Automatic feeding system for gas steel cylinders

Abstract

The embodiment of the utility model discloses an automatic feeding system for a gas steel cylinder. The automatic gas steel cylinder feeding system comprises at least one gas cabinet arranged in a steel cylinder using area, the gas cabinet comprises a cabinet body and an in-cabinet automatic butt joint device, and the in-cabinet automatic butt joint device is arranged in the cabinet body; and the at least one robot comprises at least one mechanical arm, and the robot is used for carrying the gas steel cylinder into the cabinet body through the mechanical arm and is in butt joint with the in-cabinet automatic butt joint device. According to the automatic feeding system for the gas steel cylinder, the working efficiency and the safety are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of gas cylinder transportation, in particular to an automatic feeding system for gas cylinders. Background Art

[0002] Steel cylinders are common containers used by specialty gas manufacturers and other industrial applications. They are heavy and difficult to handle. Typically, specialty gases are gases used in specific applications with specific requirements for purity, variety, and properties. Specialty gases primarily include electronic gases, high-purity gases, and standard gases. Currently, gas cylinders (also known as steel cylinders) are typically handled manually or by forklifts. When gas cylinders are empty (i.e., after the specialty gas inside has been used), multiple empty cylinders are typically stacked in multiple layers to improve space utilization. However, manual handling and stacking are labor-intensive and unsafe, while using other equipment for handling and stacking increases equipment costs and process steps. Utility Model Content

[0003] In order to overcome at least some of the defects or shortcomings of the existing technology, the embodiment of the present invention provides an automatic loading system for gas cylinders, which solves the technical problems of heavy workload, low efficiency and unsafety in the manual handling and transportation of gas cylinders in the existing technology, and improves work efficiency and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0004] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0005] Figure 1 The present invention provides a schematic structural diagram of an automatic gas cylinder transportation system according to an embodiment of the present invention.

[0006] Figure 2a This is a schematic diagram of the main structure of a first automatic cylinder transportation device provided in an embodiment of the utility model.

[0007] Figure 2b for Figure 2a Schematic diagram of the overhead structure of the first automatic cylinder transportation equipment.

[0008] Figure 2c for Figure 2a The right view structural diagram of the first automatic cylinder transport equipment.

[0009] Figure 3 for Figure 2aSchematic diagram of the first cylinder automatic transport device after being clamped with a gas cylinder.

[0010] Figure 4a This is a schematic diagram of the main structure of another first automatic cylinder transportation equipment provided in an embodiment of the utility model.

[0011] Figure 4b for Figure 4a The right view structural diagram of the first automatic cylinder transport equipment.

[0012] Figure 5 for Figure 4a Schematic diagram of the partial cross-sectional structure of the AA section.

[0013] Figure 6 for Figure 4b Schematic diagram of the partial cross-sectional structure of the middle BB section.

[0014] Figure 7 for Figure 4b Schematic diagram of the first cylinder automatic transport device after being clamped with a gas cylinder.

[0015] Figure 8a This is a schematic diagram of the main structure of another first automatic cylinder transportation equipment provided in an embodiment of the utility model.

[0016] Figure 8b for Figure 8a Schematic diagram of the overhead structure of the first automatic cylinder transportation equipment.

[0017] Figure 8c for Figure 8a The right view structural diagram of the first automatic cylinder transport equipment.

[0018] Figure 9 for Figure 8c Schematic diagram of the first cylinder automatic transport device after being clamped with a gas cylinder.

[0019] Figure 10 This is a schematic diagram of the circuit connection relationship of the first automatic cylinder transportation equipment provided in an embodiment of the present utility model.

[0020] Figure 11a The present invention provides a schematic top view of the structure of an automatic gas cylinder conveying device according to an embodiment of the present invention.

[0021] Figure 11b for Figure 11a Schematic diagram of the main structure of the automatic gas cylinder conveying equipment.

[0022] Figure 11c for Figure 11b Schematic diagram of the right side structure of the automatic gas cylinder conveying equipment.

[0023] Figure 12a for Figure 11a Schematic diagram of the top view of the cylinder loading mechanism.

[0024] Figure 12b for Figure 12a Schematic diagram of the main structure of the cylinder loading mechanism.

[0025] Figure 12c for Figure 12b Schematic diagram of the right side structure of the cylinder loading mechanism.

[0026] Figure 13 for Figure 11a Schematic diagram of the structure of the roller of the roller shaft is shown.

[0027] Figure 14a for Figure 11a Schematic diagram of the top view of the cylinder unloading mechanism.

[0028] Figure 14b for Figure 14a Schematic diagram of the main structure of the cylinder unloading mechanism.

[0029] Figures 15a to 15e A schematic diagram of the workflow of the automatic gas cylinder conveying equipment for conveying cylinders provided in an embodiment of the utility model.

[0030] Figure 16 This is a schematic top view of another automatic steel cylinder conveying device provided in an embodiment of the present utility model.

[0031] Figure 17 The present invention provides a schematic structural diagram of an automatic gas cylinder transportation system according to an embodiment of the present invention.

[0032] Figure 18 The present invention provides a schematic structural diagram of an automatic gas cylinder transportation system according to an embodiment of the present invention.

[0033] Figure 19a This is a schematic diagram of the main structure of a first automatic cylinder transportation device provided in an embodiment of the utility model.

[0034] Figure 19b for Figure 19a Schematic diagram of the overhead structure of the first automatic cylinder transportation equipment.

[0035] Figure 19c for Figure 19a The right view structural diagram of the first automatic cylinder transport equipment.

[0036] Figure 19d for Figure 19b A partially enlarged schematic cross-sectional view of the CC section in FIG.

[0037] Figure 20a for Figure 19a Schematic diagram of the right view of the clamping and fixing component.

[0038] Figure 20b for Figure 20a Schematic diagram of the partial cross-sectional structure of the clamping and fixing components.

[0039] Figure 21 This is a schematic structural diagram of a steel cylinder involved in an embodiment of the present utility model.

[0040] Figure 22 for Figure 19d Schematic diagram of the enlarged cross-sectional structure of the rotating component in.

[0041] Figure 23a for Figure 19c Schematic diagram of the right view structure of the lifting component in.

[0042] Figure 23b for Figure 23a Schematic diagram of the main structure of the lifting component.

[0043] Figure 24 This is a schematic structural diagram of the automatic feeding system for gas cylinders provided in an embodiment of the present utility model.

[0044] Figure 25 This is a structural diagram of the cylinder standby area.

[0045] Figure 26 for Figure 24 Schematic diagram of the structure of the gas cabinet.

[0046] Figure 27 for Figure 24 Schematic diagram of the structure of the first automatic cylinder transportation equipment.

[0047] Figure 28 This is a schematic structural diagram of a gas cylinder carrier in the automatic gas cylinder loading system provided by an embodiment of the present invention.

[0048] Figure 29 This is another structural diagram of the cylinder standby area.

[0049] Figure 30 This is a schematic diagram of the first cylinder automatic transport equipment moving the gas cylinder to the gas cabinet.

[0050] Figure 31 A schematic flow chart of the automatic gas cylinder transmission method provided in an embodiment of the present utility model.

[0051] Figure 32 for Figure 31 Schematic diagram of the process of step S10.

[0052] Figure 33 for Figure 31 Schematic diagram of the process of step S20.

[0053] Figure 34 for Figure 31 Another flow chart of step S20

[0054] Figure 35 for Figure 31 Schematic diagram of the process of step S30.

[0055] Figure 36 for Figure 35 Flow chart of step S32 in FIG. DETAILED DESCRIPTION

[0056] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0057] The present invention provides an automatic gas cylinder transmission system. The automatic gas cylinder transmission system is used, for example, for handling and transporting gas cylinders (also called cylinders) within a factory, such as a panel factory, a semiconductor device factory, etc. Typically, Figure 1 As shown, the factory is divided into a cylinder standby area D1, a cylinder use area D2 and an empty cylinder area D3. Among them, the cylinder standby area D1 and the cylinder use area D2 are used to place gas cylinders in a full bottle state (gas cylinders are filled with special gases), and the empty cylinder area D3 is used to place gas cylinders in an empty bottle state. Specifically, Figure 1As shown, the automatic gas cylinder transport system includes, for example, at least one first robotic arm 4, at least one second robotic arm 5, a first automatic cylinder transport device 110, and a second automatic cylinder handling device 210. The at least one first robotic arm 4 is located in the cylinder standby area D1; the at least one second robotic arm 5 is located in the cylinder use area D2; the first automatic cylinder transport device 110 is located between the cylinder standby area D1 and the cylinder use area D2; and the second automatic cylinder transport device 210 is located between the cylinder standby area D1 and the empty cylinder area D3. Among them, the at least one first robotic arm 4 is used to move the gas cylinders in the cylinder standby area D1 to the first cylinder automatic transport equipment 110; the first cylinder automatic transport equipment 110 is used to transport the gas cylinders thereon to the cylinder use area D2 for use; the at least one second robotic arm 5 is used to move the empty cylinders in the cylinder use area D2 to the second cylinder automatic transport equipment 210; the second cylinder automatic transport equipment 210 is used to transport the empty cylinders thereon to the empty cylinder area D3, thus completing the transportation process of gas cylinders in the factory. It is worth mentioning here that the number of at least one first robotic arm 4 and / or at least one second robotic arm 5 can be one or more. The figure only takes one first robotic arm 4 and one second robotic arm 5 as an example for illustration.

[0058] The utility model realizes the automatic circulation and transportation of gas cylinders in the cylinder standby area D1, the cylinder use area D2 and the empty bottle area D3 in the factory by setting up an automatic gas cylinder transmission system with at least one first robotic arm 4, at least one second robotic arm 5, a first automatic cylinder transportation device 110 and a second automatic cylinder operation device 210, thereby solving the technical problems of heavy workload, low efficiency and unsafety in the prior art of manual handling and transportation of gas cylinders, and improving work efficiency and safety.

[0059] Among them, the first robotic arm 4 and the second robotic arm 5 are, for example, complex systems with high precision, multi-input and multi-output, high nonlinearity, and strong coupling. Because the robotic arm has unique operational flexibility, it has been widely used in industrial loading and unloading, transportation, safety and explosion protection and other fields. The specific structure of the first robotic arm 4 and the second robotic arm 5 can refer to the mature technical solutions in the existing technology and will not be repeated here. Under the control of the control instruction, at least one first robotic arm 4 can grab the gas cylinder in the cylinder standby area D1 and move it to the first cylinder automatic transportation equipment 110. At least one second robotic arm 5 can grab the gas cylinder on the first cylinder automatic transportation equipment 110 and place it in the cylinder use area D2 for use. In addition, at least one second robotic arm 5 can also grab the gas cylinder in the cylinder use area D2 and move it to the second cylinder automatic transportation equipment 210.

[0060] In addition, the first cylinder automatic transport equipment 110 can be, for example, a vehicle with automatic guidance and walking functions, such as an automatic guided transport vehicle, which can travel according to a prescribed path and complete the loading, unloading and transportation of gas cylinders. Figure 2a 、 Figure 2b and Figure 2c As shown, the first automatic cylinder transport device 110 includes, for example, an automated guided vehicle (AGV) main body 1100, a lifting assembly 1200, and a clamping assembly 1300. The lifting assembly 1200 is connected to one end of the AGV main body 1100 and can move up and down relative to the AGV main body 1100. The clamping assembly 1300 is connected to the lifting assembly 1200. The clamping assembly 1300 can move up and down relative to the AGV main body 1100 along with the lifting assembly 1200. The clamping assembly 1300 can grasp and transport at least one gas cylinder at a time.

[0061] Furthermore, if Figure 2b and Figure 2c As shown, the clamping and fixing assembly 1300 includes, for example, a vertical plate 1310 and multiple sets of forks 1320. One side of the vertical plate 1310 is connected to the lifting assembly 1200. The multiple sets of forks 1320 are respectively connected to one side of the vertical plate 1310 away from the lifting assembly 1200, and the multiple sets of forks 1320 are arranged in sequence on the vertical plate 1310 in the horizontal direction and are spaced apart from each other. The number of the multiple sets of forks 1320 can be 3 groups, 4 groups or even more groups. The present invention takes 3 groups as an example for illustration, but is not limited thereto. Further, as Figure 2c As shown, each group of the fork claws 1320 includes, for example, a supporting claw 1321, a first side claw 1322, and a second side claw 1323. The supporting claw 1321 is connected to the lower portion of the vertical plate 1310, and the first side claw 1322 and the second side claw 1323 are connected to the upper portion of the vertical plate 1310 and are located above the supporting claw 1321. The first side claw 1322 and the second side claw 1323 are spaced apart from each other and arranged opposite to each other. The supporting claw 1321, the first side claw 1322, and the second side claw 1323 of each group of the fork claws 1320 together enclose a cylinder accommodating space SP1. Figure 2b and Figure 3 As shown, the cylinder storage spaces SP1 can be used to store gas cylinders. It's worth noting that each cylinder storage space SP1 can accommodate a single gas cylinder, or multiple gas cylinders can be placed side by side, depending on actual site needs. Multiple sets of forks are provided on the clamping and fixing assembly 1300 to form multiple cylinder storage spaces SP1, which can accommodate multiple gas cylinders and improve cylinder handling efficiency.

[0062] In addition, the main body of the automatic guided vehicle 1100 is, for example, an automatic guiding device such as an electromagnetic or optical one, capable of traveling along a prescribed path, and having safety protection and various transfer functions. It adopts a fully automatic control method to replace manual labor, which saves manpower and is easy to use. It has been widely used in the logistics and transportation industry. The specific structure of the main body of the automatic guided vehicle 1100 can refer to the mature technical solutions in the prior art and will not be described in detail here. In addition, the lifting component 1200 can adopt, for example, a ball screw mechanism, a gear rack transmission mechanism, or the like commonly used in the prior art, which can convert rotational motion into linear reciprocating motion, and can drive the clamping and fixing components and / or the gas cylinders to be transported to move up and down.

[0063] In one embodiment of the present invention, Figure 4a and Figure 4b As shown, the first automatic cylinder transport device 110 further includes a side claw adjustment assembly 1400, which is disposed on the clamping and fixing assembly 1300. The side claw adjustment assembly 1400 connects the vertical plate 1310, the first side claws 1322, and the second side claws 1323 of the multiple sets of forks 1320. The side claw adjustment assembly 1400 is used to adjust the horizontal positions of the first side claws 1322 and the second side claws 1323 of the multiple sets of forks 1320, that is, to adjust the distance between the paired first side claws 1322 and the second side claws 1323. Specifically, as Figure 5 and Figure 6As shown, the side claw adjustment assembly 1400, for example, includes: a power assembly 1410, an adjustment gear 1420, a first rack 1430, and a second rack 1440. The power assembly 1410 is disposed on the vertical plate 1310, for example, fixedly connected to the vertical plate 1310. The power assembly 1410 comprises, for example, a drive motor such as a stepper motor. The adjustment gear 1420 is connected to the power assembly 1410 and is located on a side of the vertical plate 1310 away from the AGV body 1100. The first rack 1430 is transmission-connected to the adjustment gear 1420 and connected to the first side claws 1322 of the multiple sets of fork claws. The second rack 1440 is transmission-connected to the adjustment gear 1420 and connected to the second side claws 1323 of the multiple sets of fork claws. The second rack 1440 and the first rack 1430 are located on opposite sides of the adjustment gear 1420. That is, the adjustment gear 1420 is simultaneously with the first rack 1430 and the second rack 1440. In this way, when it is necessary to clamp the gas cylinder, the power assembly 1410 drives the adjustment gear 1420 to rotate, and drives the first rack 1430 and the second rack 1440 to move, and at the same time drives the first side claw 1322 and the second side claw 1323 to move in opposite directions, thereby increasing the distance between the first side claw 1322 and the second side claw 1323, that is, the width of the cylinder accommodating space SP1, to facilitate the insertion of the gas cylinder. When the gas cylinder enters the cylinder accommodating space SP1, the power assembly 1410 drives the adjustment gear 1420 to rotate in the opposite direction, and drives the first rack 1430 and the second rack 1440 to move in the opposite direction, while driving the first side claw 1322 and the second side claw 1323 to move in the opposite direction, thereby reducing the distance between the first side claw 1322 and the second side claw 1323, thereby clamping the gas cylinder and completing the clamping and fixing of the gas cylinder (see Figure 7 The provision of the side claw adjustment assembly 1400 makes it more convenient to clamp the gas cylinder.

[0064] In addition, in another embodiment of the present invention, Figure 8a As shown, the first automatic cylinder transport device 110 further includes a buffer and shock absorbing assembly 1500. The buffer and shock absorbing assembly 1500 is disposed on the clamping and fixing assembly 1300. The buffer and shock absorbing assembly 1500 can reduce damage and wear caused by collision and contact of the gas cylinder with the clamping and fixing assembly 1300.

[0065] Furthermore, if Figure 8b and Figure 8cAs shown, the cushioning and shock absorbing assembly 1500 includes, for example, a plurality of claw airbags 1510, a plurality of first side claw airbags 1520, a plurality of second side claw airbags 1530, and an air guide duct 1540. The plurality of claw airbags 1510 are respectively disposed on the claws 1321 of the plurality of fork claws 1320, for example, bonded to the upper surface of the claws 1321. The plurality of claw airbags 1510 correspond one-to-one with the claws 1321 of the plurality of fork claws 1320. The plurality of first side claw airbags 1520 are respectively disposed on one side of the first side claws 1322 of the plurality of fork claws 1320, adjacent to the corresponding second side claws 1323, for example, bonded to the side surface of the first side claws 1322. The plurality of first side claw airbags 1520 correspond one-to-one with the first side claws 1322 of the plurality of fork claws 1320. Multiple second side claw airbags 1530 are disposed on each of the plurality of sets of fork claws 1320, adjacent to a side of the corresponding first side claw 1322. For example, they are bonded to the side surface of the second side claw 1323. Each of the second side claw airbags 1530 corresponds one-to-one to each of the plurality of sets of fork claws 1320. An air duct 1540 connects the plurality of claw support airbags 1510, the plurality of first side claw airbags 1520, and the plurality of second side claw airbags 1530. The air duct 1540 is comprised of multiple sections, each connecting between the plurality of claw support airbags 1510, the plurality of first side claw airbags 1520, and the plurality of second side claw airbags 1530. In this way, the multiple claw airbags 1510, the multiple first side claw airbags 1520 and the multiple second side claw airbags 1530 are connected to form an airbag as a whole, and the air pressure inside the multiple claw airbags 1510, the multiple first side claw airbags 1520 and the multiple second side claw airbags 1530 is the same.

[0066] The plurality of claw support airbags 1510, the plurality of first side claw airbags 1520, and the plurality of second side claw airbags 1530 are each hollow rubber parts, for example. Gas, such as nitrogen, can be stored in each of the plurality of claw support airbags 1510, the plurality of first side claw airbags 1520, and the plurality of second side claw airbags 1530. The gas conduit 1540 can be made of polyurethane tubing, for example.

[0067] When the gas cylinder is placed on the claw airbag 1510, the pressurized gas in the claw airbag 1510 will enter the first side claw airbag 1520 and the second side claw airbag 1530 through the air guide pipe 1540, and the internal air pressure of the first side claw airbag 1520 and the second side claw airbag 1530 will increase, causing the first side claw airbag 1520 and the second side claw airbag 1530 to expand, so that the first side claw airbag 1520 and the second side claw airbag 1530 generate a squeezing force on the gas cylinder, thereby not only achieving buffering and shock absorption of the gas cylinder, but also achieving soft clamping and fixation of the gas cylinder by the side claw airbag (see Figure 9 ), further protecting the gas cylinder from damage. When the gas cylinder needs to be removed, the gas cylinder is slightly lifted, and the pressure on the claw airbag 1510 is reduced, and the gas bag automatically rebounds, thereby reducing the internal pressure of the first side claw airbag 1520 and the second side claw airbag 1530. The gas inside the first side claw airbag 1520 and the second side claw airbag 1530 flows back into the claw airbag 1510 through the air guide pipe 1540, thereby releasing the clamping force of the first side claw airbag 1520 and the second side claw airbag 1530, thereby reducing the squeezing force on the gas cylinder and loosening the soft clamping and fixation of the gas cylinder.

[0068] Typically, the first automatic cylinder transporter 110 further includes, for example, a main control circuit 1600. The main control circuit 1600 is mounted on the AGV body 1100 and electrically connected to the lifting assembly 1200. The main control circuit 1600, for example, is an onboard controller commonly used in conventional vehicles and is used to control the normal operation of the first automatic cylinder transporter 110. The control commands for the gas cylinder handling process mentioned above are all issued and implemented by the main controller 1610.

[0069] Furthermore, if Figure 10As shown, the main control circuit 1600 includes a GPS module 1620 and a main controller 1610. The GPS module 1620 is electrically connected to the main controller 1610, and the main controller 1610 is also electrically connected to the lifting assembly 1200. The main controller 1610 is, for example, an electronic component with data processing and control functions, such as an MCU and a DSP. After the clamping and fixing assembly 1300 clamps the gas cylinder, the GPS module 1620 controls the transportation route of the automatic guided vehicle body 1100 according to the instructions of the main controller 1610, and the gas cylinder is transferred and unloaded to a designated post or storage area. After the cylinder is unloaded, the automatic guided vehicle body 1100 will move according to the instructions of the main controller 1610 to repeat the gas cylinder transportation work. Generally, the GPS module 1620 and the main controller 1610 will control the movement route of the first automatic cylinder transport equipment 110 in real time.

[0070] Specifically, if Figure 11a 、 Figure 11b and Figure 11c As shown, the second automatic cylinder transport device 210 includes, for example, a cylinder conveying mechanism 2100, a cylinder loading mechanism 2200, and a cylinder unloading mechanism 2300. The cylinder conveying mechanism 2100 has a first end E1 and a second end E2 opposite each other; the cylinder loading mechanism 2200 is connected to the first end E1 of the cylinder conveying mechanism 2100; and the cylinder unloading mechanism 2300 is disposed at the second end E2 of the cylinder conveying mechanism 2100. The first end E1 is located adjacent to the cylinder use area D2, and the second end E2 is located adjacent to the empty cylinder area D3. Specifically, the cylinder conveying mechanism 2100 is used to transport conveyed cylinders from the first end E1 to the second end E2, i.e., the cylinder conveying direction is from the first end E1 to the second end E2.

[0071] In addition, if Figure 12a 、 Figure 12b and Figure 12cAs shown, the cylinder loading mechanism 2200 includes, for example, a state conversion assembly 2210 and a cylinder clamping assembly 2220. The state conversion assembly 2210 is hinged to the first end E1 of the cylinder conveying mechanism 2100. The cylinder clamping assembly 2220 is connected to the state conversion assembly 2210. The state conversion assembly 2210 is rotatable relative to the cylinder conveying mechanism 2100. The cylinder clamping assembly 2220 is used to clamp and secure a cylinder to be conveyed in a vertical state. At least one second robotic arm 4 grabs an empty cylinder in a vertical state within the cylinder usage area D2 and places it on the cylinder clamping assembly 2220 for clamping and securing. The state conversion component 2210 is used to rotate the cylinder to be conveyed in a vertical state around the cylinder conveying mechanism 2100 to convert the cylinder to be conveyed into a horizontal state, and send it to the cylinder conveying mechanism 2100, so that the cylinder conveying mechanism 2100 and the cylinder unloading mechanism 2300 can convey it to the empty bottle area and place it in a horizontal state.

[0072] Furthermore, if Figure 12a 、 Figure 12b and Figure 12c As shown, the state transition assembly 2210 includes, for example, a first bracket 2211, a second bracket 2212, a first transmission assembly 2213, and a second transmission assembly 2214. The first bracket 2211 is hingedly connected to one side of the first end E1 of the cylinder conveying mechanism 2100. The second bracket 2212 is disposed opposite the first bracket 2211 and hingedly connected to the other side of the first end E1 of the cylinder conveying mechanism 2100. The first transmission assembly 2213 is hingedly connected between the first side of the first end E1 of the cylinder conveying mechanism 2100 and the first bracket 2211. The second transmission assembly 2214 is disposed opposite the first transmission assembly 2213 and hingedly connected between the other side of the first end E1 of the cylinder conveying mechanism 2100 and the second bracket 2212.

[0073] like Figure 12cAs shown, the first bracket 2211 and the second bracket 2212 are, for example, components of a steel frame structure, such as a triangular steel frame, welded from steel pipes or angle steel, for example. The first bracket 2211 and the second bracket 2212 are disposed opposite each other and spaced apart from each other. One end of the first transmission assembly 2213 is hinged to one side of the first end E1 of the cylinder conveying mechanism 2100, and the other end is hinged to the first bracket 2211. One end of the second transmission assembly 2214 is hinged to the other side of the first end E1 of the cylinder conveying mechanism 2100, and the other end is hinged to the second bracket 2212. The first transmission assembly 2213 and the second transmission assembly 2214 are, for example, hydraulic transmission assemblies (such as hydraulic cylinders) or pneumatic transmission assemblies (such as air cylinders). Driven by a hydraulic pump or air pump, the first transmission assembly 2213 and the second transmission assembly 2214 can drive the cylinder clamping assembly 2220 and the cylinder to be conveyed to transition between a vertical and horizontal state.

[0074] In addition, if Figure 12a and Figure 12b As shown, the cylinder clamping assembly 2220 includes, for example, a first clamping member 2221, a second clamping member 2222, a third clamping member 2223, a third transmission assembly 2224, and a fourth transmission assembly 2225. The first clamping member 2221 is hingedly connected to a side of the first bracket 2211 adjacent to the second bracket 2212. The second clamping member 2222 is disposed opposite the first clamping member 2221 and hingedly connected to a side of the second bracket 2212 adjacent to the first bracket 2211. One end of the third clamping member 2223 is hingedly connected to the first bracket 2211. The third clamping member 2223 is rotatable relative to the first bracket 2211 and cooperates with the first clamping member 2221 and the second clamping member 2222 to form a receiving space SP2 for securing the cylinder to be transported. The third transmission assembly 2224 is hingedly connected between the first bracket 2211 and the first clamping member 2221. The fourth transmission assembly 2225 is hinged between the second bracket 2212 and the second clamping member 2222 .

[0075] Specifically, one end of the first clamping member 2221 and the second clamping member 2222 can rotate relative to the state conversion assembly 2210, and the third clamping member 2223 can rotate relative to the first bracket 2211. The third clamping member 2223 can cooperate with the first clamping member 2221 and the second clamping member 2222 to form a accommodating space SP2 for fixing the cylinder to be transported. For example, there are multiple third clamping members 2223. Figure 12c The following is an example of two third clamping members 2223. When the cylinder clamping assembly 2220 is in Figure 12aIn the state shown in FIG, the user can open the third clamping member 2223, push the vertically positioned cylinder to be transferred into the accommodating space SP2, and then close the third clamping member 2223 onto the second bracket 2212. In this way, the third clamping member 2223, together with the first clamping member 2221 and the second clamping member 2222, clamps and secures the cylinder to be transferred. Thereafter, the first transmission assembly 2213 and the second transmission assembly 2214 drive the cylinder clamping assembly 2220 and the cylinder to be transferred from the vertical state to the horizontal state, positioned above the cylinder transfer mechanism 2100. The third transmission assembly 2224 and the fourth transmission assembly 2225 are, for example, hydraulic transmission assemblies (e.g., hydraulic cylinders) or pneumatic transmission assemblies (e.g., air cylinders), respectively. Driven by the liquid pump or the air pump, the third transmission assembly 2224 and the fourth transmission assembly 2225 are activated, and drive the first clamping member 2221 and the second clamping member 2222 to open, allowing the horizontally-positioned cylinder to be transported to fall from the accommodating space SP2 onto the cylinder conveying mechanism 2100, so that the cylinder conveying mechanism 2100 can transport it to the cylinder unloading mechanism 2300 and place it in a horizontal state.

[0076] Based on the above, Figure 11c As shown, the cylinder conveying mechanism 2100 includes, for example, a conveying support 2110, a plurality of rollers 2120, and a first drive device (not shown). The plurality of rollers 2120 are sequentially arranged on the conveying support 2110 and spaced apart from each other. The first drive device is disposed on the conveying support 2110 and connected to the plurality of rollers 2120. The first drive device is, for example, a drive motor such as a stepper motor or servo motor. The first drive device is configured to rotate the plurality of rollers 2120, thereby transferring the cylinders to be conveyed on the plurality of rollers 2120 through friction between the plurality of rollers 2120 and the cylinders to be conveyed.

[0077] Furthermore, if Figure 13 As shown, the roller 2120 includes a first end connecting shaft 2121, a second end connecting shaft 2122, and a roller 2123 connected between the first and second end connecting shafts. The roller 2123 is used to support and transport the cylinders to be transported. Optionally, along the axis of the roller 2120, the cross-sectional dimensions of the roller 2123 gradually increase from the middle of the roller 2123 toward the ends of the roller 2123. In other words, the cross-sectional dimensions of the rollers 2123 at both ends are larger than the cross-sectional dimensions of the rollers 2123 in the middle. Thus, the cross-sectional dimensions of the rollers 2123 allow the cylinders to be transported to be transported in a predetermined direction, preventing directional deviation during transport.

[0078] In addition, if Figure 14a and Figure 14bAs shown, the cylinder unloading mechanism 2300 includes, for example, a cylinder rack 2310 and a cylinder unloading assembly 2320. The cylinder rack 2310 is located on one side of the second end E2 of the cylinder conveying mechanism 2100. The cylinder unloading assembly 2320 is hingedly connected to a side of the cylinder rack 2310 adjacent to the conveying support 2110. The cylinder unloading assembly 2320 can rotate relative to the conveying support 2110 and enter or exit the gap between the plurality of rollers 2120 at the second end E2.

[0079] Specifically, the cylinder rack 2310 is, for example, a storage rack for storing empty cylinders conveyed by the cylinder conveyor mechanism 2100. These empty cylinders are placed horizontally on the cylinder rack 2310. The cylinder unloading assembly 2320 is used to unload empty cylinders conveyed by the cylinder conveyor mechanism 2100 onto the cylinder rack 2310. When there are no empty cylinders on the plurality of rollers 2120 at the second end E2, the cylinder unloading assembly 2320 is located within the gaps between the rollers 2120. When there are empty cylinders on the plurality of rollers 2120 at the second end E2, the cylinder unloading assembly 2320 rotates and exits the gaps between the rollers 2120, unloading the empty cylinders from the rollers 2120 onto the cylinder rack 2310.

[0080] Furthermore, if Figure 14aAs shown, the cylinder unloading assembly 2320 includes, for example, an unloading rack 2321 and a second drive device 2322. The unloading rack 2321 is hingedly connected to a side of the cylinder rack 2310 adjacent to the conveying bracket 2110. The second drive device 2322 is disposed on the cylinder rack 2310 and connected to the unloading rack 2321. Driven by the second drive device 2322, the unloading rack 2321 can rotate relative to the conveying bracket 2110 and enter or exit the gap between the multiple rollers 2120. The second drive device 2322 can be, for example, a drive motor such as a stepper motor or servo motor. Furthermore, the unloading rack 2321 includes, for example, a rotating shaft 23211, multiple tilting rods 23212, and a connecting member 3213. The rotating shaft 23211 extends through the cylinder rack 2310. One end of each of the multiple flip rods 23212 is connected to the rotating shaft 23211 in sequence, and is spaced apart from each other along the axis of the rotating shaft 23211. The connecting piece 3213 connects the other end of each of the multiple flip rods 23212. Driven by the second driving device 2322, the multiple flip rods 23212 can rotate relative to the conveying bracket 2110 and enter or exit the gap between the multiple rollers 2120 at the second end E2. Typically, the width of the flip rod 23212 is smaller than the gap between any two adjacent rollers 2120. Optionally, the flip rod 23212 is an arc-shaped rod, and the center of the arc-shaped rod is located higher than the axis of the rotating shaft 23211, that is, the arc-shaped rod is concave upward. In this way, the unloading rack 2321 can better unload the empty cylinders onto the cylinder placement rack 2310.

[0081] Typically, the second automatic cylinder transport device 210 may further include a control unit (not shown). The control unit may include, for example, a controller such as an MCU, a CPU, or a DSP, and other components with data processing and control functions. Specifically, the control unit may be connected to the first and second transmission assemblies 2213 and 2214, the third and fourth transmission assemblies 2224 and 2225, and the first and second drive devices 2322, to control the first and second transmission assemblies 2213 and 2214, the third and fourth transmission assemblies 2224 and 2225, and the first and second drive devices 2322.

[0082] In addition, the working process of the second cylinder automatic transport device 210 is as follows:

[0083] 1. If Figure 15aAs shown, the third clamping member 2223 is opened, and the cylinder (empty cylinder) to be transported placed in a vertical state in the cylinder use area D2 is clamped and fixed in the accommodating space SP2, and then the third clamping member 2223 is closed and connected to the second bracket 2212 (see Figure 15b Then, the first transmission assembly 2213 and the second transmission assembly 2214 drive the cylinder to be transported to be converted from a vertical state to a horizontal state, and are located above the roller 2120 of the cylinder transport mechanism 2100 (see Figure 15c Afterwards, the third transmission assembly 2224 and the fourth transmission assembly 2225 are activated, driving the first clamping member 2221 and the second clamping member 2222 to open, allowing the horizontal cylinder to be transported to fall from the accommodating space SP2 onto the cylinder transport mechanism 2100 (see Figure 15d ).

[0084] 2. The cylinder conveying mechanism 2100 conveys the cylinder to be conveyed from the first end E1 to the second end E2. The second end E2 is located at the empty cylinder area D3 of the specialty gas cylinders, for example.

[0085] 3. When arriving at a preset position (for example, arriving at the cylinder placement rack 2310), the second inventory device 322 of the cylinder unloading mechanism 2300 drives the unloading rack 2321 to rotate upward to unload the cylinders to be transferred onto the cylinder placement rack 2310 and place them in a horizontal state, thereby completing the transfer of the cylinders to be transferred placed in a vertical state in the cylinder use area D2 to the cylinders placed in a horizontal state in the empty bottle area D3.

[0086] Furthermore, if Figure 16 As shown, the AGV main body 1100 is equipped with an anti-static device 1700 to eliminate static electricity on the gas cylinder, enhancing anti-static functionality and safety. Specifically, the anti-static device 1700 comprises a metal chain 1710 and a metal plate 1720. One end of the metal chain 1710 is mounted at the rear of the AGV main body 1100, with the other end contacting the ground. The metal plate 1720 is mounted on the clamping assembly 1300 to contact the gas cylinder. The metal plate 1720 is connected to the metal chain 1710 via a metal cable (not shown) to dissipate static electricity on the gas cylinder to the ground through the anti-static device 1700. Specifically, the metal plate 1720 can be mounted on the clamping assembly 1300 at a location where it can contact the gas cylinder, such as on the side of the first side claw adjacent to the second side claw, and / or on the side of the second side claw adjacent to the first side claw.

[0087] like Figure 17As shown, an embodiment of the present invention provides an automatic gas cylinder transmission system. The automatic gas cylinder transmission system provided in this embodiment has the same basic architecture as the automatic gas cylinder transmission system provided in the previous embodiment, with the difference that: in this embodiment, another first automatic gas cylinder transport device 110 is installed between the cylinder use area D2 and the empty cylinder area D3. That is, in this embodiment, the second automatic gas cylinder transport device 210 is the same as the first automatic gas cylinder operation device 110. The operating principle and technical effects of the automatic gas cylinder transmission system provided in this embodiment are similar to those of the previous embodiment and will not be repeated here.

[0088] like Figure 18 As shown, the embodiment of the present invention provides another automatic gas cylinder transmission system. The automatic gas cylinder transmission system provided by this embodiment has the same architecture as the automatic gas cylinder transmission system provided by the previous embodiment, except that: the structure of the first automatic gas cylinder transportation device 310 in this embodiment is different from the structure of the first automatic gas cylinder transportation device 110 in the previous embodiment, and more specifically, the clamping and fixing assembly 3400 in this embodiment is different from the clamping and fixing assembly 1300 in the embodiment. Specifically, as Figure 19a 、 Figure 19b 、 Figure 19c and Figure 19d As shown, the first automatic cylinder transport device 310 includes, for example, an automated guided vehicle body 3100, a lifting assembly 3200, and a clamping and fixing assembly 3400. The automated guided vehicle body 3100 and the lifting assembly 3200 are described with reference to the automated guided vehicle body 1100 and the lifting assembly 1200 in the embodiment, and are not further described here.

[0089] like Figure 19d 、 Figure 20a and Figure 20b As shown, the clamping and fixing assembly 3400 is used, for example, to clamp and fix the gas cylinders to be transported, so as to realize the transportation and even stacking of the gas cylinders. Specifically, the clamping and fixing assembly 3400 includes, for example: a first power device 3410, a linear distance adjustment mechanism 3420, a first transport arm 3430 and a second transport arm 3440. Among them, the first power device 3410 is connected to the rotating assembly 3300. The first power device 3410 is, for example, a drive motor such as a stepper motor, which is used to provide power for the linear distance adjustment mechanism 3420. The linear distance adjustment mechanism 3420 is connected to the first power device 3410. The first transport arm 3430 is connected to one end of the linear distance adjustment mechanism 3420; the second transport arm 3440 is connected to the other end opposite to the linear distance adjustment mechanism 3420 and is arranged opposite to the first transport arm 3430. The first transport arm 3430 and the second transport arm 3440 are used to clamp and fix the two ends of the cylinder when transporting the cylinder. Typically, as Figure 21As shown, the cylinder is, for example, a cylindrical cylinder with a cylindrical bottom profile and a conical neck, with the top cross-sectional dimensions smaller than the bottom cross-sectional dimensions. Therefore, one of the first and second transport arms 3430, 3440 secures the bottom of the cylinder, while the other secures the top and / or neck of the cylinder. The linear distance adjustment mechanism 3420 is used to adjust the distance between the first and second transport arms 3430, 3440, enabling the first automatic cylinder transporter 310 to secure both ends of the cylinder along its length. A user can secure the gas cylinder to be transported using the first and second transport arms 3430, 3440. The user then drives the first automatic cylinder transporter 310 to transport the gas cylinder to its destination. The user then controls the lifting assembly 3200 to adjust the height and position of the gas cylinder to facilitate stacking. Therefore, the embodiment of the present invention solves the problems of heavy labor, unsafety or high equipment cost in the transportation and stacking of steel cylinders by setting up a lifting component 3200 and a clamping and fixing component 3400, so that the first automatic steel cylinder transport equipment 310 has both transportation and stacking functions, which reduces the labor of transportation and stacking of steel cylinders, reduces equipment costs, and improves the safety of steel cylinder stacking.

[0090] Based on the above, Figure 20b As shown, one of the first transport arm 3430 and the second transport arm 3440 is provided with a conical hole that matches the neck of the gas cylinder to be transported, and the other of the first transport arm 3430 and the second transport arm 3440 is provided with a circular hole that matches the bottom of the gas cylinder to be transported. That is, the size of the conical hole is consistent with the size of the neck, and the size of the circular hole is consistent with the size of the bottom of the cylinder. When clamping and fixing the cylinder, the bottom of the gas cylinder to be transported can be inserted into the matching circular hole, and the neck of the gas cylinder to be transported can be inserted into the conical hole. For example, the first transport arm 3430 is provided with a conical hole 3431, and the second transport arm 3440 is provided with a circular hole 3441, as shown Figure 20b For example, the second carrying arm 3440 is provided with a tapered hole 3431, and the first carrying arm 3430 is provided with a circular hole 3441. This allows the first carrying arm 3430 and the second carrying arm 3440 to better match the outer contours of the cylinder, improving the stability and safety of cylinder transportation.

[0091] Specifically, the straight-line distance adjustment mechanism 3420 includes, for example, a housing 3421, an adjusting gear 3422, a first rack 3423, and a second rack 3424. The housing 3421 has a lower surface 34211, and a first opening 342111 and a second opening 342112 are provided on the lower surface 34211. The adjusting gear 3422 is, for example, a common involute standard gear. The adjusting gear 3422 is arranged inside the housing 3421. The adjusting gear 3422 is connected to the first power device 3410, for example, by being connected to the rotating shaft 3322 of the first power device 3410 through a flat key. The first rack 3423 is arranged in the housing 3421 and meshes with the adjusting gear 3422. The second rack 3424 is arranged in the housing 3421 and meshes with the adjusting gear 3422. The second rack 3424 and the first rack 3423 are respectively located on opposite sides of the adjusting gear 3422. As Figure 20b As shown, the first rack 3423 is located above the adjustment gear 3422, and the second rack 3424 is located below the adjustment gear 3422. The second rack 3424 and the first rack 3423 simultaneously mesh with the adjustment gear 3422 to form a gear transmission mechanism. The first transport arm 3430 passes through the first opening 342111 and is connected to the first rack 3423. The second transport arm 3440 passes through the second opening 342112 and is connected to the second rack 3424. When the first power unit 3410 drives the adjustment gear 3422 to rotate, the second rack 3424 and the first rack 3423 simultaneously move toward or away from each other, thereby reducing or increasing the distance D between the first transport arm 3430 and the second transport arm 3440. In this way, before clamping the gas cylinder to be transported, the user can control the linear distance adjustment mechanism 3420 to increase the distance D between the first transport arm 3430 and the second transport arm 3440, so as to better align the first transport arm 3430 and the second transport arm 3440 with the gas cylinder to be transported, and then control the linear distance adjustment mechanism 3420 to reduce the distance D between the first transport arm 3430 and the second transport arm 3440 to complete the clamping and fixation of the gas cylinder to be transported, thereby improving the convenience of clamping and fixing the cylinder.

[0092] In one embodiment of the present invention, Figure 19d and Figure 22As shown, the first automatic cylinder transport device 310 may further include a rotating assembly 3300. The rotating assembly 3300 is connected between the lifting assembly 3200 and the clamping and fixing assembly 3400. The rotating assembly 3300 is used to drive the clamping and fixing assembly 3400 to achieve rotation. Specifically, the rotating assembly 3300 includes a connecting member 3310, a second power device 3320, and a rotating member 3330. The connecting member 3310 is connected to the lifting assembly 3200. The second power device 3320 is disposed on the connecting member 3310. The second power device 3320 is, for example, a drive motor such as a stepper motor, and is used to drive the rotating member 3330 to rotate. The rotating member 3330 is connected to the second power device 3320. Driven by the second power device 3320, the rotating member 3330 can rotate relative to the connecting member 3310. The first power device 3410 is disposed on the rotating member 3330.

[0093] Furthermore, if Figure 22 As shown, the connecting member 3310 is provided with a receiving cavity (not marked in the figure), and the second power device 3320 has a fixed portion 3321 and a rotating shaft 3322. The fixed portion 3321 is provided in the receiving cavity, and the rotating shaft 3322 is rotatably connected to the fixed portion 3321 and extends out of the receiving cavity. In addition, the rotating assembly 3300 also includes a cover plate 3340. The cover plate 3340 is connected to the connecting member 3310, for example, by a threaded connection. The cover plate 3340 covers the fixed portion 3321, and the rotating shaft 3322 extends out of the cover plate 3340 and is connected to the rotating member 3330. In addition, as Figure 22 As shown, the rotating assembly 3300 further includes an axial contact bearing 3350, with opposite ends of the axial contact bearing 3350 respectively abutting between the cover plate 3340 and the rotating member 3330. This configuration allows the axial contact bearing 3350 to improve the rotational stability of the rotating member 3330 relative to the connecting member 3310.

[0094] Furthermore, if Figure 23a and Figure 23bAs shown, the lifting assembly 3200 includes a main frame 3210, a lead screw 3220, and a third power unit 3230. The main frame 3210 is, for example, a rectangular, hollow frame structure. A connecting portion 3211 is provided on one side of the main frame 3210. The connecting portion 3211 is fixedly connected to the AGV main body 3100 and provides support for other components of the lifting assembly 3200, the rotating assembly 300, and the clamping and fixing assembly 3400. The lead screw 3220 is rotatably connected to the main frame 3210. Specifically, the connecting member 3310 is provided with a lead screw threaded hole 3311, into which the lead screw 3220 is inserted. The third power unit 3230 is connected to the main frame 3210 and to one end of the lead screw 3220. The second power unit 3320 is, for example, a drive motor, such as a stepper motor, for driving the lead screw 3220 to rotate relative to the main frame 3210. Driven by the third power device 3230 , the lead screw 3220 can drive the connecting member 3310 to move up and down relative to the main frame 3210 , so that the lifting assembly 3200 drives the rotating assembly 3300 and the clamping and fixing assembly 3400 to move up and down.

[0095] The utility model also provides a method for automatically transmitting a gas cylinder, which is applied to Figure 24 Automatic gas cylinder loading system shown.

[0096] See also Figure 24 The automatic gas cylinder loading system is used, for example, to transport and load gas cylinders (also known as steel cylinders) within a factory, such as a panel manufacturer or a semiconductor device manufacturer. The automatic gas cylinder loading system may include, for example, at least one gas cabinet 10, at least one first automatic cylinder transport device 110, and a controller 30.

[0097] See also Figure 24 and Figure 25The factory can be divided into, for example, a cylinder usage area D2, a cylinder standby area D1, and an empty cylinder area D3. The number of cylinder usage areas D2 can be, for example, one or more, the number of cylinder standby areas D1 can also be, for example, one or more, and the number of empty cylinder areas D3 can also be, for example, one or more. At least one gas cabinet 10 is located in the cylinder usage area D2. That is, the cylinder usage area D2 is equipped with at least one gas cabinet 10. The number of gas cabinets 10 can be, for example, one or more, and the specific number can be determined based on actual needs. The gas cabinet 10 is a cabinet that stores gas cylinders 40 and is used to transport gas to other equipment for use. The cylinder standby area D1 can be used to store gas cylinders 40, for example, in a full state. The cylinder standby area D1 can store multiple gas cylinders 40. The empty cylinder area D3 is used to store empty cylinders (i.e., empty gas cylinders). The number of first automatic cylinder transport devices 110 can be, for example, one or more, and the specific number can be determined based on actual needs.

[0098] See also Figure 26 The gas cabinet 10 includes a cabinet body 101 and an automatic docking device 102 in the cabinet. The automatic docking device 102 in the cabinet is arranged in the cabinet body 101. Figure 17 The first automatic steel cylinder transport device 110 includes at least one robotic arm 23, that is, the number of robotic arms 23 on one first automatic steel cylinder transport device 110 can be, for example, one or more, and one robotic arm 23 can be used, for example, to transport one gas cylinder 40. The first automatic steel cylinder transport device 110 is used to transport the gas cylinder 40 from the cylinder standby area D1 to the cabinet body 101 of the gas cabinet 10, and to dock the gas cylinder 40 with the automatic docking device 102 in the cabinet. Through the configuration of the first automatic steel cylinder transport device 110, the first automatic steel cylinder transport device 110 can realize automatic transportation and automatic loading of the gas cylinder 40, reducing the risk and cost of manual transportation and improving transportation efficiency and safety.

[0099] The controller 30 can be, for example, a control system, a microcontroller, etc. The gas cabinet 10 and the first automatic cylinder transport device 110 can be, for example, respectively connected to the controller 30. The gas cabinet 10, the first automatic cylinder transport device 110, and the controller 30 can be connected, for example, via a network, specifically, via a wireless network. The controller 30 is configured to control the first automatic cylinder transport device 110 to transport the gas cylinder 40 into the cabinet body 101 of the gas cabinet 10 via the robotic arm 23, and to control the first automatic cylinder transport device 110 and the gas cabinet 10 to dock the gas cylinder 40 with the automatic docking device 102 within the cabinet.

[0100] Gas cylinders 40 are generally used to store and transport high-purity gases, such as nitrogen, argon, and hydrogen, to meet the high-purity gas requirements of semiconductor production. Existing technology typically involves manual handling for loading, but manual handling is often time-consuming and susceptible to changes in worker strength, skill level, and operating methods. This can cause production line stalls or unnecessary waiting time, impacting overall production efficiency. Furthermore, manual handling is prone to errors or improper handling, which can damage, leak, or contaminate specialty gas cylinders, impacting the quality and stability of semiconductor production. Gas cylinders 40 may contain high-pressure, flammable, or toxic gases, and manual handling carries the risk of accidents. Operator injury or leaks could occur, posing a potential threat to factory safety. By configuring the controller 30 and the first automatic cylinder transport device 110, the controller 30 controls the first automatic cylinder transport device 110 to automatically transport and load gas cylinders 40, reducing the risks and costs of manual handling while improving handling efficiency and safety.

[0101] When a user needs to load a gas cylinder 40, the user can, for example, send a transport and loading task to the controller 30 through an operation interface on a mobile phone, tablet computer, computer, etc. The controller 30 controls the first automatic cylinder transport device 110 to transport the gas cylinder 40 to the corresponding gas cabinet 10 according to the transport and loading task. The first automatic cylinder transport device 110 can then, for example, feedback the transport arrival request to the controller 30, such as requesting the gas cabinet 10 to open, etc. The controller 30 controls the gas cabinet 10 to prepare and open the cabinet door, and then controls the first automatic cylinder transport device 110 to place the gas cylinder 40 in the cabinet body 101. The controller 30 then controls the gas cabinet 10 to dock the gas cylinder 40 with the automatic docking device 101 in the cabinet to complete the loading. Of course, this is only an example.

[0102] See also Figure 27The first automatic cylinder transport device 110 may be, for example, a first automatic cylinder transport device 110 (e.g., a mobile robot). The first automatic cylinder transport device 110 may include, for example, an automated guided vehicle body 1100 and a lifting assembly 1200. At least one or more robotic arms 23 may be connected to the lifting assembly 1200 or the vehicle body 1100. The lifting assembly 1200 is connected to one end of the automated guided vehicle body 1100 and can move up and down relative to the automated guided vehicle body 1100. The robotic arm 23 can move up and down along the Z-axis relative to the automated guided vehicle body 1100 along with the lifting assembly 1200, and the robotic arm 23 can reciprocate along the Y-axis to transport the gas cylinder 40 via the robotic arm 23. The first automatic cylinder transport device 110 may be equipped with a controller such as a microcontroller chip and a network connection device. The network connection device is used to connect the first automatic cylinder transport device 110 to the controller 30. The microcontroller chip controls the first automatic cylinder transport device 110 and the controller 20, allowing the first automatic cylinder transport device 110 to move along a set trajectory and transport the gas cylinder 40 according to the control of the controller 30. In some embodiments, the robotic arm 23 may be a rigid or flexible robotic arm and may be operated in conjunction with visual sensing.

[0103] In some embodiments, when applied to special gases stored in special gas cylinders, especially flammable and explosive gases, they are very sensitive to static electricity. Therefore, the automatic cylinder transport equipment 110 (such as a robot) needs to avoid generating static electricity during the handling process. For example, the wheels, body and other key components of the automatic cylinder transport equipment 110 (such as a robot) can be made of conductive materials, such as guide wheels made of conductive polyurethane, and other main structures are made of metal. These materials can effectively conduct static electricity and prevent static electricity from accumulating on the robot. For another example, the automatic cylinder transport equipment 110 (such as a robot) can be grounded through a conductive drag chain to conduct static electricity into the ground, thereby preventing the accumulation of static electricity.

[0104] See also Figure 28The automatic gas cylinder loading system of the present invention may, for example, further include a gas cylinder carrier 60. The gas cylinder carrier 60 is used to load and secure gas cylinders 40. For example, one gas cylinder carrier 60 can hold one or more gas cylinders 40. The provision of the gas cylinder carrier 60 facilitates the placement and handling of the gas cylinders 40, improving stability and safety. Specifically, the gas cylinder carrier 60 may, for example, include a carrier frame 61 and a lifting and securing portion 62. The carrier frame 61 may, for example, be made of stainless steel, which provides greater stability and support. Of course, the carrier frame 61 may also be made of other materials. The carrier frame 61 has a storage space for accommodating the gas cylinders 40. The size of the storage space may, for example, be the same as the size of the gas cylinders 40 to better secure the gas cylinders 40. The lifting and securing portion 62 may, for example, be provided on the carrier frame 61, specifically, on both sides or on the outer ring of the carrier frame 61. However, this embodiment is not limited to this. The robotic arm 23 of the first automatic cylinder transport device 110 may, for example, have a clamping portion that matches the lifting and fixing portion 62, that is, the clamping portion of the robotic arm 23 can clamp the lifting and fixing portion 62, thereby transporting the gas cylinder 40. By providing the lifting and fixing portion 62, the transportation of the gas cylinder 40 can be further facilitated, and the transportation stability and safety can be improved. In a specific implementation of this embodiment, the height of the lifting and fixing portion 62 on the carrier frame 61 is greater than half the height of the carrier frame 61, that is, the position of the lifting and fixing portion 62 is higher than the center of gravity of the gas cylinder 40 and the carrier frame 61, thereby further improving the transportation balance and stability.

[0105] In one implementation of this embodiment, the carrier frame 61 may be further provided with a first locking structure 64, for example. The first locking structure 64 is movably connected to the carrier frame 61. The first locking structure 64 can be opened, closed or adjusted relative to the carrier frame 61 to adjust the size of the storage space and facilitate the placement of the gas cylinder 40 in the storage space. When the first locking structure 64 is opened relative to the carrier frame 61, the size of the storage space becomes larger, which facilitates the placement of the gas cylinder 40 in the storage space. The first locking structure 64 is then adjusted to a suitable position and closed to lock the gas cylinder 40 to improve stability and safety. By providing the first locking structure 64, the gas cylinder carrier 60 can be adapted to gas cylinders 40 of different sizes and facilitate the placement of the gas cylinder 40 in the storage space.

[0106] See also Figure 26For example, a gas cylinder placement table 1021 may be provided in the cabinet body 101, and the gas cylinder placement table 12D2 may be provided on the automatic docking device 102 in the cabinet. The gas cabinet 10 may also be provided with a controller such as a microcontroller chip and a network connection device. The network connection device is used for network connection between the gas cabinet 10 and the controller 30. The microcontroller chip realizes the control between the gas cabinet 10 and the controller 20, so that the gas cabinet 10 can automatically exhaust, detect, open and close valves, etc. according to the control of the controller 30. The gas cylinder placement table 12D2 is used to place the gas cylinder 40. The gas cylinder 40 can be placed on the gas cylinder placement table 12D2, for example, through the gas cylinder carrier 60. A first positioning portion 1022 is provided on the gas cylinder placement table 12D2. See again Figure 28 The gas cylinder carrier 60 may, for example, further include a base plate 63, which is fixedly connected to the bottom of the carrier frame 61, and a second positioning portion 631 is provided on the base plate 63 corresponding to the first positioning portion 1022. When the gas cylinder carrier 60 is loaded with a gas cylinder 40 and placed on the gas cylinder placement platform 12D2, the first positioning portion 1022 and the second positioning portion 631 are aligned and positioned. The provision of the first positioning portion 1022 and the second positioning portion 631 can make the placement position of the gas cylinder 40 more accurate and improve the placement stability. The number of first positioning portions 1022 and second positioning portions 631 can be, for example, multiple sets, and can be set according to actual needs. In this embodiment, the first positioning portion 1022 can be, for example, a raised structure provided on the surface of the gas cylinder placement platform 12D2, and the second positioning portion 631 can be a recessed structure provided on the bottom of the base plate 63. The recessed structure matches the raised structure. When the gas cylinder carrier 60 is loaded with the gas cylinder 40 and placed on the gas cylinder placement platform 12D2, the raised structure is accommodated within the recessed structure. Of course, the first positioning portion 1022 and the second positioning portion 631 can be, for example, recessed and projecting, or can be other positioning structures, and this embodiment is not limited thereto.

[0107] See also Figure 29The automatic loading system for gas cylinders may, for example, further include a sealed cabinet 50. A joint replacement area D4 may also be provided in the factory. The joint replacement area D4 is used to replace joints for the gas cylinders 40, and the sealed cabinet 50 is provided in the joint replacement area D4. The joint replacement area D4 and the cylinder standby area D1 may, for example, both be provided in the cylinder storage warehouse. During the process of transporting the gas cylinder 40 to the gas cabinet 10, the first automatic cylinder transport equipment 110 needs to transport the gas cylinder 40 from the cylinder standby area D1 to the joint replacement area D4, and load a conversion joint for the gas cylinder 40 in the sealed cabinet 50 of the joint replacement area D4. The gas cylinder 40 may, for example, need to be replaced with a semi-automatic gas valve joint. After the gas cylinder 40 is loaded with the conversion joint in the sealed cabinet 50, the first automatic cylinder transport equipment 110 transports the gas cylinder 40 to the gas cabinet 10. By providing the sealed cabinet 50, the demand for loading conversion joints for the gas cylinder 40 can be met, thereby improving operational safety.

[0108] In some embodiments, the gas cylinder storage warehouse may include a storage area (or a steel cylinder standby area D1) and a joint replacement area D4. At this time, the gas cylinders stored in the gas cylinder storage area (or the steel cylinder standby area D1) may be partially or completely loaded into a carrier and stored on the ground in the form of a carrier, and the storage information of all gas cylinders and carriers is managed by a control system. The sealed cabinet 50 can be set in the joint replacement area D4. For example, the cylinder cap, dust film, and plug of the gas cylinder can be removed, the sealing ring can be installed, and the gas conversion joint can be loaded in the sealed cabinet 50. When working in the sealed cabinet 50, it can be completed manually or automatically by the equipment. If the equipment is used for automatic completion, the tank joint thread can also be inspected for defects through a visual solution. After the gas cylinder is installed with the conversion joint, it is transported by a robot to the gas cabinet 10 (for example, a special gas cabinet) in the steel cylinder use area D2 for operation. The manual valve on the steel cylinder can be opened in the replacement area, or the automatic mechanism of the cabinet can be opened after the gas cylinder is placed in the special gas cabinet.

[0109] Further, see Figure 28 The upper side of the carrier frame 61 away from the bottom plate 63 may be further provided with a second locking structure 65, for example. The second locking structure 65 is movably connected to the carrier frame 61 to load the conversion joint for the gas cylinder 40. The second locking structure 65 may be provided, for example, near the top of the gas cylinder 40. When the conversion joint needs to be loaded onto the gas cylinder 40, the second locking structure 65 may be opened to facilitate loading of the conversion joint.

[0110] See also Figure 30After the first automatic cylinder transport device 110 transports the gas cylinder 40 to the gas cabinet 10, the gas cabinet 10 may be provided with an automatic door, for example. The automatic door may automatically open when the first automatic cylinder transport device 110 is recognized, or the automatic door may be automatically opened by the controller 30. The first automatic cylinder transport device 110 places the gas cylinder 40 and the gas cylinder carrier 60 on the gas cylinder placement table 1021 of the automatic docking device 102 in the cabinet. The automatic docking device 102 in the cabinet is connected to the cabinet body 101 in a liftable manner. A gas interface 1023 is provided on the side of the cabinet body 101 facing away from the gas cylinder placement table 1021. The gas interface 1023 and the connector on the gas cylinder 40 may match, for example, the gas interface 1023 may be a male connector, and the connector on the gas cylinder 40 may be a corresponding female connector. Of course, this is only an example. When the automatic docking device 102 in the cabinet moves relative to the cabinet body 101 in the height direction toward the gas interface 1023, the connector of the gas cylinder 40 on the gas cylinder placement table 1021 is connected to the gas interface 1023. The automatic docking of the automatic docking device 102 in the cabinet can be completed, for example, by the controller 30 controlling the gas cabinet 10. After the first automatic cylinder transport device 110 completes the placement of the gas cylinder 40, it can, for example, exit the gas cabinet 10. The first automatic cylinder transport device 110 sends a signal to the controller 30 to inform the controller 30 that the placement of the gas cylinder 40 is completed. After receiving the signal, the controller 30 controls the gas cabinet 10 to automatically close the door. If the gas cylinder 40 needs to be wrapped with a heating pad, the controller 30 can control the gas cabinet 10 to complete the wrapping action and automatically start heating; the controller 30 can also control the gas cabinet 10 to adjust the threshold values ​​of the diaphragm valve and the pressure regulating valve according to demand. After completing the preparation work, the automatic docking device 102 in the gas cabinet 10 can, for example, automatically open the valve 41 to deliver gas. In this embodiment, the outside of the gas cabinet 10 may be provided with a touch screen or operation buttons, for example, and the controller 30 may also control the first automatic cylinder transport equipment 110 to simulate human operation of the touch screen or operation buttons to perform related operations, thereby further improving the automation of the automatic loading system of gas cylinders and improving operational efficiency and safety.

[0111] Specifically, when the first automatic cylinder transport device 110 (e.g., a robot) reaches the docking point, the door of the gas cabinet 10 (a swing door) automatically opens. The gas cabinet 10 may be equipped with a sensor to detect whether the door is properly opened or closed. It is worth noting that when removing an empty cylinder, the gas cabinet 10 must be disconnected from the gas line and the insulation package must be opened. When the cylinder rack (containing the cylinder) is forked into the gas cabinet 10, the cylinder rack locating holes and the gas cabinet locating pins can be tightly aligned to ensure the stability of the cylinder, thus eliminating the need for a chain to secure the cylinder. When positioning and docking within the gas cabinet 10, the actuator within the gas cabinet 10 can be lifted upward a certain distance to allow the female connector of the convenient plug 1023 to mate with the male connector of the gas cabinet 10. When the first automatic cylinder transport device 110 (e.g., a robot) exits the gas cabinet 10, it can send a signal to the system to control the automatic closing of the gas cabinet 10 door. If a cylinder (such as a specialty gas cylinder) requires heating pad wrapping, the gas cabinet 10 automatically activates the heating system. Furthermore, through system integration, the gas cabinet 10 can adjust the diaphragm valve and pressure regulating valve thresholds as needed. Once the cylinder is docked within the gas cabinet 10, the cabinet automatically opens the valves to deliver gas.

[0112] See also Figure 31 The automatic gas cylinder transmission method provided by the present invention may include the following steps:

[0113] S10, the controller sends a transport task to the first cylinder automatic transport device according to the production task;

[0114] S20, the first automatic cylinder transport device transports the target gas cylinder from the cylinder standby area to the cylinder use area in response to the transport task, and sends a loading request to the controller;

[0115] S30, the controller controls the gas cabinet in the cylinder use area to be in a loading state in response to the loading request, and sends a loading instruction to the first cylinder automatic transport device;

[0116] S40: The first automatic cylinder transporting device loads the target gas cylinder to the gas cabinet in response to the loading instruction.

[0117] For example, a user can publish a production task to the controller 30 as needed, and the controller 30 sends a handling task to the first automatic steel cylinder transport device 110 based on the production task. The production task may be, for example, that the cylinder usage area D2 of a certain production area needs to use a gas cylinder 40. The controller 30 generates a handling task based on the production task. One production task may, for example, generate one or more handling tasks. The controller 30 then sends the handling task to the corresponding first automatic steel cylinder transport device 110. The controller 30 may, for example, simultaneously send multiple handling tasks to multiple first automatic steel cylinder transport devices 110, that is, one handling task corresponds to one first automatic steel cylinder transport device 110, and multiple first automatic steel cylinder transport devices 110 may, for example, simultaneously execute the corresponding handling tasks. The controller 30 may also, for example, send multiple handling tasks to one first automatic steel cylinder transport device 110, and one first automatic steel cylinder transport device 110 may, for example, execute multiple handling tasks in a certain order. Of course, this embodiment is not limited to this.

[0118] In one implementation of this embodiment, the first automatic cylinder transport device 110 can also inspect the target gas cylinder's joints for defects while transporting the target gas cylinder. Specifically, the inspection can be performed, for example, using visual inspection equipment on the first automatic cylinder transport device 110. Because the joints of the gas cylinder 40, such as the threads, are prone to stripping and gas leakage due to long-term operation, inspection can prevent gas leakage, thereby further improving safety.

[0119] See also Figure 32 In step S10, the controller sends a handling task to the robot according to the production task, specifically including:

[0120] S11, the controller obtains gas cylinder standby area information and gas cabinet information according to the production task;

[0121] S12: Sending a transport task to the robot according to the production task, the gas cylinder standby area information, and the gas cabinet information.

[0122] The controller 30 can, for example, obtain gas cylinder standby area information and gas cabinet information based on the production task. For example, when the controller 30 receives a production task, it obtains the current gas cylinder standby area information of the cylinder standby area D1 and the gas cabinet information in the corresponding cylinder use area D2, thereby confirming the cylinder standby area D1 from which materials can be taken, the cylinder use area D2 that needs to be loaded, and the corresponding gas cabinet 10. Then, based on the production task, the gas cylinder standby area information, and the gas cabinet information, a handling task is generated, wherein the handling task includes a material taking location, a material discharge location, and a target gas cylinder identifier. In this embodiment, the material taking location can be, for example, a material taking location ID number, the material discharge location can be, for example, a material discharge location ID number and a gas cabinet ID number, and the target gas cylinder identifier can also be, for example, an ID number. Of course, the cylinder standby area D1, the cylinder use area D2, the gas cabinet 10 and the gas cylinder 30 may, for example, all be provided with unique identification information, and the unique identification information may, for example, be an ID number, a QR code, a barcode, etc., and the unique identification information may, for example, include one or two, which may be specifically set according to actual needs.

[0123] See also Figure 33 , step S20 may for example include the following steps:

[0124] S21, the first steel cylinder automatic transport device moves to the steel cylinder waiting area according to the material picking position;

[0125] S23, confirming the target gas cylinder according to the target gas cylinder identifier;

[0126] S25, transporting the target gas cylinder to the cylinder use area according to the discharge position.

[0127] Specifically, after receiving the transport task, the first automatic steel cylinder transport equipment 110 moves to the steel cylinder standby area D1 according to the material picking position in the transport task. The first automatic steel cylinder transport equipment 110 can, for example, plan an operation trajectory based on the position of the steel cylinder standby area D1 and its own position, move to the steel cylinder standby area D1 according to the operation trajectory, and move to the storage location of the target gas cylinder according to the material picking position, and confirm the target gas cylinder among the multiple gas cylinders 40 in the steel cylinder standby area D1 according to the target gas cylinder identifier. Specifically, the first automatic steel cylinder transport equipment 110 can, for example, identify the gas cylinder identifier on the gas cylinder 40 (which can be identified by, for example, taking a photo, scanning a code, etc.), and compare it with the target gas cylinder identifier to confirm the target gas cylinder, and then the first automatic steel cylinder transport equipment 110 takes out the target gas cylinder, that is, performs the material picking. In one implementation of this embodiment, after the material is retrieved, that is, when the target gas cylinder is transported to the cylinder use area D2 according to the material discharge position, the process further includes: updating the gas cylinder standby area information, which may, for example, include the location of the cylinder standby area D1 and the storage information of the gas cylinder 40. Subsequently, the first automatic cylinder transport device 110 transports the target gas cylinder to the cylinder use area D2 according to the material discharge position. Similarly, the first automatic cylinder transport device 110 may, for example, plan an operation trajectory based on the locations of the cylinder standby area D1 and the cylinder use area D2, and move to the cylinder use area D2 according to the operation trajectory, and then move to the position of the gas cabinet 10.

[0128] See also Figure 34 , after step S23 and before step S25, further comprising the steps of:

[0129] S24, the first automatic cylinder transporting equipment transports the target gas cylinder to the joint replacement area to complete the loading of the conversion joint of the target gas cylinder.

[0130] Specifically, before the target gas cylinder is transported to the gas cabinet 10, the first cylinder automatic transport equipment 110 transports the target gas cylinder from the cylinder standby area D1 to the joint replacement area D4. Specifically, for example, a conversion joint can be loaded for the target gas cylinder in the sealed cabinet 50 of the joint replacement area D4, and then the first cylinder automatic transport equipment 110 transports the target gas cylinder to the gas cabinet 10.

[0131] After the first cylinder automatic transport device 110 transports the target gas cylinder to the gas cabinet 10, it may send a loading request to the controller 30. In response to the loading request, the controller 30 controls the gas cabinet 10 in the cylinder use area D2 to be in a loading state. Figure 35 , step S30 may for example include the following steps:

[0132] S31, the controller determines whether the gas cylinder placement table of the gas cabinet is empty in response to the loading request;

[0133] S32, controlling the gas cabinet to be in a loading state according to the judgment result.

[0134] Specifically, see Figure 36 The step S32 controls the gas cabinet to be in a loading state according to the judgment result, specifically including:

[0135] S321, when the gas cylinder placement table is empty, the judgment structure confirms that the gas cabinet is in a loading state;

[0136] S322, when the judgment result is that the gas cylinder placement table is not empty, the controller controls the gas cabinet to release the gas connection with the old gas cylinder, so that the gas cabinet is in a loading state.

[0137] The controller 30 can, for example, determine whether the gas cylinder placement table 1021 of the corresponding gas cabinet 10 is empty based on the loading request. If the gas cylinder placement table 1021 is empty, the gas cabinet 10 is confirmed to be in a loading state. If the gas cylinder placement table 1021 is not empty, the controller 30 controls the gas cabinet 10 to disconnect the gas line from the old gas cylinder, thereby placing the gas cabinet 10 in a loading state. The controller 30 can, for example, interact with the gas cabinet 10 to determine whether the gas cylinder placement table 1021 is empty by determining its weight or performing image analysis. In response to the loading request, the controller 30 controls the gas cabinet 10 in the cylinder usage area D2 to be in a loading state and sends a loading instruction to the first automatic cylinder transport device 110. The first automatic cylinder transport device 110 then loads the target gas cylinder into the gas cabinet 10 in response to the loading instruction.

[0138] When the gas cylinder placement table 1021 is empty, the first automatic cylinder transport device 110 can, for example, place the target gas cylinder on the gas cylinder placement table 1021. When the gas cylinder placement table 1021 is not empty, the controller 30 can, for example, control the first automatic cylinder transport device 110 to remove the old gas cylinder on the gas cylinder placement table 1201, and then place the target gas cylinder on the gas cylinder placement table 1021. In this embodiment, the operations of removing the old gas cylinder and placing the target gas cylinder can be completed by, for example, two first automatic cylinder transport devices 110, or by, for example, the same first automatic cylinder transport device 110. The specific settings can be made according to actual needs. The first automatic cylinder transport device 110 can, for example, transport the old gas cylinder to the empty cylinder area D3.

[0139] Furthermore, in step S40, after the first automatic cylinder transport device responds to the loading instruction to load the target gas cylinder to the gas cabinet, it also includes: the first automatic cylinder transport device sends a loading completion message to the controller. Specifically, after the first automatic cylinder transport device 110 completes the loading, it can, for example, send a loading completion message to the controller 30, so that the controller 30 can control the gas cabinet 10 to automatically close the door. If the target gas cylinder needs to be wrapped with a heating pad, the controller 30 can control the gas cabinet 10 to complete the wrapping action and automatically start heating. The controller 30 can also, for example, control the gas cabinet 10 to adjust the threshold value of the diaphragm valve and the pressure regulating valve according to demand. After completing the preparation work, the automatic docking device 102 in the gas cabinet 10 can, for example, automatically open the valve 41 to deliver gas. Of course, this embodiment is not limited to this.

[0140] In summary, the automatic gas cylinder transport method provided in this embodiment controls the first automatic cylinder transport device 110 and the gas cabinet 10 via the controller 30 to transport and load gas cylinders 40. The controller 30 generates a handling task based on the production task and sends it to the first automatic cylinder transport device 110. Automatic handling and loading to the gas cabinet 10 using the first automatic cylinder transport device 110 can reduce human factors, thereby reducing the risk of accidents. This reduces human contact when handling flammable and explosive gas cylinders 40, significantly improving safety. High-precision handling and docking operations can also be achieved, improving operational efficiency. The first automatic cylinder transport device 110 can operate around the clock, significantly improving handling efficiency. Compared to manual handling, the first automatic cylinder transport device 110 is not restricted by working hours and can continuously and efficiently complete tasks. The automatic gas cylinder transport method uses the controller 30 to achieve automated management, real-time monitoring, and data analysis of the entire production process, avoiding the risks associated with misoperation. Flexible adjustments and optimizations can also be made based on production needs, allowing for rapid adaptation to production environments with varying specifications, quantities, and layouts.

[0141] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any appropriate manner without contradiction. In order to avoid unnecessary repetition, the present invention will not further describe various possible combinations. Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate from the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. An automatic feeding system for gas cylinders, characterized in that: include: At least one gas cabinet is provided in the cylinder use area, the gas cabinet comprising a cabinet body and an automatic docking device in the cabinet, the automatic docking device in the cabinet being provided in the cabinet body; At least one robot, the robot includes at least one robotic arm, and the robot is used to carry the gas cylinder into the cabinet through the robotic arm and dock with the automatic docking device in the cabinet.

2. The automatic gas cylinder loading system according to claim 1, characterized in that: Also includes: The gas cabinet and the robot are respectively connected to the controller, and the controller is used to control the robot to carry the gas cylinder into the cabinet through the robotic arm, and to control the robot and the gas cabinet to achieve the docking of the gas cylinder with the automatic docking device in the cabinet.

3. The automatic gas cylinder loading system according to claim 1, characterized in that: Also includes: The gas cylinder carrier is used to load and fix the gas cylinder, and the robotic arm is used to carry the gas cylinder through the gas cylinder carrier.

4. The automatic gas cylinder loading system according to claim 3, characterized in that: The robotic arm has a clamping portion; the gas cylinder carrier includes: The carrier frame has a receiving space for receiving the gas cylinder; The lifting and fixing portion is arranged on the carrier frame, and the lifting and fixing portion matches the clamping portion.

5. The automatic gas cylinder loading system according to claim 4, characterized in that: The height of the lifting and fixing portion on the carrier frame is greater than half of the height of the carrier frame.

6. The automatic gas cylinder loading system according to claim 4, characterized in that: The carrier frame is provided with a first locking structure, which is movably connected to the carrier frame to adjust the size of the accommodating space.

7. The automatic gas cylinder loading system according to claim 4, characterized in that: The cabinet is provided with a gas cylinder placement platform, and the gas cylinder placement platform is provided with a first positioning portion; the gas cylinder carrier further includes: The bottom plate is fixedly connected to the bottom of the carrier frame, and a second positioning portion is provided on the bottom plate corresponding to the first positioning portion. When the gas cylinder carrier is placed on the gas cylinder placement table, the first positioning portion and the second positioning portion are matched and positioned.

8. The automatic gas cylinder loading system according to claim 7, characterized in that: Also includes: The sealed cabinet is arranged in the joint replacement area, and is used to load the conversion joint for the gas cylinder.

9. The automatic gas cylinder loading system according to claim 8, characterized in that: A second locking structure is further provided on the upper side of the carrier frame away from the bottom plate. The second locking structure is movably connected to the carrier frame to load the conversion joint for the gas cylinder.

10. The automatic gas cylinder loading system according to claim 7, characterized in that: The automatic docking device in the cabinet can be connected to the cabinet body in a liftable manner, and the gas cylinder placement table is arranged on the automatic docking device in the cabinet. A gas interface is provided on the side of the cabinet body away from the gas cylinder placement table. When the automatic docking device in the cabinet moves toward the gas interface along the height direction relative to the cabinet body, the connector of the gas cylinder on the gas cylinder placement table is connected to the gas interface.

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