Special gas cylinder filling system
By constructing an automated special gas cylinder filling system, and utilizing components such as multi-axis robotic arms and vision cameras to achieve precise cylinder docking and filling, the system solves the problems of low efficiency and poor safety in existing technologies, and achieves high-precision and safe gas filling.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- CHENGDU UNIVERSITY OF TECHNOLOGY
- Filing Date
- 2025-05-21
- Publication Date
- 2026-05-29
AI Technical Summary
Existing special gas cylinder filling processes are inefficient, unsafe, and difficult to guarantee quality, especially for mixed gases, where filling accuracy and safety are difficult to meet requirements.
An automated filling system is constructed using components such as flexible tooling boxes, electronic balances, barcode readers, self-centering grippers, hot air blowers, flexible pneumatic fingers, gas dispensing chambers, pneumatic fingers, two-degree-of-freedom linear modules, multi-axis robotic arms, horizontal vision cameras, explosion-proof motors, vertical vision cameras, gas filling connectors, and lead screws. The system utilizes a vacuum pump to remove residual gas, an electronic balance to monitor filling quality, a horizontal vision camera to monitor the cylinder body, a hot air blower to handle condensate, and a multi-axis robotic arm to achieve precise docking and positioning of the gas cylinders.
It achieves high-precision automated filling of mixed gases, reduces manual intervention, improves safety, reduces labor costs, reduces the risk of gas leakage and explosion, and ensures filling quality.
Smart Images
Figure CN224301817U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of gas cylinder filling technology, specifically a special gas cylinder filling system. Background Technology
[0002] In recent years, with the continuous development of my country's industry, an increasing number of automated equipment have provided a solid foundation for the rapid development of the country and society, and machines replacing manual labor has become a new trend in development. Specialty gases occupy a pivotal position in modern industry. They not only play a core role as electronic specialty gases in high-tech fields such as the semiconductor and microelectronics industries, providing strong support for the development of intelligent industry, but also play a key role in traditional manufacturing industries such as steel production and processing. Against this backdrop, automated equipment for the gas industry has also developed rapidly. According to surveys, the demand for specialty gases is soaring, and production and sales are increasing daily. However, currently, the filling process of specialty gas cylinders both domestically and internationally requires a large number of personnel for on-site operation. Manual filling is inefficient, and the accuracy of controlling the proportion of each component in the mixed gas is low, resulting in huge labor costs. Furthermore, specialty gases often possess flammable, explosive, and even toxic properties, which can seriously threaten human life in the event of an accident or incident. Although some automated equipment exists that can fill single, common gases such as carbon dioxide, the requirements for filling mixed specialty gases are higher than those for filling single, common gases in terms of filling accuracy, safety, and the complexity of the filling process. Therefore, there is currently no widely used specialty gas cylinder filling system. Summary of the Invention
[0003] The purpose of this invention is to provide a special gas cylinder filling system to solve the problems of low efficiency, low safety, and difficulty in guaranteeing quality in the existing technology of manual filling.
[0004] This utility model is achieved through the following technical solution:
[0005] A special gas cylinder filling system includes a flexible tooling box, an electronic balance, a barcode reader, a self-centering gripper, a hot air blower, a flexible pneumatic finger, a gas dispensing chamber, a pneumatic finger, a two-degree-of-freedom linear motion module, a multi-axis robotic arm, a horizontal vision camera, an explosion-proof motor, a vertical vision camera, a gas filling connector, and a lead screw. The gas dispensing chamber is characterized by a gas path and a vacuum pump, with a top plate and a rear plate extending from its right side. The two-degree-of-freedom linear motion module is installed on the right side wall of the gas dispensing chamber, and the explosion-proof motor is installed on the two-degree-of-freedom linear motion module. Below the linear module, a pneumatic finger is installed on the two-degree-of-freedom linear module. The gas filling chamber below the two-degree-of-freedom linear module has an air passage extension pipe connected to the gas filling head. A lead screw is installed in the groove on the right side of the gas filling chamber. A horizontal vision camera is installed on the lead screw slider. An electronic balance is installed on the right side of the gas filling chamber. A vertical vision camera and a flexible pneumatic finger are installed directly above the electronic balance. A multi-axis robotic arm is installed in front of the electronic balance. A flexible tooling box is placed on the left side. A code reader is installed directly behind. A self-centering gripper is installed at the end of the multi-axis robotic arm.
[0006] Furthermore, the multi-axis robotic arm in front of the electronic balance uses a self-centering gripper to pick up the gas cylinder from the flexible tooling box on the right side of the electronic balance and place it above the electronic balance. A vertical vision camera identifies the position of the gas cylinder nozzle. The vertical vision camera is installed below the top plate of the gas dispensing chamber. The feedback information drives the multi-axis robotic arm to straighten the gas cylinder, and the central axis of the gas cylinder nozzle is perpendicular to the right side wall of the gas dispensing chamber.
[0007] Furthermore, the number of axes of the multi-axis robotic arm is not limited, but it has at least six degrees of freedom, and according to the current situation of the factory, it is preferably a six-axis robotic arm.
[0008] Furthermore, a lead screw installed in the groove on the right side of the gas dispensing chamber drives a horizontal vision camera to move vertically and identify the position of the gas cylinder nozzle. The feedback information drives a pneumatic finger to clamp the gas filling connector. The pneumatic finger is installed on the slider of a two-degree-of-freedom linear module. The two-degree-of-freedom linear module drives the pneumatic finger to move in the vertical and left-right directions, so that the gas filling connector is connected to the gas cylinder nozzle.
[0009] Furthermore, the barcode reader behind the electronic balance identifies the barcode information on the gas cylinder and retrieves the preset filling parameters. The flexible pneumatic finger slowly turns open the gas cylinder valve. The flexible pneumatic finger is installed below the extended top plate of the gas dispensing chamber, and its rotation center is on the same vertical line as the electronic balance. The vacuum pump in the gas dispensing chamber removes the residual gas in the gas cylinder.
[0010] Furthermore, the gas dispensing chamber releases component gases, an electronic balance monitors the filling quality of each component gas in real time, and a horizontal vision camera monitors the gas cylinder body. If condensation of ice or water is detected, feedback information is sent to schedule the operation of the hot air blower, which is installed in front of the extended rear panel of the gas dispensing chamber.
[0011] Furthermore, after the gas is filled, the self-centering gripper holds the gas cylinder, the multi-axis robotic arm places the gas cylinder in the designated area, and the system resets to await the next cycle.
[0012] Compared with the prior art, the beneficial effects of this utility model are:
[0013] 1. The gas filling system is constructed with a segmented automated architecture. Human intervention is limited to the initial material positioning and terminal unloading operations, while the remaining process steps are all automated closed-loop control.
[0014] 2. The entire system uses an explosion-proof motor as the main power source, and the pneumatic actuator is responsible for simple action modules, reducing the risk of explosion caused by gas leakage and electric sparks during gas filling.
[0015] 3. The electronic balance provides real-time feedback on the gas filling quality, accurately controls the quality of each component gas, and reduces errors during manual filling. Attached Figure Description
[0016] Figure 1 This is a schematic diagram of the overall structure of this utility model;
[0017] Figure 2 This is a partial right-side view of the present invention;
[0018] Figure 3 This is a partial front view of the present invention;
[0019] In the diagram: 1. Flexible tooling box; 2. Electronic balance; 3. Code reader; 4. Self-centering gripper; 5. Hot air blower; 6. Flexible pneumatic finger; 7. Gas dispensing chamber; 8. Pneumatic finger; 9. Two-degree-of-freedom linear module; 10. Multi-axis robotic arm; 11. Horizontal vision camera; 12. Explosion-proof motor; 13. Vertical vision camera; 14. Gas charging connector; 15. Lead screw. Detailed Implementation
[0020] To enable those skilled in the art to better understand the technical solution of this utility model, the technical solution of this utility model will be clearly and completely described below with reference to the accompanying drawings. Based on the embodiments in this application, other similar embodiments obtained by those skilled in the art without creative effort should all fall within the scope of protection of this application. Furthermore, directional terms mentioned in the following embodiments, such as "up," "down," "left," and "right," are only for reference to the directions in the accompanying drawings; therefore, the directional terms used are for illustrative purposes and not for limiting the creation of this utility model.
[0021] The present invention will be further described below with reference to the accompanying drawings.
[0022] A special gas cylinder filling system, such as Figures 1-3As shown, the system includes a flexible tooling box 1, an electronic balance 2, a barcode reader 3, a self-centering gripper 4, a hot air blower 5, a flexible pneumatic finger 6, a gas dispensing chamber 7, a pneumatic finger 8, a two-degree-of-freedom linear module 9, a multi-axis robotic arm 10, a horizontal vision camera 11, an explosion-proof motor 12, a vertical vision camera 13, a gas charging connector 14, and a lead screw 15. The gas dispensing chamber 7 is characterized by an internal gas path and a vacuum pump, with a top plate and a rear plate extending from its right side. The two-degree-of-freedom linear motion module 9 is installed on the right side wall of the gas dispensing chamber 7, and the explosion-proof motor 12 is installed below the two-degree-of-freedom linear module 9. A pneumatic finger 8 is installed on the two-degree-of-freedom linear module 9. A gas filling head 14 is connected to the gas filling chamber 7 below the two-degree-of-freedom linear module 9 via an air passage extension pipe. A lead screw 15 is installed in the groove on the right side of the gas filling chamber 7. A horizontal vision camera 11 is installed on the slider of the lead screw 15. An electronic balance 2 is installed on the right side of the gas filling chamber 7. A vertical vision camera 13 and a flexible pneumatic finger 6 are installed directly above the electronic balance 2. A multi-axis robotic arm 10 is installed in front of the electronic balance 2. A flexible tooling box 1 is placed on the left side. A code reader 3 is installed directly behind it. A self-centering gripper 4 is installed at the end of the multi-axis robotic arm 10.
[0023] A manual person places a pre-labeled gas cylinder into a flexible fixture box 1. A multi-axis robotic arm 10 in front of an electronic balance 2 uses a self-centering gripper 4 to pick up the gas cylinder from the flexible fixture box 1 on the right side of the electronic balance 2 and place it above the electronic balance 2. A vertical vision camera 13 identifies the position of the gas cylinder nozzle. The vertical vision camera 13 is installed below the top plate of the gas dispensing chamber 7. The feedback information drives the multi-axis robotic arm 10 to straighten the gas cylinder, and the central axis of the gas cylinder nozzle is perpendicular to the right side wall of the gas dispensing chamber 7.
[0024] The number of axes of the multi-axis robotic arm 10 is not limited, but it has at least six degrees of freedom. According to the current situation of the factory, it is preferably a six-axis robotic arm.
[0025] The lead screw 15 installed in the groove on the right side of the gas dispensing chamber 7 drives the horizontal vision camera 11 to move vertically and identify the position of the gas cylinder nozzle. The feedback information drives the pneumatic finger 8 to clamp the gas filling connector 14. The pneumatic finger 8 is installed on the slider of the two-degree-of-freedom linear module 9. The two-degree-of-freedom linear module 9 drives the pneumatic finger 8 to move in the vertical and left and right directions, so that the gas filling connector 14 is connected to the gas cylinder nozzle.
[0026] The barcode reader 3 behind the electronic balance 2 identifies the barcode information on the gas cylinder body, retrieves the preset filling parameters, and the flexible pneumatic finger 6 clamps the gas cylinder valve and slowly rotates and rises to open the gas cylinder valve. The flexible pneumatic finger 6 is installed below the extended top plate of the gas dispensing chamber 7, and its rotation center is on the same vertical line as the electronic balance 2. The vacuum pump in the gas dispensing chamber 7 removes the residual gas in the gas cylinder.
[0027] The gas dispensing chamber 7 releases component gases, the electronic balance 2 monitors the filling quality of each component gas in real time, and the horizontal vision camera 11 monitors the gas cylinder body. If condensation of ice or water is detected, feedback information is sent to schedule the operation of the hot air blower 5, which is installed in front of the extended rear panel of the gas dispensing chamber 7.
[0028] After the gas is filled, the self-centering gripper 4 holds the gas cylinder, the multi-axis robotic arm 10 places the gas cylinder in the designated area, and the system resets to wait for the next cycle.
[0029] The present invention has been described in detail above. The above description is only a preferred embodiment of the present invention and should not be construed as limiting the scope of the present invention. All equivalent changes and modifications made in accordance with the scope of this application should still fall within the scope of the present invention.
Claims
1. A special gas cylinder filling system, comprising a flexible tooling box (1), an electronic balance (2), a code reader (3), a self-centering gripper (4), a hot air blower (5), a flexible pneumatic finger (6), a gas dispensing chamber (7), a pneumatic finger (8), a two-degree-of-freedom linear module (9), a multi-axis robotic arm (10), a horizontal vision camera (11), an explosion-proof motor (12), a vertical vision camera (13), a gas filling connector (14), and a lead screw (15), characterized in that... The gas dispensing chamber (7) is equipped with a gas path and a vacuum pump. A top plate and a rear plate extend from its right side. A two-degree-of-freedom linear module (9) is installed on the right side wall of the gas dispensing chamber (7). An explosion-proof motor (12) is installed below the two-degree-of-freedom linear module (9). A pneumatic finger (8) is installed on the two-degree-of-freedom linear module (9). The gas path extension pipe of the gas dispensing chamber (7) below the two-degree-of-freedom linear module (9) is connected to the gas charging connector (14). A lead screw (15) is installed in the groove on the right side of the gas dispensing chamber (7). A horizontal vision camera (11) is installed on the slider of the lead screw (15). An electronic balance (2) is installed on the right side of the gas dispensing chamber (7). A vertical vision camera (13) and a flexible pneumatic finger (6) are installed directly above the electronic balance (2). A multi-axis robotic arm (10) is installed in front of the electronic balance (2). A flexible tooling box (1) is placed on the left side. A code reader (3) is installed directly behind. A self-centering gripper (4) is installed at the end of the multi-axis robotic arm (10).
2. The special gas cylinder filling system according to claim 1, characterized in that... The multi-axis robotic arm (10) in front of the electronic balance (2) uses a self-centering gripper (4) to grab the gas cylinder from the flexible tooling box (1) on the right side of the electronic balance (2) and place it above the electronic balance (2). The vertical vision camera (13) identifies the position of the gas cylinder nozzle. The vertical vision camera (13) is installed below the top plate of the gas dispensing chamber (7). The feedback information drives the multi-axis robotic arm (10) to straighten the gas cylinder.
3. The special gas cylinder filling system according to claim 1, characterized in that... The number of axes of a multi-axis robotic arm (10) is not limited, but it has at least six degrees of freedom. According to the current situation of the factory, the best is a six-axis robotic arm.
4. A special gas cylinder filling system according to claim 1, characterized in that... The lead screw (15) installed in the groove on the right side of the gas dispensing chamber (7) drives the horizontal vision camera (11) to move vertically and identify the position of the gas nozzle. The feedback information drives the pneumatic finger (8) to clamp the gas filling connector (14). The pneumatic finger (8) is installed on the slider of the two-degree-of-freedom linear module (9). The two-degree-of-freedom linear module (9) drives the pneumatic finger (8) to move in the vertical and left and right directions, so that the gas filling connector (14) is connected to the gas cylinder nozzle.
5. A special gas cylinder filling system according to claim 1, characterized in that... The electronic balance (2) is backed by a barcode reader (3) which identifies the information on the gas cylinder body and retrieves the preset filling parameters. The flexible pneumatic finger (6) slowly turns open the valve. The flexible pneumatic finger (6) is installed below the extended top plate of the gas dispensing chamber (7). Its rotation center is on the same vertical line as the electronic balance (2). The vacuum pump in the gas dispensing chamber (7) removes the residual gas in the gas cylinder.
6. A special gas cylinder filling system according to claim 1, characterized in that... The gas dispensing chamber (7) releases gas, the electronic balance (2) monitors the filling quality of each component gas in real time, the horizontal vision camera (11) monitors the body of the gas cylinder, and if water droplets are detected, the feedback information is used to schedule the operation of the hot air blower (5), which is installed in front of the extension plate of the gas dispensing chamber (7).
7. A special gas cylinder filling system according to claim 1, characterized in that... After the gas is filled, the self-centering gripper (4) holds the gas cylinder, and the multi-axis robotic arm (10) places the gas cylinder in the designated area. The system is then reset and awaits the next cycle.