An automatic system for safely handling gas cylinders

Abstract

The present invention discloses an automatic system for safely transporting gas cylinders, which relates to the technical field of gas cylinder transportation and includes: a bracket, a suction cup module, a mechanical clamping module, a first telescopic cylinder, and a transfer unit. The bracket is connected to the transfer unit. The suction cup module and the mechanical clamping module are vertically distributed on the bracket. The suction cup module is connected to the bracket through the first telescopic cylinder, and the first telescopic cylinder is horizontally arranged on the bracket. In the present invention, when facing densely arranged gas cylinders, first, the suction cup module is pushed out through the first telescopic cylinder, and the gas cylinder is sucked out of the bottle stack by a certain distance by using the suction cup module. Then, the first telescopic cylinder is controlled to retract, and the suction cup module drives the gas cylinder to move to the position of the mechanical clamping module. At this time, the mechanical clamping module is used to clamp the gas cylinder. That is, the device can realize the transportation of densely arranged gas cylinders by combining the composite suction cup module and the mechanical clamping module, and the combination of the two for transporting the gas cylinder can effectively improve the transportation stability.

Description

Technical Field

[0001] The present invention relates to the technical field of gas cylinder handling, and particularly to an automated system for safe handling of gas cylinders. Background Art

[0002] In the technical field of industrial gas cylinder (such as oxygen cylinder, liquefied gas cylinder) handling, the conventional handling method is to use an electromagnetic chuck or a vacuum chuck to suck the gas cylinder for handling, or to use a mechanical clamping arm to clamp the gas cylinder to complete the handling.

[0003] However, gas cylinders need to be stacked. In order to increase the storage capacity and stacking stability, a dense arrangement is often adopted during stacking. The dense arrangement will reduce the gap between gas cylinders, making it impossible for the mechanical clamping arm to enter and clamp. That is, the traditional mechanical clamping arm cannot complete the handling of industrially gas cylinders arranged densely. When using an electromagnetic chuck or a vacuum chuck to suck the gas cylinder for handling, there is also a problem that the gas cylinder may fall due to insufficient suction, and the falling of the gas cylinder has the risk of explosion.

[0004] Therefore, there is an urgent need for an automated system for safe handling of gas cylinders that is suitable for handling densely arranged gas cylinders and has high handling stability. Summary of the Invention

[0005] The purpose of the present invention is to provide an automated system for safe handling of gas cylinders to solve the problems existing in the above-mentioned prior art, and to realize the handling of densely arranged gas cylinders by the cooperation of a suction cup module and a mechanical clamping module, and effectively improve the handling stability.

[0006] To achieve the above purpose, the present invention provides the following solution: The present invention provides an automated system for safe handling of gas cylinders, including a bracket, a suction cup module, a mechanical clamping module, a first telescopic cylinder, and a transfer unit for driving the bracket to move. The bracket is connected to the transfer unit. The suction cup module and the mechanical clamping module are vertically distributed on the bracket. The suction cup module is connected to the bracket through the first telescopic cylinder, and the first telescopic cylinder is horizontally arranged on the bracket.

[0007] Preferably, the mechanical clamping module includes a finger cylinder and clamping plates. The clamping plates are arranged on both clamping arms of the finger cylinder, and the clamping surface of the clamping plate matches the outer peripheral wall surface of the gas cylinder to be handled.

[0008] Preferably, a sensor for detecting the clamping force is arranged on the clamping surface of the clamping plate.

[0009] Preferably, the mechanical clamping module is arranged on the bracket through a second telescopic cylinder, and the second telescopic cylinder is vertically arranged on the bracket.

[0010] Preferably, a vertical guide rail is provided on the bracket, and the mechanical clamping module is slidably arranged on the vertical guide rail.

[0011] Preferably, a rotary motor for driving the suction cup module to rotate is provided on the bracket.

[0012] Preferably, the suction cup module includes at least one vacuum suction cup. The vacuum suction cup is connected to the first telescopic cylinder through a mounting seat, and the vacuum suction cup is connected to a vacuum generator. When multiple vacuum suction cups are provided, the suction surface formed by the suction ends of the multiple vacuum suction cups matches the outer peripheral wall surface of the gas cylinder to be transported.

[0013] Preferably, the suction cup module includes at least one electromagnetic suction cup or electro-permanent magnetic suction cup, and the electromagnetic suction cup or the electro-permanent magnetic suction cup is connected to the first telescopic cylinder through a mounting seat.

[0014] Preferably, a first adapter plate is arranged between the bracket and the mounting seat. The first adapter plate is connected to the first telescopic cylinder. A plurality of linear bearings are arranged on the first adapter plate, and support optical axes are correspondingly arranged on the mounting seat. The support optical axes are slidably arranged in the linear bearings, and compression springs are arranged on the support optical axes. One end of the compression spring is connected to the first adapter plate, and the other end is connected to the mounting seat.

[0015] Preferably, the transfer unit is a manipulator.

[0016] The present invention mainly achieves the following technical effects compared with the prior art:

[0017] When facing densely arranged gas cylinders, first, the suction cup module is pushed out by the first telescopic cylinder, and the gas cylinder is sucked out of the gas cylinder stack by a certain distance by using the suction cup module. Then, the first telescopic cylinder is controlled to retract, and the suction cup module drives the gas cylinder to move to the position of the mechanical clamping module. At this time, the mechanical clamping module is used to clamp the gas cylinder. That is, the device can realize the handling of densely arranged gas cylinders through the combined suction cup module and the mechanical clamping module, and the combination of the two for handling the gas cylinder can effectively improve the handling stability.

[0018] The following technical effects are achieved by other solutions of the present invention compared with the prior art:

[0019] The second telescopic cylinder can actively adjust the horizontal height of the mechanical clamping module, and the horizontal height of the suction cup module remains unchanged, so as to adapt to gas cylinders of different lengths and improve the applicability of the device.

[0020] The setting of the compression spring can provide a buffer after the suction cup contacts the gas cylinder, realizing the flexible contact between the suction cup and the gas cylinder, and ensuring the safety when sucking the gas cylinder. Description of the Drawings

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0022] Figure 1 It is a schematic structural diagram of an automatic system for safely transporting gas cylinders in an embodiment of the present invention;

[0023] Among them, 1. Bracket; 2. Mounting seat; 3. Inclined plate; 4. Vacuum chuck; 5. Electromagnetic chuck; 6. Finger cylinder; 7. Vertical guide rail; 8. Clamping plate; 9. Purge pipeline; 10. Telescopic rod. Specific embodiments

[0024] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0025] The purpose of the present invention is to provide an automatic system for safely transporting gas cylinders to solve the problems existing in the prior art, and use the cooperation of the suction cup module and the mechanical clamping module to realize the transportation of densely arranged gas cylinders, and effectively improve the transportation stability.

[0026] To make the above objects, features, and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below with reference to the drawings and specific embodiments.

[0027] Please refer to as Figure 1As shown in the figure, a gas cylinder safe handling automation system is provided, which includes a bracket 1, a suction cup module, a mechanical clamping module, a first telescopic cylinder, and a transfer unit for driving the bracket 1 to move. The transfer unit can be a manipulator, a rail vehicle moving on a set track, or a trolley pushed by a person. The bracket 1 is connected to the transfer unit. The suction cup module and the mechanical clamping module are vertically arranged on the bracket 1. The suction cup module is connected to the bracket 1 through the first telescopic cylinder. The first telescopic cylinder is horizontally arranged on the bracket 1. When facing densely arranged gas cylinders, first push out the suction cup module through the first telescopic cylinder, use the suction cup module to suck out a certain distance the gas cylinder from the bottle stack, and then control the first telescopic cylinder to retract. The suction cup module drives the gas cylinder to move to the position of the mechanical clamping module. At this time, use the mechanical clamping module to clamp the gas cylinder. That is, the device can realize the handling of densely arranged gas cylinders by combining the suction cup module and the mechanical clamping module, and the combination of the two for handling the gas cylinder can effectively improve the handling stability.

[0028] In this embodiment, the mechanical clamping module includes a finger cylinder 6 and a clamping plate 8. Clamping plates 8 are arranged on both clamping arms of the finger cylinder 6. The clamping surface of the clamping plate 8 matches the outer peripheral wall surface of the gas cylinder to be handled. The mechanical clamping of the gas cylinder is realized through the opening or closing action of the finger cylinder 6. Compared with the mechanical gripper with articulated clamping arms, the finger cylinder 6 occupies less lateral space when opening, and is suitable for narrow spaces.

[0029] A sensor for detecting the clamping force is arranged on the clamping surface of the clamping plate 8. The sensor can be a pressure sensor, which detects the pressure in real time. After the pressure reaches a certain level, control the finger cylinder 6 to stop moving to prevent the gas cylinder from being damaged by excessive clamping force.

[0030] The first telescopic cylinder can directly push the suction cup module to move, or the suction cup module is slidably arranged on the bracket 1 through a guide rod. The first telescopic cylinder is arranged on the side of the guide rod. The first telescopic cylinder is fixedly connected to the guide rod through a connecting piece to drive the guide rod and the suction cup module to move.

[0031] Since the heights of different gas cylinders are not uniform, the mechanical clamping module is arranged on the bracket 1 through a second telescopic cylinder. The second telescopic cylinder is vertically arranged on the bracket 1. The horizontal height of the mechanical clamping module can be adjusted through the second telescopic cylinder, and the horizontal height of the suction cup module remains unchanged, so as to adapt to gas cylinders of different heights and improve the applicability of the device.

[0032] In order to improve the movement stability of the mechanical clamping module, a vertical guide rail 7 is arranged on the bracket 1, and the mechanical clamping module is slidably arranged on the vertical guide rail 7.

[0033] A rotating motor for driving the suction cup module to rotate is provided on the bracket 1, and the selected rotational motion is outputted through direct drive, belt drive or gear drive. The specific connection method between the rotating equipment and the suction cup module can be adjusted according to the structure of the first telescopic cylinder driving the suction cup module to move. For example, when the first telescopic cylinder directly drives the suction cup module to move, the rotating motor can be arranged to be connected to the first telescopic cylinder through a coupling, belt drive or gear drive. When the suction cup module is slidably set on the bracket 1 through a guide rod, the first telescopic cylinder is arranged on the radial side of the guide rod, and the first telescopic cylinder is fixedly connected to the guide rod through a connecting piece to drive the guide rod to move, the rotating motor can be arranged between the guide rod and the suction cup module to directly drive the suction cup module to rotate.

[0034] The suction cup module includes at least one vacuum suction cup 4, which is connected to the first telescopic cylinder through the mounting base 2, and the vacuum suction cup 4 is connected to the vacuum generator. The vacuum generator can be set on the bracket 1 through the mounting plate. When multiple vacuum suction cups 4 are set, multiple vacuum suction cups 4 are connected to the vacuum generator through the air distribution row, and the suction surface composed of the suction ends of the multiple vacuum suction cups 4 matches the outer peripheral wall surface of the gas cylinder to be transported. Specifically, four vacuum suction cups 4 are arranged in this embodiment, and the four corners of the mounting base 2 are provided with outwardly inclined inclined plates 3. The vacuum suction cup 4 is arranged on the inclined plate 3 and is in an inwardly inclined state. The suction surface composed of the suction ends of the four vacuum suction cups 4 is an arc shape that matches the cylindrical gas cylinder.

[0035] The inclined plate 3 can be arranged to be rotatably arranged on the mounting seat 2 by means of an electrically or hydraulically driven telescopic rod 10 to adjust the angle between the inclined plate 3 and the mounting seat 2, thereby adjusting the orientation of the vacuum suction cup 4 to adapt to gas cylinders of different sizes. Specifically, the inclined plate 3 can be hinged on the mounting seat 2, and the two ends of the telescopic rod 10 are respectively hinged to the mounting seat 2 and the inclined plate 3, and the angle of the inclined plate 3 is controlled by the extension and retraction of the telescopic rod 10.

[0036] Sliding seats can also be set in parallel on both sides of the mounting seat 2. The distance between the sliding seat and the mounting seat 2 can be adjusted by an electrically or hydraulically driven telescopic rod. The inclined plate 3 is set on the sliding seat. By adjusting the position of the sliding seat, the distance between the vacuum suction cups 4 on both sides can be adjusted, and the application range of the device can also be improved. When the sliding seat is set, the inclined plate 3 can be connected to the sliding seat through the telescopic rod to adjust the angle.

[0037] A purge pipeline 9 is also provided on the bracket 1. The air outlet of the purge pipeline 9 corresponds to the setting of the gas cylinder. The dust on the gas cylinder is purged to improve the suction effect of the suction cup module. A solenoid valve is provided on the purge pipeline 9 to control the opening and closing of the pipeline; the compressed gas of the purge pipeline 9 and the compressed gas of the vacuum generator are both derived from the compressor installed in the factory.

[0038] Due to the different materials of different gas cylinders, some gas cylinders can be attracted by magnetism. Therefore, the suction cup module further includes at least one electro-permanent magnetic suction cup 5 or electromagnetic suction cup. In this embodiment, the electro-permanent magnetic suction cup 5 is selected. The electro-permanent magnetic suction cup 5 is connected to the first telescopic cylinder through the mounting seat 2, and it can be selected to operate the electro-permanent magnetic suction cup 5 or the vacuum suction cup 4 as needed, or the electro-permanent magnetic suction cup 5 and the vacuum suction cup 4 can operate simultaneously; the electro-permanent magnetic suction cup 5 and the vacuum suction cup 4 can exist alone or simultaneously; the electro-permanent magnetic suction cup 5 and the vacuum suction cup 4 can be interchanged in position, and it is only necessary to arrange the electro-permanent magnetic suction cup 5 and the vacuum suction cup 4 on the bracket.

[0039] The surface of the electro-permanent magnetic suction cup 5 close to the gas cylinder can be designed as a V shape or an arc shape matching the surface of the gas cylinder to improve the magnetic attraction effect.

[0040] A first adapter plate is arranged between the bracket 1 and the mounting seat 2. The mounting seat 2 is connected to the first telescopic cylinder through the first adapter plate. A plurality of linear bearings are arranged on the first adapter plate, and support optical axes are arranged on the mounting seat 2 corresponding to the linear bearings. The support optical axes are slidably arranged in the linear bearings, and compression springs are arranged on the support optical axes. One end of the compression spring is connected to the first adapter plate, and the other end is connected to the mounting seat 2. The arrangement of the compression springs can provide a buffer after the suction cup contacts the gas cylinder, realizing the flexible contact between the suction cup and the gas cylinder, and ensuring the safety when sucking the gas cylinder.

[0041] When the transfer unit is a manipulator, the bracket 1 can be directly connected to the manipulator. The manipulator has multiple degrees of freedom and can drive the bracket 1 to move up and down and rotate around the vertical axis (Z-axis); when the transfer unit is a rail car or a trolley, a column can be arranged on the rail car or the trolley, and the top of the bracket 1 is connected to the column through a rotary motor. The rotary motor can control the rotation of the bracket 1 to achieve multi-angle operation. At the same time, the loading platform of the rail car or the trolley is designed as a lifting platform to drive the column and the bracket 1 to move up and down; or no column is arranged, and the bottom of the bracket 1 is directly arranged on the lifting platform of the rail car or the trolley through a rotary motor, aiming to provide the lifting movement and the rotation movement around the vertical axis (Z-axis) for the bracket 1.

[0042] During actual use, the transfer unit drives the bracket 1 to move to the densely arranged gas cylinders, opens the purging pipeline 9 to purge and dust the surfaces of the gas cylinders, and then starts the first telescopic cylinder. The first telescopic cylinder drives the mounting seat 2, the vacuum suction cup 4, and the electro-permanent magnetic suction cup 5 to move towards the gas cylinders. When the vacuum suction cup 4 and / or the electro-permanent magnetic suction cup 5 come into contact with the gas cylinders, the vacuum suction cup 4 and / or the electro-permanent magnetic suction cup 5 are opened to suck the gas cylinders; at this time, the transfer unit drives the bracket 1 to perform a lifting action, and the first telescopic cylinder drives the gas cylinders towards the finger cylinder 6 through the suction cups. When the gas cylinders reach the finger cylinder 6, the two clamping arms of the finger cylinder 6 move towards each other to clamp the gas cylinders. At this time, the positioning of the gas cylinders is completed, and the transfer unit can be used for handling work; after the handling work is completed, the finger cylinder 6 releases the gas cylinders, and the movement of the first telescopic cylinder and the transfer unit drive the bracket 1 to perform a lowering movement to complete the placement of the gas cylinders.

[0043] This device is also applicable to the handling work of other cylindrical articles.

[0044] Adaptations made according to actual requirements are all within the protection scope of the present invention.

[0045] It should be noted that for those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and without departing from the spirit or basic characteristics of the present invention, the present invention can be implemented in other specific forms. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be embraced within the present invention. Any reference signs in the claims should not be regarded as limiting the claims involved.

[0046] Specific examples are used in the present invention to elaborate on the principles and implementation manners of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. An automated system for safely transporting gas cylinders, characterized in that, It includes a bracket, a suction cup module, a mechanical clamping module, a first telescopic cylinder, and a transfer unit for driving the movement of the bracket. The bracket is connected to the transfer unit. The suction cup module and the mechanical clamping module are vertically distributed on the bracket. The suction cup module is connected to the bracket through the first telescopic cylinder, and the first telescopic cylinder is horizontally arranged on the bracket; The mechanical clamping module is arranged on the bracket through a second telescopic cylinder, and the second telescopic cylinder is vertically arranged on the bracket; The suction cup module includes at least one vacuum suction cup and / or at least one electromagnetic suction cup or electro-permanent magnetic suction cup. The vacuum suction cup, the electromagnetic suction cup or the electro-permanent magnetic suction cup is connected to the first telescopic cylinder through a mounting seat; Sloping plates that tilt outwards are provided at the four corners of the mounting seat. The vacuum suction cup, the electromagnetic suction cup or the electro-permanent magnetic suction cup is arranged on the sloping plates and presents a state of tilting inwards. The sloping plates are rotatably arranged on the mounting seat through electric or hydraulic driven telescopic rods; Sliding seats are arranged in parallel on both sides of the mounting seat. The distance between the sliding seat and the mounting seat is adjusted through a telescopic rod, and the sloping plate is arranged on the sliding seat.

2. The automatic system for safely handling gas cylinders according to claim 1, wherein, The mechanical clamping module includes a finger cylinder and clamping plates. The clamping plates are provided on both clamping arms of the finger cylinder, and the clamping surfaces of the clamping plates match the outer peripheral wall surface of the gas cylinder to be transported; 3. The automatic system for safely handling gas cylinders according to claim 2, wherein A sensor for detecting the clamping force is provided on the clamping surface of the clamping plate.

4. The gas cylinder safety handling automation system according to claim 1, characterized in that, A vertical guide rail is provided on the bracket, and the mechanical clamping module is slidably arranged on the vertical guide rail.

5. The gas cylinder safe handling automation system according to claim 1, characterized in that, A rotating motor for driving the rotation of the suction cup module is provided on the bracket.

6. The automatic system for safely handling gas cylinders according to claim 1, characterized in that, The vacuum suction cup is connected to a vacuum generator. When multiple vacuum suction cups are provided, the suction surface formed by the suction ends of the multiple vacuum suction cups matches the outer peripheral wall surface of the gas cylinder to be transported.

7. The automatic system for safely handling gas cylinders according to claim 1, characterized in that, A first adapter plate is arranged between the bracket and the mounting seat. The first adapter plate is connected to the first telescopic cylinder. A plurality of linear bearings are provided on the first adapter plate. Support optical axes are correspondingly arranged on the mounting seat for the linear bearings. The support optical axes are slidably arranged in the linear bearings. Compression springs are provided on the support optical axes. One end of the compression spring is connected to the first adapter plate, and the other end is connected to the mounting seat.

8. The automatic system for safely handling gas cylinders according to claim 1, characterized in that, The transfer unit is a manipulator.

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