Marine high-pressure hydrogen filling mechanical arm

Abstract

A marine high-pressure hydrogen filling mechanical arm comprises a fixed support, a first supporting arm, a second supporting arm, a filling pipeline and a filling gun, the fixed support is rotationally connected to the position close to the lower end of the first supporting arm, a balancing weight is rotationally installed at the lower end of the first supporting arm, and the upper end of the first supporting arm is rotationally connected to the position close to the upper end of the second supporting arm; one end of the balance rod is rotationally connected with the balancing weight, the other end of the balance rod is rotationally connected with the upper end of the second supporting arm, and when the second supporting arm swings, the second supporting arm pushes and pulls the balancing weight to rotate through the balance rod, so that the two ends of the first supporting arm are kept balanced. The first supporting arm, the second supporting arm, the balancing rod and the balancing weight jointly form a four-connecting-rod balancing mechanism, through self-adaption arrangement of the balancing weight, the mechanical arm device can be operated very easily and conveniently, the mechanical arm can be kept in a stable state in any posture, the structure is simple, and stability is good.

Description

Technical Field

[0001] The utility model relates to the technical field of marine hydrogenation, in particular to a marine high-pressure hydrogen filling manipulator. Background Technique

[0002] When filling hydrogen into a hydrogen fuel cell ship, due to the height difference between the hydrogen filling station terminal and the ship in the river, a manipulator is required to fill hydrogen.

[0003] Chinese patent document CN219571612U, publication date August 22, 2023, discloses a marine hydrogenation auxiliary device with a high drop and multiple degrees of freedom, including a manipulator and a hydrogenation device. The manipulator includes a turntable, a column, and multiple folding arms connected in sequence through auxiliary wheels. The turntable is fixed on the shore base, the column is vertically installed on the turntable, and the folding arms are connected through the auxiliary wheels. The hydrogenation device includes multiple hydrogen hoses, multiple stainless steel pipes, and a hydrogen filling gun. The hydrogen hoses are movably installed on the auxiliary wheels and freely rotate around the auxiliary wheels. The stainless steel pipes are fixed on the folding arms, and both ends of the stainless steel pipes are connected to the hydrogen hoses. The hydrogen filling gun is connected to the stainless steel pipes through the hydrogen hoses. The hydrogen hoses and the stainless steel pipes are connected alternately to transmit hydrogen, and hydrogen is filled into the ship through the hydrogen filling gun. Its characteristics are: the hydrogen filling hose rotates freely around the auxiliary wheel without excessive bending and has a long service life, which is suitable for hydrogen filling of ships with a relatively high base; its disadvantages are: the structure of the manipulator and the control of the manipulator are relatively complex. Summary of the Utility Model

[0004] The technical problem to be solved by the utility model is: to solve the problems existing in the above background technique, and provide a marine high-pressure hydrogen filling manipulator that does not require power element control, has a simple structure, and good stability.

[0005] To solve the above technical problems, the technical solution adopted by the utility model is: a marine high-pressure hydrogen filling manipulator, including a fixed support, a first support arm, a second support arm, a filling pipeline, and a filling gun. One end of the first support arm is rotatably installed on the fixed support, and the other end is rotatably connected to the second support arm. The filling pipeline is arranged on the first support arm and the second support arm. One end of the filling pipeline located on the first support arm is used to connect to the hydrogenation equipment, and a filling gun is installed at one end of the filling pipeline located on the second support arm; the fixed support is rotatably connected at a position close to the lower end of the first support arm, a counterweight is rotatably installed at the lower end of the first support arm, the upper end of the first support arm is rotatably connected at a position close to the upper end of the second support arm, one end of the balance rod is rotatably connected to the counterweight, and the other end is rotatably connected to the upper end of the second support arm. When the second support arm swings, the second support arm pushes and pulls the counterweight to rotate through the balance rod, so that both ends of the first support arm are kept balanced.

[0006] The fixed support further includes a rotating seat, which is horizontally rotatably installed on the top of the fixed support, and the first arm is rotatably connected to the rotating seat.

[0007] The first arm is damping rotatably connected to the fixed support through a first damper.

[0008] The second arm is damping rotatably connected to the balance rod through a second damper.

[0009] A threaded sleeve is provided on the counterweight, and a hole corresponding to the threaded sleeve is provided on the first arm. When the first arm is vertically erected, the hole on the first arm is aligned with the threaded sleeve, and a bolt is inserted into the hole and then screwed with the threaded sleeve; a limit baffle is further provided on the first arm, a limit structure is provided on the limit baffle, and a bolt is installed on the fixed support. When the first arm is vertically erected, the bolt of the bolt can be inserted into the limit structure, and the limit structure is one of a hole, a groove, and a notch.

[0010] An adjusting block is further installed on the counterweight. Two sliders are installed on one side of the adjusting block, and the two sliders cooperate to clamp the counterweight so that the adjusting block can slide on the counterweight. A fixing plate is installed on the counterweight, an adjusting screw is installed on the adjusting block, the adjusting screw passes through the hole on the fixing plate, and nuts are respectively screwed on both sides of the fixing plate on the adjusting screw.

[0011] A vertical rod is installed at the end of the second arm far from the hinge with the first arm. The upper end of the vertical rod is hinged to the second arm, and a gun mount is installed at the lower end of the vertical rod.

[0012] Two filling pipelines are provided, and filling guns are respectively installed on the two filling pipelines.

[0013] A pull - off valve is installed at the end of the filling pipeline connected to the filling gun. The filling gun is connected to the pull - off valve through a high - pressure hose, and the pull - off valve is installed on the second arm.

[0014] An emptying pipe is further installed on the second arm, and the filling gun is connected to the emptying pipe through a hose.

[0015] The utility model has the following beneficial effects:

[0016] 1. The filling pipeline of the utility model is used to transport high - pressure hydrogen, and the filling gun is used to connect with the filling port of the ship. The first arm, the second arm, the balance rod and the counterweight jointly form a four - link balance mechanism. Through the adaptive setting of the counterweight, the manipulator device of the utility model can be operated very easily, and the manipulator can be kept in a stable state in any posture without the control of power elements, with simple structure and good stability.

[0017] 2. By setting the rotating seat in the utility model, the first arm and the second arm can be horizontally rotated, so as to adjust the filling angles of the first arm and the second arm.

[0018] 3. When the first arm is vertically erected, the hole on the first arm is aligned with the threaded sleeve on the counterweight block. After the bolt passes through the hole, it is screwed into the threaded sleeve, thereby limiting the counterweight block to the first arm. At the same time, when the first arm is vertically erected, the bolt of the bolt pin can be inserted into the limiting structure, thereby limiting the first arm to the fixed support, so that the first arm and the second arm can be fixed in the vertically erected state.

[0019] 4. The utility model is provided with an adjusting block on the counterweight block, and the position of the adjusting block is adjusted by a nut, so as to be able to adjust the center of gravity of the counterweight block and eliminate the counterweight error generated in the manufacturing process of the entire robotic arm.

[0020] 5. The vertical rod of the utility model is freely hanging down under any circumstances. The main function of the vertical rod is to fix the hydrogen filling gun and keep the hydrogen filling gun vertically installed, which is convenient for the operator to remove the hydrogen filling gun. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The following further describes the present utility model in conjunction with the drawings and embodiments:

[0022] Figure 1 It is a front view structural schematic diagram of the present utility model.

[0023] Figure 2 It is a side view structural schematic diagram of the present utility model.

[0024] Figure 3 It is a three-dimensional structural schematic diagram of the present utility model.

[0025] Figure 4 is Figure 3 The enlarged structural schematic diagram at position A in

[0026] Figure 5 It is a schematic diagram of the balanced state when the first arm and the second arm of the utility model are unfolded.

[0027] Figure 6 It is a state schematic diagram when the first arm and the second arm of the present utility model are vertically erected and retracted.

[0028] Figure 7 It is a state schematic diagram when the first arm and the second arm of the present utility model are lowered.

[0029] Figure 8 It is a state schematic diagram of the present utility model during high-water-level refueling.

[0030] Figure 9 It is a state schematic diagram of the present utility model during low-water-level refueling.

[0031] In the figure, there are fixed support 10, rotating seat 11, first damper 12, first arm 20, second arm 30, second damper 31, balance rod 40, counterweight 50, adjusting block 51, slider 52, fixed plate 53, adjusting screw 54, nut 55, threaded sleeve 56, bolt 57, limit baffle 58, limit structure 581, pin 59, bolt 591, vertical rod 60, gun seat 61, filling pipeline 70, drain pipe 71, breakaway valve 72, pipe clamp 73, filling gun 80, high-pressure hose 81, rope 90, receiving ship 100, and guardrail 200. Detailed implementation mode

[0032] Embodiment 1:

[0033] Refer to Figure 1-5 , a marine high-pressure hydrogen filling robotic arm, including a fixed support 10, a first arm 20, a second arm 30, a filling pipeline 70, and a filling gun 80. One end of the first arm 20 is rotatably installed on the fixed support 10, and the other end is rotatably connected to the second arm 30. The filling pipeline 70 is arranged on the first arm 20 and the second arm 30. One end of the filling pipeline 70 located on the first arm 20 is used to connect to a hydrogenation device, and a filling gun 80 is installed at one end of the filling pipeline 70 located on the second arm 30. The fixed support 10 is rotatably connected at a position near the lower end of the first arm 20. A counterweight 50 is rotatably installed at the lower end of the first arm 20. The upper end of the first arm 20 is rotatably connected at a position near the upper end of the second arm 30. One end of the balance rod 40 is rotatably connected to the counterweight 50, and the other end is rotatably connected to the upper end of the second arm 30. When the second arm 30 swings, the second arm 30 pushes and pulls the counterweight 50 to rotate through the balance rod 40, so that both ends of the first arm 20 are balanced.

[0034] The filling pipeline 70 is used to transport high-pressure hydrogen, and the filling gun 80 is used to connect to the filling port of the ship. The first arm 20, the second arm 30, the balance rod 40, and the counterweight 50 together form a four-bar linkage balance mechanism. Through the adaptive setting of the counterweight 50, the robotic arm device of the present invention can be operated very easily, and the robotic arm can be kept in a stable state in any posture. The structure is simple and the stability is good.

[0035] Refer to Figure 5, when the first arm 20 and the second arm 30 are in different states, the center of gravity of the entire robotic arm is at the fixed support 10. During the extension of the second arm 30, the counterweight 50 will extend in the opposite direction, keeping the center of gravity of the entire robotic arm always at the fixed support 10 and preventing the robotic arm from becoming unstable due to eccentricity. In the figure, G1 is the gravity of the center point on the counterweight side, G2 is the gravity of the center point of the second arm 30, L1 is the lever arm of the center of gravity on the counterweight side, and L2 is the lever arm of the center of gravity on the side of the second arm 30. Due to the four-bar linkage balance mechanism, G1×L1 = G2×L2, keeping the center of gravity of the entire robotic arm always at the fixed support 10.

[0036] Specifically, the filling pipeline 70 can be a whole high-pressure hose or metal pipes separately installed on the first arm 20 and the second arm 30, and then the two metal pipes are connected by a hose at the connection of the first arm 20 and the second arm 30. The filling pipeline 70 is installed on the first arm 20 and the second arm 30 through pipe clamps 73.

[0037] Preferably, the filling gun 80 can be the HF17-70A hydrogen filling gun of Lang'an (Tianjin) Technology Development Co., Ltd.

[0038] See Figure 3 , the fixed support 10 further includes a rotating seat 11, which is horizontally rotatably installed on the top of the fixed support 10, and the first arm 20 is rotatably connected to the rotating seat 11. By setting the rotating seat 11, the first arm 20 and the second arm 30 can rotate horizontally, thereby adjusting the filling angles of the first arm 20 and the second arm 30.

[0039] Specifically, a central shaft is provided at the lower end of the rotating seat 11, a bearing is installed in the inner hole at the top of the fixed support 10, and the central shaft at the lower end of the rotating seat 11 is installed and connected to the bearing in the inner hole at the top of the fixed support 10.

[0040] Furthermore, the first arm 20 is damping rotatably connected to the fixed support 10 through a first damper 12.

[0041] Furthermore, the second arm 30 is damping rotatably connected to the balance rod 40 through a second damper 31.

[0042] During the operation of the robotic arm device, after the hydrogen filling gun 80 is removed, the weight of the second arm 30 is reduced, which will have a certain impact on the balance of the entire robotic arm, and the entire robotic arm has a tendency to lean backward. To avoid the situation of the robotic arm leaning backward, the first arm 20 is damping rotatably connected to the fixed support 10, and / or the second arm 30 is damping rotatably connected to the balance rod 40.

[0043] Preferably, the first damper 12 and the second damper 31 adopt existing technologies, such as disc damping hinges or adjustable torsion rotary dampers.

[0044] See Figure 4 Figure 4 , a threaded sleeve 56 is provided on the counterweight 50, and a hole corresponding to the threaded sleeve 56 is provided on the first arm 20. When the first arm 20 is vertically erected, the hole on the first arm 20 is aligned with the threaded sleeve 56. After the bolt 57 passes through the hole, it is screwed with the threaded sleeve 56; a limit baffle 58 is further provided on the first arm 20, a limit structure 581 is provided on the limit baffle 58, and a bolt 59 is installed on the fixed support 10. When the first arm 20 is vertically erected, the bolt 591 of the bolt 59 can be inserted into the limit structure 581, and the limit structure 581 is one of a hole, a groove, and a notch.

[0045] When the first arm 20 is vertically erected, the hole on the first arm 20 is aligned with the threaded sleeve 56 on the counterweight 50. After the bolt 57 passes through the hole, it is screwed with the threaded sleeve 56, thereby limiting the counterweight 50 and the first arm 20. At the same time, when the first arm 20 is vertically erected, the bolt 591 of the bolt 59 can be inserted into the limit structure 581, thereby limiting the first arm 20 and the fixed support 10, so that the first arm 20 and the second arm 30 can be fixed in the vertically erected state as shown in Figure 1 shown.

[0046] When preparing for refueling, it is necessary to first remove the bolt 57, and then operate the bolt 59 to retract the bolt 591 out of the limit structure 581.

[0047] See Figure 4 Figure 4 , an adjusting block 51 is further installed on the counterweight 50. Two sliders 52 are installed on one side of the adjusting block 51. The two sliders 52 cooperate to clamp the counterweight 50, so that the adjusting block 51 can slide on the counterweight 50. A fixing plate 53 is installed on the counterweight 50, and an adjusting screw 54 is installed on the adjusting block 51. The adjusting screw 54 passes through the hole on the fixing plate 53, and nuts 55 are respectively screwed on both sides of the fixing plate 53 on the adjusting screw 54. By installing the adjusting block 51 on the counterweight 50 and adjusting the position of the adjusting block 51 through the nuts 55, the center of gravity of the counterweight 50 can be adjusted, and the counterweight error generated during the manufacturing process of the entire robotic arm can be eliminated.

[0048] See Figure 1 、 3 3 , a vertical rod 60 is installed at one end of the second arm 30 far from the hinge with the first arm 20. The upper end of the vertical rod 60 is hinged to the second arm 30, and the lower end of the vertical rod 60 is installed with a gun seat 61. The vertical rod 60 is freely hanging down in any case. The main function of the vertical rod 60 is to fix the hydrogen filling gun 80 and keep the hydrogen filling gun 80 vertically installed, facilitating the operator to remove the hydrogen filling gun 80.

[0049] During use, the hydrogen filling gun 80 is placed on the matching gun seat 61.

[0050] Furthermore, in order to improve the filling efficiency, two filling pipelines 70 are provided, and filling guns 80 are respectively installed on the two filling pipelines 70.

[0051] During use, the two filling guns 80 fill simultaneously, greatly shortening the filling time.

[0052] Furthermore, referring to Figure 3 , a breakaway valve 72 is installed at one end of the filling pipeline 70 connected to the filling gun 80. The filling gun 80 is connected to the breakaway valve 72 through a high-pressure hose 81, and the breakaway valve 72 is installed on the second arm 30. Installing the breakaway valve 72 on the filling pipeline 70 can prevent the filling pipeline 70 and the high-pressure hose 81 from being damaged in case of strong wind and waves when the high-pressure hose 81 of the filling gun 80 is pulled.

[0053] An emptying pipe 71 is also installed on the second arm 30. The filling gun 80 is connected to the emptying pipe 71 through a hose. The emptying pipe 71 is used to empty and relieve pressure on the filling pipeline 70 before and after filling.

[0054] Embodiment 2:

[0055] Referring to Figures 6-9 , the working process of the present utility model is as follows:

[0056] First, a rope 90 is tied to the lower end of the second arm 30. The rope 90 only needs to be tied during the first use and does not need to be tied during subsequent uses.

[0057] During filling, referring to Figure 6 , the onshore operator lowers the rope 90 to the filling platform of the receiving ship 100.

[0058] Referring to Figure 7 , the operator on the receiving ship 100 pulls the towing rope, and the onshore operator assists the filling pipeline 70 at one end of the filling gun 80 to pass through the guardrail 200. The guardrail 200 is a protective measure for the dock to prevent the filling gun 80 and the hose from being blocked by the guardrail 200.

[0059] Referring to Figure 8 , the operator on the receiving ship 100 continues to pull the rope 90 until the filling gun 80 can be removed, and then the filling gun 80 can be removed for filling.

[0060] In Figure 8 , the state during filling in the wet season is shown, Figure 9 and the state during filling in the dry season is shown.

[0061] When filling hydrogen, first open the valve on the filling gun 80 for purging, and the water vapor or nitrogen or impurities in the filling pipeline 70 are discharged through the emptying pipe 71.

[0062] After the filling pipeline 70 is emptied, turn the valve on the filling gun 80 to fill the receiving ship 100 with hydrogen at a pressure of 35 - 40 MPa.

[0063] After the filling is completed, the hydrogen filling equipment automatically shuts down. Remove the filling gun 80, then turn the valve on the filling gun 80 to release the pressure in the filling pipeline 70 through the vent pipe 71 and keep the pressure in the filling pipeline 70 at 3 - 5 Mpa. Specifically, the hydrogen filling equipment is a hydrogen filling machine.

[0064] Place the filling gun 80 back on the second arm 30. The onshore operator presses the first arm 20 to return the first arm 20 and the second arm 30 to the longitudinally upright state.

Claims

1. A marine high-pressure hydrogen filling mechanical arm, characterized in that: The invention comprises a fixed support (10), a first support arm (20), a second support arm (30), a filling pipeline (70) and a filling gun (80); one end of the first support arm (20) is rotatably mounted on the fixed support (10), and the other end is rotatably connected to the second support arm (30); the filling pipeline (70) is arranged on the first support arm (20) and the second support arm (30); The filling pipeline (70) is located at one end of the first arm (20) and is used for connecting to the hydrogenation equipment. The filling pipeline (70) is located at one end of the second arm (30) and is equipped with a filling gun (80). A counterweight (50) is rotatably mounted on the lower end of the first arm (20); the upper end of the first arm (20) is rotatably connected to a position close to the upper end of the second arm (30); one end of the balance bar (40) is rotatably connected to the counterweight (50), and the other end is rotatably connected to the upper end of the second arm (30); when the second arm (30) is swung, the second arm (30) pushes and pulls the counterweight (50) through the balance bar (40) to rotate, so that the two ends of the first arm (20) remain balanced.

2. A marine high-pressure hydrogen filling mechanical arm according to claim 1, characterized in that: The fixed support (10) further comprises a rotating seat (11), the rotating seat (11) being horizontally rotatably mounted on the top of the fixed support (10), and the first support arm (20) being rotatably connected to the rotating seat (11).

3. A marine high-pressure hydrogen filling mechanical arm according to claim 1 or 2, characterized in that: The first support arm (20) is connected to the fixed support (10) via a first damper (12) for damped rotation.

4. A marine high-pressure hydrogen filling mechanical arm according to claim 1, characterized in that: The second support arm (30) is connected to the balance rod (40) in a damping rotation manner via a second damper (31).

5. The marine high-pressure hydrogen filling mechanical arm according to claim 1, characterized in that: The counterweight (50) is provided with a threaded sleeve (56), and the first arm (20) is provided with a hole corresponding to the threaded sleeve (56). When the first arm (20) is vertically erected, the hole on the first arm (20) is aligned with the threaded sleeve (56), and the bolt (57) is inserted into the hole and screwed with the threaded sleeve (56). The first arm (20) is also provided with a limit baffle (58), and a limit structure (581) is provided on the limit baffle (58). A latch (59) is installed on the fixed support (10). When the first arm (20) is vertically erected, a bolt (591) of the latch (59) can be inserted into the limit structure (581), and the limit structure (581) is one of a hole, a groove, and a notch.

6. The marine high-pressure hydrogen filling mechanical arm according to claim 1, characterized in that: The counterweight block (50) is also mounted with an adjustment block (51). Two sliders (52) are mounted on one side of the adjustment block (51). The two sliders (52) cooperate to clamp the counterweight block (50) so that the adjustment block (51) can slide on the counterweight block (50). A fixing plate (53) is mounted on the counterweight block (50). An adjustment screw (54) is mounted on the adjustment block (51). The adjustment screw (54) passes through a hole on the fixing plate (53). Nuts (55) are respectively screwed on both sides of the fixing plate (53).

7. The marine high-pressure hydrogen filling mechanical arm according to claim 1, characterized in that: A vertical rod (60) is installed at one end of the second arm (30) away from the hinged end with the first arm (20), the upper end of the vertical rod (60) is hinged to the second arm (30), and a gun seat (61) is installed at the lower end of the vertical rod (60).

8. The marine high-pressure hydrogen filling mechanical arm according to claim 1, characterized in that: Two filling pipelines (70) are provided, and a filling gun (80) is installed on each of the two filling pipelines (70).

9. A marine high-pressure hydrogen filling mechanical arm according to claim 1 or 8, characterized in that: A breakaway valve (72) is installed at one end of the filling pipeline (70) connected to the filling gun (80); the filling gun (80) is connected to the breakaway valve (72) via a high-pressure hose (81); and the breakaway valve (72) is installed on the second support arm (30).

10. The marine high-pressure hydrogen filling mechanical arm according to claim 1, characterized in that: The second support arm (30) is also provided with a drain pipe (71), and the filling gun (80) is connected to the drain pipe (71) via a hose.

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