Hydrogenation gun, hydrogenation system and hydrogenation station

Abstract

The embodiment of the invention provides a hydrogenation gun, a hydrogenation system and a hydrogenation station, the hydrogenation gun comprises a hydrogenation pipe, a first cylinder, a first proximity switch and a first torque sensor; the hydrogenation pipe is divided into a hydrogenation front pipe and a hydrogenation rear pipe through a valve; the first torque sensor is used for detecting whether the hydrogenation front pipe is butted with a hydrogenation port of a vehicle to be hydrogenated or not after receiving a hydrogenation starting signal; the first cylinder is used for controlling the valve to be opened after the hydrogenation front pipe is butted with the hydrogenation port; and the first proximity switch is used for sending in-place information to the hydrogenation system after detecting that the valve is in an open state. The butt joint state between the hydrogenation gun and the hydrogenation port of the vehicle to be subjected to hydrogenation is detected through the first torque sensor, after butt joint is completed, the valve is controlled to be opened, when the first proximity switch detects that the valve is opened, the hydrogenation system is controlled to convey liquid hydrogen to the hydrogenation gun, and therefore automatic filling when the hydrogenation gun is inserted into the hydrogenation port is achieved.

Description

Technical Field

[0001] The present application belongs to the field of new energy technology, and specifically relates to a hydrogenation gun, a hydrogenation system and a hydrogenation station. Background Art

[0002] Hydrogen refueling stations are important infrastructure for the industrialization and commercialization of hydrogen fuel cells. They mainly use compressors to pressurize liquid hydrogen from different sources and store it in high-pressure tanks in the station, and then use hydrogen refueling machines to refill liquid hydrogen for hydrogen fuel cell vehicles. With the rapid development of hydrogen fuel cell vehicles, the number of hydrogen refueling stations, as an infrastructure to provide liquid hydrogen for hydrogen fuel cell vehicles, is also growing.

[0003] In the prior art, the hydrogen filling method of hydrogen filling stations is similar to that of conventional gas stations, mainly through a hydrogen filling gun connected to hydrogen fuel to fill hydrogen fuel cell vehicles with liquid hydrogen. When the vehicle drives to the designated location, the hydrogen filling station staff or the driver manually holds the hydrogen filling gun to fill the liquid hydrogen.

[0004] However, when hydrogenation is performed manually using a hydrogenation gun, the hydrogenation needs to be manually controlled, which results in high workload and the hydrogenation process is also very dangerous. Summary of the invention

[0005] In view of the problem in the prior art that a hydrogenation gun cannot achieve automatic hydrogenation after being inserted into a hydrogenation port, the present application aims to provide a hydrogenation gun, a hydrogenation system and a hydrogenation station, which can not only achieve automatic hydrogenation after the hydrogenation gun is inserted into the hydrogenation port, but also reduce the risk of manual hydrogenation.

[0006] In a first aspect, the present application provides a hydrogenation gun, comprising: a hydrogenation pipe, a first cylinder, a first proximity switch, and a first torque sensor;

[0007] A valve is provided in the middle of the hydrogenation pipe, and the valve divides the hydrogenation pipe into a front hydrogenation pipe and a rear hydrogenation pipe. The front hydrogenation pipe sleeve is provided with a first fixing device;

[0008] The first torque sensor is installed on the hydrogenation pipe and is used to detect whether the hydrogenation front pipe and the hydrogenation port of the vehicle to be hydrogenated are connected after receiving the hydrogenation start signal;

[0009] The first cylinder is arranged on one side of the valve and is used to control the valve to open after the hydrogenation front pipe is connected to the hydrogenation port;

[0010] The first proximity switch is arranged on the other side of the valve, and is used to send in-position information to the hydrogenation system after detecting that the valve is in an open state, and the hydrogenation system transports liquid hydrogen to the hydrogenation rear pipe according to the in-position information;

[0011] The first cylinder is also used to control the valve to close after receiving a hydrogenation stop signal.

[0012] In a possible embodiment, a second fixing device is further included to prevent the hydrogenation tube from rotating, one end of the second fixing device is sleeved on the hydrogenation rear tube, and the other end of the second fixing device is connected to the first torque sensor via a mounting bracket.

[0013] In a possible embodiment, the first cylinder is a rotary cylinder, the valve is provided with a valve opening handle, and the output shaft of the rotary cylinder is provided with a clamping portion capable of driving the valve opening handle to rotate.

[0014] In a possible embodiment, a static eliminator is fixed to one side of the hydrogenation tube, and a contact head is provided at the front end of the static eliminator.

[0015] In a second aspect, the present application also provides a hydrogenation system, including: a hydrogenation machine body, an active hydrogenation device, an auxiliary hydrogenation device, and a visual sensor;

[0016] The hydrogenator body includes a first shell and a liquid hydrogen delivery pipeline and a control module located in the first shell;

[0017] The active hydrogenation equipment comprises a second shell, a first mechanical arm assembly located in the second shell, and a hydrogenation gun according to any one of the implementations of the first aspect, wherein the hydrogenation gun is arranged at the end of the first mechanical arm assembly, and the hydrogenation gun is connected to the liquid hydrogen delivery pipeline;

[0018] The auxiliary hydrogenation equipment comprises a third shell, a second mechanical arm assembly and a hydrogenation machine auxiliary device located in the third shell, and the hydrogenation machine auxiliary device is arranged at the end of the second mechanical arm assembly;

[0019] After receiving the hydrogenation start signal, the control module guides the second mechanical arm assembly to move through the visual sensor to control the hydrogenation machine auxiliary device to open the hydrogenation port of the vehicle to be hydrogenated;

[0020] The control module guides the movement of the first mechanical arm assembly through the visual sensor to control the hydrogenation front pipe of the hydrogenation gun to dock with the hydrogenation port of the vehicle to be hydrogenated;

[0021] The control module controls the first cylinder to open a valve;

[0022] The first proximity switch generates in-position information after detecting that the position information of the valve is in an open state, and sends the in-position information to the control module;

[0023] After receiving the arrival information, the control module controls the liquid hydrogen delivery pipeline to deliver liquid hydrogen to the hydrogenation pipe.

[0024] In a possible embodiment, the control module is further used for:

[0025] After receiving the hydrogenation stop signal, the liquid hydrogen delivery pipeline is controlled to stop delivering liquid hydrogen to the hydrogenation pipe;

[0026] Controlling the closing valve of the first cylinder according to the hydrogenation stop signal;

[0027] The visual sensor is used to guide the movement of the first mechanical arm assembly to control the hydrogenation front pipe of the hydrogenation machine to be disconnected from the hydrogenation port of the vehicle to be hydrogenated, and the hydrogenation machine is guided to the initial position;

[0028] The visual sensor is used to guide the movement of the second mechanical arm assembly, control the hydrogenation machine auxiliary device to seal the hydrogenation port of the vehicle to be hydrogenated, and guide the hydrogenation machine auxiliary device to an initial position.

[0029] In a possible embodiment, the hydrogenation machine auxiliary device includes a cover door finger, a clamping portion, a second cylinder, and a second torque sensor;

[0030] The clamping part is arranged at the front end of the hydrogenation machine auxiliary device, and the second cylinder is connected to the clamping part to control the tightening or opening of the clamping part;

[0031] The cover door finger is arranged on one side of the clamping part;

[0032] The second torque sensor is arranged at the end of the hydrogenation machine auxiliary device, and is used to detect whether the clamping part moves to the hydrogenation port position;

[0033] Correspondingly, guiding the movement of the second mechanical arm assembly by the visual sensor to control the hydrogenation machine auxiliary device to open the hydrogenation port of the vehicle to be hydrogenated includes:

[0034] The control module guides the movement of the second mechanical arm assembly to control the clamping portion to move to the hydrogen filling port of the vehicle to be hydrogenated;

[0035] The control module controls the cover door finger to open the hydrogen filling port cover door;

[0036] When the second torque sensor detects that the clamping part moves to the hydrogen filling port, the control module controls the second cylinder to operate so that the clamping part clamps the sealing plug;

[0037] The control module controls the movement of the second robot arm assembly so that the clamping part takes out the sealing plug.

[0038] In a possible embodiment, the control module is further used for:

[0039] After receiving the hydrogen refueling stop signal, the second mechanical arm assembly is guided to move, and the clamping part is controlled to move to the hydrogen refueling port of the vehicle to be refueled;

[0040] Controlling the movement of the second mechanical arm assembly so that the clamping portion inserts the sealing plug into the hydrogen filling port of the vehicle to be hydrogenated;

[0041] When the second torque sensor detects that the sealing plug is inserted into the hydrogen filling port of the vehicle to be hydrogenated, the second cylinder is controlled to work so that the clamping part releases the sealing plug;

[0042] The second mechanical arm assembly is controlled to move so that the cover door finger closes the hydrogen filling port cover door.

[0043] In a possible embodiment, the clamping portion includes at least three clamping fingers extending along the front end and distributed in a ring shape.

[0044] In a possible embodiment, the visual sensor includes: a two-dimensional visual sensor and a three-dimensional visual sensor;

[0045] The two-dimensional visual sensor is used to determine a first position of the hydrogenation port projection within a preset plane range;

[0046] The three-dimensional vision sensor is used to determine a first distance of the hydrogenation port at a first position.

[0047] In a possible embodiment, the two-dimensional visual sensor is located directly in front of the hydrogenator body, and the three-dimensional visual sensor is arranged on the hydrogenator auxiliary device.

[0048] In a possible embodiment, a display screen is further provided on the first shell for displaying the execution status of the hydrogenation machine, the first robotic arm assembly and the second robotic arm assembly.

[0049] In a third aspect, the present application further provides a hydrogen refueling station, comprising the hydrogen refueling system in any possible implementation of the second aspect.

[0050] The hydrogenation gun, hydrogenation system and hydrogenation station provided by the present application, for the hydrogenation gun, detects the docking status between the hydrogenation gun and the hydrogenation port of the vehicle to be hydrogenated through a first torque sensor, and after the docking is completed, controls the valve to open, and when the first proximity switch detects that the valve is open, controls the hydrogenation system to deliver liquid hydrogen to the hydrogenation gun, thereby realizing automatic filling of the hydrogenation gun inserted into the hydrogenation port; for the hydrogenation system, with the cooperation of the visual sensor, the hydrogenation port is opened through the auxiliary hydrogenation equipment, the docking of the hydrogenation gun and the hydrogenation port is guided by the active hydrogenation equipment, and then the hydrogenation system is controlled to deliver liquid hydrogen to the vehicle to be hydrogenated, thereby improving the automation of the hydrogenation system filling with liquid hydrogen and reducing the danger of the hydrogenation process. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0052] Figure 1A schematic diagram of the structure of a hydrogenation system provided in one embodiment of the present application;

[0053] Figure 2 for Figure 1 The schematic diagram of the internal structure of the hydrogenator body in the hydrogenation system shown;

[0054] Figure 3 for Figure 1 The electrical control schematic diagram of the hydrogenation system is shown;

[0055] Figure 4 A schematic diagram of the structure of a hydrogenation gun provided in one embodiment of the present application;

[0056] Figure 5 for Figure 4 Another perspective structural schematic diagram of the hydrogenation gun shown;

[0057] Figure 6 A schematic diagram of the structure of a hydrogenation tube provided in one embodiment of the present application;

[0058] Figure 7 A control flow chart of a hydrogenation system provided in one embodiment of the present application;

[0059] Figure 8 A control flow chart of a hydrogenation system provided in another embodiment of the present application;

[0060] Fig. 9 A schematic diagram of the front-end structure of an auxiliary hydrogenation device provided in one embodiment of the present application;

[0061] Fig.10 for Fig. 9 Schematic diagram of the structure of the hydrogenation machine auxiliary device.

[0062] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments.

[0063] The marks in the figure are:

[0064] 100 - hydrogenation machine body, 110 - first shell, 120 - liquid hydrogen delivery pipeline, 130 - control module, 140 - display screen;

[0065] 200-active hydrogenation equipment, 210-second shell, 220-first mechanical arm assembly, 221-mounting plate, 230-hydrogenation gun, 231-hydrogenation pipe, 231a-hydrogenation front pipe, 231b-hydrogenation rear pipe, 232-first cylinder, 232a-clamping part, 233-first proximity switch, 234-first torque sensor, 235-first fixing device, 236-second fixing device, 237-static eliminator, 237a-contact head, 238-mounting frame, 239-valve, 239a-valve opening handle;

[0066] 300-auxiliary hydrogenation equipment, 310-third shell, 320-second mechanical arm assembly, 330-hydrogenation machine auxiliary device, 331-cover door finger, 332-clamping part, 332a-clamping finger, 333-second cylinder, 334-second torque sensor, 335-sealing plug;

[0067] 400 - visual sensor, 410 - two-dimensional visual sensor, 420 - three-dimensional visual sensor. DETAILED DESCRIPTION

[0068] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0069] In the embodiments of the present application, words such as "first" and "second" are used to distinguish the same or similar items with substantially the same functions and effects. Those skilled in the art can understand that words such as "first" and "second" do not limit the quantity and execution order, and words such as "first" and "second" do not necessarily limit the difference.

[0070] It should be noted that in the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a concrete way. In the embodiments of the present application, "at least one" refers to one or more, and "more than one" refers to two or more.

[0071] It should be noted that the “at…” in the embodiments of the present application may be the instant when a certain situation occurs, or may be a period of time after the occurrence of a certain situation, and the embodiments of the present application do not specifically limit this.

[0072] Hydrogen refueling stations are important infrastructure for the industrialization and commercialization of hydrogen fuel cells. They mainly use compressors to pressurize liquid hydrogen from different sources and store it in high-pressure tanks in the station, and then use hydrogen refueling machines to refill liquid hydrogen for hydrogen fuel cell vehicles. With the rapid development of hydrogen fuel cell vehicles, the number of hydrogen refueling stations, as an infrastructure to provide liquid hydrogen for hydrogen fuel cell vehicles, is also growing.

[0073] In the prior art, the hydrogen refueling method of hydrogen refueling stations is similar to that of conventional gas stations, mainly through the hydrogen refueling gun connected to the hydrogen fuel to refuel hydrogen fuel cell vehicles with liquid hydrogen. When the vehicle drives to the designated location, the hydrogen refueling station staff or the driver manually holds the hydrogen refueling gun to refuel with liquid hydrogen. However, manual hydrogen refueling has high labor intensity. Considering the particularity of hydrogen fuel refueling, manual hydrogen refueling needs to face the problem of a very dangerous working environment, and currently it is not possible to achieve automatic refueling of liquid hydrogen.

[0074] The applicant found that although the traditional automatic refueling gun can automatically start the refueling process after being inserted into the refueling port, the refueling gun handles liquid at room temperature, while the hydrogenation gun handles high-pressure compressed liquid hydrogen, so the automatic refueling gun cannot be directly used as a hydrogenation gun. It can be seen that there is currently no hydrogenation gun that can realize automatic hydrogenation after being inserted into the hydrogenation port.

[0075] In order to solve the above problems, the present application provides a hydrogenation gun, a hydrogenation system and a hydrogenation station. For the hydrogenation gun, a first torque sensor is used to detect the docking status between the hydrogenation gun and the hydrogenation port of the vehicle to be hydrogenated. After the docking is completed, the valve is controlled to open. When the first proximity switch detects that the valve is open, the hydrogenation system is controlled to transport liquid hydrogen to the hydrogenation gun, thereby realizing automatic filling when the hydrogenation gun is inserted into the hydrogenation port; for the hydrogenation system, with the cooperation of the visual sensor, the hydrogenation port is opened by an auxiliary hydrogenation device, the docking of the hydrogenation gun and the hydrogenation port is guided by the active hydrogenation device, and then the hydrogenation system is controlled to transport liquid hydrogen to the vehicle to be hydrogenated, thereby improving the automation of liquid hydrogen filling of the hydrogenation system and correspondingly reducing the danger of manual hydrogenation.

[0076] Figure 1 A schematic diagram of the structure of a hydrogenation system provided in one embodiment of the present application is shown in FIG. Figure 2 for Figure 1 The internal structure diagram of the hydrogenation machine body in the hydrogenation system is shown in FIG. Figure 1 , Figure 2 As shown, the hydrogenation system provided in this embodiment includes a hydrogenation machine body 100 , an active hydrogenation device 200 , an auxiliary hydrogenation device 300 and a visual sensor 400 .

[0077] The hydrogenation machine body 100 includes a first shell 110 and a liquid hydrogen delivery pipeline 120 and a control module 130 located in the first shell 110 .

[0078] The active hydrogenation equipment 200 includes a second shell 210, a first mechanical arm assembly 220 and a hydrogenation gun 230 located in the second shell 210, wherein the hydrogenation gun 230 is arranged at the end of the first mechanical arm assembly 220, and the front end of the hydrogenation gun 230 is used to dock with the hydrogenation port, and the rear end of the hydrogenation gun 230 is used to communicate with the liquid hydrogen delivery pipeline 120. A first opening is provided at the front end of the second shell 210, and the front of the first opening corresponds to the parking area of ​​the vehicle to be hydrogenated, so that the control module 130 controls the first mechanical arm assembly 220 to move toward the front of the first opening, so that the hydrogenation gun 230 is docked with the hydrogenation port of the vehicle to be hydrogenated.

[0079] The auxiliary hydrogenation equipment 300 includes a third shell 310, a second mechanical arm assembly 320 and a hydrogenation machine auxiliary device 330 located in the third shell 310, and the hydrogenation machine auxiliary device 330 is arranged at the end of the second mechanical arm assembly 320. A second opening is provided at the front end of the second shell 210, and the front of the second opening also corresponds to the parking area of ​​the vehicle to be hydrogenated, so that the control module 130 controls the second mechanical arm assembly 320 to move toward the front of the second opening, so that the auxiliary hydrogenation equipment 300 opens the hydrogenation port before the hydrogenation gun 320 docks with the hydrogenation port.

[0080] In a specific embodiment, the active hydrogenation equipment 200 and the auxiliary hydrogenation equipment 300 are respectively arranged on the left and right sides of the hydrogenation machine body 100, and the visual sensor 400 is arranged on the front of the hydrogenation machine body 100 to collect the hydrogenation port position information of the vehicle to be hydrogenated and control the operation of the active hydrogenation equipment 200 and the auxiliary hydrogenation equipment 300.

[0081] Figure 3 for Figure 1 The electrical control schematic diagram of the hydrogenation system is shown in FIG. Figure 3 As shown, the control module 130 in the hydrogenation machine body 100 is electrically connected to the active hydrogenation equipment 200, the auxiliary hydrogenation equipment 300 and the visual sensor 400 respectively.

[0082] In the above embodiment, after receiving the hydrogenation start signal, the control module 130 first collects the position of the hydrogenation port of the vehicle to be hydrogenated in front according to the visual sensor 400, controls the auxiliary hydrogenation equipment 300 to open the hydrogenation port, and after the hydrogenation port is opened, then controls the hydrogenation gun 230 of the active hydrogenation equipment 200 to dock with the hydrogenation port. After the docking is completed, finally controls the liquid hydrogen delivery pipeline 120 to fill liquid hydrogen into the vehicle to be hydrogenated, thereby realizing the automatic filling of liquid hydrogen to the vehicle to be hydrogenated.

[0083] Figure 4 A schematic diagram of the structure of a hydrogenation gun provided in one embodiment of the present application, Figure 5 for Figure 4 Another perspective structural diagram of the hydrogenation gun is shown in FIG. Figure 4 and Figure 5 As shown, the hydrogenation gun 230 provided in this embodiment includes: a hydrogenation pipe 231 , a first cylinder 232 , a first proximity switch 233 and a first torque sensor 234 .

[0084] In this embodiment, in order to complete the automatic hydrogenation of the hydrogenation gun 230 , it is assumed that during the process of the hydrogenation gun 230 being connected to the hydrogenation port, the hydrogenation port has been opened in advance by the auxiliary hydrogenation equipment 300 .

[0085] Figure 6 A schematic diagram of the structure of a hydrogenation tube provided in one embodiment of the present application is shown in FIG. Figure 6 As shown, a valve 239 is provided in the middle of the hydrogenation pipe 231, and the valve 239 divides the hydrogenation pipe 231 into a front hydrogenation pipe 231a and a rear hydrogenation pipe 231b. After the valve 239 is opened, the front hydrogenation pipe 231a and the rear hydrogenation pipe 231b can be connected front to back, so that liquid hydrogen can pass through the liquid hydrogen delivery pipeline 120, the rear hydrogenation pipe 231b, and the rear hydrogenation pipe 231b in sequence, and finally be filled into the vehicle to be hydrogenated.

[0086] Combination Figure 1 As shown, the hydrogenation front tube 231a is sleeved with a first fixing device 235, which plays a fixing role in the process of docking the hydrogenation front tube 231a with the hydrogenation port to prevent the hydrogenation front tube 231a from rotating in the hydrogenation port.

[0087] The first torque sensor 234 is installed on the hydrogenation pipe 231, and is used to detect whether the hydrogenation front pipe 231a is docked with the hydrogenation port of the vehicle to be hydrogenated after receiving the hydrogenation start signal. The first torque sensor 234 is a six-dimensional force sensor. The first torque sensor 234 is installed on the hydrogenation pipe 231, and can simultaneously detect the three force components and three torque components of the hydrogenation pipe 231 in the X, Y, and Z directions. When the control module 130 of the hydrogenation system receives the hydrogenation start signal, the hydrogenation gun 230 at the front end of the active hydrogenation equipment 200 is controlled to dock with the hydrogenation port. When the hydrogenation gun 230 is inserted into the hydrogenation port and cannot move further, the first torque sensor 234 can judge that the hydrogenation gun 230 has been docked with the hydrogenation port according to the force feedback in different directions of the front end.

[0088] The first cylinder 232 is disposed on one side of the valve 239, and is used to control the valve 239 to open after the hydrogenation front pipe 231a is docked with the hydrogenation port. When the hydrogenation front pipe 231a is docked with the hydrogenation port, the first torque sensor 234 will output a docking completion signal, and the control module 130 controls the first cylinder 232 to open the valve 239 according to the docking completion signal.

[0089] The first proximity switch 233 is arranged on the other side of the valve 239, and is used to send the in-position information to the hydrogenation system after detecting that the valve 239 is in the open state, and the hydrogenation system delivers liquid hydrogen to the hydrogenation rear pipe 231b according to the in-position information. In the process of the first cylinder 232 controlling the valve 239 to open, the first proximity switch 233 is used to detect whether the valve 239 is in position, and the first proximity switch 233 sends the in-position information of the valve 239 to the control module 130 of the hydrogenation system. When the first proximity switch 233 detects that the valve 239 is fully opened, the control module 130 can control the liquid hydrogen delivery pipeline 120 to open and deliver liquid hydrogen to the hydrogenation pipe 231, and finally the liquid hydrogen is filled into the vehicle to be hydrogenated through the hydrogenation port.

[0090] The first cylinder 232 is also used to control the valve 239 to close after receiving the hydrogenation stop signal. When the control module 130 of the hydrogenation system receives the hydrogenation stop signal, the control module 130 is configured to control the first cylinder 232 to close the valve 239, thereby blocking the delivery of liquid hydrogen to the hydrogenation port.

[0091] In the above embodiment, when the control module 130 receives the hydrogenation start signal, it controls the first robot arm assembly 220 to move so that the hydrogenation gun 230 is docked with the hydrogenation port, and then determines the docking status through the first torque sensor 234. When it is determined that the docking is completed, the valve 239 is controlled to open the hydrogenation pipe 231. When the valve 239 is opened, the control module 130 controls the liquid hydrogen delivery pipeline 120 to deliver liquid hydrogen to the hydrogenation gun 230 according to the arrival information of the valve 239, thereby realizing automatic filling of the hydrogenation gun 230 with liquid hydrogen.

[0092] Continue reading Figure 4 and Figure 5 In another embodiment, the hydrogenation gun 230 further includes a second fixing device 236 for preventing the hydrogenation tube 231 from rotating, one end of the second fixing device 236 is sleeved on the hydrogenation rear tube 231b, and the other end of the second fixing device 236 is connected to the first torque sensor 234 through a mounting bracket 238. In this embodiment, the purpose of connecting the second fixing device 236 with the first torque sensor 234 is to maintain the overall stability of the front and rear ends of the hydrogenation gun 230 during the hydrogenation process.

[0093] In the embodiment of the present application, since the delivery pipeline from the liquid hydrogen delivery pipeline 120 to the hydrogenation pipe 231 has to withstand high-pressure liquid hydrogen, the liquid hydrogen filling has higher requirements on the pipe material. Generally speaking, the delivery pipeline is heavy. During the process of transporting liquid hydrogen, the rear-end delivery pipeline can easily cause the front-end hydrogenation pipe 231 to rotate, thereby affecting the first torque sensor 234 to judge the docking status of the hydrogenation pipe 231 and the hydrogenation port.

[0094] In the above embodiment, a second fixing device 236 is arranged on the post-hydrogenation pipe 231b, and then the second fixing device 236 is fixedly connected to the first torque sensor 234 through the mounting frame 238. That is to say, after the first fixing device 235 fixes the position of the pre-hydrogenation pipe 231a and the hydrogenation port, the position of the post-hydrogenation pipe 231b is fixed by the second fixing device 236, thereby ensuring the stability of the first torque sensor 234 during the filling process, and then ensuring the accuracy of the first torque sensor 234 in judging the docking state of the hydrogenation pipe 231 and the hydrogenation port.

[0095] participate Figure 5 In another embodiment, the first cylinder 232 is a rotary cylinder, the valve 239 is provided with a valve opening handle 239a, and the output shaft of the rotary cylinder is provided with a clamping portion 232a capable of driving the valve opening handle 239a to rotate.

[0096] In general, the first cylinder 232 can directly push and pull the valve 239 to open and close. In the embodiment of the present application, the first cylinder 232 is a rotary cylinder, and the output shaft of the rotary cylinder is provided with a clamping part 232a that can drive the valve opening handle 239a to rotate. When the rotary cylinder rotates, the clamping part 232a can drive the valve opening handle 239a of the valve 239 to rotate at the same time, thereby opening the valve 239. When the rotary cylinder rotates in the opposite direction, the clamping part 232a can drive the valve opening handle 239a of the valve 239 to rotate in the opposite direction, thereby closing the valve 239.

[0097] In the above embodiment, the use of a rotary cylinder not only makes it easy to control the opening and closing of the valve 239, but also makes it convenient for the first proximity switch 233 to determine whether the valve 239 is fully opened by judging the rotation position of the valve opening handle 239a or the locking portion 232a.

[0098] In another embodiment, if Figure 5 As shown, an electrostatic eliminator 237 is fixed to one side of the hydrogenation pipe 231 , and a contact head 237 a is provided at the front end of the electrostatic eliminator 237 .

[0099] In the embodiment of the present application, considering the danger in the hydrogenation process, an electrostatic eliminator 237 can be set on one side of the hydrogenation pipe 231. A contact head 237a is provided at the front end of the electrostatic eliminator 237. When the hydrogenation gun 230 moves toward the vehicle to be hydrogenated, the contact head 237a can eliminate static electricity on the surface by contacting the vehicle, thereby improving the safety of the hydrogenation process.

[0100] Figure 7 A control flow chart of a hydrogenation system provided in one embodiment of the present application, the control flow chart represents Figure 1 The hydrogenation system shown utilizes Figure 4 The hydrogenation gun 230 of the embodiment shown in the figure realizes the process of liquid hydrogen filling. Figure 7As shown, the specific control process of the hydrogenation system provided in this embodiment may include the following steps:

[0101] S710: After receiving the hydrogenation start signal, the control module 130 guides the second robot arm assembly 320 to move through the visual sensor 400, and controls the hydrogenation machine auxiliary device 330 to open the hydrogenation port of the vehicle to be hydrogenated.

[0102] In an embodiment of the present application, the hydrogenation start signal can be generated by detecting that the vehicle to be hydrogenated enters a designated parking area. For example, when the vehicle is detected to enter the designated parking area, it is determined whether the vehicle is a hydrogen energy vehicle. If so, the hydrogenation start signal is triggered. The hydrogenation start signal can also be generated by manually triggering a start button after the vehicle is parked in the designated parking area. For example, the button is set on the surface of the hydrogenation machine body 100, and the driver or staff starts the hydrogenation process by triggering the start button.

[0103] After the control module 130 receives the hydrogenation start signal, the visual sensor 400 is used to detect the position of the hydrogenation port of the vehicle to be hydrogenated, thereby guiding the second mechanical arm assembly 320 to move, so that the hydrogenation machine auxiliary device 330 at the front end of the second mechanical arm assembly 320 opens the hydrogenation port of the vehicle to be hydrogenated. The hydrogenation port can be opened by manually opening the hydrogenation port cover door, and then the hydrogenation machine auxiliary device 330 removes the sealing plug 335, or the hydrogenation machine auxiliary device 330 can complete the work of opening the hydrogenation port cover door and removing the sealing plug 335 at the same time.

[0104] S720: The control module 130 guides the movement of the first robot arm assembly 220 through the visual sensor 400 to control the hydrogenation front pipe 231a of the hydrogenation gun 230 to dock with the hydrogenation port of the vehicle to be hydrogenated.

[0105] In the embodiment of the present application, after the hydrogen refueling machine auxiliary device 330 opens the hydrogen refueling port of the vehicle to be hydrogenated, the control module 130 continues to guide the movement of the first robotic arm assembly 220 through the hydrogen refueling port position output by the visual sensor 400, so that the hydrogen refueling gun 230 at the front end of the first robotic arm assembly 220 is docked with the hydrogen refueling port of the vehicle to be hydrogenated through the hydrogenation front pipe 231a.

[0106] In a specific embodiment, whether the hydrogenation gun 230 is docked with the hydrogenation port can be detected in the following manner: the control module 130 uses the hydrogenation port position output by the visual sensor 400 to guide the hydrogenation gun 230 at the front end of the first robotic arm assembly 220 to move closer to the hydrogenation port. When the first torque sensor 234 detects that the hydrogenation gun 230 cannot continue to move forward, it detects changes in the corresponding three force components and three torque components, thereby determining that the hydrogenation gun 230 has completed docking with the hydrogenation port.

[0107] S730 : The control module 130 controls the first cylinder 232 to open the valve 239 .

[0108] In the embodiment of the present application, the control module 130 is configured to control the first cylinder 232 to open the valve 239 .

[0109] In a specific embodiment, when the first cylinder 232 is a rotary cylinder, the engaging portion 232a on the first cylinder 232 cooperates with the valve opening handle 239a of the valve 239. When the control module 130 sends a corresponding control signal to drive the first cylinder 232 to rotate, the engaging portion 232a drives the valve opening handle 239a to rotate together, thereby switching the valve 239 from a closed state to an open state. The control process can be triggered based on a preset condition or an external input signal to ensure that the valve 239 can be opened in time when needed. For example, after the control module 130 receives the docking completion signal fed back by the first torque sensor 234, the opening of the valve 239 is triggered. In addition, the control module 130 can also monitor the operating state of the first cylinder 232, and make adjustments or feedback when necessary to ensure the accuracy and reliability of the operation of the valve 239.

[0110] S740 : After the first proximity switch 233 detects that the position information of the valve 239 is in the open state, it generates the in-position information and sends the in-position information to the control module 130 .

[0111] In the embodiment of the present application, when the valve 239 rotates to a certain position, it can be detected by the first proximity switch 233. Until the position information of the valve 239 is in an open state, the first proximity switch 233 will generate in-position information and send the in-position information to the control module 130 of the hydrogenation system.

[0112] In a specific embodiment, for a structure using a rotating cylinder, the first proximity switch 233 can detect the rotational position information of the engaging portion 232a or the valve opening handle 239a. When the engaging portion 232a or the valve opening handle 239a rotates to a specified position, the first proximity switch 233 can be triggered to generate in-position information.

[0113] S750 : After receiving the arrival information, the control module 130 controls the liquid hydrogen delivery pipeline 120 to deliver liquid hydrogen to the hydrogenation pipe 231 .

[0114] In the embodiment of the present application, when the control module 130 receives the arrival information sent by the first proximity switch 233, it indicates that the valve 239 of the hydrogen refueling gun 230 has been opened. At this time, the liquid hydrogen delivery program is started, that is, the valve of the liquid hydrogen delivery pipeline 120 is controlled to open, so that the liquid hydrogen is delivered to the hydrogen refueling gun 230 to realize the refueling of the vehicle to be refueled.

[0115] In a specific embodiment, the control module 130 first analyzes the received information and confirms that the valve of the hydrogenation pipe 231 has been fully opened, that is, the connection state between the hydrogenation port and the liquid hydrogen delivery pipeline 120 has met the requirements for delivering liquid hydrogen. Subsequently, the control module 130 sends a control instruction to the liquid hydrogen delivery pipeline 120 to start the liquid hydrogen delivery mechanism, so that liquid hydrogen is safely and accurately added from the liquid hydrogen delivery pipeline 120 to the vehicle to be refueled.

[0116] During this process, the control module 130 can monitor the key parameters such as the flow rate, pressure and temperature of the liquid hydrogen in real time to ensure that the liquid hydrogen delivery process complies with the preset safe operating range. If any abnormal situation is detected, the control module 130 will immediately take corresponding measures, such as adjusting the delivery rate or stopping the delivery in an emergency, to ensure the safety of the hydrogenation system and operators.

[0117] In addition, the control module 130 can also record the relevant data of each liquid hydrogen delivery, including the delivery time, liquid hydrogen volume and operation status, etc., to facilitate subsequent data analysis and system optimization. In this way, the control module 130 not only realizes the efficient delivery of liquid hydrogen, but also improves the intelligence and reliability of the entire hydrogenation system.

[0118] In this embodiment, the liquid hydrogen delivery pipeline 120 may also be controlled to open or close using corresponding valves.

[0119] In the above embodiment, by receiving the hydrogenation start signal, the control module 130 of the hydrogenation system controls the auxiliary hydrogenation equipment 300 to open the hydrogenation port under the image acquisition and processing results of the visual sensor 400, and then controls the active hydrogenation equipment 200 to add liquid hydrogen, thereby realizing the automatic filling of liquid hydrogen by the hydrogenation system to the vehicle to be hydrogenated.

[0120] Figure 8 A control flow chart of a hydrogenation system provided in another embodiment of the present application, the control flow chart showing Figure 1 The hydrogenation system shown utilizes Figure 4 The hydrogenation gun 230 of the embodiment shown in the figure realizes the process of stopping the filling of liquid hydrogen. Figure 8 As shown, the specific control process of the hydrogenation system provided in this embodiment is executed by the control module 130 after the hydrogenation is completed, and may specifically include the following steps:

[0121] S810: After receiving the hydrogenation stop signal, the liquid hydrogen delivery pipeline 120 is controlled to stop delivering liquid hydrogen to the hydrogenation pipe 231 .

[0122] In the embodiment of the present application, the hydrogen refueling stop signal can be generated by manually triggering a stop button, or it can be generated when the hydrogen refueling amount reaches a specified requirement, or it can be generated when the vehicle is filled with liquid hydrogen, or it can be generated according to some other trigger conditions, such as detecting abnormal conditions such as liquid hydrogen leakage.

[0123] After receiving the hydrogenation stop signal, the control module 130 can close the liquid hydrogen delivery pipeline 120 by reverse operation with reference to the opening method of the liquid hydrogen delivery pipeline 120. For example, the liquid hydrogen delivery pipeline 120 controls the delivery of liquid hydrogen by opening a valve, and the delivery of liquid hydrogen to the hydrogenation gun 230 can be stopped by closing the valve.

[0124] S820: Control the first cylinder 232 to close the valve 239 according to the hydrogenation stop signal.

[0125] In the embodiment of the present application, the control module 130 is configured to control the first cylinder 232 to close the valve 239 .

[0126] In a specific embodiment, based on step S730, when the control module 130 receives the hydrogenation stop signal, it drives the first cylinder 232 to rotate in the opposite direction according to the corresponding control signal, so that the locking portion 232a drives the valve opening handle 239a to rotate together, thereby switching the open state of the valve 239 to the closed state.

[0127] S830: guiding the movement of the first robot arm assembly 220 through the visual sensor 400, controlling the hydrogenation front pipe 231a of the hydrogenation machine 230 to detach from the hydrogenation port of the vehicle to be hydrogenated, and guiding the hydrogenation machine 230 to the initial position.

[0128] In the embodiment of the present application, when the valve 239 is confirmed to be closed, the control module 130 guides the first robotic arm assembly 220 to move, so that the hydrogenation gun 230 at the front end of the first robotic arm assembly 220 is detached from the hydrogenation port of the vehicle to be hydrogenated, and the first robotic arm assembly 220 and the hydrogenation machine are guided to the preset position before the hydrogenation is started, so as to start the next hydrogenation process. The preset position here can be to retract both the first robotic arm assembly 220 and the hydrogenation machine into the second shell 210.

[0129] S840: Guide the movement of the second robot arm assembly 320 through the visual sensor 400, control the hydrogenation machine auxiliary device 330 to seal the hydrogenation port of the vehicle to be hydrogenated, and guide the hydrogenation machine auxiliary device 330 to the initial position.

[0130] In the embodiment of the present application, after the first robotic arm assembly 220 and the hydrogenation gun 230 are guided to the initial position or during the process of being guided to the initial position, the control module guides the movement of the second robotic arm assembly 320 through the visual sensor 400, thereby controlling the hydrogenation machine auxiliary device 330 to seal the hydrogenation port of the vehicle to be hydrogenated, and finally guides the hydrogenation machine auxiliary device 330 to the preset position before the start of hydrogenation. The preset position here can be to retract both the second robotic arm assembly 320 and the hydrogenation machine auxiliary device 330 into the third shell 310.

[0131] In the above embodiment, by receiving the hydrogenation stop signal, the control module 130 of the hydrogenation system controls the active hydrogenation equipment 200 to detach from the hydrogenation port and return to the initial position under the image acquisition and processing results of the visual sensor 400, and then controls the auxiliary hydrogenation equipment 300 to close the hydrogenation port and return to the initial position, thereby realizing the return process of the hydrogenation system after the liquid hydrogen is filled.

[0132] Fig. 9 A schematic diagram of the front-end structure of an auxiliary hydrogenation device provided in one embodiment of the present application. Fig.10 for Fig. 9 The structural diagram of the hydrogenation machine auxiliary device in the figure is a schematic diagram of the structure of the hydrogenation machine auxiliary device, the hydrogenation machine auxiliary device 330 is an auxiliary device that can specifically realize the function of opening the hydrogenation port and removing the sealing plug. Fig. 9 and Fig.10 As shown, the hydrogenation machine auxiliary device 330 provided in this embodiment includes: a cover door finger 331 , a clamping portion 332 , a second cylinder 333 and a second torque sensor 334 .

[0133] The clamping part 332 is arranged at the front end of the hydrogenation machine auxiliary device 330, and the second cylinder 333 is connected to the clamping part 332 to control the tightening or opening of the clamping part 332. When the second cylinder 333 is in the first state, the clamping part 332 corresponds to the open state; when the second cylinder 333 is in the second state, the clamping part 332 is in a completely tightened state, at this time, the clamping part 332 cannot clamp the sealing plug 335; when the second cylinder 333 is in the third state, the clamping part 332 is in a state of clamping the sealing plug 335, at this time, the clamping part 332 is in an incompletely tightened state. The working state of the clamping part 332 can be judged by different proximity switches set in the second cylinder, for example, the second proximity switch is used to judge whether the second cylinder 333 is in the first state, the third proximity switch is used to judge whether the second cylinder 333 is in the second state, and the fourth proximity switch is used to judge whether the second cylinder 333 is in the third state.

[0134] The cover door finger 331 is arranged at one side of the clamping part 332 for opening the hydrogen filling port cover door, and the second torque sensor 334 is arranged at the end of the hydrogen filling machine auxiliary device 330 for detecting whether the clamping part 332 moves to the hydrogen filling port position.

[0135] The hydrogenation machine auxiliary device 330 in the above embodiment clamps the sealing plug 335 by executing different working states through the second cylinder 333, and opens and closes the hydrogenation port cover door through the cover door finger 331, thereby effectively realizing the auxiliary work before hydrogenation, and providing favorable guarantee for the subsequent automatic filling of the hydrogenation gun 230.

[0136] Accordingly, in step S710, the hydrogenation system adopts Figure 5On the basis of the hydrogenation machine auxiliary device 330 shown in the figure, the second mechanical arm assembly 320 is guided to move by the visual sensor 400, and the hydrogenation machine auxiliary device 330 is controlled to open the hydrogenation port of the vehicle to be hydrogenated, which specifically includes the following steps:

[0137] S711: The control module 130 guides the second robot arm assembly 320 to move, and controls the clamping portion 332 to move to the hydrogen refueling port of the vehicle to be refueled.

[0138] In the embodiment of the present application, after receiving the hydrogenation start signal, the control module 130 first controls the hydrogenation machine auxiliary device 330 to open the hydrogenation port of the vehicle to be hydrogenated, specifically, by guiding the clamping part 332 on the hydrogenation machine auxiliary device 330 to the hydrogenation port position of the vehicle to be hydrogenated through the visual sensor 400.

[0139] In a specific embodiment, in order to achieve the above-mentioned guiding purpose, the visual sensor 400 may include: a two-dimensional visual sensor 410 and a three-dimensional visual sensor 420. The two-dimensional visual sensor 410 is used to determine the first position of the hydrogenation port projected within the preset plane range, and the three-dimensional visual sensor 420 is used to determine the first distance of the hydrogenation port at the first position.

[0140] Specifically, the two-dimensional visual sensor 410 is used to obtain the first position of the hydrogen filling port within the plane range projected by the camera shooting angle, so as to guide the hydrogen filling machine auxiliary device 330 to the same projection position as the hydrogen filling port, and then collect the first distance between the hydrogen filling port and the hydrogen filling machine auxiliary device 330 through the three-dimensional visual sensor 420. For example, when the hydrogen filling machine auxiliary device 330 is working, the control module 130 guides the hydrogen filling machine auxiliary device 330 to move forward a first distance so that the hydrogen filling machine auxiliary device 330 moves to the hydrogen filling port.

[0141] Similarly, the three-dimensional visual sensor 420 can also use the collected results to share and calculate the second distance between the hydrogenation gun 230 and the hydrogenation port. When the hydrogenation gun 230 is working, the control module 130 guides the hydrogenation gun 230 to move forward the second distance so that the hydrogenation gun 230 moves to the hydrogenation port.

[0142] S712: The control module 130 controls the cover door finger 331 to open the hydrogen filling port cover door.

[0143] In the embodiment of the present application, when the hydrogen filling machine auxiliary device 330 at the front end of the second robot arm assembly 320 moves to the hydrogen filling port position, the hydrogen filling port cover door is opened by the cover door finger 331 at the front end.

[0144] In a specific embodiment, the hydrogen filling port cover door is configured as a push-open structure. When the cover door finger 331 presses the hydrogen filling port cover door, the hydrogen filling port cover door pops open, and then the cover door finger 331 is controlled to push the hydrogen filling port cover door to one side to expose the hydrogen filling port, while also preventing the hydrogen filling port cover door from affecting subsequent hydrogenation.

[0145] S713 : When the second torque sensor 334 detects that the clamping part 332 moves to the hydrogen filling port, the control module 130 controls the second cylinder 334 to operate so that the clamping part 332 clamps the sealing plug 335 .

[0146] In the embodiment of the present application, when the hydrogen filling port cover door is opened, the control module 130 continues to control the second robotic arm assembly 320 to move toward the hydrogen filling port. When the second torque sensor 334 detects that the clamping portion 332 has moved to the hydrogen filling port, the control module 130 controls the clamping portion 332 to clamp the sealing plug 335. It should be noted that the working principle of the second torque sensor 334 is similar to that of the first torque sensor 234, and it also determines whether to move to the hydrogen filling port position through force feedback in different directions at the front end of the hydrogen filling machine auxiliary device.

[0147] Specifically, in order to control the clamping part 332 to clamp the sealing plug 335, the control module 130 first controls the second cylinder 333 to be in the first state so that the clamping part 332 opens, and then controls the second cylinder 333 to tighten the clamping part 332 to clamp the sealing plug 335, that is, the second cylinder 333 is in the third state.

[0148] It should be noted that, during the process of the clamping portion 332 tightening the clamping sealing plug 335, if the fourth proximity switch determines that the second cylinder 333 is not in the third state, but the third proximity switch determines that the second cylinder 333 is in the second state, it means that the clamping portion 332 is in an empty state, that is, the clamping portion 332 does not clamp the sealing plug 335. At this time, it is necessary to redirect and adjust the position of the hydrogenation machine auxiliary device 330 and the hydrogenation port through the visual sensor 400 again, so as to control the second cylinder 333 to reopen the clamping portion 332 and clamp the sealing plug 335 again, until the fourth proximity switch determines that the second cylinder 333 is in the third state, that is, the clamping portion 332 completely clamps the sealing plug 335.

[0149] If the second proximity switch determines that the second cylinder 333 is still in the first state, it means that the clamping portion 332 does not clamp the sealing plug 335. At this time, the control signal needs to be re-issued. If it still does not work, the hydrogenation system needs a corresponding warning notification.

[0150] S714 : The control module 130 controls the second robot arm assembly 320 to move so that the clamping portion 332 removes the sealing plug 335 .

[0151] After the second cylinder 333 is in the third state, that is, the clamping portion 332 has clamped the sealing plug 335, the control module 130 controls the second robot arm assembly 320 to move backward to remove the sealing plug 335 in the hydrogenation port, thereby preparing for subsequent hydrogenation.

[0152] It should be noted that, in the process of the clamping part 332 clamping the sealing plug 335 and taking it out, it is necessary to ensure that the second cylinder 333 is always in the third state, that is, the clamping part 332 is always clamping the sealing plug 335, which provides a guarantee for the subsequent return of the sealing plug 335 to the hydrogenation port, and avoids the situation where the sealing plug is only taken out but cannot be put back. If the proximity switch detects that the third state of the second cylinder 333 has changed after the clamping part 332 clamps the sealing plug 335 and takes it out and before the sealing plug 335 is returned to the hydrogenation port, for example, the second cylinder 333 has become the second state, indicating that the clamping part 332 that originally clamped the sealing plug 335 is completely tightened, and the sealing plug 335 may not be clamped, or the second cylinder 333 has become the first state, indicating that the clamping part 332 that originally clamped the sealing plug 335 is completely opened, and the sealing plug 335 is discarded. No matter what happens to the second cylinder 333, the clamping portion 332 cannot put the sealing plug 335 back into the hydrogen filling port in subsequent operations. At this time, the hydrogen filling system needs to restrict the operation of putting the sealing plug 335 back and issue a corresponding warning notification.

[0153] Similarly, in step S840, the hydrogenation system adopts Fig. 9 On the basis of the hydrogenation machine auxiliary device shown in the figure, the second mechanical arm assembly 320 is guided to move by the visual sensor 400, and the hydrogenation machine auxiliary device 330 is controlled to seal the hydrogenation port of the vehicle to be hydrogenated, which specifically includes the following steps:

[0154] S841: After receiving the hydrogen refueling stop signal, guide the second robot arm assembly 320 to move, and control the clamping part 332 to move to the hydrogen refueling port of the vehicle to be refueled.

[0155] In the embodiment of the present application, after receiving the hydrogenation stop signal, the control module 130, with the cooperation of the visual sensor 400, controls the movement of the second robotic arm assembly 320, thereby moving the clamping portion 332 holding the sealing plug 335 at the front end of the hydrogenation machine auxiliary device 330 to the hydrogenation port position, in preparation for the subsequent replacement of the sealing plug 335.

[0156] S842: Control the second robot arm assembly 320 to move so that the clamping portion 332 inserts the sealing plug 335 into the hydrogen filling port of the vehicle to be hydrogenated.

[0157] In the embodiment of the present application, after the clamping portion 332 holding the sealing plug 335 moves to the hydrogen filling port position, the control module 130 controls the second robot arm assembly 320 to continue to move forward so that the sealing plug 335 enters the hydrogen filling port.

[0158] S843 : When the second torque sensor 334 detects that the sealing plug 335 is inserted into the hydrogen filling port of the vehicle to be hydrogenated, the second cylinder 333 is controlled to operate so that the clamping part 332 releases the sealing plug 335 .

[0159] In the embodiment of the present application, when the sealing plug 335 is placed in the hydrogen filling port and cannot continue to move forward, the second torque sensor 334 will detect the corresponding force feedback. At this time, the control module 130 controls the second cylinder 333 to be in the first state, that is, opens the clamping part 332 to loosen the clamped sealing plug 335, thereby completing the process of putting the sealing plug 335 back into the hydrogen filling port.

[0160] S844: Control the second robot arm assembly 320 to move so that the cover door finger 331 closes the hydrogen filling port cover door.

[0161] In the embodiment of the present application, after the sealing plug 335 is put back into the hydrogen filling port, the control module 130 continues to control the movement of the second robotic arm assembly 320, such as retracting the hydrogen filling machine auxiliary device 330 a certain distance to make it leave the hydrogen filling port, and then controlling the door finger 331 of the hydrogen filling machine auxiliary device 330 to close the hydrogen filling port door.

[0162] In a specific embodiment, in order to carry out the taking and placing operation of the sealing plug 335 by the clamping portion 332, the clamping portion 332 can be configured to include at least three clamping fingers 332a extending along the front end and distributed in a ring shape, so that the sealing plug 335 can be tightened by the inward contraction of the clamping fingers 332a, and the sealing plug 335 can be loosened by the outward expansion of the clamping fingers 332a.

[0163] In another specific embodiment, see Figure 1 As shown, a display screen 140 is also provided on the first housing 110 for displaying the execution status of the hydrogenation machine 230, the first mechanical arm assembly 220 and the second mechanical arm assembly 320. The display screen 140 has a touch operation function and is arranged on the front of the first housing 110 facing the parking area. Touch buttons for starting and stopping hydrogenation are arranged on the display screen 140. The execution status of the first mechanical arm assembly 220 may include: "idle", "hydrogenation in progress" and "hydrogenation completed", etc. The execution status of the second mechanical arm assembly 320 may include: "idle", "remove the sealing plug" and "replace the sealing plug", etc. The above specific execution statuses can be directly displayed on the display screen 140.

[0164] Setting the operation buttons and displaying the current execution status of liquid hydrogen refueling through the display screen helps operators to intuitively see the current hydrogen refueling process and cost situation.

[0165] In another specific embodiment, see Figure 1 and Fig. 9 , with respect to the visual sensor 400, the two-dimensional visual sensor 410 is located directly in front of the hydrogenation machine body 100, and the three-dimensional visual sensor 420 is arranged on the hydrogenation machine auxiliary device 330. Specifically, in this embodiment, the two-dimensional visual sensor 410 is arranged on the front of the first shell 110 facing the parking area, and the three-dimensional visual sensor 410 is arranged directly above the hydrogenation machine auxiliary device 330, so as to cooperate and guide the second mechanical arm assembly 320 and the hydrogenation machine auxiliary device 330 to work. Accordingly, the image collected by the three-dimensional visual sensor 420 needs to be shared to guide the first mechanical arm assembly 220 and the hydrogenation gun 230 to work.

[0166] In the above embodiment, the three-dimensional vision sensor 410 is arranged directly above the hydrogenation machine auxiliary device 330, that is, the three-dimensional vision sensor 410 is arranged at the front end of the equipment, so that the image information of the hydrogenation port can be collected at a close distance, which is convenient for more accurately guiding the movement of the first robotic arm assembly 220 and the second robotic arm assembly 320, thereby more accurately realizing the opening of the hydrogenation port cover door and the docking of the hydrogenation gun 230 with the hydrogenation port.

[0167] The present application also provides a hydrogenation station, including any one of the hydrogenation systems in the above embodiments. In this embodiment, the hydrogenation station can be equipped with multiple hydrogenation systems, which can facilitate multiple vehicles to be hydrogenated to automatically refill liquid hydrogen at the same time, thereby improving the hydrogenation efficiency of the hydrogenation station.

[0168] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A hydrogenation gun, characterized in that: include: A hydrogenation pipe (231), a first gas cylinder (232), a first proximity switch (233), and a first torque sensor (234); A valve (239) is provided in the middle of the hydrogenation pipe (231), and the valve (239) divides the hydrogenation pipe (231) into a front hydrogenation pipe (231a) and a rear hydrogenation pipe (231b). The hydrogenation front pipe (231a) is sleeved with a first fixing device (235); The first torque sensor (234) is mounted on the hydrogenation pipe (231) and is used to detect whether the hydrogenation front pipe (231a) is docked with the hydrogenation port of the vehicle to be hydrogenated after receiving a hydrogenation start signal; The first cylinder (232) is disposed on one side of the valve (239) and is used to control the valve (239) to open after the hydrogenation front pipe (231a) is connected to the hydrogenation port; The first proximity switch (233) is arranged on the other side of the valve (239) and is used to send in-position information to the hydrogenation system after detecting that the valve (239) is in an open state, and the hydrogenation system transports liquid hydrogen to the hydrogenation rear pipe (231b) according to the in-position information; The first cylinder (232) is also used to control the valve (239) to close after receiving a hydrogenation stop signal.

2. The hydrogenation gun according to claim 1, characterized in that: It also includes a second fixing device (236) for preventing the hydrogenation tube (231) from rotating, one end of the second fixing device (236) being sleeved on the post-hydrogenation tube (231b), and the other end of the second fixing device (236) being connected to the first torque sensor via a mounting bracket (238).

3. The hydrogenation gun according to claim 1, characterized in that: The first cylinder (232) is a rotary cylinder, the valve (239) is provided with a valve opening handle (239a), and the output shaft of the rotary cylinder is provided with a clamping portion (232a) capable of driving the valve opening handle (239a) to rotate.

4. The hydrogenation gun according to claim 1, characterized in that: A static eliminator (237) is fixed to one side of the hydrogenation tube (231), and a contact head (237a) is provided at the front end of the static eliminator (237).

5. A hydrogenation system, characterized in that: include: A hydrogenation machine body (100), an active hydrogenation device (200), an auxiliary hydrogenation device (300) and a visual sensor (400); The hydrogenator body (100) comprises a first shell (110) and a liquid hydrogen delivery pipeline (120) and a control module (130) located in the first shell (110); The active hydrogenation equipment (200) comprises a second shell (210), a first mechanical arm assembly (220) located in the second shell (210), and a hydrogenation gun (230) according to any one of claims 1 to 4, wherein the hydrogenation gun (230) is arranged at the end of the first mechanical arm assembly (220), and the hydrogenation gun (230) is connected to the liquid hydrogen delivery pipeline (120); The auxiliary hydrogenation equipment (300) comprises a third shell (310), a second mechanical arm assembly (320) and a hydrogenation machine auxiliary device (330) located in the third shell (310), wherein the hydrogenation machine auxiliary device (330) is arranged at the end of the second mechanical arm assembly (320); After receiving the hydrogenation start signal, the control module (130) guides the second mechanical arm assembly (320) to move through the visual sensor (400) to control the hydrogenation machine auxiliary device (330) to open the hydrogenation port of the vehicle to be hydrogenated; The control module (130) guides the first mechanical arm assembly (220) to move through the visual sensor (400), and controls the hydrogenation front pipe (231a) of the hydrogenation gun (230) to dock with the hydrogenation port of the vehicle to be hydrogenated; The control module (130) controls the first cylinder (232) to open a valve (239); The first proximity switch (233) generates in-position information after detecting that the position information of the valve (239) is in an open state, and sends the in-position information to the control module (130); After receiving the arrival information, the control module (130) controls the liquid hydrogen delivery pipeline (120) to deliver liquid hydrogen to the hydrogenation pipe (231).

6. The hydrogenation system according to claim 5, characterized in that: The control module (130) is also used for: After receiving the hydrogenation stop signal, controlling the liquid hydrogen delivery pipeline (120) to stop delivering liquid hydrogen to the hydrogenation pipe (231); Controlling the first cylinder (232) to close the valve (239) according to the hydrogenation stop signal; The visual sensor (400) is used to guide the movement of the first mechanical arm assembly (220), control the hydrogenation front pipe (231a) of the hydrogenation machine (230) to disengage from the hydrogenation port of the vehicle to be hydrogenated, and guide the hydrogenation machine (230) to an initial position; The visual sensor (400) guides the movement of the second mechanical arm assembly (320), controls the hydrogenation machine auxiliary device (330) to seal the hydrogenation port of the vehicle to be hydrogenated, and guides the hydrogenation machine auxiliary device (330) to an initial position.

7. The hydrogenation system according to claim 6, characterized in that: The hydrogenator auxiliary device (330) comprises a cover door finger (331), a clamping portion (332), a second cylinder (333) and a second torque sensor (334); The clamping part (332) is arranged at the front end of the hydrogenation machine auxiliary device (330), and the second cylinder (333) is connected to the clamping part (332) and is used to control the tightening or opening of the clamping part (332); The cover door finger (331) is arranged on one side of the clamping portion (332); The second torque sensor (334) is arranged at the end of the hydrogenation machine auxiliary device (330) and is used to detect whether the clamping part (332) moves to the hydrogenation port position; Accordingly, the method of guiding the movement of the second mechanical arm assembly (320) by the visual sensor (400) to control the hydrogen filling machine auxiliary device (330) to open the hydrogen filling port of the vehicle to be hydrogenated includes: The control module (130) guides the second mechanical arm assembly (320) to move, and controls the clamping portion (332) to move to the hydrogen refueling port of the vehicle to be refueled; The control module (130) controls the cover door finger (331) to open the hydrogenation port cover door; When the second torque sensor (334) detects that the clamping portion (332) moves to the hydrogen filling port, the control module (130) controls the second cylinder (333) to operate so that the clamping portion (332) clamps the sealing plug (335); The control module (130) controls the second mechanical arm assembly (320) to move so that the clamping portion (332) removes the sealing plug (335).

8. The hydrogenation system according to claim 7, characterized in that: The control module (130) is also used for: After receiving a hydrogen refueling stop signal, guiding the second mechanical arm assembly (320) to move, and controlling the clamping portion (332) to move to the hydrogen refueling port of the vehicle to be refueled; Controlling the movement of the second mechanical arm assembly (320) so that the clamping portion (332) inserts the sealing plug (335) into the hydrogenation port of the vehicle to be hydrogenated; When the second torque sensor (334) detects that the sealing plug (335) is inserted into the hydrogen filling port of the vehicle to be hydrogenated, the second cylinder (333) is controlled to operate so that the clamping portion (332) releases the sealing plug (335); The second mechanical arm assembly (320) is controlled to move so that the cover door finger (331) closes the hydrogen filling port cover door.

9. The hydrogenation system according to claim 7, characterized in that: The clamping portion (332) comprises at least three clamping fingers (332a) extending along the front end and distributed in a ring shape.

10. The hydrogenation system according to any one of claims 5 to 9, characterized in that: The visual sensor (400) comprises: a two-dimensional visual sensor (410) and a three-dimensional visual sensor (420); The two-dimensional visual sensor (410) is used to determine a first position of the hydrogenation port projection within a preset plane range; The three-dimensional vision sensor (420) is used to determine a first distance of the hydrogenation port at a first position.

11. The hydrogenation system according to claim 10, characterized in that: The two-dimensional visual sensor (400) is located directly in front of the hydrogenation machine body (100), and the three-dimensional visual sensor (400) is arranged on the hydrogenation machine auxiliary device (330).

12. The hydrogenation system according to any one of claims 5 to 9, characterized in that: The first shell (110) is also provided with a display screen (140) for displaying the execution status of the hydrogenation machine (230), the first mechanical arm assembly (220) and the second mechanical arm assembly (320).

13. A hydrogen refueling station, characterized in that: Comprising the hydrogenation system according to any one of claims 5 to 12.

Images