Mechanical arm hydrogenation equipment

Abstract

The utility model discloses mechanical arm hydrogenation equipment which comprises a filling arm body and a hydrogen filling mechanism located outside the filling arm body, the hydrogen filling mechanism comprises a second DN15 high-pressure hose, and the tail ends of another group of DN15 high-pressure hard pipes are fixedly connected with a first DN15 high-pressure hose through CT-CT connectors. According to the utility model, the hydrogen filling mechanism is arranged, the hydrogen filling mechanism comprises two pipelines, the drift diameter of each pipeline is DN15, each pipeline adopts a combination mode of a hard pipe and a flexible pipe, and the middle of each pipeline is connected by adopting a high-pressure-resistant CT-CT joint, so that the performance requirement can be met, and the flexibility of installation and maintenance can be ensured; dN15 high-pressure hard pipes are adopted for filling pipe sections arranged in the range of the hydrogen filling arm stand column, the inner arm and the outer arm, the DN15 high-pressure hard pipes are connected through third DN15 high-pressure hoses, pipeline compensation can be conducted when a filling arm body is unfolded or folded, and it is guaranteed that the filling arm body moves smoothly and safely.

Description

Technical Field

[0001] The utility model relates to the field of hydrogen refueling, in particular to a robotic arm hydrogen refueling device. Background Art

[0002] Hydrogen energy is a recognized clean energy, and the calorific value of hydrogen is the highest among common fuels, about 3 times that of petroleum and 4.5 times that of coal. Therefore, hydrogen energy vehicles have outstanding advantages in reducing air pollution, reducing greenhouse gas emissions, and reducing dependence on traditional energy; a hydrogen refueling station is a refueling station that provides hydrogen fuel. With the development of hydrogen energy, the construction of hydrogen refueling stations has been gradually accelerating; when refueling a ship with hydrogen, hydrogen needs to be transported from an onshore hydrogen refueling machine to a hydrogen refueling gun, and then the hydrogen refueling gun is used to refuel the ship, which requires the use of a robotic arm for refueling.

[0003] However, in actual use, it is found that when using a robotic arm to transport hydrogen, for the hose, the range of movement is larger, but the hose cannot be made too thick because the load-bearing capacity of the too thick hose structure is insufficient, which affects the hydrogen refueling efficiency; while the hard pipe can provide a larger flow rate and improve the hydrogen refueling efficiency. However, the hard pipe is too hard and lacks flexibility when using a robotic arm for hydrogen refueling operation. Therefore, a robotic arm hydrogen refueling device is now proposed. Content of the Utility Model

[0004] In order to improve the problem of insufficient flexibility when using a robotic arm for hydrogen refueling operation, the utility model provides a robotic arm hydrogen refueling device.

[0005] The utility model provides a robotic arm hydrogen refueling device, adopting the following technical scheme:

[0006] A robotic arm hydrogen refueling device includes a refueling arm body and a hydrogen refueling mechanism located outside the refueling arm body;

[0007] The hydrogen refueling mechanism includes a second DN15 high-pressure hose. One end of the second DN15 high-pressure hose is fixedly connected to a DN15 high-pressure hard pipe through a CT-CT joint. The other end of the DN15 high-pressure hard pipe is fixedly connected to a third DN15 high-pressure hose through a CT-CT joint. The end of the third DN15 high-pressure hose is fixedly connected to another group of DN15 high-pressure hard pipes. The end of the other group of DN15 high-pressure hard pipes is fixedly connected to a first DN15 high-pressure hose through a CT-CT joint.

[0008] By adopting the above technical scheme, both the performance requirements can be met and the flexibility of installation and maintenance can be ensured.

[0009] As a further scheme of the utility model, a breakaway valve and a quick connector are fixedly connected to the end of the first DN15 high-pressure hose.

[0010] By adopting the above technical solution, the connection method of the first DN15 high-pressure hose, the pull-off valve and the quick connector is adopted, making the filling process more convenient and safe.

[0011] As a further solution of the present utility model, a hydrogen filling arm column is fixedly installed at the bottom of the filling arm body, and a counterweight module is fixedly installed at the top of the hydrogen filling arm column.

[0012] By adopting the above technical solution, through the adaptive setting of the counterweight module, the filling arm body can be operated very lightly and the filling arm body can be kept in a stable state in any posture.

[0013] As a further solution of the present utility model, an inner arm is connected above the hydrogen filling arm column through a rotating shaft, and an outer arm is connected at the top of the inner arm through a rotating shaft.

[0014] By adopting the above technical solution, the inner arm and the counterweight module together form a four-bar linkage balance mechanism.

[0015] As a further solution of the present utility model, both the outer arm and the inner arm are truss structures.

[0016] By adopting the above technical solution, both the outer arm and the inner arm are truss structures and are connected by a rotating shaft. This type of structure can bear dozens of times its own weight.

[0017] As a further solution of the present utility model, a cable-type self-locking balancer is fixedly installed on one side of the outer arm.

[0018] By adopting the above technical solution, the cable-type self-locking balancer is used to fix the first DN15 high-pressure hose at the end.

[0019] As a further solution of the present utility model, a first high-pressure nitrogen interface and a second high-pressure nitrogen interface are opened on one side of the hydrogen filling arm column. A communication structure is formed between the first high-pressure nitrogen interface and the second high-pressure nitrogen interface and the second DN15 high-pressure hose, and a purge nitrogen port is opened on the surface of the hydrogen filling arm column.

[0020] By adopting the above technical solution, the connection method of the first DN15 high-pressure hose, the pull-off valve and the quick connector is adopted, making the filling process more convenient and safe.

[0021] In summary, the present utility model has the following beneficial effects:

[0022] 1. The utility model is composed of a hydrogen filling arm column, an inner arm, an outer arm, a counterweight module, a hydrogen filling mechanism, a pull - off valve, a quick connector, a cable - type self - locking balancer, etc., and has the ability to rotate freely in three dimensions. Among them, the inner arm and the counterweight module jointly form a four - link balance mechanism. Through the adaptive setting of the counterweight module, the filling arm body can be operated very lightly, and the filling arm body can be kept stable in any posture. Among them, both the outer arm and the inner arm are truss structures, which are connected by a rotating shaft. This type of structure can bear dozens of times its own weight.

[0023] 2. The utility model is provided with a hydrogen filling mechanism. The hydrogen filling mechanism includes 2 pipelines, both with a nominal diameter of DN15, and both adopt a combination of hard pipes and hoses, and are connected by high - pressure CT - CT joints in the middle. It can not only meet the performance requirements but also ensure the flexibility of installation and maintenance. The 2 hydrogen filling pipelines are parallel to each other and are arranged along the hydrogen filling arm column, inner arm, and outer arm, and extend to the end of the filling arm body. Among them, the filling pipe segments within the range of the hydrogen filling arm column, inner arm, and outer arm adopt DN15 high - pressure hard pipes, and the DN15 high - pressure hard pipes are connected by a third DN15 high - pressure hose, which can compensate for the pipeline when the filling arm body is deployed or retracted, ensuring the smooth and safe movement of the filling arm body. At the end of the filling arm body, the connection method of the first DN15 high - pressure hose, pull - off valve, and quick connector is adopted to make the filling process more convenient and safe. Description of the Drawings

[0024] Figure 1 is the front - view structural schematic diagram of the utility model.

[0025] Figure 2 is the side - view structural schematic diagram of the filling arm body of the utility model.

[0026] Figure 3 is the deployed structural schematic diagram of the filling arm body of the utility model.

[0027] Figure 4 is the structural schematic diagram of the CT - CT joint of the utility model.

[0028] Description of the Reference Numerals:

[0029] 1. Hydrogen filling arm column; 2. Hydrogen filling mechanism; 201. First DN15 high - pressure hose; 202. Second DN15 high - pressure hose; 203. DN15 high - pressure hard pipe; 204. Third DN15 high - pressure hose; 3. Quick connector; 4. Pull - off valve; 5. Filling arm body; 6. Cable - type self - locking balancer; 7. Counterweight module; 8. Second high - pressure nitrogen interface; 9. Outer arm; 10. Inner arm; 11. First high - pressure nitrogen interface; 12. Purge nitrogen port. Detailed Embodiment

[0030] The following will further elaborate on this application in conjunction with the attached Figures 1-4 drawings.

[0031] Please refer to Figures 1-4 , a robotic arm hydrogenation device, including a filling arm body 5 and a hydrogen filling mechanism 2 located outside the filling arm body 5. A hydrogen filling arm column 1 is fixedly installed at the bottom of the filling arm body 5, and a counterweight module 7 is fixedly installed at the top of the hydrogen filling arm column 1. An inner arm 10 is connected above the hydrogen filling arm column 1 through a rotating shaft, and an outer arm 9 is connected to the top of the inner arm 10 through a rotating shaft. Both the outer arm 9 and the inner arm 10 are truss structures. A rope-pulling type self-locking balancer 6 is fixedly installed on one side of the outer arm 9. The filling arm body 5 as a whole is composed of a hydrogen filling arm column 1, an inner arm 10, an outer arm 9, a counterweight module 7, a hydrogen filling mechanism 2, a rupture valve 4, a quick connector 3, a rope-pulling type self-locking balancer 6, etc., and has the ability to freely rotate in three dimensions; among them, the inner arm 10 and the counterweight module 7 together form a four-bar linkage balance mechanism. Through the adaptive setting of the counterweight module 7, the filling arm body 5 can be operated very lightly and the filling arm body 5 can be kept in a stable state in any posture; among them, both the outer arm 9 and the inner arm 10 are truss structures and are connected by rotating shafts. This type of structure can bear weights dozens of times its own.

[0032] Refer to Figure 1 and Figure 3, the hydrogen filling mechanism 2 includes a second DN15 high-pressure hose 202. One end of the second DN15 high-pressure hose 202 is fixedly connected to a DN15 high-pressure rigid pipe 203 through a CT-CT joint. The other end of the DN15 high-pressure rigid pipe 203 is fixedly connected to a third DN15 high-pressure hose 204 through a CT-CT joint. The end of the third DN15 high-pressure hose 204 is fixedly connected to another group of DN15 high-pressure rigid pipes 203. The end of the other group of DN15 high-pressure rigid pipes 203 is fixedly connected to a first DN15 high-pressure hose 201 through a CT-CT joint. The end of the first DN15 high-pressure hose 201 is fixedly connected to a pull-off valve 4 and a quick connector 3. On one side of the hydrogen filling arm column 1, a first high-pressure nitrogen interface 11 and a second high-pressure nitrogen interface 8 are provided. A communication structure is formed between the first high-pressure nitrogen interface 11 and the second high-pressure nitrogen interface 8 and the second DN15 high-pressure hose 202. A purge nitrogen port 12 is provided on the surface of the hydrogen filling arm column 1; through the provided hydrogen filling mechanism 2, the hydrogen filling mechanism 2 includes 2 pipelines, both with a diameter of DN15, both using a combination of rigid pipes and hoses, and connected by high-pressure-resistant CT-CT joints in the middle, which can not only meet the performance requirements but also ensure the flexibility of installation and maintenance; the 2 hydrogen filling pipelines are parallel to each other and are arranged along the hydrogen filling arm column 1, the inner arm 10, and the outer arm 9, extending all the way to the end of the filling arm body 5. Among them, the filling pipe sections arranged within the range of the hydrogen filling arm column 1, the inner arm 10, and the outer arm 9 use DN15 high-pressure rigid pipes 203, and the DN15 high-pressure rigid pipes 203 are connected by a third DN15 high-pressure hose 204, which can compensate for the pipeline when the filling arm body 5 is unfolded or retracted, ensuring the smooth and safe movement of the filling arm body 5; at the end of the filling arm body 5, the connection method of the first DN15 high-pressure hose 201, the pull-off valve 4, and the quick connector 3 is adopted to make the filling process more convenient and safe.

[0033] The implementation principle of the present utility model is as follows: The filling arm body 5 as a whole consists of a hydrogen filling arm column 1, an inner arm 10, an outer arm 9, a counterweight module 7, a hydrogen filling mechanism 2, a breakaway valve 4, a quick connector 3, a cable-type self-locking balancer 6, etc., and has the ability to freely rotate in three dimensions; among them, the inner arm 10 and the counterweight module 7 together form a four-bar linkage balance mechanism. Through the adaptive setting of the counterweight module 7, the filling arm body 5 can be operated very easily and can keep the filling arm body 5 in a stable state in any posture; among them, both the outer arm 9 and the inner arm 10 are truss structures and are connected by a rotating shaft. This type of structure can bear dozens of times its own weight; the hydrogen filling mechanism 2 includes 2 pipelines, both with a nominal diameter of DN15, and both adopt a combination of hard pipes and hoses, and are connected in the middle by a high-pressure CT-CT joint, which can not only meet the performance requirements but also ensure the flexibility of installation and maintenance; the 2 hydrogen filling pipelines are parallel to each other and are arranged along the hydrogen filling arm column 1, the inner arm 10, and the outer arm 9, and extend all the way to the end of the filling arm body 5. Among them, the filling pipe sections arranged within the range of the hydrogen filling arm column 1, the inner arm 10, and the outer arm 9 adopt DN15 high-pressure hard pipes 203, and the DN15 high-pressure hard pipes 203 are connected by a third DN15 high-pressure hose 204, which can compensate for the pipeline when the filling arm body 5 is deployed or retracted, ensuring the smooth and safe movement of the filling arm body 5; at the end of the filling arm body 5, the connection method of the first DN15 high-pressure hose 201, the breakaway valve 4, and the quick connector 3 is adopted to make the filling process more convenient and safe. The first DN15 high-pressure hose 201 at the end is fixed by a cable-type self-locking balancer 6. In the non-working state, the first DN15 high-pressure hose 201 is in a contracted state, and when working, the first DN15 high-pressure hose 201 is stretched; before use, the filling arm body 5 is in a fully retracted state, and the first DN15 high-pressure hose 201 at the end of the filling pipeline is fixed to the shore by a towing rope. One end of the towing rope is connected to the first DN15 high-pressure hose 201, and the other end is connected to a shore fixing pile; when the ship docks and stops stably, the shore staff unties the end of the towing rope connected to the fixing pile and gives it to the ship deck staff; the deck staff gently drags the towing rope to tow the quick connector 3 at the end of the first DN15 high-pressure hose 201 to the ship filling port; during this process, the filling arm body 5 will slowly unfold; when the first DN15 high-pressure hose 201 at the end of the filling arm body 5 is stretched and the quick connector 3 is connected to the ship filling port, filling can begin; after filling is completed and nitrogen purging is carried out, the deck staff disconnects the connection of the quick connector 3, and the cable-type self-locking balancer 6 automatically retracts the hose; the shore staff slowly pulls the towing rope to retract the entire arm.

[0034] The above are all the preferred embodiments of the present utility model, and the protection scope of the present utility model is not limited thereby. Therefore, all equivalent changes made according to the structure, shape, and principle of the present utility model should be covered within the protection scope of the present utility model.

Claims

1. A mechanical arm hydrogenation equipment, characterized in that: It comprises a filling arm body (5), and a hydrogen filling mechanism (2) located outside the filling arm body (5); The hydrogen filling mechanism (2) comprises a second DN15 high-pressure hose (202), one end of the second DN15 high-pressure hose (202) being fixedly connected to a DN15 high-pressure hard pipe (203) via a CT-CT joint, the other end of the DN15 high-pressure hard pipe (203) being fixedly connected to a third DN15 high-pressure hose (204) via a CT-CT joint, the end of the third DN15 high-pressure hose (204) being fixedly connected to another group of DN15 high-pressure hard pipes (203), and the end of the other group of DN15 high-pressure hard pipes (203) being fixedly connected to the first DN15 high-pressure hose (201) via a CT-CT joint.

2. A mechanical arm hydrogenation equipment according to claim 1, characterized in that: The end of the first DN15 high-pressure hose (201) is fixedly connected to a breakaway valve (4) and a quick connector (3).

3. A mechanical arm hydrogenation equipment according to claim 1, characterized in that: A hydrogen filling arm column (1) is fixedly mounted on the bottom of the filling arm body (5), and a counterweight module (7) is fixedly mounted on the top of the hydrogen filling arm column (1).

4. A mechanical arm hydrogenation equipment according to claim 3, characterized in that: The upper part of the hydrogen filling arm column (1) is connected to an inner arm (10) via a rotating shaft, and the top of the inner arm (10) is connected to an outer arm (9) via a rotating shaft.

5. A mechanical arm hydrogenation equipment according to claim 4, characterized in that: The outer arm (9) and the inner arm (10) are both lattice structures.

6. A mechanical arm hydrogenation equipment according to claim 4, characterized in that: A pull-rope type self-locking balancer (6) is fixedly mounted on one side of the outer arm (9).

7. A robotic arm hydrogenation equipment according to claim 3, characterized in that: A first high-pressure nitrogen interface (11) and a second high-pressure nitrogen interface (8) are provided on one side of the hydrogen filling arm column (1); a communication structure is formed between the first high-pressure nitrogen interface (11) and the second high-pressure nitrogen interface (8) and a second DN15 high-pressure hose (202); and a purge nitrogen port (12) is provided on the surface of the hydrogen filling arm column (1).

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