Oil transfer arm, oil transfer system and oil transfer method

Abstract

The invention discloses an oil transfer arm, an oil transfer system and an oil transfer method, which can accurately control the movement of a first pipe group, a second pipe group and a third pipe group, realize the precise linkage among joints of the oil transfer arm, meet the requirements of intelligent, accurate alignment and closed loading and unloading operation, provide a larger working envelope range, further improve the fault tolerance of the system and improve the reliability of the system. And moreover, a multi-stage telescopic vertical pipe is not needed, and the device can adapt to media with higher viscosity.

Description

Technical Field

[0001] The present invention relates to the technical field of fluid hazardous chemical filling, in particular to an oil delivery arm, an oil delivery system and an oil delivery method. Background Art

[0002] At present, the filling and oil transfer arms used in fluid loading and unloading are generally ordinary cranes that rely on manual traction, which has high labor intensity and high risks for operators.

[0003] Alternatively, the semi-automatic or intelligent filling and oil transfer arms that use ordinary welded worm racks, exposed worm gear reduction systems, and multi-stage telescopic drop pipes have a short service life and cannot achieve the precise linkage and compensation of the multi-joint movements of the oil transfer arms during fluid filling. In addition, the multi-stage telescopic drop pipes cannot handle the loading and unloading of high-viscosity media. Summary of the invention

[0004] In view of the above problems existing in the prior art, the present invention is proposed.

[0005] Therefore, the problem to be solved by the present invention is to realize precise linkage between the joints of the intelligent oil transfer arm, meet the requirements of intelligent, accurate positioning, and closed loading and unloading operations, and at the same time provide a larger working envelope range to further improve the system fault tolerance.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions: an oil delivery arm, comprising: a first pipe group, both ends of which respectively have a first end surface and a second end surface which are not perpendicular to each other;

[0007] The second tube group has a third end face and a fourth end face at both ends thereof which are not parallel to each other; the third end face is rotatably connected to the second end face; and,

[0008] The third tube group has a fifth end face and a sixth end face at both ends which are not perpendicular to each other; the fifth end face is rotatably connected to the fourth end face.

[0009] As a preferred solution of the oil delivery arm of the present invention, wherein: the first pipe group has a first end surface and a second end surface at both ends thereof which are not perpendicular to each other;

[0010] The second tube group has a third end face and a fourth end face at both ends thereof which are not parallel to each other; the third end face is rotatably connected to the second end face; and,

[0011] The third tube group has a fifth end face and a sixth end face at both ends which are not perpendicular to each other; the fifth end face is rotatably connected to the fourth end face.

[0012] As a preferred solution of the oil transfer arm of the present invention, wherein: the fourth pipe group has a seventh end face and an eighth end face at both ends respectively; the seventh end face and the sixth end face are rotationally connected, the sixth end face is vertically arranged, and the end of the fourth pipe group corresponding to the eighth end face has at least a first section parallel to or overlapping with the sixth end face.

[0013] As a preferred solution of the oil delivery arm of the present invention, the detection unit is arranged at any position other than the first section on the fourth pipe group, and the detection unit faces the direction of the first section.

[0014] As a preferred solution of the oil delivery arm of the present invention, it further comprises a first connecting component;

[0015] The second end surface is connected to the third end surface via a first connecting component;

[0016] The fourth end surface is connected to the fifth end surface via a first connecting component.

[0017] As a preferred solution of the oil delivery arm of the present invention, wherein: the first connecting assembly comprises a servo motor, a worm gear, a worm and a support seat, the servo motor is connected to the worm, the worm is meshed with the worm gear, and the worm gear is rotatably connected to the support seat;

[0018] The worm wheel and the worm are arranged in the support seat, and the servo motor is connected to the worm.

[0019] As a preferred solution of the oil delivery arm of the present invention, it further comprises a second connecting assembly;

[0020] The seventh end face and the sixth end face are rotatably connected via a second connecting assembly.

[0021] The present invention provides the following technical solution: an oil delivery system, comprising an oil delivery arm, and also comprising a first oil storage device, on which a first oil port is provided, the first pipe group is rotatably connected to the first oil port through a first end face; and

[0022] The second oil storage device is provided with a second oil port, and the sixth end surface is located directly above the second oil port.

[0023] As a preferred solution of the oil delivery system of the present invention, wherein:

[0024] The first end surface is connected to the first oil port through a first connecting component.

[0025] As a preferred solution of the oil delivery system of the present invention, wherein:

[0026] The second oil storage device can move on a predetermined track.

[0027] As a preferred solution of the oil delivery system of the present invention, wherein:

[0028] A control unit connected to the first connection component, sending an operation instruction to the first connection component, and receiving and processing operation data from the first connection component;

[0029] The control unit is connected to the detection unit and sends an operation instruction to the detection unit. The control unit receives and processes the detection data from the detection unit.

[0030] The control unit is connected to the oil transfer arm and sends a loading or unloading instruction to the oil transfer arm.

[0031] The present invention provides the following technical solution: an oil transportation method, comprising: confirming the safety height of the sixth end face and the maximum horizontal activity area of ​​the sixth end face when the sixth end face is at the safety height;

[0032] Acquire the position information and status information of the second oil port;

[0033] When the second oil port is located within the maximum horizontal activity area of ​​the sixth end surface and the state information is static, driving the third pipe group and making the sixth end surface located directly above the second oil port;

[0034] Oil is transported through the oil transport channel formed by the first tube group, the second tube group and the third tube group.

[0035] As a preferred solution of the oil delivery method of the present invention, wherein: the first connecting assembly is driven to align the eighth end surface with the second oil port;

[0036] driving the first connecting assembly to make the eighth end surface fall vertically downward and enter the second oil storage device;

[0037] The fourth tube group is driven to enable the fourth tube group to load the medium into the second oil storage device or to unload the medium from the second oil storage device.

[0038] The beneficial effects of the present invention are: the movement of the first pipe group, the second pipe group and the third pipe group can be accurately controlled, and the precise linkage between the joints of the oil transfer arm can be realized, so as to meet the requirements of intelligent, accurate positioning and closed loading and unloading operations, and at the same time, a larger working envelope range is provided, so as to further improve the fault tolerance of the system, and multi-stage telescopic drop pipes are not required, so that the medium with higher viscosity can be adapted. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. Among them:

[0040] Figure 1 This is the overall structural diagram of the oil transfer arm.

[0041] Figure 2 This is a top view of the oil transportation system.

[0042] Figure 3 This is the structural diagram of the first pipe group of the oil transportation system.

[0043] Figure 4 This is the component connection diagram of the oil delivery system.

[0044] Figure 5 A step diagram of the filling method. DETAILED DESCRIPTION

[0045] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0046] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0047] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor is it a separate or selective embodiment that is mutually exclusive with other embodiments.

[0048] Example 1

[0049] Reference Figures 1 to 3 , which is the first embodiment of the present invention, provides an oil delivery arm, including a first pipe group 100, a second pipe group 200 and a third pipe group 300.

[0050] Specifically, the first tube group 100 includes a first main tube body A1, and the first main tube body A1 is preferably a straight tube structure. The two ends of the first main tube body A1 extend outward in a direction perpendicular to the first main tube body A1 to form a first end A2 and a second end A3. Preferably, the first end A2 and the second end A3 extend outward from the first main tube body A1 in opposite directions, and the end surface of the first end A2 is a first end surface 101, and the end surface of the second end A3 is a second end surface 102.

[0051] The first end face 101 and the second end face 102 are not perpendicular to each other. Preferably, the first end face 101 and the second end face 102 are parallel.

[0052] In practice,

[0053] The first pipe group 100 is led out from one end of the oil delivery arm, namely, the crane pipe column, that is, the oil delivery arm is rotatably fixed on the crane pipe column through the first end face 101 of the first pipe group 100. The oil delivery arm inputs oil into a container connected to the crane pipe column through the crane pipe column, or extracts oil from a container connected to the crane pipe column and delivers it to the outside. The crane pipe connects the ground oil storage tank with the crane pipe through a pipeline.

[0054] The first pipe group 100 can be horizontally rotated more than 270 degrees with the first end face 101 as the center of the circle to expand the horizontal movement range of the oil delivery arm. The second pipe group 200 includes a second main pipe body B1, and the second main pipe body B1 is preferably a curved pipe structure. The second main pipe body forms a third end B2 and a fourth end B3 at both ends. Preferably, the third end B2 and the fourth end B3 are perpendicular to each other, the end face of the third end B2 is the third end face 201, and the end face of the fourth end B3 is the fourth end face 202.

[0055] The third end face 201 and the fourth end face 202 are not parallel to each other. Preferably, the third end face 201 and the fourth end face 202 are perpendicular.

[0056] The third end face 201 of the second tube group 200 is rotatably connected and connected to the second end face 102. The second tube group 200 can rotate 360 ​​degrees horizontally with the third end face 201 as the center of the circle to adjust the horizontal orientation of the third tube group 300 and finely adjust the horizontal position of the third tube group 300. The third tube group 300 includes a third main body C1, and the third main body C1 is preferably a straight tube structure. The two ends of the third main body C1 extend outwardly in a direction perpendicular to the third main body C1 to form a fifth end C2 and a sixth end C3. Preferably, the fifth end C2 and the sixth end C3 extend outwardly from the third main body C1 in opposite directions, and the end face of the fifth end C2 is the fifth end face 301, and the end face of the sixth end C3 is the sixth end face 302.

[0057] The fifth end face 301 and the sixth end face 302 are not perpendicular to each other. Preferably, the fifth end face 301 and the sixth end face 302 are parallel.

[0058] The fifth end face 301 of the third pipe group 300 is rotatably connected and communicated with the fourth end face 202. The third pipe group 300 can vertically rotate 360 ​​degrees with the fifth end face 301 as the center of the circle to adjust the vertical orientation of the third pipe group 300 and the horizontal and vertical position of the third pipe group 300 away from one end of the second pipe group 200, thereby expanding the vertical movement range of the oil delivery arm.

[0059] When in use, the three pipe groups can adjust the movement trajectory of the sixth end face 302 by rotating the relative end faces, so that the sixth end face 302 can move along a certain line segment in the oil transportation area while maintaining a safe height, and can maintain a horizontal position unchanged and move vertically at any position of the line segment.

[0060] By controlling the mutual rotation angle between the three pipe groups and the crane pipe column, the movement trajectory of the three pipe groups can be accurately controlled to ensure that the sixth end face 302 of the third pipe group 300 always maintains a safe height, finds the oil port and then only lowers the height without changing the horizontal position to vertically penetrate into the oil storage device, thereby reducing the operation time, avoiding the pipe group from colliding with the oil storage device and the oil port, improving the stability and reliability of the device, improving work efficiency, avoiding potential safety hazards to workers during manual guidance, and improving work efficiency.

[0061] Example 2

[0062] Reference Figures 1 to 3 , which is the second embodiment of the present invention, and this embodiment is based on the previous embodiment.

[0063] Specifically, the fourth tube group 400 includes a fourth main tube body D1, which is preferably a straight tube structure. The top of the fourth main tube body D1 extends outward along a direction perpendicular to the axis of the fourth main tube body D1 to form a seventh end D2. Preferably, the end surface of the seventh end D2 is a seventh end surface 401.

[0064] Preferably, the seventh end surface 401 and the sixth end surface 302 are rotatably connected and interconnected, and the sixth end surface 302 is vertically arranged.

[0065] The bottom end of the fourth main tube D1 extends in a direction parallel to or overlapping with the sixth end surface 302 and perpendicular to the ground to form a first section 403 . The end surface of the first section 403 is the eighth end surface 402 .

[0066] Preferably, the seventh end face 401 and the eighth end face 402 are perpendicular.

[0067] Specifically, the oil transfer arm is connected with a control valve or a quantitative loading system to control whether the oil transfer arm is loaded or unloaded.

[0068] Specifically, the detection unit 500 uses a radar or other rangefinder and is fixed at any position other than the first section 403 on the fourth tube group 400. The detection unit 500 faces the direction of the first section 403. Preferably, the detection unit 500 is arranged at the top of the first section 403, transmits detection waves and receives returned detection waves, and obtains detection data, including the time difference between the transmitted wave and the returned wave and the duration of each time difference.

[0069] In fact, when the tank truck is parked within the specified range and the detection unit 500 moves with the fourth pipe group 400, the objects scanned by the detection unit 500 are the tank top and the tank mouth. The time for the transmitted wave to return from the tank top is G, and the time for the transmitted wave to return from the tank mouth is G+T. During the scanning process, the return time changes from G to G+T, and then decreases back to G after a duration of t. Therefore, according to the running speed v of the detection unit 500, the distance S=vt traveled by the detection unit 500 when the return time is G+T can be calculated. The value of S is calculated and compared with the actual value of the tank mouth. If it is within the error range, it can be determined that this is the tank mouth, and the fourth pipe group 400 is controlled to return to the center of the tank mouth.

[0070] The first connecting component 600 includes a servo motor, a worm gear, a worm and a support seat. The servo motor is connected to the worm, the worm and the worm gear are meshed, and the worm gear is rotatably connected to the support seat. The two ends of the first connecting component 600 are respectively connected to the pipe group or the crane pipe column through the worm gear or the support seat. In this way, when the servo motor is driven, the pipe group can be rotated, thereby changing the position of the fourth pipe group 400 and adjusting the motion trajectory of the fourth pipe group 400.

[0071] The first connection assembly 600 has three groups, namely joint 601, joint 602 and joint 603;

[0072] The joint 601 connects the first end surface 101 and the crane column; the joint 602 connects the second end surface 102 and the third end surface 201; and the joint 603 connects the fourth end surface 202 and the fifth end surface 301.

[0073] Specifically, the first connecting component 600 also has an encoder connected to the servo motor, which can respond to changes in the input instructions quickly and accurately according to the input instructions, and collect the executed movements into operating data and feed it back to the input instruction party.

[0074] At the same time, the servo motor has a torque testing function. When the fourth tube group 400 finds the tank mouth and falls, it will be in sealed contact with the tank mouth after falling to a specified distance. When the pressure at the contact point reaches the top pressure, the servo motor will collect this pressure data and feed it back to the input command party, so that the tube group stops moving and prepares for the next loading or unloading.

[0075] The first connecting assembly 600 is a slewing support structure as a whole. When the two ends are connected to the pipes, one of the pipes can be rotated while the pipes at the two ends are kept connected.

[0076] Specifically, it further includes a second connection assembly 700, preferably, the second connection assembly 700 is a rotary joint, preferably a thrust ball bearing. The seventh end face 401 and the sixth end face 302 are rotatably connected through the second connection assembly 700, the fourth tube group 400 is kept vertical by gravity, and when the first tube group 100, the second tube group 200 and the third tube group 300 move, the fourth tube group 400 always remains vertical.

[0077] When in use, first, when it is determined that the tank truck is parked in the designated area, the first connecting assembly 600 is driven to adjust the position of the pipe group.

[0078] Next, when the first connecting component 600 controls the movement of the first tube group 100, the second tube group 200 and the third tube group 300, the fourth tube group 400 is unfolded, the fourth tube group 400 is placed at a safe height and moved to one end of the tank truck, and moved on the top of the tank truck along the axis of the tank truck. During this period, the detection unit 500 scans the top of the tank truck, and after determining the position of the tank mouth, the first connecting component 600 controls the fourth tube group 400 to return to the center of the tank mouth, keeps the horizontal position of the fourth tube group 400 unchanged and falls vertically, and after penetrating a certain depth into the tank mouth and pressing the tank mouth to a certain pressure, stops driving the first connecting component 600 to prepare for loading and unloading.

[0079] By driving the first connecting component 600 and the detection unit 500 to work together, the tank mouth position is automatically detected and accurately docked, which reduces human errors and improves operational efficiency. At the same time, during the detection process, the height of the fourth pipe group 400 is maintained and will not collide with other equipment, thereby ensuring the safety of operation. During the process of driving the first connecting component 600, the mutual compensation between the three first connecting components 600 ensures that the fourth pipe group 400 can maintain a safe height during detection, and when docking with the tank truck, it can be ensured that it will not collide with the tank mouth before reaching the specified depth, thereby optimizing the detection and loading and unloading processes and improving the positioning speed and loading and unloading efficiency.

[0080] Example 3

[0081] Reference Figures 1 to 4 , which is the third embodiment of the present invention, is based on the previous embodiment and includes an oil delivery arm, and further includes:

[0082] The first oil storage device 800 is used to store oil. Preferably, a pier is provided at the first oil storage device 800, and a crane column is provided on the pier. The first end face 101 of the first pipe group 100 is rotatably fixed on the crane column and connected to the first oil port 801 provided in the first oil storage device 800, so as to input or output oil into or out of the first oil storage device 800.

[0083] In practice, the first oil storage device 800 is located under a concrete foundation or a steel structure platform, at a certain height from the ground, which is convenient for loading and unloading oil. Tracks are set on both sides to facilitate the movement of oil transport vehicles, while guiding and positioning transport vehicles, ensuring that the oil transport vehicles remain in the correct position during loading and unloading, and avoiding operational risks caused by misalignment. The second oil storage device 900 is also used to store oil. Preferably, it is a tanker truck. The center of the top of the oil tank of the tanker truck is provided with a second oil port 901, which is convenient for the detection unit 500 to detect that the sixth end face 302 is located directly above the second oil port 901. Preferably, the first section 403 of the fourth pipe group 400 is located directly above the second oil port 901.

[0084] The first oil storage device 800 and the second oil storage device 900 are connected through the oil transfer arm. When the second oil storage device 900 is in the specified parking range, the first connecting component 600 can be driven to allow the detection unit 500 to detect the second oil port 901, and then the first section 403 of the fourth pipe group 400 is translated to the top of the second oil port 901, and then the first section 403 is penetrated into the second oil storage device 900 through the second oil port 901 to reach the specified position, in preparation for loading and unloading oil.

[0085] In fact, the second oil storage device 900 moves along the track on one side of the first oil storage device 800, and the movement track of the second oil port 901 is a straight line. When the fourth pipe group 400 is kept at a safe height, the range of movement that the first section 403 can reach is a circular surface. The circle and a straight line of the movement track of the second oil port 901 intersect to form a line segment L, and the two ends of the line segment determine the specific position of the specified parking range.

[0086] When the second oil storage device 900 is parked, it is necessary to ensure that the second oil port 901 is on the line segment L.

[0087] The two ends of the line segment L are M and N respectively. After determining that the second oil port 901 is on the line segment L, the first connecting assembly 600 drives the tube group to unfold, keeps the fourth tube group 400 at a safe height, and moves the fourth tube group 400 to point M or N, preferably a point in the same direction as the movement direction of the second oil storage device 900;

[0088] Then, the fourth pipe group 400 is driven to move along the line segment L, and the detection unit 500 detects the top surface of the second oil storage device 900 . After obtaining the specific position of the second oil port 901 , the fourth pipe group 400 is driven to position the first section 403 directly above the second oil port 901 .

[0089] Specifically, the first end surface 101 is connected to the first oil port 801 via the first connecting assembly 600 .

[0090] The first oil storage device 800 exchanges oil with the oil transfer arm through the first oil port 801. Specifically, the second oil storage device 900 can move on a predetermined track. The track is used to facilitate the movement of oil transport vehicles, guide and position transport vehicles, ensure that the oil transport vehicles remain in the correct position during loading and unloading, avoid operational risks caused by misalignment, and determine the movement trajectory of the second oil storage device 900, thereby fixing the actual starting and ending points of the line segment L, avoiding the need to recalculate the line segment L based on the position and angle of the second oil storage device 900 before each deployment of the oil transfer arm, thereby improving work efficiency.

[0091] Specifically, the control unit 1000 is used to receive and store the detection data sent back by the detection unit 500, the operation data and pressure data sent back by the first connection component 600, and the status data of the control valve or quantitative loading system connected to the oil delivery arm;

[0092] At the same time, the position O of the second oil port 901 is determined according to the detection data, the current position P of the first section 403 is calculated according to the operation data, and then the distance that the first section 403 needs to move back is calculated according to the position O and the position P;

[0093] After judging and calculating the data, the control unit 1000 sends a movement instruction to the first connecting component 600, sends a detection instruction to the detection unit 500, controls the fourth pipe group 400 to align and tighten the oil port, and then sends a loading or unloading instruction to the control valve or quantitative loading system connected to the oil transfer arm.

[0094] The control unit 1000 is connected to the first connecting component 600, and sends an operation command to the first connecting component 600, including an expansion command, an alignment command, a translation command, a back movement command, a drop command, and a stop command; after determining that the second oil storage device 900 stops within a specified range and the second oil port 901 is on the line segment L:

[0095] Deployment command, deploy the oil delivery arm, and control the fourth pipe group 400 at a safe height;

[0096] The alignment instruction allows the first section 403 to be aligned with point M at a safe height;

[0097] The translation instruction allows the first section 403 to move from point M to point N along line segment L at a safe height;

[0098] The return instruction, according to the positions of O and P, allows the first section 403 to return from P to O and align with the second oil port 901;

[0099] The falling instruction keeps the first section 403 in a horizontal position, and allows the first section 403 to fall vertically at position O and fall into the second oil port 901;

[0100] The stop command stops the displacement of the first section 403 after the first section 403 penetrates into the second oil port 901 to a specified depth, and prepares to load or unload oil.

[0101] The control unit 1000 receives and processes the operating data from the first connecting component 600. When the first section 403 is maintained at a safe height and the horizontal position of the first section 403 is kept unchanged, the control unit 1000 needs to receive the operating data of the first connecting component 600 and compensate for the movement between the pipelines through calculation.

[0102] The control unit 1000 is connected to the detection unit 500 and sends an operation instruction to the detection unit 500 . The control unit 1000 receives and processes the detection data from the detection unit 500 .

[0103] Running instruction, after the first section 403 is above point M, the detection unit 500 starts detection and transmits detection data back to the control unit 1000; the control unit 1000 determines the position of the second oil port 901 based on the detection data, and determines the distance between the first section 403 and the second oil port 901 based on the running data of the first connecting component 600.

[0104] The control unit 1000 is connected to the oil transfer arm, sends loading or unloading instructions to the oil transfer arm, and receives status data from the control valve or quantitative loading system connected to the oil transfer arm;

[0105] After the first section 403 penetrates into the second oil port 901 and stops moving, the loading or unloading of the oil is completed by sending a loading or unloading instruction to the oil delivery arm.

[0106] When in use, the first oil storage device 800 is connected to the oil transfer arm, the second oil storage device 900 moves along the track beside the first oil storage device 800 and stops within a specified range, and the control unit 1000 sends a movement instruction to the first connecting component 600 to unfold the oil transfer arm and allow the first section 403 to maintain a safe height and stop at point M;

[0107] Then the control unit 1000 sends a detection instruction to the detection unit 500 and drives the first section 403 to move from point M to point N along the line segment L, and determines the position O of the second oil port 901 according to the detection data sent back by the detection unit 500, and determines the current position P of the first section 403 according to the operation data sent back by the first connecting component 600; then the control unit 1000 sends a movement instruction to the first connecting component 600, driving the first section 403 to maintain a safe height and return to point O;

[0108] Then the control unit 1000 sends a motion instruction to the first connection component 600, driving the first section 403 to maintain a horizontal position and vertically fall into the second oil port 901, and the first connection component 600 generates pressure data;

[0109] Then, the control unit 1000 stops the oil transfer arm from moving according to the pressure data sent back by the first connecting assembly 600, and outputs loading or unloading instructions to the control valve or quantitative loading system connected to the oil transfer arm.

[0110] During operation, the control unit 1000 calculates the position O of the second oil port 901, and the detection unit 500 needs to completely cross the edges of both ends of the second oil port 901, so that the width of the possible oil port position can be calculated to determine whether this is the second oil port 901. At this time, the first section 403 has exceeded the position O, so it is necessary to calculate the length of the first section 403 that exceeds the position O based on the operating data sent back by the first connecting component 600, so that the first section 403 can return to the position O.

[0111] The track beside the first oil storage device 800 limits the movement direction of the second oil storage device 900 and the distance between the second oil storage device 900 and the first oil storage device 800, which fixes the position of the line segment L, thus avoiding the trouble of calculating the line segment L multiple times. At the same time, the route of the oil transfer arm to point M is fixed, which reduces the operation volume of the system.

[0112] The operation data and pressure data returned by the first connection assembly 600, in cooperation with the control unit 1000, can ensure that the device can be accurately positioned, and keep the first section 403 at a safe height before going deep into the second oil storage device 900, so as to avoid accidental contact between the first section 403 and the second oil storage device 900, and at the same time protect the oil transfer arm and the second oil storage device 900;

[0113] Through the detection data sent back by the detection unit 500 and the pressure data and operation data sent back by the first connection assembly 600, the control unit 1000 can monitor the system status in real time and adjust the position of the first section 403 as needed. This improves the reliability and accuracy of the system, reduces errors in human judgment and operation, ensures that the oil delivery arm can accurately dock with the second oil port 901, and improves the success rate and efficiency of loading and unloading operations;

[0114] Through detailed instructions and data feedback, the control unit 1000 can optimize the operation process, making the deployment, detection, positioning and loading and unloading of the oil loading arm seamless, reducing unnecessary waiting time and adjustment time during the loading and unloading process, and improving the overall operation efficiency;

[0115] The data generated and transmitted back by the system during operation can be stored and used for subsequent recording and analysis, which will help further optimize operating procedures and maintenance management and improve long-term operational efficiency.

[0116] Example 4

[0117] Reference Figures 1 to 5, which is the fourth embodiment of the present invention, and this embodiment is based on the previous embodiment.

[0118] Specifically, confirm the safety height of the sixth end face 302 and the maximum horizontal activity area U of the sixth end face 302 when the sixth end face 302 is at the safety height. This area is used to determine the maximum horizontal activity area U of the sixth end face 302 at the safety height. Combined with the running route of the second oil port 901, the available stopping range of the second oil storage device 900 is determined. Within this stopping range, the sixth end face 302, preferably the fourth pipe group 400 installed on the sixth end face 302, can be moved from the safety height to the tank mouth to avoid touching the second oil storage device 900 and causing damage to the device.

[0119] In conjunction with the track next to the first oil storage device 800, the running route of the second oil port 901 can be fixed, thereby determining a line segment L that only requires a starting point and an end point. When the second oil port 901 of the second oil storage device 900 stops on the line segment L, the stop is valid and the subsequent steps can be continued, otherwise the car will stop again.

[0120] The step of obtaining the position information is the unfolding instruction and the alignment instruction issued by the control unit 1000; the unfolding instruction, the joints 602 and 603 of the first connecting component 600 unfold the second tube group 200 and the third tube group 300, while keeping the sixth end surface 302 at a safe height, so that the sixth end surface 302 is at the alignment point M, during;

[0121] Alignment instructions, joints 601, 602 and 603 of the first connecting component 600 keep the sixth end face 302 at a safe height while moving the sixth end face 302 from point M along L to point N. During this period, the detection unit 500 detects and sends back the detection data, and the position O of the second oil port 901 is obtained based on the detection data and operation data. During this period, joints 601, 602 and 603 move simultaneously and compensate each other to ensure that the sixth end face 302 is at a safe height and runs in a straight line.

[0122] When the second oil port 901 is located in the maximum horizontal activity area of ​​the sixth end surface 302 and the state information is static, the third pipe group 300 is driven to make the sixth end surface 302 located directly above the second oil port 901 .

[0123] After obtaining the position O of the second oil port 901, the control unit 1000 drives the first connecting component 600 to move the sixth end face 302 back from point N to the determined point O. During this period, the joints 601, 602 and 603 move simultaneously and compensate for each other to ensure that the sixth end face 302 is at a safe height and runs in a straight line.

[0124] Then, the control unit 1000 drives the first connecting assembly 600 to make the sixth end surface 302 fall vertically and dock with the second oil port 901 while the sixth end surface 302 remains in a horizontal position.

[0125] The oil is transported through the oil transport passage formed by the first tube group 100 , the second tube group 200 , and the third tube group 300 .

[0126] The control unit 1000 loads the oil through a control valve or a quantitative loading system connected to the oil delivery arm.

[0127] Preferably, the first connecting assembly 600 is driven to align the eighth end surface 402 with the second oil port 901 .

[0128] The eighth end face 402 and the sixth end face 302 do not overlap in the vertical direction, so it is necessary to adjust the operation command of the control unit 1000 to ensure that the eighth end face 402 of the fourth pipe group 400 is aligned with the second oil port 901. The first connecting assembly 600 is driven to make the eighth end face 402 fall vertically and enter the second oil storage device 900.

[0129] The joints 601, 602 and 603 of the first connecting assembly 600 compensate each other to ensure that the eighth end surface 402 falls vertically while the horizontal position remains unchanged. The fourth pipe group 400 is driven to load the medium into the second oil storage device 900 or unload the medium from the second oil storage device 900.

[0130] The existence of the fourth tube assembly 400 allows the eighth end surface 402 to penetrate into the second oil port 901 , thereby completing an additional oil extraction operation.

[0131] When in use, the oil delivery system has two working modes, one is without the fourth pipe group 400, the system can output oil autonomously and passively input oil; the other is with the fourth pipe group 400, the system can output oil autonomously and input oil autonomously.

[0132] First case:

[0133] The first oil storage device 800 is connected to the oil delivery arm, the second oil storage device 900 moves along the track beside the first oil storage device 800 and stops within a specified range, and the control unit 1000 sends a movement instruction to the first connecting component 600 to unfold the oil delivery arm and allow the sixth end surface 302 to maintain a safe height and stop at point M;

[0134] Then the control unit 1000 sends a detection instruction to the detection unit 500 and drives the sixth end face 302 to move from point M to point N along the line segment L, and determines the position O of the second oil port 901 according to the detection data sent back by the detection unit 500, and determines the current position P of the sixth end face 302 according to the operation data sent back by the first connecting component 600; then the control unit 1000 sends a movement instruction to the first connecting component 600, driving the sixth end face 302 to maintain a safe height and return to point O;

[0135] Then the control unit 1000 sends a motion instruction to the first connecting component 600, driving the sixth end surface 302 to maintain a horizontal position and vertically fall and dock with the second oil port 901, and the first connecting component 600 generates pressure data;

[0136] Then, the control unit 1000 stops the oil transfer arm from moving according to the pressure data sent back by the first connecting component 600, and outputs a loading instruction to the control valve or quantitative loading system connected to the oil transfer arm to load oil into the second oil storage device 900.

[0137] Second case:

[0138] When in use, the first oil storage device 800 is connected to the oil transfer arm, the second oil storage device 900 moves along the track beside the first oil storage device 800 and stops within a specified range, and the control unit 1000 sends a movement instruction to the first connecting component 600 to unfold the oil transfer arm and allow the first section 403 to maintain a safe height and stop at point M;

[0139] Then the control unit 1000 sends a detection instruction to the detection unit 500 and drives the first section 403 to move from point M to point N along the line segment L, and determines the position O of the second oil port 901 according to the detection data sent back by the detection unit 500, and determines the current position P of the first section 403 according to the operation data sent back by the first connecting component 600; then the control unit 1000 sends a movement instruction to the first connecting component 600, driving the first section 403 to maintain a safe height and return to point O;

[0140] Then the control unit 1000 sends a motion instruction to the first connection component 600, driving the first section 403 to maintain a horizontal position and vertically fall into the second oil port 901, and the first connection component 600 generates pressure data;

[0141] Then, the control unit 1000 stops the oil transfer arm according to the pressure data sent back by the first connecting component 600, and outputs loading or unloading instructions to the control valve or quantitative loading system connected to the oil transfer arm.

[0142] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention can be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. An oil transfer arm, Features: include, A first tube group (100), having two ends respectively having a first end surface (101) and a second end surface (102) that are not perpendicular to each other; The second tube group (200) has a third end surface (201) and a fourth end surface (202) at both ends thereof which are not parallel to each other; the third end surface (201) is rotatably connected to the second end surface (102); and, The third tube group (300) has a fifth end surface (301) and a sixth end surface (302) at both ends thereof which are not perpendicular to each other; the fifth end surface (301) is rotatably connected to the fourth end surface (202).

2. The oil transfer arm according to claim 1, Features: Also includes, A fourth tube group (400) has a seventh end face (401) and an eighth end face (402) at two ends thereof respectively; the seventh end face (401) and the sixth end face (302) are rotatably connected, the sixth end face (302) is vertically arranged, and one end of the fourth tube group (400) corresponding to the eighth end face (402) has at least a first section (403) parallel to or overlapping with the sixth end face (302).

3. The oil transfer arm according to claim 2, Features: Also includes, The detection unit (500) is arranged at any position on the fourth tube group (400) other than the first section (403), and the detection unit (500) faces the direction of the first section (403).

4. The oil transfer arm according to claim 3, Features: Also included is a first connection assembly (600); The second end surface (102) and the third end surface (201) are connected via a first connecting component (600); The fourth end surface (202) and the fifth end surface (301) are connected via a first connecting component (600).

5. The oil transfer arm according to claim 4, Features: The first connection assembly (600) comprises a servo motor, a worm wheel, a worm and a support seat, the servo motor is connected to the worm, the worm is meshed with the worm wheel, and the worm wheel is rotationally connected to the support seat; The worm wheel and the worm are arranged in the support seat, and the servo motor is connected to the worm.

6. The oil transfer arm according to claim 5, Features: Also included is a second connection assembly (700); The seventh end surface (401) and the sixth end surface (302) are rotatably connected via a second connecting assembly (700).

7. An oil delivery system, Features: The oil delivery arm according to any one of claims 1 to 6 further comprises: a first oil storage device (800) having a first oil port (801) disposed thereon, the first tube group (100) being rotatably connected to the first oil port (801) via a first end surface (101); and The second oil storage device (900) is provided with a second oil port (901), and the sixth end surface (302) is located directly above the second oil port (901).

8. The oil delivery system according to claim 7, Features: The first end surface (101) is connected to the first oil port (801) via a first connecting assembly (600).

9. The oil delivery system according to claim 8, Features: The second oil storage device (900) is capable of moving along a predetermined track.

10. The oil delivery system according to claim 9, Features: Also includes, A control unit (1000) is connected to the first connection component (600) and sends an operation instruction to the first connection component (600), wherein the control unit (1000) receives and processes operation data from the first connection component (600); The control unit (1000) is connected to the detection unit (500) and sends an operation instruction to the detection unit (500); the control unit (1000) receives and processes detection data from the detection unit (500); The control unit (1000) is connected to the oil loading arm and sends a loading or unloading instruction to the oil loading arm.

11. An oil delivery method according to any one of claims 7 to 10, Features: include, Confirming the safe height of the sixth end surface (302) and the maximum horizontal activity area of ​​the sixth end surface (302) when the sixth end surface (302) is at the safe height; Acquiring position information and status information of the second oil port (901); When the second oil port (901) is located within the maximum horizontal activity area of ​​the sixth end surface (302) and the state information is static, the third pipe group (300) is driven to make the sixth end surface (302) located directly above the second oil port (901); Oil is transported through the oil transport channel formed by the first tube group (100), the second tube group (200) and the third tube group (300).

12. The oil transport method according to claim 11, Features: driving the first connecting assembly (600) so that the eighth end surface (402) is aligned with the second oil port (901); Driving the first connecting assembly (600) to make the eighth end surface (402) fall vertically downward and enter the second oil storage device (900); The fourth tube group (400) is driven to enable the fourth tube group (400) to load the medium into the second oil storage device (900) or to unload the medium from the second oil storage device (900).

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