Automatic alignment method for loading arm of top loading and unloading train

Abstract

The invention relates to the technical field of crane pipes, and discloses a top loading and unloading train crane pipe automatic alignment method. Comprising the following steps that (1) the center coordinates, the opening direction and the type of a tank opening in a train tank car are recognized through automatic tank opening recognition equipment; (2) the center coordinates of the tank opening are converted into a motion coordinate system of a crane pipe control system from a visual coordinate system; (3) a Z-axis moving part is controlled to downwards move the train special vertical pipe to be inserted into a tank opening in an aligned mode; (4) the liquid material loading and unloading process is executed on the train tanker through a hydraulic oil replacing pump; (5) the crane pipe is driven to return to the initial position; a closed-loop control system is constructed through a positioning sensor, a visual recognition system and a controller, and unmanned operation of the whole process from tank opening recognition to vertical pipe insertion is achieved. A three-sleeve type vertical pipe (outer sleeve / middle sleeve / inner sleeve) is matched with a steel wire take-up and pay-off machine, so that the length of the vertical pipe is adaptively adjusted to adapt to tank trucks with different depths; the problems that the efficiency is low and the safety risk exists in the manual loading process of the train loading arm are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of crane pipes, and in particular to an automatic alignment method for crane pipes during top loading and unloading of trains. Background Art

[0002] The train crane is a device used to transfer liquid or gas products between ground equipment and train tank cars.

[0003] Currently, loading and unloading liquids on top of tank cars mainly relies on manual operation of the crane, which has three major defects:

[0004] Safety hazards: Operators need to come into close contact with corrosive / toxic liquids (such as sulfuric acid and liquid alkali);

[0005] Inefficiency: Single alignment takes ≥5 minutes and is affected by personnel proficiency;

[0006] Insufficient precision: Manual alignment errors often lead to liquid splashing, which can easily lead to an increase in the accident rate. Summary of the Invention

[0007] The purpose of the present invention is to provide an automatic alignment method for top loading and unloading train crane pipes, aiming to solve the problems of low efficiency and safety risks in manual loading of train crane pipes in the prior art.

[0008] The present invention is realized by a method for automatically aligning a crane pipe for top loading and unloading of a train, comprising the following steps:

[0009] 1) The positioning sensor acquires the real-time position data of the tank car in the loading and unloading area. The controller identifies the tank opening on the tank car through the automatic tank opening recognition device and collects the top image of the tank car based on the visual recognition system to identify the center coordinates, opening direction and type of the tank opening.

[0010] 2) Convert the center coordinates of the tank mouth from the visual coordinate system to the motion coordinate system of the crane control system;

[0011] 3) The crane pipe includes a column fixed on the platform, a liquid inlet pipe connected to the column, a linear motion component, a rotating mechanism, a Z-axis motion component, a train-specific vertical pipe, and a liquid receiving mechanism. The automatic tank opening identification device is connected to the column. The automatic tank opening identification device, the linear motion component, the rotating mechanism, and the Z-axis motion component are electrically connected to the control system respectively;

[0012] The liquid inlet pipe is connected to the train-specific vertical pipe, the linear motion component is rotationally connected to the column, the linear motion component is connected to the output end of the rotation mechanism, the linear motion component is connected to the train-specific vertical pipe via the Z-axis motion component, and the liquid receiving mechanism is connected to one side of the Z-axis motion component and arranged adjacent to the train-specific vertical pipe;

[0013] The controller controls the linear motion component to cooperate with the rotating mechanism to move the train-specific vertical pipe to a position within ±50 mm directly above the tank opening of the train tank car; adjusts the height of the vertical pipe by using the Z-axis motion component, and controls the rotating mechanism to fine-tune the horizontal angle so that the axis of the train-specific vertical pipe coincides with the axis of the tank opening, with a positioning error of ≤±2 mm; controls the Z-axis motion component to move the train-specific vertical pipe downward and into position to insert it into the tank opening, and monitors the force on the vertical pipe in real time during the insertion process;

[0014] 4) The train-specific drop pipe includes a wire retractor, a liquid inlet, an outer sleeve, a middle sleeve, an inner sleeve, a train sealing cap, a hydraulic oil displacement pump, and two hydraulic pipelines. The upper end of the outer sleeve is connected to the liquid inlet, and the lower end of the outer sleeve is connected to the train sealing cap. The bottom end of the train sealing cap is provided with a sealing ring for sealingly connecting with the tank port of the train tank car; the middle sleeve is sleeved inside the outer sleeve and can be telescopically moved relative to the outer sleeve, and the inner sleeve is sleeved inside the middle sleeve and can be telescopically moved relative to the middle sleeve. The outer sleeve, middle sleeve, and inner sleeve are coaxially sleeved in sequence to form a telescopic fluid channel; sliding sealing structures are provided between the outer sleeve and the middle sleeve, and between the middle sleeve and the inner sleeve, respectively;

[0015] The steel wire retractor is connected to the inner casing via a steel wire rope, and is used to drive the extension and retraction of the middle casing and the inner casing; the hydraulic oil replacement pump is arranged at the outlet end of the inner casing, and is used to realize underwater loading and unloading; the two hydraulic pipelines are respectively an inlet pipe for supplying hydraulic pressure into the hydraulic oil replacement pump and an outlet pipe for supplying hydraulic pressure out of the hydraulic oil replacement pump, and the inlet pipe and the outlet pipe respectively pass through both sides of the train sealing cap and are connected to both sides of the hydraulic oil replacement pump, and are used to provide hydraulic power to the hydraulic oil replacement pump; the hydraulic oil replacement pump is connected to the hydraulic station via a hydraulic pipeline;

[0016] The controller controls the steel wire retractor to move the inner casing toward the inner bottom of the train tank car through the steel wire rope, and performs the liquid material loading and unloading process on the train tank car through the hydraulic oil displacement pump;

[0017] 5) After loading and unloading, the train-specific vertical pipe is lifted. After the train-specific vertical pipe is separated from the filling port, the liquid receiving mechanism is driven to receive liquid from the bottom of the train-specific vertical pipe, and the lifting pipe is driven to return to the initial position.

[0018] Furthermore, in step 1), the automatic tank mouth identification device includes an image acquisition unit and a processor unit, the image acquisition unit is used to acquire an image containing the tank mouth, and the processor unit is used to process the image and calculate the position coordinates of the tank mouth; the automatic tank mouth identification device also includes a lighting device for providing fill light for the image acquisition unit.

[0019] Furthermore, in step 4), the hydraulic oil displacement pump includes a hydraulic motor, a pump body, and a fluid delivery pipe. The hydraulic motor is connected to the top of the pump body. The bottom of the pump body is provided with a plurality of fluid suction pipes, which are arranged at intervals along the circumference of the bottom of the pump body. The pump body is connected to the outlet end of the inner casing via the fluid delivery pipe. The hydraulic lines are connected to both sides of the hydraulic motor respectively to provide hydraulic power to the hydraulic motor.

[0020] The hydraulic pipeline includes a fixed tube and a telescopic inner tube. The upper end of the fixed tube extends along the height direction of the outer tube. The outer tube is connected to the upper end of the fixed tube by a tube clamp. The lower end of the fixed tube passes through the train sealing cap and is exposed below the train sealing cap. The telescopic inner tube is inserted into the interior of the fixed tube and can be telescopically moved relative to the fixed tube. The fixed tube is connected to the hydraulic motor through the telescopic inner tube.

[0021] Furthermore, in step 4), the outer sleeve has a hollow outer tube lumen, and the bottom opening of the outer tube lumen is provided with a middle tube limiting ring for limiting the movement distance of the middle sleeve; the middle sleeve has a hollow middle tube lumen, and the bottom opening of the middle tube lumen is provided with an inner tube limiting ring for limiting the movement distance of the inner sleeve;

[0022] The outer periphery of the upper end of the middle sleeve is provided with two middle tube abutment rings protruding outward, and a middle tube installation groove is formed between the two middle tube abutment rings at a vertical interval. A middle tube wear-resistant ring is installed in the middle tube installation groove, and the middle tube wear-resistant ring is movably abutted against the inner side wall of the inner cavity of the outer tube; the middle tube abutment ring and the middle tube limiting ring are arranged vertically opposite to each other;

[0023] The outer periphery of the upper end of the inner sleeve is provided with two inner tube abutment rings protruding outward, and an inner tube mounting groove is formed between the two inner tube abutment rings at a vertical relative interval. An inner tube wear-resistant ring is installed in the inner tube mounting groove, and the inner tube wear-resistant ring is movably abutted against the inner side wall of the inner cavity of the middle tube; the inner tube abutment ring and the inner tube limiting ring are arranged vertically relative to each other;

[0024] The sliding sealing structures are respectively formed between the two middle tube abutting rings and the middle tube wear-resistant ring, and between the two inner tube abutting rings and the inner tube wear-resistant ring.

[0025] Furthermore, in step 4), a limiting structure is provided at the bottom of the outer sleeve and the bottom of the middle sleeve. The limiting structure includes a threaded barrel for threaded connection with the outer sleeve or the middle sleeve and a positioning pin. A threaded cavity communicating with the fluid channel is formed in the threaded barrel. The bottom opening of the threaded cavity is provided with a bottom ring. The bottom ring and the threaded barrel are an integrated structure. The positioning pin penetrates the bottom ring to connect the threaded barrel to the outer sleeve or the middle sleeve.

[0026] The bottom ring includes a bottom abutting ring for abutting against the bottom of the outer sleeve or the bottom of the middle sleeve and two middle sleeve limiting rings or two inner sleeve limiting rings. The bottom abutting ring and the middle sleeve limiting ring or the inner sleeve limiting ring are an integrated structure. A sealing area is formed between the two middle sleeve limiting rings or the two inner sleeve limiting rings. A sealing wear-resistant ring is installed in the sealing area. The sealing wear-resistant ring is in sliding abutment with the outer wall of the middle sleeve or the outer wall of the inner sleeve.

[0027] The bottom abutment ring is provided with a plurality of threaded holes for the positioning pins to pass through; the tops of the middle tube limiting ring and the inner tube limiting ring are both provided with top buffer rings; the threaded barrel is threadedly connected to the outer sleeve or the middle sleeve through the threads in the threaded cavity, the outer side wall of the threaded barrel is arranged flush with the outer side wall of the outer sleeve or the outer side wall of the middle sleeve, and the outer side wall of the threaded barrel is provided with anti-slip grooves on the circumference.

[0028] Furthermore, in step 4), the wire retractor is equipped with a torque sensor or a current detection device for real-time monitoring of the load torque of the driving wire rope or the operating current of the motor; when the end of the inner sleeve contacts the liquid surface, causing the load to increase, the torque or current change signal is used to determine that the liquid outlet has reached the liquid surface and control the outlet to stop extending;

[0029] The wire retractor includes a drive motor, a reel and a wire rope; the drive motor is connected to the reel through a motor shaft, one end of the wire rope is connected to the reel, and the other end of the wire rope is connected to the bottom of the inner sleeve; the drive motor of the wire retractor is an explosion-proof motor.

[0030] Furthermore, a filtering structure is provided at the bottom of the pump body, and the filtering structure includes a hollow frame, the top of the hollow frame is rotatably connected to a connecting ring for being threadedly connected to the pump body, a plurality of bottom buffer rings are provided on the hollow frame for docking with the bottom of the suction pipe, and a plurality of suspended filter meshes are provided on the bottom buffer ring, the filter mesh is an arc-shaped structure, a bowl-shaped interception cavity is formed at the bottom of the filter mesh, the diameter of the filter mesh is smaller than the inner diameter of the suction pipe, a plurality of push rods are connected to the outside of the filter mesh, the plurality of push rods are arranged at intervals along the circumference of the outer side of the filter mesh, the push rods are arranged perpendicular to the filter mesh, the length of the push rods is greater than the length of the suction pipe, the bottom of the push rod passes through the bottom buffer ring and is horizontally bent away from the suction pipe to form a bottom-touching foot;

[0031] When the filter structure needs to be installed on the pump body, first insert the filter mesh into the suction pipe, and then rotate the connecting ring to connect it with the pump body thread;

[0032] When the pump body descends to the inner bottom of the train tank car, the bottom-contacting foot abuts against the inner bottom of the train tank car, so that the bottom-contacting foot pushes the filter mesh to move upward in the suction pipe through the pushing rod until the filter mesh rises to the pump cavity of the pump body. At this time, the outer side wall of the filter mesh and the top opening of the suction pipe are spaced to form a lateral suction area.

[0033] Furthermore, a wear-resistant sleeve is provided on the outer periphery of the bottom contact foot, a guide column is connected to the top of the bottom contact foot, a compression spring is provided on the outer periphery of the guide column, the top of the compression spring is inserted in the bottom buffer ring, and a positioning groove for connecting the compression spring is provided at the bottom of the bottom buffer ring; when the bottom contact foot moves upward to the set position, the top part of the guide column is inserted in the positioning groove.

[0034] Furthermore, in step 3), the linear motion component includes a horizontal frame, the horizontal frame is rotatably connected to the column, the bottom of the horizontal frame is engaged with the output end of the rotation mechanism, a linear track for horizontal sliding of the Z-axis motion component is installed on the horizontal frame, and a linear motor for driving the Z-axis motion component to move horizontally is connected to the linear track;

[0035] The Z-axis motion component includes a moving frame installed on a linear track, a Z-axis track installed in the moving frame, an electric push rod driving the Z-axis movement of the train-specific vertical pipe installed in the Z-axis track, a moving head connected to the Z-axis motor is provided on the Z-axis track, the moving head is connected to the train-specific vertical pipe through a buffer column, the lower part of the buffer column passes through the top of the moving head from top to bottom and is exposed below the bottom of the moving head, a reset spring is provided on the lower part of the buffer column, the two ends of the reset spring are respectively in contact with the moving head and the train-specific vertical pipe, the top of the moving head is connected to a limit sensor, and the limit sensor is arranged vertically opposite to the upper part of the buffer column.

[0036] Furthermore, in step 3), the liquid receiving mechanism includes a servo motor, the servo motor is mounted on the side wall of the movable frame, the servo motor is connected to a rotating rod, and the bottom of the rotating rod is connected to a liquid receiving hopper;

[0037] The rotating mechanism includes a rotating motor for driving the horizontal frame to rotate. The rotating motor is installed on the column, and the output end of the rotating motor is engaged with the bottom of the horizontal frame.

[0038] Compared with the prior art, the automatic alignment method for top loading and unloading train crane pipes provided by the present invention constructs a closed-loop control system through positioning sensors, visual recognition systems, and controllers to achieve unmanned operation of the entire process from tank mouth identification to vertical pipe insertion; integrating visual coordinate conversion with multi-axis motion mechanisms (linear / rotary / Z-axis) to achieve precise alignment of the vertical pipe axis and the tank mouth axis with an error of ≤±2mm; three-tube vertical pipes (outer sleeve / middle sleeve / inner sleeve) are combined with a wire retractor to achieve adaptive adjustment of the vertical pipe length to adapt to tank trucks of different depths; a sealing ring is provided at the bottom end of the train sealing cap, combined with the underwater loading and unloading mechanism of the hydraulic oil replacement pump to prevent material leakage during the loading and unloading process; the vertical pipe force is monitored in real time during the insertion process, and the machine automatically shuts down with abnormal loads; the liquid receiving mechanism recovers residual droplets to avoid environmental pollution; and the problems of low efficiency and safety risks in manual loading of train crane pipes are solved. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a schematic flow chart of the automatic alignment method for top loading and unloading train crane pipes provided by the present invention;

[0040] Figure 2 It is a front perspective schematic diagram of the automatic alignment method for top loading and unloading train crane pipes provided by the present invention;

[0041] Figure 3 It is a side perspective schematic diagram of the automatic alignment method for top loading and unloading train crane pipes provided by the present invention;

[0042] Figure 4 This invention Figure 3 Schematic diagram of the enlarged structure of A in the middle;

[0043] Figure 5 This is a three-dimensional schematic diagram of a special vertical pipe for trains provided by the present invention;

[0044] Figure 6 This is a schematic diagram of the cross-sectional structure of the special vertical pipe for trains provided by the present invention;

[0045] Figure 7 This invention Figure 6 Schematic diagram of the enlarged structure of B;

[0046] Figure 8 It is a schematic diagram of the cross-section structure of the outer sleeve or the middle sleeve and the limiting structure provided by the present invention;

[0047] Figure 9 This is a schematic diagram of the cross-section structure of the hydraulic oil replacement pump and the filter structure provided by the present invention. Figure 1 ;

[0048] Figure 10 This is a schematic diagram of the cross-section structure of the hydraulic oil replacement pump and the filter structure provided by the present invention. Figure 2 ;

[0049] Figure 11 It is a schematic diagram of the top structure of the filtering structure provided by the present invention.

[0050] In the figure: column 10, liquid inlet pipe 20, linear motion component 30, rotating mechanism 40, Z-axis motion component 50, train-specific vertical pipe 60, liquid receiving mechanism 70, automatic tank mouth identification device 80, horizontal frame 31, linear rail 32, linear motor 33, mobile frame 51, Z-axis rail 52, electric push rod 53, moving head 54, buffer column 55, return spring 56, limit sensor 57, wire retractor 61, outer sleeve 62, middle sleeve 63, inner sleeve 64, train sealing cap 65, hydraulic oil replacement pump 66, hydraulic pipeline 67, limit structure 68, wire rope 611, drive motor 612, reel 613, middle pipe limit ring 621, pipe clamp 622, inner pipe limit ring 63 1. Middle tube abutment ring 632, middle tube wear-resistant ring 633, inner tube abutment ring 641, inner tube wear-resistant ring 642, hydraulic motor 661, pump body 662, infusion tube 663, suction tube 664, filtration structure 665, hollow frame 6651, connecting ring 6652, bottom buffer ring 6653, filter mesh 6654, push rod 6655, bottom contact foot 6656, guide column 6657, compression spring 6658, fixed tube 671, telescopic inner tube 672, servo motor 71, rotating rod 72, liquid receiving hopper 73, threaded barrel 681, positioning pin 682, threaded cavity 683, bottom ring 684, bottom abutment ring 6841, sealing wear-resistant ring 6842, threaded hole 6843. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0052] The implementation of the present invention is described in detail below with reference to specific embodiments.

[0053] The same or similar numbers in the drawings of this embodiment correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "up", "down", "left", "right", etc. indicate directions or positional relationships, they are based on the directions or positional relationships shown in the drawings. This is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limiting the present invention. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0054] Reference Figure 1-11The figure shows a preferred embodiment of the present invention.

[0055] The automatic alignment method for top loading and unloading train crane pipes includes the following steps:

[0056] 1) The positioning sensor acquires the real-time position data of the tank car in the loading and unloading area. The controller identifies the tank opening on the tank car through the automatic tank opening identification device 80 and uses the visual recognition system to capture the top image of the tank car to identify the center coordinates, opening direction and type of the tank opening.

[0057] 2) Convert the center coordinates of the tank mouth from the visual coordinate system to the motion coordinate system of the crane control system;

[0058] 3) The crane pipe includes a column 10 fixed to the platform, a liquid inlet pipe 20 connected to the column 10, a linear motion component 30, a rotating mechanism 40, a Z-axis motion component 50, a train-specific drop pipe 60, and a liquid receiving mechanism 70. The automatic tank opening identification device 80 is connected to the column 10. The automatic tank opening identification device 80, the linear motion component 30, the rotating mechanism 40, and the Z-axis motion component 50 are electrically connected to the control system respectively;

[0059] The liquid inlet pipe 20 is connected to the train-specific vertical pipe 60. The linear motion component 30 is rotationally connected to the column 10. The linear motion component 30 is connected to the output end of the rotating mechanism 40. The linear motion component 30 is connected to the train-specific vertical pipe 60 through the Z-axis motion component 50. The liquid receiving mechanism 70 is connected to one side of the Z-axis motion component 50 and is arranged adjacent to the train-specific vertical pipe 60.

[0060] The controller controls the linear motion component 30 to cooperate with the rotation mechanism 40 to move the train-specific drop tube 60 to a position directly above the tank opening of the train tank car within a range of ±50mm. The Z-axis motion component 50 is used to adjust the drop tube height, and the rotation mechanism 40 is controlled to fine-tune the horizontal angle so that the axis of the train-specific drop tube 60 coincides with the axis of the tank opening, with a positioning error of ≤±2mm. The Z-axis motion component 50 is controlled to move the train-specific drop tube 60 downward and into position to insert it into the tank opening, and the force applied to the drop tube is monitored in real time during the insertion process.

[0061] 4) The train-specific drop pipe 60 includes a wire retractor 61, a liquid inlet, an outer sleeve 62, a middle sleeve 63, an inner sleeve 64, a train sealing cap 65, a hydraulic oil displacement pump 66, and two hydraulic pipelines 67. The upper end of the outer sleeve 62 is connected to the liquid inlet, and the lower end of the outer sleeve 62 is connected to the train sealing cap 65. The bottom end of the train sealing cap 65 is provided with a sealing ring for sealingly connecting with the tank port of the train tank car; the middle sleeve 63 is sleeved inside the outer sleeve 62 and can move telescopically relative to the outer sleeve 62; the inner sleeve 64 is sleeved inside the middle sleeve 63 and can move telescopically relative to the middle sleeve 63. The outer sleeve 62, middle sleeve 63, and inner sleeve 64 are coaxially sleeved in sequence to form a retractable fluid channel; sliding sealing structures are provided between the outer sleeve 62 and the middle sleeve 63, and between the middle sleeve 63 and the inner sleeve 64.

[0062] The wire retractor 61 is connected to the inner casing 64 via a wire rope 611, driving the expansion and contraction of the middle casing 63 and the inner casing 64. A hydraulic oil displacement pump 66 is provided at the outlet end of the inner casing 64 for underwater loading and unloading. Two hydraulic pipelines 67 are respectively an inlet pipe 20 for supplying hydraulic pressure to the hydraulic oil displacement pump 66 and an outlet pipe for discharging hydraulic pressure from the hydraulic oil displacement pump 66. The inlet pipe 20 and the outlet pipe respectively pass through both sides of the train sealing cap 65 and are connected to both sides of the hydraulic oil displacement pump 66 to provide hydraulic power to the hydraulic oil displacement pump 66. The hydraulic oil displacement pump 66 is connected to the hydraulic station via hydraulic pipelines 67.

[0063] The controller controls the wire retractor 61 to move the inner casing 64 toward the inner bottom of the train tank car through the wire rope 611, and performs the liquid material loading and unloading process on the train tank car through the hydraulic oil replacement pump 66;

[0064] 5) After loading and unloading, the train-specific vertical pipe 60 is lifted. After the train-specific vertical pipe 60 is separated from the filling port, the liquid receiving mechanism 70 is driven to receive liquid from the bottom of the train-specific vertical pipe 60, and the crane pipe is driven to return to the initial position.

[0065] The above-mentioned automatic alignment method for top loading and unloading train crane pipes constructs a closed-loop control system through positioning sensors, visual recognition systems, and controllers to achieve unmanned operation of the entire process from tank mouth recognition to vertical pipe insertion; integrating visual coordinate conversion with multi-axis motion mechanisms (linear / rotary / Z-axis) to achieve precise alignment of the vertical pipe axis and the tank mouth axis with an error of ≤±2mm; the three-tube vertical pipe (outer tube 62 / middle tube 63 / inner tube 64) cooperates with the wire retractor 61 to achieve adaptive adjustment of the vertical pipe length to adapt to tank cars of different depths; a sealing ring is provided at the bottom end of the train sealing cap 65, combined with the underwater loading and unloading mechanism of the hydraulic oil replacement pump 66 to prevent material leakage during the loading and unloading process; the vertical pipe force is monitored in real time during the insertion process, and the machine automatically shuts down due to abnormal loads; the liquid receiving mechanism 70 recovers residual droplets to avoid environmental pollution; and the problems of low efficiency and safety risks in manual loading of train crane pipes are solved.

[0066] In this embodiment, in step 1), the automatic tank mouth identification device 80 includes an image acquisition unit and a processor unit. The image acquisition unit is used to acquire an image containing the tank mouth, and the processor unit is used to process the image and calculate the position coordinates of the tank mouth; the automatic tank mouth identification device 80 also includes a lighting device for providing fill light for the image acquisition unit.

[0067] Improved environmental adaptability: The fill light device ensures stable acquisition of tank mouth images at night or in low-light conditions, enhancing the system's all-weather operation capabilities.

[0068] Enhanced positioning accuracy: A dedicated processor processes image data in real time, quickly outputs the coordinates and direction of the tank mouth center, and shortens recognition time to milliseconds.

[0069] In this embodiment, in step 4), the hydraulic oil displacement pump 66 includes a hydraulic motor 661, a pump body 662, and a fluid delivery tube 663. The hydraulic motor 661 is connected to the top of the pump body 662. The bottom of the pump body 662 is provided with a plurality of fluid suction tubes 664, which are arranged at intervals along the circumference of the bottom of the pump body 662. The pump body 662 is connected to the outlet end of the inner sleeve 64 via the fluid delivery tube 663. Hydraulic pipelines 67 are connected to both sides of the hydraulic motor 661 to provide hydraulic power to the hydraulic motor 661.

[0070] The infusion tube 663 is an inverted "Y"-shaped hollow tube. The liquids input from the two inlets of the infusion tube 663 are combined and then output from the outlet to the outlet end of the inner sleeve 64.

[0071] The hydraulic motor 661 and the pump body 662 are integrated into a design to reduce power transmission loss; multiple circumferentially surrounding suction pipes 664 increase the suction area to avoid vacuum caused by an uneven tank bottom or residual liquid, ensuring continuous and stable operation; the infusion pipe 663 connects the pump body 662 and the inner sleeve 64, enabling quick disassembly and assembly of the pump body 662, making it easy to inspect or replace.

[0072] The hydraulic pipeline 67 includes a fixed tube 671 and a telescopic inner tube 672. The upper end of the fixed tube 671 extends along the height direction of the outer sleeve 62. The outer sleeve 62 is connected to the upper end of the fixed tube 671 through a tube clamp 622. The lower end of the fixed tube 671 passes through the train sealing cap 65 and is exposed below the train sealing cap 65. The telescopic inner tube 672 is inserted into the interior of the fixed tube 671 and can be telescopically moved relative to the fixed tube 671. The fixed tube 671 is connected to the hydraulic motor 661 through the telescopic inner tube 672.

[0073] The combined design of the fixed tube 671 and the telescopic inner tube 672 allows the length of the hydraulic pipeline 67 to be automatically adjusted as the casing expands and contracts, completely solving the problem of traditional rigid pipelines being easily bent and broken.

[0074] Integrated installation: The fixed tube 671 is bound to the outer sleeve 62 through the tube clamp 622, eliminating the need for additional support structures and simplifying the equipment layout.

[0075] In this embodiment, in step 4), the outer sleeve 62 has a hollow outer tube lumen, and the bottom opening of the outer tube lumen is provided with a middle tube limiting ring 621 for limiting the movement distance of the middle sleeve 63; the middle sleeve 63 has a hollow middle tube lumen, and the bottom opening of the middle tube lumen is provided with an inner tube limiting ring 631 for limiting the movement distance of the inner sleeve 64;

[0076] Two middle tube abutment rings 632 are provided on the outer periphery of the upper end of the middle sleeve 63, protruding outward. A middle tube mounting groove is formed vertically between the two middle tube abutment rings 632. A middle tube wear-resistant ring 633 is installed in the middle tube mounting groove. The middle tube wear-resistant ring 633 movably abuts against the inner side wall of the inner cavity of the outer tube. The middle tube abutment ring 632 is vertically arranged opposite to the middle tube limit ring 621.

[0077] Two inner tube abutment rings 641 are provided on the outer periphery of the upper end of the inner sleeve 64, protruding outward. An inner tube mounting groove is formed vertically between the two inner tube abutment rings 641. An inner tube wear-resistant ring 642 is installed in the inner tube mounting groove. The inner tube wear-resistant ring 642 movably abuts against the inner side wall of the inner cavity of the middle tube. The inner tube abutment ring 641 and the inner tube limit ring 631 are arranged vertically opposite each other.

[0078] A sliding sealing structure is formed between the two middle tube abutting rings 632 and the middle tube wear-resistant ring 633, and between the two inner tube abutting rings 641 and the inner tube wear-resistant ring 642.

[0079] Precision limit and wear-resistant guide: the middle tube limit ring 621 / inner tube limit ring 631 rigidly limits the travel of the sleeve (middle sleeve 63, inner sleeve 64); the middle tube wear-resistant ring 633 / inner tube wear-resistant ring 642 abuts against the pipe wall to prevent radial shaking of the sleeve, ensure coaxial expansion and contraction, and reduce wear of the sealing structure.

[0080] Replaceable wear-resistant design: Wear-resistant rings (middle tube wear-resistant ring 633, inner tube wear-resistant ring 642) are embedded in the mounting grooves of the abutment rings (middle tube mounting groove, inner tube mounting groove). They can be replaced independently after wear, significantly reducing maintenance costs.

[0081] Strengthen the limiting function: the middle tube abutment ring 632 at the upper end of the middle sleeve 63 and the inner tube abutment ring 641 at the upper end of the inner sleeve 64 are arranged vertically relative to the limiting rings of the outer tube and the limiting rings of the middle tube respectively; when the sleeve is fully retracted, these abutment rings will contact the corresponding limiting rings to form a hard limit, which clearly prevents the sleeve from further retracting, protects the internal structure (such as the connection point of the wire rope 611) from impact or excessive extrusion, and improves the reliability and life of the equipment.

[0082] Providing force transmission points: the abutment rings (middle tube abutment ring 632 and inner tube abutment ring 641) provide stable support points for the sleeve in the retracted state.

[0083] The middle tube abutment ring 632 is located in the inner cavity of the outer tube, and the outer wall of the middle tube abutment ring 632 is spaced apart from the inner wall of the outer tube inner cavity; the inner tube abutment ring 641 is located in the inner cavity of the middle tube, and the outer wall of the inner tube abutment ring 641 is spaced apart from the inner wall of the middle tube inner cavity.

[0084] Ensure smooth movement: Clearly define the gap between the outer wall of the abutment ring (middle tube abutment ring 632, inner tube abutment ring 641) and the inner wall of the lumen (outer tube lumen, middle tube lumen); this design avoids radial friction between the abutment ring and the tube wall, ensuring that the sleeve only bears axial force (from the wire rope 611 and the limit ring) during extension and retraction, resulting in low movement resistance, more stable and smooth operation, and reduced risk of jamming.

[0085] Reduce wear: avoid unnecessary radial friction wear.

[0086] In this embodiment, in step 4), a limiting structure 68 is provided at the bottom of the outer sleeve 62 and the bottom of the middle sleeve 63. The limiting structure 68 includes a threaded barrel 681 and a positioning pin 682 for threaded connection with the outer sleeve 62 or the middle sleeve 63. A threaded cavity 683 communicating with the fluid channel is formed in the threaded barrel 681. The bottom opening of the threaded cavity 683 is provided with a bottom ring 684. The bottom ring 684 and the threaded barrel 681 are an integrated structure. The positioning pin 682 penetrates the bottom ring 684 to connect the threaded barrel 681 to the outer sleeve 62 or the middle sleeve 63.

[0087] The bottom ring 684 includes a bottom abutting ring 6841 for abutting the bottom of the outer sleeve 62 or the bottom of the middle sleeve 63, and two middle sleeve limiting rings 621 or two inner sleeve limiting rings 631. The bottom abutting ring 6841 and the middle sleeve limiting ring 621 or the inner sleeve limiting ring 631 are an integrated structure. A sealing area is formed between the two middle sleeve limiting rings 621 or the two inner sleeve limiting rings 631. A sealing wear-resistant ring 6842 is installed in the sealing area and is in sliding abutment with the outer wall of the middle sleeve 63 or the outer wall of the inner sleeve 64.

[0088] The bottom abutment ring 6841 is provided with a plurality of threaded holes 6843 for the positioning pins 682 to pass through; the tops of the middle tube limiting ring 621 and the inner tube limiting ring 631 are both provided with top buffer rings; the threaded barrel 681 is threadedly connected to the outer sleeve 62 or the middle sleeve 63 through the threads in the threaded cavity 683, and the outer wall of the threaded barrel 681 is arranged flush with the outer wall of the outer sleeve 62 or the outer wall of the middle sleeve 63, and the outer wall of the threaded barrel 681 is provided with anti-slip grooves on the circumference.

[0089] The threaded connection facilitates disassembly and maintenance, reducing operation time by 50%. The sealing wear-resistant ring 6842 enhances bottom sealing and prevents liquid leakage. The anti-slip groove design makes manual operation more labor-saving and improves work efficiency. The positioning pin 682 ensures the firmness of the connection. The top buffer ring effectively absorbs the impact force when the casing is extended and retracted.

[0090] The sealing wear ring 6842 forms a dynamic seal in the sealing area, taking into account both mechanical protection and leakage prevention.

[0091] In this embodiment, in step 4), the wire retractor 61 is equipped with a torque sensor or current detection device for real-time monitoring of the load torque or motor operating current driving the wire rope 611. When the end of the inner sleeve 64 contacts the liquid surface, causing the load to increase, the torque or current change signal is used to determine whether the liquid outlet has reached the liquid surface and control the outlet to stop extending.

[0092] Intelligent liquid level detection and positioning: A torque sensor or current detection device monitors the load torque of the wire rope 611 or the current of the drive motor 612 in real time. When the hydraulic oil displacement pump 66 at the end of the inner casing 64 contacts the liquid surface, the resistance (load) suddenly increases, causing a significant increase in torque or current. Upon detecting this change, the system automatically determines that the hydraulic oil displacement pump 66 has reached the liquid surface and immediately controls the wire retractor 61 to stop extending.

[0093] Automatic and precise control of immersion depth: Ensures that the hydraulic oil displacement pump 66 stops at a position just touching the liquid surface or slightly below the liquid surface (according to the set logic), achieving optimal underwater loading effect (ensuring underwater liquid discharge while avoiding excessive insertion causing unnecessary resistance or equipment stress).

[0094] Improved automation and safety: Completely eliminates the need for manual observation and judgment of liquid levels, making operation more convenient, accurate, and safer. Prevents equipment overload damage or loosening of the wire rope due to excessive insertion.

[0095] The wire retractor 61 includes a drive motor 612, a reel 613 and a wire rope 611; the drive motor 612 is connected to the reel 613 through a motor shaft, one end of the wire rope 611 is connected to the reel 613, and the other end of the wire rope 611 is connected to the bottom of the inner sleeve 64; the drive motor 612 of the wire retractor 61 is an explosion-proof motor.

[0096] Improved intrinsic safety: When loading equipment in flammable and explosive hazardous locations such as the petroleum and chemical industries, the use of explosion-proof motors is mandatory. This design effectively prevents sparks and high temperatures generated during motor operation from igniting the surrounding explosive environment, greatly improving the intrinsic safety of the equipment in hazardous areas and complying with safety regulations.

[0097] Ensuring operational safety: is the key foundation for the safe operation of the entire equipment.

[0098] Providing a reliable drive solution: The core structure of the wire retractor 61 is clarified: the drive motor 612 provides power, the drum 613 winds the wire rope 611, one end of the wire rope 611 is fixed to the drum 613, and the other end is connected to the bottom of the inner sleeve 64; this is the most direct, reliable and mature mechanical transmission method to achieve sleeve extension and retraction.

[0099] The force transmission path is clear: the steel wire rope 611 directly pulls the innermost casing (inner casing 64), and drives the middle casing (middle casing 63) to move through the inner casing 64. The structure is simple and efficient.

[0100] In this embodiment, a filtering structure 665 is provided at the bottom of the pump body 662. The filtering structure 665 includes a hollow frame 6651. The top of the hollow frame 6651 is rotatably connected to a connecting ring 6652 for threaded connection with the pump body 662. The hollow frame 6651 is provided with a plurality of bottom buffer rings 6653 for docking with the bottom of the suction tube 664. The bottom buffer ring 6653 is provided with a plurality of suspended filter meshes 6654. The filter mesh 6654 is an arc-shaped structure. The bottom shape of the filter mesh 6654 is A bowl-shaped interception cavity is formed, the diameter of the filter mesh 6654 is smaller than the inner diameter of the liquid pipette 664, and a plurality of push rods 6655 are connected to the outside of the filter mesh 6654. The plurality of push rods 6655 are arranged around the outside of the filter mesh 6654 at intervals. The push rods 6655 are arranged perpendicular to the filter mesh 6654. The length of the push rods 6655 is greater than the length of the liquid pipette 664. The bottom of the push rod 6655 passes through the bottom buffer ring 6653 and is horizontally bent away from the liquid pipette 664 to form a bottom contact foot 6656.

[0101] When the filter structure 665 needs to be installed on the pump body 662, first insert the filter mesh 6654 into the suction tube 664, and then thread the rotating connecting ring 6652 to the pump body 662;

[0102] When the pump body 662 descends to the inner bottom of the train tank car, the bottom contact foot 6656 abuts against the inner bottom of the train tank car, so that the bottom contact foot 6656 pushes the filter mesh 6654 to move upward in the suction tube 664 through the push rod 6655 until the filter mesh 6654 rises to the pump chamber of the pump body 662. At this time, the outer wall of the filter mesh 6654 and the top opening of the suction tube 664 are spaced apart to form a lateral suction area.

[0103] Through the rotational connection between the connecting ring 6652 and the hollow frame 6651, the hollow frame 6651 can be in a stationary state during the process of the connecting ring 6652 being threadedly connected to the pump body 662, so as to facilitate the positioning and installation of the filter mesh 6654. The suction tube 664 can be protected by the bottom buffer ring 6653. The filter mesh 6654 effectively intercepts impurities in the liquid with a filtration accuracy of 0.5mm; the bowl-shaped interception cavity design increases the filtration area and reduces the risk of clogging; the automatic adjustment function ensures that the filter mesh 6654 is always in the best working position; the bottom-touching foot 6656 design ensures the accurate positioning of the filter structure 665; this structure enables the pump body 662 to automatically adjust when it approaches the bottom of the tank, protecting the safety of the pump body 662.

[0104] In this embodiment, the outer periphery of the bottom contact foot 6656 is provided with a wear-resistant sleeve, and the top of the bottom contact foot 6656 is connected to a guide column 6657. The outer periphery of the guide column 6657 is provided with a compression spring 6658. The top of the compression spring 6658 is inserted in the bottom buffer ring 6653, and the bottom of the bottom buffer ring 6653 is provided with a positioning groove for the connection of the compression spring 6658; when the bottom contact foot 6656 moves upward to the set position, the top part of the guide column 6657 is inserted in the positioning groove.

[0105] Bottoming buffer protection: The compression spring 6658 absorbs the impact force caused by the uneven bottom of the tank and prevents the bottoming foot 6656 from deforming.

[0106] Automatic reset function: The guide post 6657 cooperates with the positioning groove to ensure that the filter structure 665 is accurately reset after being lifted.

[0107] Extend component life: The wear-resistant sleeve reduces the wear of the bottom contact foot 6656 and adapts to the rough tank bottom environment.

[0108] In this embodiment, in step 3), the linear motion component 30 includes a horizontal frame 31, which is rotatably connected to the column 10. The bottom of the horizontal frame 31 is engaged with the output end of the rotation mechanism 40. The horizontal frame 31 is equipped with a linear track 32 for horizontal sliding of the Z-axis motion component 50. The linear track 32 is connected to the linear motor 33 for driving the Z-axis motion component 50 to move horizontally.

[0109] The Z-axis motion component 50 includes a moving frame 51 installed on a linear track 32, a Z-axis track 52 installed in the moving frame 51, an electric push rod 53 driving the Z-axis movement of the train-specific vertical pipe 60 installed in the Z-axis track 52, a moving head 54 connected to the Z-axis motor is provided on the Z-axis track 52, the moving head 54 is connected to the train-specific vertical pipe 60 through a buffer column 55, the lower part of the buffer column 55 passes through the top of the moving head 54 from top to bottom, and is exposed below the bottom of the moving head 54, a reset spring 56 is provided on the lower part of the buffer column 55, and the two ends of the reset spring 56 are respectively in contact with the moving head 54 and the train-specific vertical pipe 60, the top of the moving head 54 is connected to a limit sensor 57, and the limit sensor 57 is arranged vertically opposite to the upper part of the buffer column 55.

[0110] Active error compensation: The buffer column 55 and the return spring 56 absorb the lateral offset force when the drop tube is inserted to prevent the tank mouth from being damaged by rigid collision.

[0111] Safety redundancy design: limit sensor 57 monitors the displacement of buffer column 55, emergency shutdown occurs when the limit is exceeded, and dual protection system is adopted.

[0112] Smooth motion: The linear motor 33 drives the Z-axis motion, and the speed can be precisely adjusted to avoid droplet splashing caused by the vertical tube shaking.

[0113] In this embodiment, in step 3), the liquid receiving mechanism 70 includes a servo motor 71, which is mounted on the side wall of the movable frame 51. The servo motor 71 is connected to a rotating rod 72, and the bottom of the rotating rod 72 is connected to a liquid receiving hopper 73.

[0114] The rotating mechanism 40 includes a rotating motor for driving the horizontal frame 31 to rotate. The rotating motor is mounted on the column 10 , and an output end of the rotating motor is engaged with the bottom of the horizontal frame 31 .

[0115] Zero leakage of residual liquid: the servo motor 71 drives the liquid receiving bucket 73 to move to the bottom of the pipe mouth at the moment the vertical pipe is pulled out, and automatically receives the residual liquid drops.

[0116] Space optimized layout: The rotating motor is directly engaged with the horizontal frame 31, which has a compact structure, high torque transmission efficiency and reduced energy loss.

[0117] Summary of the complete invention patent's technical effects: This invention uses a four-order control architecture of visual recognition - coordinate conversion - multi-axis collaboration - liquid level perception to achieve fully automatic and high-precision loading and unloading of train tank cars:

[0118] 1. Positioning accuracy has increased significantly

[0119] The visual system recognizes the can mouth coordinate error of ≤±50mm, and the positioning error is ≤±2mm after compensation by the motion mechanism, with the accuracy improved by 25 times.

[0120] 2. Reliability breakthrough

[0121] The casing triple seal + hydraulic oil displacement pump 66 liquid loading and unloading reduces the leakage rate to below 0.01%; the adaptive filter reduces blockage failure by 90%.

[0122] 3. Enhanced security performance

[0123] Explosion-proof motor + force monitoring + buffer mechanism ensure the safe loading and unloading of flammable and explosive media.

[0124] 4. Maintenance cost optimization

[0125] The modular limit structure 68 reduces maintenance time by 70%, and the service life of the wear-resistant ring reaches more than 100,000 times.

[0126] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. Automatic alignment method for top loading and unloading train crane pipes, characterized in that: The following steps are involved: 1) The positioning sensor acquires the real-time position data of the tank car in the loading and unloading area. The controller identifies the tank opening on the tank car through the automatic tank opening recognition device and collects the top image of the tank car based on the visual recognition system to identify the center coordinates, opening direction and type of the tank opening. 2) Convert the center coordinates of the tank mouth from the visual coordinate system to the motion coordinate system of the crane control system; 3) The crane pipe includes a column fixed on the platform, a liquid inlet pipe connected to the column, a linear motion component, a rotating mechanism, a Z-axis motion component, a train-specific vertical pipe, and a liquid receiving mechanism. The automatic tank opening identification device is connected to the column. The automatic tank opening identification device, the linear motion component, the rotating mechanism, and the Z-axis motion component are electrically connected to the control system respectively; The liquid inlet pipe is connected to the train-specific vertical pipe, the linear motion component is rotationally connected to the column, the linear motion component is connected to the output end of the rotation mechanism, the linear motion component is connected to the train-specific vertical pipe via the Z-axis motion component, and the liquid receiving mechanism is connected to one side of the Z-axis motion component and arranged adjacent to the train-specific vertical pipe; The controller controls the linear motion component to cooperate with the rotating mechanism to move the train-specific vertical pipe to a position within ±50 mm directly above the tank opening of the train tank car; adjusts the height of the vertical pipe by using the Z-axis motion component, and controls the rotating mechanism to fine-tune the horizontal angle so that the axis of the train-specific vertical pipe coincides with the axis of the tank opening, with a positioning error of ≤±2 mm; controls the Z-axis motion component to move the train-specific vertical pipe downward and into position to insert it into the tank opening, and monitors the force on the vertical pipe in real time during the insertion process; 4) The train-specific drop pipe includes a wire retractor, a liquid inlet, an outer sleeve, a middle sleeve, an inner sleeve, a train sealing cap, a hydraulic oil displacement pump, and two hydraulic pipelines. The upper end of the outer sleeve is connected to the liquid inlet, and the lower end of the outer sleeve is connected to the train sealing cap. The bottom end of the train sealing cap is provided with a sealing ring for sealingly connecting with the tank port of the train tank car; the middle sleeve is sleeved inside the outer sleeve and can be telescopically moved relative to the outer sleeve, and the inner sleeve is sleeved inside the middle sleeve and can be telescopically moved relative to the middle sleeve. The outer sleeve, middle sleeve, and inner sleeve are coaxially sleeved in sequence to form a telescopic fluid channel; sliding sealing structures are provided between the outer sleeve and the middle sleeve, and between the middle sleeve and the inner sleeve, respectively; The steel wire retractor is connected to the inner casing via a steel wire rope, and is used to drive the extension and retraction of the middle casing and the inner casing; the hydraulic oil replacement pump is arranged at the outlet end of the inner casing, and is used to realize underwater loading and unloading; the two hydraulic pipelines are respectively an inlet pipe for supplying hydraulic pressure into the hydraulic oil replacement pump and an outlet pipe for supplying hydraulic pressure out of the hydraulic oil replacement pump, and the inlet pipe and the outlet pipe respectively pass through both sides of the train sealing cap and are connected to both sides of the hydraulic oil replacement pump, and are used to provide hydraulic power to the hydraulic oil replacement pump; the hydraulic oil replacement pump is connected to the hydraulic station via a hydraulic pipeline; The controller controls the steel wire retractor to move the inner casing toward the inner bottom of the train tank car through the steel wire rope, and performs the liquid material loading and unloading process on the train tank car through the hydraulic oil displacement pump; 5) After loading and unloading, the train-specific vertical pipe is lifted. After the train-specific vertical pipe is separated from the filling port, the liquid receiving mechanism is driven to receive liquid from the bottom of the train-specific vertical pipe, and the lifting pipe is driven to return to the initial position.

2. The automatic alignment method for top loading and unloading train crane pipes according to claim 1, characterized in that: In step 1), the automatic tank mouth identification device includes an image acquisition unit and a processor unit, the image acquisition unit is used to acquire an image containing the tank mouth, and the processor unit is used to process the image and calculate the position coordinates of the tank mouth; the automatic tank mouth identification device also includes a lighting device for providing fill light for the image acquisition unit.

3. The automatic alignment method for top loading and unloading train crane pipes according to claim 1, characterized in that: In step 4), the hydraulic oil displacement pump includes a hydraulic motor, a pump body, and a fluid delivery pipe. The hydraulic motor is connected to the top of the pump body. The bottom of the pump body is provided with a plurality of fluid suction pipes, which are arranged at intervals along the circumference of the bottom of the pump body. The pump body is connected to the outlet end of the inner casing via the fluid delivery pipe. The hydraulic lines are connected to both sides of the hydraulic motor respectively to provide hydraulic power to the hydraulic motor. The hydraulic pipeline includes a fixed tube and a telescopic inner tube. The upper end of the fixed tube extends along the height direction of the outer tube. The outer tube is connected to the upper end of the fixed tube by a tube clamp. The lower end of the fixed tube passes through the train sealing cap and is exposed below the train sealing cap. The telescopic inner tube is inserted into the interior of the fixed tube and can be telescopically moved relative to the fixed tube. The fixed tube is connected to the hydraulic motor through the telescopic inner tube.

4. The automatic alignment method for top loading and unloading train crane pipes according to claim 3, characterized in that: In step 4), the outer sleeve has a hollow outer tube lumen, and the bottom opening of the outer tube lumen is provided with a middle tube limiting ring for limiting the movement distance of the middle sleeve; the middle sleeve has a hollow middle tube lumen, and the bottom opening of the middle tube lumen is provided with an inner tube limiting ring for limiting the movement distance of the inner sleeve; The outer periphery of the upper end of the middle sleeve is provided with two middle tube abutment rings protruding outward, and a middle tube installation groove is formed between the two middle tube abutment rings at a vertical interval. A middle tube wear-resistant ring is installed in the middle tube installation groove, and the middle tube wear-resistant ring is movably abutted against the inner side wall of the inner cavity of the outer tube; the middle tube abutment ring and the middle tube limiting ring are arranged vertically opposite to each other; The outer periphery of the upper end of the inner sleeve is provided with two inner tube abutment rings protruding outward, and an inner tube mounting groove is formed between the two inner tube abutment rings at a vertical relative interval. An inner tube wear-resistant ring is installed in the inner tube mounting groove, and the inner tube wear-resistant ring is movably abutted against the inner side wall of the inner cavity of the middle tube; the inner tube abutment ring and the inner tube limiting ring are arranged vertically relative to each other; The sliding sealing structures are respectively formed between the two middle tube abutting rings and the middle tube wear-resistant ring, and between the two inner tube abutting rings and the inner tube wear-resistant ring.

5. The automatic alignment method for top loading and unloading train crane pipes according to claim 4, characterized in that: In step 4), the bottom of the outer sleeve and the bottom of the middle sleeve are both provided with a limiting structure, wherein the limiting structure includes a threaded barrel for threaded connection with the outer sleeve or the middle sleeve and a positioning pin, wherein a threaded cavity communicating with the fluid channel is formed in the threaded barrel, and a bottom opening of the threaded cavity is provided with a bottom ring, wherein the bottom ring and the threaded barrel are an integrated structure, and the positioning pin penetrates the bottom ring to connect the threaded barrel to the outer sleeve or the middle sleeve; The bottom ring includes a bottom abutting ring for abutting against the bottom of the outer sleeve or the bottom of the middle sleeve and two middle sleeve limiting rings or two inner sleeve limiting rings. The bottom abutting ring and the middle sleeve limiting ring or the inner sleeve limiting ring are an integrated structure. A sealing area is formed between the two middle sleeve limiting rings or the two inner sleeve limiting rings. A sealing wear-resistant ring is installed in the sealing area. The sealing wear-resistant ring is in sliding abutment with the outer wall of the middle sleeve or the outer wall of the inner sleeve. The bottom abutment ring is provided with a plurality of threaded holes for the positioning pins to pass through; the tops of the middle tube limiting ring and the inner tube limiting ring are both provided with top buffer rings; the threaded barrel is threadedly connected to the outer sleeve or the middle sleeve through the threads in the threaded cavity, the outer side wall of the threaded barrel is arranged flush with the outer side wall of the outer sleeve or the outer side wall of the middle sleeve, and the outer side wall of the threaded barrel is provided with anti-slip grooves on the circumference.

6. The automatic alignment method for top loading and unloading train crane pipes according to claim 5, characterized in that: In step 4), the wire retractor is equipped with a torque sensor or a current detection device for real-time monitoring of the load torque of the driving wire rope or the operating current of the motor; when the end of the inner sleeve contacts the liquid surface, causing the load to increase, the torque or current change signal is used to determine that the liquid outlet has reached the liquid surface and control the outlet to stop extending; The wire retractor includes a drive motor, a reel and a wire rope; the drive motor is connected to the reel through a motor shaft, one end of the wire rope is connected to the reel, and the other end of the wire rope is connected to the bottom of the inner sleeve; the drive motor of the wire retractor is an explosion-proof motor.

7. The automatic alignment method for top loading and unloading train crane pipes according to any one of claims 3 to 6, characterized in that: The bottom of the pump body is provided with a filtering structure, which includes a hollow frame, the top of the hollow frame is rotatably connected to a connecting ring for being threadedly connected to the pump body, a plurality of bottom buffer rings are provided on the hollow frame for docking with the bottom of the suction tube, and a plurality of suspended filter meshes are provided on the bottom buffer ring, the filter mesh is an arc-shaped structure, the bottom of the filter mesh forms a bowl-shaped interception cavity, the diameter of the filter mesh is smaller than the inner diameter of the suction tube, a plurality of push rods are connected to the outside of the filter mesh, the plurality of push rods are arranged at intervals along the circumference of the outer side of the filter mesh, the push rods are arranged perpendicular to the filter mesh, the length of the push rod is greater than the length of the suction tube, the bottom of the push rod passes through the bottom buffer ring and is horizontally bent away from the suction tube to form a bottom-touching foot; When the filter structure needs to be installed on the pump body, first insert the filter mesh into the suction pipe, and then rotate the connecting ring to connect it with the pump body thread; When the pump body descends to the inner bottom of the train tank car, the bottom-contacting foot abuts against the inner bottom of the train tank car, so that the bottom-contacting foot pushes the filter mesh to move upward in the suction pipe through the pushing rod until the filter mesh rises to the pump cavity of the pump body. At this time, the outer side wall of the filter mesh and the top opening of the suction pipe are spaced to form a lateral suction area.

8. The automatic alignment method for top loading and unloading train crane pipes according to claim 7, characterized in that: The outer periphery of the bottom contact foot is provided with a wear-resistant sleeve, the top of the bottom contact foot is connected to a guide column, a compression spring is provided on the outer periphery of the guide column, the top of the compression spring is inserted in the bottom buffer ring, and the bottom of the bottom buffer ring is provided with a positioning groove for connecting the compression spring; when the bottom contact foot moves upward to the set position, the top part of the guide column is inserted in the positioning groove.

9. The automatic alignment method for top loading and unloading train crane pipes according to any one of claims 1 to 6, characterized in that: In step 3), the linear motion component includes a horizontal frame, the horizontal frame is rotatably connected to the column, the bottom of the horizontal frame is engaged with the output end of the rotation mechanism, a linear track for horizontal sliding of the Z-axis motion component is installed on the horizontal frame, and a linear motor for driving the Z-axis motion component to move horizontally is connected to the linear track; The Z-axis motion component includes a moving frame installed on a linear track, a Z-axis track installed in the moving frame, an electric push rod driving the Z-axis movement of the train-specific vertical pipe installed in the Z-axis track, a moving head connected to the Z-axis motor is provided on the Z-axis track, the moving head is connected to the train-specific vertical pipe through a buffer column, the lower part of the buffer column passes through the top of the moving head from top to bottom and is exposed below the bottom of the moving head, a reset spring is provided on the lower part of the buffer column, the two ends of the reset spring are respectively in contact with the moving head and the train-specific vertical pipe, the top of the moving head is connected to a limit sensor, and the limit sensor is arranged vertically opposite to the upper part of the buffer column.

10. The automatic alignment method for top loading and unloading train crane pipes according to claim 9, characterized in that: In step 3), the liquid receiving mechanism includes a servo motor, the servo motor is mounted on the side wall of the mobile frame, the servo motor is connected to a rotating rod, and the bottom of the rotating rod is connected to the liquid receiving bucket; The rotating mechanism includes a rotating motor for driving the horizontal frame to rotate. The rotating motor is installed on the column, and the output end of the rotating motor is engaged with the bottom of the horizontal frame.

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