Tandem-driven automatic fluid loading and unloading arm and using method

Abstract

The invention discloses a series-driven automatic fluid loading and unloading arm and a using method thereof, and the series-driven automatic fluid loading and unloading arm is characterized in that a vertical displacement mechanism is arranged on a stand column and can reciprocate in the vertical direction of the stand column; the pipe string assembly comprises a fluid source adapter, a first pipe body, a second pipe body, a third pipe body, a fourth pipe body, a fifth pipe body and a sixth pipe body which are connected with a first fixed joint through a first rotary joint, a second rotary joint, a third rotary joint, a fourth rotary joint and a fifth rotary joint in sequence; the end, away from the first fixing connector, of the sixth pipe body is vertically downward, the third pipe body is fixed to the vertical displacement mechanism, and the fluid source adapter is arranged on the stand column. Wherein the axes of the first rotary joint, the second rotary joint and the third rotary joint are horizontal and parallel to one another, and the axes of the fourth rotary joint, the fifth rotary joint and the first fixed joint are vertical and parallel to one another; the first-stage rotary driving mechanism is arranged on the vertical displacement mechanism, and the rotary output end of the first-stage rotary driving mechanism is connected to the outer ring of the fourth rotary joint; and the rotary output end of the second-stage rotary driving mechanism is connected to the outer ring of the fifth rotary joint. The invention aims to solve the problems that the position of the tail end vertical filling pipe in the horizontal plane cannot be ensured to be fixed when the height of the tail end vertical filling pipe is changed, and the load pressure and the bending moment are large due to the fact that the gravity center is far away from the stand column.

Description

Technical Field

[0001] The invention belongs to the technical field of fluid loading and unloading, and in particular relates to a serially driven fluid automatic loading and unloading arm and a use method thereof. Background Art

[0002] The fluid automatic loading and unloading arm, also known as the crane pipe, is a professional equipment for loading and unloading fluids in the hazardous chemicals industry, including components such as swivel joints, rigid pipes and elbows. As a movable and retractable device, the fluid automatic loading and unloading arm replaces the old hose connection and can realize the transmission of hazardous chemical liquid media between tank trucks, train tank trucks and trestle transport pipelines; it has the advantages of high safety, long life and flexible movement.

[0003] Chinese patent CN118545668A discloses an automatic alignment crane pipe, which is composed of a column, a rotating joint, a liquid flow pipe, and a driving mechanism. Specifically, the first driving mechanism is fixed on the column to drive the first-level movable tube to rotate, and the second driving mechanism is fixed at the end of the first-level movable tube to drive the second-level movable tube to rotate. The movement range of these two levels of movable tubes and the driving mechanism is in the horizontal plane, which is used to determine the position of the terminal vertical filling tube in the horizontal plane. The third driving mechanism is fixed at the end of the second-level movable tube to drive the third-level movable tube to rotate. The rotation axis of the third-level movable tube is perpendicular to the plane formed by the rotation axes of the first-level and second-level movable tubes, so that when the third-level movable tube rotates, it will drive the terminal vertical filling tube to produce a position change in the vertical plane (that is, the height direction changes), completing the three-dimensional xyz position positioning of the terminal filling tube. However, the automatic alignment crane pipe has the following defects: ① When the height of the terminal vertical filling pipe needs to be changed, the position of the terminal vertical filling pipe in the horizontal plane will also change, that is, it is impossible to ensure that the position of the terminal vertical filling pipe in the horizontal plane is fixed, which makes it difficult to align the terminal vertical filling pipe and the filling port of the tank truck; ② In order to ensure that the terminal filling pipe always remains in a vertical state, an auxiliary component is added to the third-level movable pipe. The auxiliary component ensures that the terminal filling pipe always remains in a vertical state when the height changes. This causes the center of gravity of the automatic alignment crane pipe to be far away from the column, resulting in a large load pressure and bending moment between the entire mechanism and the column fixed to the ground, which requires a high-strength design, resulting in increased costs. Summary of the invention

[0004] In response to the problems existing in the prior art, the present invention provides a series-driven fluid automatic loading and unloading arm and a method of use, which aims to solve the problem that the position of the terminal vertical filling tube cannot be guaranteed to be fixed in the horizontal plane when the height is changed, and the problem of large load pressure and bending moment caused by the center of gravity being far away from the column.

[0005] In order to solve the above technical problems, the present invention is implemented by the following technical solutions: According to a first aspect of the present invention, there is provided a serially driven fluid automatic loading and unloading arm, comprising: Column; A vertical displacement mechanism, which is arranged on the column and can reciprocate vertically along the column; A pipe string assembly, comprising a fluid source adapter, a first tube body, a second tube body, a third tube body, a fourth tube body, a fifth tube body and a sixth tube body connected in sequence through a first rotating joint, a second rotating joint, a third rotating joint, a fourth rotating joint, a fifth rotating joint and a first fixed joint, wherein one end of the sixth tube body away from the first fixed joint is vertically downward, the third tube body is fixed on the vertical displacement mechanism, the fluid source adapter is arranged on the column, and one end of the fluid source adapter away from the first rotating joint is used to connect to a fluid source; wherein the axes of the first rotating joint, the second rotating joint and the third rotating joint are horizontal and parallel to each other, and the axes of the fourth rotating joint, the fifth rotating joint and the first fixed joint are vertical and parallel to each other; A first-stage rotation driving mechanism, which is arranged on the vertical displacement mechanism, and a rotation output end is connected to the outer ring of the fourth rotation joint, and is used to drive the fourth rotation joint to drive the fourth tube body to rotate; The second-stage rotation driving mechanism has a rotation output end connected to the outer ring of the fifth rotation joint, and is used to drive the fifth rotation joint to drive the fifth tube body to rotate.

[0006] In a possible implementation of the first aspect, the vertical displacement mechanism includes a slide rail arranged on the column, a slider slidably fitted on the slide rail, a first support connected to the slider, and a displacement drive mechanism for driving the slider to slide up and down along the slide rail, and the third tube body is fixed on the first support.

[0007] In a possible implementation manner of the first aspect, the displacement drive mechanism includes a rack fixed on the column, a gear meshing with the rack, and a gear drive device connected to the gear and fixed on the first support.

[0008] In a possible implementation of the first aspect, the first-stage rotation drive mechanism includes a first worm wheel sleeved and fixed on the outer ring of the fourth rotation joint, a first worm meshing with the first worm wheel, and a first worm drive device connected to the first worm and fixed on the first support.

[0009] In a possible implementation of the first aspect, the second-stage rotation drive mechanism includes a second support fixed on the non-rotating part of the fifth rotation joint, a second worm gear sleeved and fixed on the outer ring of the fifth rotation joint, a second worm meshing with the second worm gear, and a second worm drive device connected to the second worm and fixed on the second support.

[0010] In a possible implementation of the first aspect, the fluid automatic loading and unloading arm also includes a driving small arm and a driving large arm, one end of the driving small arm is fixed to the outer ring of the fifth rotating joint, the other end of the driving small arm is fixed to the first fixed joint, one end of the driving large arm is fixed to the outer ring of the fourth rotating joint, the other end of the driving large arm is fixed to the non-rotating part of the fifth rotating joint, and the driving large arm is covered on the fourth tube body.

[0011] In a possible implementation of the first aspect, the tube string assembly further includes a vertical filling tube, one end of the vertical filling tube is connected to an end of the sixth tube body away from the first fixed joint via a second fixed joint, and a visual recognition module is provided on the vertical filling tube.

[0012] In a possible implementation of the first aspect, the fluid automatic loading and unloading arm also includes a power distribution and processing control module, which is arranged on the column, and the power distribution and processing control module is connected to the vertical displacement mechanism, the first-level rotation drive mechanism, the second-level rotation drive mechanism and the visual recognition module.

[0013] In a possible implementation manner of the first aspect, the fluid source adapter is disposed on the column at a position close to the bottom.

[0014] According to a second aspect of the present invention, there is provided a method for using a serially driven fluid automatic loading and unloading arm, comprising: When the position of the end of the sixth tube body in the height direction needs to be adjusted, the vertical displacement mechanism is controlled to move vertically along the column. When the vertical displacement mechanism moves, the third tube body is driven to adaptively rotate around the third rotating joint, the second tube body is driven to adaptively rotate around the second rotating joint, and the first tube body is driven to adaptively rotate around the first rotating joint, and at the same time, the fourth tube body, the fifth tube body and the sixth tube body are driven to change together in the height direction; When the position of the sixth tube end in the height direction does not need to be adjusted, and the position of the sixth tube end in the horizontal plane needs to be adjusted, the control method includes: Controlling the first-stage rotation drive mechanism to drive the fourth rotation joint to drive the fourth tube body to rotate around the axis of the fourth rotation joint, when the fourth tube body rotates, the fifth tube body and the sixth tube body are driven to move synchronously, thereby changing the position of the end of the sixth tube body in the horizontal plane; And / or, control the second-stage rotation drive mechanism to drive the fifth rotation joint to drive the fifth tube body to rotate around the axis of the fifth rotation joint. When the fifth tube body rotates, it drives the sixth tube body to move synchronously, thereby changing the position of the end of the sixth tube body in the horizontal plane.

[0015] Compared with the prior art, the present invention has at least the following beneficial effects: The present invention provides a serially driven automatic fluid loading and unloading arm, which realizes the movement of the sixth tube body end in the height direction (i.e., Z axis) through a vertical displacement mechanism, decouples it from the serial drive chain of the connecting pipe, and places it on the column for separate control. When the position of the sixth tube body end in the horizontal plane is determined, and only its height needs to be adjusted, it is only necessary to control the vertical displacement mechanism to move up and down. This design ensures that the position of the sixth tube body end in the horizontal plane remains unchanged when the height is changed, thereby solving the problem in the prior art that the vertical filling tube at the end cannot be fixed in the horizontal plane when the height is changed, and improves the accuracy and efficiency of the filling operation. The automatic fluid loading and unloading arm of the present invention can realize the control of the sixth tube body end in three-dimensional space through an independent vertical displacement mechanism and a two-stage rotation drive mechanism, which not only improves the positioning accuracy, but also speeds up the filling speed, making the filling operation more efficient. At the same time, the fluid automatic loading and unloading arm of the present invention directly sets the vertical displacement mechanism on the column, and the first-level rotary drive mechanism is set on the vertical displacement mechanism, and the second-level rotary drive mechanism is as close to the column as possible (the first-level rotary drive mechanism is located at one end of the fourth tube body, and the second-level rotary drive mechanism is located at the other end of the fourth tube body), so that the center of gravity of the entire loading and unloading arm is relatively close to the column, which significantly reduces the load pressure and bending moment on the column, reduces the demand for high-strength design, and thus saves costs. At the same time, since the drive mechanism is close to the column, the demand for the load capacity of the drive mechanism is also reduced, further reducing production costs and improving economy.

[0016] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the specific implementation modes of the present invention, the drawings required for use in the description of the specific implementation modes will be briefly introduced below. Obviously, the drawings described below are some implementation modes of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 It is an axonometric view of a serially driven fluid automatic loading and unloading arm according to an embodiment of the present invention at a first viewing angle; Figure 2 It is an axonometric view of a serially driven fluid automatic loading and unloading arm according to an embodiment of the present invention at a second viewing angle; Figure 3 It is a front view of a serially driven fluid automatic loading and unloading arm according to an embodiment of the present invention; Figure 4 A top view of a worm drive device in a serially driven fluid automatic loading and unloading arm according to an embodiment of the present invention; Figure 5 This is an axonometric view of a serially driven fluid automatic loading and unloading arm (including a driving arm) at a third viewing angle according to an embodiment of the present invention.

[0019] In the figure: 1- column; 2-vertical displacement mechanism; 20-slide rail; 21-slider; 22-first support; 23-displacement drive mechanism; 230-rack; 231-gear; 232-gear drive device; 3-tube string assembly; 300-first tube body; 301-second tube body; 302-third tube body; 303-fourth tube body; 304-fifth tube body; 305-sixth tube body; 306-first rotary joint; 307-second rotary joint; 308-third rotary joint; 309-fourth rotary joint; 310-fifth rotary joint; 311-first fixed joint; 312-fluid source transfer tube; 313-second fixed joint; 314-vertical filling tube; 4-first stage rotation drive mechanism; 40-first worm wheel; 41-first worm; 42-first worm drive device; 5-second stage rotation drive mechanism; 50-second support; 51-second worm wheel; 52-second worm; 53-second worm drive device; 6-driving small arm; 7-driving large arm; 8-visual recognition module; 9-power distribution and processing control module. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] Combination Figure 1 , Figure 2 and Figure 3 As shown, an embodiment of the present invention provides a serially driven automatic fluid loading and unloading arm, which is mainly intended to solve the problem in the prior art that the terminal vertical filling tube cannot be kept fixed in the horizontal plane when the height changes, and the problem of large load pressure and bending moment caused by the center of gravity being far away from the column. The automatic fluid loading and unloading arm includes a column 1, a vertical displacement mechanism 2, a pipe string assembly 3, a first-stage rotation drive mechanism 4, and a second-stage rotation drive mechanism 5. The column 1 serves as the supporting structure of the entire loading and unloading arm, which is fixed on the ground and provides a stable supporting force. The vertical displacement mechanism 2 is arranged on the column 1 and can reciprocate vertically along the column 1.

[0022] The pipe string assembly 3 includes a fluid source transfer pipe 312, a first pipe body 300, a second pipe body 301, a third pipe body 302, a fourth pipe body 303, a fifth pipe body 304 and a sixth pipe body 305 connected in sequence through a first rotating joint 306, a second rotating joint 307, a third rotating joint 308, a fourth rotating joint 309, a fifth rotating joint 310 and a first fixed joint 311, the sixth pipe body 305 is vertically downward at one end away from the first fixed joint 310, the third pipe body 302 is fixed on the vertical displacement mechanism 2, the fluid source transfer pipe 312 is arranged on the column 1, and the end of the fluid source transfer pipe 312 away from the first rotating joint 306 is used to connect the fluid source. Among them, the axes of the first rotating joint 306, the second rotating joint 307 and the third rotating joint 308 are horizontal and parallel to each other, and the axes of the fourth rotating joint 309, the fifth rotating joint 310 and the first fixed joint 310 are vertical and parallel to each other.

[0023] That is to say, the pipe string assembly 3 includes a fluid source transfer pipe 312, a first pipe body 300, a second pipe body 301, a third pipe body 302, a fourth pipe body 303, a fifth pipe body 304 and a sixth pipe body 305, one end of the fluid source transfer pipe 312 is connected to one end of the first pipe body 300 through a first rotating joint 306, the other end of the first pipe body 300 is connected to one end of the second pipe body 301 through a second rotating joint 307, the other end of the second pipe body 301 is connected to one end of the third pipe body 302 through a third rotating joint 308, the position close to the other end of the third pipe body 302 is fixed on the vertical displacement mechanism 2, the other end of the third pipe body 302 is connected to one end of the fourth pipe body 303 through a fourth rotating joint 309, the other end of the fourth pipe body 303 is connected to one end of the fifth pipe body 304 through a fifth rotating joint 310, the other end of the fifth pipe body 304 is connected to one end of the sixth pipe body 305 through a first fixed joint 311, and the other end of the sixth pipe body 305 is vertically downward.

[0024] The first-stage rotation driving mechanism 4 is arranged on the vertical displacement mechanism 2 , and the rotation output end is connected to the outer ring of the fourth rotation joint 309 , so as to drive the fourth rotation joint 309 to drive the fourth tube body 303 to rotate.

[0025] The rotation output end of the second-stage rotation driving mechanism 5 is connected to the outer ring of the fifth rotation joint 310 , and is used to drive the fifth rotation joint 310 to drive the fifth tube body 304 to rotate.

[0026] Specifically, the vertical displacement mechanism 2 is installed on the column 1, and realizes vertical reciprocating motion along the column 1 through a motor or other driving device. The vertical displacement mechanism 2 can control its height position, thereby driving the pipe string assembly 3 connected thereto to move in the vertical direction. The pipe string assembly 3 is composed of a plurality of pipe bodies (fluid source transfer pipe 312, first pipe body 300, second pipe body 301, third pipe body 302, fourth pipe body 303, fifth pipe body 304 and sixth pipe body 305) connected in sequence through rotating joints (first rotating joint 306, second rotating joint 307, third rotating joint 308, fourth rotating joint 309, fifth rotating joint 310) and fixed joints (first fixed joint 311). The rotating joint allows the pipe bodies to rotate relative to each other, thereby changing the shape and position of the pipe string assembly 3, that is, the rotating joint makes the pipe bodies of the pipe string assembly 3 highly adaptable. The fixed joint is used to connect adjacent pipe bodies and keep their relative positions unchanged.

[0027] The fluid source transfer tube 312 is used to connect a fluid source, such as a storage tank or a pump. The first tube body 300 to the sixth tube body 305 are connected in sequence through a rotating joint to form a bendable tube string structure. The first-stage rotation drive mechanism 4 is connected to the outer ring of the fourth rotating joint 309, and is used to drive the fourth tube body 303 to rotate around its axis, thereby changing the position of the end of the sixth tube body 305 in the horizontal plane. The second-stage rotation drive mechanism 5 is connected to the outer ring of the fifth rotating joint 310, and is used to drive the fifth tube body 304 to rotate around its axis, and further adjust the position of the end of the sixth tube body 305 in the horizontal plane. Through the coordinated adjustment of the first-stage rotation drive mechanism 4 and the second-stage rotation drive mechanism 5, the end of the sixth tube body 305 can reach any position in the horizontal plane.

[0028] The working principle of a serially driven fluid automatic loading and unloading arm in this embodiment is as follows: when the height of the end of the sixth tube body 305 needs to be adjusted, the vertical displacement mechanism 2 is controlled to move vertically along the column 1. The movement of the vertical displacement mechanism 2 will drive the third tube body 302 and subsequent tube bodies (fourth tube body 303, fifth tube body 304, sixth tube body 305) connected thereto to change together in the height direction. Since the axes of the first rotary joint 306, the second rotary joint 307 and the third rotary joint 308 are horizontal and parallel to each other, the first tube body 300, the second tube body 301, and the third tube body 302 will adaptively rotate around their respective rotary joints to maintain the adaptive adjustment of the pipe string assembly 3. When the height of the end of the sixth tube body 305 does not need to be adjusted, but the position needs to be changed in the horizontal plane, it can be achieved by controlling the first-stage rotation drive mechanism 4 and the second-stage rotation drive mechanism 5. The first-stage rotation drive mechanism 4 drives the fourth rotation joint 309 to rotate the fourth tube 303, thereby driving the subsequent tubes (fifth tube 304, sixth tube 305) to move in the horizontal plane. Similarly, the second-stage rotation drive mechanism 5 can drive the fifth rotation joint 310 to rotate the fifth tube 304, and further adjust the position of the end of the sixth tube 305.

[0029] It can be seen that, through the independent control of the vertical displacement mechanism 2 and the rotary drive mechanism, the position of the end of the sixth tube body 305 in the height direction and the horizontal plane is independently adjusted, which solves the problem in the prior art that the horizontal position changes with the height change. Since the vertical displacement mechanism 2 is directly arranged on the column 1, and the first-stage rotary drive mechanism 4 is also arranged on the vertical displacement mechanism 2, and the second-stage rotary drive mechanism 5 is close to the column 1, the center of gravity of the entire loading and unloading arm is relatively close to the column, which reduces the load pressure and bending moment on the column and reduces the need for high-strength design. The optimization of the center of gravity and the improvement of the drive mechanism layout reduce the production cost and the difficulty of processing and manufacturing. At the same time, the positioning accuracy and filling speed are improved, and the economic benefits are improved.

[0030] In one possible implementation, combining Figures 1 to 3 As shown, the vertical displacement mechanism 2 includes a slide rail 20 arranged on the column 1, a slider 21 slidably fitted on the slide rail 20, a first support 22 connected to the slider 21, and a displacement driving mechanism 23 for driving the slider 21 to slide up and down along the slide rail 20, and the third tube body 302 is fixed on the first support 22.

[0031] That is to say, the main components of the vertical displacement mechanism 2 include a slide rail 20 set on the column 1, a slider 21 slidably fitted on the slide rail 20, a first support 22 connected to the slider 21, and a displacement driving mechanism 23 responsible for driving the slider 21 to slide up and down along the slide rail 20, wherein the third tube body 302 is fixed on the first support 22.

[0032] Exemplarily, two slide rails 20 are arranged vertically and parallelly on the column 1, and each slide rail 20 is slidably matched with a slider 21, and the first support 22 is fixedly connected to the two sliders 21. The slide rail 20 is firmly mounted on the side of the column 1 by welding, bolting or other fastening methods to ensure that it remains stable within the entire operating range. The slider 21 is designed with a groove matching the shape of the slide rail 20 to ensure that the two can slide tightly and smoothly while maintaining sufficient stability. The first support 22 is a key component connecting the slider 21 and the third tube body 302. The first support 22 is fixed on the slider 21 by welding, bolts or other reliable methods to ensure a rigid connection between the two; the top of the first support 22 is designed with an interface suitable for the installation of the third tube body 302, such as a flange, a clamp or a threaded connection. The displacement drive mechanism 23 is the power source of the vertical displacement mechanism 2, which is responsible for driving the slider 21 and all components connected thereto to move up and down along the slide rail 20. The displacement drive mechanism 23 can be driven by electric, pneumatic or hydraulic means. For example, when electric drive is adopted, a motor, a reducer, a screw or a gear rack transmission system can be configured to achieve precise positioning of the slider 21 by controlling the rotation of the motor.

[0033] Preferably, the displacement driving mechanism 23 includes a rack 230 fixed on the column 1 , a gear 231 meshing with the rack 230 , and a gear driving device 232 connected to the gear 231 and fixed on the first support 22 .

[0034] Specifically, the displacement driving mechanism 23 is mainly composed of a rack 230 fixed on the column 1 , a gear 231 meshing with the rack 230 , and a gear driving device 232 connected to the gear 231 and fixed on the first support 22 .

[0035] Exemplarily, the rack 230 is made of a high-strength, wear-resistant alloy material to ensure smooth and reliable meshing with the gear 231. The length of the rack 230 is designed according to the working range of the fluid automatic loading and unloading arm, and usually covers the full length or key working area of ​​the slide rail 20. The rack 230 is fixed to the side of the column 1 by welding, bolting or other fastening methods to ensure that it remains stable and not easily deformed within the entire operating range. The gear 231 is meshed with the rack 230, and the tooth shape of the gear 231 matches the tooth shape of the rack 230 to achieve smooth and impact-free meshing. The gear drive device 232 is the power source and control core of the displacement drive mechanism 23. For example, the gear drive device 232 includes components such as a motor, a reducer, and a transmission shaft. The motor reduces the speed and increases the torque through the reducer, and then transmits the power to the gear 231 through the transmission shaft. The gear drive device 232 is fixed to the first support 22 by bolts or other fastening methods to ensure reliable connection with the gear 231. At the same time, the gear drive device 232 is also equipped with a control system (such as a PLC, a single-chip microcomputer, etc.) for receiving external instructions and adjusting the speed and direction of the motor, thereby controlling the sliding speed and direction of the slider 21.

[0036] For example, when the height of the fluid automatic loading and unloading arm needs to be adjusted, the control system sends a command to the gear drive device 232, the motor starts and drives the gear 231 to rotate through the reducer. The gear 231 meshes with the rack 230 to convert the rotational motion into linear motion, thereby driving the slider 21 and the first support 22 and the third tube 302 connected thereto to slide up and down along the slide rail 20.

[0037] More preferably, the displacement drive mechanism 23 is also equipped with safety devices, such as limit switches, overload protection, etc., to ensure that the predetermined travel range is not exceeded or excessive load is not applied during operation. At the same time, the meshing between the gear and the rack has a self-locking function, and when the motor stops working, the position of the slider 21 can be kept stable to prevent accidental movement due to external force.

[0038] In one possible implementation, combining Figures 1 to 3 As shown, the first-stage rotation drive mechanism 4 includes a first worm gear 40 sleeved and fixed on the outer ring of the fourth rotation joint 309, a first worm 41 meshing with the first worm gear 40, and a first worm drive device 42 connected to the first worm 41 and fixed on the first support 22.

[0039] That is, the first-stage rotation drive mechanism 4 mainly includes a first worm gear 40 which is sleeved and fixed on the outer ring of the fourth rotation joint 309, a first worm 41 which is meshed with the first worm gear 40, and a first worm drive device 42 which is connected to the first worm 41 and fixed on the first support 22.

[0040] Exemplarily, the inner diameter of the first worm wheel 40 matches the outer ring of the fourth rotary joint 309, and the sleeve fixation is achieved by keyways, pins or other fastening methods to ensure synchronous rotation between the two. The gear teeth of the first worm wheel 40 mesh with the helical teeth of the first worm 41, and the first worm wheel 40 is driven to rotate by the rotation of the first worm 41, thereby driving the fourth rotary joint 309 and the components connected thereto to rotate. The helical teeth of the first worm 41 match the gear teeth of the worm wheel to ensure smooth and impact-free meshing. One end of the first worm 41 is connected to the first worm drive device 42, and the other end is supported on the first support 22 through a bearing to maintain its stable rotation.

[0041] Combination Figure 4 As shown, the first worm drive device 42 is the power source and control core of the first-stage rotation drive mechanism 4, and includes components such as a motor, a reducer, and a transmission shaft. The motor reduces the speed and increases the torque through the reducer, and then transmits the power to the first worm 41 through the transmission shaft. The first worm drive device 42 is fixed to the first support 22 by bolts or other fastening methods to ensure reliable connection with the first worm 41. At the same time, the first worm drive device 42 is also equipped with a control system (such as a PLC, a single-chip microcomputer, etc.) for receiving external instructions and adjusting the speed and direction of the motor, thereby controlling the rotation speed and direction of the first worm 41.

[0042] When the rotation angle of the fluid automatic loading and unloading arm needs to be adjusted, the control system sends a command to the first worm drive device 42, the motor starts and drives the first worm 41 to rotate through the reducer. The helical teeth of the first worm 41 mesh with the gear teeth of the first worm wheel 40, transmitting the rotational motion to the first worm wheel 40, thereby driving the fourth rotary joint 309 to rotate.

[0043] In one possible implementation, combining Figures 1 to 3 As shown, the second-stage rotation drive mechanism 5 includes a second support 50 fixed on the non-rotating part of the fifth rotation joint 310, a second worm gear 51 sleeved and fixed on the outer ring of the fifth rotation joint 310, a second worm 52 meshing with the second worm gear 51, and a second worm drive device 53 connected to the second worm 52 and fixed on the second support 50.

[0044] That is, the second-stage rotation drive mechanism 5 mainly includes a second support 50 fixed on the non-rotating part of the fifth rotation joint 310, a second worm gear 51 sleeved and fixed on the outer ring of the fifth rotation joint 310, a second worm 52 meshing with the second worm gear 51, and a second worm drive device 53 connected to the second worm 52 and fixed on the second support 50.

[0045] It should be understood that the non-rotating portion of the rotary joint is the inner ring of the rotary joint.

[0046] The second support 50 is a supporting structure for the second-stage rotary drive mechanism 5 and is made of high-strength material. The inner and outer diameters of the second worm wheel 51 match the outer ring of the fifth rotary joint 310, and are fixed by keyways, pins or other fastening methods to ensure synchronous rotation between the two. The gear teeth of the second worm wheel 51 mesh with the helical teeth of the second worm 52, and the second worm wheel 51 is driven to rotate by the rotation of the second worm 52, thereby driving the fifth rotary joint 310 and the components connected thereto to rotate. One end of the second worm 52 is connected to the second worm drive device 53, and the other end is supported on the second support 50 through a bearing to maintain its stable rotation.

[0047] The second worm drive device 53 is the power source and control core of the second-stage rotation drive mechanism 5. Its structure is similar to that of the first worm drive device 42, and also includes components such as a motor, a reducer, and a transmission shaft. The motor reduces the speed and increases the torque through the reducer, and then transmits the power to the second worm 52 through the transmission shaft. The second worm drive device 53 is fixed to the second support 50 by bolts or other fastening methods to ensure reliable connection with the second worm 52. At the same time, the second worm drive device 53 is also equipped with a control system (such as a PLC, a single-chip microcomputer, etc.) for receiving external instructions and adjusting the speed and direction of the motor, thereby controlling the rotation speed and direction of the worm.

[0048] When the second-stage rotation angle of the fluid automatic loading and unloading arm needs to be adjusted, the control system sends a command to the second worm drive device 53, the motor starts and drives the second worm 52 to rotate through the reducer. The helical teeth of the second worm 52 mesh with the gear teeth of the second worm wheel 51, transmitting the rotational motion to the second worm wheel 51, thereby driving the fifth rotary joint 310 to rotate.

[0049] In one possible implementation, combining Figure 3 and Figure 5 As shown, the fluid automatic loading and unloading arm also includes a driving arm 6 and a driving arm 7, one end of the driving arm 6 is fixed to the outer ring of the fifth rotating joint 310, the other end of the driving arm 6 is fixed to the first fixed joint 311, one end of the driving arm 7 is fixed to the outer ring of the fourth rotating joint 309, the other end of the driving arm 7 is fixed to the non-rotating part of the fifth rotating joint 310, and the driving arm 7 is covered on the fourth tube body 303.

[0050] Specifically, the main purpose of the driving arm 6 is to increase the rigidity and stability of the overall structure and prevent deformation or damage due to excessive force. The driving arm 6 is made of high-strength material, one end of the driving arm 6 is fixed to the outer ring of the fifth rotary joint 310, and the other end is fixed to the first fixed joint 311, so that the driving arm 6 can effectively connect and support the fifth tube body 304 of the fluid automatic loading and unloading arm to form a more stable overall structure. Similarly, the driving arm 7 effectively connects and supports the fourth tube body 303 of the fluid automatic loading and unloading arm. At the same time, the driving arm 7 can protect the fourth tube body 303 of the fluid automatic loading and unloading arm from external impact. Its shape and size match the fourth tube body 303 to ensure that it can be covered on the tube body.

[0051] In one possible implementation, combining Figures 1 to 3 As shown, the tube string assembly 3 also includes a vertical filling tube 314 , one end of which is connected to an end of the sixth tube body 305 away from the first fixed joint 310 via a second fixed joint 313 , and a visual recognition module 8 is provided on the vertical filling tube 314 .

[0052] That is to say, the main function of the vertical filling tube 314 is to realize the vertical filling of the fluid. The length and diameter of the vertical filling tube 314 are designed according to actual needs to ensure filling efficiency and accuracy. The main function of the visual recognition module 8 is to realize the visual recognition and positioning of the filling target (such as a container). The module uses image processing and machine learning methods to accurately identify information such as the shape, size and position of the container. The visual recognition module 8 is installed on the vertical filling tube 314 and is located near the filling port. It can ensure that during the filling process, the module can capture the image of the container in real time, analyze and process it, and the output signal of the module is transmitted to the control system of the fluid automatic loading and unloading arm to adjust the filling position and angle according to the recognition results to ensure that the fluid can be accurately filled into the container.

[0053] Preferably, the visual recognition module 8 can also directly recognize the license plate information of the vehicle to be filled, and directly retrieve the filling information of the vehicle according to the license plate information.

[0054] In one possible implementation, Figure 2 As shown, the fluid automatic loading and unloading arm also includes a power distribution and processing control module 9, which is arranged on the column 1, and the power distribution and processing control module 9 is connected to the vertical displacement mechanism 2, the first-level rotation drive mechanism 4, the second-level rotation drive mechanism 5 and the visual recognition module 8.

[0055] Specifically, the power distribution and processing control module 9 integrates power distribution, data processing and control functions. The power distribution and processing control module 9 can efficiently manage the power demand of the fluid automatic loading and unloading arm and control the operation of each component. The power distribution and processing control module 9 is arranged on the column 1, and is located near the base of the column 1, so as to facilitate electrical connection operation with each component. The power distribution and processing control module 9 provides the required power for the vertical displacement mechanism 2, the first-level rotation drive mechanism 4, the second-level rotation drive mechanism 5 and the visual recognition module 8. The power distribution and processing control module 9 is provided with a plurality of power output ports, each of which can adjust the output voltage and current as needed to meet the power requirements of different components. The power distribution and processing control module 9 is equipped with a microprocessor or an embedded system, which can control the key parameters such as the motion trajectory, speed, and position of the fluid automatic loading and unloading arm.

[0056] In one possible implementation, Figure 2 As shown, the fluid source transfer pipe 312 is arranged on the column 1 near the bottom, so that the operator can conveniently connect or disconnect the fluid source transfer pipe 312 without climbing.

[0057] The embodiment of the present invention provides a method for using a serially driven fluid automatic loading and unloading arm, specifically: Connect the fluid source (such as a storage tank, a pipeline, etc.) through the fluid source adapter tube 312 to ensure that there is no leakage at the connection.

[0058] When it is necessary to adjust the position of the end of the sixth tube body 305 in the height direction, a command is sent to the vertical displacement mechanism 2 through the power distribution and processing control module 9. The displacement drive mechanism 23 (gear drive device 232) of the vertical displacement mechanism 2 is started, driving the slider 21 to slide up and down along the slide rail 20 on the column 1. The up and down sliding of the slider 21 drives the third tube body 302 and the connected tube string assembly 3 to move up and down as a whole through the first support 22. During the movement, the first tube body 300 rotates around the first rotating joint 306, the second tube body 301 rotates around the second rotating joint 307, and the third tube body 302 rotates around the third rotating joint 308. At the same time, the fourth tube body 303, the fifth tube body 304 and the sixth tube body 305 also change together in the height direction, so as to achieve the purpose of adjusting the height of the end of the sixth tube body 305.

[0059] When the position of the end of the sixth tube body 305 in the height direction does not need to be adjusted, but the position needs to be changed in the horizontal plane, it can be controlled by the first-stage rotation drive mechanism 4 and / or the second-stage rotation drive mechanism 5. When the first-stage rotation drive mechanism 4 is controlled, the first worm drive device 42 is started, driving the first worm 41 to rotate, and then driving the first worm wheel 40 (sleeved on the outer ring of the fourth rotation joint 309) to rotate. The rotation of the fourth rotation joint 309 drives the fourth tube body 303 to rotate around its axis, and the rotation of the fourth tube body 303 drives the fifth tube body 304 and the sixth tube body 305 to move synchronously, thereby changing the position of the end of the sixth tube body 305 in the horizontal plane. When the second-stage rotation drive mechanism 5 is controlled, the second worm drive device 53 is started, driving the second worm 52 to rotate, and then driving the second worm wheel 51 (sleeved on the outer ring of the fifth rotation joint 310) to rotate. The rotation of the fifth rotating joint 310 drives the fifth tube 304 to rotate around its axis, and the rotation of the fifth tube 304 drives the sixth tube 305 to move synchronously, further adjusting the position of the end of the sixth tube 305 in the horizontal plane. As needed, the first-stage rotating drive mechanism 4 or the second-stage rotating drive mechanism 5 can be used alone for adjustment, or both can be used simultaneously for combined adjustment to achieve more complex motion trajectory and position adjustment.

[0060] Before the filling operation, the visual recognition module 8 is used to visually identify and locate the filling target (such as a container) to ensure that the vertical filling tube 314 at the end of the sixth tube body 305 is accurately aligned with the filling port. After the filling is completed, the filling program is stopped by the power distribution and processing control module 9, and the connection between the fluid source and the fluid automatic loading and unloading arm is disconnected.

[0061] When the position of the end of the sixth tube 305 in the height direction needs to be adjusted, the vertical displacement mechanism 2 is controlled to move vertically along the column 1. When the vertical displacement mechanism 2 moves, it drives the third tube 302 to rotate adaptively around the third rotating joint 308, the second tube 301 to rotate adaptively around the second rotating joint 307, and the first tube 300 to rotate adaptively around the first rotating joint 306, and at the same time drives the fourth tube 303, the fifth tube 304 and the sixth tube 305 to change in the height direction together; When the position of the end of the sixth tube 305 in the height direction does not need to be adjusted, and the position of the end of the sixth tube 305 in the horizontal plane needs to be adjusted, the control method includes: Control the first-stage rotation drive mechanism 4 to drive the fourth rotation joint 309 to drive the fourth tube 303 to rotate around the axis of the fourth rotation joint 309. When the fourth tube 303 rotates, the fifth tube 304 and the sixth tube 305 are driven to move synchronously, thereby changing the position of the end of the sixth tube 305 in the horizontal plane; And / or, control the second-stage rotation drive mechanism 5 to drive the fifth rotating joint 310 to drive the fifth tube body 304 to rotate around the axis of the fifth rotating joint 310. When the fifth tube body 304 rotates, it drives the sixth tube body 305 to move synchronously, thereby changing the position of the end of the sixth tube body 305 in the horizontal plane.

[0062] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "bottom", "inside", "outside", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0063] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0064] In the present invention, unless otherwise clearly specified and limited, the terms "connected", "connection" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0065] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0066] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0067] Finally, it should be noted that the above-described embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The protection scope of the present invention is not limited thereto. Although the present invention is described in detail with reference to the above-described embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-described embodiments within the technical scope disclosed by the present invention, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A serially driven fluid automatic loading and unloading arm, characterized in that: include: Column (1); A vertical displacement mechanism (2), which is arranged on the column (1) and is capable of vertical reciprocating motion along the column (1); A pipe string assembly (3), comprising a fluid source transfer pipe (312), a first pipe body (300), a second pipe body (301), a third pipe body (302), a fourth pipe body (303), a fifth pipe body (304) and a sixth pipe body (305) connected in sequence via a first rotating joint (306), a second rotating joint (307), a third rotating joint (308), a fourth rotating joint (309), a fifth rotating joint (310) and a first fixed joint (311), wherein the sixth pipe body (305) is away from the first rotating joint (306), a second rotating joint (307), a third rotating joint (308), a fourth rotating joint (309), a fifth rotating joint (310) and a first fixed joint (311). One end of a fixed joint (310) is vertically downward, the third tube body (302) is fixed on the vertical displacement mechanism (2), and the fluid source transfer tube (312) is arranged on the column (1); wherein the axes of the first rotating joint (306), the second rotating joint (307) and the third rotating joint (308) are horizontal and parallel to each other, and the axes of the fourth rotating joint (309), the fifth rotating joint (310) and the first fixed joint (310) are vertical and parallel to each other; A first-stage rotation drive mechanism (4), which is arranged on the vertical displacement mechanism (2), and whose rotation output end is connected to the outer ring of the fourth rotation joint (309), and is used to drive the fourth rotation joint (309) to drive the fourth tube body (303) to rotate; The second-stage rotary drive mechanism (5) has a rotary output end connected to the outer ring of the fifth rotary joint (310) and is used to drive the fifth rotary joint (310) to drive the fifth tube (304) to rotate.

2. The serially driven fluid automatic loading and unloading arm according to claim 1, characterized in that: The vertical displacement mechanism (2) comprises a slide rail (20) arranged on the column (1), a slider (21) slidably engaged with the slide rail (20), a first support (22) connected to the slider (21), and a displacement drive mechanism (23) for driving the slider (21) to slide up and down along the slide rail (20); the third tube (302) is fixed on the first support (22).

3. The serially driven fluid automatic loading and unloading arm according to claim 2, characterized in that: The displacement driving mechanism (23) comprises a rack (230) fixed on the column (1), a gear (231) meshing with the rack (230), and a gear driving device (232) connected to the gear (231) and fixed on the first support (22).

4. The serially driven fluid automatic loading and unloading arm according to claim 1, characterized in that: The first-stage rotary drive mechanism (4) comprises a first worm wheel (40) sleeved and fixed on the outer ring of the fourth rotary joint (309), a first worm (41) meshing with the first worm wheel (40), and a first worm drive device (42) connected to the first worm (41) and fixed on the first support (22).

5. The serially driven fluid automatic loading and unloading arm according to claim 1, characterized in that: The second-stage rotary drive mechanism (5) comprises a second support (50) fixed to a non-rotating portion of the fifth rotary joint (310), a second worm gear (51) sleeved and fixed to an outer ring of the fifth rotary joint (310), a second worm (52) meshing with the second worm gear (51), and a second worm drive device (53) connected to the second worm (52) and fixed to the second support (50).

6. The serially driven fluid automatic loading and unloading arm according to claim 1, characterized in that: The fluid automatic loading and unloading arm further comprises a driving arm (6) and a driving arm (7), wherein one end of the driving arm (6) is fixed to the outer ring of the fifth rotating joint (310), and the other end of the driving arm (6) is fixed to the first fixed joint (311); one end of the driving arm (7) is fixed to the outer ring of the fourth rotating joint (309), and the other end of the driving arm (7) is fixed to the non-rotating portion of the fifth rotating joint (310), and the driving arm (7) is covered on the fourth tube (303).

7. The serially driven fluid automatic loading and unloading arm according to claim 1, characterized in that: The tube string assembly (3) further comprises a vertical filling tube (314), one end of the vertical filling tube (314) being connected to an end of the sixth tube body (305) away from the first fixed joint (310) via a second fixed joint (313), and a visual recognition module (8) being provided on the vertical filling tube (314).

8. The serially driven fluid automatic loading and unloading arm according to claim 7, characterized in that: The fluid automatic loading and unloading arm further comprises a power distribution and processing control module (9), wherein the power distribution and processing control module (9) is arranged on the column (1), and the power distribution and processing control module (9) is connected to the vertical displacement mechanism (2), the first-stage rotation drive mechanism (4), the second-stage rotation drive mechanism (5), and the visual recognition module (8).

9. The serially driven fluid automatic loading and unloading arm according to claim 1, characterized in that: The fluid source transfer tube (312) is arranged on the column (1) at a position close to the bottom.

10. The method for using a serially driven fluid automatic loading and unloading arm according to any one of claims 1 to 9, characterized in that: include: When it is necessary to adjust the position of the end of the sixth tube body (305) in the height direction, the vertical displacement mechanism (2) is controlled to move vertically along the column (1). When the vertical displacement mechanism (2) moves, it drives the third tube body (302) to adaptively rotate around the third rotating joint (308), the second tube body (301) to adaptively rotate around the second rotating joint (307), and the first tube body (300) to adaptively rotate around the first rotating joint (306), and at the same time drives the fourth tube body (303), the fifth tube body (304) and the sixth tube body (305) to change in the height direction together; When the position of the end of the sixth tube body (305) in the height direction does not need to be adjusted, and the position of the end of the sixth tube body (305) in the horizontal plane needs to be adjusted, the control method comprises: Controlling the first-stage rotation drive mechanism (4) to drive the fourth rotation joint (309) to drive the fourth tube body (303) to rotate around the axis of the fourth rotation joint (309); when the fourth tube body (303) rotates, the fifth tube body (304) and the sixth tube body (305) are driven to move synchronously, thereby changing the position of the end of the sixth tube body (305) in the horizontal plane; and / or controlling the second-stage rotation drive mechanism (5) to drive the fifth rotation joint (310) to drive the fifth tube body (304) to rotate around the axis of the fifth rotation joint (310); when the fifth tube body (304) rotates, it drives the sixth tube body (305) to move synchronously, thereby changing the position of the end of the sixth tube body (305) in the horizontal plane.

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