Intelligent gas cylinder carrying robot

Abstract

The utility model relates to the technical field of gas cylinder carrying, and discloses an intelligent gas cylinder carrying robot which comprises a shell, a first gas cylinder gripper, a second gas cylinder gripper and a moving platform. The shell comprises an air cylinder and a pneumatic lifting mechanism which are in driving connection. The first gas cylinder gripper is located on one side of the shell and is in sliding connection with the pneumatic lifting mechanism through a first lead screw mechanism. And the first screw rod mechanism drives the first gas cylinder gripper to move horizontally. The second gas cylinder gripper is located on the other side of the shell and is in sliding connection with the pneumatic lifting mechanism through a second lead screw mechanism. The second screw rod mechanism drives the second gas cylinder gripper to move horizontally; the first gas cylinder gripper and the second gas cylinder gripper are symmetrically arranged on the two sides of the shell, and the horizontal movement directions of the first gas cylinder gripper and the second gas cylinder gripper are opposite. The mobile platform is fixedly connected with the shell and comprises a first groove and a second groove which are symmetrically arranged; a gas cylinder of the first gas cylinder gripper is placed in the first groove, and a gas cylinder of the second gas cylinder gripper is placed in the second groove.

Description

Technical Field

[0001] This disclosure relates to the field of gas cylinder handling technology, and in particular to an intelligent gas cylinder handling robot. Background Technology

[0002] In industrial specialty gas stations, specialty gases need to be stored in cylinders, making cylinder handling a crucial step. However, most existing handling robots use a single-point gripping method, which can easily lead to cylinder tilting and slipping, posing safety hazards. For example, CN220664092U discloses a handling robot with a gripping manipulator that uses a pair of gripping plates to grip goods at a single point and a pair of intercepting plates to intercept slipping goods; however, this method is not effective in preventing cylinder tilting and slipping.

[0003] Therefore, existing technologies still need improvement. Utility Model Content

[0004] In view of the shortcomings of existing technologies, this disclosure provides an intelligent gas cylinder handling robot, which aims to solve the technical problem that most handling robots in related technologies adopt a single-point gripping method, which can easily lead to the tilting and slipping of gas cylinders, posing safety hazards.

[0005] The technical solution adopted by this disclosure to solve the above-mentioned technical problems is as follows:

[0006] This invention discloses an intelligent gas cylinder handling robot, comprising:

[0007] The housing includes a drive-connected cylinder and a pneumatic lifting mechanism;

[0008] The first gas cylinder gripper is located on one side of the housing and is slidably connected to the pneumatic lifting mechanism via a first lead screw mechanism; the first lead screw mechanism is used to drive the first gas cylinder gripper to move horizontally.

[0009] The second gas cylinder gripper is located on the other side of the housing and is slidably connected to the pneumatic lifting mechanism via a second lead screw mechanism; the second lead screw mechanism is used to drive the second gas cylinder gripper to move horizontally; wherein, the first gas cylinder gripper and the second gas cylinder gripper are symmetrically arranged on both sides of the housing, and the horizontal movement directions of the first gas cylinder gripper and the second gas cylinder gripper are opposite; and

[0010] The mobile platform is fixedly connected to the housing and includes a first groove and a second groove arranged symmetrically; the first groove is used to place the gas cylinder gripped by the first gas cylinder gripper, and the second groove is used to place the gas cylinder gripped by the second gas cylinder gripper.

[0011] The cylinder is used to drive the pneumatic lifting mechanism to move vertically and to drive the first gas cylinder gripper and the second gas cylinder gripper to open and close synchronously; the pneumatic lifting mechanism is used to drive the lead screws of the first lead screw mechanism and the second lead screw mechanism to rotate synchronously, thereby driving the first gas cylinder gripper and the second gas cylinder gripper to move horizontally synchronously.

[0012] In some embodiments, a pedal that can extend and retract inward and outward on one side of the mobile platform is provided, the pedal being located between the first groove and the second groove, and the pedal being used to carry an additional humanoid robot.

[0013] In some embodiments, a handrail is provided on the top of the housing for the humanoid robot to grip.

[0014] In some embodiments, a pressure sensor and / or a temperature sensor are disposed in the first groove and / or the second groove.

[0015] In some embodiments, the bottom of the mobile platform is provided with omnidirectional wheels.

[0016] In some embodiments, an RFID reader / writer is provided on the top of the housing.

[0017] In some embodiments, a display screen is provided on the top of the housing.

[0018] In some embodiments, a lidar is provided on the top of the housing.

[0019] In some embodiments, an alarm device is provided on the top of the housing.

[0020] In some embodiments, the alarm device is an audible and visual alarm.

[0021] Beneficial effects: This disclosure achieves dual-point symmetrical gripping by symmetrically arranging the first gas cylinder gripper and the first lead screw mechanism on both sides of the housing, with both controlled synchronously by a pneumatic lifting mechanism. This ensures balanced gripping and handling of the two gas cylinders, effectively preventing cylinder tilting and ensuring stability during transport, thus preventing cylinders from slipping due to imbalance. Therefore, this disclosure employs a dual-point gripping method to effectively prevent cylinder tilting and slipping. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0023] Figure 1 This is a three-dimensional structural schematic diagram of an intelligent gas cylinder handling robot provided in some embodiments of this disclosure.

[0024] Figure 2 This is another three-dimensional structural schematic diagram of an intelligent gas cylinder handling robot provided in some embodiments of this disclosure. Detailed Implementation

[0025] Those skilled in the art will understand that, unless specifically stated otherwise, the singular forms “a,” “the,” “the,” “as described,” and “the” used herein may also include the plural forms. It should be further understood that the term “comprising” as used in this disclosure means the presence of the stated features, integers, steps, operations, elements, and / or modules, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, modules, and / or groups thereof. It will be understood that when an element is referred to as “connected” or “coupled” to another element, it may be directly connected or coupled to the other element, or there may be intermediate elements present. Furthermore, “connected” or “coupled” as used herein may include wireless connections or wireless coupling. The term “and / or” as used herein includes all or any units and all combinations of one or more associated listed items.

[0026] Those skilled in the art will understand that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains. It should also be understood that terms such as those defined in general dictionaries should be understood to have a meaning consistent with their meaning in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless specifically defined as herein.

[0027] Please see Figure 1 The present disclosure provides an intelligent gas cylinder handling robot, including: a shell 100, a first gas cylinder gripper 61, a second gas cylinder gripper 62, and a mobile platform 200.

[0028] The housing 100 includes a cylinder (not shown in the figure) and a pneumatic lifting mechanism 120 connected by a drive; wherein the cylinder and the pneumatic lifting mechanism 120 are connected by a piston (not shown in the figure). The cylinder is used to drive the pneumatic lifting mechanism 120 to move vertically; wherein the cylinder stores compressed air as a power source, and by controlling the change of gas pressure of the compressed air in the cylinder, the piston is pushed to move vertically, thereby driving the pneumatic lifting mechanism 120 to achieve the lifting action, that is, to realize the vertical movement of the pneumatic lifting mechanism 120. Moreover, the cylinder is used to drive the first gas cylinder gripper 61 and the second gas cylinder gripper 62 to open and close synchronously; wherein the synchronous opening and closing of the first gas cylinder gripper 61 and the second gas cylinder gripper 62 is controlled by controlling the change of gas pressure of the compressed air in the cylinder, that is, controlling the first gas cylinder gripper 61 and the second gas cylinder gripper 62 to simultaneously grip or release the gas cylinder. The control principle is based on the working principle of the pneumatic system in the prior art, which will not be described in detail here.

[0029] The first gas cylinder gripper 61 is located on one side of the housing 100 and is slidably connected to the pneumatic lifting mechanism 120 via the first lead screw mechanism 71. The first lead screw mechanism 71 is used to drive the first gas cylinder gripper 61 to move horizontally. The working principle of the first lead screw mechanism 71 is based on the screw transmission principle in the prior art. When the lead screw rotates, the lead screw nut will move along the axis of the lead screw, thereby driving the first gas cylinder gripper 61 to slide along the axis of the lead screw, that is, to move horizontally.

[0030] The second gas cylinder gripper 62 is located on the other side of the housing 100 and is mirror-symmetrically arranged on both sides of the housing 100 with the first gas cylinder gripper 61. The second gas cylinder gripper 62 is slidably connected to the pneumatic lifting mechanism 120 through a second lead screw mechanism 72; the second lead screw mechanism 72 is used to drive the second gas cylinder gripper 62 to move horizontally. The working principle of the second lead screw mechanism 72 is based on the screw transmission principle in the prior art. When the lead screw rotates, the lead screw nut will move along the axis of the lead screw, thereby driving the second gas cylinder gripper 62 to slide along the axis of the lead screw, that is, to move horizontally. The lead screws of the first lead screw mechanism 71 and the second lead screw mechanism 72 are driven by the pneumatic lifting mechanism 120 to rotate synchronously, thereby driving the first gas cylinder gripper 61 and the second gas cylinder gripper 62 to move horizontally synchronously. In the embodiments of this disclosure, the first lead screw mechanism 71 and the second lead screw mechanism 72 are also mirror-symmetrically arranged on both sides of the housing 100 to ensure that the horizontal movement directions of the first gas cylinder gripper 61 and the second gas cylinder gripper 62 are opposite.

[0031] In some embodiments, such as Figure 1 and Figure 2 As shown, anti-slip pads 612 are provided on the inner sides of both the first gas cylinder gripper 61 and the second gas cylinder gripper 62 to further prevent the gas cylinder from slipping during the gripping process.

[0032] The mobile platform 200 is fixedly connected to the housing 100. The mobile platform includes a first groove 210 and a second groove 220 symmetrically arranged; the first groove 210 is used to place a gas cylinder gripped by a first gas cylinder gripper 61, and the second groove 220 is used to place a gas cylinder gripped by a second gas cylinder gripper 62. In embodiments of this disclosure, the first groove 210 and the second groove 220 are mirror-symmetrically arranged on both sides of the housing 100, ensuring that gas cylinders can be placed in both grooves simultaneously, thus improving space utilization. In embodiments of this disclosure, the contours of the first groove 210 and the second groove 220 can be adapted to the contours of the bottom of the gas cylinder, thereby physically preventing the gas cylinder from rolling or sliding laterally within the grooves, reducing the risk of tipping during transportation or storage.

[0033] The working process of the intelligent gas cylinder handling robot disclosed herein is as follows: A cylinder drives the pneumatic lifting mechanism 120 to move vertically upwards; the pneumatic lifting mechanism 120 drives the lead screws of the first lead screw mechanism 71 and the second lead screw mechanism 72 to rotate synchronously; the synchronous rotation of the lead screws causes the first gas cylinder gripper 61 and the second gas cylinder gripper 62 located on both sides of the housing 100 to slide synchronously from preset initial positions in a direction away from the housing 100, while the first gas cylinder gripper 61 and the second gas cylinder gripper 62 are in an open state for gripping the gas cylinder; when the first gas cylinder gripper 61 and the second gas cylinder gripper 62 slide to a preset first position, the cylinder controls the first gas cylinder gripper 61 and the second gas cylinder gripper 62 to close simultaneously to grip the gas cylinder. The gas cylinders are positioned in their respective locations; the cylinder drives the pneumatic lifting mechanism 120 to perform a vertical descent; the pneumatic lifting mechanism 120 drives the lead screws of the first lead screw mechanism 71 and the second lead screw mechanism 72 to rotate synchronously; the synchronous rotation of the lead screws causes the first gas cylinder gripper 61 and the second gas cylinder gripper 62 to slide synchronously in the direction toward the housing 100; when the first gas cylinder gripper 61 and the second gas cylinder gripper 62 slide to the preset second position, the cylinder controls the first gas cylinder gripper 61 and the second gas cylinder gripper 62 to open simultaneously to release the gas cylinders they have gripped, at which point the gas cylinders are placed in the first groove 210 and the second groove 220; the first gas cylinder gripper 61 and the second gas cylinder gripper 62 return to their initial positions, completing the gas cylinder gripping process.

[0034] The intelligent gas cylinder handling robot disclosed herein achieves dual-point symmetrical gripping by symmetrically arranging the first gas cylinder gripper and the first lead screw mechanism with the second gas cylinder gripper and the second lead screw mechanism on both sides of the housing. Both are simultaneously controlled by a pneumatic lifting mechanism with a cylinder to perform synchronous actions, thereby ensuring balanced gripping and handling of the two gas cylinders. This effectively prevents the gas cylinders from tilting and ensures stability during gas cylinder handling, thus preventing the gas cylinders from slipping due to imbalance to a certain extent.

[0035] In some embodiments, please refer to Figure 1A pressure sensor (not shown in the figure) and / or a temperature sensor (not shown in the figure) are provided in the first groove 210 and / or the second groove 220. The pressure sensor is used to monitor the weight of the gas cylinder in real time, and the temperature sensor is used to monitor the temperature of the gas cylinder in real time.

[0036] In some embodiments, please refer to Figure 1 and Figure 2 The mobile platform 200 is equipped with omnidirectional wheels 230 at its bottom, enhancing the robot's flexibility and mobility in various complex environments. Furthermore, the omnidirectional wheels 230 are Mecanum wheels, allowing the robot to move freely within a 360-degree range, achieving corner-free turning and significantly improving its flexibility and mobility. This makes it suitable for applications requiring frequent directional adjustments, such as operations in confined spaces. The number and position of the omnidirectional wheels 230 can be configured as needed, and will not be described here.

[0037] In some embodiments, please refer to Figure 1 and Figure 2 A retractable pedal 240 is fixed to one side of the mobile platform 200. The pedal 240 is located between the first groove 210 and the second groove 220 and is used to mount an additional humanoid robot (not shown in the figure), thereby assisting the humanoid robot in its movement and enabling collaborative work between the handling robot and the humanoid robot during the grasping and handling of gas cylinders. Furthermore, the pedal 240 is retractable in the horizontal direction.

[0038] Please refer to the following for some implementations of this embodiment. Figure 1 A handrail 13 is fixedly provided on the top of the shell 100. The handrail 13 is used for the humanoid robot to grasp, thereby helping the humanoid robot to maintain balance when moving or working at rest and preventing it from falling.

[0039] In some embodiments, please refer to Figure 1 An RFID reader 14 is installed on the top of the housing 100 to facilitate the management system in identifying the information of the gas cylinders carried by the handling robot.

[0040] In some embodiments, please refer to Figure 1 and Figure 2 The top of the housing 100 is equipped with a display screen 15. The display screen 15 not only has the display function of a traditional display screen, but also supports intelligent functions such as touch operation, voice interaction, data analysis, and remote control.

[0041] In some embodiments, please refer to Figure 1 and Figure 2The top of the housing 100 is equipped with a lidar 16, which facilitates the management system's positioning, thereby planning the movement path of the handling robot and also facilitates the monitoring of obstacles to prevent the handling robot from colliding.

[0042] In some embodiments, please refer to Figure 1 and Figure 2 An alarm device 17 is provided on the top of the housing 100 for issuing a warning signal in an emergency to alert people to danger or to take appropriate measures. Further, the alarm device 17 is an audible and visual alarm (providing warnings through sound and light signals). In some embodiments, please refer to... Figure 1 The top of the housing 100 is provided with a protruding structure 18 for temporarily placing additional cylinder caps to prevent them from falling off.

[0043] Furthermore, the intelligent gas cylinder handling robot disclosed herein includes a control system comprising a vision recognition module, a motion control module, and a data transmission module. The vision recognition module, through a pre-set high-definition camera and deep learning algorithms, accurately identifies the information and location of the gas cylinders, providing precise positioning for cylinder gripping. The vision recognition module also uses a pre-set path planning algorithm to automatically plan the optimal handling path based on the environmental map and the gas cylinder location, thereby avoiding obstacles. The motion control module uses servo motors and encoders to control the movement trajectory of the gripper, ensuring a smooth and precise handling process. The data transmission module can transmit the obtained detection results to the control center in real time via wireless communication (WIFI, Bluetooth, etc.) or a dedicated communication network (industrial Ethernet, etc.).

[0044] It is understood that the terms “length,” “width,” “height,” “upper,” “lower,” “front,” “rear,” “left,” “right,” “vertical,” “horizontal,” “top,” “side,” “bottom,” “inner,” and “outer” used in this disclosure to indicate the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of description and simplification, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this disclosure.

[0045] It is understood that the terms "first" and "second" in this disclosure are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of embodiments of this disclosure, "a plurality of" means two or more, unless otherwise explicitly specified.

[0046] It is understood that, unless otherwise expressly specified and limited, the terms "set," "install," "connect," "link," and "fix" in this disclosure should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this disclosure according to the specific circumstances.

[0047] The embodiments described above are for illustrative purposes only and are not intended to limit the scope of this disclosure. Any modifications or variations made without departing from the spirit of this disclosure are within the scope of protection of this disclosure.

Claims

1. An intelligent gas cylinder handling robot, characterized in that, include: The housing includes a drive-connected cylinder and a pneumatic lifting mechanism; The first gas cylinder gripper is located on one side of the housing and is slidably connected to the pneumatic lifting mechanism via a first lead screw mechanism; the first lead screw mechanism is used to drive the first gas cylinder gripper to move horizontally. The second gas cylinder gripper is located on the other side of the housing and is slidably connected to the pneumatic lifting mechanism via a second lead screw mechanism; the second lead screw mechanism is used to drive the second gas cylinder gripper to move horizontally; wherein, the first gas cylinder gripper and the second gas cylinder gripper are symmetrically arranged on both sides of the housing, and the horizontal movement directions of the first gas cylinder gripper and the second gas cylinder gripper are opposite; and The mobile platform is fixedly connected to the housing and includes a first groove and a second groove arranged symmetrically; the first groove is used to place the gas cylinder gripped by the first gas cylinder gripper, and the second groove is used to place the gas cylinder gripped by the second gas cylinder gripper. The cylinder is used to drive the pneumatic lifting mechanism to move vertically and to drive the first gas cylinder gripper and the second gas cylinder gripper to open and close synchronously; the pneumatic lifting mechanism is used to drive the lead screws of the first lead screw mechanism and the second lead screw mechanism to rotate synchronously, thereby driving the first gas cylinder gripper and the second gas cylinder gripper to move horizontally synchronously.

2. The intelligent gas cylinder handling robot according to claim 1, characterized in that, A retractable pedal is provided on one side of the mobile platform, which is located between the first groove and the second groove. The pedal is used to carry an additional humanoid robot.

3. The intelligent gas cylinder handling robot according to claim 2, characterized in that, The top of the shell is provided with a handrail for the humanoid robot to grip.

4. The intelligent gas cylinder handling robot according to claim 1, characterized in that, A pressure sensor and / or a temperature sensor are provided in the first groove and / or the second groove.

5. The intelligent gas cylinder handling robot according to claim 1, characterized in that, The mobile platform is equipped with omnidirectional wheels at its bottom.

6. The intelligent gas cylinder handling robot according to claim 1, characterized in that, An RFID reader / writer is installed on the top of the housing.

7. The intelligent gas cylinder handling robot according to claim 1, characterized in that, A display screen is provided on the top of the housing.

8. The intelligent gas cylinder handling robot according to claim 1, characterized in that, A lidar is installed on the top of the housing.

9. The intelligent gas cylinder handling robot according to claim 1, characterized in that, An alarm device is installed on the top of the housing.

10. The intelligent gas cylinder handling robot according to claim 9, characterized in that, The alarm device is an audible and visual alarm.

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