A ship-to-ship LNG filling arm

Abstract

The present invention discloses a ship-to-ship LNG filling arm, which relates to the technical field of filling arms. The present invention includes a robotic arm, an air injection mounting member, and a filling gun head assembly; the filling gun head assembly is rotationally matched with the robotic arm; the first filling arm assembly is rotationally matched with the second filling arm assembly; one end of a metal bellows expansion joint is rotationally and threadedly matched with a commutation assembly; the commutation assembly is meshed and matched with a driving bevel gear; one connecting end of the metal bellows expansion joint is rotationally matched with an adjusting assembly. By controlling the first hydraulic cylinder to drive the rack to move and drive the rotation of the driven gear, the angle adjustment between the first filling arm assembly and the second filling arm assembly is realized; by starting the driving motor to drive the driving bevel gear to rotate, thereby driving the rotation of the driven bevel gear, the angle adjustment between the commutation assembly and the second filling arm assembly bracket is realized; through the setting of the metal bellows expansion joint and the adjusting assembly, the multi-degree-of-freedom adjustment and rapid docking of the filling arm are realized.

Description

Technical Field

[0001] The present invention belongs to the technical field of filling arms, and particularly relates to a ship-to-ship LNG filling arm. Background Art

[0002] Natural gas has become the preferred fuel for green environmental protection ships due to its high calorific value, sulfur-free content, and clean combustion. Due to the good environmental protection performance of LNG fuel, countries around the world have vigorously developed LNG-powered ships. Compared with other traditional filling methods, filling LNG through an LNG fuel filling ship has the advantages of good mobility, convenience, speed, and high efficiency. To overcome the problem of relative displacement between two ships, a hose connection method is usually adopted for ship-to-ship docking.

[0003] However, this method must be operated by professional operators on-site, with a complex process and a low safety factor; although traditional filling arms are easy to operate, they have requirements for the freeboard heights of the filling ship and the ship receiving the filling, with a small applicable range and inflexibility, so they are less used in practical applications. Therefore, to improve the filling efficiency, it is very necessary to design a filling arm with multiple degrees of freedom and fast docking ability by combining the structure of a traditional robotic arm. Summary of the Invention

[0004] The purpose of the present invention is to provide a ship-to-ship LNG filling arm. By controlling the first hydraulic cylinder to drive the rack to move, thereby driving the rotation of the driven gear, the angle between the first filling arm assembly and the second filling arm assembly is adjusted; by starting the drive motor to drive the drive bevel gear to rotate, thereby driving the rotation of the driven bevel gear, the angle between the reversing assembly and the bracket of the second filling arm assembly is adjusted; through the setting of the metal bellows expansion joint and the adjustment assembly, the adjustment of the filling angle is facilitated; the multi-degree-of-freedom adjustment and fast docking of the filling arm are realized.

[0005] To solve the above technical problems, the present invention is realized through the following technical solutions:

[0006] The present invention is a ship-to-ship LNG filling arm, including a robotic arm, a gas injection mounting part, and a filling gun head assembly; the filling gun head assembly is rotationally matched with the robotic arm; the robotic arm includes a first filling arm assembly and a second filling arm assembly; the first filling arm assembly is rotationally matched with the second filling arm assembly;

[0007] The second filling arm assembly includes a C-shaped mounting frame; a sliding plate is slidably matched with the C-shaped mounting frame; a drive motor is fixedly installed on the surface of the sliding plate; the output end of the drive motor is fixedly connected with a drive bevel gear; a connecting plate is fixedly connected to the side of the sliding plate; one end of the connecting plate is fixedly connected with a rotating ring; a second hydraulic cylinder is fixedly connected between the C-shaped mounting frame and the sliding plate;

[0008] The filling gun head assembly includes a metal corrugated expansion joint; both connecting ends of the metal corrugated expansion joint are provided with external threads; one end of the metal corrugated expansion joint is rotationally and threadedly engaged with a commutation assembly; the commutation assembly is meshed and engaged with a driving bevel gear;

[0009] One connecting end of the metal corrugated expansion joint is rotationally engaged with an adjusting assembly; the other connecting end of the metal corrugated expansion joint is sleeved and engaged with the adjusting assembly; the other end of the metal corrugated expansion joint is rotationally and threadedly engaged with an air injection connecting piece; the air injection connecting piece is slidably engaged with an air injection gun head; a return spring is fixedly connected between the air injection gun head and the air injection connecting piece.

[0010] Further, the first filling arm assembly includes a support plate; a C-shaped sliding plate is slidably engaged with the support plate; a base is fixedly connected to the bottom surface of the support plate; a first wire threading sleeve is fixedly connected to the side surface of the support plate; a first hydraulic cylinder is fixedly connected between the C-shaped sliding plate and the support plate.

[0011] Further, a gear bar is arranged on the surface of the C-shaped sliding plate; rotating sleeves are symmetrically and fixedly connected to the surface of the support plate; rotating shafts are symmetrically and fixedly connected to both side surfaces of the C-shaped mounting frame; a driven gear is fixedly connected to one end of each rotating shaft; the rotating shafts are rotationally engaged with the rotating sleeves; the driven gears are meshed and engaged with the gear bar; a second wire threading sleeve is fixedly connected to the side surface of the C-shaped mounting frame.

[0012] Further, a connecting sleeve is fixedly connected to the circumferential side surface of one connecting end of the metal corrugated expansion joint; a first annular channel is opened in the inner wall of the connecting sleeve; the adjusting assembly includes a rotating rod; a limiting ring is fixedly connected to the circumferential side surface of the rotating rod near one end; the limiting ring is rotationally engaged with the first annular channel.

[0013] Further, a sliding sleeve is fixedly connected to one end of the rotating rod; a reinforcing rib is fixedly connected between the sliding sleeve and the rotating rod; a first sliding rod is slidably engaged with the sliding sleeve; a second sliding rod is fixedly connected to one end of the first sliding rod; a sliding frame is slidably engaged with the second sliding rod; a socket ring is fixedly connected to one end of the sliding frame; the socket ring is sleeved and engaged with the other connecting end of the metal corrugated expansion joint; a connecting spring is fixedly connected between the second sliding rod and the sliding frame.

[0014] Further, the commutation assembly includes a motor fixed shell; a servo motor is fixedly installed inside the motor fixed shell; an air inlet connecting pipe is fixedly connected to the output end of the servo motor; an air injection pipe is arranged at one end of the air inlet connecting pipe; a first threaded pipe is fixedly connected to the other end of the air injection pipe; the first threaded pipe is rotationally and threadedly engaged with one connecting end of the metal corrugated expansion joint.

[0015] Further, a rotating rod is fixedly connected to the side of the motor fixed housing; one end of the rotating rod is fixedly connected to a driven bevel gear; a ring-shaped limiting plate is fixedly connected to the side of the motor fixed housing; a ring-shaped rail is fixedly connected to the circumferential surface of the ring-shaped limiting plate; a second ring-shaped channel is formed in the inner wall of the rotating ring; the ring-shaped rail is rotationally matched with the second ring-shaped channel; the driving bevel gear is meshed with the driven bevel gear.

[0016] Further, the air injection connecting piece includes an air supply connecting pipe; one end of the air supply connecting pipe is fixedly connected to a second threaded pipe; the second threaded pipe is rotationally matched with the other connecting end of the metal bellows expansion joint by threads; a sliding hole is formed in the inner bottom surface of the air supply connecting pipe; the air injection gun head includes a piston; a side surface of the piston is fixedly connected to an air injection needle tube; the piston is slidably matched with the air supply connecting pipe; the air injection needle tube is slidably matched with the sliding hole.

[0017] Further, arc-shaped sealing plates are fixedly connected to the inner bottom surface of the air supply connecting pipe in a circumferential array; ventilation openings are formed in the circumferential surface of the air injection needle tube in a circumferential array; arc-shaped grooves are formed in the side surface of the piston in a circumferential array; the arc-shaped sealing plates are slidably matched with the arc-shaped grooves.

[0018] Further, one end of the air supply connecting pipe is fixedly connected to a horn-shaped housing; one end of the horn-shaped housing is fixedly connected to a mounting plate; a ring-shaped plug-in housing is fixedly connected to the side surface of the mounting plate; a telescopic adjusting rod is fixedly connected to the side surface of the mounting plate; an arc-shaped plug is fixedly connected to the telescopic end of the telescopic adjusting rod; the air injection mounting piece includes an air inlet pipe; the air inlet pipe is plugged with the ring-shaped plug-in housing; one end of the air inlet pipe is fixedly connected to a fixing plate; a ring-shaped slot is formed in the circumferential surface of the air inlet pipe; an arc-shaped slot is formed in the circumferential surface of the ring-shaped plug-in housing; the arc-shaped plug is plugged with the ring-shaped slot and the arc-shaped slot; a rubber plug is slidably matched with the inner wall of the air inlet pipe; a compression spring is fixedly connected between the rubber plug and the fixing plate; the air supply connecting pipe is arranged on the circumferential surface of the air inlet pipe.

[0019] The present invention has the following beneficial effects:

[0020] 1. By controlling the start of the first hydraulic cylinder to drive the rack to move, thereby driving the rotation of the driven gear, the present invention realizes the angle adjustment between the first filling arm assembly and the second filling arm assembly.

[0021] 2. By controlling the start of the second hydraulic cylinder to drive the sliding plate to move on the C-shaped mounting frame, the filling distance is extended; the base can rotate on the filling ship, facilitating the retraction of the robotic arm together with the filling gun head assembly into the ship.

[0022] 3. By starting the driving motor to drive the driving bevel gear to rotate, thereby driving the rotation of the driven bevel gear, the present invention realizes the angle adjustment between the commutation assembly and the bracket of the second filling arm assembly.

[0023] 4. The present invention facilitates the adjustment of the filling angle through the setting of the metal bellows expansion joint and the adjustment component; by starting the servo motor to drive the intake connection pipe and the filling gun head component to rotate, the multi-degree-of-freedom adjustment of the filling arm and the rapid docking are realized.

[0024] 5. The present invention fixedly installs the air injection installation part on the ship to be filled. After adjusting the optimal filling position, the staff pulls the air injection connecting part, so that one end of the intake pipe is inserted into the annular plugging shell, and the telescopic adjustment rod is adjusted to drive the arc-shaped insertion plate to insert into the annular slot, playing a role of fixing and limiting, and preventing the filling connection from shaking and falling off during the filling process.

[0025] 6. The present invention makes the flexible connection between the filling ship and the ship to be filled through the setting of the metal bellows expansion joint and the adjustment component, and makes the overall filling arm and the ship to be filled in a dynamic connection, preventing stress damage to the filling arm and the filling port caused by the displacement of the two ships and accidents from occurring.

[0026] Of course, it is not necessary for any product implementing the present invention to simultaneously achieve all the above-mentioned advantages. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for describing the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention, and those of ordinary skill in the art can also obtain other drawings based on these drawings without creative efforts.

[0028] Figure 1 It is a schematic structural diagram of a ship-to-ship LNG filling arm of the present invention.

[0029] Figure 2 It is a schematic structural diagram of the robotic arm of the present invention.

[0030] Figure 3 It is a schematic structural diagram of the air injection installation part of the present invention.

[0031] Figure 4 It is a schematic structural diagram of the filling gun head component of the present invention.

[0032] Figure 5 It is a schematic structural diagram of the first filling arm component of the present invention.

[0033] Figure 6 It is a schematic structural diagram of the second filling arm component of the present invention.

[0034] Figure 7 It is a schematic structural diagram of the metal bellows expansion joint of the present invention.

[0035] Figure 8 This is a schematic structural diagram of the commutation component of the present invention.

[0036] Figure 9 This is a schematic structural diagram of the commutation component from the front view angle of the present invention.

[0037] Figure 10 This is a schematic structural diagram of the adjustment component of the present invention.

[0038] Figure 11 This is a schematic structural diagram of the gas injection connection part of the present invention.

[0039] Figure 12 This is a schematic structural diagram of the gas injection gun head of the present invention.

[0040] In the attached drawings, the list of components represented by each reference numeral is as follows:

[0041] 1 - robotic arm, 2 - gas injection mounting part, 3 - filling gun head assembly, 4 - first filling arm assembly, 5 - second filling arm assembly, 6 - C-shaped mounting frame, 7 - sliding plate, 8 - driving motor, 9 - driving bevel gear, 10 - connecting plate, 11 - rotating ring, 12 - metal bellows expansion joint, 13 - external thread, 14 - commutation component, 15 - adjustment component, 16 - gas injection connection part, 17 - gas injection gun head, 18 - return spring, 19 - support plate, 20 - C-shaped sliding plate, 21 - base, 22 - first wire threading sleeve, 23 - first hydraulic cylinder, 24 - rack, 25 - rotating sleeve, 26 - rotating shaft, 27 - driven gear, 28 - second wire threading sleeve, 29 - connecting sleeve, 30 - first annular channel, 31 - rotating rod, 32 - limiting ring, 33 - sliding sleeve, 34 - reinforcing rib, 35 - first sliding rod, 36 - second sliding rod, 37 - sliding frame, 38 - socket ring, 39 - connecting spring, 40 - motor fixing shell, 41 - servo motor, 42 - intake connection pipe, 43 - gas injection pipe, 44 - first threaded pipe, 45 - rotating rod, 46 - driven bevel gear, 47 - annular limiting plate, 48 - annular rail, 49 - gas supply connection pipe, 50 - second threaded pipe, 51 - sliding hole, 52 - piston, 53 - gas injection needle tube, 54 - arc-shaped sealing plate, 55 - ventilation port, 56 - arc-shaped channel, 57 - horn-shaped housing, 58 - mounting plate, 59 - annular plug-in housing, 60 - telescopic adjustment rod, 61 - arc-shaped plug, 62 - intake pipe, 63 - fixing plate, 64 - annular slot, 65 - arc-shaped slot, 66 - rubber plug, 67 - extrusion spring, 68 - gas injection connection pipe, 69 - second annular channel, 70 - second hydraulic cylinder. Detailed implementation manners

[0042] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0043] Please refer to Figures 1-12 As shown, the present invention is a ship-to-ship LNG filling arm, which includes a robotic arm 1, a gas injection mounting member 2, and a filling gun head assembly 3; the filling gun head assembly 3 is rotationally matched with the robotic arm 1; the robotic arm 1 includes a first filling arm assembly 4 and a second filling arm assembly 5; the first filling arm assembly 4 is rotationally matched with the second filling arm assembly 5; the second filling arm assembly 5 includes a C-shaped mounting frame 6; a sliding plate 7 is slidably matched with the C-shaped mounting frame 6; a connecting plate 10 is fixedly connected to the side surface of the sliding plate 7; a rotating ring 11 is fixedly connected to one end of the connecting plate 10; a second hydraulic cylinder 70 is fixedly connected between the C-shaped mounting frame 6 and the sliding plate 7; the filling gun head assembly 3 includes a metal bellows expansion joint 12; external threads 13 are provided at both connecting ends of the metal bellows expansion joint 12; an adjusting assembly 15 is rotationally matched with one connecting end of the metal bellows expansion joint 12; the other connecting end of the metal bellows expansion joint 12 is sleeved and matched with the adjusting assembly 15; an air injection connecting member 16 is rotationally and threadedly matched with the other end of the metal bellows expansion joint 12; an air injection gun head 17 is slidably matched with the air injection connecting member 16; a return spring 18 is fixedly connected between the air injection gun head 17 and the air injection connecting member 16; the base 21 can rotate on the filling ship, and can retract the robotic arm 1 and the filling gun head assembly 3 onto the ship, and fixedly install the gas injection mounting member 2 at a corresponding position on the ship to be filled; the gas injection pipe 43 respectively passes through the first wire threading sleeve 22 and the second wire threading sleeve 28 and is provided at one end of the intake connection pipe 42.

[0044] Among them, the first filling arm assembly 4 includes a support plate 19; a C-shaped sliding plate 20 is slidably matched with the support plate 19; a base 21 is fixedly connected to the bottom surface of the support plate 19; a first wire threading sleeve 22 is fixedly connected to the side surface of the support plate 19; a first hydraulic cylinder 23 is fixedly connected between the C-shaped sliding plate 20 and the support plate 19; a gear rack 24 is arranged on the surface of the C-shaped sliding plate 20; rotating sleeves 25 are symmetrically and fixedly connected to the surface of the support plate 19; rotating shafts 26 are symmetrically and fixedly connected to both side surfaces of the C-shaped mounting frame 6; a driven gear 27 is fixedly connected to one end of the rotating shaft 26; the rotating shaft 26 is rotationally matched with the rotating sleeve 25; the driven gear 27 is meshed with the gear rack 24; a second wire threading sleeve 28 is fixedly connected to the side surface of the C-shaped mounting frame 6; by starting the first hydraulic cylinder 23 to drive the gear rack 24 to slide along the support plate 19, thereby driving the rotation of the driven gear 27, the angle adjustment between the first filling arm assembly 4 and the second filling arm assembly 5 is realized.

[0045] Among them, one connecting end of the metal bellows expansion joint 12 is fixedly connected to the connecting sleeve 29 on the circumferential side; a first annular channel 30 is formed on the inner wall of the connecting sleeve 29; the adjusting assembly 15 includes a rotating rod 31; a limiting ring 32 is fixedly connected to the circumferential side of the rotating rod 31 near one end; the limiting ring 32 is rotationally matched with the first annular channel 30; one end of the rotating rod 31 is fixedly connected to a sliding sleeve 33; a reinforcing rib 34 is fixedly connected between the sliding sleeve 33 and the rotating rod 31; the sliding sleeve 33 is slidably matched with a first sliding rod 35; one end of the first sliding rod 35 is fixedly connected to a second sliding rod 36; the second sliding rod 36 is slidably matched with a sliding frame 37; one end of the sliding frame 37 is fixedly connected to a socket ring 38; the socket ring 38 is socketed and matched with the other connecting end of the metal bellows expansion joint 12; a connecting spring 39 is fixedly connected between the second sliding rod 36 and the sliding frame 37; through the setting of the metal bellows expansion joint 12 and the adjusting assembly 15, the adjustment of each angle at the filling connection is realized.

[0046] Among them, the reversing assembly 14 includes a motor fixed shell 40; a servo motor 41 is fixedly installed inside the motor fixed shell 40; the output end of the servo motor 41 is fixedly connected to an air inlet connecting pipe 42; one end of the air inlet connecting pipe 42 is provided with an injection pipe 43; the other end of the injection pipe 43 is fixedly connected to a first threaded pipe 44; the first threaded pipe 44 is rotationally threadedly matched with one connecting end of the metal bellows expansion joint 12; by starting the servo motor 41 to drive the rotation of the air inlet connecting pipe 42, the air inlet connecting pipe 42 together with the filling gun head assembly 3 is rotated.

[0047] Among them, one end of the metal bellows expansion joint 12 is rotationally threadedly matched with the reversing assembly 14; the reversing assembly 14 is meshed and matched with the driving bevel gear 9; a driving motor 8 is fixedly installed on the surface of the sliding plate 7; the output end of the driving motor 8 is fixedly connected to the driving bevel gear 9; a rotating rod 45 is fixedly connected to the side of the motor fixed shell 40; a driven bevel gear 46 is fixedly connected to one end of the rotating rod 45; an annular limiting plate 47 is fixedly connected to the side of the motor fixed shell 40; an annular rail 48 is fixedly connected to the circumferential side of the annular limiting plate 47; a second annular channel 69 is formed on the inner wall of the rotating ring 11; the annular rail 48 is rotationally matched with the second annular channel 69; the driving bevel gear 9 is meshed and matched with the driven bevel gear 46; by starting the driving motor 8 to drive the driving bevel gear 9, the reversing assembly 14 is driven to rotate around the rotating ring 11.

[0048] Among them, the gas injection connector 16 includes a gas supply connecting pipe 49; one end of the gas supply connecting pipe 49 is fixedly connected with a second threaded pipe 50; the second threaded pipe 50 is in threaded rotation fit with the other connecting end of the metal bellows expansion joint 12; a sliding hole 51 is opened on the inner bottom surface of the gas supply connecting pipe 49; the gas injection gun head 17 includes a piston 52; a gas injection needle tube 53 is fixedly connected to the side surface of the piston 52; the piston 52 is in sliding fit with the gas supply connecting pipe 49; the gas injection needle tube 53 is in sliding fit with the sliding hole 51; arc-shaped sealing plates 54 are fixedly connected to the inner bottom surface of the gas supply connecting pipe 49 in a circumferential array; ventilation openings 55 are opened on the circumferential side surface of the gas injection needle tube 53 in a circumferential array; arc-shaped channels 56 are opened on the side surface of the piston 52 in a circumferential array; the arc-shaped sealing plates 54 are in sliding fit with the arc-shaped channels 56; natural gas enters the gas injection needle tube 53 and pushes the piston 52 to slide towards the horn-shaped housing 57. As the ventilation openings 55 are exposed in the horn-shaped housing 57, the natural gas is sent out, and the gas output can be controlled by controlling the flow rate of the injected natural gas.

[0049] Among them, a horn-shaped housing 57 is fixedly connected to one end of the gas supply connecting pipe 49; an installation plate 58 is fixedly connected to one end of the horn-shaped housing 57; an annular plug-in housing 59 is fixedly connected to the side surface of the installation plate 58; a telescopic adjusting rod 60 is fixedly connected to the side surface of the installation plate 58; an arc-shaped plug board 61 is fixedly connected to the telescopic end of the telescopic adjusting rod 60; the gas injection installation part 2 includes an air inlet pipe 62; the air inlet pipe 62 is in plug-in fit with the annular plug-in housing 59; one end of the air inlet pipe 62 is fixedly connected with a fixing plate 63; an annular slot 64 is opened on the circumferential side surface of the air inlet pipe 62; an arc-shaped slot 65 is opened on the circumferential side surface of the annular plug-in housing 59; the arc-shaped plug board 61 is in plug-in fit with the annular slot 64 and the arc-shaped slot 65; a rubber plug 66 is in sliding fit with the inner wall of the air inlet pipe 62; a compression spring 67 is fixedly connected between the rubber plug 66 and the fixing plate 63; a gas injection connecting pipe 68 is arranged on the circumferential side surface of the air inlet pipe 62; fix the fixing plate 63 on the ship to be refueled, connect the gas injection connecting pipe 68 to the air inlet of the ship to be refueled. After the best refueling position is adjusted, the operator pulls the gas injection connector 16 to insert one end of the air inlet pipe 62 into the annular plug-in housing 59, adjusts the telescopic adjusting rod 60, drives the arc-shaped plug board 61 to pass through the arc-shaped slot 65 and insert into the annular slot 64 to play a role of fixing and limiting; natural gas pushes the rubber plug 66 to squeeze the compression spring 67 and slide in the air inlet pipe 62, and the natural gas is injected into the ship to be refueled through the gas injection connecting pipe 68, while preventing the natural gas in the ship to be refueled from flowing back into the gas injection connector 16.

[0050] The specific working principle of the present invention is:

[0051] Fix the fixed plate 63 on the gas injection installation member 2 to the ship to be refueled, connect the gas injection connection pipe 68 to the air inlet on the ship to be refueled. The base 21 can rotate on the refueling ship, and the robotic arm 1 and the refueling gun head assembly 3 can be retracted onto the ship. By starting the first hydraulic cylinder 23 to drive the rack 24 to slide along the support plate 19, thereby driving the rotation of the driven gear 27, the angle adjustment between the first refueling arm assembly 4 and the second refueling arm assembly 5 is realized. By starting the servo motor 41 to drive the rotation of the air inlet connection pipe 42, the air inlet connection pipe 42 together with the refueling gun head assembly 3 is rotated. By starting the drive motor 8 to drive the drive bevel gear 9, thereby driving the reversing assembly 14 to rotate around the rotating ring 11. Through the setting of the metal bellows expansion joint 12 and the adjustment assembly 15, the angle adjustment at the refueling connection is realized. The operator pulls the gas injection connection member 16 so that one end of the gas inlet pipe 62 is inserted into the annular plugging shell 59, adjusts the telescopic adjustment rod 60, drives the arc-shaped plug plate 61 to pass through the arc-shaped slot 65 and insert into the annular slot 64, playing a role of fixing and limiting. Natural gas enters the gas injection needle tube 53 to push the piston 52 to slide towards the horn-shaped shell 57. As the ventilation port 55 is exposed in the horn-shaped shell 57, the natural gas is sent out. The gas output can be controlled by controlling the flow rate of the refueling natural gas. The natural gas pushes the rubber plug 66 to squeeze the compression spring 67 to slide in the gas inlet pipe 62, and the natural gas is injected into the ship to be refueled through the gas injection connection pipe 68, while preventing the natural gas in the ship to be refueled from flowing back into the gas injection connection member 16.

[0052] In the description of this specification, the descriptions referring to the terms "one embodiment", "example", "specific example", etc. mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0053] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor limit the invention to the specific embodiments described. Obviously, according to the content of this specification, many modifications and changes can be made. This specification selects and specifically describes these embodiments to better explain the principle and practical application of the present invention, so that those skilled in the art in the relevant technical field can understand and utilize the present invention well. The present invention is only limited by the claims and their full scope and equivalents.

Claims

1. A ship-to-ship LNG filling arm, comprising a robotic arm (1), a gas injection mounting member (2) and a filling gun head assembly (3); the filling gun head assembly (3) is rotationally engaged with the robotic arm (1); Characterized in that: The robotic arm (1) includes a first filling arm assembly (4) and a second filling arm assembly (5); the first filling arm assembly (4) is rotationally engaged with the second filling arm assembly (5); The second filling arm assembly (5) includes a C-shaped mounting frame (6); a sliding plate (7) is slidably engaged with the C-shaped mounting frame (6); a driving motor (8) is fixedly mounted on the surface of the sliding plate (7); a driving bevel gear (9) is fixedly connected to the output end of the driving motor (8); a connecting plate (10) is fixedly connected to the side of the sliding plate (7); a rotating ring (11) is fixedly connected to one end of the connecting plate (10); a second hydraulic cylinder (70) is fixedly connected between the C-shaped mounting frame (6) and the sliding plate (7); The filling gun head assembly (3) includes a metal bellows expansion joint (12); external threads (13) are provided at both connecting ends of the metal bellows expansion joint (12); a reversing assembly (14) is rotationally engaged with one end of the metal bellows expansion joint (12) by threads; the reversing assembly (14) is meshed with the driving bevel gear (9); An adjusting assembly (15) is rotationally engaged with one connecting end of the metal bellows expansion joint (12); the other connecting end of the metal bellows expansion joint (12) is sleeved with the adjusting assembly (15); a gas injection connecting member (16) is rotationally engaged with the other end of the metal bellows expansion joint (12) by threads; a gas injection gun head (17) is slidably engaged with the gas injection connecting member (16); a return spring (18) is fixedly connected between the gas injection gun head (17) and the gas injection connecting member (16); A connecting sleeve (29) is fixedly connected to the circumferential side of one connecting end of the metal bellows expansion joint (12); a first annular channel (30) is provided on the inner wall of the connecting sleeve (29); the adjusting assembly (15) includes a rotating rod (31); a limiting ring (32) is fixedly connected to the circumferential side of the rotating rod (31) near one end; the limiting ring (32) is rotationally engaged with the first annular channel (30); The reversing assembly (14) includes a motor fixing shell (40); a servo motor (41) is fixedly installed inside the motor fixing shell (40); an air inlet connecting pipe (42) is fixedly connected to the output end of the servo motor (41); a gas injection pipe (43) is provided at one end of the air inlet connecting pipe (42); a first threaded pipe (44) is fixedly connected to the other end of the gas injection pipe (43); the first threaded pipe (44) is rotationally engaged with one connecting end of the metal bellows expansion joint (12) by threads.

2. A ship-to-ship LNG filling arm according to claim 1, Characterized in that, The first filling arm assembly (4) includes a support plate (19); a C-shaped sliding plate (20) is slidably engaged with the support plate (19); a base (21) is fixedly connected to the bottom surface of the support plate (19); a first wire threading sleeve (22) is fixedly connected to the side surface of the support plate (19); a first hydraulic cylinder (23) is fixedly connected between the C-shaped sliding plate (20) and the support plate (19).

3. A ship-to-ship LNG filling arm according to claim 2, wherein, a gear rack (24) is arranged on the surface of the C-shaped sliding plate (20); rotating sleeves (25) are symmetrically and fixedly connected to the surface of the support plate (19); rotating shafts (26) are symmetrically and fixedly connected to both side surfaces of the C-shaped mounting frame (6); a driven gear (27) is fixedly connected to one end of the rotating shaft (26); the rotating shaft (26) is rotatably engaged with the rotating sleeve (25); the driven gear (27) is meshed with the gear rack (24); a second wire threading sleeve (28) is fixedly connected to the side surface of the C-shaped mounting frame (6).

4. A ship-to-ship LNG filling arm according to claim 3, wherein, a sliding sleeve (33) is fixedly connected to one end of the rotating rod (31); a reinforcing rib (34) is fixedly connected between the sliding sleeve (33) and the rotating rod (31); a first sliding rod (35) is slidably engaged with the sliding sleeve (33); a second sliding rod (36) is fixedly connected to one end of the first sliding rod (35); a sliding frame (37) is slidably engaged with the second sliding rod (36); a socket ring (38) is fixedly connected to one end of the sliding frame (37); the socket ring (38) is socketed and engaged with the other connecting end of the metal bellows expansion joint (12); a connecting spring (39) is fixedly connected between the second sliding rod (36) and the sliding frame (37).

5. A ship-to-ship LNG filling arm according to claim 1, wherein, a rotating rod (45) is fixedly connected to the side surface of the motor fixed housing (40); a driven bevel gear (46) is fixedly connected to one end of the rotating rod (45); an annular limiting plate (47) is fixedly connected to the side surface of the motor fixed housing (40); an annular rail (48) is fixedly connected to the circumferential side surface of the annular limiting plate (47); a second annular channel (69) is formed in the inner wall of the rotating ring (11); the annular rail (48) is rotatably engaged with the second annular channel (69); the driving bevel gear (9) is meshed with the driven bevel gear (46).

6. A ship-to-ship LNG filling arm according to claim 1, wherein, The gas injection connector (16) includes a gas supply connecting pipe (49); one end of the gas supply connecting pipe (49) is fixedly connected with a second threaded pipe (50); the second threaded pipe (50) is in threaded rotational fit with the other connecting end of the metal bellows expansion joint (12); a sliding hole (51) is formed in the inner bottom surface of the gas supply connecting pipe (49); the gas injection gun head (17) includes a piston (52); a gas injection needle tube (53) is fixedly connected to the side surface of the piston (52); the piston (52) is in sliding fit with the gas supply connecting pipe (49); the gas injection needle tube (53) is in sliding fit with the sliding hole (51).

7. A ship-to-ship LNG filling arm according to claim 6, wherein, arc-shaped sealing plates (54) are fixedly connected to the inner bottom surface of the gas supply connecting pipe (49) in a circumferential array; ventilation openings (55) are formed in the circumferential side surface of the gas injection needle tube (53) in a circumferential array; arc-shaped channels (56) are formed in the side surface of the piston (52) in a circumferential array; the arc-shaped sealing plates (54) are in sliding fit with the arc-shaped channels (56).

8. A ship-to-ship LNG filling arm according to claim 7, wherein, one end of the gas supply connecting pipe (49) is fixedly connected with a horn-shaped housing (57); one end of the horn-shaped housing (57) is fixedly connected with a mounting plate (58); a ring-shaped plug-in housing (59) is fixedly connected to the side surface of the mounting plate (58); a telescopic adjusting rod (60) is fixedly connected to the side surface of the mounting plate (58); an arc-shaped plug board (61) is fixedly connected to the telescopic end of the telescopic adjusting rod (60); the gas injection mounting part (2) includes an air inlet pipe (62); the air inlet pipe (62) is in plug-in fit with the ring-shaped plug-in housing (59); a fixing plate (63) is fixedly connected to one end of the air inlet pipe (62); an annular slot (64) is formed in the circumferential side surface of the air inlet pipe (62); an arc-shaped slot (65) is formed in the circumferential side surface of the ring-shaped plug-in housing (59); the arc-shaped plug board (61) is in plug-in fit with the annular slot (64) and the arc-shaped slot (65); a rubber plug (66) is in sliding fit with the inner wall of the air inlet pipe (62); a compression spring (67) is fixedly connected between the rubber plug (66) and the fixing plate (63); a gas injection connecting pipe (68) is arranged on the circumferential side surface of the air inlet pipe (62).

Images