Automatic docking mechanism for steel cylinder filling

Abstract

The invention discloses an automatic butt joint mechanism for steel cylinder filling, which is used for butt joint of a valve and a filling pipe and comprises a base; one end of the pipe joint is connected with the filling pipe, and the other end of the pipe joint is provided with an internal thread or an external thread matched with the valve filling opening so as to be in threaded connection with the valve filling opening; the clamping mechanism is mounted on the base, and the clamping mechanism clamps the pipe joint and allows the pipe joint to rotate around the axis of the pipe joint; the pipe joint rotating mechanism is fixed to the base, and the pipe joint rotating mechanism drives the pipe joint to rotate so as to be in threaded connection with the filling opening of the valve; and the valve opening and closing mechanism is installed on the base, and the valve opening and closing mechanism is arranged on a hand wheel of the valve in a sleeving mode and screwed so as to open and close the valve. The device is high in integration degree, and the occupied area of equipment is greatly reduced; the automatic butt-joint filling device has good compatibility, can meet the automatic butt-joint filling requirements of steel cylinders of different specifications, and is high in adaptability; and the automation level and the production efficiency can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of cylinder filling, and particularly to an automatic docking mechanism for cylinder filling. Background Art

[0002] In the field of industrial gas filling, the cylinder filling operation is a key link to ensure the normal operation of various industrial productions. In the prior art, during the filling process of a cylinder, first, the cylinder is manually carried to the filling station, then the filling pipeline is connected, and after opening the valve, the filling operation starts; for the emerging basket-type filling in recent years, although the filling efficiency is greatly improved, the handling of the basket, the connection of the filling pipeline, and the opening and closing of the valve all require manual operations, with low automation. And for some toxic and harmful industrial gases, it will also pose a serious threat to the life safety of the operators during the filling process. With the acceleration of the industrial automation process, the gas filling industry has an increasingly urgent requirement for the intelligence and automation of the filling operation. The existing simple manual docking device cannot be effectively compatible with the automated production line, seriously restricting the automated upgrading and transformation of the entire filling process, and being unfavorable for enterprises to reduce costs, improve production efficiency, and market competitiveness. Currently, a major factor restricting the development of automatic docking filling in China is that the same filling station has to face cylinders of multiple brands, and the national standard does not have strict unified requirements for the external dimensions of cylinders. Even cylinders with the same volume will have great differences in external dimensions, and the current situation is difficult to change in a short time. And some current domestic and foreign cases of automatic docking filling of cylinders have extremely high requirements for the standardization degree of cylinders, and cannot meet the actual automatic docking needs of diverse domestic cylinder specifications. Summary of the Invention

[0003] According to an embodiment of the present invention, there is provided an automatic docking mechanism for cylinder filling, for the docking of a valve and a filling pipe, including: A base; A pipe joint, one end of the pipe joint is connected to the filling pipe, and the other end of the pipe joint has an internal thread or an external thread matching the filling port of the valve to be screwed to the filling port of the valve; A clamping mechanism, the clamping mechanism is installed on the base, the clamping mechanism clamps the pipe joint and allows the pipe joint to rotate around its own axis; A pipe joint rotation mechanism, the pipe joint rotation mechanism is fixed on the base, and the pipe joint rotation mechanism drives the pipe joint to rotate to be screwed to the filling port of the valve; A valve opening and closing mechanism, the valve opening and closing mechanism is installed on the base, and the valve opening and closing mechanism is sleeved on the handwheel of the valve and screwed to open and close the valve.

[0004] Further, the pipe joint includes a connection section, a rotation drive section, a clamping and positioning section, and a docking section; The rotation drive section, the clamping and positioning section, and the docking section are sequentially connected to each other; One end of the connecting section is connected to the filling pipe. The other end of the connecting section sequentially penetrates through the rotary drive section and the clamping and positioning section and extends into the docking section. The docking section is screwed to the filling port of the valve. The clamping and positioning section cooperates with the clamping mechanism. The rotary drive section is an external hexagonal pipe and cooperates with the pipe joint rotation mechanism.

[0005] Furthermore, the docking section includes: a pipe body, a spring, and a joint. One end of the pipe body is connected to the clamping and positioning section. The joint is arranged at the other end of the pipe body and is slidably arranged in the pipe body. The joint is provided with internal or external threads matching the filling port of the valve. The spring is sleeved on the connecting section, and both ends of the spring are respectively connected to the pipe body and the joint. The other end of the connecting section extends into the joint, and a limiting ring is arranged at the other end of the connecting section. The limiting ring limits the extending distance of the spring.

[0006] Furthermore, the joint is a stepped pipe, and the pipe body is provided with a stepped inner hole. The stepped inner hole and the stepped pipe cooperate to limit the compression distance of the spring.

[0007] Furthermore, the outer diameter of the clamping and positioning section is smaller than the outer diameter of the docking section, and a retaining ring is arranged between the clamping and positioning section and the rotary drive section.

[0008] Furthermore, the clamping mechanism includes: a finger cylinder, a pair of clamping blocks, a connecting shaft, and a first bearing. The finger cylinder is fixed on the base. A pair of clamping blocks are respectively arranged oppositely on the two jaws of the finger cylinder. Two connecting shafts are fixed on each clamping block. The connecting shafts penetrate through the clamping blocks, and the axial direction of the connecting shafts is parallel to the axial direction of the pipe joint. Both ends of each connecting shaft are rotatably installed with a first bearing, and the outer peripheral surface of the first bearing is attached to the outer peripheral surface of the pipe joint.

[0009] Furthermore, the pipe joint rotation mechanism includes: an electric open-end wrench. The electric open-end wrench is installed on the base, and the opening of the electric open-end wrench cooperates with the outer peripheral surface of the pipe joint to drive the pipe joint to rotate.

[0010] Furthermore, the valve opening and closing mechanism includes: a servo motor, a transmission component, and a profiling sleeve. The servo motor and the transmission component are installed on the base. The output end of the servo motor is connected to the transmission component, and the transmission component is connected to the profiling sleeve. The inner cavity of the profiling sleeve cooperates with the handwheel of the valve and is sleeved on the handwheel of the valve. The material of the profiling sleeve is nylon. The servo motor drives the profiling sleeve to rotate through the transmission component, thereby driving the handwheel of the valve to rotate.

[0011] Furthermore, the transmission component includes: a bearing seat, a second bearing, a core shaft, and a sleeve fixing seat; The output end of the servo motor is coaxially connected to the core shaft; The core shaft is assembled in the bearing seat through the second bearing, and the bearing seat is installed on the base; The sleeve fixing seat is fixed to the end of the core shaft, and the sleeve fixing seat is connected to the profiling sleeve through bolts.

[0012] Furthermore, it further includes: a 3D vision camera, which is installed on the base, and the 3D vision camera identifies the filling port of the valve and the position of the handwheel.

[0013] According to the cylinder filling automatic docking mechanism of the embodiment of the present invention, various functional mechanisms such as a 3D vision camera, pipe joint docking, and valve opening and closing are integrated and installed at the end of the six-axis robotic arm. The structure is compact, the degree of integration is high, greatly reducing the floor area of the equipment and improving the space utilization efficiency; it has good compatibility, and as long as the valve specifications are unified, it can meet the automatic docking and filling requirements of different specifications of cylinders, with strong adaptability; it can realize fully unmanned automatic filling operations, improving the automation level and production efficiency, and reducing the labor cost.

[0014] It should be understood that both the foregoing general description and the following detailed description are exemplary and are intended to provide further explanation of the claimed technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a schematic structural diagram of the cylinder filling automatic docking mechanism according to the embodiment of the present invention; Figure 2 is a front view schematic diagram of the pipe joint of the cylinder filling automatic docking mechanism according to the embodiment of the present invention; Figure 3 is Figure 2 the sectional view taken along the A-A plane in; Figure 4 is a schematic structural diagram of the clamping mechanism of the cylinder filling automatic docking mechanism according to the embodiment of the present invention; Figure 5 is a schematic structural diagram of the pipe joint rotation mechanism of the cylinder filling automatic docking mechanism according to the embodiment of the present invention; Figure 6 is a front view schematic diagram of the valve opening and closing mechanism of the cylinder filling automatic docking mechanism according to the embodiment of the present invention; Figure 7 is Figure 6 the sectional view taken along the B-B plane in. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0016] The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings to further elaborate on the present invention.

[0017] First, in conjunction with Figures 1 - 7 A steel cylinder filling automatic docking mechanism according to an embodiment of the present invention will be described, which is used to realize the automatic docking of a steel cylinder with a gas source or a liquid source and has a wide range of application scenarios.

[0018] As Figures 1 - 7 shown, the steel cylinder filling automatic docking mechanism of the embodiment of the present invention is used for the docking of a valve and a filling pipe 7, and includes: a base 1, a pipe joint 2, a clamping mechanism 3, a pipe joint rotating mechanism 4 and a valve opening and closing mechanism 5. A flange is installed on the base 1 for connecting an external moving mechanism, such as a six-axis robotic arm.

[0019] Specifically, as Figures 1 - 7 shown, in this embodiment, one end of the pipe joint 2 is connected to the filling pipe 7, and the other end of the pipe joint 2 has an internal or external thread matching the filling port of the valve to be screwed to the filling port of the valve. The pipe joint 2 is in a connected state with the filling pipe 7, and the pipe joint 2 and the docking mechanism as a whole are of a split design. During docking, the clamping mechanism 3 is used for clamping and positioning. The clamping mechanism 3 is installed on the base 1, the clamping mechanism 3 clamps the pipe joint 2 and allows the pipe joint 2 to rotate around its own axis, so as to realize clamping and positioning of the pipe joint 2 without affecting the rotation of the pipe joint 2; the pipe joint rotating mechanism 4 is fixed on the base 1, and the pipe joint rotating mechanism 4 drives the pipe joint 2 to rotate to be screwed to the filling port of the valve; the valve opening and closing mechanism 5 is installed on the base 1, and the valve opening and closing mechanism 5 is sleeved on the handwheel of the valve and screwed to open and close the valve for filling operation. In this embodiment, it also includes: a 3D vision camera 6. The 3D vision camera 6 is installed on the base 1, and the 3D vision camera 6 identifies the positions of the filling port of the valve and the handwheel. With the core of the advanced 3D vision camera 6 recognition technology and relying on the six-axis robotic arm to achieve precise operation, it has high recognition accuracy and strong docking reliability. This mechanism integrates various functional mechanisms such as the 3D vision camera, the docking of the pipe joint 2, and the opening and closing of the valve and installs them at the end of the six-axis robotic arm. It has a compact structure and a high degree of integration. Only by adding the running track of the robotic arm can multi-station full-automatic filling be realized, greatly reducing the floor area of the equipment and improving the space utilization efficiency. When this mechanism is used in conjunction with the steel cylinder automatic handling and conveying line, it can realize completely unmanned automatic filling operation, significantly reducing the labor cost of the enterprise and greatly improving the automation level and production efficiency of the enterprise.

[0020] Specifically, as Figures 1 - 7As shown in the figure, in this embodiment, the pipe joint 2 includes a connection section 21, a rotation drive section 22, a clamping and positioning section 23, and a docking section 24; the rotation drive section 22, the clamping and positioning section 23, and the docking section 24 are connected to each other in sequence; one end of the connection section 21 is connected to the filling pipe 7, and the other end of the connection section 21 sequentially penetrates through the rotation drive section 22 and the clamping and positioning section 23 and extends into the docking section 24, that is, one end of the connection section 21 extends out of the rotation drive section 22, and the other end extends into the docking section 24. The connection section 21 and the filling pipe 7 are integrally formed to ensure sealing, and the rotation drive section 22, the clamping and positioning section 23, and the docking section 24 are integrally formed to ensure structural rigidity; the docking section 24 has an internal thread or an external thread matching the valve filling port, and the docking section 24 is screwed to the filling port of the valve; the clamping and positioning section 23 cooperates with the clamping mechanism 3; the rotation drive section 22 is an external hexagonal pipe to transmit the rotation torque and facilitate cooperation with the pipe joint rotation mechanism 4.

[0021] Further, as Figures 1 - 7 shown, in this embodiment, the docking section 24 includes: a pipe body 241, a spring 242, and a joint 243; one end of the pipe body 241 is connected to the clamping and positioning section 23; the joint 243 is arranged at the other end of the pipe body 241 and is slidably arranged in the pipe body 241. The joint 243 is provided with an internal thread or an external thread matching the valve filling port; the spring 242 is sleeved on the connection section 21, and both ends of the spring 242 are respectively connected to the pipe body 241 and the joint 243. The spring 242 can provide a certain elasticity during docking to ensure that the threaded joint 243 does not damage the thread of the valve filling port; the other end of the connection section 21 extends into the joint 243, and a limiting ring 211 is arranged at the other end of the connection section 21. The limiting ring 211 limits the extension distance of the spring 242, and the limiting ring 211 ensures that the sliding range of the joint 243 is controllable and prevents excessive extension.

[0022] Further, as Figures 1 - 7 shown, in this embodiment, the joint 243 is a stepped pipe, and the pipe body 241 is provided with a stepped inner hole 2411. The stepped inner hole 2411 contacts the stepped surface of the stepped pipe to form a rigid limit, directly limiting the sliding distance of the joint 243, avoiding excessive compression of the spring 242, and ensuring the performance of the spring 242.

[0023] Further, as Figures 1 - 7 shown, in this embodiment, the outer diameter of the clamping and positioning section 23 is smaller than the outer diameter of the docking section 24, and a retaining ring 25 is arranged between the clamping and positioning section 23 and the rotation drive section 22; the different outer diameters form a stepped structure, forming a clear physical boundary at the connection between the clamping and positioning section 23 and the docking section 24, and making the connection between the clamping and positioning section 23 and the rotation drive section 22 form a clear physical boundary through the retaining ring 25, realizing axial limit, preventing axial displacement of the pipe joint 2 during rotation, and at the same time facilitating the identification and positioning of the clamping and positioning section 23, improving the accuracy of clamping and positioning.

[0024] Specifically, as Figures 1 - 7 shown, in this embodiment, the clamping mechanism 3 includes: a finger cylinder 31, a pair of clamping blocks 32, a connecting shaft 33, and a first bearing 34; the finger cylinder 31 is fixed on the base 1; a pair of clamping blocks 32 are respectively arranged oppositely on two jaws of the finger cylinder 31, and the symmetrically distributed clamping blocks 32 clamp the pipe joint 2 synchronously from both sides, providing a uniform clamping force. The synchronous movement of the two clamping blocks 32 ensures that the axis of the pipe joint 2 is always centered and avoids deflection; two connecting shafts 33 are fixed on each clamping block 32, and the two connecting shafts 33 are arranged vertically. The connecting shaft 33 is used for installing bearings, the connecting shaft 33 penetrates through the clamping block 32, and the axial direction of the connecting shaft 33 is parallel to the axial direction of the pipe joint 2; two first bearings 34 are rotatably installed at both ends of each connecting shaft 33, that is, the two first bearings 34 on the same connecting shaft 33 are respectively located on both sides of the clamping block 32, and the outer peripheral surface of the first bearing 34 is in contact with the outer peripheral surface of the pipe joint 2, realizing the clamping of the pipe joint 2 without restricting the rotation of the pipe joint 2. The pipe joint 2 is clamped between eight bearings. The finger cylinder 31 drives the clamping block 32 to close, clamps the pipe joint 2 through the bearings, the pipe joint rotating mechanism 4 drives the pipe joint 2 to rotate, and the bearings roll along the outer wall of the pipe joint 2, realizing rotation without resistance. After the thread is tightened, the finger cylinder 31 loosens the clamping block 32, and the mechanism resets.

[0025] Specifically, as Figures 1 - 7 shown, in this embodiment, the pipe joint rotating mechanism 4 includes: an electric open-end wrench 41. The electric open-end wrench 41 is installed on the base 1, and the opening 42 of the electric open-end wrench 41 is matched with the outer peripheral surface of the pipe joint 2 to drive the pipe joint 2 to rotate. The center line of the opening 42 and the clamping center line of the first bearing 34 are on the same axis, ensuring the stability of the pipe joint 2 during rotation.

[0026] Specifically, as Figures 1 - 7 shown, in this embodiment, the valve opening and closing mechanism 5 includes: a servo motor 51, a transmission component, and a profiling sleeve 54; the servo motor 51 and the transmission component are installed on the base 1; the output end of the servo motor 51 is connected to the transmission component, and the transmission component is connected to the profiling sleeve 54; the inner cavity of the profiling sleeve 54 is a valve handwheel profiling structure, and the inner cavity of the profiling sleeve 54 is matched with the handwheel of the valve and sleeved on the handwheel of the valve to transmit the rotational force. The profiling sleeve 54 is made of nylon, which is flexible, wear-resistant, reduces handwheel scratches, extends the service life of the valve, is light in weight and insulated. By replacing the profiling sleeve 54 with different inner cavity shapes, it can adapt to various shapes of handwheels; the servo motor 51 drives the profiling sleeve 54 to rotate through the transmission component, drives the handwheel of the valve to rotate, and the servo motor 51 provides a precisely controlled rotational movement to drive the opening or closing of the valve handwheel.

[0027] Furthermore, as Figures 1 - 7As shown in the figure, in this embodiment, the transmission assembly includes: a bearing seat 52, a second bearing 55, a mandrel 56, and a sleeve fixing seat 53; the output end of the servo motor 51 is coaxially connected to the mandrel 56; the mandrel 56 is assembled in the bearing seat 52 through the second bearing 55, and the bearing seat 52 is installed on the base 1; the sleeve fixing seat 53 is fixed to the end of the mandrel 56, and the sleeve fixing seat 53 is connected to the profiling sleeve 54 by bolts. The bolt connection supports the quick disassembly and assembly of the profiling sleeve 54, and sleeves adapted to different handwheels can be replaced.

[0028] The whole mechanism is installed at the end of the six-axis robotic arm. The robotic arm drives the automatic docking mechanism to complete actions such as the scanning of the valve, the grasping of the pipe joint 2, the docking and screwing of the pipe joint 2 with the valve filling port, and the opening and closing of the valve. Before the docking operation, the pipe joint 2 is located at its dedicated fixed position. The specific process is as follows: After the gas cylinder is fixed to the filling station, first, the 3D vision camera 6 scans the gas cylinder valve to identify the positions of the valve filling port and the valve handwheel; after the scanning is completed, the pipe joint 2 is grasped and docked with the valve filling port; after docking, the pipe joint rotating mechanism 4 rotates the pipe joint 2 to screw and tighten the pipe joint 2 with the valve thread; after tightening, the valve opening and closing mechanism 5 is sleeved on the valve handwheel and rotated to open it, and then the filling operation can be carried out. After the filling is completed, first, the valve opening and closing mechanism 5 sleeves and closes the valve handwheel, and then the clamping mechanism 3 and the pipe joint rotating mechanism 4 rotate and separate the pipe joint 2 from the valve filling port, and place the pipe joint 2 in its original position, and the filling is completed.

[0029] As above, with reference to Figures 1 - 7 The automatic docking mechanism for gas cylinder filling according to the embodiment of the present invention is described. A variety of functional mechanisms such as a 3D vision camera, pipe joint docking, and valve opening and closing are integrated and installed at the end of the six-axis robotic arm. It has a compact structure and a high degree of integration, greatly reducing the floor area of the equipment and improving the space utilization efficiency; it has good compatibility and can meet the automatic docking and filling requirements of different specifications of gas cylinders as long as the valve specifications are unified, with strong adaptability; it can achieve fully unmanned automatic filling operations, improving the automation level and production efficiency and reducing the labor cost.

[0030] It should be noted that in this specification, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising..." does not exclude the existence of additional identical elements in the process, method, article or device including the element.

[0031] Although the content of the present invention has been described in detail through the above preferred embodiments, it should be recognized that the above description should not be construed as a limitation of the present invention. After those skilled in the art have read the above content, various modifications and alternatives to the present invention will be obvious. Therefore, the scope of protection of the present invention shall be defined by the appended claims.

Claims

1. An automatic docking mechanism for filling a steel cylinder, used for docking a valve and a filling pipe, characterized in that: Include: Base; A pipe joint, one end of which is connected to the filling pipe, and the other end of which has an internal thread or an external thread matching the filling port of the valve so as to be screwed to the filling port of the valve; A clamping mechanism, wherein the clamping mechanism is mounted on the base, the clamping mechanism clamps the pipe joint and allows the pipe joint to rotate around its own axis; A pipe joint rotating mechanism, the pipe joint rotating mechanism is fixed on the base, and the pipe joint rotating mechanism drives the pipe joint to rotate so as to be screwed to the filling port of the valve; A valve opening and closing mechanism is installed on the base, and the valve opening and closing mechanism is sleeved on the hand wheel of the valve and screwed to open and close the valve.

2. The automatic docking mechanism for filling steel cylinders as claimed in claim 1, characterized in that: The pipe joint comprises a connecting section, a rotating driving section, a clamping and positioning section and a docking section; The rotation driving section, the clamping and positioning section and the docking section are connected to each other in sequence; One end of the connecting section is connected to the filling tube, and the other end of the connecting section sequentially passes through the rotating driving section and the clamping and positioning section, and extends into the docking section; The docking section is threadedly connected to the filling port of the valve; The clamping and positioning section cooperates with the clamping mechanism; The rotation driving section is an external hexagonal tube, which cooperates with the pipe joint rotation mechanism.

3. The automatic docking mechanism for filling steel cylinders as claimed in claim 2, characterized in that: The docking section comprises: a tube body, a spring and a joint; One end of the tube body is connected to the clamping and positioning section; The joint is arranged at the other end of the tube body and is slidably arranged in the tube body, and the joint is provided with an internal thread or an external thread matching the filling port of the valve; The spring is sleeved on the connecting section, and two ends of the spring are connected to the tube body and the joint respectively; The other end of the connecting section extends into the joint, and a limiting ring is provided at the other end of the connecting section, and the limiting ring limits the extension distance of the spring.

4. The automatic docking mechanism for filling steel cylinders as claimed in claim 3, characterized in that: The joint is a stepped tube, the tube body is provided with a stepped inner hole, and the stepped inner hole cooperates with the stepped tube to limit the compression distance of the spring.

5. The automatic docking mechanism for filling steel cylinders as described in any one of claims 2 to 4, characterized in that: The outer diameter of the clamping and positioning section is smaller than the outer diameter of the docking section, and a retaining ring is provided between the clamping and positioning section and the rotation driving section.

6. The automatic docking mechanism for filling steel cylinders as claimed in claim 1, characterized in that: The clamping mechanism comprises: a finger cylinder, a pair of clamping blocks, a connecting shaft and a first bearing; The finger cylinder is fixed on the base; The pair of clamping blocks are respectively arranged on the two clamping claws of the finger cylinder in an opposite manner; Two connecting shafts are fixed on each clamping block, and the connecting shafts pass through the clamping block, and the axial direction of the connecting shaft is parallel to the axial direction of the pipe joint; The first bearings are rotatably mounted at both ends of each connecting shaft, and the outer circumferential surface of the first bearing is in contact with the outer circumferential surface of the pipe joint.

7. The automatic docking mechanism for filling steel cylinders as claimed in claim 1, characterized in that: The pipe joint rotating mechanism comprises: an electric open-end wrench, the electric open-end wrench is installed on the base, the opening of the electric open-end wrench matches with the outer peripheral surface of the pipe joint to drive the pipe joint to rotate.

8. The automatic docking mechanism for filling steel cylinders as claimed in claim 1, characterized in that: The valve opening and closing mechanism comprises: a servo motor, a transmission assembly and a contoured sleeve; The servo motor and the transmission assembly are mounted on the base; The output end of the servo motor is connected to the transmission assembly, and the transmission assembly is connected to the contour sleeve; The inner cavity of the profiling sleeve matches with the hand wheel of the valve and is sleeved on the hand wheel of the valve, and the material of the profiling sleeve is nylon; The servo motor drives the contoured sleeve to rotate through the transmission assembly, thereby driving the hand wheel of the valve to rotate.

9. The automatic docking mechanism for filling steel cylinders as claimed in claim 8, characterized in that: The transmission assembly comprises: a bearing seat, a second bearing, a spindle and a sleeve fixing seat; The output end of the servo motor is coaxially connected to the core shaft; The spindle is assembled in the bearing seat through the second bearing, and the bearing seat is mounted on the base; The sleeve fixing seat is fixed to the end of the core shaft, and the sleeve fixing seat is connected with the contoured sleeve through bolts.

10. The automatic docking mechanism for filling steel cylinders as claimed in claim 1, characterized in that: It also includes: a 3D vision camera, which is installed on the base and identifies the positions of the filling port and the hand wheel of the valve.

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