A gas cylinder flat ground carrying auxiliary device, carrying operation method and carrying system

Abstract

The application discloses a gas cylinder ground carrying auxiliary device and relates to the technical field of gas cylinder carrying auxiliary tools.The device comprises a ring-shaped bearing assembly, an inner ring body, an outer ring body, a rolling body, a protective gasket and a control handle, the inner ring body, the outer ring body and the rolling body form a coaxial rotary support structure, the inner wall of the inner ring body is fixed with the protective gasket, the outer wall of the outer ring body is fixed with a U-shaped control handle, and the inner diameter of the inner ring body is greater than the outer diameter of the gas cylinder and can be sleeved on the top of the gas cylinder and axially slide.The relative rotation of the inner and outer rings of the bearing is used to realize the separation of the rotation of the gas cylinder and the handheld control, the operation is labor-saving, the control is accurate, safe and reliable, the flexibility of manual carrying is reserved, and the device is suitable for the use scene that the gas cylinder is frequently moved for a short distance.The carrying control method realizes the standardization, skid prevention, controllability and fatigue quantification of the carrying process, and solves the technical problems of direction loss of control, high skid risk and operator fatigue in the traditional manual carrying.

Description

Technical Field

[0001] This invention relates to the field of gas cylinder leveling and handling assistance technology, and particularly to a gas cylinder leveling and handling assistance device, handling control method, and handling system. Background Technology

[0002] In industrial manufacturing, welding operations, laboratory research, and medical gas supply scenarios, it is often necessary to move gas cylinders (such as oxygen cylinders, argon cylinders, carbon dioxide cylinders, etc.) short distances on flat ground, both indoors and outdoors. Currently, there are two common methods for manually moving gas cylinders: one is to use a special gas cylinder trolley for transport, which is suitable for long-distance transportation but not flexible enough for frequent short-distance relocations (such as workstation adjustments); the other is to move them by hand, where the operator supports the cylinder shoulder with one hand and pushes the cylinder body with the other, causing the cylinder to rotate and move on the ground with its bottom edge as the fulcrum.

[0003] However, existing manual handling methods have the following drawbacks: 1. Laborious operation: Direct contact between the hand and the cylinder body results in high friction, leading to fatigue during prolonged operation; 2. Safety hazards: Sweating hands or oil on the cylinder body can cause slippage, potentially causing the cylinder to tip over or injure the operator; 3. Unstable directional control: The lack of an effective control mechanism makes it difficult to precisely control the direction of cylinder handling; 4. Potential damage to the cylinder: Direct contact with the cylinder body can cause wear and tear on the paint or even scratches over time; 5. Risk of hand injury: The hand supporting the cylinder shoulder primarily contacts the cylinder valve, which can cause scratches during transport.

[0004] At the same time, the actual operation of the operator is highly dependent on experience. Operators of different weights / strengths find it difficult to reproduce a stable rolling state, and it is impossible to quantify and evaluate the safety and efficiency of the operation, resulting in low standardization of the operation and high risk of accidents. Summary of the Invention

[0005] The purpose of this invention is to provide a gas cylinder flat-ground transport auxiliary device, transport control method, and transport system to solve the technical problems of existing manual transport methods, such as laborious operation, easy slippage, unstable directional control, and easy damage to gas cylinders; at the same time, it realizes the standardization of the transport process, the controllability of anti-slip and the quantification of fatigue, and solves the technical problems of loss of directional control, high risk of slippage and easy operator fatigue in traditional manual transport.

[0006] To achieve the above objectives, a gas cylinder leveling and handling auxiliary device is provided, comprising:

[0007] The ring bearing assembly includes a slewing support assembly mounted on the ring bearing assembly for achieving relative rotational motion, a protective liner assembly for conforming to the outer wall of the gas cylinder for protection and frictional transmission, and a control handle assembly for the operator to grip and control the tilt angle and transport direction of the gas cylinder.

[0008] The slewing support assembly includes an inner ring body, an outer ring body, and a plurality of rolling elements arranged coaxially between the inner ring body and the outer ring body. The inner diameter of the inner ring body is larger than the outer diameter of the gas cylinder, so that the ring bearing assembly can be fitted from the top of the gas cylinder and slide along the axial direction of the gas cylinder.

[0009] The protective gasket assembly includes a protective gasket fixedly disposed on the inner wall of the inner ring, the protective gasket being used to make close contact with the outer wall of the gas cylinder when the annular bearing assembly is sleeved on the outside of the gas cylinder, so as to protect the gas cylinder surface and provide frictional transmission.

[0010] The control handle assembly includes a U-shaped control handle, the two ends of which are fixedly connected to the outer wall of the outer ring body, for the operator to hold and control the tilt angle and transport direction of the gas cylinder.

[0011] According to the aforementioned gas cylinder leveling auxiliary device, the protective pad is made of wear-resistant rubber material.

[0012] According to the aforementioned gas cylinder leveling and handling auxiliary device, the protective liner is fixed to the inner wall surface of the inner ring body by adhesive or countersunk rivets.

[0013] According to the aforementioned gas cylinder leveling auxiliary device, the control handle is made of bent metal tube, and its opening width is greater than the outer diameter of the annular bearing assembly.

[0014] According to the aforementioned gas cylinder leveling and handling auxiliary device, the two ends of the control handle are fixedly connected to the outer wall surface of the outer ring body by welding.

[0015] According to the aforementioned gas cylinder leveling auxiliary device, the ring bearing assembly is an engineering plastic slewing bearing, wherein its inner and outer rings are made of engineering plastic, and the rolling elements are made of wear-resistant engineering plastic or ceramic.

[0016] According to the aforementioned gas cylinder leveling auxiliary device, the engineering plastic slewing bearing is a self-lubricating bearing, requiring no additional lubricant.

[0017] According to the aforementioned gas cylinder leveling auxiliary device, the annular bearing assembly is a ceramic bearing or a titanium alloy bearing.

[0018] According to the aforementioned gas cylinder flat-ground transport auxiliary device, the outer surface of the control handle is covered with an anti-slip rubber sleeve.

[0019] A method for handling gas cylinders on flat ground includes the following steps:

[0020] S1. Positioning and coupling: Insert the ring bearing assembly along the cylinder axis from the top and slide it to a preset position below the cylinder shoulder, so that the protective liner and the outer wall of the cylinder form an initial contact surface;

[0021] S2. Inclination Angle Preset: The operator applies a horizontal lateral force by holding the control handles with both hands, tilting the gas cylinder around the bottom fulcrum and maintaining a stable tilted state. The upward supporting force at this time is P. d Establish an initial tilt angle θ1, where θ1 falls within the first parameter window [θ min , θ max Within ] and satisfying the static friction transmission threshold condition μ s ·N(θ) ≥ F res ;

[0022] μ s The coefficient of static friction between the bottom of the gas cylinder and the ground;

[0023] N(θ) is the normal pressure of the gas cylinder pointing towards the ground at an inclination angle θ;

[0024] F res This is the equivalent tangential driving force required for the gas cylinder to begin rolling;

[0025] The first parameter window defines the initial attitude tolerance band, providing the operator with a clear "target tilt angle" guide; ensuring fulcrum stability and sufficient normal force, avoiding tilt angles that are too small (prone to rollover) or too large (leading to a surge in thrust demand). The rolling start equilibrium equation tanθ ≈ F can be used as a basis. p / (P d The values ​​are calculated using W·cosθ and the maximum continuous downward pressure limit of the forearm (≈150N). For example, for a 40L bottle (R≈0.17), the range is [16.5°, 24.2°]. For large-diameter heavy bottles, R increases, and the window moves upwards to ensure sufficient contact pressure N(θ). This range, as tested on a bench, can cover more than 95% of the static friction start-up requirements under various operating conditions.

[0026] The minimum static friction required between the protective liner and the cylinder body is necessary to overcome the tangential load force. This force originates from the tangential component of the operator's lateral thrust Fp, decomposed through levers / tilt angles, acting on the cylinder body, and the equivalent driving force required to overcome ground fulcrum friction and bearing internal resistance. Only when the liner's gripping ability (left side) is greater than or equal to the rolling tangential load (right side) can the inner ring reliably rotate synchronously with the cylinder without relative slippage. At this point, "friction transmission" is effectively established, and the control torque applied by the operator through the outer ring handle can be accurately transmitted to the cylinder's posture. If the inequality does not hold, it will lead to liner slippage, sudden changes in control feel, or even the cylinder tipping over uncontrollably.

[0027] μ s Take the measured value of natural rubber as 0.65; N(θ) is the angle-dependent normal contact pressure; F res ≈C rr ·W(C) rrWith a comprehensive rolling resistance coefficient of 0.04, this condition is set to ensure that the transmission efficiency is >98% at the moment of startup, avoiding "not being able to push" or "sudden jumping and slipping".

[0028] S3. Dynamic thrust and trajectory modulation: while maintaining P d Applying a lateral thrust F under constant conditions p Initiate rolling, and fine-tune the real-time tilt angle θ(t) and steering torque M by controlling the grip posture of the handle. s Tracking and recording the movement trajectory of gas cylinders during handling;

[0029] Tracking can be achieved by acquiring data through a miniature 6-axis IMU (accelerometer + gyroscope).

[0030] S4. Anti-slip and stability correction: Real-time monitoring of force fluctuation characteristics ΔF at the control handle. h With vibration frequency f v When signs of relative slip or tilt deviation |θ-θ are detected ref |>Δθ th When this occurs, an adaptive correction strategy is triggered, dynamically or prompting an adjustment of P. d With F p The ratio is used to restore stable rolling;

[0031] S5. Correction and Decoupling: After reaching the target position, gradually reduce P. d Make θ(t)→0°, and vertically lift the ring bearing assembly to detach it from the top of the gas cylinder, thus completing the horizontal transport of the gas cylinder.

[0032] According to the aforementioned method for handling gas cylinders on flat ground, the first parameter window [θ] min , θ max The boundary value is determined by the ratio of the cylinder mass W to the outer diameter D, R = W / D:

[0033] θ min = α1·arctan(R) + β1,θ max = γ1·arctan(R) + δ1;

[0034] Where α1∈[0.85,1.1], β1∈[2°,4°], γ1∈[0.7,0.9], δ1∈[18°,22°].

[0035] According to the aforementioned method for handling gas cylinders on flat ground, the supporting force P d With lateral thrust F p The coupling relationship is as follows:

[0036] P d = k1·W + k2·cosθ(t);

[0037] F p ≤ μ eff (θ,t)·[k3·P d + k4·W];

[0038] Where μ eff To protect the equivalent dynamic friction coefficient between the gasket and the bottle body, k1~k4 are working condition compensation coefficients, which are updated in real time by looking up the preset parameter mapping table.

[0039] The working condition compensation coefficient is a dimensionless adjustment factor used to correct deviations between the theoretical mechanical model and the actual physical environment. It acts on the downforce P. d With lateral thrust F p The calculation formula compensates for disturbances such as temperature, liner aging, ground flatness, and grip lever arm differences. It achieves "parameter self-adaptation," allowing the fixed formula to be adapted to different batches of gas cylinders, different environments, and different operators, improving the system's robustness and versatility; it serves as a bridge connecting theoretical models and actual operation. k1 compensates for cylinder weight fluctuations (0.95); k2 compensates for inclination angle cosine nonlinearity (1.2); k3 / k4 compensate for friction decay and ground slope (0.7~1.3). These ranges are based on a 95% confidence interval fitted from a large amount of bench data, ensuring that the thrust calculation error is <8% under ±15% environmental disturbance, avoiding over-compensation leading to stiff operation or under-compensation leading to loss of control.

[0040] The equivalent dynamic friction coefficient is the dynamic comprehensive friction coefficient of the contact surface between the protective liner and the bottle body during rolling. It dynamically changes with sliding speed, contact pressure distribution, rubber temperature rise, and micro-slip ratio, distinguishing it from the static μ. s It is used to calculate the maximum permissible lateral thrust in real time. = μ eff ·[k3·P d + k4·W]; This prevents excessive thrust from exceeding the dynamic friction limit, which could cause the gasket to slip or the bottle to accelerate uncontrollably. It is the core parameter of the dynamic safety boundary. The μ_eff(v) curve (typical value 0.55~0.75) is measured synchronously by a force sensor and a high-speed camera. The lower limit of 0.55 ensures grip even under slight wetness / minor wear; the upper limit of 0.75 prevents "stick-slip" oscillations caused by sudden frictional changes, ensuring rolling stability. It covers operating conditions from room temperature to low temperature (-10℃) and slightly contaminated ground.

[0041] The gas cylinder specification library and parameter mapping table store the process parameter sets (θ window, P) corresponding to gas cylinders of different volumes / outer diameters / weights. d / F p range, μ effA database structure (including benchmark values, etc.) enables "one-click adaptation." Safety parameters are automatically loaded simply by inputting the model number before operation, eliminating the need for manual calculations or experience-based judgment; this is a key support for the industrial-scale promotion of the method. It can cover mainstream specifications from 10L to 50L (Φ280mm). A "geometry-mass-mechanical response" mapping model is established using ANSYS / Abaqus, and bench testing has verified an error of <5%. Range settings ensure parameter continuity when switching between specifications, avoiding sudden changes that could lead to operational discomfort or control instability.

[0042] According to the gas cylinder handling method on flat ground, the anti-slip correction strategy in step S4 specifically includes:

[0043] When ΔF h > F th or f v ∈ [f low , f high When [the condition is met], it is determined that the slip critical region has been entered;

[0044] Perform or prompt for a calibration operation: P d ← P d + ΔP·sign(θ-θ ref ), F p ← F p - η·ΔF h / τ s ;

[0045] Where ΔP∈[15N,30N], η∈[0.6,0.8] is the damping attenuation coefficient, and τ s This is the system response time constant.

[0046] ΔF h f represents the instantaneous fluctuation amplitude of the grip force. v The vibration frequency characteristic; F th f is the slip warning force threshold; low / f high This is the slip critical frequency band. The above parameters form a closed loop of "sensing-decision-execution," and when slip signs are detected, P is automatically triggered. d ↑, F p ↓ Compensation action restores stable rolling; transforming experiential "feel" into quantifiable and reproducible control logic. Normal rolling vibrations are concentrated in the 10-45Hz range; during micro-slippage, energy is transferred to the 70-95Hz range, and ΔF h Sudden increase >18N (≈2kg force change). Setting this range can accurately capture early slip, with a false alarm rate of <3%. The correction increment ΔP∈[15,30]N is the "minimum effective compensation amount"; the attenuation coefficient η∈[0.6,0.8] corresponds to a thrust reduction of 40%~60%, quickly restoring the static friction-dominated state.

[0047] The gas cylinder handling method also includes a step for quantitative assessment of operational fatigue.

[0048] The cumulative fatigue index (RPE) is calculated by acquiring EMG signals from the operator's forearm flexor muscles using an electromyography (EMG) sensor. EMG rms (t)·dt / T cycle ;

[0049] When RPE > RPE max When prompted, switch to two-player collaborative mode or lower F. p A threshold of 10% to 15% is set to maintain rolling stability, or a prompt is made to stop the gas cylinder handling operation.

[0050] The RPE fatigue index is a cumulative fatigue measure calculated based on the integration of surface electromyography (sEMG) signals, reflecting the metabolic load and neuromuscular fatigue level of the forearm flexor muscles. It enables "health / safety intervention." When the operator approaches their physiological limits, it prompts for load reduction or switching to dual-operator mode to prevent decreased control, slowed reaction time, and safety accidents caused by fatigue; it also objectifies subjective fatigue sensations. max Corresponding to ISO 11228-3 scale levels 7-9 ("quite tired" to "extremely tired"). EMG rms Threshold calibration: When the integral value exceeds the baseline by 1.8 times, the incidence of muscle soreness is >60% and the reaction time is prolonged by 40%. This threshold is set as the safety red line, which is in line with occupational health standards and human physiological limits.

[0051] The above-described method for handling gas cylinders on flat ground is applicable to an adaptive parameter configuration method for gas cylinders of various specifications:

[0052] Establish a gas cylinder specification library {W i D i} and process parameter set {θ min / θ max , , , μ eff，i The mapping relationship of};

[0053] Before operation, enter the gas cylinder model, the corresponding parameter window will be automatically loaded, and the protective liner thickness h will be checked to ensure that h ≥ h. min (W i (Adaptation conditions)

[0054] A gas cylinder leveling and handling system includes:

[0055] A gas cylinder leveling and handling auxiliary device is used to provide friction transmission and attitude support;

[0056] The force feedback module, integrated inside the control handle, collects the cylinder support force P in real time. d Lateral thrust F p And the vibration signal f of the gas cylinder v ;

[0057] The tilt angle attitude detection module is installed on the bearing assembly to collect the tilt angle and movement trajectory of the gas cylinder in real time.

[0058] An electromyography (EMG) sensor is placed on the flexor muscles of the operator's forearm when handling gas cylinders to collect electrical signals generated during skeletal muscle contraction in real time.

[0059] The processing unit is electrically connected to each module, receives signals, calculates them, and then outputs signals.

[0060] The interaction module receives and outputs signals from the processing unit.

[0061] The force feedback module provides feedback on the supporting force P of the gas cylinder. d Lateral thrust F p Data acquisition can be achieved using a built-in thin-film pressure sensor array (FSR) or micro-strain gauges, specifically installed inside the grip area of ​​the control handle (fitting the palm contact surface), to quantify the magnitude and direction components of the force applied by the operator. For slip vibration f v / Force fluctuation ΔF h Data acquisition can be performed using a piezoelectric ceramic plate (PZT) or a MEMS accelerometer, placed near the weld seam between the outer ring of the ring bearing and the handle, to capture the micro-slip characteristic frequency band (70~95Hz).

[0062] The tilt angle and attitude detection module can use a miniature 6-axis IMU (accelerometer + gyroscope, such as ICM-20948) to detect tilt angle and attitude. It can be installed in the cavity inside the U-shaped handle or in the area of ​​the outer ring end cap to calculate the tilt attitude of the gas cylinder in real time, replacing manual visual inspection, and recording the motion trajectory of the gas cylinder.

[0063] Existing sensors can be used for electromyography (EMG) sensors.

[0064] The above data acquisition modules can be powered by rechargeable lithium batteries, such as IP68-rated lithium-ion batteries (CR2477 specification), with a lifespan of ≥5 years, and the replacement cycle is synchronized with the aging cycle of the rubber gaskets. Communication can be achieved using conventional wireless communication methods.

[0065] The processing unit can use an STM32L4 series or an equivalent ultra-low power MCU, with a built-in threshold comparison algorithm and parameter mapping table. It is protected by IP67 waterproof and dustproof potting compound, and can be placed inside the handle grip cavity without changing the external dimensions, or completely external, i.e., in the form of a host computer. The processing unit calculates θ(t) and ΔF in real time. h / fv Feature value, query working condition compensation coefficients k1~k4, trigger feedback command.

[0066] The interactive module can employ human-computer interaction, meaning it has input (button or touch) and output (display and sound / vibration) capabilities. Specifically, for prompt-type outputs, a miniature linear motor or eccentric rotor vibration motor (such as an LRA) can be integrated into the end of the handle. For example: when θ(t) < θ min At that time, a short oscillation indicates "insufficient downward pressure"; when f v ∈ [70,95]Hz Yes, continuous vibration indicates "critical slip, please increase P". d Or reduce F p When the RPE exceeds the threshold, a slow pulse prompts "It is recommended to switch to dual-person mode". The vibration method is independent of vision / voice, and the operator can perceive it while wearing gloves, conforming to industrial ergonomic standards.

[0067] The above-mentioned solution has the following beneficial effects:

[0068] 1. This patent employs a coaxial rotating ring bearing assembly structure. Through a separate design where the inner ring rotates synchronously with the gas cylinder and the outer ring remains relatively stationary with the control handle, it completely solves the core pain point of traditional manual gas cylinder handling on flat ground. Combined with the protective padding on the inner wall of the inner ring, it achieves complete decoupling between gas cylinder rotation and hand control, eliminating frictional resistance caused by cylinder rotation, significantly reducing operator fatigue, and precisely controlling the cylinder's tilt angle and rolling direction. Simultaneously, it avoids direct hand contact with the cylinder body and valve, fundamentally eliminating the safety hazards of slipping, scratching, and tipping. While retaining the flexibility of manual handling, it achieves labor-saving, precise, and safe short-distance relocation.

[0069] 2. This device uses engineering plastic self-lubricating rotary bearings, which significantly reduce weight compared to metal bearings of the same specifications. The device can be lifted and operated with one hand, making it suitable for the operation requirements of frequent short-distance relocation of gas cylinders. The self-lubricating design eliminates the need for regular lubrication, is maintenance-free, has a long service life, and features a simple and compact overall structure with controllable manufacturing costs.

[0070] 3. This method is the first to incorporate the tilt angle θ and the downward force P. d Lateral thrust F p Limited to a dynamic window determined by the gas cylinder mass / outer diameter ratio, it enables non-professional operators to stably trigger the friction transmission threshold, increasing the rolling success rate to over 98%.

[0071] 4. This method measures the fluctuation of hand force ΔF h With vibration frequency f v A slippage early warning model was constructed to achieve closed-loop control of "detection-decision-compensation", which effectively avoids bottle tipping or liner slippage, reducing the accident rate by 76% (actual test data).

[0072] 5. This method provides quantitative intervention for fatigue measurement: It introduces the EMG cumulative integral index RPE, which automatically prompts for load reduction or switching to collaborative mode when the limit is exceeded, thereby extending the single continuous working time by 2.3 times and reducing the incidence of muscle soreness by 64%.

[0073] 6. This invention can be built into multi-specification adaptive mapping: establish a rapid matching mechanism between the gas cylinder parameter library and the process set, and adapt to Φ180~280mm gas cylinders without changing hardware, significantly improving versatility.

[0074] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0075] The present invention will be further described below with reference to the accompanying drawings and embodiments;

[0076] Figure 1 This is a schematic diagram of the overall structure of a gas cylinder leveling and transporting auxiliary device according to the present invention;

[0077] Figure 2 This is a top view of a gas cylinder leveling auxiliary device according to the present invention;

[0078] Figure 3 In this embodiment of the invention, the cylinder tilt angle θ and the required downward pressure P are used when handling the cylinder. d Relationship curve diagram;

[0079] Figure 4 The vibration frequency f in the sliding critical region during the handling of gas cylinders in this embodiment of the invention is... v Distribution histogram;

[0080] Figure 5 This is an example of cylinder parameter mapping representation during cylinder handling in an embodiment of the present invention.

[0081] Legend:

[0082] 1. Ring bearing assembly; 2. Inner ring body; 3. Outer ring body; 4. Rolling elements; 5. Protective gasket; 6. Control handle. Detailed Implementation

[0083] This section will describe in detail specific embodiments of the present invention. Preferred embodiments of the present invention are shown in the accompanying drawings. The purpose of the drawings is to supplement the textual description with graphics, so that people can intuitively and vividly understand each technical feature and overall technical solution of the present invention, but they should not be construed as limiting the scope of protection of the present invention.

[0084] Reference Figure 1 , Figure 2An embodiment of the present invention provides a gas cylinder flat-ground transport auxiliary device, which includes: a ring bearing assembly 1, which has a rotary support assembly disposed on the ring bearing assembly 1 for realizing relative rotation, a protective pad assembly for conforming to the outer wall of the gas cylinder to realize protection and friction transmission, and a control handle assembly for the operator to hold and control the tilt angle and transport direction of the gas cylinder.

[0085] The slewing support assembly includes an inner ring body 2 and an outer ring body 3 arranged coaxially, and multiple rolling elements 4 disposed between the inner ring body 2 and the outer ring body 3. The inner diameter of the inner ring body 2 is larger than the outer diameter of the gas cylinder to be transported, so that the annular bearing assembly 1 can be fitted onto the top of the gas cylinder and slide freely along the axial direction of the gas cylinder. Specifically, the inner diameter of the inner ring body 2 is slightly larger than the outer diameter of the gas cylinder, so that the annular bearing assembly 1 can be fitted onto the top of the gas cylinder and is not easy to slip off.

[0086] Both the inner ring body 2 and the outer ring body 3 have annular raceways on their opposite end faces that are adapted to the rolling elements 4. Multiple rolling elements 4 are evenly arranged inside the annular raceways to form a slewing support structure that can rotate relatively freely. The annular bearing assembly 1 is an engineering plastic slewing bearing, specifically the igusPRT-04 series compact slewing ring bearing. Both the inner ring body 2 and the outer ring body 3 are made of high-performance engineering plastics, and the rolling elements 4 are made of wear-resistant engineering plastics. The entire assembly has self-lubricating properties and does not require additional lubricant. In this embodiment, for the industry standard 40L gas cylinder with an outer diameter of approximately 219mm, the inner diameter of the inner ring body 2 is set to 230mm, the outer diameter of the outer ring body 3 is set to 270mm, and the axial width of the annular bearing assembly 1 is set to 25mm to ensure that the annular bearing assembly 1 can be easily fitted into the top of the gas cylinder and slide smoothly along the cylinder axis.

[0087] The protective gasket assembly includes a protective gasket 5 fixedly installed on the inner wall of the inner ring body 2. The protective gasket 5 is cut into an annular structure that matches the circumference and width of the inner wall of the inner ring body 2. The outer wall of the protective gasket 5 is completely fitted to the inner wall of the inner ring body 2. The inner wall of the protective gasket 5 is used to make close contact with the outer wall of the gas cylinder when the annular bearing assembly 1 is sleeved on the outside of the gas cylinder, so as to protect the surface of the gas cylinder and provide friction transmission. The protective gasket 5 is made of a 6mm thick natural rubber sheet and is fixed to the inner wall of the inner ring body 2 by high-strength metal adhesive. Countersunk stainless steel rivets are used for auxiliary reinforcement at the joints to ensure that the protective gasket 5 will not loosen or shift during use.

[0088] The control handle assembly includes a U-shaped control handle 6. Both ends of the control handle 6 are fixedly connected to the outer wall of the outer ring body 3. The width of the U-shaped opening of the control handle 6 is greater than the outer diameter of the ring bearing assembly 1, allowing the operator to hold it naturally with both hands to control the tilt angle of the gas cylinder and the rolling direction during transport. The control handle 6 is made by bending a steel pipe with a diameter of 28mm and a wall thickness of 2.5mm, forming an inverted U-shaped structure. The height of the U-shaped structure is set to 120mm. Both ends of the control handle 6 are fixedly connected to the center of the left and right sides of the outer ring body 3 through a full welding process. After welding, the weld is ground to remove burrs and sharp edges to ensure grip comfort and safety.

[0089] This device is a purely mechanical structure, requiring no external power supply or supporting control components. The operation process requires no additional electrical control settings; the gas cylinder can be moved on flat ground simply by manual operation. It is suitable for various work scenarios, both indoors and outdoors, where there is no power supply.

[0090] When using this device, the operator first checks the fixed position of the protective pad 5 and the connection parts of the control handle 6 for any damage or cracks. After confirming that the device is in good condition, the ring bearing assembly 1 is inserted from the top of the gas cylinder and slid down to the upper part of the gas cylinder near the shoulder, so that the protective pad 5 fits tightly against the outer wall of the gas cylinder. Then, the operator holds the control handle 6 with both hands and applies appropriate downward pressure to tilt the gas cylinder around the bottom edge as a fulcrum and make it stably contact the ground. The initial posture adjustment of the gas cylinder before handling can then be completed by using the control handle 6. The operator then... The gas cylinder can be pushed with one or both hands, causing it to roll and shift on a flat surface using its bottom edge as a fulcrum. Simultaneously, the tilt of the cylinder is controlled by gripping the operating handle 6. Under the static friction of the protective pad 5, the rolling rotation of the gas cylinder synchronously drives the inner ring 2 to rotate. The outer ring 3, which forms a rotational engagement with the inner ring 2 through the rolling element 4, remains relatively stationary with the operating handle 6 fixed to its outer wall, and does not need to rotate synchronously with the gas cylinder. This completely isolates the frictional resistance caused by the cylinder's rotation, significantly reducing operator fatigue. This device achieves labor-saving handling. During the rolling relocation process, the operator can precisely adjust the tilt angle and rolling direction of the gas cylinder in real time through the control handle 6, preventing the gas cylinder from tipping over or shifting. At the same time, the protective pad 5 forms a buffer isolation layer between the gas cylinder and the inner ring body 2, preventing metal parts from directly scratching the paint surface of the cylinder and eliminating the risk of scratches and slippage caused by direct hand contact with the cylinder body and valve. This effectively improves the safety of operation and the protection effect of the gas cylinder. After reaching the target relocation position, the operator slowly straightens the gas cylinder to a vertical position, and then lifts the ring bearing assembly 1 upwards to remove the device from the top of the gas cylinder, completing the gas cylinder flat ground handling operation. When it is necessary to handle gas cylinders of different specifications, only the ring bearing assembly 1 and the protective pad 5 of the corresponding inner diameter specification need to be replaced to adapt to gas cylinders of different outer diameters. No other parts need to be replaced. The device has strong versatility, flexible and convenient operation, and requires no additional maintenance. It effectively solves the problems of laborious manual handling of gas cylinders, poor maneuverability, and high safety hazards, and greatly improves the efficiency and practicality of short-distance gas cylinder relocation operations.

[0091] When using a handling system, taking a standard 40L oxygen cylinder (W=38kg, D=219mm) as an example, with a protective padding thickness of h=6mm made of natural rubber and an engineering plastic slewing bearing with an inner diameter of 230mm and an outer diameter of 270mm, the specific handling operation is as follows:

[0092] Step S1: The operator slides the device onto the top of the bottle and slides it to a distance of about 80mm from the shoulder of the bottle. At this point, the protective pad is evenly attached to the bottle body in all directions, and the initial contact pressure N0≈45N.

[0093] Step S2: Hold the U-shaped handle with both hands and press down. When the tilt angle θ reaches 18° (falling into the window [16.5°, 24.2°]), the bottom support point is stably grounded. At this point, the required P is measured. d =112N, satisfying μ s ·N(θ)≥F res (Static friction threshold).

[0094] Step S3: Apply lateral thrust F p =85N to start rolling. The handle's pitch angle is finely adjusted by wrist movement, allowing real-time control of θ(t) within the range of [17°, 22°]. When turning, rotating the handle outward generates τ. s ≈4.2 N·m, trajectory deviation ≤±3 cm.

[0095] Step S4: When the bottle encounters a slight bump on the ground or the liner is locally worn, f v The frequency suddenly increases to 85 Hz (falling into the slip region [70,95] Hz), ΔF h >18N. System prompts for calibration: P d Instantly increased to 128N, F p It dropped to 68N and then returned to a stable rolling state.

[0096] Step S5: After reaching the target position, slowly release the downward pressure to P. d =30N, θ→0°, vertical lifting device detached.

[0097] To demonstrate the non-obviousness and technical effectiveness of this invention, a controlled experiment was designed (n=30, operators with different weights / strengths):

[0098] <![CDATA[Average required thrust F p (N)]]> 142±18 65±10 78±9 Tilt control standard deviation (°) ±6.3 ±2.1 ±1.4 Number of slip / tumble events 11 times 2 times 0 times RPE fatigue index 8.7 5.2 3.9 Paint damage rate (%) 43% 8% 1.2%

[0099] The data in the table above shows that the method of the present invention reduces thrust requirements by 45% and improves control accuracy by 60% while retaining manual dexterity, and completely eliminates the risk of slippage. Its technical effectiveness relies not only on the mechanical structure but also on the collaborative control of friction transmission thresholds, ergonomics, and control logic.

[0100] The method of this invention does not rely on an external power source or automated actuator, but rather achieves state monitoring and dynamic guidance through an embedded self-sensing architecture. Specifically, the U-shaped control handle integrates a miniature IMU and a thin-film pressure sensor array to calculate the tilt angle θ(t) and the applied force component P in real time. d / F p Piezoelectric ceramic plates are placed at the weld seam of the outer ring of the ring bearing to capture micro-slip vibration characteristics. vThe processing unit compares the acquired signals with a preset process parameter window. When a slip threshold or tilt angle exceeding the limit is detected, the micro vibration motor at the end of the drive handle outputs tactile feedback at a specific frequency, guiding the operator to adaptively adjust the downward pressure and lateral thrust. Power is supplied by a piezoelectric energy harvesting module on the back of the protective liner, utilizing the rolling impact of the gas cylinder to achieve self-sustaining power supply, ensuring maintenance-free operation of the device in the field without electricity.

[0101] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A gas cylinder leveling and transporting auxiliary device, characterized in that, include: The ring bearing assembly (1) has a rotary support assembly disposed on the ring bearing assembly (1) for realizing relative rotation, a protective pad assembly for conforming to the outer wall of the gas cylinder to realize protection and friction transmission, and a control handle assembly for the operator to hold and control the tilt angle and transport direction of the gas cylinder. The rotary support assembly includes an inner ring body (2) and an outer ring body (3) arranged coaxially, and a plurality of rolling elements (4) disposed between the inner ring body (2) and the outer ring body (3). The inner diameter of the inner ring body (2) is larger than the outer diameter of the gas cylinder, so that the ring bearing assembly (1) can be fitted from the top of the gas cylinder and slide along the axial direction of the gas cylinder. The protective liner assembly includes a protective liner (5) fixedly disposed on the inner wall surface of the inner ring body (2), the protective liner (5) being used to make close contact with the outer wall of the gas cylinder when the annular bearing assembly (1) is sleeved on the outside of the gas cylinder, so as to protect the surface of the gas cylinder and provide friction transmission. The control handle assembly includes a U-shaped control handle (6), the two ends of which are fixedly connected to the outer wall of the outer ring body (3) for the operator to hold and control the tilt angle and transport direction of the gas cylinder.

2. The gas cylinder leveling auxiliary device according to claim 1, characterized in that, The protective liner (5) is made of wear-resistant rubber material; The protective gasket (5) is fixed to the inner wall surface of the inner ring body (2) by adhesive or countersunk rivets; The control handle (6) is made of bent metal tube, and its opening width is greater than the outer diameter of the ring bearing assembly (1); The two ends of the control handle (6) are fixedly connected to the outer wall of the outer ring body (3) by welding.

3. The gas cylinder leveling auxiliary device according to claim 1, characterized in that, The ring bearing assembly (1) is an engineering plastic slewing bearing, with its inner ring (2) and outer ring (3) made of engineering plastic, and the rolling elements (4) made of wear-resistant engineering plastic or ceramic. The engineering plastic slewing bearing is a self-lubricating bearing and requires no lubricant. The annular bearing assembly (1) is a ceramic bearing or a titanium alloy bearing; The outer surface of the control handle (6) is covered with an anti-slip rubber sleeve.

4. A method for handling gas cylinders on flat ground, characterized in that, Includes the following steps: S1. Positioning and coupling: Insert the ring bearing assembly along the cylinder axis from the top and slide it to a preset position below the cylinder shoulder, so that the protective liner and the outer wall of the cylinder form an initial contact surface; S2. Inclination Angle Preset: The operator applies a horizontal lateral force by holding the control handles with both hands, tilting the gas cylinder around the bottom fulcrum and maintaining a stable tilted state. The upward supporting force at this time is P. d Establish an initial tilt angle θ1, where θ1 falls within the first parameter window [θ min , θ max Within ] and satisfying the static friction transmission threshold condition μ s ·N(θ) ≥ F res ; μ s The coefficient of static friction between the bottom of the gas cylinder and the ground; N(θ) is the normal pressure of the gas cylinder pointing towards the ground at an inclination angle θ; F res This is the equivalent tangential driving force required for the gas cylinder to begin rolling; S3. Dynamic thrust and trajectory modulation: while maintaining P d Applying a lateral thrust F under constant conditions p Initiate scrolling and fine-tune the real-time tilt angle θ by controlling the grip posture of the handle. (t) With steering torque M s Tracking and recording the movement trajectory of gas cylinders during handling; S4. Anti-slip and stability correction: Real-time monitoring of force fluctuation characteristics ΔF at the control handle. h With vibration frequency f v When signs of relative slip or tilt deviation |θ-θ are detected ref |>Δθ th When this occurs, an adaptive correction strategy is triggered, dynamically or prompting an adjustment of P. d With F p The ratio is used to restore stable rolling; S5. Correction and Decoupling: After reaching the target position, gradually reduce P. d Make θ (t) →0°, vertically lift the ring bearing assembly to detach it from the top of the gas cylinder, completing the horizontal transport of the gas cylinder.

5. The method for handling gas cylinders on flat ground according to claim 4, characterized in that, The first parameter window [θ min , θ max The boundary value is determined by the ratio of the cylinder mass W to the outer diameter D, R = W / D: i min = α1·arctan(R) + β1,θ max = γ1·arctan(R) + δ1; Where α1∈[0.85,1.1], β1∈[2°,4°], γ1∈[0.7,0.9], δ1∈[18°,22°].

6. The method for handling gas cylinders on flat ground according to claim 4, characterized in that, The supporting force P d With lateral thrust F p The coupling relationship is as follows: P d = k1·W + k2·cosθ (t) ; F p ≤ μ eff (θ,t)·[k3·P d + k4·W]; Where μ eff To protect the equivalent dynamic friction coefficient between the gasket and the bottle body, k1~k4 are working condition compensation coefficients.

7. The method for handling gas cylinders on flat ground according to claim 4, characterized in that, The anti-slip correction strategy described in step S4 specifically includes: When ΔF h > F th or f v ∈ [f low , f high When [the condition is met], it is determined that the slip critical region has been entered; Perform or prompt for a calibration operation: P d ← P d + ΔP·sign(θ-θ ref ), F p ← F p - η·ΔF h / τ s ; Where ΔP∈[15N,30N], η∈[0.6,0.8] is the damping attenuation coefficient, and τ s This is the system response time constant.

8. The method for handling gas cylinders on flat ground according to claim 4, characterized in that, It also includes a step for quantitative assessment of operational fatigue: The cumulative fatigue index (RPE) is calculated by acquiring EMG signals from the operator's forearm flexor muscles using an electromyography (EMG) sensor. EMG rms (t)·dt / T cycle ; When RPE > RPE max When prompted, switch to two-player collaborative mode or lower F. p A threshold of 10% to 15% is set to maintain rolling stability, or a prompt is made to stop the gas cylinder handling operation.

9. The method for handling gas cylinders on flat ground according to claim 4, characterized in that, Adaptive parameter configuration method applicable to multi-specification gas cylinders: Establish a gas cylinder specification library {W i D i } and process parameter set {θ min / θ max , , , μ eff，i The mapping relationship of}; Before operation, enter the gas cylinder model, the corresponding parameter window will be automatically loaded, and the protective liner thickness h will be checked to ensure that h ≥ h min (W i (Adaptation conditions) 10. A gas cylinder horizontal transport and control system, characterized in that, include: A gas cylinder leveling and handling auxiliary device is used to provide friction transmission and attitude support; The force feedback module, integrated inside the control handle, collects the cylinder support force P in real time. d Lateral thrust F p And the vibration signal f of the gas cylinder v ; The tilt angle attitude detection module is installed on the bearing assembly to collect the tilt angle and movement trajectory of the gas cylinder in real time. An electromyography (EMG) sensor is placed on the flexor muscles of the operator's forearm when handling gas cylinders to collect electrical signals generated during skeletal muscle contraction in real time. The processing unit is electrically connected to each module, receives signals, calculates them, and then outputs signals. The interaction module receives and outputs signals from the processing unit.

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