Intelligent land-based low-temperature fluid loading and unloading system

Abstract

The application discloses a land low-temperature fluid intelligent loading and unloading system, which comprises a loading and unloading arm pipeline system, a homing and ejection system, a driving system, an intelligent vehicle connection system and a safety interlocking system.

Description

Technical Field

[0001] This invention belongs to the field of fluid loading and unloading equipment technology, and particularly relates to a supporting system for land-based fluid loading, especially a land-based low-temperature fluid intelligent loading and unloading system. Background Technology

[0002] A fluid loading / unloading boom is a mobile device that uses rotary joints to connect with rigid pipes and elbows to transfer liquid media between trains, tank cars, and storage and transportation pipelines on trestles. It replaces the old-fashioned hose connections and features high safety, flexibility, and long service life. Currently, loading yards such as receiving stations, peak-shaving stations, and transfer stations all use land-based fluid loading / unloading booms for fluid loading and unloading operations. As a key piece of equipment connecting on-site storage tanks to tank cars or tank containers, the land-based fluid loading / unloading boom is usually manually pulled to complete docking, leak testing, and valve opening and closing. This method suffers from drawbacks such as high personnel involvement, high labor intensity, and low automation of docking.

[0003] Chinese patent CN 115818552A discloses a one-button fully automatic intelligent loading arm and its control system. The device further discloses that the loading arm is equipped with a quick-connect device, an automatic shut-off valve, a servo control system, and an industrial camera. However, the patent does not disclose the specific composition and implementation of the quick-connect device, the servo control system, and the automatic shut-off valve, nor how the industrial camera distinguishes the gas and liquid phase flange interfaces of the tanker truck. Furthermore, the device disclosed in this patent does not have functions such as leak detection after receiving the truck, locking the loading arm in place, and unlocking the loading arm to receive the truck. The level of automation and intelligence needs to be further improved. Summary of the Invention

[0004] The purpose of this invention is to provide an intelligent loading and unloading system for low-temperature fluids on land, which effectively solves the problems of large workload in connecting tank trucks and opening and closing valves in existing loading and unloading systems, and low degree of automation in the operation process.

[0005] The technical solution to achieve the purpose of this invention is: a land-based low-temperature fluid intelligent loading and unloading system, the system including a loading and unloading arm pipeline system, a return and ejection system, a drive system, an intelligent vehicle receiving system and a safety interlock system;

[0006] The loading / unloading arm piping system, after being connected to the tank truck, is used to transport low-temperature fluid media. The return and ejection system is used to lock and unlock the loading / unloading arm piping system, thereby achieving lock-up in the returned state and unlocking in the receiving state. The drive system drives the rotary joints at each rotating joint of the loading / unloading arm, thereby driving the spatial movement of the loading / unloading arm piping system. The intelligent receiving system guides and controls the loading / unloading arm piping system to connect with the tank truck flange. The safety interlock system enables safety monitoring and instrument interlock control during the transport of low-temperature fluid media.

[0007] Furthermore, the loading and unloading arm piping system includes a liquid phase connecting arm and a gas phase connecting arm arranged vertically on the frame, both of which include pipes, elbows, rotary joints, quick-connect devices, breakaway valves, and pneumatic shut-off valves.

[0008] The liquid phase connecting arm includes, in sequence, a first flange, a first elbow, a first pipe, a first rotary joint, a second elbow, a second pipe, a third elbow, a second rotary joint, a fourth elbow, a third rotary joint, a fifth elbow, a pneumatic shut-off valve, a third pipe, a fourth pipe, a sixth elbow, a fourth rotary joint, a seventh elbow, an eighth elbow, a fifth rotary joint, a ninth elbow, a fifth pipe, a pull-off valve, and a quick-connect device; it also includes a spring balancing mechanism for balancing the weight of the front-end pipe; the liquid phase connecting arm is mounted on a frame via a support member;

[0009] The structure of the gas phase connecting arm is the same as that of the liquid phase connecting arm.

[0010] Furthermore, the quick-connect device is equipped with an automatic leak detection system, which includes a pressure measurement comparison feedback system, a measuring pipeline, and a sealing gasket. After the quick-connect device is pressed and connected to the tank truck flange, the measuring pipeline, sealing gasket, target flange, and tank truck flange form a closed pipeline system. The pressure measurement comparison feedback system is used to inflate, maintain pressure, and perform multiple pressure measurements on the closed pipeline system to detect the sealing performance after the tank truck flange is connected.

[0011] Furthermore, the return and ejection system includes an ejection mechanism and a return mechanism, which are used to unlock and eject the loading and unloading arm in the vehicle receiving state and limit locking the loading and unloading arm in the return state, respectively.

[0012] Furthermore, the repositioning mechanism includes a repositioning mechanism mounting plate, a repositioning plate, a stop pin, and a repositioning signal switch. The repositioning mechanism is mounted on the frame via the repositioning mechanism mounting plate. The repositioning plate has a repositioning groove and is mounted on the repositioning mechanism mounting plate by fasteners. The stop pin is installed at the opening of the repositioning groove of the repositioning plate to lock the loading and unloading arm in its repositioning position. The repositioning signal switch is installed inside the repositioning groove of the repositioning plate and transmits a signal to the external control system after the loading and unloading arm is locked in its repositioning position to achieve relevant control interlocking.

[0013] Furthermore, the pop-out mechanism includes a pop-out mechanism mounting plate, a cylinder, a transition plate, a push plate, a lifting rod, a signal push plate, and a positioning signal switch. The pop-out structure is mounted on the frame via the pop-out mechanism mounting plate. The cylinder is mounted on the pop-out mechanism mounting plate, and the push plate and lifting rod are mounted on the cylinder via the transition plate. When the cylinder extends, it drives the push plate and lifting rod to move, causing the stop pin to slide upward, thus moving the loading / unloading arm outward and out of the positioning slot of the positioning plate. This releases the positioning mechanism from locking the loading / unloading arm. The positioning signal switch is mounted on the frame, and the signal push plate is mounted on the transition plate. When the cylinder retracts, it drives the signal push plate to move, further pushing the positioning signal switch to activate and transmitting a signal to the external control system to unlock the relevant control.

[0014] Furthermore, the pop-out mechanism also includes a slide rail bearing installed on the upper end of the stop pin. The contact surface between the push rod and the slide rail bearing is an inclined surface. The slide rail bearing slides along the inclined surface, thereby driving the stop pin to slide upward and downward.

[0015] Furthermore, the drive system includes a control system and a drive unit. The control system is mounted on the frame and is used to control the operation of the drive unit, thereby driving the loading and unloading arm piping system to move. The drive unit includes a drive motor, a reducer, a protective cover, a mounting plate, a drive gear, and a driven gear. The mounting plate is mounted on the outer ring of each rotary joint by fasteners. The reducer is mounted on the mounting plate by fasteners. The drive motor is mounted on the reducer. The drive gear is mounted on the reducer drive shaft. The driven gear is mounted on the inner ring flange of each rotary joint, forming a spur gear transmission mechanism with the drive gear. The protective cover is mounted on the mounting plate and covers the meshing of the drive gear and driven gear. When the drive motor rotates, it drives the rotary joint to rotate through the reducer, drive gear, and driven gear, thereby realizing the movement of the loading and unloading arm joint.

[0016] Furthermore, the intelligent vehicle receiving system includes a visual recognition system and an automatic docking algorithm. The visual recognition system is used to realize non-target intrusion alarm in the loading area and guide the loading arm to automatically dock with the tank truck throughout the entire operation process. The automatic docking algorithm realizes the smooth driving of the loading arm, the fully automatic docking path planning of the loading arm and the tank truck, and the obstacle avoidance planning function of the two arms of the loading arm.

[0017] The visual recognition system includes a lidar and a monocular vision camera. The lidar, serving as a coarse positioning unit, is mounted above the frame, covering the loading area of ​​the land-based low-temperature fluid intelligent loading and unloading system. After the tanker truck parks in the loading position, the lidar identifies and distinguishes between liquid and gaseous flanges based on distance criteria, and transmits the target flange's position information to the intelligent receiving system. The control system then drives the loading arm piping system to move to the corresponding spatial position, making the target flange appear in the monocular vision camera's field of view. During the loading process, the lidar also provides a human security alarm function. When a non-target enters the loading area, the lidar transmits a signal to the safety interlock system.

[0018] The monocular vision camera, as a visual precision positioning unit, is installed at the front end of the loading and unloading arm pipeline system. When the target flange appears in the field of view of the monocular vision camera, the monocular vision camera measures the position and attitude information of the target flange through feature recognition and transmits it to the intelligent vehicle receiving system. The control system then drives the loading and unloading arm pipeline system to move, thereby realizing the docking of the target flange with the tank truck flange.

[0019] Furthermore, the safety interlock system transmits signals to the loading arm piping system, drive system, and intelligent vehicle receiving system to achieve emergency stop of the drive and emergency closure of the pneumatic shut-off valve in emergency situations. The safety interlock system includes an audible and visual alarm system and a voice broadcast system. The voice broadcast system is used to prompt the operation procedures of the loading system during normal loading and to provide warning voice prompts when a signal output by the lidar is received.

[0020] Compared with the prior art, the significant advantages of this invention are:

[0021] (1) The return and ejection system of the present invention includes an ejection mechanism and a return mechanism. The return mechanism includes a return mechanism mounting plate, a return plate, a stop pin, and a return signal switch. The return plate is provided with a return groove and is installed on the return mechanism mounting plate by fasteners. The stop pin is installed at the groove opening of the return plate, which can realize the return locking of the loading and unloading arm. The return signal switch is installed inside the return groove of the return plate. After the loading and unloading arm is locked in place, it can transmit a signal to the control system to realize related control interlocking. The ejection mechanism includes an ejection mechanism mounting plate, a cylinder, a transition plate, a push plate, a lifting rod, a slide rail bearing, a signal push plate, and a positioning signal switch. The cylinder is mounted on the ejection mechanism mounting plate. The push plate and lifting rod are mounted on the cylinder via the transition plate. The slide rail bearing is mounted on the upper end of the stop pin. When the cylinder is ejected, it can drive the push plate and lifting rod to move, causing the stop pin to slide upward, thus moving the loading / unloading arm outward, pushing it out of the return slot of the return plate, and releasing the return mechanism from locking the loading / unloading arm. The positioning signal switch is mounted on the frame, and the signal push plate is mounted on the transition plate. When the cylinder is retracted, it can drive the signal push plate to move, further pushing the positioning signal switch to activate, transmitting a signal to the control system to unlock related controls, which can significantly improve the automation and intelligence of the loading / unloading system.

[0022] (2) The automatic leak detection system includes a pressure measurement comparison feedback system, measuring pipelines, and sealing gaskets. After the quick-connect device is pressed and connected to the tank truck flange, the measuring pipelines, sealing gaskets, connecting flanges, and tank truck flanges form a closed pipeline system. The pressure measurement comparison feedback system inflates, maintains pressure, and performs multiple pressure measurements to compare the results, thus detecting the sealing performance of the tank truck flange connection. This replaces the traditional manual leak detection using leak detection fluid for sealing performance testing after receiving the vehicle, reducing the labor intensity of operators.

[0023] (3) The lidar, as a visual coarse positioning unit, identifies and distinguishes between liquid-phase and gas-phase flanges based on distance criteria, and transmits the location information of the target flange to the intelligent receiving system. The control system then drives the loading arm piping system to move to the corresponding spatial position, making the target flange appear in the field of view of the monocular vision camera. During the loading process, the lidar provides a personnel alarm function. When personnel intrude into the loading area, the lidar will promptly transmit a signal to the safety interlock system. The safety interlock system will then simultaneously activate the audible and visual alarm system and the voice broadcast system, urging the intruder to leave the loading area as soon as possible and reminding staff to intervene, thus improving the safety of loading and unloading.

[0024] (4) The safety interlock system includes an audible and visual alarm system and a voice broadcast system. The voice broadcast system can not only prompt the operation process of the loading system during normal loading, but also remind relevant personnel in case of emergency. The safety interlock system, the loading and unloading arm pipeline system, the drive system, and the intelligent vehicle receiving system can realize the emergency stop of the drive and the emergency closure of the pneumatic shut-off valve in case of emergency through the mutual transmission of signal information, which can effectively ensure the safety of the land-based low-temperature fluid intelligent loading and unloading system.

[0025] The present invention will now be described in further detail with reference to the accompanying drawings. Attached Figure Description

[0026] Figure 1 This is a diagram showing the composition of the land-based low-temperature fluid intelligent loading and unloading system of the present invention.

[0027] Figure 2 This is a schematic diagram of the overall structure of an intelligent loading and unloading system for low-temperature fluids on land, as shown in one embodiment.

[0028] Figure 3 This is a schematic diagram of the liquid phase connecting arm structure in one embodiment.

[0029] Figure 4 This is a schematic diagram of a leak detection system in one embodiment.

[0030] Figure 5 This is a schematic diagram of a return and pop-up system in one embodiment.

[0031] Figure 6 This is a schematic diagram of a driving unit in one embodiment.

[0032] Figure 7 This is a schematic diagram of the laser radar's civil defense function in one embodiment.

[0033] Figure 8 This is a schematic diagram of automatic vehicle reception route planning in one embodiment. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0035] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0036] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0037] In one embodiment, combined Figure 1 and Figure 2 A land-based low-temperature fluid intelligent loading and unloading system is provided, characterized in that the system includes a loading and unloading arm pipeline system 2, a return and ejection system 3, a drive system 4, an intelligent vehicle receiving system 5, and a safety interlock system 6.

[0038] The loading / unloading arm piping system 2, after being connected to the tank truck, is used to transport low-temperature fluid media. The return and ejection system 3 is used to lock and unlock the loading / unloading arm piping system 2, thereby achieving lock in the return state and unlocking in the receiving state. The drive system 4 is used to drive the rotary joints at each rotating joint of the loading / unloading arm, thereby driving the spatial movement of the loading / unloading arm piping system 2. The intelligent receiving system 5 is used to guide and control the loading / unloading arm piping system 2 to connect with the tank truck flange. The safety interlock system 6 is used to achieve safety monitoring and instrument interlock control during the transport of low-temperature fluid media by the loading / unloading system.

[0039] Furthermore, in one embodiment, combined with Figure 3 The loading and unloading arm piping system 2 includes a liquid phase connecting arm 2-1 and a gas phase connecting arm 2-2 arranged vertically on the frame 1, both of which include pipes, elbows, rotary joints, quick-connect devices, pull-out valves, and pneumatic shut-off valves.

[0040] The liquid phase connecting arm 2-1 includes, in sequence, a first flange 2-1-1, a first elbow 2-1-2, a first pipe 2-1-3, a first rotary joint 2-1-4, a second elbow 2-1-5, a second pipe 2-1-7, a third elbow 2-1-8, a second rotary joint 2-1-9, a fourth elbow 2-1-10, a third rotary joint 2-1-11, a fifth elbow 2-1-12, a pneumatic shut-off valve 2-1-13, a third pipe 2-1-14, and a fourth pipe 2-1-15. -1-15, sixth elbow 2-1-16, fourth rotary joint 2-1-17, seventh elbow 2-1-18, eighth elbow 2-1-19, fifth rotary joint 2-1-20, ninth elbow 2-1-21, fifth pipe 2-1-22, pull-off valve 2-1-23, quick-connect device 2-1-24; also includes a spring balancing mechanism 2-1-25 for balancing the weight of the front-end pipe; the liquid phase connecting arm 2-1 is mounted on the frame 1 via a support member 2-1-6;

[0041] The structure of the gas phase connecting arm 2-2 is the same as that of the liquid phase connecting arm 2-1.

[0042] Furthermore, in one embodiment, combined with Figure 4 The quick-connect device 2-1-24 is equipped with an automatic leak detection system, which includes a pressure measurement comparison feedback system 024-20, a measuring pipeline 024-21, and a sealing gasket 024-17. After the quick-connect device 2-1-24 is pressed and connected to the tank truck flange, the measuring pipeline 024-21, the sealing gasket 024-17, the target flange, and the tank truck flange form a closed pipeline system. The pressure measurement comparison feedback system 024-20 inflates, maintains pressure, and performs multiple pressure measurements to compare the closed pipeline system, thereby detecting the sealing performance of the tank truck flange connection.

[0043] Furthermore, in one embodiment, the return and ejection system 3 includes an ejection mechanism 3-1 and a return mechanism 3-2, which are respectively used to unlock and eject the loading and unloading arm in the vehicle receiving state and to limit and lock it in the loading and unloading arm in the return state.

[0044] Combination Figure 5The repositioning mechanism 3-2 includes a repositioning mechanism mounting plate 3-2-1, a repositioning plate 3-2-2, a stop pin 3-2-3, and a repositioning signal switch 3-2-4. The repositioning mechanism 3-2 is mounted on the frame 1 via the repositioning mechanism mounting plate 3-2-1. The repositioning plate 3-2-2 has a repositioning groove and is mounted on the repositioning mechanism mounting plate 3-2-1 by fasteners. The stop pin 3-2-3 is installed at the opening of the repositioning groove of the repositioning plate 3-2-2 to lock the loading and unloading arm in place. The repositioning signal switch 3-2-4 is installed inside the repositioning groove of the repositioning plate 3-2-2. After the loading and unloading arm is locked in place, it transmits a signal to the external control system to achieve relevant control interlocking.

[0045] The pop-out mechanism 3-1 includes a pop-out mechanism mounting plate 3-1-1, a cylinder 3-1-2, a transition plate 3-1-3, a push plate 3-1-4, a lifting rod 3-1-5, a signal push plate 3-1-7, and a position signal switch 3-1-8. The pop-out mechanism 3-1 is mounted on the frame 1 via the pop-out mechanism mounting plate 3-1-1. The cylinder 3-1-2 is mounted on the pop-out mechanism mounting plate 3-1-1. The push plate 3-1-4 and the lifting rod 3-1-5 are mounted on the cylinder 3-1-2 via the transition plate 3-1-3. When the cylinder 3-1-2 extends, it drives... The push plate 3-1-4 and the lifting rod 3-1-5 move, causing the stop pin 3-2-3 to slide upward, thus moving the loading and unloading arm outward and out of the return slot of the return plate 3-2-2. This releases the return locking mechanism 3-2 on the loading and unloading arm. The position signal switch 3-1-8 is installed on the frame 1, and the signal push plate 3-1-7 is installed on the adapter plate 3-1-3. When the cylinder 3-1-2 retracts, it drives the signal push plate 3-1-7 to move, further pushing the position signal switch 3-1-8 to move, transmitting a signal to the external control system to achieve relevant control unlocking.

[0046] Preferably, the pop-out mechanism 3-1 further includes a slide rail bearing 3-1-6 installed on the upper end of the stop pin 3-2-3. The contact surface between the push rod 3-1-5 and the slide rail bearing 3-1-6 is an inclined surface. When the push rod 3-1-5 moves, the slide rail bearing 3-1-6 slides along the inclined surface, thereby driving the stop pin 3-2-3 to slide upward and downward.

[0047] Furthermore, in one embodiment, combined with Figure 6The drive system 4 includes a control system 4-1 and a drive unit. The control system 4-1 is mounted on the frame 1 and is used to control the operation of the drive unit, thereby driving the loading / unloading arm piping system 2 to move. The drive unit includes a drive motor 4-2, a reducer 4-3, a protective cover 4-4, a mounting plate 4-5, a drive gear 4-6, and a driven gear 4-7. The mounting plate 4-5 is mounted on the outer ring 4-9 of each rotary joint by fasteners. The reducer 4-3 is mounted on the mounting plate 4-5 by fasteners. The drive motor 4-2 is mounted on the reducer 4-3. Gear 4-6 is mounted on the drive shaft of reducer 4-3, and driven gear 4-7 is mounted on the inner flange 4-8 of each rotary joint, forming a spur gear transmission mechanism with the driving gear 4-6. Protective cover 4-4 is mounted on mounting plate 4-5 and covers the meshing of driving gear 4-6 and driven gear 4-7. When drive motor 4-2 rotates, it drives rotary joint to rotate through reducer 4-3, driving gear 4-6, and driven gear 4-7, thereby realizing the movement of loading and unloading arm joints. Each joint of the loading and unloading arm is equipped with a drive unit, which can further drive the overall movement of the loading and unloading arm.

[0048] Furthermore, in one embodiment, combined with Figure 7 and Figure 8 The intelligent vehicle receiving system 5 includes a visual recognition system and an automatic docking algorithm. The visual recognition system is used to realize non-target intrusion alarm in the loading area and guide the loading and unloading arm to automatically dock with the tank truck throughout the entire operation process. The automatic docking algorithm realizes the smooth driving of the loading and unloading arm, the fully automatic docking path planning of the loading and unloading arm and the tank truck, and the obstacle avoidance planning function of the two arms of the loading and unloading arm.

[0049] The visual recognition system includes a lidar 5-1 and a monocular vision camera 5-2. The lidar 5-1, as a visual coarse positioning unit, is installed above the frame 1. Its field of view covers the loading area of ​​the land-based low-temperature fluid intelligent loading and unloading system. After the tanker truck stops at the loading position, the lidar 5-1 identifies and distinguishes between liquid and gaseous flanges based on distance criteria, and transmits the position information of the target flange to the intelligent receiving system 5. The control system 4-1 then drives the loading and unloading arm pipeline system 2 to move to the corresponding spatial position, so that the target flange appears in the field of view of the monocular vision camera 5-2. During the loading process, the lidar 5-1 also provides a human security alarm function. When a non-target enters the loading area, the lidar 5-1 transmits a signal to the safety interlock system 6.

[0050] The monocular vision camera 5-2, as a visual precision positioning unit, is installed at the front end of the loading and unloading arm pipeline system 2. When the target flange appears in the field of view of the monocular vision camera 5-2, the monocular vision camera 5-2 accurately measures the position and attitude information of the target flange through feature recognition and transmits it to the intelligent vehicle receiving system 5. Through algorithm calculation, the path that the quick connection device 2-1-24 needs to move is planned, and multiple path points are set on the path to ensure the accuracy of the docking movement. Then, the control system 4-1 drives the loading and unloading arm pipeline system 2 to move, so as to realize the docking of the target flange and the tank truck flange.

[0051] Furthermore, in one embodiment, the safety interlock system 6 transmits signals to the loading arm piping system 2, the drive system 4, and the intelligent vehicle receiving system 5 to achieve emergency stop of the drive and emergency closure of the pneumatic shut-off valve in case of emergency, ensuring the safety of the land-based low-temperature fluid intelligent loading and unloading system; the safety interlock system 6 includes an audible and visual alarm system 6-1 and a voice broadcast system 6-2, the voice broadcast system 6-2 is used to prompt the operation procedure of the loading system during normal loading, and is also used to provide warning voice prompts when receiving signals output by the lidar 5-1.

[0052] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention without departing from its spirit and scope should be included within the protection scope of the present invention.

Claims

1. A land-based low-temperature fluid intelligent loading and unloading system, characterized in that, The system includes a loading and unloading arm piping system (2), a return and ejection system (3), a drive system (4), an intelligent vehicle receiving system (5), and a safety interlock system (6). The loading and unloading arm pipeline system (2) is used to transport low-temperature fluid media after the loading and unloading system is connected to the tank truck; the return and ejection system (3) is used to lock and unlock the loading and unloading arm pipeline system (2), thereby realizing the lock in the return state of the loading and unloading arm and the unlocking in the receiving state of the loading and unloading arm; the drive system (4) is used to drive the rotary joints at each rotating joint of the loading and unloading arm, thereby driving the spatial movement of the loading and unloading arm pipeline system (2); the intelligent receiving system (5) is used to guide and control the loading and unloading pipeline system (2) to realize the connection with the tank truck flange; the safety interlock system (6) is used to realize the safety monitoring and instrument interlock control of the loading and unloading system during the transportation of low-temperature fluid media. The loading and unloading arm piping system (2) includes a liquid phase connecting arm (2-1) and a gas phase connecting arm (2-2) arranged vertically on the frame (1), both of which include pipes, elbows, rotary joints, quick-connect devices, pull-out valves, and pneumatic shut-off valves; The liquid phase connecting arm (2-1) includes, in sequence, a first flange (2-1-1), a first elbow (2-1-2), a first pipe (2-1-3), a first rotary joint (2-1-4), a second elbow (2-1-5), a second pipe (2-1-7), a third elbow (2-1-8), a second rotary joint (2-1-9), a fourth elbow (2-1-10), a third rotary joint (2-1-11), a fifth elbow (2-1-12), a pneumatic shut-off valve (2-1-13), a third pipe (2-1-14), and a fourth pipe (2-1-15). 2-1-15), sixth elbow (2-1-16), fourth rotary joint (2-1-17), seventh elbow (2-1-18), eighth elbow (2-1-19), fifth rotary joint (2-1-20), ninth elbow (2-1-21), fifth pipe (2-1-22), pull-out valve (2-1-23), quick-connect device (2-1-24); also includes a spring balancing mechanism (2-1-25) for balancing the weight of the front-end pipe; the liquid phase connecting arm (2-1) is mounted on the frame (1) by a support member (2-1-6); The structure of the gas phase connecting arm (2-2) is the same as that of the liquid phase connecting arm (2-1); The quick-connect device (2-1-24) is equipped with an automatic leak detection system, which includes a pressure measurement comparison feedback system (024-20), a measuring pipeline (024-21), and a sealing gasket (024-17). After the quick-connect device (2-1-24) is pressed and connected to the tank truck flange, the measuring pipeline (024-21), the sealing gasket (024-17), the target flange, and the tank truck flange form a closed pipeline system. The pressure measurement comparison feedback system (024-20) is used to inflate, maintain pressure, and perform multiple pressure measurements on the closed pipeline system to detect the sealing performance of the tank truck flange after connection. The return and ejection system (3) includes an ejection mechanism (3-1) and a return mechanism (3-2), which are used to unlock and eject the loading and unloading arm in the vehicle receiving state and limit and lock the loading and unloading arm in the return state, respectively. The return mechanism (3-2) includes a return mechanism mounting plate (3-2-1), a return plate (3-2-2), a stop pin (3-2-3), and a return signal switch (3-2-4). The return mechanism (3-2) is mounted on the frame (1) via the return mechanism mounting plate (3-2-1). The return plate (3-2-2) has a return groove and is mounted on the return mechanism mounting plate (3-2-1) by fasteners. The stop pin (3-2-3) is installed at the opening of the return groove of the return plate (3-2-2) to realize the return locking of the loading and unloading arm. The return signal switch (3-2-4) is installed inside the return groove of the return plate (3-2-2). After the loading and unloading arm is locked in place, it transmits a signal to the external control system to realize related control interlocking. The pop-out mechanism (3-1) includes a pop-out mechanism mounting plate (3-1-1), a cylinder (3-1-2), a transition plate (3-1-3), a push plate (3-1-4), a lifting rod (3-1-5), a signal push plate (3-1-7), and a positioning signal switch (3-1-8). The pop-out mechanism (3-1) is mounted on the frame (1) via the pop-out mechanism mounting plate (3-1-1). The cylinder (3-1-2) is mounted on the pop-out mechanism mounting plate (3-1-1), and the push plate (3-1-4) and the lifting rod (3-1-5) are mounted on the cylinder (3-1-2) via the transition plate (3-1-3). When the cylinder (3-1-2)... When pushed out, the drive push plate (3-1-4) and the push rod (3-1-5) move, causing the stop pin (3-2-3) to slide upward, so that the loading and unloading arm moves outward and moves out of the return slot of the return plate (3-2-2), thereby releasing the return locking of the loading and unloading arm by the return mechanism (3-2). The position signal switch (3-1-8) is installed on the frame (1), and the signal push plate (3-1-7) is installed on the adapter plate (3-1-3). When the cylinder (3-1-2) is retracted, the drive signal push plate (3-1-7) moves, further pushing the position signal switch (3-1-8) to move, transmitting a signal to the external control system to realize the relevant control unlocking. The pop-out mechanism (3-1) also includes a slide rail bearing (3-1-6) installed on the upper end of the stop pin (3-2-3). The contact surface between the push rod (3-1-5) and the slide rail bearing (3-1-6) is an inclined surface. The slide rail bearing (3-1-6) slides along the inclined surface, thereby driving the stop pin (3-2-3) to slide upward and downward.

2. The land-based low-temperature fluid intelligent loading and unloading system according to claim 1, characterized in that, The drive system (4) includes a control system (4-1) and a drive unit. The control system (4-1) is mounted on the frame (1) and is used to control the operation of the drive unit, thereby driving the loading and unloading arm pipeline system (2) to move. Each joint of the loading and unloading arm is equipped with a drive unit. The drive unit includes a drive motor (4-2), a reducer (4-3), a protective cover (4-4), a mounting plate (4-5), a drive gear (4-6), and a driven gear (4-7). The mounting plate (4-5) is mounted on the outer ring (4-9) of each rotary joint by fasteners, and the reducer (4-3) is mounted on the mounting plate (4-5) by fasteners. The drive motor (4-2) is mounted on the reducer (4-3), the drive gear (4-6) is mounted on the drive shaft of the reducer (4-3), and the driven gear (4-7) is mounted on the inner flange (4-8) of each rotary joint, forming a spur gear transmission mechanism with the drive gear (4-6). The protective cover (4-4) is mounted on the mounting plate (4-5) and covers the meshing of the drive gear (4-6) and the driven gear (4-7). When the drive motor (4-2) rotates, it drives the rotary joint to rotate through the reducer (4-3), the drive gear (4-6), and the driven gear (4-7), thereby realizing the movement of the loading and unloading arm joint.

3. The land-based low-temperature fluid intelligent loading and unloading system according to claim 1, characterized in that, The intelligent vehicle receiving system (5) includes a visual recognition system and an automatic docking algorithm. The visual recognition system is used to realize non-target intrusion alarm in the loading area and guide the loading and unloading arm to automatically dock with the tank car throughout the entire operation process. Through the automatic docking algorithm, the system realizes the smooth driving of the loading and unloading arm, the fully automatic docking path planning of the loading and unloading arm and the obstacle avoidance planning of the two arms of the loading and unloading arm. The visual recognition system includes a lidar (5-1) and a monocular vision camera (5-2). The lidar (5-1) serves as a visual coarse positioning unit and is installed above the frame (1). Its field of view covers the loading area of ​​the land-based low-temperature fluid intelligent loading and unloading system. After the tanker truck stops at the loading position, the lidar (5-1) identifies and distinguishes the liquid phase flange and the gas phase flange through distance criteria, and transmits the position information of the target flange to the intelligent receiving system (5). The control system (4-1) drives the loading and unloading arm pipeline system (2) to move to the corresponding spatial position, so that the target flange appears in the field of view of the monocular vision camera (5-2). During the loading process, the lidar (5-1) is also used to provide a human defense alarm function. When a non-target enters the loading area, the lidar (5-1) transmits a signal to the safety interlock system (6). The monocular vision camera (5-2) is installed at the front end of the loading and unloading arm pipeline system (2) as a visual precision positioning unit. When the target flange appears in the field of view of the monocular vision camera (5-2), the monocular vision camera (5-2) measures the position and attitude information of the target flange through feature recognition and transmits it to the intelligent vehicle receiving system (5). The control system (4-1) drives the loading and unloading arm pipeline system (2) to move, so as to realize the docking of the target flange and the tank truck flange.

4. The land-based low-temperature fluid intelligent loading and unloading system according to claim 3, characterized in that, The safety interlock system (6) transmits signals to the loading arm pipeline system (2), the drive system (4), and the intelligent vehicle receiving system (5) in an emergency, enabling the emergency stop of the drive and the emergency closure of the pneumatic shut-off valve. The safety interlock system (6) includes an audible and visual alarm system (6-1) and a voice broadcast system (6-2). The voice broadcast system (6-2) is used to prompt the operation process of the loading system during normal loading and to provide warning voice prompts when it receives signals from the laser radar (5-1).

Images