust port of the tank container. 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 of the exhaust port of the tank container. 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; 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).

9. The method according to claim 8, characterized in that The exhaust cover opening unit (8600) is capable of telescopic movement downward to open the exhaust cover on the exhaust port, and retract upward; when the exhaust cover opening unit (8600) is telescopic 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), and 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).

10. The method according to claim 9, 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).

11. The method according to claim 8, 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).

12. The method according to claim 8, 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.

13. The method according to claim 12, 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).

14. The method according to claim 8, 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.

15. The method according to claim 14, 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 tank box (1000), so that the roller structure can pass through the notch of the exhaust port of the tank box (1000) along the axial direction and then rotate radially into the annular groove.

16. The method according to claim 14, 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 of the tank box (1000), so that the exhaust rotating sleeve (8440) can rotate outside the exhaust port of the tank box (1000).

17. The method according to claim 8, 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).

18. The method according to claim 17, characterized in that The exhaust sealing connecting pipe (8520) and the exhaust fixing sleeve (8510) are connected in a detachable manner.

19. The method according to claim 18, 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).

20. The method according to claim 17, wherein The exhaust locking plug (8523) has the same number and corresponding positions as the notches on the exhaust port.

21. The method according to claim 1, wherein 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).

22. The method according to claim 21, 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.

23. The method according to claim 21, characterized in that The robotic arm body (9400) is a 4-7 degree-of-freedom robotic arm.

24. The method according to claim 21, 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 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 (9121) is L-shaped or U-shaped. 21) is provided with a vertical abutment (9122), 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).

25. The method according to claim 24, 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).

26. The method according to claim 25, characterized in that The abutment portion (9122) includes a rubber surface.

27. The method according to claim 24, 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.

28. The method according to claim 24, characterized in that The length of the bending structure (9121) in the vertical direction does not exceed half of the abutment portion (9122).

29. The method according to claim 27, characterized in that The inclination angles of the fixed arm (9120) and the movable arm (9130) are between 30 and 60 degrees.

30. The method according to claim 27, wherein 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 drive device (9113) on the fixed base plate (9110).

31. The method according to claim 30, wherein The telescopic drive device (9113) is a telescopic cylinder.

32. The method according to claim 30, wherein 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 (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).

33. The method according to claim 32, characterized in that The frame structure (9114) is a U-shaped structure formed by splicing and connecting four flat plates.

34. The method according to claim 32, wherein 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 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.

35. The method according to claim 34, wherein 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).

36. The method according to claim 34, 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).

37. The method according to claim 36, wherein 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.

38. The method according to claim 37, wherein 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.

39. The method according to claim 38, characterized in that The guide block (9383) cooperates with the guide block (9382) through the trapezoidal platform.

40. The method according to claim 38, wherein The support plate (9340) is provided with an annular boss (9341) surrounding the cone (9360).

41. The method according to claim 40, wherein 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).

42. The method according to claim 34, wherein 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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