Parallel-driven automatic fluid loading and unloading arm and using method

Abstract

The invention discloses an automatic fluid loading and unloading arm driven in parallel and a using method. A vertical displacement mechanism is arranged on a stand column and can reciprocate in the vertical direction of the stand column; the pipe string assembly comprises a fluid source adapter, a first pipe body, a second pipe body, a third pipe body, a fourth pipe body, a fifth pipe body and a sixth pipe body which are sequentially connected through a first rotating joint, a second rotating joint, a third rotating joint, a fourth rotating joint, a fifth rotating joint and a sixth rotating joint, and the fluid source adapter is arranged on the stand column; the third pipe body is fixed on the vertical displacement mechanism, and the sixth pipe body is vertically downward; the axes of the first rotating joint, the second rotating joint and the third rotating joint are horizontal and parallel to one another; the axes of the fourth rotating joint, the fifth rotating joint and the sixth rotating joint are vertical and parallel to one another; the rotary driving mechanism is arranged on the vertical displacement mechanism, and the rotary output end of the rotary driving mechanism is connected to the outer ring of the fourth rotary joint; the two-connecting-rod driving mechanism is arranged on the vertical displacement mechanism, the rotating output end of the two-connecting-rod driving mechanism is connected with a two-connecting-rod component, the rotating axis of the rotating output end of the two-connecting-rod driving mechanism is parallel to the axis of the four-rotating connector, and the other end of the two-connecting-rod component is connected to the outer ring of the sixth rotating connector. The invention aims to solve the problems that the position of the tail end vertical filling pipe in the horizontal plane cannot be ensured to be fixed when the height of the tail end vertical filling pipe is changed, and the load pressure and the bending moment are large due to the fact that the gravity center is far away from the stand column.

Description

Technical Field

[0001] The invention belongs to the technical field of fluid loading and unloading, and in particular relates to a parallel-driven fluid automatic loading and unloading arm and a use method thereof. Background Art

[0002] The fluid automatic loading and unloading arm, also known as the crane pipe, is a professional equipment for loading and unloading fluids in the hazardous chemicals industry, including components such as swivel joints, rigid pipes and elbows. As a movable and retractable device, the fluid automatic loading and unloading arm replaces the old hose connection and can realize the transmission of hazardous chemical liquid media between tank trucks, train tank trucks and trestle transport pipelines; it has the advantages of high safety, long life and flexible movement.

[0003] Chinese patent CN118545668A discloses an automatic alignment crane pipe, which is composed of a column, a rotating joint, a liquid flow pipe, and a driving mechanism. Specifically, the first driving mechanism is fixed on the column to drive the first-level movable tube to rotate, and the second driving mechanism is fixed at the end of the first-level movable tube to drive the second-level movable tube to rotate. The movement range of these two levels of movable tubes and the driving mechanism is in the horizontal plane, which is used to determine the position of the terminal vertical filling tube in the horizontal plane. The third driving mechanism is fixed at the end of the second-level movable tube to drive the third-level movable tube to rotate. The rotation axis of the third-level movable tube is perpendicular to the plane formed by the rotation axes of the first-level and second-level movable tubes, so that when the third-level movable tube rotates, it will drive the terminal vertical filling tube to produce a position change in the vertical plane (that is, the height direction changes), completing the three-dimensional xyz position positioning of the terminal filling tube. However, the automatic alignment crane pipe has the following defects: ① When the height of the terminal vertical filling pipe needs to be changed, the position of the terminal vertical filling pipe in the horizontal plane will also change, that is, it is impossible to ensure that the position of the terminal vertical filling pipe in the horizontal plane is fixed, which makes it difficult to align the terminal vertical filling pipe and the filling port of the tank truck; ② In order to ensure that the terminal filling pipe always remains in a vertical state, an auxiliary component is added to the third-level movable pipe. The auxiliary component ensures that the terminal filling pipe always remains in a vertical state when the height changes. This causes the center of gravity of the automatic alignment crane pipe to be far away from the column, resulting in a large load pressure and bending moment between the entire mechanism and the column fixed to the ground, which requires a high-strength design, resulting in increased costs. Summary of the invention

[0004] In response to the problems existing in the prior art, the present invention provides a parallel-driven fluid automatic loading and unloading arm and a method of use, which aims to solve the problem that the position of the terminal vertical filling tube cannot be guaranteed to be fixed in the horizontal plane when the height is changed, and the problem of large load pressure and bending moment caused by the center of gravity being far away from the column.

[0005] In order to solve the above technical problems, the present invention is implemented by the following technical solutions: According to a first aspect of the present invention, there is provided a parallel-driven fluid automatic loading and unloading arm, comprising: Column; A vertical displacement mechanism, which is arranged on the column and can reciprocate vertically along the column; A pipe string assembly, comprising a fluid source transfer pipe, a first pipe body, a second pipe body, a third pipe body, a fourth pipe body, a fifth pipe body and a sixth pipe body connected in sequence through a first rotating joint, a second rotating joint, a third rotating joint, a fourth rotating joint, a fifth rotating joint and a sixth rotating joint, wherein the fluid source transfer pipe is arranged on the column, the third pipe body is fixed on the vertical displacement mechanism, and the sixth pipe body is vertically downward; wherein the axes of the first rotating joint, the second rotating joint and the third rotating joint are horizontal and parallel to each other, and the axes of the fourth rotating joint, the fifth rotating joint and the sixth rotating joint are vertical and parallel to each other; A rotation drive mechanism, which is arranged on the vertical displacement mechanism, and a rotation output end of which is connected to the outer ring of the fourth rotation joint, and is used to drive the fourth rotation joint to drive the fourth tube body to rotate; A two-link driving mechanism is arranged on the vertical displacement mechanism, and a rotation output end is connected to a two-link member, the rotation axis of the rotation output end of the two-link driving mechanism is parallel to the axis of the four rotation joints, and the other end of the two-link member is connected to the outer ring of the sixth rotation joint.

[0006] In a possible implementation of the first aspect, the vertical displacement mechanism includes a slide rail arranged on the column, a slider slidably engaged with the slide rail, a support connected to the slider, and a displacement drive mechanism for driving the slider to slide up and down along the slide rail, and the third tube body is fixed on the support.

[0007] In a possible implementation manner of the first aspect, the displacement drive mechanism includes a rack fixed on the column, a gear meshing with the rack, and a gear drive device connected to the gear and fixed on the support.

[0008] In a possible implementation of the first aspect, the rotation drive mechanism includes a first worm wheel sleeved and fixed on the outer ring of the fourth rotation joint, a first worm meshing with the first worm wheel, and a first worm drive device connected to the first worm and fixed on the support.

[0009] In a possible implementation of the first aspect, the two-link driving mechanism includes a second worm gear rotatably disposed on the support, a second worm engaged with the second worm gear, and a second worm driving device connected to the second worm and fixed on the support; The two-link component includes a first link and a second link, one end of the first link is fixed with a connecting shaft, the connecting shaft is fixedly inserted in the center hole of the second worm gear, the other end of the first link is rotatably connected to one end of the second link, and the other end of the second link is connected to the outer ring of the sixth rotating joint.

[0010] In a possible implementation manner of the first aspect, a visual recognition module is provided on the sixth tube body.

[0011] In a possible implementation of the first aspect, the fluid automatic loading and unloading arm also includes a power distribution and processing control module, which is arranged on the column, and the power distribution and processing control module is connected to the vertical displacement mechanism, the rotation drive mechanism, the two-link drive mechanism and the visual recognition module.

[0012] In a possible implementation manner of the first aspect, the power distribution and processing control module is disposed at a lower middle portion of the column.

[0013] In a possible implementation manner of the first aspect, the fluid source adapter is disposed on the column at a position close to the bottom.

[0014] According to a second aspect of the present invention, there is provided a method for using a parallel-driven fluid automatic loading and unloading arm, characterized in that it comprises: When the position of the end of the sixth tube body in the height direction needs to be adjusted, the vertical displacement mechanism is controlled to move vertically along the column. When the vertical displacement mechanism moves, the third tube body is driven to adaptively rotate around the third rotating joint, the second tube body is driven to adaptively rotate around the second rotating joint, and the first tube body is driven to adaptively rotate around the first rotating joint, and at the same time, the fourth tube body, the fifth tube body and the sixth tube body are driven to change together in the height direction; When the position of the sixth tube body end in the height direction does not need to be adjusted, and the position of the sixth tube body end in the horizontal plane needs to be adjusted, the rotation drive mechanism is controlled to drive the fourth rotation joint to drive the fourth tube body to rotate around the axis of the fourth rotation joint, and at the same time, the two-link driving mechanism is controlled to drive the two-link member to rotate around the rotation axis of the rotation output end of the two-link driving mechanism, and the fourth tube body rotates in coordination with the two-link member to rotate, thereby realizing the position adjustment of the sixth tube body end in the horizontal plane.

[0015] Compared with the prior art, the present invention has at least the following beneficial effects: The present invention provides a parallel-driven automatic fluid loading and unloading arm, which realizes the movement of the sixth tube body end in the height direction (i.e., Z axis) through a vertical displacement mechanism, decouples it from the connecting tube series drive chain, and places it on the column for separate control. When the position of the sixth tube body end in the horizontal plane is determined and only its height needs to be adjusted, it is only necessary to control the vertical displacement mechanism to move up and down. This design ensures that the position of the sixth tube body end in the horizontal plane remains unchanged when the height is changed, thereby solving the problem in the prior art that the vertical filling tube at the end cannot be fixed in the horizontal plane when the height is changed, thereby improving the accuracy and efficiency of the filling operation. The fluid automatic loading and unloading arm of the present invention can realize the control of the sixth tube body end in three-dimensional space through an independent vertical displacement mechanism and a two-degree-of-freedom planar closed five-bar mechanism, which not only improves the positioning accuracy, but also speeds up the filling speed, making the filling operation more efficient. At the same time, the fluid automatic loading and unloading arm of the present invention directly sets the vertical displacement mechanism on the column, and the rotary drive mechanism and the two-link drive mechanism are both located on the vertical displacement mechanism, so that the center of gravity of the entire loading and unloading arm is closer to the column, which significantly reduces the load pressure and bending moment on the column, reduces the demand for high-strength design, and thus saves costs. At the same time, since the drive mechanism is close to the column, the demand for the load capacity of the drive mechanism is also reduced, further reducing the production cost and improving the economy.

[0016] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the specific implementation modes of the present invention, the drawings required for use in the description of the specific implementation modes will be briefly introduced below. Obviously, the drawings described below are some implementation modes of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 It is an axonometric view of a parallel-driven fluid automatic loading and unloading arm in a first viewing angle according to an embodiment of the present invention; Figure 2 It is a front view of a parallel-driven fluid automatic loading and unloading arm according to an embodiment of the present invention; Figure 3 It is an axonometric view of a parallel-driven fluid automatic loading and unloading arm (after the horizontal position of the end of the sixth tube body is changed) in a first viewing angle according to an embodiment of the present invention; Figure 4 A top view of a worm drive device in a parallel-driven fluid automatic loading and unloading arm according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the five-bar mechanism movement.

[0019] In the figure: 1- column; 2-vertical displacement mechanism; 20-slide rail; 21-slider; 22-support; 23-displacement drive mechanism; 230-rack; 231-gear; 232-gear drive device; 3-pipe string assembly; 300-first pipe body; 301-second pipe body; 302-third pipe body; 303-fourth pipe body; 304-fifth pipe body; 305-sixth pipe body; 306-first rotary joint; 307-second rotary joint; 308-third rotary joint; 309-fourth rotary joint; 310-fifth rotary joint; 311-sixth rotary joint; 312-fluid source transfer pipe; 4-rotation driving mechanism; 40-first worm wheel; 41-first worm; 42-first worm driving device; 5-two-link driving mechanism; 50-second worm wheel; 51-second worm; 52-second worm driving device; 6- second connecting rod member; 60- first connecting rod; 61- second connecting rod; 7- Visual recognition module; 8- Power distribution and processing control module. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are 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 creative work are within the scope of protection of the present invention.

[0021] Combination Figures 1 to 3As shown, an embodiment of the present invention provides a parallel-driven automatic fluid loading and unloading arm, which is mainly intended to solve the problem in the prior art that the terminal vertical filling tube cannot be kept fixed in the horizontal plane when the height changes, and the problem of large load pressure and bending moment caused by the center of gravity being far away from the column. The automatic fluid loading and unloading arm includes a column 1, a vertical displacement mechanism 2, a pipe string assembly 3, a rotation drive mechanism 4 and a two-link drive mechanism 5. The column 1 serves as the supporting structure of the entire loading and unloading arm. The column 1 is used to support the weight of all components above and the dynamic loads generated during the movement. The bottom of the column 1 is fixed to the ground or other stable foundation to ensure its stability. The vertical displacement mechanism 2 is arranged on the column 1 and can reciprocate vertically along the column 1. The pipe string assembly 3 includes a fluid source transfer pipe 312, a first tube body 300, a second tube body 301, a third tube body 302, a fourth tube body 303, a fifth tube body 304 and a sixth tube body 305 connected in sequence through a first rotary joint 306, a second rotary joint 307, a third rotary joint 308, a fourth rotary joint 309, a fifth rotary joint 310 and a sixth rotary joint 311. The fluid source transfer pipe 312 is arranged on the column 1. The end of the fluid source transfer pipe 312 away from the first rotary joint 306 is used to connect the fluid source. The third tube body 302 is fixed on the vertical displacement mechanism 2, and the sixth tube body 305 is vertically downward. Among them, the axes of the first rotary joint 306, the second rotary joint 307 and the third rotary joint 308 are horizontal and parallel to each other, and the axes of the fourth rotary joint 309, the fifth rotary joint 310 and the sixth rotary joint 311 are vertical and parallel to each other.

[0022] The rotation drive mechanism 4 is arranged on the vertical displacement mechanism 2, and the rotation output end is connected to the outer ring of the fourth rotation joint 309, and is used to drive the fourth rotation joint 309 to drive the fourth tube 303 to rotate. The two-link driving mechanism 5 is arranged on the vertical displacement mechanism 2, and the rotation output end is connected to the two-link member 6, the rotation axis of the rotation output end of the two-link driving mechanism 5 is parallel to the axis of the four rotation joints 309, and the other end of the two-link member 6 is connected to the outer ring of the sixth rotation joint 311.

[0023] Specifically, the vertical displacement mechanism 2 is responsible for reciprocating along the vertical direction of the column 1, driving the tube string assembly 3 connected thereto to move up and down as a whole, thereby adjusting the height of the sixth tube body 305 (i.e., the terminal vertical filling tube). Exemplarily, the vertical displacement mechanism 2 can be driven by a screw drive, a hydraulic cylinder, or a pneumatic cylinder.

[0024] The pipe string assembly 3 is composed of a series of pipe bodies connected by rotating joints, specifically the fluid source transfer pipe 312, the first pipe body 300 to the sixth pipe body 305, which are connected in sequence through six rotating joints (the first rotating joint 306 to the sixth rotating joint 311). Among them, the fluid source transfer pipe 312 is installed on the column 1, and the end away from the first rotating joint 306 is connected to the fluid source. The axes of the first three rotating joints (the first rotating joint 306 to the third rotating joint 308) are horizontal and parallel to each other, and the axes of the last three rotating joints (the fourth rotating joint 309 to the sixth rotating joint 311) are vertical and parallel to each other, so that the pipe string assembly can adaptively adjust the angle during vertical displacement to maintain structural stability.

[0025] The rotation drive mechanism 4 is installed on the vertical displacement mechanism 2, and its rotation output end is connected to the outer ring of the fourth rotation joint 309, which is used to drive the fourth tube 303 to rotate around the axis of the fourth rotation joint 309. For example, a motor, a hydraulic motor or the like can be used to ensure that the rotation angle is controllable.

[0026] The two-link driving mechanism 5 is also installed on the vertical displacement mechanism 2, and its rotation output end is connected to the two-link member 6, and the other end of the two-link member 6 is connected to the outer ring of the sixth rotary joint 311. The axis of the rotation output end of the two-link driving mechanism 5 is parallel to the axis of the fourth rotary joint 309, and through the coordinated action of the two, the position of the end of the sixth tube 305 in the horizontal plane is accurately adjusted. The design of the two-link mechanism uses the parallelogram principle to ensure that the sixth tube 305 is kept in a vertical state during the driving process.

[0027] The working principle of the parallel-driven fluid automatic loading and unloading arm of this embodiment is as follows: when the height of the end of the sixth tube body 305 needs to be adjusted, the vertical displacement mechanism 2 is activated to move it in the vertical direction on the column 1. In this process, due to the existence of the first rotating joint 306, the second rotating joint 307, and the third rotating joint 308, the first tube body 300, the second tube body 301, and the third tube body 302 can adaptively rotate around their respective rotating joints, and at the same time, the vertical displacement mechanism 2 drives the fourth tube body 303, the fifth tube body 304, and the sixth tube body 305 to rise or fall as a whole, so as to achieve continuous height adjustment. When the height of the end of the sixth tube body 305 has been set and its position in the horizontal plane needs to be changed, the vertical displacement mechanism 2 is first kept stationary. Subsequently, the rotation drive mechanism 4 is started to drive the fourth rotation joint 309 to rotate the fourth tube 303, and the two-link driving mechanism 5 is started at the same time to drive the two-link member 6 to rotate around the rotation axis, so that the fourth tube 303 rotates to cooperate with the two-link member 6 to rotate, thereby adjusting the position of the end of the sixth tube 305 in the horizontal plane. The parallel drive mechanism of this embodiment ensures that the position change of the sixth tube 305 in the horizontal plane is independent of the height adjustment, and can keep the vertical state unchanged.

[0028] Specifically, by separating the driving systems for height adjustment and horizontal position adjustment, the end of the sixth tube 305 is independently controlled in three-dimensional space, solving the problem of difficult alignment in the prior art. All heavy driving mechanisms (rotation driving mechanism 4 and two-link driving mechanism 5) are integrated into the vertical displacement mechanism 2, and the vertical displacement mechanism 2 is directly arranged on the column 1, thereby effectively reducing the load pressure and bending moment on the column 1, and reducing the investment in structural strength and cost.

[0029] In this embodiment, the rotation drive mechanism 4, the fourth rotation joint 309, the fourth tube body 303, the fifth tube body 304, the sixth rotation joint 311, the two-link drive mechanism 5 and the two-link member 6 cooperate to form a two-degree-of-freedom planar closed five-bar mechanism to achieve motion control of the sixth tube body 305 within the plane.

[0030] For example, the motion diagram of a two-degree-of-freedom planar closed five-bar mechanism is as follows: Figure 5 As shown, the inverse kinematics calculation process is as follows:

[0031]

[0032] In one possible implementation, combining Figures 1 to 3 As shown, the vertical displacement mechanism 2 includes a slide rail 20 arranged on the column 1, a slider 21 slidably fitted on the slide rail 20, a support 22 connected to the slider 21, and a displacement driving mechanism 23 for driving the slider 21 to slide up and down along the slide rail 20, and the third tube body 302 is fixed on the support 22.

[0033] Specifically, the slide rail 20 is installed on the column 1, and its length direction is consistent with the vertical direction of the column 1. The slide rail 20 can adopt a linear guide rail, a V-shaped guide rail and other structural forms. The slider 21 is slidably matched on the slide rail 20 and can slide freely up and down on the slide rail 20. The support 22 is connected to the slider 21 and is used to support and fix the third tube body 302 and other components. The support 22 is provided with a connection interface matching the third tube body 302, which facilitates the rapid installation and removal of the third tube body 302.

[0034] Exemplarily, the slide rail 20 is firmly mounted on the side of the column 1 by welding, bolting or other fastening methods to ensure that it remains stable throughout the entire operating range. The inside of the slider 21 is designed with a groove that matches the shape of the slide rail 20 to ensure that the two can slide closely and smoothly while maintaining sufficient stability. The support 22 is a key component connecting the slider 21 and the third tube body 302. The support 22 is fixed on the slider 21 by welding, bolts or other reliable methods to ensure a rigid connection between the two; the top of the support 22 is designed with an interface suitable for the installation of the third tube body 302, such as a flange, a clamp or a threaded connection. The displacement drive mechanism 23 is the power source of the vertical displacement mechanism 2, which is responsible for driving the slider 21 and all components connected thereto to move up and down along the slide rail 20. The displacement drive mechanism 23 can be driven by electric, pneumatic or hydraulic means. For example, when electric drive is adopted, a motor, a reducer, a screw or a gear rack transmission system can be configured to achieve precise positioning of the slider 21 by controlling the rotation of the motor.

[0035] Preferably, the displacement driving mechanism 23 includes a rack 230 fixed on the column 1 , a gear 231 meshing with the rack 230 , and a gear driving device 232 connected to the gear 231 and fixed on the support 22 .

[0036] Specifically, the displacement driving mechanism 23 is mainly composed of a rack 230 fixed on the column 1 , a gear 231 meshing with the rack 230 , and a gear driving device 232 connected to the gear 231 and fixed on the support 22 .

[0037] Exemplarily, the rack 230 is made of a high-strength, wear-resistant alloy material to ensure smooth and reliable meshing with the gear 231. The length of the rack 230 is designed according to the working range of the fluid automatic loading and unloading arm, and usually covers the full length or key working area of ​​the slide rail 20. The rack 230 is fixed to the side of the column 1 by welding, bolting or other fastening methods to ensure that it remains stable and not easily deformed within the entire operating range. The gear 231 is meshed with the rack 230, and the tooth shape of the gear 231 matches the tooth shape of the rack 230 to achieve smooth and impact-free meshing. The gear drive device 232 is the power source and control core of the displacement drive mechanism 23. For example, the gear drive device 232 includes components such as a motor, a reducer, and a transmission shaft. The motor reduces the speed and increases the torque through the reducer, and then transmits the power to the gear 231 through the transmission shaft. The gear drive device 232 is fixed to the first support 22 by bolts or other fastening methods to ensure reliable connection with the gear 231. At the same time, the gear drive device 232 is also equipped with a control system (such as a PLC, a single-chip microcomputer, etc.) for receiving external instructions and adjusting the speed and direction of the motor, thereby controlling the sliding speed and direction of the slider 21.

[0038] Driven by the displacement drive mechanism 23, the slider 21 can move up and down smoothly along the slide rail 20. The specific working principle is as follows: when the height of the slider 21 needs to be adjusted, the gear drive device 232 is started. According to actual needs, the gear drive device 232 can be started in the forward or reverse direction to control the rise or fall of the slider 21. As the gear drive device 232 is started, its output shaft drives the gear 231 to rotate. The tooth surface of the gear 231 and the tooth surface of the rack 230 are engaged with each other, thereby pushing the slider 21 to move along the slide rail 20. Driven by the gear 231, the slider 21 moves up and down smoothly along the slide rail 20.

[0039] In one possible implementation, combining Figures 1 to 4 As shown, the rotary drive mechanism 4 includes a first worm gear 40 sleeved and fixed on the outer ring of the fourth rotary joint 309 , a first worm 41 meshing with the first worm gear 40 , and a first worm drive device 42 connected to the first worm 41 and fixed on the support 22 .

[0040] That is, the rotary drive mechanism 4 mainly includes a first worm gear 40 sleeved and fixed on the outer ring of the fourth rotary joint 309, a first worm 41 meshing with the first worm gear 40, and a first worm drive device 42 connected to the first worm 41 and fixed on the support 22.

[0041] Exemplarily, the inner diameter of the first worm wheel 40 matches the outer ring of the fourth rotary joint 309, and the sleeve fixation is achieved by keyways, pins or other fastening methods to ensure synchronous rotation between the two. The gear teeth of the first worm wheel 40 mesh with the helical teeth of the first worm 41, and the first worm wheel 40 is driven to rotate by the rotation of the first worm 41, thereby driving the fourth rotary joint 309 and the components connected thereto to rotate. The helical teeth of the first worm 41 match the gear teeth of the worm wheel to ensure smooth and impact-free meshing. One end of the first worm 41 is connected to the first worm drive device 42, and the other end is supported on the first support 22 through a bearing to maintain its stable rotation.

[0042] Combination Figure 4 As shown, the first worm drive device 42 is the power source and control core of the rotary drive mechanism 4, including components such as a motor, a reducer, and a transmission shaft. The motor reduces the speed and increases the torque through the reducer, and then transmits the power to the first worm 41 through the transmission shaft. The first worm drive device 42 is fixed to the first support 22 by bolts or other fastening methods to ensure reliable connection with the first worm 41. At the same time, the first worm drive device 42 is also equipped with a control system (such as a PLC, a single-chip microcomputer, etc.) for receiving external instructions and adjusting the speed and direction of the motor, thereby controlling the rotation speed and direction of the first worm 41.

[0043] When the rotation angle of the fluid automatic loading and unloading arm needs to be adjusted, the control system sends a command to the first worm drive device 42, the motor starts and drives the first worm 41 to rotate through the reducer. The helical teeth of the first worm 41 mesh with the gear teeth of the first worm wheel 40, transmitting the rotational motion to the first worm wheel 40, thereby driving the fourth rotary joint 309 to rotate.

[0044] In one possible implementation, combining Figures 1 to 4 As shown, the two-link driving mechanism 5 includes a second worm wheel 50 rotatably arranged on the support 22, a second worm 51 meshing with the second worm wheel 50, and a second worm driving device 52 connected to the second worm 51 and fixed on the support 22. The two-link member 6 includes a first link 60 and a second link 61, one end of the first link 60 is fixed with a connecting shaft, the connecting shaft is fixedly inserted in the center hole of the second worm wheel 50, the other end of the first link 60 is rotatably connected to one end of the second link 61, and the other end of the second link 61 is connected to the outer ring of the sixth rotary joint 311.

[0045] Specifically, the two-link drive mechanism 5 is one of the key components in the parallel drive system, which is responsible for driving the two-link member 6 to swing in the horizontal direction, thereby adjusting the end position of the fluid automatic loading and unloading arm. In the two-link drive mechanism 5, the second worm gear 50 is a circular structure with a gear ring, and its center hole is used to install the connecting shaft. The second worm gear 50 is rotatably arranged on the support 22 to ensure that it can rotate smoothly. When the second worm 51 rotates, its spiral teeth and the tooth surface of the second worm gear 50 are engaged with each other, thereby driving the second worm gear 50 to rotate. The second worm drive device 52 is the power source of the two-link drive mechanism 5, fixed on the support 22, and connected to the second worm 51. Exemplarily, the second worm drive device 52 can be a motor reducer combination, a hydraulic motor or a pneumatic motor, etc., and the rotation speed and direction of the second worm drive device 52 can be controlled to achieve the control of the rotation speed and direction of the second worm gear 50.

[0046] The two-link member 6 is another key component in the parallel drive system, which is responsible for converting the rotational motion of the two-link drive mechanism 5 into the displacement of the end of the fluid automatic loading and unloading arm in the horizontal direction. In the two-link member 6, the first link 60 is a rod-shaped structure, one end of which is fixed with a connecting shaft, and the connecting shaft is fixedly inserted in the center hole of the second worm gear 50 to ensure that the first link 60 can swing with the rotation of the second worm gear 50. The other end of the first link 60 is rotatably connected to one end of the second link 61 to form a variable angle. The second link 61 is also a rod-shaped structure, one end of which is rotatably connected to the other end of the first link 60. The other end of the second link 61 is connected to the outer ring of the sixth rotary joint 311 to ensure that it can move synchronously with the end of the fluid automatic loading and unloading arm. By adjusting the angle between the first link 60 and the second link 61, the control of the displacement of the end of the fluid automatic loading and unloading arm in the horizontal direction can be achieved.

[0047] Under the synergistic effect of the two-link driving mechanism 5 and the two-link member 6, the end of the fluid automatic loading and unloading arm can be displaced in the horizontal direction. Specifically, when it is necessary to adjust the position of the end of the fluid automatic loading and unloading arm in the horizontal direction, the second worm drive device 52 is started, and according to actual needs, the second worm drive device 52 is selected to be started in the forward or reverse direction to control the rotation direction and speed of the second worm 51. As the second worm drive device 52 is started, the second worm 51 begins to rotate, and its spiral teeth engage with the tooth surface of the second worm wheel 50, thereby driving the second worm wheel 50 to rotate. Since the connecting shaft is fixedly inserted in the center hole of the second worm wheel 50, when the second worm wheel 50 rotates, it will drive the first connecting rod 60 to swing. The swing of the first connecting rod 60 will change the angle between it and the second connecting rod 61, thereby realizing the preliminary adjustment of the displacement of the end of the fluid automatic loading and unloading arm in the horizontal direction. As the first connecting rod 60 swings, the second connecting rod 61 will also move accordingly. Since the other end of the second connecting rod 61 is connected to the outer ring of the sixth rotating joint 311, when the second connecting rod 61 moves, the end of the fluid automatic loading and unloading arm will be driven to move synchronously.

[0048] In one possible implementation, combining Figures 1 to 3 As shown, a visual recognition module 7 is provided on the sixth tube body 305. The visual recognition module 7 is responsible for capturing and recognizing information about the surrounding environment of the fluid automatic loading and unloading arm in real time, and providing data for the control system.

[0049] The main function of the visual recognition module 7 is to realize visual recognition and positioning of the filling target (such as a container). The module uses image processing and machine learning methods to accurately identify the shape, size, position and other information of the container. The visual recognition module 7 is installed on the sixth tube body 305, located near the filling port, to ensure that during the filling process, the module can capture the image of the container in real time, analyze and process it, and the output signal of the module is transmitted to the control system of the fluid automatic loading and unloading arm to adjust the filling position and angle according to the recognition result to ensure that the fluid can be accurately filled into the container.

[0050] Preferably, the visual recognition module 7 can also directly recognize the license plate information of the vehicle to be filled, and directly retrieve the filling information of the vehicle according to the license plate information.

[0051] More specifically, the visual recognition module 7 includes a color camera. First, the color camera is used to identify the vehicle model information, and the corresponding filling port height coordinate is obtained according to the data in the vehicle model library, which is converted into the expected value of the motor rotation angle of the vertical displacement mechanism, and closed-loop control is performed according to the motor encoder feedback value of the vertical displacement mechanism. The motor rotation speed is calculated by the PID controller and sent to the motor driver to realize the height coordinate control of the parallel-driven fluid automatic loading and unloading arm; secondly, the color camera is used to identify the filling port plane coordinate, and the expected value of the motor rotation angle of the parallel drive mechanism is obtained after the inverse kinematics calculation of the five-bar mechanism, which is closed-loop controlled with the feedback value of the motor encoder of the parallel drive mechanism, and the motor speed is calculated by the PID controller and sent to the motor driver to realize the plane coordinate control of the parallel-driven fluid automatic loading and unloading arm. When the parallel-driven fluid automatic loading and unloading arm reaches the predetermined coordinate, liquid filling begins.

[0052] In one possible implementation, combining Figures 1 to 3 As shown, the fluid automatic loading and unloading arm also includes a power distribution and processing control module 8, which is arranged on the column 1, and the power distribution and processing control module 8 is connected to the vertical displacement mechanism 2, the rotation drive mechanism 4, the two-link drive mechanism 5 and the visual recognition module 7.

[0053] Specifically, the power distribution and processing control module 8 integrates power distribution, data processing and control functions. The power distribution and processing control module 8 can efficiently manage the power demand of the fluid automatic loading and unloading arm and control the operation of each component. The power distribution and processing control module 8 is arranged on the column 1, and is located near the base of the column 1 to facilitate electrical connection operations with each component. The power distribution and processing control module 8 provides the required power for the vertical displacement mechanism 2, the rotation drive mechanism 4, the two-link drive mechanism 5 and the visual recognition module 7. The power distribution and processing control module 8 is provided with a plurality of power output ports, each of which can adjust the output voltage and current as needed to meet the power requirements of different components. The power distribution and processing control module 8 is equipped with a microprocessor or an embedded system, which can control the key parameters such as the motion trajectory, speed, and position of the fluid automatic loading and unloading arm.

[0054] Preferably, the power distribution and processing control module 8 is arranged at the middle and lower part of the column 1 for easy operation.

[0055] In one practicable manner, the fluid source transfer tube 312 is disposed on the column 1 near the bottom, so that the operator can conveniently perform connection or disconnection operations without climbing.

[0056] An embodiment of the present invention provides a method for using a parallel-driven fluid automatic loading and unloading arm, comprising: When the position of the end of the sixth tube body 305 in the height direction needs to be adjusted, a control signal is first sent to the vertical displacement mechanism 2 through the power distribution and processing control module 8. After receiving the signal, the vertical displacement mechanism 2 starts the displacement drive mechanism 23 and drives the slider 21 to slide up and down along the slide rail 20. When the slider 21 moves, the third tube body 302 fixed on the support 22 is driven to rotate around the third rotating joint 308 adaptively. At the same time, the second tube body 301 rotates around the second rotating joint 307, and the first tube body 300 rotates around the first rotating joint 306. The adaptive rotation ensures the stability and continuity of the tube string group 3 during the height adjustment process. As the slider 21 slides up and down, the fourth tube body 303, the fifth tube body 304 and the sixth tube body 305 change together in the height direction, thereby realizing the height adjustment of the end of the sixth tube body 305. When the position of the end of the sixth tube body 305 in the height direction does not need to be adjusted, and its position in the horizontal plane needs to be changed, a control signal is first sent to the rotation drive mechanism 4 and the two-link drive mechanism 5 through the power distribution and processing control module 8. After receiving the signal, the rotation drive mechanism 4 starts the first worm drive device 42 to drive the first worm 41 to rotate. The first worm 41 meshes with the first worm wheel 40, driving the fourth rotary joint 309 to rotate around its axis. At the same time, the two-link driving mechanism 5 also receives the control signal, starts the second worm drive device 52, drives the second worm 51 to rotate, and the second worm 51 meshes with the second worm wheel 50, driving the two-link member 6 to rotate around the rotation output end of the two-link driving mechanism 5. The rotation of the fourth tube body 303 cooperates with the rotation of the two-link member 6, so that the position of the end of the sixth tube body 305 in the horizontal plane changes.

[0057] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "bottom", "inside", "outside", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0058] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0059] In the present invention, unless otherwise clearly specified and limited, the terms "connected", "connection" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0060] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0061] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0062] Finally, it should be noted that the above-described embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The protection scope of the present invention is not limited thereto. Although the present invention is described in detail with reference to the above-described embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-described embodiments within the technical scope disclosed by the present invention, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A parallel-driven fluid automatic loading and unloading arm, characterized in that: include: Column (1); A vertical displacement mechanism (2), which is arranged on the column (1) and is capable of vertical reciprocating motion along the column (1); A pipe string assembly (3), comprising a fluid source transfer pipe (312), a first pipe body (300), a second pipe body (301), a third pipe body (302), a fourth pipe body (303), a fifth pipe body (304) and a sixth pipe body (305) connected in sequence through a first rotating joint (306), a second rotating joint (307), a third rotating joint (308), a fourth rotating joint (309), a fifth rotating joint (310) and a sixth rotating joint (311), wherein the fluid source transfer pipe (312) is arranged on the column (1), the third pipe body (302) is fixed on the vertical displacement mechanism (2), and the sixth pipe body (305) is vertically downward; wherein the axes of the first rotating joint (306), the second rotating joint (307) and the third rotating joint (308) are horizontal and parallel to each other, and the axes of the fourth rotating joint (309), the fifth rotating joint (310) and the sixth rotating joint (311) are vertical and parallel to each other; a rotation drive mechanism (4), which is arranged on the vertical displacement mechanism (2), and whose rotation output end is connected to the outer ring of the fourth rotation joint (309), and is used to drive the fourth rotation joint (309) to drive the fourth tube body (303) to rotate; A two-link driving mechanism (5) is arranged on the vertical displacement mechanism (2), and a rotation output end is connected to a two-link member (6), the rotation axis of the rotation output end of the two-link driving mechanism (5) is parallel to the axis of the four rotation joints (309), and the other end of the two-link member (6) is connected to the outer ring of the sixth rotation joint (311).

2. The parallel-driven fluid automatic loading and unloading arm according to claim 1, characterized in that: The vertical displacement mechanism (2) comprises a slide rail (20) arranged on the column (1), a slider (21) slidably engaged with the slide rail (20), a support (22) connected to the slider (21), and a displacement drive mechanism (23) for driving the slider (21) to slide up and down along the slide rail (20); the third tube (302) is fixed on the support (22).

3. The parallel-driven fluid automatic loading and unloading arm according to claim 2, characterized in that: The displacement driving mechanism (23) comprises a rack (230) fixed on the column (1), a gear (231) meshing with the rack (230), and a gear driving device (232) connected to the gear (231) and fixed on the support (22).

4. The parallel-driven fluid automatic loading and unloading arm according to claim 1, characterized in that: The rotary drive mechanism (4) comprises a first worm wheel (40) sleeved and fixed on the outer ring of the fourth rotary joint (309), a first worm (41) meshing with the first worm wheel (40), and a first worm drive device (42) connected to the first worm (41) and fixed on the support (22).

5. The parallel-driven fluid automatic loading and unloading arm according to claim 1, characterized in that: The two-link driving mechanism (5) comprises a second worm wheel (50) rotatably disposed on the support (22), a second worm (51) meshing with the second worm wheel (50), and a second worm driving device (52) connected to the second worm (51) and fixed on the support (22); The two-link member (6) comprises a first link (60) and a second link (61); a connecting shaft is fixed to one end of the first link (60), and the connecting shaft is fixedly inserted in the center hole of the second worm gear (50); the other end of the first link (60) is rotatably connected to one end of the second link (61); and the other end of the second link (61) is connected to the outer ring of the sixth rotary joint (311).

6. The parallel-driven fluid automatic loading and unloading arm according to claim 1, characterized in that: The sixth tube body (305) is provided with a visual recognition module (7).

7. The parallel-driven fluid automatic loading and unloading arm according to claim 6, characterized in that: The fluid automatic loading and unloading arm further comprises a power distribution and processing control module (8), wherein the power distribution and processing control module (8) is arranged on the column (1), and the power distribution and processing control module (8) is connected to the vertical displacement mechanism (2), the rotation drive mechanism (4), the two-link drive mechanism (5) and the visual recognition module (7).

8. The parallel-driven fluid automatic loading and unloading arm according to claim 7, characterized in that: The power distribution and processing control module (8) is arranged at a lower middle portion of the column (1).

9. The parallel-driven fluid automatic loading and unloading arm according to claim 1, characterized in that: The fluid source transfer tube (312) is arranged on the column (1) at a position close to the bottom.

10. The method for using the parallel-driven fluid automatic loading and unloading arm according to any one of claims 1 to 9, characterized in that: include: When it is necessary to adjust the position of the end of the sixth tube body (305) in the height direction, the vertical displacement mechanism (2) is controlled to move vertically along the column (1). When the vertical displacement mechanism (2) moves, it drives the third tube body (302) to adaptively rotate around the third rotating joint (308), the second tube body (301) to adaptively rotate around the second rotating joint (307), and the first tube body (300) to adaptively rotate around the first rotating joint (306), and at the same time drives the fourth tube body (303), the fifth tube body (304) and the sixth tube body (305) to change in the height direction together; When the height position of the end of the sixth tube body (305) does not need to be adjusted, and the position of the end of the sixth tube body (305) in the horizontal plane needs to be adjusted, the rotation drive mechanism (4) is controlled to drive the fourth rotation joint (309) to drive the fourth tube body (303) to rotate around the axis of the fourth rotation joint (309), and at the same time, the two-link driving mechanism (5) is controlled to drive the two-link member (6) to rotate around the rotation axis of the rotation output end of the two-link driving mechanism (5), and the fourth tube body (303) rotates in coordination with the two-link member (6), thereby realizing the adjustment of the position of the end of the sixth tube body (305) in the horizontal plane.

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