CN111360846A - Serpentine arm hydrogenation robot device and system - Google Patents
Serpentine arm hydrogenation robot device and system Download PDFInfo
- Publication number
- CN111360846A CN111360846A CN202010239573.5A CN202010239573A CN111360846A CN 111360846 A CN111360846 A CN 111360846A CN 202010239573 A CN202010239573 A CN 202010239573A CN 111360846 A CN111360846 A CN 111360846A
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- 238000005984 hydrogenation reaction Methods 0.000 title claims abstract description 230
- WYTGDNHDOZPMIW-RCBQFDQVSA-N alstonine Natural products C1=CC2=C3C=CC=CC3=NC2=C2N1C[C@H]1[C@H](C)OC=C(C(=O)OC)[C@H]1C2 WYTGDNHDOZPMIW-RCBQFDQVSA-N 0.000 title claims description 15
- 230000007246 mechanism Effects 0.000 claims abstract description 19
- 230000000007 visual effect Effects 0.000 claims abstract description 10
- 230000003993 interaction Effects 0.000 claims description 4
- UFHFLCQGNIYNRP-UHFFFAOYSA-N Hydrogen Chemical compound [H][H] UFHFLCQGNIYNRP-UHFFFAOYSA-N 0.000 description 3
- 229910052739 hydrogen Inorganic materials 0.000 description 3
- 239000001257 hydrogen Substances 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- ZZUFCTLCJUWOSV-UHFFFAOYSA-N furosemide Chemical compound C1=C(Cl)C(S(=O)(=O)N)=CC(C(O)=O)=C1NCC1=CC=CO1 ZZUFCTLCJUWOSV-UHFFFAOYSA-N 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S5/00—Servicing, maintaining, repairing, or refitting of vehicles
- B60S5/02—Supplying fuel to vehicles; General disposition of plant in filling stations
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- General Health & Medical Sciences (AREA)
- Health & Medical Sciences (AREA)
- Audiology, Speech & Language Pathology (AREA)
- Multimedia (AREA)
- Human Computer Interaction (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- General Chemical & Material Sciences (AREA)
- Oil, Petroleum & Natural Gas (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a snakelike arm hydrogenation robot device and a system, which relate to the technical field of hydrogenation robots and comprise a hydrogenation island, a control driver, a robot moving device, a snakelike robot arm, a hydrogenation gun clamping mechanism, a hydrogenation gun, a hydrogenation cover opening and closing device and a hydrogenation visual device, wherein the robot moving device is arranged on the hydrogenation island, the control driver is arranged on the robot moving device, the snakelike robot arm is fixedly arranged on the control driver, the hydrogenation gun clamping mechanism is arranged at the front end part of the snakelike robot arm, the hydrogenation gun is arranged at one side of the snakelike robot arm, the hydrogenation cover opening and closing device is arranged at the side surface of the hydrogenation gun clamping mechanism, the hydrogenation visual device is arranged above the hydrogenation island, the device and the system can realize automatic hydrogenation, manual hydrogenation is not needed, so that the hydrogenation time can be saved, the hydrogenation efficiency is improved, and the safety coefficient of a hydrogenation station is increased, meanwhile, the blockage of the hydrogenation station vehicle is avoided.
Description
Technical Field
The invention relates to the technical field of hydrogenation robots, in particular to a snake-shaped arm hydrogenation robot device and a system.
Background
With the development of economy and the continuous progress of society in China, automobiles become a transportation tool which cannot be obtained by modern people. The hydrogen fuel cell automobile has the advantages of good environmental protection performance, high conversion efficiency, high filling speed, long endurance and the like, is a new direction for automobile development in the future, however, the land in the city is rare, and more hydrogenation stations can not be built to meet corresponding hydrogenation requirements. Meanwhile, the existing automatic research and development directions are fixed in a vehicle finding device mode, and a driver is required to drive a vehicle to a specified position. However, due to the field of view and the working radius of the robot, the driver parking accuracy is greatly required, and the user cannot obtain the best use experience.
Disclosure of Invention
The invention provides a snake-shaped arm hydrogenation robot device and a snake-shaped arm hydrogenation robot system, which aim to solve the problems that in the prior art, the in-station area is narrow, personnel in the station are not equipped enough, the hydrogenation efficiency is low, and a driver is required to stop at a fixed point.
The specific technical scheme is as follows:
a snakelike arm hydrogenation robot device comprises a hydrogenation island, a control driver, a robot moving device, a snakelike arm, a hydrogenation gun clamping mechanism, a hydrogenation gun, a hydrogenation cover opening and closing device and a hydrogenation visual device, the robot moving device is arranged on the hydrogenation island, the control driver is arranged on the robot moving device, the snakelike robot arm is fixedly arranged on the control driver, the hydrogenation gun clamping mechanism is arranged at the front end part of the snakelike robot arm, the hydrogenation gun is arranged at one side of the snake-shaped robot arm, the hydrogenation cover opening and closing device is arranged at the side surface of the hydrogenation gun clamping mechanism, the hydrogenation vision device is arranged above the hydrogenation island, and the robot moving device, the hydrogenation vision device, the snake-shaped robot arm, the hydrogenation gun clamping mechanism, the hydrogenation gun and the hydrogenation cover opening and closing device are electrically connected with the control driver.
Preferably, the robot moving device comprises a guide rail, a servo drive motor and a moving device guide rail frame, the guide rail is arranged on the hydrogenation island, the moving device guide rail frame is arranged on the guide rail and is in sliding connection with the guide rail, and the servo drive motor is electrically connected with the moving device guide rail frame.
Preferably, the snakelike robot arm includes snakelike arm, hydrogenation pipeline, drive arrangement and a plurality of tractive fag end, the bottom and the drive arrangement swing joint of snakelike arm, snakelike arm includes a plurality of hooke's section, and is a plurality of hooke's section is head and the tail swing joint in proper order, each hooke's section links to each other with drive arrangement through corresponding tractive fag end respectively.
Preferably, the hydrogenation cover opening and closing device comprises a vacuum chuck and a telescopic cylinder, the vacuum chuck is installed on the side face of the hydrogenation gun clamping mechanism through the telescopic cylinder, and the telescopic cylinder is electrically connected with the control driver.
Preferably, the hydrogenation vision device comprises a first camera, a first camera support, a second camera and a second camera support, the first camera is installed on one side of the S-shaped robot arm through the first camera support, the second camera is installed above the hydrogenation island through the second camera, and the first camera and the second camera are connected with the control driver through wires.
The utility model provides a snakelike arm hydrogenation robot system, includes a plurality of snakelike arm hydrogenation robot device and a plurality of intelligent hydrogenation device, snakelike arm hydrogenation robot device be 1 ~ 5 arbitrary snakelike arm hydrogenation robot device, it is a plurality of intelligence hydrogenation device and snakelike arm hydrogenation robot device one-to-one, just intelligence hydrogenation device installs on the hydrogenation island, intelligence hydrogenation device through hydrogenation pipeline with the hydrogenation rifle links to each other.
Preferably, a man-machine interaction system is arranged in the intelligent hydrogenation device.
Preferably, the system also comprises a hydrogenation station control system, and the hydrogenation station control system is electrically connected with the plurality of snake-shaped arm hydrogenation robot devices and the plurality of intelligent hydrogenation devices.
Compared with the prior art, the invention has the following beneficial effects:
(1) the invention provides a snake-shaped arm hydrogenation robot device and a snake-shaped arm hydrogenation robot system, which reduce manual intervention in a hydrogenation process, improve hydrogenation efficiency and improve user experience.
(2) According to the invention, the vehicle is positioned by adopting the detection of the hydrogenation vision device, and the driver is controlled to send an instruction to the snake-shaped robot arm to drive the hydrogenation gun clamping mechanism to clamp the hydrogenation gun and insert the hydrogenation gun into the hydrogenation port of the vehicle for hydrogenation, so that automatic hydrogenation can be realized, manual hydrogenation is not needed, the hydrogenation time is saved, the hydrogenation efficiency is improved, and the condition of vehicle blockage in a hydrogenation station can be avoided.
Drawings
FIG. 1 is a cross-sectional view of a serpentine arm hydro robot apparatus of the present invention;
FIG. 2 is a schematic perspective view of a serpentine arm in a serpentine arm hydro-robot apparatus of the present invention;
FIG. 3 is a schematic perspective view of a serpentine arm hydro-robot system of the present invention.
In the figure, 10-hydrogenation island, 20-robot mobile device, 21-guide rail, 22-servo drive motor, 23-mobile device guide rail frame, 30-controller driver, 41-hydrogenation visual device, 411-first camera, 412-first camera bracket, 413-second camera, 414-second camera bracket, 50-snake-shaped robot arm, 51-snake-shaped arm, 52-drive device, 511-hooke joint, 60-hydrogenation gun clamping mechanism, 61-hydrogenation gun, 70-hydrogenation cover opening and closing device, 71-vacuum chuck, 72-telescopic cylinder, 80-vehicle and 90-intelligent hydrogenation device.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The invention discloses a snakelike arm hydrogenation robot device, which comprises a hydrogenation island 10, a control driver 30, a robot moving device 20, a snakelike robot arm 50, a hydrogenation gun clamping mechanism 60, a hydrogenation cover opening and closing device 70 and a hydrogenation visual device 41, wherein the robot moving device 20 is arranged on the hydrogenation island 10, the control driver 30 is arranged on the robot moving device 20, the snakelike robot arm 50 is fixedly arranged above the control driver 30, the hydrogenation gun clamping mechanism 60 is arranged at the front end part of the snakelike robot arm 50, a hydrogenation gun 61 is arranged at one side of the snakelike robot arm, the hydrogenation cover opening and closing device 70 is arranged at the side of the hydrogenation gun clamping mechanism 60, the hydrogenation visual device 41 is arranged above the hydrogenation island 10, the robot moving device 20, the hydrogenation vision device 41, the snake-shaped robot arm 50, the hydrogenation gun clamping mechanism 60, the hydrogenation gun 61 and the hydrogenation cover opening and closing device 70 are all electrically connected with the control driver 30.
The hydrogenation island 10 in the technical scheme is a structure raised above the ground, and preferably, the hydrogenation island 10 is provided with two parking areas, and the two parking areas are respectively located at two sides of the hydrogenation island 10. When the device is used, after a vehicle 80 drives into a hydrogenation station, according to the position of a hydrogenation port of the vehicle body, after the hydrogenation vision device 41 detects that the vehicle 80 reaches the hydrogenation position, the position of the hydrogenation port of the vehicle 80 is confirmed through visual scanning, the hydrogenation port coordinate is transmitted to the control driver 30, after the control driver 30 receives the hydrogenation port coordinate, a moving instruction is sent to the robot moving device 20, the snake-shaped robot arm 50 is moved to the corresponding hydrogenation port position, the hydrogenation vision device 41 on one side of the snake-shaped robot arm 50 rechecks and positions an outer hydrogen port of the vehicle 80, the hydrogen port coordinate II is transmitted to the control driver 30, the control driver 30 controls the snake-shaped robot arm 50 to act according to the position information, the snake-shaped robot arm 50 controls the hydrogenation cover opening and closing device 70 to open a hydrogenation cover of the vehicle 80, then, the snake-shaped robot arm 50 controls the hydrogenation gun clamping mechanism 60 to clamp the hydrogenation gun 61 and insert the hydrogenation, after receiving the insertion in-place signal, the intelligent hydrogenation device 90 performs hydrogenation operation; the device can realize automatic hydrogenation for need not to carry out manual hydrogenation, can also satisfy explosion-proof and IP protection level's requirement, reduced driver's parking error simultaneously and to the influence of equipment, fine promotion customer experience.
As shown in fig. 3, the robot moving device 20 includes a guide rail 21, a servo drive motor 22, and a moving device guide rail frame 23, the guide rail 21 is disposed on the hydrogenation island 10, the moving device guide rail frame 23 is disposed on the guide rail 21 and slidably connected to the guide rail 21, and the servo drive motor 22 is electrically connected to the moving device guide rail frame 23. The mover rail support 23 is electrically driven by a servo motor, and the mover rail support 23 is driven to move on the guide rail 21.
As shown in fig. 1, 2 and 3, the snake-shaped robot arm 50 comprises a snake-shaped arm 51, a hydrogenation pipeline, a driving device 52 and a plurality of pulling ropes, wherein the bottom end of the snake-shaped arm 51 is movably connected with the driving device 52, the snake-shaped arm 51 comprises a plurality of Hooke's joints 511, the Hooke's joints 511 are sequentially movably connected end to end, and each Hooke's joint 511 is respectively connected with the driving device 52 through the corresponding pulling rope. The snake-shaped robot arm 50 is a mechanical structure, and an electrical structure for controlling the snake-shaped robot arm 50 is arranged in the control driver 30, so that the requirements of hydrogenation sites on explosion prevention and IP protection grades can be met.
The hydrolance clamping mechanism 60 is a clamping jaw. Hydrogenation rifle fixture 60 cooperatees with hydrogenation rifle 61 structure, reduces and grabs the produced error of rifle, makes hydrogenation rifle 61 can be quick enter into vehicle 80 and hydrogenate.
As shown in fig. 2, the hydrogenation cover opening and closing device 70 includes a vacuum chuck 71 and a telescopic cylinder 72, the vacuum chuck 71 is mounted on the side of the hydrogenation gun holding mechanism 60 through the telescopic cylinder 72, and the telescopic cylinder 72 is electrically connected to the control driver 30. The hydrogenation cover opening and closing device 70 is used for opening and closing the outer cover and the inner cover of the hydrogenation port of the vehicle 80, and when the device is used, the telescopic air cylinder 72 drives the vacuum chuck 71 to absorb the outer cover or the inner cover of the hydrogenation port of the vehicle 80, then the snake-shaped robot arm 50 is rotated, and the outer cover or the inner cover of the hydrogenation port of the vehicle 80 can be opened and closed.
As shown in fig. 1, the hydrogenation vision device 41 includes a first camera 411, a first camera 411 support, a second camera 413 and a second camera support 414, the first camera 411 is mounted on one side of the serpentine robot 50 through the first camera support 412, the second camera 413 is mounted above the hydrogenation island 10 through the second camera, and the first camera 411 and the second camera 413 are connected with the control driver 30 through wires. When the hydrogenation device is used, the second camera 413 is used for acquiring contour position information and a first hydrogenation port coordinate of the vehicle 80, the first hydrogenation port coordinate is used for driving the first hydrogenation robot moving device 20 to a specified position, the first camera 411 is used for shooting and acquiring a second hydrogenation port coordinate of the vehicle 80, the position information is fed back to the control driver 30, and the snake-shaped arm 51 is controlled to carry out hydrogenation operation.
The invention also provides a snakelike arm hydrogenation robot system which comprises a plurality of snakelike arm hydrogenation robot devices and a plurality of intelligent hydrogenation devices 90, wherein the snakelike arm 51 hydrogenation robot device is the snakelike arm 51 hydrogenation robot device, the intelligent hydrogenation devices 90 correspond to the snakelike arm 51 hydrogenation robot devices one to one, the intelligent hydrogenation devices 90 are arranged on the hydrogenation island 10, and the intelligent hydrogenation devices 90 are connected with the hydrogenation gun 61 through hydrogenation pipelines. A man-machine interaction system is arranged in the intelligent hydrogenation device 90. The man-machine interaction system comprises hydrogenation information such as hydrogenation amount and duration display. Preferably, the serpentine arm 51 hydrogenation robot system further comprises a hydrogenation station control system, and the hydrogenation station control system is electrically connected with the plurality of serpentine arm 51 hydrogenation robot devices and the plurality of intelligent hydrogenation devices 90.
The snakelike arm hydrogenation robot system further comprises a hydrogenation station control system, and the hydrogenation station control system is electrically connected with the intelligent hydrogenation device 90 and the snakelike arm 51 hydrogenation robot device respectively. The hydrogenation station control system is used for receiving hydrogenation information and commanding the vehicle 80 to reach an appointed hydrogenation position according to the situation of the site parking position; the whole hydrogenation process can automatically complete the hydrogenation work of the vehicle 80, so that the customer experience is improved, and the working efficiency is improved.
In summary, the vehicle 80 is positioned by adopting the hydrogenation vision device 41 for detection, the driver 30 is controlled to send an instruction to the snake-shaped robot arm 50 to drive the hydrogenation gun clamping mechanism 60 to clamp the hydrogenation gun 61 and insert the hydrogenation gun into the hydrogenation port of the vehicle, and the intelligent hydrogenation device 90 performs hydrogenation operation after receiving an in-place insertion signal, so that automatic hydrogenation can be realized, manual hydrogenation is not needed, so that the hydrogenation time can be saved, the hydrogenation efficiency can be improved, and the blockage of the hydrogenation station vehicle 80 can be avoided.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. It will be apparent to those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, and the scope of protection is still within the scope of the invention.
Claims (8)
1. A snakelike arm hydrogenation robot device which is characterized in that: including hydrogenation island, control driver, robot mobile device, snakelike robot arm, hydrogenation rifle fixture, hydrogenation rifle, hydrogenation lid open and shut device and hydrogenation visual device, robot mobile device sets up on the hydrogenation island, the control driver is installed on robot mobile device, snakelike robot arm is fixed to be set up on the control driver, hydrogenation rifle fixture sets up the front end tip of snakelike robot arm, the hydrogenation rifle sets up the one side at snakelike robot arm, the hydrogenation lid opens and shuts the device and sets up the side at hydrogenation rifle fixture, the hydrogenation visual device sets up in hydrogenation island top, robot mobile device, hydrogenation visual device, snakelike robot arm, hydrogenation rifle fixture, hydrogenation rifle and hydrogenation lid open and shut the device all with control driver electric connection.
2. The serpentine arm hydro-robot apparatus of claim 1, wherein: the robot moving device comprises a guide rail, a servo driving motor and a moving device guide rail frame, wherein the guide rail is arranged on the hydrogenation island, the moving device guide rail frame is arranged on the guide rail and is in sliding connection with the guide rail, and the servo driving motor is electrically connected with the moving device guide rail frame.
3. A serpentine arm hydro-robot apparatus as defined in claim 1 or 2 wherein: the snakelike robot arm includes snakelike arm, hydrogenation pipeline, drive arrangement and a plurality of tractive fag end, the bottom and the drive arrangement swing joint of snakelike arm, snakelike arm includes a plurality of hooke's festival, and is a plurality of hooke's festival is end to end swing joint in proper order, each hooke's festival links to each other with drive arrangement through the tractive fag end that corresponds respectively.
4. The serpentine arm hydro-robot apparatus of claim 3, wherein: the hydrogenation lid opening and closing device comprises a vacuum chuck and a telescopic cylinder, the vacuum chuck is installed on the side face of the hydrogenation gun clamping mechanism through the telescopic cylinder, and the telescopic cylinder is electrically connected with the control driver.
5. The serpentine arm hydro-robot apparatus of claim 4, wherein: hydrogenation vision device includes first camera, first camera support, second camera and second camera support, first camera is through the one side of first camera support mounting at snakelike robot arm, the second camera is through installing in the top in hydrogenation island between the second is made a video recording, first camera and second camera and control driver connection of electric lines.
6. A snakelike arm hydrogenation robot system is characterized in that: the intelligent hydrogenation device comprises a plurality of snake-shaped arm hydrogenation robot devices and a plurality of intelligent hydrogenation devices, wherein the snake-shaped arm hydrogenation robot device is the snake-shaped arm hydrogenation robot device according to any one of claims 1-5, the intelligent hydrogenation devices correspond to the snake-shaped arm hydrogenation robot devices one to one, the intelligent hydrogenation devices are installed on a hydrogenation island, and the intelligent hydrogenation devices are connected with a hydrogenation gun through hydrogenation pipelines.
7. The serpentine arm hydro-robot system of claim 6, wherein: and a man-machine interaction system is arranged in the intelligent hydrogenation device.
8. The serpentine arm hydro-robot system of claim 7, wherein: the system further comprises a hydrogenation station control system, and the hydrogenation station control system is electrically connected with the plurality of snake-shaped arm hydrogenation robot devices and the plurality of intelligent hydrogenation devices.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010239573.5A CN111360846A (en) | 2020-03-30 | 2020-03-30 | Serpentine arm hydrogenation robot device and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010239573.5A CN111360846A (en) | 2020-03-30 | 2020-03-30 | Serpentine arm hydrogenation robot device and system |
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| CN111360846A true CN111360846A (en) | 2020-07-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010239573.5A Pending CN111360846A (en) | 2020-03-30 | 2020-03-30 | Serpentine arm hydrogenation robot device and system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113719746A (en) * | 2021-05-28 | 2021-11-30 | 上海氢枫能源技术有限公司 | Full-automatic hydrogen receiving and filling system of hydrogen filling station |
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| US20080302200A1 (en) * | 2007-06-06 | 2008-12-11 | Tobey Wayland E | Modular hybrid snake arm |
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| CN110182746A (en) * | 2019-07-08 | 2019-08-30 | 广东贝林能源设备有限公司 | Intelligent full-automatic oiling robot and intelligent full-automatic oiling system |
| CN110329979A (en) * | 2019-08-02 | 2019-10-15 | 广州市双枪智能科技有限公司 | Snakelike arm oiling robot apparatus and system |
| CN110668387A (en) * | 2019-09-02 | 2020-01-10 | 江阴市富仁高科股份有限公司 | Full-automatic intelligent refueling system and automatic refueling method thereof |
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2020
- 2020-03-30 CN CN202010239573.5A patent/CN111360846A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080302200A1 (en) * | 2007-06-06 | 2008-12-11 | Tobey Wayland E | Modular hybrid snake arm |
| CN105666502A (en) * | 2016-04-12 | 2016-06-15 | 山东国兴智能科技有限公司 | Full-automatic oiling serving robot for unmanned oiling station and oiling serving method |
| CN110182746A (en) * | 2019-07-08 | 2019-08-30 | 广东贝林能源设备有限公司 | Intelligent full-automatic oiling robot and intelligent full-automatic oiling system |
| CN110329979A (en) * | 2019-08-02 | 2019-10-15 | 广州市双枪智能科技有限公司 | Snakelike arm oiling robot apparatus and system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113719746A (en) * | 2021-05-28 | 2021-11-30 | 上海氢枫能源技术有限公司 | Full-automatic hydrogen receiving and filling system of hydrogen filling station |
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