An unmanned ship refueling robot

Abstract

The present invention discloses an unmanned ship refueling robot, belonging to the technical field of refueling robots. The robot comprises a servo base, a first multi-axis robotic arm fixedly mounted on the output end of the servo base, a refueling connector module configured at the end of the first multi-axis robotic arm for aligning with the refueling inlet to be refueled, an anti-sway buffer mechanism configured on the inner side of a rocker arm near one end of the servo base for offsetting sway, and an oil filling conduit connected to the refueling connector module for oil supply via the anti-sway buffer mechanism. The combined design of dual robotic arm collaborative compensation and the anti-sway buffer mechanism can solve the problem of instability of the oil filling interface caused by ship sway during offshore refueling. This design differs from the limitations of existing single robotic arms that rely on dynamic servo compensation, reduces the adjustment frequency and energy consumption of the servo motor, and avoids mechanical wear caused by high-frequency compensation.

Description

Technical Field

[0001] The present invention relates to the technical field of refueling robots, and more particularly to an unmanned ship refueling robot. Background Art

[0002] An unmanned ship refueling robot is an automated refueling device based on intelligent positioning and collaborative operation of a robotic arm. It is mainly used to provide fuel supply services to ships in a maritime environment. Existing technologies usually use a servo robotic arm equipped with visual sensors, such as lidar and infrared thermal imagers, for target recognition. The dynamic adjustment system controls the robotic arm to clamp the refueling gun and guide the robotic arm to cross the distance between the two ships to complete the operation of inserting the refueling gun into the oil filling hole.

[0003] However, due to the reciprocating wave fluctuations on the sea surface, the ship will experience relatively large roll and pitch. In actual operation, it is difficult to maintain the stability of the oil injection interface by relying solely on the closed-loop control system and real-time compensation mechanism of the servo robotic arm. In addition, high-frequency reciprocating compensation through the dynamic adjustment system will also lead to increased wear of the robotic arm joints and increased energy consumption. In addition, its reciprocating compensation in a shaking environment will also cause the accumulation of oil and gas mixture at the docking flange interface end, posing a certain safety risk.

[0004] The core contradiction of existing technologies lies in the fact that the servo system can only achieve local stability for a single robotic arm, while the global stability of the oiling interface relies on synchronous compensation of the relative positions of the two vessels. Simply increasing the servo motor's response speed can temporarily suppress offset, but it will lead to a surge in system complexity and cost. Therefore, a composite structure that can simultaneously achieve dynamic sealing is urgently needed to assist in the oiling process at the oiling port. Summary of the Invention

[0005] In view of the problems existing in the prior art, the purpose of the present invention is to provide an unmanned ship refueling robot to solve the above technical problems.

[0006] To solve the above problems, the present invention adopts the following technical solutions.

[0007] An unmanned marine refueling robot comprises a servo base, a first multi-axis robotic arm fixedly mounted on an output end of the servo base, a refueling connector module configured to align with a refueling inlet at a distal end of the first multi-axis robotic arm, an anti-sway buffer mechanism configured to offset swaying on the inner side of a rocker arm near one end of the servo base, and an oil filling conduit connected to the refueling connector module for oil supply, disposed through the anti-sway buffer mechanism;

[0008] The refueling connector module is further provided with two sets of second multi-axis robotic arms for clamping the conduit at the refueling end, and each set of second multi-axis robotic arms is provided with an interface sealing mechanism. The interface sealing mechanism includes a sealing module, and the two sets of sealing modules are interlocked and sheathed to wrap around the flange of the refueling inlet for secondary sealing.

[0009] Among them, the sealing module includes a second semicircular ring frame with an overall semicircular ring structure, and the interior of the second semicircular ring frame is equipped with first insulating cotton and second insulating cotton. The second insulating cotton is attached to the outer edge of the flange of the refueling port and is used for initial isolation and adsorption of oil and gas at the interface end. The first insulating cotton is arranged on the outside of the second insulating cotton and is used for secondary isolation of oil and gas and blocking external electrostatic interference.

[0010] As a further solution of the present invention: the refueling connector module includes an open-shaped sleeve fixedly connected to the end of the first multi-axis robotic arm, a flange sealing sleeve is fixedly installed on the outside of the open-shaped sleeve, two groups of first electrically-controlled telescopic ends 180 degrees apart are fixedly installed on the outer edge of the open-shaped sleeve, the output end of the first electrically-controlled telescopic end faces away from the flange sealing sleeve, and a push baffle is fixedly installed on the output end, a tough telescopic tube is fixedly connected between the push baffle and the open-shaped sleeve, the outer side of the push baffle is communicated with the oil filling conduit, and an electrically-controlled oil filling gun is arranged on the connecting end of the push baffle and the oil filling conduit to cooperate with the first electrically-controlled telescopic end to extend toward one end of the flange sealing sleeve for oiling.

[0011] As a further solution of the present invention: the second multi-axis robotic arm is fixedly installed on the side of the first electric telescopic end, and a second electric telescopic end is also configured at the end of the second multi-axis robotic arm. The second electric telescopic end is composed of two electric telescopic rods as a whole, and a third multi-axis robotic arm is fixedly installed at the position between the two electric telescopic rods. The end of the third multi-axis robotic arm is configured with a first semicircular ring frame, and an electric magnetic suction module is fixedly installed on the inner circular surface of the first semicircular ring frame.

[0012] As a further solution of the present invention: the interior of the second semicircular ring frame is fixedly installed with an inner nested shell, and the inner nested shell is a semicircular ring shell structure as a whole, and partition side panels are fixedly installed on the side edges on both sides of the interior of the inner nested shell, and the interior of the inner nested shell is divided into a first partition chamber and a second partition chamber by the partition side panels. The first partition chamber and the second partition chamber are in a communicating state, the first partition chamber is close to the side of the open end of the inner nested shell, and the second partition chamber is away from the side of the open end of the inner nested shell, the first partition chamber is sleeved with second insulating cotton, and the second partition chamber is sleeved with first insulating cotton.

[0013] As a further solution of the present invention: the first insulation cotton and the second insulation cotton are both integrally formed semi-circular ring structures, and a notch groove is provided on one side of the inner ring surface of the second insulation cotton for wrapping around the outer edge of the flange interface. The first insulation cotton is an electrostatic protection layer, and the outer layer is a composite polyester layer with a U-shaped corrugated structure. The second insulation cotton is an oil and gas barrier layer, and the inner ring layer is provided with an oleophobic coating. A sealing ring is provided on the end face of the open end of the flange sealing sleeve. Several magnetic blocks are fixedly installed on the outer side wall of the ring edge of the second semi-circular ring frame, and maintenance side panels are installed on both sides of the second semi-circular ring frame through adsorption of magnetic blocks. An impact plate is also fixedly installed on the inner bottom of the rocker arm of the first multi-axis robotic arm close to the servo base end.

[0014] As a further solution of the present invention: a servo motor is fixedly mounted on the first electrically controlled telescopic end on one side of the outer side of the open sleeve, and a gear plate is fixedly mounted on the output end of the servo motor, a gear ring is movably mounted on the side wall of the flange sealing sleeve, the outer edge of the gear ring is meshed with the gear plate, an extension plate is fixedly mounted on the side of the gear ring, a magnetic sleeve plate is fixedly mounted on the end face of the extended end of the extension plate, a slide groove is also provided on the side wall of the partition side plate facing the second partition cavity, and a magnetic roller is slidably mounted through the slide groove.

[0015] As a further solution of the present invention: the magnetic roller is a cylindrical rod structure that is thick in the middle and thin on both sides, and the thick part in the middle protrudes outward from the middle open end of the separating side panels on both sides to enter the first separation cavity. A magnetic coating is fixedly installed on the end faces of both sides of the magnetic roller, and the magnetic coating is tightly attached to the maintenance side panel, and is adsorbed and corresponding to the magnetic sleeve plate through the maintenance side panel. A number of capillary wires are wrapped around the outer surface of the magnetic roller.

[0016] As a further solution of the present invention: the anti-sway buffer mechanism includes a cavity sleeve frame fixedly installed on the inner side of the rocker arm of the first multi-axis robotic arm, a return spring rod is fixedly installed in the cavity sleeve frame, and a liquid supply module is slidably installed through the return spring rod, and the liquid supply module is located at the middle end of the cavity sleeve frame under the action of the return spring force of the return spring rod, and the liquid supply module includes an auxiliary sleeve for being sleeved on the return spring rod, and a round-mouth sleeve head is movably installed on the inner side of the auxiliary sleeve, and the round mouth on the round-mouth sleeve head is used for allowing the oil filling conduit to pass through.

[0017] As a further solution of the present invention: the liquid supply module also includes a storage tank fixedly installed at the bottom of the circular sleeve, a reaction cavity is fixedly installed at the bottom of the storage tank, a reset spring sleeve is fixedly installed inside the reaction cavity, and a push plate is fixedly installed on the reset end of the reset spring sleeve. Under the action of the reset force of the reset spring sleeve, the push plate seals and passes through the bottom of the reaction cavity to hit the impact plate, and a sealing ring is provided on the passing end. A first one-way valve leading to the top of the reaction cavity is fixedly installed at the bottom of the storage tank, and a second one-way valve is fixedly installed on the upper side of the side wall of the reaction cavity.

[0018] As a further solution of the present invention: the liquid supply module also includes two liquid-drawing hoses fixedly installed on the outside of the second one-way valve, the outsides of the liquid-drawing hoses are respectively connected to the second semicircular ring frames on both sides of the open sleeve, and a dripping catheter connected to the liquid-drawing hose is fixedly installed on the second semicircular ring frames on each side, the dripping catheter is placed as a whole on the inner ring surface of the second semicircular ring frame, and a number of capillary dripping ports are opened on the tube surface of the dripping catheter, and a reserved notch corresponding to the dripping catheter is opened on the side of the inner nested shell.

[0019] Compared with the prior art, the above technical solution provided by the present invention has at least the following beneficial effects:

[0020] (1) This solution can solve the problem of instability of the oil filling interface caused by the shaking of the ship during offshore refueling through the combined design of dual-manipulator collaborative compensation and anti-sway buffer mechanism. Different from the limitations of the existing single manipulator relying on dynamic servo compensation, the first multi-axis manipulator controls the refueling connector module to dock with the flange, and at the same time, two groups of second multi-axis manipulators are equipped with interface sealing mechanisms to form a herringbone redundant adjustment structure. During operation, it can form a two-way support with the main manipulator. Combined with the linkage energy absorption of the spring rod in the anti-sway buffer mechanism and the liquid supply module, the reciprocating compensation amplitude of the mechanical joint is significantly reduced, which not only reduces the adjustment frequency and energy consumption of the servo motor, but also avoids mechanical wear caused by high-frequency compensation.

[0021] (2) In order to address the risks of oil and gas leakage and static electricity accumulation in a shaking environment, a double-layer semicircular frame structure is adopted. The inner second insulating cotton absorbs oil and gas particles through the oleophobic coating, and the outer first insulating cotton uses a U-shaped corrugated composite polyester layer to block static interference. The ship's shaking energy is converted into a reagent to supply power. The impact plate triggers the hydrogen peroxide reagent in the storage tank to be transported to the drip tube of the sealing module. The magnetic roller rotates and evenly covers the surface of the insulating cotton, achieving dual suppression of oil and gas leakage and static sparks at the interface, breaking through the limitations of traditional static seals in adaptability to sea conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings, which are incorporated herein and constitute a part of the specification, illustrate embodiments of the invention and, together with the description, further serve to explain the principles of the invention and to enable one skilled in the art to make and use the invention.

[0023] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0024] Figure 2 A side view of the interface sealing mechanism of the present invention in a wrapped state;

[0025] Figure 3 This is a schematic structural diagram of the second multi-axis robotic arm of the present invention when it is deployed;

[0026] Figure 4 It is a structural schematic diagram of the anti-sway buffer mechanism of the present invention;

[0027] Figure 5 Schematic diagram of the half-section structure of the liquid supply module of the present invention;

[0028] Figure 6 This is a schematic structural diagram of the refueling connector module of the present invention;

[0029] Figure 7 It is a schematic diagram of the overall structure of the interface sealing mechanism of the present invention;

[0030] Figure 8 This is a structural diagram of the interface sealing mechanism of the present invention in a disassembled state;

[0031] Figure 9 It is a structural schematic diagram of the magnetic roller of the present invention.

[0032] Reference numerals

[0033] 1. Servo base; 2. First multi-axis robotic arm;

[0034] 3. Refueling connector module; 31. Open-end sleeve; 32. First electrically controlled telescopic end; 33. Pushing baffle; 34. Flexible telescopic tube; 35. Flange sealing sleeve; 36. Servo motor; 37. Gear plate; 38. Gear collar; 39. Extension plate; 310. Magnetic sleeve;

[0035] 4. Second multi-axis robotic arm;

[0036] 5. Interface sealing mechanism; 51. Second electrically controlled telescopic end; 52. Third multi-axis robotic arm; 53. First semicircular ring frame; 54. Electrically controlled magnetic module;

[0037] 55. Sealing module; 551. Second semicircular ring frame; 552. Drip conduit; 553. Inner nesting shell; 554. Reserved notch; 555. Partitioning side panel; 556. First partition chamber; 557. Second partition chamber; 558. First insulation pad; 559. Second insulation pad; 5510. Magnetic roller; 5511. Magnetic block; 5512. Maintenance side panel;

[0038] 6. Anti-sway buffer mechanism; 61. Cavity sleeve frame; 62. Return spring rod;

[0039] 63. Liquid supply module; 631. Auxiliary sleeve; 632. Round sleeve; 633. Storage tank; 634. Reaction cavity; 635. Return spring sleeve; 636. Push plate; 637. First one-way valve; 638. Second one-way valve;

[0040] 7. Impact plate; 8. Liquid inlet hose; 9. Oil filling pipe.

[0041] As shown in the figure, in order to clearly implement the structure of the embodiment of the present invention, specific structures and devices are marked in the figure, but this is only for illustrative purposes and is not intended to limit the present invention to the specific structure, device and environment. According to specific needs, ordinary technicians in this field can adjust or modify these devices and environments. DETAILED DESCRIPTION

[0042] The following describes in detail an unmanned marine refueling robot provided by the present invention, with reference to the accompanying drawings and specific embodiments. It is also noted that, for the sake of completeness, the following embodiments are best and preferred, and those skilled in the art may employ alternative implementations. Furthermore, the accompanying drawings are intended only to further illustrate the embodiments and are not intended to limit the present invention.

[0043] like Figures 1 to 9 As shown, an embodiment of the present invention provides an unmanned marine refueling robot, comprising a servo base 1, a first multi-axis robotic arm 2 fixedly mounted on the output end of the servo base 1, a refueling connector module 3 configured to align with the refueling port at the distal end of the first multi-axis robotic arm 2, an anti-sway buffer mechanism 6 configured to offset swaying, and an oil filling conduit 9 connected to the refueling connector module 3 for oil supply, configured through the anti-sway buffer mechanism 6;

[0044] Two sets of second multi-axis robotic arms 4 are further disposed on the outside of the refueling connector module 3 for clamping the conduit at the refueling end. Each set of second multi-axis robotic arms 4 is equipped with an interface sealing mechanism 5, which includes a sealing module 55. The interface sealing mechanism 5 is wrapped around the flange of the refueling port to provide a secondary seal through the interlocking and sheathing effect of the two sets of sealing modules 55.

[0045] Among them, the sealing module 55 includes a second semicircular ring frame 551 with an overall semicircular ring structure, and the interior of the second semicircular ring frame 551 is equipped with a first isolation cotton 558 and a second isolation cotton 559. The second isolation cotton 559 is attached to the outer edge of the flange of the refueling port for initial isolation and adsorption of oil and gas at the interface end. The first isolation cotton 558 is arranged on the outside of the second isolation cotton 559 for secondary isolation of oil and gas and blocking external electrostatic interference.

[0046] In order to solve the problem in the prior art that the single-sided robotic arm cannot stabilize the refueling interface due to the shaking of waves, causing mechanical wear, high energy consumption and oil and gas leakage risks, the above-mentioned technical solution is now adopted to solve the problem. The above-mentioned technical solution is mainly composed of a servo base 1, a first multi-axis robotic arm 2, a refueling joint module 3, a second multi-axis robotic arm 4, an interface sealing mechanism 5, an anti-sway buffer mechanism 6, and an oil filling pipe 9. The servo base 1, the first multi-axis robotic arm 2, and the second multi-axis robotic arm 4 are all robotic arm structures controlled by a dynamic servo compensation module in the prior art. During actual work, the angle and deployment position of the robotic arm can be automatically adjusted according to dynamic compensation, and multi-directional servo rotation and extension can be performed to control the position of the output end structure. The configured refueling connector module 3 is similar to the oiling gun head structure in the prior art. Through the servo control of the first multi-axis robotic arm 2, it can be tightly attached to the flange of the conduit at the end to be oiled. During actual operation, when the end face of the refueling connector module 3 intersects with the flange, even if there is real-time compensation by the dynamic adjustment module, the intersecting end face will still have reciprocating up and down offset movement. The configured interface sealing mechanism 5 is servo-controlled by the second multi-axis robotic arm 4 and wrapped around the position where the end face of the refueling connector module 3 intersects with the flange for secondary sealing. On the one hand, it alleviates the up and down offset, and on the other hand, it seals the electrostatic interference on the outside and the oil and gas on the inside.

[0047] Among them, the configured interface sealing mechanism 5 includes a sealing module 55, and the sealing module 55 includes a second semicircular ring frame 551 with an overall semicircular ring structure, and the interior of the second semicircular ring frame 551 is configured with a first insulating cotton 558 and a second insulating cotton 559. Specifically, the second insulating cotton 559 is attached to the outer edge of the flange of the refueling port, and is used to isolate the oil and gas overflowing from the interface end and adsorb the oil and gas at the interface end, and the first insulating cotton 558 is configured on the outside of the second insulating cotton 559, and is used for secondary isolation of oil and gas and blocking external electrostatic interference, so as to solve the problem of the existing technology that the single-sided robotic arm cannot stabilize the refueling interface due to the shaking of waves, causing mechanical wear, high energy consumption and oil and gas leakage risks.

[0048] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 、 Figure 8 、 Figure 9 As shown, the refueling connector module 3 includes an open sleeve 31 fixedly connected to the end of the first multi-axis robotic arm 2, and a flange sealing sleeve 35 is fixedly installed on the outer side of the open sleeve 31. Two groups of first electrically controlled telescopic ends 32 separated by 180 degrees are fixedly installed on the outer edge of the open sleeve 31. The output end of the first electrically controlled telescopic end 32 faces away from the flange sealing sleeve 35, and a push baffle 33 is fixedly installed on the output end. A tough telescopic tube 34 is fixedly connected between the push baffle 33 and the open sleeve 31. The outer side of the push baffle 33 is communicated with the oil filling conduit 9, and an electrically controlled oil filling gun is arranged on the connecting end of the push baffle 33 and the oil filling conduit 9 to cooperate with the first electrically controlled telescopic end 32 to extend toward one end of the flange sealing sleeve 35 for oiling.

[0049] Among them, the configured open-shaped sleeve 31 and the flange sealing sleeve 35 are an integrated structure for matching the flange to be refueled. The configured first electrically controlled telescopic end 32 is a telescopic rod structure capable of servo control in the prior art. During operation, by controlling the state of extension and retraction of the output end, the push partition 33 can be controlled to pull the tough telescopic tube 34 to extend back and forth. The configured tough telescopic tube 34 is a telescopic conduit structure. In order to avoid damage to the muzzle of the oiling gun on the push partition 33, the open-shaped sleeve 31 and the When the flange at the end to be refueled is not stable, its pushing partition 33 is in the expanded state. At this time, the configured oil gun is away from the open end of the open sleeve 31. When oil is needed, the pushing partition 33 is retracted by the first electrically controlled telescopic end 32, so that the oil gun on the pushing partition 33 moves toward the open end of the open sleeve 31, and finally extends into the interior of the conduit to be refueled for refueling. The configured electrically controlled oil gun is a oil gun structure controlled by an electric servo valve in the prior art, which can automatically open and close the oil filling port.

[0050] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 、 Figure 8 、 Figure 9 As shown, the second multi-axis robotic arm 4 is fixedly mounted on the side of the first electrically-controlled telescopic end 32, and a second electrically-controlled telescopic end 51 is further configured at the end of the second multi-axis robotic arm 4. The second electrically-controlled telescopic end 51 is composed of two electrically-controlled telescopic rods as a whole, and a third multi-axis robotic arm 52 is fixedly mounted at a position between the two electrically-controlled telescopic rods. A first semicircular ring frame 53 is configured at the end of the third multi-axis robotic arm 52, and an electrically-controlled magnetic suction module 54 is fixedly mounted on the inner annular surface of the first semicircular ring frame 53.

[0051] Among them, the configured second electrically-controlled telescopic end 51 is also an electrically-controlled telescopic rod structure capable of servo control in the prior art. Different from the first electrically-controlled telescopic end 32, it is composed of two electrically-controlled telescopic rods. During actual operation, the second electrically-controlled telescopic end 51 at the output end is moved to the positions directly above and below the open-shaped sleeve 31 through the multi-axis servo drive adjustment of the second multi-axis robotic arm 4. The output ends of the two electrically-controlled telescopic rods in the second electrically-controlled telescopic end 51 are respectively connected to the two side end positions of the sealing module 55. At this time, the sealing module 55 at the output end is controlled to extend synchronously by the second electrically-controlled telescopic end 51, so that the sealing modules 55 on both sides can be wrapped around the edge of the open-shaped sleeve 31 from the positions directly above and below, thereby wrapping the interface between the open-shaped sleeve 31 and the flange. The third multi-axis manipulator 52, which is located in the middle of the side of the second electrically controlled telescopic end 51, is also a manipulator structure capable of multi-angle servo adjustment in the prior art. In the actual working process, at the end to be refueled, that is, at the side of the conduit to be filled with oil, in order to prevent the oil from flowing back, a vertical conduit to prevent backflow is provided on the side of the conduit, and the vertical conduit is thicker than the conduit at the oil filling end, as shown in the attached manual. Figure 1 , Instruction Manual Figure 2 As shown, when the sealing module 55 is wrapped at the position of the interface end, the second electrically-controlled telescopic end 51 is used as a support point, and the third multi-axis robotic arm 52 is used to control the first semicircular ring frame 53 at its output end to fit the conduit at the end to be refueled. Like an extra tentacle, it cooperates with the electrically-controlled magnetic module 54 to firmly adsorb on the conduit. At this time, the third multi-axis robotic arm 52 and the second multi-axis robotic arm 4 form a herringbone-like structure, which stably presses the sealing module 55 at the position of the outer interface end of the open sleeve 31. Different from the oil filling end controlled by a single robotic arm in the prior art, it can not only stably attach the oil filling end to the end to be oiled, but also perform redundant freedom adjustment through the herringbone double robotic arm structure, that is, the robotic arms on both sides can rely on the built-in dynamically adjusted compensation module to unload force during operation to absorb part of the ship's shaking or mechanical vibration energy.

[0052] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 、 Figure 8 、 Figure 9As shown, the interior of the second semicircular ring frame 551 is fixedly installed with an inner nested shell 553, and the inner nested shell 553 is a semicircular ring shell structure as a whole, and partition side panels 555 are fixedly installed on the side edges on both sides of the interior of the inner nested shell 553, and the interior of the inner nested shell 553 is divided into a first partition chamber 556 and a second partition chamber 557 by the partition side panels 555. The first partition chamber 556 and the second partition chamber 557 are in a communicating state. The first partition chamber 556 is close to the side of the open end of the inner nested shell 553, and the second partition chamber 557 is away from the side of the open end of the inner nested shell 553. The first partition chamber 556 is provided with a second insulating cotton 559, and the second partition chamber 557 is provided with a first insulating cotton 558.

[0053] Among them, the separating side panels 555 arranged on the sides on both sides of the inner nested shell 553 play a separating role, dividing the interior of the inner nested shell 553 into a first separating chamber 556 and a second separating chamber 557, so as to assemble the upper barrier layer respectively. The separating side panels 555 do not completely separate the interior of the inner nested shell 553. There is a gap between the inner nested shells 553 on both sides, and the gap allows the first separating chamber 556 to communicate with the second separating chamber 557.

[0054] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 、 Figure 8 、 Figure 9 As shown, the first insulating cotton 558 and the second insulating cotton 559 are both integrally formed semi-circular ring structures, and a notch is provided on one side of the inner ring surface of the second insulating cotton 559 for wrapping around the outer edge of the flange interface. The first insulating cotton 558 is an electrostatic protection layer, and the outer layer is a composite polyester layer with a U-shaped corrugated structure. The second insulating cotton 559 is an oil and gas barrier layer, and an oleophobic coating is provided on the inner ring layer. A sealing ring is provided on the end face of the open end of the flange sealing sleeve 35. Several magnetic blocks 5511 are fixedly installed on the outer side wall of the ring edge of the second semi-circular ring frame 551, and maintenance side panels 5512 are installed on both sides of the second semi-circular ring frame 551 through the magnetic blocks 5511. An impact plate 7 is also fixedly installed on the inner bottom of the rocker arm of the first multi-axis robot arm 2 close to the servo base 1.

[0055] Among them, the first insulating cotton 558 is an electrostatic protection layer, and the outer layer is a composite polyester layer with a U-shaped corrugated structure, and a number of conductive copper wires are compounded inside the composite polyester layer, and the second insulating cotton 559 is an oil and gas barrier layer, and the inner annular layer is provided with an oleophobic coating. The inner oil and gas barrier layer can isolate oil and gas and absorb overflowed oil and gas particles using the oleophobic coating, while the outer electrostatic protection layer can isolate the electrostatic interference outside the interface, and the second insulating cotton 559 is provided with a notch for wrapping around the outer edge of the flange interface, which is used to bite the outer edge of the flange interface.

[0056] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 、 Figure 8 、 Figure 9 As shown, a servo motor 36 is fixedly mounted on the first electrically controlled telescopic end 32 on one side of the outer side of the open sleeve 31, and a gear plate 37 is fixedly mounted on the output end of the servo motor 36. A gear ring 38 is movably mounted on the side wall of the flange sealing sleeve 35. The outer edge of the gear ring 38 is meshed with the gear plate 37. An overhanging plate 39 is fixedly mounted on the side of the gear ring 38. A magnetic sleeve 310 is fixedly mounted on the end face of the overhanging end of the overhanging plate 39. A sliding groove is further provided on the side wall of the partition side plate 555 facing the second partition chamber 557, and a magnetic roller 5510 is slidably mounted through the sliding groove.

[0057] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 、 Figure 8 、 Figure 9 As shown, the magnetic roller 5510 is a cylindrical rod structure that is thick in the middle and thin on both sides, and protrudes outward from the middle open end of the two side partition panels 555 through the thick part in the middle to enter the first partition cavity 556. Magnetic coatings are fixedly installed on the end faces of both sides of the magnetic roller 5510, and the magnetic coatings are tightly attached to the maintenance side panel 5512, and are adsorbed and corresponded to the magnetic sleeve plate 310 through the maintenance side panel 5512. A number of capillary wires are wound around the outer surface of the magnetic roller 5510.

[0058] Among them, a plurality of capillary wires arranged on the outer surface of the magnetic roller 5510 are used to absorb liquid.

[0059] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 、 Figure 8 、 Figure 9 As shown, the anti-sway buffer mechanism 6 includes a cavity sleeve 61 fixedly mounted on the inner side of the rocker arm of the first multi-axis robotic arm 2, a return spring rod 62 fixedly mounted in the cavity sleeve 61, and a liquid supply module 63 slidably mounted through the return spring rod 62, the liquid supply module 63 is located at the middle end of the cavity sleeve 61 under the action of the return spring force of the return spring rod 62, the liquid supply module 63 includes an auxiliary sleeve 631 for being sleeved on the return spring rod 62, a round sleeve 632 is movably mounted on the inner side of the auxiliary sleeve 631, and the round mouth on the round sleeve 632 is used for allowing the oil filling conduit 9 to pass through.

[0060] Among them, the configured reset spring rod 62 is a structure in the prior art, with spring rods installed on both sides. The liquid supply module 63 mounted on its surface is stably docked in the middle position of the cavity frame 61 through the spring rods on both sides, and the spring rods on the upper and lower sides are used to buffer the shaking force on the sea surface.

[0061] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 、 Figure 8 、 Figure 9 As shown, the liquid supply module 63 also includes a storage tank 633 fixedly installed at the bottom position of the circular sleeve 632, and a reaction cavity 634 is fixedly installed at the bottom of the storage tank 633. A reset spring sleeve 635 is fixedly installed inside the reaction cavity 634, and a push plate 636 is fixedly installed on the reset end of the reset spring sleeve 635. Under the reset force of the reset spring sleeve 635, the push plate 636 seals and passes through the bottom of the reaction cavity 634 to hit the impact plate 7, and a sealing ring is provided on the passing end. A first one-way valve 637 leading to the top of the reaction cavity 634 is fixedly installed at the bottom of the storage tank 633, and a second one-way valve 638 is fixedly installed on the upper side of the side wall of the reaction cavity 634.

[0062] Among them, the configured storage tank 633 is used to store hydrogen peroxide reagent, and the hydrogen peroxide reagent is coated between the static conductive layer and the oil and gas barrier layer. Hydrogen peroxide oxidizes the oil and gas particles into carbon dioxide and water through its strong oxidizing property, which can achieve efficient oxidation without residual pollution, and can effectively prevent sealing failure caused by interlayer peeling and isolate oil and gas. The configured first one-way valve 637 and the second one-way valve 638 are both valve structures in the prior art that can only pass liquid in one direction. The first one-way valve 637 can only allow the reagent in the storage tank 633 to enter the reaction cavity 634, and the second one-way valve 638 can only discharge the reagent in the reaction cavity 634.

[0063] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 、 Figure 8 、 Figure 9 As shown, the liquid supply module 63 also includes two liquid-drawing hoses 8 fixedly mounted on the outside of the second one-way valve 638. The outsides of the liquid-drawing hoses 8 are respectively connected to the second semicircular ring frames 551 on both sides of the open sleeve 31, and a dripping catheter 552 connected to the liquid-drawing hose 8 is fixedly mounted on the second semicircular ring frame 551 on each side. The dripping catheter 552 is placed as a whole on the inner ring surface of the second semicircular ring frame 551, and a number of capillary dripping ports are provided on the tube surface of the dripping catheter 552. A reserved notch 554 corresponding to the dripping catheter 552 is provided on the side of the inner nested shell 553.

[0064] The specific working principle of the configured interface sealing mechanism 5 is as follows:

[0065] First, pass the oil filling conduit 9 through the round mouth of the round mouth sleeve 632 and connect it to the oil filling gun on the push partition 33. Through the servo cooperation of the servo base 1 and the first multi-axis robotic arm 2, fit the open sleeve 31 at the end on the flange to be refueled. Then, wrap the sealing module 55 around the interface of the open sleeve 31 through the second multi-axis robotic arm 4 on both sides, and cooperate with the third multi-axis robotic arm 52 to make the first semicircular ring frame 53 close to the conduit, and use the electric-controlled magnetic suction module 54 to firmly adsorb and fix it.

[0066] Then, the reagent is squeezed out by the force generated by the anti-swaying buffer mechanism 6 during the anti-swaying process, specifically, the round sleeve 632 is matched with the oil filling pipe 9, and the storage tank 633 for injecting the reagent at the bottom. During the shaking of the ship, the auxiliary sleeve 631 set by the return spring rod 62 will move up and down, and due to the large mass below, during each downward movement, the push plate 636 in the reaction cavity 634 will reciprocate and hit the impact plate 7. In the process of hitting the impact plate 7, its impact force will cause the push plate 636 to hit the impact plate 7. The plate 636 is pushed upward in the opposite direction, so that the reagent stored in the reaction cavity 634 is squeezed out from the second one-way valve 638 and injected into the second semicircular ring frame 551 of the sealing modules 55 on both sides through the liquid introduction hose 8. Then, it leaves the impact plate 7 in the liquid supply module 63 and is pushed back to the push plate 636 by the reset spring sleeve 635. In conjunction with the first one-way valve 637, the reagent can be repeatedly sucked from the storage tank 633 into the drip tube 552 of the second semicircular ring frame 551 through the effect of negative pressure adsorption.

[0067] Then, the reagent sucked into the dripping tube 552 overflows through the capillary dripping port on the dripping tube 552, immerses into the second partition chamber 557 through the reserved notch 554, and acts on the first insulating cotton 558 in the second partition chamber 557 to neutralize the oil mist particles generated by shaking, and generates the servo motor 36 to turn on. The gear plate 37 at the output end of the servo motor 36 rotates to control the meshing gear ring 38 to rotate, so that the outer extension plate 39 outside the gear ring 38 controls the magnetic sleeve 310 It rotates 360 degrees to absorb the magnetic roller 5510 on the partition side plate 555, and the reagent on the soaked first insulating cotton 558 is smeared on the second insulating cotton 559 through the reciprocating contact and extrusion of the capillary wire on the magnetic roller 5510, and the continuous full coverage coating is completed through the 360-degree reciprocating rotation, which further improves the effect of the insulating reagent. When the first insulating cotton 558 and the second insulating cotton 559 are damaged, they can be quickly pulled out and replaced by removing the maintenance side plate 5512.

[0068] Finally, after the oil filling is completed, the sealing module 55 is transferred outward by the second multi-axis robot arm 4. Before the transfer, the servo motor 36 is used to control the output end gear plate 37 to make the magnetic sleeve 310 adsorb the magnetic roller 5510 so that the magnetic roller 5510 is not located at the side end of the second semicircular ring frame 551 to prevent the magnetic roller 5510 stuck therein from detaching when the second semicircular ring frames 551 on both sides are separated. During the oil filling process, the entire device transfers the fixed focus to one end of the open sleeve 31, and uses the swinging force generated by the shaking to assist in injecting the neutralizing agent into the sealing module 55 of the stable system to further neutralize the oil mist particles.

[0069] The present invention encompasses any alternatives, modifications, equivalents, and solutions that fall within the spirit and scope of the present invention. To provide a thorough understanding of the present invention, specific details are described in detail below in connection with the preferred embodiments of the present invention, but those skilled in the art will be able to fully understand the present invention without these detailed descriptions. Furthermore, to avoid unnecessary confusion regarding the essence of the present invention, well-known methods, processes, procedures, components, and circuits have not been described in detail.

[0070] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. An unmanned ship refueling robot, comprising a servo base, characterized in that: A first multi-axis robotic arm is fixedly mounted on the output end of the servo base. A refueling connector module is disposed at the distal end of the first multi-axis robotic arm for aligning with the refueling port to be refueled. An anti-sway buffer mechanism for offsetting sway is disposed on the inner side of a rocker arm near one end of the servo base. An oil filling conduit connected to the refueling connector module for oil supply is disposed through the anti-sway buffer mechanism. The refueling connector module is further provided with two sets of second multi-axis robotic arms for clamping the conduit at the refueling end, and each set of second multi-axis robotic arms is provided with an interface sealing mechanism. The interface sealing mechanism includes a sealing module, and the two sets of sealing modules are interlocked and sheathed to wrap around the flange of the refueling inlet for secondary sealing. Among them, the sealing module includes a second semicircular ring frame with an overall semicircular ring structure, and the interior of the second semicircular ring frame is equipped with first insulating cotton and second insulating cotton. The second insulating cotton is attached to the outer edge of the flange of the refueling port and is used for initial isolation and adsorption of oil and gas at the interface end. The first insulating cotton is arranged on the outside of the second insulating cotton and is used for secondary isolation of oil and gas and blocking external electrostatic interference.

2. The unmanned ship refueling robot according to claim 1, characterized in that: The refueling connector module includes an open-shaped sleeve fixedly connected to the end of the first multi-axis robotic arm, a flange sealing sleeve is fixedly installed on the outer side of the open-shaped sleeve, two groups of first electrically controlled telescopic ends 180 degrees apart are fixedly installed on the outer edge of the open-shaped sleeve, the output end of the first electrically controlled telescopic end faces away from the flange sealing sleeve, and a push baffle is fixedly installed on the output end, a tough telescopic tube is fixedly connected between the push baffle and the open-shaped sleeve, the outer side of the push baffle is communicated with the oil filling conduit, and an electrically controlled oil filling gun is arranged on the connecting end of the push baffle and the oil filling conduit to cooperate with the first electrically controlled telescopic end to extend toward one end of the flange sealing sleeve for oiling.

3. The unmanned ship refueling robot according to claim 2, characterized in that: The second multi-axis robotic arm is fixedly mounted on the side of the first electrically-controlled telescopic end, and a second electrically-controlled telescopic end is also configured at the end of the second multi-axis robotic arm. The second electrically-controlled telescopic end is composed of two electrically-controlled telescopic rods as a whole, and a third multi-axis robotic arm is fixedly mounted at a position between the two electrically-controlled telescopic rods. The end of the third multi-axis robotic arm is configured with a first semicircular ring frame, and an electrically-controlled magnetic suction module is fixedly mounted on the inner circular surface of the first semicircular ring frame.

4. The unmanned ship refueling robot according to claim 3, characterized in that: An inner nested shell is fixedly installed inside the second semicircular ring frame. The inner nested shell is a semicircular shell structure as a whole, and partition side panels are fixedly installed on the side edges on both sides of the inner nested shell. The interior of the inner nested shell is divided into a first partition chamber and a second partition chamber by the partition side panels. The first partition chamber and the second partition chamber are in a communicating state. The first partition chamber is close to the side of the open end of the inner nested shell, and the second partition chamber is on the side away from the open end of the inner nested shell. The first partition chamber is sleeved with second insulating cotton, and the second partition chamber is sleeved with first insulating cotton.

5. The unmanned ship refueling robot according to claim 4, characterized in that: The first insulating cotton and the second insulating cotton are both integrally formed semi-circular ring structures, and a notch is provided on one side of the inner ring surface of the second insulating cotton for wrapping around the outer edge of the flange interface. The first insulating cotton is an electrostatic protection layer, and the outer layer is a composite polyester layer with a U-shaped corrugated structure. The second insulating cotton is an oil and gas barrier layer, and the inner ring layer is provided with an oleophobic coating. A sealing ring is provided on the end face of the open end of the flange sealing sleeve. Several magnetic blocks are fixedly installed on the outer side wall of the ring edge of the second semi-circular ring frame, and maintenance side panels are installed on both sides of the second semi-circular ring frame through magnetic blocks. An impact plate is also fixedly installed on the inner bottom of the rocker arm of the first multi-axis robotic arm close to the servo base end.

6. The unmanned ship refueling robot according to claim 5, characterized in that: A servo motor is fixedly mounted on the first electrically controlled telescopic end on one side of the outer side of the open sleeve, and a gear plate is fixedly mounted on the output end of the servo motor. A gear ring is movably mounted on the side wall of the flange sealing sleeve, and the outer edge of the gear ring is meshed with the gear plate. An outrigger plate is fixedly mounted on the side of the gear ring, and a magnetic sleeve plate is fixedly mounted on the end face of the protruding end of the outrigger plate. A slide groove is also provided on the side wall of the partition side plate facing the second partition cavity, and a magnetic roller is slidably mounted through the slide groove.

7. The unmanned ship refueling robot according to claim 6, characterized in that: The magnetic roller is a cylindrical rod structure that is thick in the middle and thin on both sides, and the thick part in the middle protrudes outward from the middle open end of the separating side plates on both sides to enter the first separating cavity. Magnetic coatings are fixedly installed on the end faces of both ends of the magnetic roller, and the magnetic coatings are tightly attached to the maintenance side plates and are adsorbed and corresponded to the magnetic sleeve plates through the maintenance side plates. A number of capillary wires are wound around the outer surface of the magnetic roller.

8. The unmanned ship refueling robot according to claim 7, characterized in that: The anti-sway buffer mechanism includes a cavity sleeve frame fixedly mounted on the inner side of the rocker arm of the first multi-axis robotic arm, a return spring rod fixedly mounted on the cavity sleeve frame, and a liquid supply module slidably mounted through the return spring rod, the liquid supply module is located at the middle end of the cavity sleeve frame under the action of the return spring force of the return spring rod, the liquid supply module includes an auxiliary sleeve for being sleeved on the return spring rod, a round sleeve head is movably mounted on the inner side of the auxiliary sleeve, and the round mouth on the round sleeve head is used for allowing the oil filling conduit to pass through.

9. The unmanned ship refueling robot according to claim 8, characterized in that: The liquid supply module also includes a storage tank fixedly installed at the bottom of the circular sleeve, a reaction cavity is fixedly installed at the bottom of the storage tank, a reset spring sleeve is fixedly installed inside the reaction cavity, and a push plate is fixedly installed on the reset end of the reset spring sleeve. Under the action of the reset force of the reset spring sleeve, the push plate seals and passes through the bottom of the reaction cavity to hit the impact plate, and a sealing ring is provided on the passing end. A first one-way valve leading to the top of the reaction cavity is fixedly installed at the bottom of the storage tank, and a second one-way valve is fixedly installed on the upper side of the side wall of the reaction cavity.

10. The unmanned ship refueling robot according to claim 9, characterized in that: The liquid supply module also includes two liquid-introducing hoses fixedly mounted on the outside of the second one-way valve. The outsides of the liquid-introducing hoses are respectively connected to the second semicircular ring frames on both sides of the open sleeve, and a dripping catheter connected to the liquid-introducing hose is fixedly mounted on the second semicircular ring frames on each side. The dripping catheter is placed as a whole on the inner ring surface of the second semicircular ring frame, and a number of capillary dripping ports are provided on the tube surface of the dripping catheter. A reserved notch corresponding to the dripping catheter is provided on the side surface of the inner nested shell.

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