Vehicle-mounted oil feeding mechanical arm

Abstract

A vehicle-mounted oil transfer robotic arm includes a trailer chassis. A support leg mounting base is located on the rear half of the trailer chassis. A rotating base is located at the upper end of the support leg mounting base. The fixed end of an extendable and foldable robotic arm is hinged to the rotating base. The robotic arm consists of at least three sequentially connected arms. Each hinge point is equipped with a rotary encoder. Each arm of the robotic arm has a parallel oil transfer pipe section. Adjacent oil transfer pipe sections are connected via a rotary joint. The rotation center of the rotary joint is located on the same axis as the rotation center of the adjacent hinged arms. The end of the oil transfer pipe at the free end of the robotic arm is connected to an output pipe via the rotary joint. A control arm and a rotary encoder are mounted on the rotary joint. The control arm is connected to a control cylinder located at the free end of the robotic arm. A base plate for mounting equipment is located on the front half of the trailer chassis. A control console, a hydraulic power system, and a hydraulic oil tank are mounted on the base plate.

Description

Technical Field

[0001] This invention relates to the technical field of oil loading and unloading equipment, and particularly to a vehicle-mounted oil conveying robotic arm. Background Technology

[0002] Currently, the conventional oil transfer equipment is the loading arm (or arm-mounted loading arm), a type of extendable pipe primarily used for loading and unloading oil in railway tank cars and highway tank trucks. The loading arm consists of components such as a column, inner arm, outer arm, and vertical pipe. During oil loading and unloading operations, for ease of operation, the loading arm's column is usually fixed to the ground or a fixed platform. The column provides support for the inner arm, outer arm, and vertical pipe, thus facilitating the loading and unloading process. However, this technical solution is highly susceptible to damage to the column, even rendering it unusable, causing the entire loading arm to malfunction and shortening its lifespan. The loading arm's column and inner arm, as well as the inner arm and outer arm, require support brackets or balancing systems to move the vertical pipe to the designated working position. However, this structure suffers from poor strength and insufficient flexibility; when the distance between the vehicle and the loading arm is significant, the vertical pipe cannot be moved to the working position. Currently, loading arms typically require manual operation, resulting in low automation, high labor intensity, and significant safety hazards. Due to structural limitations, loading arms move slowly, leading to low operational efficiency and increased operating costs. Furthermore, the difficulty in moving and storing loading arms encroaches on operational and storage space, increasing space costs. Summary of the Invention

[0003] The purpose of this invention is to address the shortcomings of existing technologies by providing a vehicle-mounted oil transfer robotic arm that solves the problems of high labor intensity, significant safety hazards, low operating efficiency, inconvenient equipment storage, and increased costs during oil transfer.

[0004] The objective of this invention is achieved as follows:

[0005] A vehicle-mounted oil transfer robotic arm includes a trailer chassis. A support leg mounting base is located on the rear half of the trailer chassis. Four extendable and retractable support legs are respectively positioned at the four corners of the support leg mounting base. A rotating base is located at the upper end of the support leg mounting base. The fixed end of an extendable and retractable robotic arm is hinged to the rotating base. The fixed end of the robotic arm is connected to a drive cylinder mounted on the rotating base. The robotic arm consists of at least three sequentially connected arms. Adjacent arms are connected by hinges to form joints. Each joint is equipped with a drive cylinder for controlling the joint. Each hinge point is equipped with a rotary encoder. Each arm of the robotic arm has a parallel oil transfer pipe section. Adjacent oil transfer pipe sections are connected by a rotary joint. The rotation center of the rotary joint is on the same axis as the rotation center of the two adjacent hinged arms. The end of the oil supply pipe at the free end of the robotic arm is connected to an output pipe through the rotary joint. A control arm and a rotary encoder are installed on the rotary joint. The control arm is connected to the control cylinder at the free end of the robotic arm. A pipe connector is installed at the beginning of the oil supply pipe at the fixed end of the robotic arm. A base plate for installing equipment is installed on the front half of the trailer chassis. A control console, a hydraulic power system, and a hydraulic oil tank are installed on the base plate. The hydraulic power system and the rotary encoder are electrically connected to the control console. The hydraulic power system is connected to the hydraulic oil tank, the control cylinder, and each drive cylinder through hydraulic pipes. The rotation of the rotating base is controlled by a rotary motor.

[0006] The four support legs on the support leg fixing seat consist of two front support legs and two rear support legs. The two front support legs are located on both sides of the front end of the support leg fixing seat and are hinged to the support leg fixing seat. The front support legs are connected to the outrigger swing hydraulic cylinders provided on the support leg fixing seat. The two rear support legs extend outward or retract into the support leg fixing seat from both sides of the rear end of the support leg fixing seat through outrigger telescopic hydraulic cylinders. Outrigger support hydraulic cylinders are provided on both the front and rear support legs. The outrigger swing hydraulic cylinders, outrigger telescopic hydraulic cylinders, and outrigger support hydraulic cylinders are all connected to the hydraulic power system through hydraulic pipes.

[0007] The lower end of the rotating base is fixedly mounted on the support leg fixing seat. The upper end of the rotating base is provided with a rotating part. The rotating part is connected to a rotary motor mounted on the support leg fixing seat. The rotary motor is connected to a hydraulic power system through a hydraulic pipe. The rotating part is provided with an upwardly extending robotic arm connecting seat and a first drive cylinder. The fixed end of the robotic arm is hinged to the robotic arm connecting seat and connected to the first drive cylinder.

[0008] The robotic arm includes a lifting arm, a connecting arm, and an extension arm. The fixed end of the lifting arm is hinged to the rotating base, and the other end is sequentially hinged to the connecting arm and the extension arm. A second drive cylinder is provided between the lifting arm and the connecting arm, and a second drive cylinder is provided between the connecting arm and the extension arm.

[0009] A first oil supply pipe is arranged in parallel on the lifting arm, a second oil supply pipe is arranged in parallel on the connecting arm, and a third oil supply pipe is arranged in parallel on the extension arm. The two ends of the second oil supply pipe are respectively connected to the first oil supply pipe and the third oil supply pipe through a first rotary joint. The third oil supply pipe passes through a through hole provided on the free end of the extension arm and is connected to the output pipe through a second rotary joint. The second rotary joint is provided with a control arm and a rotary encoder.

[0010] The oil pipeline is equipped with a transition joint.

[0011] The hydraulic power system includes an engine and a hydraulic pump. The output shaft of the engine is connected to the hydraulic pump. The oil inlet of the hydraulic pump is connected to the hydraulic oil tank through a hydraulic pipe. The oil outlet of the hydraulic pump is connected to a rotary motor, a control cylinder, and a drive cylinder through various hydraulic pipes. A proportional valve is installed on each hydraulic pipe at the oil outlet of the hydraulic pump. The proportional valve, the engine, and the control panel are electrically connected.

[0012] The output tube is equipped with a distance measurement system and a visual positioning system, which are electrically connected to the control console box.

[0013] The lower front half of the trailer chassis is provided with a traction unit for moving the trailer chassis. The traction unit has a traction ring at the front end, a traction wheel in the middle, and a fixed connection at the rear end to the trailer chassis. The lower rear half of the trailer chassis is provided with an axle, and rollers are provided on both sides of the axle.

[0014] The base plate is equipped with a robotic arm support seat, and the folded robotic arm is placed on the base plate through the robotic arm support seat.

[0015] The present invention relates to a vehicle-mounted oil transfer robotic arm, comprising a trailer chassis. The trailer chassis carries the vehicle-mounted oil transfer robotic arm and enables its movement and storage. A support leg fixing seat is provided on the rear half of the trailer chassis. Four extendable and retractable support legs are respectively located at the four corners of the support leg fixing seat, providing support for the vehicle-mounted oil transfer robotic arm during operation and ensuring its stable operation. A rotating base is provided at the upper end of the support leg fixing seat. The fixed end of an extendable and foldable robotic arm is hinged to the rotating base. The fixed end of the robotic arm is connected to a drive cylinder provided on the rotating base. The robotic arm consists of at least three arms connected in sequence. Adjacent arms are connected by hinges to form joints. Each joint is provided with a drive cylinder to control the joint. Each hinge point is provided with a rotary encoder. Each arm of the robotic arm has a parallel oil supply pipe. Adjacent oil supply pipes are connected by a rotary joint. The rotation center of the rotary joint is located on the same axis as the rotation center of the adjacent two arms hinged together. The end of the oil supply pipe at the free end of the robotic arm is connected to an output pipe through a rotary joint. A control arm and a rotary encoder are provided on the rotary joint. The control arm is connected to the control cylinder provided at the free end of the robotic arm. A pipe joint is provided at the beginning of the oil supply pipe at the fixed end of the robotic arm, thereby improving the structural strength of the vehicle-mounted oil supply robotic arm, enabling the vehicle-mounted oil supply robotic arm to operate smoothly and adapt to different working environments. The front half of the trailer chassis is equipped with a base plate for mounting the equipment. A control console, hydraulic power system, and hydraulic oil tank are mounted on the base plate. The hydraulic power system and rotary encoder are electrically connected to the control console. The hydraulic power system is connected to the hydraulic oil tank, control cylinder, and each drive cylinder via hydraulic pipes. The rotation of the rotating base is controlled by a rotary motor. The control console enables both manual control and remote control, making control more flexible, improving operational efficiency, and increasing automation.

[0016] The vehicle-mounted oil transfer robotic arm of this invention adopts a boom-type structure, which improves the overall structural strength, ensures high stability during operation, and provides high speed and efficiency. It can be controlled via a dual control method: a control console and remote control, making control more flexible. Utilizing a trailer chassis structure, it has a wider range of applications compared to existing loading arms, allowing for flexible adaptation to different working environments. Employing a distance measurement system and a vision positioning system, it achieves a high degree of automation, enabling one-button deployment or retraction. This vehicle-mounted oil transfer robotic arm saves labor, reduces labor intensity, minimizes safety hazards, and offers high operating efficiency and low operating costs. It is also easy to move and store, saving space. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the working state structure of the present invention;

[0018] Figure 2 This is a side view of the invention in its working state;

[0019] Figure 3 This is a front view of the invention in operation.

[0020] Figure 4 This is a rear view of the invention in operation.

[0021] Figure 5 This is a top view of the invention in operation.

[0022] Figure 6 This is a bottom view of the invention in its working state;

[0023] Figure 7 This is a schematic diagram of the retracted state structure of the present invention;

[0024] Figure 8 This is a side view of the retracted state of the present invention;

[0025] Figure 9 This is a front view of the retracted state of the present invention;

[0026] Figure 10 This is a rear view of the retracted state of the present invention;

[0027] Figure 11 This is a top view of the retracted state of the present invention;

[0028] Figure 12 This is a top view of the retracted state of the present invention. Detailed Implementation

[0029] refer to Figures 1 to 12A vehicle-mounted oil transfer robotic arm includes a trailer chassis 1. A support leg fixing seat 8 is provided on the rear half of the trailer chassis 1. Four extendable and retractable support legs are respectively located at the four corners of the support leg fixing seat 8. In this embodiment, the four support legs on the support leg fixing seat 8 consist of two front support legs 10 and two rear support legs 11. The two front support legs 10 are located on both sides of the front end of the support leg fixing seat 8 and are hinged to it. The front support legs 10 are connected to a leg swing hydraulic cylinder provided on the support leg fixing seat 8. The two rear support legs 11 extend outwards or retract into the support leg fixing seat 8 from both sides of the rear end of the support leg fixing seat 8 via leg extension hydraulic cylinders. Both the front support legs 10 and the rear support legs 11 are equipped with leg support hydraulic cylinders. The leg swing hydraulic cylinder, the leg extension hydraulic cylinder, and the leg support hydraulic cylinder are all connected to a hydraulic power system via hydraulic pipes. The hydraulic power system enables the support legs to extend, retract, or expand. All four support legs can operate simultaneously, or only one support leg can be operated individually. This allows the vehicle-mounted oil transfer robot arm to retract its support legs when not in operation, facilitating its storage and movement; and to extend its support legs when in operation, providing support for the robot arm and ensuring stable operation. A rotating base 9 is provided at the upper end of the support leg fixing seat 8. The fixed end of an extendable and foldable robotic arm is hinged to the rotating base 9. The fixed end of the robotic arm is connected to a drive cylinder provided on the rotating base 9. The lower end of the rotating base 9 is fixedly installed on the support leg fixing seat 8. A rotating part is provided at the upper end of the rotating base 9. The rotating part is connected to a rotary motor 19 installed on the support leg fixing seat 8. In this embodiment, the rotary motor 19 and the rotating part are driven by gear meshing. The rotary motor 19 is connected to a hydraulic power system through a hydraulic pipe. The rotating part is provided with an upwardly extending robotic arm connecting seat 20 and a first drive cylinder 21. The fixed end of the robotic arm is hinged to the robotic arm connecting seat 20 and connected to the first drive cylinder 21. This allows the robotic arm to rotate 360°. The robotic arm consists of at least three arms connected in sequence. Adjacent arms are connected by hinges to form joints. Each joint is equipped with a drive cylinder to control the joint. Each hinge point is equipped with a rotary encoder 12. Each arm of the robotic arm has a parallel oil supply pipe. Adjacent oil supply pipes are connected by a rotary joint. The rotation center of the rotary joint is on the same axis as the rotation center of the hinge between the two adjacent arms. The end of the oil supply pipe at the free end of the robotic arm is connected to an output pipe 13 through a rotary joint. A control arm 16 and a rotary encoder 12 are provided on the rotary joint. The control arm 16 is connected to a control cylinder 17 at the free end of the robotic arm. A pipe connector 18 is provided at the beginning of the oil supply pipe at the fixed end of the robotic arm. The pipe connector 18 is used to connect to the oil pipe of external equipment.The robotic arm in this embodiment includes a lifting arm 22, a connecting arm 23, and an extension arm 24. The fixed end of the lifting arm 22 is hinged to the rotating base 9, and the other end is sequentially hinged to the connecting arm 23 and the extension arm 24. A second drive cylinder 25 is provided between the lifting arm 22 and the connecting arm 23, and between the connecting arm 23 and the extension arm 24. A first oil supply pipe 26 is arranged parallel to the lifting arm 22, a second oil supply pipe 27 is arranged parallel to the connecting arm 23, and a third oil supply pipe 28 is arranged parallel to the extension arm 24. The two ends of the second oil supply pipe 27 are connected to the first oil supply pipe 26 and the third oil supply pipe 28 respectively through a first rotary joint 29. The third oil supply pipe 28 passes through a through hole provided on the free end of the extension arm 24 and is connected to the output pipe 13 through a second rotary joint 30. The second rotary joint 30 is provided with a control arm 16 and a rotary encoder 12. The control arm 16 is connected to a control cylinder 17 provided on the free end of the extension arm 24. In this embodiment, each oil pipe is fixed to the respective arm of the robotic arm via a bracket. A transition joint 31 is provided on each oil pipe. The second oil pipe 27 and the third oil pipe 28 in this embodiment are also equipped with transition joints 31 to prevent damage to the oil pipes due to rigid connections. A base plate 2 for mounting equipment is provided on the front half of the trailer chassis 1. A control panel 6, a hydraulic power system, and a hydraulic oil tank 5 are mounted on the base plate 2. The hydraulic power system and rotary encoder 12 are electrically connected to the control panel 6. The hydraulic power system is connected to the hydraulic oil tank 5, the control cylinder 17, and each drive cylinder via hydraulic pipes. The rotation of the rotating base 9 is controlled by a rotary motor 19. The hydraulic power system includes an engine 4 and a hydraulic pump 3. The output shaft of the engine 4 is connected to the hydraulic pump 3. The oil inlet of the hydraulic pump 3 is connected to the hydraulic oil tank 5 via a hydraulic pipe. The oil outlet of the hydraulic pump 3 is connected to a rotary motor 19, a control cylinder 17, various drive cylinders, and outrigger swing hydraulic cylinders, outrigger extension hydraulic cylinders, and outrigger support hydraulic cylinders via various hydraulic pipes. A proportional valve is installed on each hydraulic pipe at the oil outlet of the hydraulic pump 3. The proportional valve, the engine 4, and the control console 6 are electrically connected. The engine is started or stopped via the control console 6, and the opening of the proportional valve is controlled via the control console 6 to control the flow of hydraulic oil in the hydraulic pipes connected to the oil outlet of the hydraulic pump. This enables the outrigger to extend or retract, and support; the robotic arm to extend, rotate, position, and fold; and the output pipe to move vertically and fold. A distance measurement system 15 and a vision positioning system 14 are installed on the output pipe 13. The distance measurement system 15 and the vision positioning system 14 are electrically connected to the control console 6. The visual positioning system 14 can determine the working position by taking a picture and transmit the signal to the control console box 6. The control console box 6 achieves one-button unfolding and one-button folding through the distance measurement system 15, the visual positioning system 14, and the rotary encoder 12, realizing automated control. The control console box 6 can be connected to a remote controller to realize remote control.

[0030] When the vehicle-mounted oil transfer robotic arm of this invention is in operation, it is moved to the working position by a tractor or other towing equipment. The engine of the hydraulic power system is started through the control panel, which drives the hydraulic pump to work. The hydraulic pump provides power to the outrigger swing cylinder, outrigger extension cylinder, and outrigger support cylinder, driving each hydraulic cylinder to unfold or extend the outriggers and support the vehicle-mounted oil transfer robotic arm. The hydraulic pump provides power to the rotary motor, control cylinder, and each drive cylinder, driving the rotary motor, control cylinder, and each drive cylinder to unfold and rotate the robotic arm, oil transfer pipe, and output pipe to a suitable position. The control panel determines the working position through a distance measurement system and a visual positioning system, and controls the proportional valve to accurately move the output pipe to the working position. After the oil transfer operation is completed, a reverse folding operation is performed to fold the robotic arm to the base plate. The vehicle-mounted oil transfer robotic arm is then moved to the storage position by a tractor or other towing equipment.

[0031] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications made to the present invention by those skilled in the art without departing from the spirit of the present invention shall fall within the protection scope of the present invention.

Claims

1. A vehicle-mounted oil transfer robotic arm, characterized in that: The system includes a trailer chassis (1), with a support leg fixing seat (8) on the rear half of the chassis (1). Four extendable and retractable support legs are respectively located at the four corners of the support leg fixing seat (8). The four support legs on the support leg fixing seat (8) consist of two front support legs (10) and two rear support legs (11). The two front support legs (10) are located on both sides of the front end of the support leg fixing seat (8) and are hinged to it. The front support legs (10) are connected to the outrigger swing hydraulic cylinders on the support leg fixing seat (8). The two rear support legs (11) extend outward or retract into the support leg fixing seat (8) from both sides of the rear end of the support leg fixing seat (8) through outrigger telescopic hydraulic cylinders. Both the front support leg (10) and the rear support leg (11) are equipped with support leg hydraulic cylinders. The support leg swing hydraulic cylinder, the support leg telescopic hydraulic cylinder, and the support leg hydraulic cylinder are all connected to the hydraulic power system through hydraulic pipes. A rotating base (9) is provided at the upper end of the support leg fixing seat (8). The fixed end of a deployable and foldable robotic arm is hinged to the rotating base (9). The lower end of the rotating base (9) is fixedly installed on the support leg fixing seat (8). The upper end of the rotating base (9) is provided with a rotating part. The rotating part is connected to a rotary motor (19) installed on the support leg fixing seat (8). The rotary motor (19) is connected to the hydraulic power system through hydraulic pipes. The rotating part is provided with an upwardly extending robotic arm connecting seat (20). The fixed end of the robotic arm is hinged to the robotic arm connecting seat (20) and connected to the first driving cylinder (21). The fixed end of the robotic arm is connected to the driving cylinder provided on the rotating base (9). The robotic arm consists of at least three arms connected in sequence. Adjacent arms are connected by hinges to form joints. Each joint is provided with a driving cylinder to control the joint. Each hinge point is provided with a rotary encoder (12). Each arm of the robotic arm is provided with a section of oil supply pipe in parallel. Adjacent oil supply pipes are connected by a rotary joint. The rotation center of the rotary joint and the rotation center of the adjacent two arms are located on the same axis. The end of the oil supply pipe located at the free end of the robotic arm is connected to an output pipe (13) through a rotary joint. A control arm (16) and a rotary encoder (12) are provided on the rotary joint. The control arm (16) is connected to a control cylinder (17) provided at the free end of the robotic arm. A pipe connector (18) is provided at the beginning of the oil supply pipe located at the fixed end of the robotic arm. A distance measurement system (15) and a vision positioning system (14) are provided on the output pipe (13). The distance measurement system (15) and the vision positioning system (14) are electrically connected to the control console box (6). A base plate (2) for installing equipment is provided on the front half of the trailer chassis (1). The control console box (6), the hydraulic power system and the hydraulic oil tank (5) are provided on the base plate (2). The hydraulic power system and the rotary encoder (12) are electrically connected to the control console box (6).The hydraulic power system is connected to the hydraulic oil tank (5), control cylinder (17), and each drive cylinder via hydraulic pipes. The rotation of the rotating base (9) is controlled by a rotary motor (19).

2. The vehicle-mounted oil transfer robotic arm according to claim 1, characterized in that: The robotic arm includes a lifting arm (22), a connecting arm (23), and an extension arm (24). The fixed end of the lifting arm (22) is hinged to the rotating base (9), and the other end is sequentially hinged to the connecting arm (23) and the extension arm (24). A second drive cylinder (25) is provided between the lifting arm (22) and the connecting arm (23), and a second drive cylinder (25) is provided between the connecting arm (23) and the extension arm (24).

3. The vehicle-mounted oil transfer robotic arm according to claim 2, characterized in that: The lifting arm (22) is provided with a first oil supply pipe (26) in parallel, the connecting arm (23) is provided with a second oil supply pipe (27) in parallel, and the extension arm (24) is provided with a third oil supply pipe (28) in parallel. The two ends of the second oil supply pipe (27) are connected to the first oil supply pipe (26) and the third oil supply pipe (28) respectively through the first rotary joint (29). The third oil supply pipe (28) passes through the through hole provided on the free end of the extension arm (24) and is connected to the output pipe (13) through the second rotary joint (30). The second rotary joint (30) is provided with a control arm (16) and a rotary encoder (12).

4. The vehicle-mounted oil transfer robotic arm according to claim 1, characterized in that: The oil pipeline is equipped with a transition joint (31).

5. The vehicle-mounted oil transfer robotic arm according to claim 1, characterized in that: The hydraulic power system includes an engine (4) and a hydraulic pump (3). The output shaft of the engine (4) is connected to the hydraulic pump (3). The oil inlet of the hydraulic pump (3) is connected to the hydraulic oil tank (5) through a hydraulic pipe. The oil outlet of the hydraulic pump (3) is connected to the rotary motor (19), the control cylinder (17) and each drive cylinder through each hydraulic pipe. A proportional valve is installed on each hydraulic pipe at the oil outlet of the hydraulic pump (3). The proportional valve, the engine (4) and the control panel (6) are electrically connected.

6. The vehicle-mounted oil transfer robotic arm according to claim 1, characterized in that: The lower front half of the trailer chassis (1) is provided with a traction unit for moving the trailer chassis (1). The traction unit has a traction ring at the front end, a traction wheel in the middle, and a fixed connection at the rear end to the trailer chassis (1). The lower rear half of the trailer chassis (1) is provided with an axle, and rollers are provided on both sides of the axle.

7. The vehicle-mounted oil transfer robotic arm according to claim 1, characterized in that: The base plate (2) is provided with a robotic arm support seat (7), and the folded robotic arm is placed on the base plate (2) through the robotic arm support seat (7).

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