Self-balancing railway unloading machine and method of use thereof

Abstract

This invention discloses a self-balancing railway oil unloading machine and its usage method, relating to the field of loading arm technology. It includes a column assembly, a traction mechanism, an oil pipe system, a balancing mechanism, a sealing device, a positioning device, and a submersible pump set. The traction mechanism drives the oil pipe system, allowing it to be compressed to a smaller volume, providing good adaptability to different railway platforms. Maintenance and replacement of the hydraulic cylinders do not require repositioning during installation, reducing maintenance difficulty. The balancing mechanism constrains the movable oil pipe and the unloading vertical pipe, achieving a balanced state regardless of location, reducing drive requirements and facilitating manual dragging. After the sealing device falls into the train's oil tank opening with the unloading vertical pipe, the pneumatic fixing hook opens and locks into the oil tank opening, ensuring a tight seal between the outer wall of the sealing device and the oil tank opening, reducing oil and gas leakage and loss. The sliding clamp of the sealing device can slide on the unloading vertical pipe to adapt to train oil tanks of different depths. The main pump blades and the flexible negative pressure pump can empty the oil in the tank, improving loading and unloading efficiency.

Description

Technical Field

[0001] This invention patent discloses a self-balancing railway oil unloading machine and its usage method, which relates to the field of loading arm technology. Background Technology

[0002] Oil and gas resources are among the most widely used resources in the world, and inland transportation mainly relies on pipelines and railways. Pipeline transportation involves huge investment and maintenance costs, while railway transportation, by relying on a well-developed railway network, greatly reduces the initial investment and maintenance costs of oil and gas transportation, while allowing for more flexible transportation options, making it an important mode of oil and gas storage and transportation.

[0003] With the continuous development of modern transportation technology, the advantages of railway transportation are no longer as prominent, and various disadvantages have become undeniable problems. Railway transportation of oil and gas typically uses tank cars, requiring loading and unloading at key transportation points. These processes usually consume considerable time, reducing the efficiency of oil and gas transportation and significantly increasing the probability of leaks and pollution. To shorten loading and unloading time, loading arm technology has been applied to oil and gas railway transportation. Currently, the operation of loading arms is mostly done manually or semi-automatically, which has poor safety and operability. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a self-balancing railway oil unloading machine and its usage method, so as to solve the problems of poor operability, low safety and low production efficiency of railway loading and unloading arms for oil and gas.

[0005] To solve the aforementioned technical problems, the technical solution adopted by this invention is: a self-balancing railway oil unloading machine, comprising a column assembly, an oil pipe system, a traction mechanism, a balancing mechanism, a sealing device, a positioning device, and a submersible pump set; the column assembly is fixedly installed on the ground of the railway trestle; the column assembly includes a lower column section and an upper column section; the upper column section is rotatably installed on the lower column section; the lower column section and the upper column section are hollow structures; the oil pipe system is composed of multiple oil pipes connected end to end; the first end of the oil pipe system is installed in the upper column section and the lower column section, and the first end of the oil pipe system is connected to the pipe opening of an oil storage tank set on the railway trestle; the traction mechanism is composed of a planar four-bar linkage and a planar five-bar linkage; the first end of the planar four-bar linkage... The planar four-bar linkage is hinged to the column assembly; the second end of the planar five-bar linkage is hinged to the pipeline system; the first end of the planar five-bar linkage is hinged to the column assembly; the second and third ends of the planar five-bar linkage are respectively hinged to the pipeline system; the two ends and the middle part of the balancing mechanism are respectively hinged to the pipeline system; the sealing device and the positioning device are both installed on the upper part of the second end of the pipeline system; the submersible pump assembly is installed on the lower part of the second end of the pipeline system; the submersible pump assembly is used to pump oil from the tank to be unloaded; the positioning device is used to assist in identifying and guiding the submersible pump assembly to be inserted into the pipe opening of the tank to be unloaded; the sealing device is used to fill the space between the pipeline system and the pipe opening of the tank to be unloaded, prevent oil and gas from overflowing, and ensure the smooth progress of the unloading operation.

[0006] Furthermore, the column assembly also includes a slewing bearing, a vertical motor, a pinion, a column top slot, and a hydraulic cylinder bracket; the inner ring of the slewing bearing is fixedly installed on the lower column section; the outer ring of the slewing bearing is fixedly installed on the upper column section; the vertical motor is fixedly installed on the upper column section; the pinion is fixedly installed on the output shaft of the vertical motor; the outer ring of the slewing bearing is provided with teeth; the pinion meshes with the teeth on the outer ring of the slewing bearing; the hydraulic cylinder bracket is located in the middle of the upper column section; and the column top slot is located at the top of the upper column section.

[0007] Furthermore, the tubing system includes various tubing components: four fixed tubing sections, a vertical swivel joint, five swivel elbows, two movable tubing sections, and an unloading vertical pipe. The first and second fixed tubing sections are rotatably connected via the vertical swivel joint; the second and third fixed tubing sections are rotatably connected via the first swivel elbow; the third and fourth fixed tubing sections are rotatably connected via the second swivel elbow; the fourth fixed tubing section is rotatably connected to the first movable tubing section via the third swivel elbow; the first and second movable tubing sections are rotatably connected via the fourth swivel elbow; the second movable tubing section is rotatably connected to the unloading vertical pipe via the fifth swivel elbow; and the fourth fixed tubing section is rotatably installed in a slot at the top of the column.

[0008] Furthermore, the planar four-bar linkage includes a tubing drive arm and a first hydraulic cylinder; the first end of the first hydraulic cylinder is hinged to a hydraulic cylinder bracket, and the second end of the first hydraulic cylinder, i.e., the push rod end of the first hydraulic cylinder, is hinged to the first end of the tubing drive arm; the second end of the tubing drive arm is fixedly installed on the third rotating bend.

[0009] Furthermore, the planar five-bar linkage includes a traction arm, a traction rod, a counterweight, and a second hydraulic cylinder; the first end of the second hydraulic cylinder is hinged to a hydraulic cylinder bracket, and the second end of the second hydraulic cylinder, i.e., the push rod end of the second hydraulic cylinder, is hinged to the first end of the traction arm; the counterweight is fixedly installed at the first end of the traction arm; the middle part of the traction arm is hinged to the fourth section of fixed oil pipe; the second end of the traction arm is hinged to the first end of the traction rod; and the second end of the traction rod is hinged to the second section of movable oil pipe.

[0010] Furthermore, the balancing mechanism includes balance bars, intermediate uprights, spring cylinders, pulleys, steel cables, end uprights, and fasteners; there are two balance bars; the end uprights are fixedly installed on the fifth rotating bend; the first end of the first balance bar is hinged to the upper column section; the first end of the second balance bar is hinged to the end upright; the second ends of both balance bars are simultaneously hinged to the first end of the intermediate upright; the second end of the intermediate upright is hinged to the fourth rotating bend; each of the two balance bars has a spring cylinder fixedly installed via a fastener; each of the two balance bars has a pulley fixedly installed; there are two steel cables; the two ends of the first steel cable are respectively fixedly installed on the first spring cylinder and the intermediate upright, and the first steel cable is slidably installed in the first pulley; the two ends of the second steel cable are respectively fixedly installed on the second spring cylinder and the end upright, and the second steel cable is slidably installed in the second pulley.

[0011] Furthermore, the sealing device includes a sealing shell, a pneumatic fixing hook, a sliding clamp, and a hook cylinder; the sliding clamp is slidably fitted onto the middle of the unloading vertical pipe; the sealing shell is fixedly installed on the sliding clamp; the sealing shell is hollow inside; the unloading vertical pipe passes through the sealing shell, and a pneumatic fixing hook driven by the hook cylinder is provided in the space between the sealing shell and the unloading vertical pipe; the hook cylinder is fixedly connected to the sealing shell.

[0012] Furthermore, the positioning device includes a camera bracket, a monocular vision camera, and a position sensor; the camera bracket is fixedly installed on the upper part of the unloading vertical pipe; the monocular vision camera and the position sensor are respectively fixedly installed on the camera bracket.

[0013] Furthermore, the submersible pump assembly includes a pump motor, a pump housing, main pump blades, sealing sleeves, and a flexible negative pressure pump. The first end of the pump housing is fixedly installed on the lower opening of the unloading vertical pipe. The pump motor is fixedly installed inside the pump housing. The main pump blades are fixedly installed on the output shaft of the pump motor. Two sealing sleeves are fitted on the output shaft of the pump motor. The first sealing sleeve is fixedly installed on the pump motor and slides in contact with the output shaft of the pump motor. The second sealing sleeve is fixedly installed on the main pump blades and slides in contact with the output shaft of the pump motor. The flexible negative pressure pump is fixedly installed on the second end of the pump housing.

[0014] This invention also proposes a method for using a self-balancing railway oil unloading machine, comprising the following steps: Step 1: The tanker train enters the designated parking position, and the first and second hydraulic cylinders start to operate, adjusting the unloading vertical pipe to move it above the tanker train where the oil is to be unloaded. Step 2: The positioning device identifies the stopping deviation of the oil tanker train and determines the position of the oil tank opening to be unloaded. The first and second hydraulic cylinders continue to operate, and the unloading vertical pipe moves to directly above the oil tank opening to be unloaded. Step 3: The first and second hydraulic cylinders continue to operate, and the unloading vertical pipe begins to slowly move down, eventually extending into the opening of the oil tank to be unloaded. The position sensor identifies the distance from the bottom of the unloading vertical pipe to the opening of the oil tank to be unloaded, thus avoiding collisions. Step four: The sealing shell falls into the oil tank opening to be unloaded, and the hook cylinder starts to operate, driving the pneumatic fixing hook to open and fasten to the oil tank opening to be unloaded, so that the sealing shell is tightly fitted to the oil tank opening to prevent oil and gas leakage and loss. Step 5: The submersible pump unit starts working, sucking out the oil from the tank and transporting it to the oil storage tank through the oil pipeline system. When the oil level in the tank drops to the lowest working level of the main pump blades, the soft negative pressure pump starts working to suck up the oil. Step six: After the oil unloading is completed, the hook cylinder drives the pneumatic fixing hook to retract, the first hydraulic cylinder and the second hydraulic cylinder are activated to lift the oil unloading vertical pipe until it is completely separated from the train oil tank, and then the mechanism moves to the retracted state.

[0015] The technological advancements achieved by this invention due to the adoption of the above technical solutions are as follows: This invention provides a self-balancing railway oil unloading machine and its usage method, which can solve the problems of poor operability and low safety of railway loading and unloading arms for oil and gas.

[0016] 1. The traction mechanism drives the first and second movable oil pipes through the first and second hydraulic cylinders, which can be retracted into a small volume to meet the working space requirements of railway oil and gas loading and unloading. It is adaptable to different types of railway platforms. When maintaining or replacing the cylinders, reassembly does not require determining the angle of the traction arm and the oil pipe drive arm. The traction arm and the oil pipe drive arm are hinged to the piston rods of the first and second hydraulic cylinders, making maintenance difficult.

[0017] 2. The balancing mechanism is used to balance the moving oil pipe and the unloading vertical pipe. The elastic potential energy of the spring can counteract the gravitational potential energy of the oil pipe system and the balancing system, so that the mechanism can reach a state of equilibrium in any situation. When a small driving force is applied at any position of the mechanism, the support and drive mechanism will produce corresponding movement, which can reduce the driving requirements of the hydraulic cylinder and facilitate manual dragging and moving.

[0018] 3. After the sealing device is lowered into the oil tank opening of the train to be unloaded via the unloading drop pipe, the hook cylinder drives the pneumatic fixing hook to open and lock into the oil tank opening. The outer wall of the sealing device fits tightly against the oil tank opening, reducing oil and gas leakage and loss. The sliding clamp of the sealing device is equipped with a slip ring on its inner side, which can slide within a certain range of the drop pipe to adapt to oil tanks of different depths.

[0019] 4. The submersible pump set absorbs most of the oil in the tank through the main pump blades with a large flow rate. The soft negative pressure small pump is installed at one end of the pump body shell. Its flow rate is smaller and its oil suction port is close to the bottom of the tank. It is used to suck up the residual oil generated by the operation of the main pump blades. The main pump blades and the soft negative pressure small pump can empty all the oil in the tank and improve the efficiency of oil and gas loading and unloading. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0021] Figure 2 This is a schematic diagram of the mechanism of the present invention in its contracted state.

[0022] Figure 3 This is a structural schematic diagram of the column assembly of the present invention.

[0023] Figure 4 This is a schematic diagram of the oil pipe system of the present invention.

[0024] Figure 5 This is a schematic diagram of the traction mechanism of the present invention.

[0025] Figure 6 This is a schematic diagram of the balancing mechanism of the present invention.

[0026] Figure 7 This is a schematic diagram illustrating the principle of the balancing mechanism of the present invention in counteracting gravity.

[0027] Figure 8This is a schematic diagram of the sealing device of the present invention.

[0028] Figure 9 This is a schematic diagram of the positioning device of the present invention.

[0029] Figure 10 This is a schematic diagram of the submersible pump unit of the present invention.

[0030] The components include: 1. Column assembly; 2. Oil pipe system; 3. Traction mechanism; 4. Balancing mechanism; 5. Sealing device; 6. Positioning device; 7. Submersible pump set; 101. Lower column section; 102. Slewing bearing; 103. Upper column section; 104. Vertical motor; 105. Pinion gear; 106. Column top slot; 107. Hydraulic cylinder bracket; 201. Fixed oil pipe; 202. Vertical slewing joint; 203. Rotary elbow; 204. Movable oil pipe; 205. Unloading vertical pipe; 301. Traction arm; 302. Traction rod; 303. Counterweight; 304. Oil pipe drive. Boom; 305, First hydraulic cylinder; 306, Second hydraulic cylinder; 401, Balance bar; 402, Intermediate upright; 403, Spring cylinder; 404, Pulley; 405, Steel cable; 406, End upright; 407, Fastener; 501, Sealing shell; 502, Pneumatic fixing hook; 503, Sliding clamp; 504, Hook cylinder; 601, Camera bracket; 602, Monocular vision camera; 603, Position sensor; 701, Oil pump motor; 702, Pump body shell; 703, Main pump blades; 704, Sealing sleeve; 705, Soft negative pressure pump. Detailed Implementation

[0031] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments. The accompanying drawings are for illustrative purposes only and are schematic diagrams, not actual pictures, and should not be construed as limiting the present patent. In order to better illustrate the embodiments of the present invention, some parts in the drawings may be omitted, enlarged or reduced, and do not represent the actual product size. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0032] Figures 1 to 10 A preferred embodiment of the present invention is given, wherein the product height is 4000mm and the product working range, i.e. the distance from the oil tank pipe opening to the column assembly 1, is 3000mm to 5000mm.

[0033] like Figure 1As shown, the column assembly 1 is fixedly installed on the railway trestle ground; the column assembly 1 includes a lower column section 101 and an upper column section 103; the upper column section 103 is rotatably installed on the lower column section 101; the lower column section 101 and the upper column section 103 are hollow structures; the oil pipe system 2 is composed of various oil pipes connected end to end; the first end of the oil pipe system 2 is installed inside the upper column section 103 and the lower column section 101, and the first end of the oil pipe system 2 is connected to the pipe opening of the oil storage tank set on the railway trestle; the traction mechanism 3 is composed of a planar four-bar linkage and a planar five-bar linkage; the first end of the planar four-bar linkage is hinged to the column assembly 1; the second end of the planar four-bar linkage is hinged to the oil pipe system 2. Above; the first end of the planar five-bar linkage is hinged to the column assembly 1; the second and third ends of the planar five-bar linkage are respectively hinged to the oil pipe system 2; the two ends and the middle part of the balancing mechanism 4 are respectively hinged to the oil pipe system 2; the sealing device 5 and the positioning device 6 are both installed on the upper part of the second end of the oil pipe system 2; the submersible pump group 7 is installed on the lower part of the second end of the oil pipe system 2; the submersible pump group 7 is used to pump oil from the oil tank to be unloaded; the positioning device 6 is used to assist in identifying and guiding the submersible pump group 7 into the pipe opening of the oil tank to be unloaded; the sealing device 5 is used to fill the space between the oil pipe system 2 and the pipe opening of the oil tank to be unloaded, to prevent oil and gas from overflowing, and to ensure the smooth progress of the unloading operation.

[0034] like Figure 3 As shown, in the column assembly 1, the inner ring of the slewing bearing 102 is fixedly installed on the lower column section 101; the outer ring of the slewing bearing 102 is fixedly installed on the upper column section 103; the vertical motor 104 is fixedly installed on the upper column section 103; the pinion 105 is fixedly installed on the output shaft of the vertical motor 104; the outer ring of the slewing bearing 102 is provided with teeth; the pinion 105 meshes with the teeth on the outer ring of the slewing bearing 102; the hydraulic cylinder bracket 107 is located in the middle of the upper column section 103; and the column top slot 106 is located at the top of the upper column section 103.

[0035] like Figure 4As shown, in the tubing system 2, there are four fixed tubing sections 201, one vertical swivel joint 202, five swivel elbows 203, two movable tubing sections 204, and one unloading vertical pipe 205. The first and second fixed tubing sections 201 are rotatably connected via the vertical swivel joint 202; the second and third fixed tubing sections 201 are rotatably connected via the first swivel elbow 203; and the third and fourth fixed tubing sections 201 are rotatably connected via the second swivel elbow 203. Connections: The fourth fixed oil pipe 201 is rotatably connected to the first movable oil pipe 204 via the third rotating elbow 203; the first movable oil pipe 204 is rotatably connected to the second movable oil pipe 204 via the fourth rotating elbow 203; the second movable oil pipe 204 is rotatably connected to the unloading vertical pipe 205 via the fifth rotating elbow 203; the fourth fixed oil pipe 201 is rotatably installed in the column top slot 106. In this embodiment, two handles are fixedly installed in the middle of the unloading vertical pipe 205, and the handles are used by workers to drag and align it.

[0036] like Figure 5 As shown, in the traction mechanism 3, the first end of the first hydraulic cylinder 305 is hinged to the hydraulic cylinder bracket 107, and the second end of the first hydraulic cylinder 305, that is, the push rod end of the first hydraulic cylinder 305, is hinged to the first end of the oil pipe drive arm 304; the second end of the oil pipe drive arm 304 is fixedly installed on the third rotating elbow 203. The above components form a planar four-bar linkage, and the first hydraulic cylinder drives the third rotating elbow 203 to rotate around its axis through the oil pipe drive arm 304.

[0037] like Figure 5 As shown, in the traction mechanism 3, the first end of the second hydraulic cylinder 306 is hinged to the hydraulic cylinder bracket 107, and the second end of the second hydraulic cylinder 306, i.e., the push rod end of the second hydraulic cylinder 306, is hinged to the first end of the traction arm 301; the counterweight block 303 is fixedly installed on the first end of the traction arm 301; the middle part of the traction arm 301 is hinged to the fourth fixed oil pipe 201; the second end of the traction arm 301 is hinged to the first end of the traction rod 302; the second end of the traction rod 302 is hinged to the second movable oil pipe 204. Multiple counterweight blocks 303 are provided to adjust and balance the load at the bottom of the column assembly 1; the above components form a planar five-bar linkage, and the second hydraulic cylinder drives the fourth rotating elbow 203 to rotate through the traction arm 301 and the traction rod 302.

[0038] like Figure 6As shown, in the balancing mechanism 4, there are two balance bars 401; the end upright 406 is fixedly installed on the fifth rotating bend 203; the first end of the first balance bar 401 is hinged to the upper column section 103; the first end of the second balance bar 401 is hinged to the end upright 406; the second ends of both balance bars 401 are simultaneously hinged to the first end of the middle upright 402; the second end of the middle upright 402 is hinged to the fourth rotating bend 203; each of the two balance bars 401 is connected by a fastener 40. 7. A spring cylinder 403 is fixedly installed; a pulley 404 is fixedly installed on each of the two balance bars 401; there are two steel cables 405; the two ends of the first steel cable 405 are fixedly installed on the first spring cylinder 403 and the middle upright 402 respectively, and the first steel cable 405 is slidably installed in the first pulley 404; the two ends of the second steel cable 405 are fixedly installed on the second spring cylinder 403 and the end upright 406 respectively, and the second steel cable 405 is slidably installed in the second pulley 404.

[0039] The working principle of balancing mechanism 4: Figure 6 As shown, the balancing mechanism 4, together with the first and second movable oil pipes 204, forms two parallel four-bar linkages. In any working position, the middle upright 402 and the end upright 406 are always parallel to the height direction of the column assembly 1, and the height direction of the end upright 406 is parallel to the axis of the unloading vertical pipe 205. Under these conditions, the unloading vertical pipe 205 remains vertical. The axis of each spring cylinder 403 is parallel to the axis of its corresponding balancing bar 401, as shown... Figure 7 As shown, during installation, the initial extension / retraction of the spring cylinder 403 is controlled to ensure that its length is consistent with the length of the steel cable 405 between the pulley 404 and the intermediate or end upright 402. This allows the elastic potential energy of the spring cylinder 403 to counteract the gravitational potential energy of the piping system 2 and the balancing system, achieving a state of gravitational equilibrium. In this state of gravitational equilibrium, the piping system 2 and the balancing system exhibit unpredictable equilibrium characteristics, maintaining balance in any position without any driving input. This facilitates dragging and alignment operations by workers, reducing the driving load on the prime mover.

[0040] like Figure 8 As shown, in the sealing device 5, the sliding clamp 503 is slidably sleeved on the middle of the unloading vertical pipe 205; the sealing shell 501 is fixedly installed on the sliding clamp 503; the sealing shell 501 is hollow inside; the unloading vertical pipe 205 passes through the sealing shell 501, and a pneumatic fixing hook 502 driven by the hook cylinder 504 is provided in the space between the sealing shell 501 and the unloading vertical pipe 205; the hook cylinder 504 is fixedly connected to the sealing shell 501; in this embodiment, the sealing shell 501 is made of nitrile rubber (NBR).

[0041] like Figure 8As shown, the sliding clamp 503 is composed of two semi-circular plates fastened together, and the two semi-circular plates are connected by four bolts; the inner wall of the sliding clamp 503 is in contact with the outer wall of the unloading vertical pipe 205; when the bolts are tightened, the sliding clamp 503 is fixedly connected to the unloading vertical pipe 205; when the bolts are loosened, the sliding clamp 503 is slidably connected to the unloading vertical pipe 205 and can slide within a certain range.

[0042] like Figure 9 As shown, in the positioning device 6, the camera bracket 601 is fixedly installed on the upper part of the unloading vertical pipe 205; the monocular vision camera 602 and the position sensor 603 are respectively fixedly installed on the camera bracket 601; the monocular vision camera 602 is used to obtain the position information of the oil tank opening below the unloading vertical pipe 205, guide and adjust the unloading vertical pipe 205 to align with the oil tank opening; the position sensor 603 adopts an explosion-proof ultrasonic ranging sensor, which is used to measure the height of the unloading vertical pipe 205 to the oil tank to be unloaded, so as to avoid the lower end of the unloading vertical pipe 205 from colliding with the oil tank.

[0043] like Figure 10 As shown, in the submersible pump assembly 7, the first end of the pump body housing 702 is fixedly installed on the lower opening of the unloading vertical pipe 205; the pump motor 701 is fixedly installed inside the pump body housing 702; the main pump blades 703 are fixedly installed on the output shaft of the pump motor 701; two sealing sleeves 704 are fitted on the output shaft of the pump motor 701; the first sealing sleeve 704 is fixedly installed on the pump motor 701 and slides in contact with the output shaft of the pump motor 701; the second sealing sleeve 704 is fixedly installed on the main pump blades 703 and slides in contact with the output shaft of the pump motor 701. The output shaft of the oil pump motor 701 is in sliding contact; the flexible negative pressure pump 705 is fixedly installed on the second end of the pump body housing 702; the main pump blade 703 and the oil pump motor 701 draw the main oil in the oil tank, with a large flow rate, which facilitates oil unloading efficiency; the flexible negative pressure pump 705 is lower in height than the main pump blade 703 and has a smaller flow rate, which facilitates the suction of low-level oil at the bottom of the unloading oil tank; in this embodiment, the flexible negative pressure pump 705 is made of fluororubber (FKM) material and has multiple oil suction holes, and it fits against the bottom of the oil tank to be unloaded when working.

[0044] like Figure 1 and Figure 2 As shown, the working process of the present invention includes the following steps: Step 1: After the tanker train enters the designated parking position, the first hydraulic cylinder 305 and the second hydraulic cylinder 306 start to operate, adjusting the unloading vertical pipe 205 to move above the tanker train where the oil is to be unloaded. Step 2: The positioning device 6 identifies the stopping deviation of the oil tanker train and determines the position of the oil tank opening to be unloaded. The first hydraulic cylinder 305 and the second hydraulic cylinder 306 continue to operate, and the unloading vertical pipe 205 moves to directly above the oil tank opening to be unloaded. Step 3: The first hydraulic cylinder 305 and the second hydraulic cylinder 306 continue to operate, and the unloading vertical pipe 205 begins to move slowly downwards, eventually extending into the opening of the oil tank to be unloaded. The position sensor 603 identifies the distance from the bottom of the unloading vertical pipe 205 to the opening of the oil tank to be unloaded, thus avoiding collision. Step 4: The sealing shell 501 falls into the oil tank opening to be unloaded, and the hook cylinder 504 starts to operate, driving the pneumatic fixing hook 502 to open and fasten the oil tank opening to be unloaded, so that the sealing shell 501 is tightly fitted to the oil tank opening to prevent oil and gas leakage and loss. Step 5: The submersible pump group 7 starts working, sucking out the oil from the oil tank and transporting it to the oil storage tank through the oil pipeline system 2. When the oil level in the oil tank drops to the lowest working level of the main pump blade 703, the soft negative pressure pump 705 starts working to suck out the remaining oil in the oil tank. Step six: After the oil unloading is completed, the hook cylinder 504 drives the pneumatic fixing hook 502 to retract, and the first hydraulic cylinder 305 and the second hydraulic cylinder 306 actuate, raising the oil unloading vertical pipe 205 until it is completely detached from the train's oil tank. Then, the mechanism moves to the retracted state, as shown below. Figure 2 As shown.

Claims

1. A self-balancing railway oil unloading machine, comprising a column assembly (1), an oil pipe system (2), a traction mechanism (3), a balancing mechanism (4), a sealing device (5), a positioning device (6), and a submersible pump set (7), characterized in that: The column assembly (1) is fixedly installed on the ground of the railway trestle platform; the column assembly (1) includes a lower column section (101), an upper column section (103) and a column top slot (106); the upper column section (103) is rotatably installed on the lower column section (101); the lower column section (101) and the upper column section (103) are hollow structures; the column top slot (106) is set on the top of the upper column section (103); the oil pipe system (2) is composed of multiple oil pipes connected end to end; the first end of the oil pipe system (2) is installed in the upper column section (103) and the lower column section (101), and the first end of the oil pipe system (2) is connected to the pipe opening of the oil storage pool set on the railway trestle platform; the oil pipe system (2) includes multiple oil pipes, namely four fixed oil pipes (201) and a vertical return The system includes an adapter (202), five rotating elbows (203), two movable oil pipe sections (204), and one unloading vertical pipe (205). The first fixed oil pipe section (201) and the second fixed oil pipe section (201) are rotatably connected via a vertical rotating adapter (202); the second fixed oil pipe section (201) and the third fixed oil pipe section (201) are rotatably connected via a first rotating elbow (203); the third fixed oil pipe section (201) and the fourth fixed oil pipe section (201) are rotatably connected via a second rotating elbow (203); the fourth fixed oil pipe section (201) and the first movable oil pipe section (204) are rotatably connected via a third rotating elbow (203); the first movable oil pipe section (204) and the second movable oil pipe section (205) are rotatably connected via a vertical rotating adapter (202); the second fixed oil pipe section (201) and the third fixed oil pipe section (201) are rotatably connected via a third rotating elbow (203); the first movable oil pipe section (204) and the second movable oil pipe section (205) are rotatably connected via a vertical rotating adapter (202); the third fixed oil pipe section (201) and the fourth ... fourth fixed oil pipe section (201) and the first movable oil pipe section (205) are rotatably connected via a third rotating elbow (203); the first movable oil pipe section (204) and the second movable oil pipe section (205) are rotatably connected via a vertical rotating adapter (202); the third The moving oil pipes (204) are rotatably connected by the fourth rotating elbow (203); the second section of the moving oil pipe (204) and the unloading vertical pipe (205) are rotatably connected by the fifth rotating elbow (203); the fourth section of the fixed oil pipe (201) is rotatably installed in the column top slot (106); the traction mechanism (3) consists of a planar four-bar linkage and a planar five-bar linkage; the first end of the planar four-bar linkage is hinged to the column assembly (1); the second end of the planar four-bar linkage is hinged to the oil pipe system (2); the first end of the planar five-bar linkage is hinged to the column assembly (1); the second and third ends of the planar five-bar linkage are respectively hinged to the oil pipe system (2); the two ends and the middle part of the balancing mechanism (4) The balance mechanism (4) is not hinged to the oil pipe system (2); the balance mechanism (4) includes a balance bar (401), an intermediate upright (402), a spring cylinder (403), a pulley (404), a steel cable (405), an end upright (406), and a fastener (407); there are two balance bars (401); the end upright (406) is fixedly installed on the fifth rotating bend (203); the first end of the first balance bar (401) is hinged to the upper column section (103); the first end of the second balance bar (401) is hinged to the end upright (406); the second ends of the two balance bars (401) are simultaneously hinged to the first end of the intermediate upright (402); the second end of the intermediate upright (402) is hinged to the fourth rotating bend (203);Each of the two balance bars (401) has a spring cylinder (403) fixedly mounted on it via a fastener (407); each of the two balance bars (401) has a pulley (404) fixedly mounted on it; there are two steel cables (405); the two ends of the first steel cable (405) are fixedly mounted on the first spring cylinder (403) and the middle upright (402) respectively, and the first steel cable (405) is slidably mounted in the first pulley (404); the two ends of the second steel cable (405) are fixedly mounted on the second spring cylinder (403) and the end upright (406) respectively, and The second steel cable (405) is slidably installed inside the second pulley (404); the sealing device (5) and the positioning device (6) are both installed at the upper part of the second end of the oil pipeline system (2); the submersible pump assembly (7) is installed at the lower part of the second end of the oil pipeline system (2); the submersible pump assembly (7) is used to pump oil from the oil tank to be unloaded; the positioning device (6) is used to assist in identifying and guiding the submersible pump assembly (7) to be inserted into the pipe opening of the oil tank to be unloaded; the sealing device (5) is used to fill the space between the oil pipeline system (2) and the pipe opening of the oil tank to be unloaded, to prevent oil and gas from overflowing, and to ensure the smooth progress of the unloading operation.

2. The self-balancing railway oil unloading machine according to claim 1, characterized in that: The column assembly (1) also includes a slewing bearing (102), a vertical motor (104), a pinion (105), and a hydraulic cylinder bracket (107); the inner ring of the slewing bearing (102) is fixedly installed on the lower column section (101); the outer ring of the slewing bearing (102) is fixedly installed on the upper column section (103); the vertical motor (104) is fixedly installed on the upper column section (103); the pinion (105) is fixedly installed on the output shaft of the vertical motor (104); the outer ring of the slewing bearing (102) is provided with teeth; the pinion (105) meshes with the teeth on the outer ring of the slewing bearing (102); the hydraulic cylinder bracket (107) is located in the middle of the upper column section (103).

3. The self-balancing railway oil unloading machine according to claim 2, characterized in that: The planar four-bar linkage includes a tubing drive arm (304) and a first hydraulic cylinder (305); the first end of the first hydraulic cylinder (305) is hinged to the hydraulic cylinder bracket (107), and the second end of the first hydraulic cylinder (305), i.e. the push rod end of the first hydraulic cylinder (305), is hinged to the first end of the tubing drive arm (304); the second end of the tubing drive arm (304) is fixedly installed on the third rotating elbow (203).

4. The self-balancing railway oil unloading machine according to claim 3, characterized in that: The planar five-bar linkage includes a traction arm (301), a traction rod (302), a counterweight (303), and a second hydraulic cylinder (306). The first end of the second hydraulic cylinder (306) is hinged to the hydraulic cylinder bracket (107), and the second end of the second hydraulic cylinder (306), i.e., the push rod end of the second hydraulic cylinder (306), is hinged to the first end of the traction arm (301). The counterweight (303) is fixedly installed on the first end of the traction arm (301). The middle part of the traction arm (301) is hinged to the fourth fixed oil pipe (201). The second end of the traction arm (301) is hinged to the first end of the traction rod (302). The second end of the traction rod (302) is hinged to the second movable oil pipe (204).

5. A self-balancing railway oil unloading machine according to claim 4, characterized in that: The sealing device (5) includes a sealing shell (501), a pneumatic fixing hook (502), a sliding clamp (503), and a hook cylinder (504); the sliding clamp (503) is slidably sleeved on the middle of the unloading vertical pipe (205); the sealing shell (501) is fixedly installed on the sliding clamp (503); the sealing shell (501) is hollow inside; the unloading vertical pipe (205) passes through the sealing shell (501), and a pneumatic fixing hook (502) driven by the hook cylinder (504) is provided in the space between the sealing shell (501) and the unloading vertical pipe (205); the hook cylinder (504) is fixedly connected to the sealing shell (501).

6. A self-balancing railway oil unloading machine according to claim 5, characterized in that: The positioning device (6) includes a camera bracket (601), a monocular vision camera (602), and a position sensor (603); the camera bracket (601) is fixedly installed on the upper part of the unloading vertical pipe (205); the monocular vision camera (602) and the position sensor (603) are respectively fixedly installed on the camera bracket (601).

7. A self-balancing railway oil unloading machine according to claim 6, characterized in that: The submersible pump assembly (7) includes a pump motor (701), a pump housing (702), a main pump blade (703), a sealing sleeve (704), and a flexible negative pressure pump (705). The first end of the pump housing (702) is fixedly installed on the lower opening of the unloading vertical pipe (205). The pump motor (701) is fixedly installed inside the pump housing (702). The main pump blade (703) is fixedly installed on the output shaft of the pump motor (701). Two sealing sleeves (704) are fitted on the output shaft of the pump motor (701). The first sealing sleeve (704) is fixedly installed on the pump motor (701) and slides in contact with the output shaft of the pump motor (701). The second sealing sleeve (704) is fixedly installed on the main pump blade (703) and slides in contact with the output shaft of the pump motor (701). The flexible negative pressure pump (705) is fixedly installed on the second end of the pump housing (702).

8. The method of using the self-balancing railway oil unloading machine according to claim 7, characterized in that: Includes the following steps: Step 1: The tanker train enters the designated parking position, and the first hydraulic cylinder (305) and the second hydraulic cylinder (306) start to operate, adjusting the unloading vertical pipe (205) to move above the tanker train where the oil is to be unloaded. Step 2: The positioning device (6) identifies the parking deviation of the oil tanker train and determines the position of the oil tank opening to be unloaded. The first hydraulic cylinder (305) and the second hydraulic cylinder (306) continue to operate, and the unloading vertical pipe (205) moves to directly above the oil tank opening to be unloaded. Step 3: The first hydraulic cylinder (305) and the second hydraulic cylinder (306) continue to operate, and the unloading vertical pipe (205) begins to slowly move down, eventually extending into the pipe opening of the oil tank to be unloaded. The position sensor (603) identifies the distance from the bottom of the unloading vertical pipe (205) to the pipe opening of the oil tank to be unloaded, thus avoiding collision. Step 4: The sealing shell (501) falls into the oil tank opening to be unloaded, and the hook cylinder (504) starts to operate, driving the pneumatic fixing hook (502) to open and fasten the oil tank opening to be unloaded, so that the sealing shell (501) is tightly fitted with the oil tank opening to be unloaded, preventing oil and gas leakage and loss. Step 5: The submersible pump unit (7) starts working, sucking out the oil from the oil tank and transporting it to the oil storage tank through the oil pipeline system (2). When the oil in the oil tank drops to the lowest working level of the main pump blade (703), the soft negative pressure pump (705) starts working to suck up the oil. Step six: After the oil unloading work is completed, the hook cylinder (504) drives the pneumatic fixed hook (502) to retract, the first hydraulic cylinder (305) and the second hydraulic cylinder (306) are activated to lift the oil unloading vertical pipe (205) until it is completely separated from the train oil tank, and then the mechanism moves to the retracted state.

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