A series driven fluid power manipulator and method of use

Abstract

This invention discloses a series-driven automatic fluid loading and unloading arm and its usage method, including a vertical displacement mechanism mounted on a column and capable of reciprocating vertically along the column; a pipe string assembly comprising a fluid source adapter pipe, 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 connected sequentially by a first rotary joint, a second rotary joint, a third rotary joint, a fourth rotary joint, a fifth rotary joint, and a first fixed joint, with the end of the sixth pipe body away from the first fixed joint pointing vertically downwards; the third pipe body being fixed on the vertical displacement mechanism; and the fluid source adapter pipe being mounted on the column. The axes of the first, second, and third rotary joints are horizontal and parallel to each other, while the axes of the fourth, fifth, and first fixed joints are vertical and parallel to each other. A first-stage rotary drive mechanism is mounted on the vertical displacement mechanism, with its rotary output end connected to the outer ring of the fourth rotary joint; and a second-stage rotary drive mechanism has its rotary output end connected to the outer ring of the fifth rotary joint. The purpose of this invention is to solve the problem that the vertical filling pipe at the end cannot be kept in a fixed position in the horizontal plane when the height changes, as well as the problem of large load pressure and bending moment caused by the center of gravity being far from the column.

Description

Technical Field

[0001] This invention belongs to the field of fluid loading and unloading technology, specifically relating to a series-driven automatic fluid loading and unloading arm and its usage method. Background Technology

[0002] Automatic fluid loading arms, also known as loading arms, are specialized equipment used in the hazardous chemicals industry for loading and unloading fluids. They consist of components such as rotary joints, rigid pipes, and elbows. As a mobile and extendable device, automatic fluid loading arms replace older hose connections, enabling the transfer of hazardous liquid media between tank trucks, train tank cars, and trestles. They offer advantages such as high safety, long service life, and flexible movement.

[0003] Chinese patent CN118545668A discloses an automatic positioning loading arm, comprising a column, a rotary joint, a liquid flow tube, and a drive mechanism. Specifically, a first drive mechanism is fixed to the column, driving the first-stage movable tube to rotate. A second drive mechanism is fixed to the end of the first-stage movable tube, driving the second-stage movable tube to rotate. The movement range of both movable tubes and the drive mechanisms is within the horizontal plane, used to determine the position of the end vertical filling tube in the horizontal plane. A third drive mechanism is fixed to the end of the second-stage movable tube, driving the third-stage movable tube to rotate. The rotation axis of the third-stage movable tube is perpendicular to the plane formed by the rotation axes of the first and second-stage movable tubes. Thus, when the third-stage movable tube rotates, it causes a change in the vertical position of the end vertical filling tube (i.e., a change in height), completing the three-dimensional (xyz) spatial positioning of the end filling tube. However, this automatic alignment arm has the following drawbacks: ① When the height of the end vertical filling pipe needs to be changed, the position of the end vertical filling pipe in the horizontal plane will also change, meaning that the position of the end vertical filling pipe in the horizontal plane cannot be guaranteed to remain fixed, which leads to difficulties in aligning the end vertical filling pipe with the tank truck filling port; ② In order to ensure that the end filling pipe always remains vertical, an auxiliary component is added to the third-stage movable pipe. The auxiliary component ensures that the end filling pipe always remains vertical when the height changes. This results in the center of gravity of the automatic alignment arm being far from the column, causing a large load pressure and bending moment between the entire mechanism and the column fixed to the ground, which in turn requires a high-strength design, increasing costs. Summary of the Invention

[0004] To address the problems existing in the prior art, the present invention provides a series-driven automatic fluid loading and unloading arm and its usage method. The purpose is to solve the problem that the vertical filling pipe at the end cannot be kept in a fixed position in the horizontal plane when the height changes, as well as the problem of large load pressure and bending moment caused by the center of gravity being far from the column.

[0005] To solve the above-mentioned technical problems, the present invention is achieved through the following technical solution:

[0006] According to a first aspect of the present invention, a series-driven automated fluid loading and unloading arm is provided, comprising:

[0007] Columns;

[0008] A vertical displacement mechanism is mounted on the column and is capable of reciprocating vertically along the column.

[0009] A pipe string assembly includes a fluid source adapter pipe, 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 sequentially through a first rotary joint, a second rotary joint, a third rotary joint, a fourth rotary joint, a fifth rotary joint, and a first fixed joint. The end of the sixth pipe body away from the first fixed joint is vertically downward. The third pipe body is fixed on the vertical displacement mechanism. The fluid source adapter pipe is disposed on the column, and the end of the fluid source adapter pipe away from the first rotary joint is used to connect a fluid source. The axes of the first rotary joint, the second rotary joint, and the third rotary joint are horizontal and parallel to each other, and the axes of the fourth rotary joint, the fifth rotary joint, and the first fixed joint are vertical and parallel to each other.

[0010] The first-stage rotary drive mechanism is mounted on the vertical displacement mechanism, and its rotary output end is connected to the outer ring of the fourth rotary joint, which is used to drive the fourth rotary joint to rotate the fourth tube.

[0011] The second-stage rotary drive mechanism has its rotary output end connected to the outer ring of the fifth rotary joint, and is used to drive the fifth rotary joint to rotate the fifth tube.

[0012] In one possible implementation of the first aspect, the vertical displacement mechanism includes a slide rail disposed on the column, a slider slidably fitted on the slide rail, a first support connected to the slider, and a displacement driving mechanism for driving the slider to slide up and down along the slide rail, wherein the third tube is fixed on the first support.

[0013] In one possible implementation of the first aspect, the displacement driving mechanism includes a rack fixed to the column, a gear meshing with the rack, and a gear drive device connected to and fixed to the first support.

[0014] In one possible implementation of the first aspect, the first-stage rotary drive mechanism includes a first worm gear sleeved and fixed on the outer ring of the fourth rotary joint, a first worm meshing with the first worm gear, and a first worm drive device connected to and fixed on the first support.

[0015] In one possible implementation of the first aspect, the second-stage rotary drive mechanism includes a second support fixed on the non-rotating part of the fifth rotary joint, a second worm gear sleeved and fixed on the outer ring of the fifth rotary joint, a second worm meshing with the second worm gear, and a second worm drive device connected to and fixed on the second support.

[0016] In one possible implementation of the first aspect, the automatic fluid loading and unloading arm further includes a drive arm and a drive arm, one end of the drive arm being fixed to the outer ring of the fifth rotary joint, the other end of the drive arm being fixed to the first fixed joint, one end of the drive arm being fixed to the outer ring of the fourth rotary joint, the other end of the drive arm being fixed to the non-rotating part of the fifth rotary joint, and the drive arm covering the fourth tube body.

[0017] In one possible implementation of the first aspect, the tube string assembly further includes a vertical filling tube, one end of which is connected to the 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.

[0018] In one possible implementation of the first aspect, the automatic fluid loading and unloading arm further includes a power distribution and processing control module, which is mounted on the column and connected to the vertical displacement mechanism, the first-stage rotary drive mechanism, the second-stage rotary drive mechanism, and the vision recognition module.

[0019] In one possible implementation of the first aspect, the fluid source connector is disposed on the column near the bottom.

[0020] According to a second aspect of the present invention, a method of using a series-driven automated fluid loading and unloading arm is provided, comprising:

[0021] When it is necessary to adjust the position of the end of the sixth tube in the height direction, the vertical displacement mechanism is controlled to move vertically along the column. When the vertical displacement mechanism moves, it causes the third tube to rotate adaptively around the third rotary joint, the second tube to rotate adaptively around the second rotary joint, and the first tube to rotate adaptively around the first rotary joint. At the same time, it causes the fourth tube, the fifth tube, and the sixth tube to change together in the height direction.

[0022] When the position of the sixth tube end in the vertical direction does not need to be adjusted, but the position of the sixth tube end in the horizontal plane needs to be adjusted, the control method includes:

[0023] The first-stage rotary drive mechanism is controlled to drive the fourth rotary joint to rotate the fourth tube around the axis of the fourth rotary joint. When the fourth tube rotates, it drives the fifth tube and the sixth tube to move synchronously, thereby changing the position of the end of the sixth tube in the horizontal plane.

[0024] And / or, control the second-stage rotary drive mechanism to drive the fifth rotary joint to rotate the fifth tube around the axis of the fifth rotary joint. When the fifth tube rotates, it drives the sixth tube to move synchronously, thereby changing the position of the end of the sixth tube in the horizontal plane.

[0025] Compared with the prior art, the present invention has at least the following beneficial effects:

[0026] This invention provides a series-driven automatic fluid loading and unloading arm. It achieves the movement of the sixth tube end in the height direction (i.e., the Z-axis) through a vertical displacement mechanism, decoupling it from the series drive chain of the connecting pipe and placing it at a column for independent control. When the position of the sixth tube end in the horizontal plane is fixed, and only its height needs adjustment, only the vertical displacement mechanism needs to be controlled up and down. This design ensures that the position of the sixth tube end in the horizontal plane remains constant when the height changes, thus solving the problem in existing technologies where the position of the vertical filling tube end cannot be guaranteed to remain fixed in the horizontal plane when the height changes, improving the accuracy and efficiency of the filling operation. The automatic fluid loading and unloading arm of this invention, through an independent vertical displacement mechanism and a two-stage rotary drive mechanism, can achieve control of the sixth tube end in three-dimensional space, not only improving positioning accuracy but also accelerating the filling speed, making the filling operation more efficient. Meanwhile, the automatic fluid loading and unloading arm of this invention directly mounts the vertical displacement mechanism on the column, with the first-stage rotary drive mechanism mounted on the vertical displacement mechanism. The second-stage rotary drive mechanism is positioned as close as possible to the column (the first-stage rotary drive mechanism is located at one end of the fourth tube, and the second-stage rotary drive mechanism is located at the other end of the fourth tube). This makes the center of gravity of the entire loading and unloading arm relatively close to the column, significantly reducing the load pressure and bending moment on the column, lowering the requirement for high-strength design, and thus saving costs. Furthermore, because the drive mechanism is close to the column, the load-bearing capacity requirement of the drive mechanism is also reduced, further reducing production costs and improving economic efficiency.

[0027] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the specific embodiments of the present invention, the drawings used in the description of the specific embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0029] Figure 1 This is an isometric view of a series-driven automatic fluid loading and unloading arm according to an embodiment of the present invention from a first-view perspective;

[0030] Figure 2 An isometric view from a second perspective of a series-driven automatic fluid loading and unloading arm according to an embodiment of the present invention;

[0031] Figure 3 This is a front view of a series-driven automatic fluid loading and unloading arm according to an embodiment of the present invention;

[0032] Figure 4 This is a top view of a worm gear drive device in a series-driven automatic fluid loading and unloading arm according to an embodiment of the present invention;

[0033] Figure 5 This is an isometric view from a third-angle perspective of a series-driven automatic fluid loading and unloading arm (including a drive arm) according to an embodiment of the present invention.

[0034] In the diagram: 1 - Column;

[0035] 2-Vertical displacement mechanism; 20-Slide rail; 21-Slider; 22-First support; 23-Displacement drive mechanism; 230-Rack; 231-Gear; 232-Gear drive device;

[0036] 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 adapter tube; 313-Second fixed joint; 314-Vertical filling tube;

[0037] 4-First stage rotary drive mechanism; 40-First worm gear; 41-First worm; 42-First worm drive device;

[0038] 5-Second-stage rotary drive mechanism; 50-Second support; 51-Second worm gear; 52-Second worm; 53-Second worm drive device;

[0039] 6-Drive forearm; 7-Drive boom; 8-Vision recognition module; 9-Power distribution and processing control module. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0041] Combination Figure 1 , Figure 2 and Figure 3 As shown, this invention provides a series-driven automatic fluid loading and unloading arm, mainly to solve the problems in the prior art where the vertical filling pipe at the end cannot maintain a fixed position in the horizontal plane when its height changes, and the problems of large load pressure and bending moment caused by the large distance between the center of gravity and 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 rotary drive mechanism 4, and a second-stage rotary drive mechanism 5. The column 1, as the supporting structure of the entire loading and unloading arm, is fixed to the ground and provides stable support. The vertical displacement mechanism 2 is mounted on the column 1 and can reciprocate vertically along the column 1.

[0042] The pipe string assembly 3 includes a fluid source adapter 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, which are connected sequentially through a first rotary joint 306, a second rotary joint 307, a third rotary joint 308, a fourth rotary joint 309, a fifth rotary joint 310, and a first fixed joint 311. The end of the sixth pipe body 305 away from the first fixed joint 310 is vertically downward. The third pipe body 302 is fixed on the vertical displacement mechanism 2. The fluid source adapter pipe 312 is mounted on the column 1, and the end of the fluid source adapter pipe 312 away from the first rotary joint 306 is used to connect a fluid source. 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, while the axes of the fourth rotary joint 309, the fifth rotary joint 310, and the first fixed joint 310 are vertical and parallel to each other.

[0043] In other words, the pipe string assembly 3 includes a fluid source adapter 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 adapter 312 is connected to one end of the first pipe body 300 via a first rotary joint 306. The other end of the first pipe body 300 is connected to one end of the second pipe body 301 via a second rotary joint 307. The other end of the second pipe body 301 is connected to one end of the third pipe body 302 via a third rotary joint 308. The third pipe body 302 is fixed to the vertical displacement mechanism 2 near its other end. The other end of the third pipe body 302 is connected to one end of the fourth pipe body 303 via a fourth rotary joint 309. The other end of the fourth pipe body 303 is connected to one end of the fifth pipe body 304 via a fifth rotary joint 310. The other end of the fifth pipe body 304 is connected to one end of the sixth pipe body 305 via a first fixed joint 311. The other end of the sixth pipe body 305 is vertically downward.

[0044] The first-stage rotary drive mechanism 4 is mounted on the vertical displacement mechanism 2, and its rotary output end is connected to the outer ring of the fourth rotary joint 309, which is used to drive the fourth rotary joint 309 to rotate the fourth tube body 303.

[0045] The rotation output end of the second-stage rotary drive mechanism 5 is connected to the outer ring of the fifth rotary joint 310, and is used to drive the fifth rotary joint 310 to rotate the fifth tube 304.

[0046] Specifically, the vertical displacement mechanism 2 is mounted on the column 1 and achieves vertical reciprocating motion along the column 1 via a motor or other driving device. The vertical displacement mechanism 2 can control its height position, thereby driving the connected pipe string assembly 3 to move vertically. The pipe string assembly 3 is composed of multiple pipes (fluid source adapter 312, first pipe 300, second pipe 301, third pipe 302, fourth pipe 303, fifth pipe 304, and sixth pipe 305) connected sequentially via rotary joints (first rotary joint 306, second rotary joint 307, third rotary joint 308, fourth rotary joint 309, and fifth rotary joint 310) and fixed joints (first fixed joint 311). The rotary joints allow relative rotation between the pipes, thereby changing the shape and position of the pipe string assembly 3; that is, the rotary joints enable a high degree of adaptability between the pipes in the pipe string assembly 3. The fixed joints are used to connect adjacent pipes and maintain their relative positions.

[0047] Fluid source adapter 312 is used to connect to a fluid source, such as a storage tank or pump. The first pipe body 300 to the sixth pipe body 305 are sequentially connected via rotary joints to form a flexible pipe string structure. A first-stage rotary drive mechanism 4 is connected to the outer ring of the fourth rotary joint 309 and drives the fourth pipe body 303 to rotate around its axis, thereby changing the position of the end of the sixth pipe body 305 in the horizontal plane. A second-stage rotary drive mechanism 5 is connected to the outer ring of the fifth rotary joint 310 and drives the fifth pipe body 304 to rotate around its axis, further adjusting the position of the end of the sixth pipe body 305 in the horizontal plane. Through the coordinated adjustment of the first-stage rotary drive mechanism 4 and the second-stage rotary drive mechanism 5, the end of the sixth pipe body 305 can reach any position in the horizontal plane.

[0048] The working principle of the series-driven automatic fluid loading and unloading arm in this embodiment is as follows: When it is necessary to adjust the height of the end of the sixth tube 305, the vertical displacement mechanism 2 is controlled to move vertically along the column 1. The movement of the vertical displacement mechanism 2 will cause the third tube 302 connected to it and its subsequent tubes (fourth tube 303, fifth tube 304, and sixth tube 305) 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 300, the second tube 301, and the third tube 302 will adaptively rotate around their respective rotary joints to maintain the adaptive adjustment of the tube string assembly 3. When the height of the end of the sixth tube 305 does not need to be adjusted, but its position needs to be changed in the horizontal plane, this can be achieved by controlling the first-stage rotary drive mechanism 4 and the second-stage rotary drive mechanism 5. The first-stage rotary drive mechanism 4 drives the fourth rotary joint 309 to rotate the fourth tube 303, which in turn drives the subsequent tubes (the fifth tube 304 and the sixth tube 305) to move in the horizontal plane. Similarly, the second-stage rotary drive mechanism 5 can drive the fifth rotary joint 310 to rotate the fifth tube 304, further adjusting the position of the end of the sixth tube 305.

[0049] As can be seen, by independently controlling the vertical displacement mechanism 2 and the rotary drive mechanism, the position of the end of the sixth tube 305 in both the height direction and the horizontal plane can be independently adjusted, solving the problem in the prior art where the horizontal position changes with the height. Since the vertical displacement mechanism 2 is directly mounted on the column 1, and the first-stage rotary drive mechanism 4 is also mounted on the vertical displacement mechanism 2, while 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, reducing the load pressure and bending moment on the column and lowering the requirement for high-strength design. The optimized center of gravity and improved drive mechanism arrangement reduce production costs and manufacturing difficulty. At the same time, it improves positioning accuracy and filling speed, increasing economic efficiency.

[0050] In one feasible approach, combining Figures 1 to 3 As shown, the vertical displacement mechanism 2 includes a slide rail 20 mounted 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 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.

[0051] In other words, the main components of the vertical displacement mechanism 2 include a slide rail 20 mounted 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 drive mechanism 23 responsible 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.

[0052] For example, two parallel slide rails 20 are arranged vertically on the column 1, and a slider 21 is slidably fitted on each slide rail 20. The first support 22 is fixedly connected to the two sliders 21. The slide rails 20 are firmly installed on the side of the column 1 by welding, bolting, or other fastening methods to ensure stability throughout the entire operating range. The sliders 21 are designed with grooves that match the shape of the slide rails 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 sliders 21 and the third tube 302. The first support 22 is fixed to the sliders 21 by welding, bolting, 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 302, such as a flange, clamp, or threaded connection. The displacement drive mechanism 23 is the power source of the vertical displacement mechanism 2, responsible for driving the sliders 21 and all components connected to them to move up and down along the slide rails 20. The displacement drive mechanism 23 can be driven by electric, pneumatic or hydraulic means. For example, when electric drive is used, a motor, reducer, lead screw or gear and rack transmission system can be configured to achieve precise positioning of slider 21 by controlling the rotation of the motor.

[0053] Preferably, the displacement drive mechanism 23 includes a rack 230 fixed on the column 1, a gear 231 meshing with the rack 230, and a gear drive device 232 connected to the gear 231 and fixed on the first support 22.

[0054] Specifically, the displacement drive mechanism 23 mainly consists of a rack 230 fixed on the column 1, a gear 231 meshing with the rack 230, and a gear drive device 232 connected to the gear 231 and fixed on the first support 22.

[0055] For example, rack 230 is made of high-strength, wear-resistant alloy material to ensure smooth and reliable meshing with gear 231. The length of rack 230 is designed according to the working range of the automated fluid loading and unloading arm, typically covering the entire length of slide rail 20 or critical working areas. Rack 230 is fixed to the side of column 1 by welding, bolting, or other fastening methods to ensure stability and resistance to deformation throughout the operating range. Gear 231 meshes with rack 230, and the tooth profile of gear 231 matches that of rack 230 to achieve smooth, shock-free meshing. Gear drive device 232 is the power source and control core of displacement drive mechanism 23. For example, gear drive device 232 includes components such as motor, reducer, and drive shaft. The motor reduces speed and increases torque through reducer, and then transmits power to gear 231 through drive shaft. Gear drive device 232 is fixed to first support 22 by bolts or other fastening methods to ensure reliable connection with gear 231. Meanwhile, the gear drive device 232 is also equipped with a control system (such as a PLC, microcontroller, etc.) to receive external commands and adjust the speed and direction of the motor, thereby controlling the sliding speed and direction of the slider 21.

[0056] For example, when it is necessary to adjust the height of the automatic fluid loading and unloading arm, 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, converting 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.

[0057] More preferably, the displacement drive mechanism 23 is also equipped with safety devices, such as limit switches and overload protection, to ensure that it does not exceed the predetermined stroke range or bear excessive load during operation. At the same time, the meshing between the gear and rack has a self-locking function, which can keep the slider 21 in a stable position when the motor stops working, preventing accidental movement due to external forces.

[0058] In one feasible approach, combining Figures 1 to 3 As shown, the first-stage rotary drive mechanism 4 includes a first worm gear 40 sleeved and fixed on the outer ring of the fourth rotary joint 309, a first worm 41 meshing with the first worm gear 40, and a first worm drive device 42 connected to and fixed on the first support 22.

[0059] That is, the first-stage rotary drive mechanism 4 mainly includes a first worm gear 40 sleeved and fixed on the outer ring of the fourth rotary joint 309, a first worm 41 meshing with the first worm gear 40, and a first worm drive device 42 connected to and fixed on the first support 22.

[0060] For example, the inner diameter of the first worm gear 40 matches the outer ring of the fourth rotary joint 309, and the connection is secured by a keyway, pin, or other fastening method to ensure synchronous rotation between the two. The teeth of the first worm gear 40 mesh with the helical teeth of the first worm 41. The rotation of the first worm 41 drives the first worm gear 40 to rotate, thereby driving the fourth rotary joint 309 and the components connected to it to rotate. The helical teeth of the first worm 41 match the teeth of the worm gear to ensure smooth, shock-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 by a bearing to maintain its stable rotation.

[0061] Combination Figure 4 As shown, the first worm gear drive device 42 is the power source and control core of the first-stage rotary drive mechanism 4, including components such as a motor, reducer, and drive shaft. The motor reduces its speed and increases its torque through the reducer, and then transmits the power to the first worm gear 41 through the drive shaft. The first worm gear drive device 42 is fixed to the first support 22 by bolts or other fastening methods to ensure a reliable connection with the first worm gear 41. Simultaneously, the first worm gear drive device 42 is also equipped with a control system (such as a PLC, microcontroller, etc.) to receive external commands and adjust the motor's speed and direction, thereby controlling the rotational speed and direction of the first worm gear 41.

[0062] When it is necessary to adjust the rotation angle of the automatic fluid loading and unloading arm, 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 teeth of the first worm wheel 40, transmitting the rotational motion to the first worm wheel 40, which in turn drives the fourth rotary joint 309 to rotate.

[0063] In one feasible approach, combining Figures 1 to 3 As shown, the second-stage rotary drive mechanism 5 includes a second support 50 fixed on the non-rotating part of the fifth rotary joint 310, a second worm gear 51 sleeved and fixed on the 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 on the second support 50.

[0064] That is, the second-stage rotary drive mechanism 5 mainly includes a second support 50 fixed on the non-rotating part of the fifth rotary joint 310, a second worm wheel 51 sleeved and fixed on the outer ring of the fifth rotary joint 310, a second worm 52 meshing with the second worm wheel 51, and a second worm drive device 53 connected to the second worm 52 and fixed on the second support 50.

[0065] It should be understood that the non-rotating part of the rotary joint is the inner ring of the rotary joint.

[0066] The second support 50, serving as the support structure for the second-stage rotary drive mechanism 5, is made of high-strength material. The inner and outer diameters of the second worm gear 51 match the outer ring of the fifth rotary joint 310, and are secured by keyways, pins, or other fastening methods to ensure synchronous rotation between the two. The teeth of the second worm gear 51 mesh with the helical teeth of the second worm 52. The rotation of the second worm 52 drives the second worm gear 51 to rotate, thereby causing the fifth rotary joint 310 and its connected components 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 by a bearing to maintain its stable rotation.

[0067] The second worm gear drive device 53 is the power source and control core of the second-stage rotary drive mechanism 5. Its structure is similar to the first worm gear drive device 42, also including components such as a motor, reducer, and drive shaft. The motor reduces its speed and increases its torque through the reducer, and then transmits the power to the second worm 52 through the drive shaft. The second worm gear drive device 53 is fixed to the second support 50 by bolts or other fastening methods to ensure a reliable connection with the second worm 52. Simultaneously, the second worm gear drive device 53 is also equipped with a control system (such as a PLC or microcontroller) to receive external commands and adjust the motor's speed and direction, thereby controlling the worm's rotational speed and direction.

[0068] When it is necessary to adjust the second-stage rotation angle of the automatic fluid loading and unloading arm, 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, which in turn drives the fifth rotary joint 310 to rotate.

[0069] In one feasible approach, combining Figure 3 and Figure 5 As shown, the automatic fluid loading and unloading arm also includes a drive arm 6 and a drive arm 7. One end of the drive arm 6 is fixed to the outer ring of the fifth rotary joint 310, and the other end of the drive arm 6 is fixed to the first fixed joint 311. One end of the drive arm 7 is fixed to the outer ring of the fourth rotary joint 309, and the other end of the drive arm 7 is fixed to the non-rotating part of the fifth rotary joint 310. The drive arm 7 is covered on the fourth tube body 303.

[0070] Specifically, the main purpose of the drive arm 6 is to increase the rigidity and stability of the overall structure, preventing deformation or damage due to excessive force. The drive arm 6 is made of high-strength material. One end of the drive 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, allowing the drive arm 6 to effectively connect to and support the fifth tube 304 of the automatic fluid loading and unloading arm, forming a more stable overall structure. Similarly, the drive arm 7 effectively connects to and supports the fourth tube 303 of the automatic fluid loading and unloading arm. At the same time, the drive arm 7 protects the fourth tube 303 of the automatic fluid loading and unloading arm from external impacts. Its shape and size match the fourth tube 303 to ensure it can be properly fitted onto the tube.

[0071] In one feasible approach, combining Figures 1 to 3 As shown, the tube string assembly 3 also includes a vertical filling tube 314. One end of the vertical filling tube 314 is connected to the end of the sixth tube body 305 away from the first fixed joint 310 through a second fixed joint 313. A visual recognition module 8 is provided on the vertical filling tube 314.

[0072] In other words, the main function of the vertical filling tube 314 is to achieve vertical filling of 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 vision recognition module 8 is to achieve visual recognition and positioning of the filling target (such as a container). This module uses image processing and machine learning methods to accurately identify information such as the shape, size, and position of the container. The vision recognition module 8 is installed on the vertical filling tube 314, near the filling port. It ensures that during the filling process, the module can capture images of the container in real time, analyze and process them. The output signal of the module is transmitted to the control system of the automatic fluid loading and unloading arm so that the filling position and angle can be adjusted according to the recognition results to ensure that the fluid can be accurately filled into the container.

[0073] 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 based on the license plate information.

[0074] In one possible implementation, such as Figure 2 As shown, the automatic fluid loading and unloading arm also includes a power distribution and processing control module 9, which is mounted on the column 1. The power distribution and processing control module 9 is connected to the vertical displacement mechanism 2, the first-stage rotary drive mechanism 4, the second-stage rotary drive mechanism 5, and the vision recognition module 8.

[0075] Specifically, the power distribution and processing control module 9 integrates power distribution, data processing, and control functions. It efficiently manages the power requirements of the automated fluid loading and unloading arm and controls the operation of each component. The module is mounted on the column 1, located near the base for easy electrical connection with the various components. It provides the necessary power to the vertical displacement mechanism 2, the first-stage rotary drive mechanism 4, the second-stage rotary drive mechanism 5, and the vision recognition module 8. The module has multiple power output ports, each with adjustable voltage and current to meet the power requirements of different components. Equipped with a microprocessor or embedded system, the module controls key parameters such as the motion trajectory, speed, and position of the automated fluid loading and unloading arm.

[0076] In one possible implementation, such as Figure 2 As shown, the fluid source adapter pipe 312 is located on the column 1 near the bottom, allowing the operator to easily connect or disconnect without having to climb.

[0077] This invention provides a method for using a series-driven automatic fluid loading and unloading arm, specifically as follows:

[0078] Connect the fluid source (such as a storage tank or pipeline) through the fluid source adapter pipe 312 to ensure that there is no leakage at the connection.

[0079] When it is necessary to adjust the height position of the end of the sixth tube 305, a command is sent to the vertical displacement mechanism 2 via the power distribution and processing control module 9. The displacement drive mechanism 23 (gear drive device 232) of the vertical displacement mechanism 2 is activated, 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 302 and its connected tube string assembly 3 to move up and down as a whole via the first support 22. During the movement, the first tube 300 rotates adaptively around the first rotary joint 306, the second tube 301 rotates around the second rotary joint 307, and the third tube 302 rotates adaptively around the third rotary joint 308. At the same time, the fourth tube 303, the fifth tube 304, and the sixth tube 305 also change in height together, achieving the purpose of adjusting the height of the end of the sixth tube 305.

[0080] When the position of the end of the sixth tube 305 in the vertical direction does not need to be adjusted, but its position in the horizontal plane needs to be changed, it can be controlled by the first-stage rotary drive mechanism 4 and / or the second-stage rotary drive mechanism 5. When the first-stage rotary drive mechanism 4 is controlled, the first worm drive device 42 is activated, driving the first worm 41 to rotate, which in turn drives the first worm wheel 40 (sleeved on the outer ring of the fourth rotary joint 309) to rotate. The rotation of the fourth rotary joint 309 drives the fourth tube 303 to rotate around its axis, and the rotation of the fourth tube 303 drives the fifth tube 304 and the sixth tube 305 to move synchronously, thereby changing the position of the end of the sixth tube 305 in the horizontal plane. When the second-stage rotary drive mechanism 5 is controlled, the second worm drive device 53 is activated, driving the second worm 52 to rotate, which in turn drives the second worm wheel 51 (sleeved on the outer ring of the fifth rotary joint 310) to rotate. The rotation of the fifth rotary joint 310 causes the fifth tube 304 to rotate around its axis, and the rotation of the fifth tube 304 in turn causes 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 rotary drive mechanism 4 or the second-stage rotary drive mechanism 5 can be used alone for adjustment, or both can be used simultaneously in combination to achieve more complex motion trajectories and position adjustments.

[0081] 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 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 automatic fluid loading and unloading arm is disconnected.

[0082] When it is necessary to adjust the position of the end of the sixth tube 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 302 to rotate adaptively around the third rotary joint 308, the second tube 301 to rotate adaptively around the second rotary joint 307, and the first tube 300 to rotate adaptively around the first rotary joint 306. At the same time, it drives the fourth tube 303, the fifth tube 304 and the sixth tube 305 to change together in the height direction.

[0083] When the position of the end of the sixth tube 305 in the vertical direction does not need to be adjusted, but the position of the end of the sixth tube 305 in the horizontal plane needs to be adjusted, the control method includes:

[0084] The first-stage rotary drive mechanism 4 drives the fourth rotary joint 309 to rotate the fourth tube 303 around the axis of the fourth rotary joint 309. When the fourth tube 303 rotates, it drives the fifth tube 304 and the sixth tube 305 to move synchronously, thereby changing the position of the end of the sixth tube 305 in the horizontal plane.

[0085] And / or, control the second-stage rotary drive mechanism 5 to drive the fifth rotary joint 310 to drive the fifth tube 304 to rotate around the axis of the fifth rotary joint 310. When the fifth tube 304 rotates, it drives the sixth tube 305 to move synchronously, thereby changing the position of the end of the sixth tube 305 in the horizontal plane.

[0086] In the description of this invention, it should be understood that the terms "upper", "lower", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0087] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0088] In this invention, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0089] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0090] In this invention, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0091] Finally, it should be noted that the above-described embodiments are merely specific implementations of the present invention, used to illustrate the technical solutions of the present invention, and not to limit it. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of protection of the claims.

Claims

1. A series-driven automated fluid loading and unloading arm, characterized in that, include: Column (1); A vertical displacement mechanism (2) is provided on the column (1) and is capable of reciprocating vertically along the column (1); The tube string assembly (3) includes a fluid source adapter tube (312), a first tube body (300), a second tube body (301), a third tube body (302), a fourth tube body (303), a fifth tube body (304), and a sixth tube body (305) connected sequentially through a first rotary joint (306), a second rotary joint (307), a third rotary joint (308), a fourth rotary joint (309), a fifth rotary joint (310), and a first fixed joint (311). The sixth tube body (305) is vertically downward at the end away from the first fixed joint. The third tube body (302) is fixed on the vertical displacement mechanism (2). The fluid source adapter tube... The tube (312) is installed on the column (1); wherein 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, and the axes of the fourth rotary joint (309), the fifth rotary joint (310) and the first fixed joint are vertical and parallel to each other; the tube string assembly (3) also includes a vertical filling tube (314), one end of the vertical filling tube (314) is connected to the end of the sixth tube body (305) away from the first fixed joint through a second fixed joint (313), and a visual recognition module (8) is provided on the vertical filling tube (314); The first-stage rotary drive mechanism (4) is mounted on the vertical displacement mechanism (2), and its rotary output end is connected to the outer ring of the fourth rotary joint (309) for driving the fourth rotary joint (309) to rotate the fourth tube body (303). The second-stage rotary drive mechanism (5) has its rotary output end connected to the outer ring of the fifth rotary joint (310) for driving the fifth rotary joint (310) to rotate the fifth tube body (304); The driving arm (6) and the driving arm (7) are provided. One end of the driving arm (6) is fixed on the outer ring of the fifth rotary joint (310), and the other end of the driving arm (6) is fixed on the first fixed joint (311). One end of the driving arm (7) is fixed on the outer ring of the fourth rotary joint (309), and the other end of the driving arm (7) is fixed on the non-rotating part of the fifth rotary joint (310). The driving arm (7) is covered on the fourth tube body (303). The vertical displacement mechanism (2) includes a slide rail (20) mounted 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 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). The displacement drive mechanism (23) includes a rack (230) fixed on the column (1), a gear (231) meshing with the rack (230), and a gear drive device (232) connected to the gear (231) and fixed on the first support (22).

2. The series-driven automatic fluid loading and unloading arm according to claim 1, characterized in that, The first stage rotary drive mechanism (4) includes 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).

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

4. The series-driven automatic fluid loading and unloading arm according to claim 1, characterized in that, The fluid automatic loading and unloading arm also includes a power distribution and processing control module (9), which is mounted on the column (1). The power distribution and processing control module (9) is connected to the vertical displacement mechanism (2), the first-stage rotary drive mechanism (4), the second-stage rotary drive mechanism (5), and the vision recognition module (8).

5. The series-driven automatic fluid loading and unloading arm according to claim 1, characterized in that, The fluid source transfer pipe (312) is located on the column (1) near the bottom.

6. A method of using a series-driven automated fluid loading and unloading arm as described in any one of claims 1 to 5, characterized in that, include: When it is necessary to adjust the position of the end of the sixth tube (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 (302) to rotate adaptively around the third rotary joint (308), the second tube (301) to rotate adaptively around the second rotary joint (307), and the first tube (300) to rotate adaptively around the first rotary joint (306). At the same time, it drives the fourth tube (303), the fifth tube (304), and the sixth tube (305) to change together in the height direction. When the position of the end of the sixth tube (305) in the height direction does not need to be adjusted, but the position of the end of the sixth tube (305) in the horizontal plane needs to be adjusted, the control method includes: The first-stage rotary drive mechanism (4) drives the fourth rotary joint (309) to rotate the fourth tube (303) around the axis of the fourth rotary joint (309). When the fourth tube (303) rotates, it drives the fifth tube (304) and the sixth tube (305) 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 rotary drive mechanism (5) to drive the fifth rotary joint (310) to drive the fifth tube (304) to rotate around the axis of the fifth rotary joint (310). When the fifth tube (304) rotates, it drives the sixth tube (305) to move synchronously, thereby changing the position of the end of the sixth tube (305) in the horizontal plane.

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