Four-link fluid loading and unloading arm

Abstract

The invention discloses a four-link fluid loading and unloading arm, which belongs to the technical field of port terminal fluid loading and unloading equipment, and includes a column, an inner arm tube, an outer arm tube and a rotary joint, and is characterized in that: the inner arm tube is connected to the inner arm counterweight beam, and a first counterweight block is installed on the inner arm counterweight beam; the outer arm tube is connected to the outer arm counterweight beam, and the inner side of the inner arm counterweight beam is rotatably connected to one end of a counterweight plate, and the other end of the counterweight plate is connected to the outer arm counterweight beam through a connecting rod; the rotary joint includes an outer ring tube, an inner ring tube, a second frameless torque motor and a sealing mechanism, and the outer ring tube is sleeved on the outer side of the inner ring tube; the second frameless torque motor is fixedly installed in the annular placement groove, and the inner ring of the second frameless torque motor is connected to the outer wall of the inner ring tube; the tube cavities of the column, the inner arm tube and the outer arm tube are respectively installed with telescopic tube mechanisms. Compared with the prior art, it has the characteristics of preventing the inner and outer tube arms from shrinking and deforming when they are cold.

Description

Technical Field

[0001] The invention relates to the technical field of port terminal fluid loading and unloading equipment, in particular to a four-link fluid loading and unloading arm. Background Art

[0002] With the rapid development and expansion of the domestic liquefied natural gas (LNG) market, the number of LNG receiving stations in major ports has not only increased significantly, but their functions and application range have also become more extensive. This trend has directly promoted the rapid expansion of LNG ship transportation, making maritime LNG trade activities unprecedentedly prosperous. After completing a long voyage, the LNG ship arrives at the port and safely berths at the dedicated terminal. The next step is to enter a crucial link - safely and efficiently transfer the ship-borne LNG to the onshore receiving station through an advanced loading and unloading arm system.

[0003] The loading and unloading arm is a key device connecting LNG ships and terminal pipelines. Its performance and reliability are directly related to the safety and efficiency of the entire transmission process. However, the currently widely used normal temperature loading and unloading arms were originally designed to transport normal temperature media. When faced with ultra-low temperature media such as LNG, they show certain limitations. Specifically, when low-temperature LNG flows through the inner and outer arm pipes of the loading and unloading arm, due to the thermal expansion and contraction characteristics of the material, the pipeline will undergo significant low-temperature contraction, and the material itself may also deform due to extreme temperature differences.

[0004] This series of physical changes has brought severe challenges to the mechanical structure of the loading and unloading arm. During normal rotation, the inner arm pipe and the outer arm pipe, which should have been smoothly matched, may shrink and deform, resulting in a small gap or even stuck. This not only seriously affects the continuity and stability of LNG transmission, but may also cause damage to the loading and unloading arm and even the entire terminal facilities, increasing operational risks and costs. Summary of the invention

[0005] The purpose of the present invention is to provide a four-link fluid loading and unloading arm to address the deficiencies of the above prior art, so as to prevent the inner arm tube and the outer arm tube from shrinking when cold and affecting the movement of the inner and outer arm tubes.

[0006] The present invention provides a four-link fluid loading and unloading arm, comprising a column, an inner arm tube, an outer arm tube and a swivel joint. The column is provided with a cavity with an upper end opening, and the lower half of the column is provided with a connecting pipe interpenetrating with the cavity; the upper end of the column is connected to the inner arm tube through a swivel joint and a curved joint in sequence, the inner arm tube is connected to the outer arm tube through a curved joint and a swivel joint in sequence, and the outer arm tube is connected to the quick joint through a curved joint, a swivel joint and a three-dimensional joint in sequence; it is characterized in that: the inner arm tube is connected to the inner arm counterweight beam, and a first counterweight block is installed on the inner arm counterweight beam; the outer arm tube is connected to the outer arm counterweight beam, the inner side of the inner arm counterweight beam is rotatably connected to one end of a counterweight plate, and the other end of the counterweight plate is connected to the outer arm counterweight beam through a connecting rod, so that the inner arm counterweight beam, the inner arm tube, and the outer arm counterweight beam are connected to each other. The arm tube, the outer arm counterweight beam, the connecting rod and the counterweight plate form a four-bar linkage; the rotary joint comprises an outer ring tube, an inner ring tube, a second frameless torque motor and a sealing mechanism, the outer ring tube is sleeved on the outer side of the inner ring tube, a gap is provided between the inner wall of the outer ring tube and the outer wall of the inner ring tube, and the gap between the outer ring tube and the inner ring tube forms a nitrogen purge channel; two annular grooves are respectively provided on the inner wall of the outer ring tube and the outer wall of the inner ring tube, the two annular grooves correspond to each other, forming an annular steel ball raceway, and a plurality of bearing balls are installed in the annular steel ball raceway; an annular placement groove is provided on the inner wall of the outer ring tube, and a second frameless torque motor is fixedly installed in the annular placement groove, and the inner ring of the second frameless torque motor is connected to the outer wall of the inner ring tube; telescopic tube mechanisms are respectively installed in the tube cavities of the column, the inner arm tube and the outer arm tube.

[0007] Furthermore, a placement cavity is provided at one end of the inner arm counterweight beam, and an elongated through hole distributed along the length direction is provided on the inner arm counterweight beam, the placement cavity is connected with one end of the elongated through hole, an electric motor is installed in the placement cavity, the motor shaft of the electric motor is connected with the lead screw, a guide block is installed in the elongated through hole of the inner arm counterweight beam, the guide block is slidably matched with the elongated through hole, a threaded through hole is provided on the guide block, the lead screw is matched with the threaded through hole of the guide block, and the two ends of the guide block are respectively connected with the first counterweight block.

[0008] Furthermore, mounting grooves are respectively provided on both sides of the counterweight plate, and linear motors are respectively installed in the two mounting grooves, and the sliders of the linear motors are connected to the second counterweight block.

[0009] Furthermore, a connecting tube is installed on the inner side of the inner arm counterweight beam, the connecting tube is rotatably connected to one end of the counterweight plate, the connecting tube is provided with a blind hole, a first frameless torque motor is installed in the blind hole of the connecting tube, the outer ring of the first frameless torque motor is connected to the connecting tube, a rotating shaft is installed on the counterweight plate, and the inner ring of the first frameless torque motor is connected to the rotating shaft.

[0010] Furthermore, a first flange is installed at the lower end of the outer ring tube, and a second flange is installed at the upper end of the inner ring tube. The outer ring tube and the first flange, the inner ring tube and the second flange can be an integrated structure or a split structure.

[0011] Furthermore, the sealing mechanism includes a first inflatable sealing ring, a second inflatable sealing ring, a one-way air valve and a relief valve. A stepped through hole is provided on the first flange. The upper end of the stepped through hole is a large diameter hole, and the lower end is a small diameter hole. The lower end of the inner ring tube is placed in the large diameter hole. An annular cavity is formed between the lower end of the inner ring tube and the bottom wall of the large diameter hole. A first annular groove is provided on the inner wall of the large diameter hole of the first flange, and a second annular groove is provided on the inner wall of the second flange; an air inlet hole is provided on the first flange, and a first air inlet pipe and a second air inlet pipe are respectively provided on the first inflatable sealing ring. An air outlet pipe, the air inlet is connected with the first air inlet, the first flange and the outer ring are provided with a first connecting hole, the first air outlet pipe is connected with one end of the first connecting hole, and the other end of the first connecting hole is connected with the nitrogen purge channel, the second flange is provided with a second connecting hole and an air outlet, the second air inlet pipe and the second air outlet pipe are respectively provided on the second inflation sealing ring, one end of the second connecting hole is connected with the nitrogen purge channel, and the other end is connected with the second air inlet pipe, and the second air outlet pipe is connected with the air outlet; a one-way valve is installed at the air inlet, and a relief valve is installed at the air outlet.

[0012] Furthermore, the outer end of the first annular groove is provided with a first clamping groove, and the inner end of the first clamping groove is connected to the outer end of the first annular groove; the first inflatable sealing ring comprises a first inner sealing ring, a first intermediate sealing ring, and a first outer sealing ring, the outer end of the first inner sealing ring is sleeved with the first intermediate sealing ring, the outer end of the first intermediate sealing ring is sleeved with the first outer sealing ring, the outer end of the first inner sealing ring is connected to the inner end of the first intermediate sealing ring, and the outer end of the first intermediate sealing ring is connected to the inner end of the first outer sealing ring; the first inner sealing ring is placed in the annular cavity, the upper end of the first inner sealing ring contacts the lower end wall of the inner ring tube, and the lower end contacts the bottom wall of the large diameter hole, the first intermediate sealing ring is placed in the first annular groove, the inner ring of the first intermediate sealing ring contacts the outer wall of the inner ring tube, the first outer sealing ring is placed in the first clamping groove, and two annular clamping plates are installed in the first clamping groove, the two annular clamping plates are respectively slidably matched with the first clamping groove, and the two annular clamping plates are respectively connected to the groove wall of the first clamping groove through springs.

[0013] Furthermore, a second clamping groove is provided at the outer end of the second annular groove, and the inner side of the second clamping groove is connected with the outer side of the second annular groove; the second inflatable sealing ring comprises a second inner sealing ring and a second outer sealing ring, the outer end of the second inner sealing ring is sleeved with the second outer sealing ring, and the outer end of the second inner sealing ring is connected with the inner end of the second outer sealing ring; the second inner sealing ring is placed in the second annular groove, and the second outer sealing ring is placed in the second clamping groove, and two annular clamping plates are installed in the second clamping groove, and the two annular clamping plates are respectively slidably matched with the second clamping groove, and the two annular clamping plates are respectively connected to the groove wall of the second clamping groove through springs.

[0014] Furthermore, the telescopic tube mechanism comprises an outer tube, an inner tube and a third inflatable sealing ring; the outer tubes are respectively installed in the tube cavities of the column, the inner arm tube and the outer arm tube, and an insulation layer is provided between the tube cavities of the column, the inner arm tube and the outer arm tube and the outer tube; the inner tube is installed at the upper end of the outer tube in the tube cavity of the column, and the inner tubes are respectively installed at both ends of the outer tube in the tube cavities of the inner arm tube and the outer arm tube, an annular sealing groove is provided on the inner wall of the end of the outer tube, the inner end of the inner tube is inserted into the tube cavity of the outer tube, a piston ring is provided at the inner end of the inner tube, the piston ring is placed in the annular sealing groove of the outer tube, a third inflatable sealing ring is installed in the annular sealing groove of the outer tube, and the third inflatable sealing ring is located between the piston ring and the end wall of the annular sealing groove of the outer tube.

[0015] Furthermore, the third inflatable sealing ring includes a sealing part and an inflatable part, the sealing part is annular cylindrical, the inner wall and outer wall of the inflatable part are wavy, the sealing part and the inflatable part are respectively provided with an inflatable cavity, and the inflatable cavities of the two are connected; a pressure ring is provided in the annular sealing groove of the outer tube, the pressure ring is located at the end of the inflatable part, and the pressure ring is connected to the end wall of the annular sealing groove of the outer tube by a spring. When the third inflatable sealing ring is filled with gas, the pressure ring compresses the spring.

[0016] Compared with the prior art, the present invention has the following outstanding beneficial effects:

[0017] 1. The rotary joint of the present invention has a built-in second frameless torque motor, which can drive the corresponding inner arm tube, outer arm tube, counterweight plate, three-dimensional joint and quick joint to move respectively. Since the second frameless torque motor is built inside the rotary joint, the volume of the device will not be increased, and interference between components during movement is prevented;

[0018] 2. The inner arm counterweight beam, inner arm tube, outer arm tube, outer arm counterweight beam, connecting rod and counterweight plate of the present invention form a four-bar linkage, and the inner arm tube is connected with the outer arm tube through a rotary joint. Since the rotary joint has power, it can drive the outer arm tube to rotate. When the counterweight plate and the connecting rod are in the same line at the dead point, the outer arm tube is driven to rotate through the rotary joint, and the connecting rod and the counterweight plate are driven to move, and the dead point position is easily passed;

[0019] 3. A sealing mechanism is provided inside the rotary joint of the present invention. When the rotary joint is working, nitrogen is continuously introduced through the inside of the rotary joint. The nitrogen enters the first inflatable sealing ring through the existing air inlet hole, then enters the nitrogen purge channel through the first connecting hole, and then enters the second inflatable sealing ring through the second connecting hole, so that the first inflatable sealing ring and the second inflatable sealing ring are filled with nitrogen, so that the first inflatable sealing ring and the second inflatable sealing ring are expanded and contact with the outer wall of the inner tube or the connecting tube to be sealed. When the nitrogen inside the rotary joint reaches a certain pressure, it is discharged by the overflow valve, so that the gas in the first inflatable sealing ring and the second inflatable sealing ring can maintain a constant pressure, and the gas pressure in the first inflatable sealing ring and the second inflatable sealing ring can be prevented from being reduced after the gas in the first inflatable sealing ring and the second inflatable sealing ring is cooled, thereby affecting the sealing performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a three-dimensional structural schematic diagram of the present invention;

[0021] Figure 2 It is a front view of the present invention;

[0022] Figure 3 It is a structural schematic diagram of the inner arm counterweight beam of the present invention;

[0023] Figure 4 is a front view of the inner arm counterweight beam of the present invention;

[0024] Figure 5 It is a schematic diagram of the internal structure of the rotary joint of the present invention;

[0025] Figure 6 yes Figure 5 A partial enlarged view of part A;

[0026] Figure 7 yes Figure 5 A partial enlarged view of part B;

[0027] Figure 8 It is a structural schematic diagram of a column of the present invention;

[0028] Fig. 9 yes Figure 8 A partial enlarged view of part C in the middle;

[0029] Fig.10 It is a structural schematic diagram of the inner arm tube of the present invention;

[0030] Fig.11 It is a structural schematic diagram of the outer arm tube of the present invention;

[0031] Among them, 1. column; 2. rotary joint; 21. second flange; 22. outer ring; 23. bearing ball; 24. inner ring; 25. first flange; 26. second frameless torque motor; 27. first inflatable seal ring; 271. first inner seal ring; 272. first intermediate seal ring; 273. first outer seal ring; 28. second inflatable seal ring; 281. second inner seal ring; 282. second outer seal ring; 29. ​​annular splint; 3. first curved joint; 4. second curved joint; 5. inner arm tube; 6. third curved joint; 7. fourth curved joint; 8. fifth curved joint; 9. three-dimensional joint; 10. outer arm tube ; 11. sixth curved joint; 12. quick connector; 13. reinforcing ribs; 14. connecting pipe; 15. base; 16. outer arm counterweight beam; 17. connecting rod; 18. counterweight plate; 181. linear motor; 182. second counterweight block; 19. inner arm counterweight beam; 191. motor; 192. lead screw; 193. connecting tube; 194. first counterweight block; 195. guide block; 196. first frameless torque motor; 20. insulation layer; 30. telescopic tube mechanism; 31. inner tube; 32. pressurizing ring; 33. third inflatable sealing ring; 331. inflatable part; 332. sealing part; 34. outer tube; 35. connecting pipe. DETAILED DESCRIPTION

[0032] The present invention is further described below in conjunction with the accompanying drawings and specific implementation methods.

[0033] like Figure 1 and 2 As shown, the present invention includes a column 1, an inner arm tube 5, an outer arm tube 10, a rotary joint 2 and a telescopic tube mechanism 30.

[0034] The lower end of the column 1 is fixedly connected to the base 15, and the base 15 and the column 1 are fixedly connected via a plurality of reinforcing ribs 13 evenly distributed in a circular shape. The column 1 is provided with a cavity with an upper end opening, and the lower half of the column 1 is provided with a connecting pipe 14, and the tube cavity of the connecting pipe 14 is connected with the cavity of the column 1.

[0035] The upper end of the column 1 is connected to the lower end of the first curved joint 3 through the rotary joint 2, the upper end of the first curved joint 3 is connected to one end of the second curved joint 4 through the rotary joint 2, the other end of the second curved joint 4 is fixedly connected to one end of the inner arm tube 5, the other end of the inner arm tube 5 is fixedly connected to one end of the third curved joint 6, the other end of the third curved joint 6 is connected to one end of the fourth curved joint 7 through the rotary joint 2, the other end of the fourth curved joint 7 is connected to one end of the outer arm tube 10, the other end of the outer arm tube 10 is fixedly connected to one end of the fifth curved joint 8, the other end of the fifth curved joint 8 is fixedly connected to one end of the three-dimensional joint 9 through the rotary joint 2, and the other end of the three-dimensional joint 9 is connected to the quick joint 12 through the rotary joint 2 and the sixth curved joint 11.

[0036] The three-dimensional joint 9 and quick joint 12 are existing devices, and their specific structures are not described in detail.

[0037] The second curved joint 4 and the third curved joint 6 are located on the same side of the inner arm tube 5 , and the fourth curved joint 7 and the fifth curved joint 8 are located on different sides of the outer arm tube 10 .

[0038] like Figure 3 and 4 As shown, the connecting end of the inner arm tube 5 and the second curved joint 4 is fixedly connected to the inner arm counterweight beam 19, the inner arm counterweight beam 19 and the inner arm tube 5 are located on the same axial line, and a first counterweight block 194 is installed on the inner arm counterweight beam 19.

[0039] In the optimization scheme, a first connecting column is fixedly installed on the outer wall of the second curved joint 4, one end of the first connecting column is provided with a flange, and one end of the inner arm counterweight beam 19 is also provided with a flange. The Farah plate of the connecting column and the flange of the inner arm counterweight beam 19 are fixed together by bolts and nuts.

[0040] One end of the inner arm counterweight beam 19 is provided with a placement cavity, and the inner arm counterweight beam 19 is provided with long strip through holes distributed along the length direction, the placement cavity is connected with one end of the long strip through hole, a motor 191 is installed in the placement cavity, the motor shaft of the motor 191 is fixedly connected with one end of the lead screw 192 through a coupling, and the other end of the lead screw 192 is rotatably connected with the side wall of the long strip through hole, and a guide block 195 is installed in the long strip through hole of the inner arm counterweight beam 19, the guide block 195 is slidably matched with the long strip through hole, a threaded through hole is provided on the guide block 195, the lead screw 192 is matched with the threaded through hole of the guide block 195, and the two ends of the guide block 195 are respectively fixedly connected with the first counterweight block 194. The motor 191 can drive the lead screw 192 to rotate, so that the position of the first counterweight block 194 on the inner arm counterweight beam 19 can be adjusted.

[0041] When the inner arm tube 5 rotates upward, the first counterweight block 194 moves to the end of the inner arm counterweight beam 19, increasing the force of the inner arm tube 5 rotating upward. When the inner arm tube 5 rotates downward, the first counterweight block 194 moves to the inner end of the inner arm counterweight beam 19, reducing the force that hinders the inner arm tube 5 from rotating downward.

[0042] The connecting end of the outer arm tube 10 and the fourth curved joint 7 is fixedly connected to one end of the outer arm counterweight beam 16. The outer arm counterweight beam 16 and the outer arm tube 10 are located on the same axis. The other end of the outer arm counterweight beam 16 is fixedly connected to the connecting frame.

[0043] A connecting tube 193 is fixedly installed on the inner side of the inner arm counterweight beam 19, and the connecting tube 193 is rotatably connected to one end of the counterweight plate 18. The other end of the counterweight plate 18 is hinged to one end of the connecting rod 17, and the other end of the connecting rod 17 is hinged to the connecting frame, so that the inner arm counterweight beam 19, the inner arm tube 5, the outer arm tube 10, the outer arm counterweight beam 16, the connecting rod 17 and the counterweight plate 18 form a four-bar mechanism. When the counterweight plate 18 rotates, it can drive the outer arm tube 10 to rotate.

[0044] In the optimization scheme, the four-bar linkage is a parallelogram mechanism.

[0045] In the optimization scheme, mounting grooves are respectively provided on both sides of the counterweight plate 18, and linear motors 181 are respectively fixedly installed in the two mounting grooves, and the slider of the linear motor 181 is fixedly connected to the second counterweight block 182. The position of the second counterweight block 182 on the counterweight plate 18 can be adjusted by the linear motor 181. When the counterweight plate 18 rotates downward, the second counterweight block 182 is moved to the end position of the counterweight plate 18 to increase the force of the counterweight plate 18 rotating downward. When the counterweight plate 18 rotates upward, the second counterweight block 182 is moved to the inner end position of the counterweight plate 18 to reduce the force that hinders the counterweight plate 18 from rotating upward.

[0046] In the optimization scheme, the connecting tube 193 is provided with a blind hole, and a first frameless torque motor 196 is fixedly installed in the blind hole of the connecting tube 193. The outer ring of the first frameless torque motor 196 is fixedly connected to the connecting tube 193. A rotating shaft is fixedly installed on the counterweight plate 18. The inner ring of the first frameless torque motor 196 is fixedly connected to the rotating shaft. The first frameless torque motor 196 can drive the counterweight plate 18 to rotate.

[0047] like Figure 5 As shown, the rotary joint 2 includes an outer ring tube 22, an inner ring tube 24, a second frameless torque motor 26 and a sealing mechanism. The outer ring tube 22 is sleeved on the outside of the inner ring tube 24. A gap of a certain distance is provided between the inner wall of the outer ring tube 22 and the outer wall of the inner ring tube 24. The gap between the outer ring tube 22 and the inner ring tube 24 forms a nitrogen purge channel.

[0048] Two annular grooves are respectively provided on the inner wall of the outer ring cylinder 22 and the outer wall of the inner ring cylinder 24 . The two annular grooves correspond to each other to form an annular steel ball raceway. A plurality of bearing balls 23 are installed in the annular steel ball raceway.

[0049] In the optimization scheme, the outer ring tube 22 is provided with a placement hole, which is communicated with the annular steel ball raceway. The bearing ball 23 can be placed in the annular steel ball raceway through the placement hole. The inner wall of the placement hole is provided with an internal thread, which cooperates with the screw plug thread.

[0050] The lower end of the outer ring tube 22 is fixedly mounted with a first flange 25, and the upper end of the inner ring tube 24 is fixedly mounted with a second flange 21. The outer ring tube 22 and the first flange 25, the inner ring tube 24 and the second flange 21 can be an integral structure or a split structure. When it is a split structure, a sealing ring is provided between the lower end of the outer ring tube 22 and the first flange 25, and a sealing ring is provided between the upper end and the second flange 21.

[0051] In the optimized solution, annular sealing grooves are respectively provided at the upper and lower ends of the outer ring tube 22, and the sealing ring is placed in the annular sealing grooves.

[0052] An annular placement groove is provided on the inner wall of the outer ring cylinder 22 , and a second frameless torque motor 26 is fixedly installed in the annular placement groove. The inner ring of the second frameless torque motor 26 is fixedly connected to the outer wall of the inner ring cylinder 24 .

[0053] The sealing mechanism includes a first inflatable sealing ring 27, a second inflatable sealing ring 28, a one-way air valve and a relief valve. A stepped through hole is provided on the first flange 25. The upper end of the stepped through hole is a large diameter hole, and the lower end is a small diameter hole. The lower end of the inner ring tube 24 is placed in the large diameter hole. An annular cavity is formed between the lower end of the inner ring tube 24 and the bottom wall of the large diameter hole. A first annular groove is provided on the inner wall of the large diameter hole of the first flange 25 located at the annular cavity position. A first clamping groove is provided at the outer end of the first annular groove. The inner end of the first clamping groove is communicated with the outer end of the first annular groove.

[0054] like Figure 6 As shown, the first inflatable sealing ring 27 includes a first inner sealing ring 271, a first middle sealing ring 272, and a first outer sealing ring 273. The outer end of the first inner sealing ring 271 is sleeved with the first middle sealing ring 272, and the outer end of the first middle sealing ring 272 is sleeved with the first outer sealing ring 273. The outer end of the first inner sealing ring 271 is connected to the inner end of the first middle sealing ring 272, and the outer end of the first middle sealing ring 272 is connected to the inner end of the first outer sealing ring 273.

[0055] The thickness of the first middle sealing ring 272 is greater than that of the first inner sealing ring 271 , and the thickness of the first inner sealing ring 271 is greater than that of the first outer sealing ring 273 .

[0056] The first inner sealing ring 271 is placed in the annular cavity, the upper end of the first inner sealing ring 271 contacts the lower end wall of the inner ring tube 24, and the lower end contacts the bottom wall of the large diameter hole, the first intermediate sealing ring 272 is placed in the first annular groove, the inner ring of the first intermediate sealing ring 272 contacts the outer wall of the inner ring tube 24, the first outer sealing ring 273 is placed in the first clamping groove, and two annular clamping plates 29 are installed in the first clamping groove, the two annular clamping plates 29 are respectively slidably matched with the first clamping groove, and the two annular clamping plates 29 are respectively connected to the groove wall of the first clamping groove through springs.

[0057] The first inner seal ring 271, the first middle seal ring 272 and the first outer seal ring 273 are provided with an inflatable cavity filled with gas. When the temperature of the gas in the first inflatable seal ring 27 decreases and the internal air pressure decreases, the two annular clamping plates 29 squeeze the first outer seal ring 273, and squeeze the gas in the first outer seal ring 273 into the first inner seal ring 271 and the first middle seal ring 272, thereby maintaining the internal air pressure of the first inner seal ring 271 and the first middle seal ring 272 and maintaining the sealing performance of the first inflatable seal ring 27.

[0058] A second annular groove is provided on the inner wall of the second flange 21 , and a second clamping groove is provided at the outer end of the second annular groove. The inner side of the second clamping groove is connected to the outer side of the second annular groove.

[0059] like Figure 7 As shown, the second inflatable sealing ring 28 comprises a second inner sealing ring 281 and a second outer sealing ring 282 . The outer end of the second inner sealing ring 281 is sleeved with the second outer sealing ring 282 , and the outer end of the second inner sealing ring 281 is connected to the inner end of the second outer sealing ring 282 .

[0060] The thickness of the first inner sealing ring 271 is greater than the thickness of the first outer sealing ring 273 .

[0061] The second inner sealing ring 281 is placed in the second annular groove, and the second outer sealing ring 282 is placed in the second clamping groove. Two annular clamping plates 29 are installed in the second clamping groove. The two annular clamping plates 29 are respectively slidably matched with the second clamping groove, and the two annular clamping plates 29 are respectively connected to the groove wall of the second clamping groove through springs.

[0062] The second inner seal ring 281 and the first outer seal ring 273 are provided with an inflatable cavity filled with gas. When the temperature of the gas in the second inflatable seal ring 28 decreases and the internal air pressure decreases, the two annular clamping plates 29 squeeze the second outer seal ring 282 and squeeze the gas in the second outer seal ring 282 into the second inner seal ring 281, thereby maintaining the internal air pressure of the first inner seal ring 271 and maintaining the sealing performance of the second inflatable seal ring 28.

[0063] The first flange 25 is provided with an air inlet hole, and the first air inlet pipe and the first air outlet pipe are respectively provided on the first air inflation seal ring 27, the air inlet hole is connected with the first air inlet hole, the first flange 25 and the outer ring tube 22 are provided with a first connecting hole, the first air outlet pipe is connected with one end of the first connecting hole, and the other end of the first connecting hole is connected with the nitrogen purge channel, the second flange 21 is provided with a second connecting hole and an air outlet hole, and the second air inlet pipe and the second air outlet pipe are respectively provided on the second air inflation seal ring 28, one end of the second connecting hole is connected with the nitrogen purge channel, and the other end is connected with the second air inlet pipe, and the second air outlet pipe is connected with the air outlet hole.

[0064] A one-way valve is installed at the air inlet, and a relief valve is installed at the air outlet. The one-way valve is connected to the nitrogen input pipe so that nitrogen can only enter the rotary joint 2 through the one-way valve but cannot be discharged. The relief valve is connected to the nitrogen output pipe. When the nitrogen inside the rotary joint 2 reaches a certain pressure, the nitrogen is discharged from the relief valve.

[0065] like Figures 8 to 11 As shown, telescopic tube mechanisms 30 are respectively installed in the tube cavities of the column 1, the inner arm tube 5 and the outer arm tube 10, and the telescopic tube mechanism 30 includes an outer tube 34, an inner tube 31 and a third inflatable sealing ring 33. The outer tube 34 is respectively installed in the tube cavities of the column 1, the inner arm tube 5 and the outer arm tube 10, and an insulation layer 20 is provided between the tube cavities of the column 1, the inner arm tube 5 and the outer arm tube 10 and the outer tube 34.

[0066] The inner tube 31 is installed at the upper end of the outer tube 34 in the lumen of the column 1, and the inner tubes 31 are installed at both ends of the outer tube 34 in the lumens of the inner arm tube 5 and the outer arm tube 10 respectively. An annular sealing groove is provided on the inner wall of the end of the outer tube 34, and the inner end of the inner tube 31 is inserted into the lumen of the outer tube 34. A piston ring is provided at the inner end of the inner tube 31, and the piston ring is placed in the annular sealing groove of the outer tube 34. A third inflatable sealing ring 33 is installed in the annular sealing groove of the outer tube 34, and the third inflatable sealing ring 33 is located between the piston ring and the end wall of the annular sealing groove of the outer tube 34.

[0067] The third inflatable sealing ring 33 comprises a sealing part 332 and an inflatable part 331. The sealing part 332 is in an annular cylindrical shape, and the inner wall and outer wall of the inflatable part 331 are in a wavy shape. The sealing part 332 and the inflatable part 331 are respectively provided with an inflatable cavity, and the inflatable cavities of the two are connected. When the outer cylinder contracts when cold, it can squeeze the inflatable part 331, so that the gas inside it is filled into the sealing part 332, and the sealing property of the sealing part 332 is maintained.

[0068] The pressure ring 32 is placed in the annular sealing groove of the outer tube 34, and is located at the end of the inflatable part 331. The pressure ring 32 is connected to the end wall of the annular sealing groove of the outer tube 34 by a spring. When the third inflatable sealing ring 33 is filled with gas, the pressure ring 32 compresses the spring. When the outer tube contracts when cold, the air pressure in the third inflatable sealing ring 33 decreases, and the spring is reset, so that the pressure ring 32 can squeeze the inflatable part 331, so that the gas inside it is filled into the sealing part 332, and the sealing of the sealing part 332 is maintained.

[0069] The upper end of the inner tube 31 in the lumen of the column 1 is connected to the rotary joint 2, and the first inflatable sealing ring 27 is sleeved on the outer side of the inner tube 31 in the lumen of the column 1 to seal it. A connecting tube 35 is installed in the lumen of the curved joint, and an insulating layer 20 is provided between the connecting tube 35 and the inner wall of the lumen of the curved joint. The inner tube 31 in the lumen of the inner arm tube 5 and the outer arm tube 10 are respectively fixedly connected to one end of the connecting tube 35, and the other end of the connecting tube 35 is respectively connected to the corresponding rotary joint 2, and is sealed by the first inflatable sealing ring 27 or the second inflatable sealing ring 28.

[0070] The first inflatable sealing ring 27, the second inflatable sealing ring 28 and the third inflatable sealing ring 33 are made of highly elastic material.

[0071] The operation process is as follows: when the present invention is used, the inner arm tube 5 can be driven to rotate around the column 1 through the rotary joint 2 at the upper end of the column 1, and the inner arm tube 5, the outer arm tube 10, the counterweight plate 18, the three-dimensional joint 9 and the quick joint 12 can be driven to move respectively by starting other rotary joints 2. When the rotary joint 2 is working, nitrogen is continuously introduced into the rotary joint 2. The nitrogen first enters the first inflatable sealing ring 27 through the air inlet hole, then enters the nitrogen purge channel through the first connecting hole, and then enters the second inflatable sealing ring 28 through the second connecting hole, so that the first inflatable sealing ring 27 and the second inflatable sealing ring 28 are filled with nitrogen, so that the first inflatable sealing ring 27 and the second inflatable sealing ring 28 are expanded, contacted with the outer wall of the inner tube 31 or the connecting tube 35, and sealed. When the nitrogen inside the rotary joint 2 reaches a certain pressure, it is discharged by the overflow valve;

[0072] When the outer tube 34 inside the column 1, the inner arm tube 5 and the outer arm tube 10 contracts when cooled, the outer tube 34 can move along the inner tube 31 so that the lengths of the two will not be greatly deformed due to the contraction of the outer tube 34.

[0073] It should be noted that the specific embodiments of the present invention have been described in detail. For those skilled in the art, various obvious changes to the present invention without departing from the spirit and scope of the present invention are within the protection scope of the present invention.

Claims

1. A four-link fluid loading and unloading arm, comprising a column (1), an inner arm tube (5), an outer arm tube (10) and a rotary joint (2), wherein the column (1) is provided with a cavity with an upper end opening, and the lower half of the column (1) is provided with a connecting pipe (14) intersecting with the cavity; the upper end of the column (1) is connected to the inner arm tube (5) through a rotary joint (2) and a bent joint in sequence, the inner arm tube (5) is connected to the outer arm tube (10) through a bent joint and a rotary joint (2) in sequence, and the outer arm tube (10) is connected to a quick joint (12) through a bent joint, a rotary joint (2) and a three-dimensional joint (9) in sequence; characterized in that: The inner arm tube (5) is connected to the inner arm counterweight beam (19), and a first counterweight block (194) is installed on the inner arm counterweight beam (19); the outer arm tube (10) is connected to the outer arm counterweight beam (16), the inner side of the inner arm counterweight beam (19) is rotatably connected to one end of a counterweight plate (18), and the other end of the counterweight plate (18) is connected to the outer arm counterweight beam (16) through a connecting rod (17); the inner arm counterweight beam (19), the inner arm tube (5), the outer arm tube (10), the outer arm counterweight beam (16), the connecting rod (17) and the counterweight plate (18) form a four-bar linkage; the rotary joint (2) comprises an outer ring tube (22), an inner ring tube (24), a second frameless torque motor (26) and a sealing mechanism, and the outer ring tube (22) is sleeved on the inner ring tube (24). ), a gap is provided between the inner wall of the outer ring tube (22) and the outer wall of the inner ring tube (24), and the gap between the outer ring tube (22) and the inner ring tube (24) forms a nitrogen purge channel; two annular grooves are respectively provided on the inner wall of the outer ring tube (22) and the outer wall of the inner ring tube (24), and the two annular grooves correspond to each other to form an annular steel ball raceway, and a plurality of bearing balls (23) are installed in the annular steel ball raceway; an annular placement groove is provided on the inner wall of the outer ring tube (22), and a second frameless torque motor (26) is fixedly installed in the annular placement groove, and the inner ring of the second frameless torque motor (26) is connected to the outer wall of the inner ring tube (24); and telescopic tube mechanisms (30) are respectively installed in the tube cavities of the column (1), the inner arm tube (5) and the outer arm tube (10).

2. The four-link fluid loading and unloading arm according to claim 1, characterized in that: One end of the inner arm counterweight beam (19) is provided with a placement cavity, and the inner arm counterweight beam (19) is provided with long strip through holes distributed along the length direction, the placement cavity is connected to one end of the long strip through holes, a motor (191) is installed in the placement cavity, the motor shaft of the motor (191) is connected to the lead screw (192), a guide block (195) is installed in the long strip through hole of the inner arm counterweight beam (19), the guide block (195) is slidably matched with the long strip through hole, a threaded through hole is provided on the guide block (195), the lead screw (192) is matched with the threaded through hole of the guide block (195), and both ends of the guide block (195) are respectively connected to the first counterweight block (194).

3. The four-link fluid loading and unloading arm according to claim 1, characterized in that: The counterweight plate (18) is provided with mounting grooves on both sides, and linear motors (181) are respectively installed in the two mounting grooves, and the sliders of the linear motors (181) are connected to the second counterweight block (182).

4. The four-link fluid loading and unloading arm according to claim 1, characterized in that: A connecting tube (193) is installed on the inner side of the inner arm counterweight beam (19), the connecting tube (193) is rotatably connected to one end of the counterweight plate (18), the connecting tube (193) is provided with a blind hole, a first frameless torque motor (196) is installed in the blind hole of the connecting tube (193), the outer ring of the first frameless torque motor (196) is connected to the connecting tube (193), a rotating shaft is installed on the counterweight plate (18), and the inner ring of the first frameless torque motor (196) is connected to the rotating shaft.

5. The four-link fluid loading and unloading arm according to claim 1, characterized in that: A first flange (25) is installed at the lower end of the outer ring tube (22), and a second flange (21) is installed at the upper end of the inner ring tube (24). The outer ring tube (22) and the first flange (25), the inner ring tube (24) and the second flange (21) can be an integrated structure or a split structure.

6. The four-link fluid loading and unloading arm according to claim 5, characterized in that: The sealing mechanism comprises a first inflatable sealing ring (27), a second inflatable sealing ring (28), a one-way air valve and a relief valve. The first flange (25) is provided with a stepped through hole, the upper end of the stepped through hole is a large diameter hole, and the lower end is a small diameter hole. The lower end of the inner ring tube (24) is placed in the large diameter hole, and an annular cavity is formed between the lower end of the inner ring tube (24) and the bottom wall of the large diameter hole. The inner wall of the large diameter hole of the first flange (25) is provided with a first annular groove, and the inner wall of the second flange (21) is provided with a second annular groove; the first flange (25) is provided with an air inlet hole, and the first inflatable sealing ring (27) is provided with a small diameter hole. A first air inlet pipe and a first air outlet pipe are provided, the air inlet hole is connected to the first air inlet hole, a first connecting hole is provided on the first flange (25) and the outer ring tube (22), the first air outlet pipe is connected to one end of the first connecting hole, and the other end of the first connecting hole is connected to the nitrogen purge channel, a second connecting hole and an air outlet are provided on the second flange (21), a second air inlet pipe and a second air outlet pipe are provided on the second inflation seal ring (28), one end of the second connecting hole is connected to the nitrogen purge channel, and the other end is connected to the second air inlet pipe, and the second air outlet pipe is connected to the air outlet hole; a one-way valve is installed at the air inlet hole, and a relief valve is installed at the air outlet hole.

7. The four-link fluid loading and unloading arm according to claim 6, characterized in that: The outer end of the first annular groove is provided with a first clamping groove, and the inner end of the first clamping groove is connected to the outer end of the first annular groove; the first inflatable sealing ring (27) comprises a first inner sealing ring (271), a first intermediate sealing ring (272), and a first outer sealing ring (273); the outer end of the first inner sealing ring (271) is sleeved with the first intermediate sealing ring (272), and the outer end of the first intermediate sealing ring (272) is sleeved with the first outer sealing ring (273); the outer end of the first inner sealing ring (271) is connected to the inner end of the first intermediate sealing ring (272), and the outer end of the first intermediate sealing ring (272) is sleeved with the inner end of the first outer sealing ring (273). The ends are connected; the first inner sealing ring (271) is placed in the annular cavity, the upper end of the first inner sealing ring (271) contacts the lower end wall of the inner ring tube (24), and the lower end contacts the bottom wall of the large diameter hole, the first intermediate sealing ring (272) is placed in the first annular groove, the inner ring of the first intermediate sealing ring (272) contacts the outer wall of the inner ring tube (24), the first outer sealing ring (273) is placed in the first clamping groove, and two annular clamping plates (29) are installed in the first clamping groove, the two annular clamping plates (29) are respectively slidably matched with the first clamping groove, and the two annular clamping plates (29) are respectively connected to the groove wall of the first clamping groove through springs.

8. The four-link fluid loading and unloading arm according to claim 6, characterized in that: The outer end of the second annular groove is provided with a second clamping groove, and the inner side of the second clamping groove is connected with the outer side of the second annular groove; the second inflatable sealing ring (28) comprises a second inner sealing ring (281) and a second outer sealing ring (282), the outer end of the second inner sealing ring (281) is sleeved with the second outer sealing ring (282), and the outer end of the second inner sealing ring (281) is connected with the inner end of the second outer sealing ring (282); the second inner sealing ring (281) is placed in the second annular groove, and the second outer sealing ring (282) is placed in the second clamping groove, and two annular clamping plates (29) are installed in the second clamping groove, and the two annular clamping plates (29) are respectively slidably matched with the second clamping groove, and the two annular clamping plates (29) are respectively connected to the groove wall of the second clamping groove through springs.

9. The four-link fluid loading and unloading arm according to claim 1, characterized in that: The telescopic tube mechanism (30) comprises an outer tube (34), an inner tube (31) and a third inflatable sealing ring (33); the outer tube (34) is respectively installed in the tube cavities of the column (1), the inner arm tube (5) and the outer arm tube (10); a thermal insulation layer (20) is provided between the tube cavities of the column (1), the inner arm tube (5) and the outer arm tube (10) and the outer tube (34); the inner tube (31) is installed at the upper end of the outer tube (34) in the tube cavity of the column (1); the inner arm tube (5) and the outer arm tube (10) are provided with a heat-insulating layer (20); The inner tube (31) is installed at both ends of the outer tube (34) in the cavity, and an annular sealing groove is provided on the inner wall of the end of the outer tube (34). The inner end of the inner tube (31) is inserted into the tube cavity of the outer tube (34). The inner end of the inner tube (31) is provided with a piston ring, which is placed in the annular sealing groove of the outer tube (34). A third inflatable sealing ring (33) is installed in the annular sealing groove of the outer tube (34), and the third inflatable sealing ring (33) is located between the piston ring and the end wall of the annular sealing groove of the outer tube (34).

10. The four-link fluid loading and unloading arm according to claim 9, characterized in that: The third inflatable sealing ring (33) comprises a sealing portion (332) and an inflatable portion (331); the sealing portion (332) is in the shape of an annular cylinder; the inner wall and the outer wall of the inflatable portion (331) are in the shape of a wave; the sealing portion (332) and the inflatable portion (331) are respectively provided with an inflatable cavity, and the inflatable cavities of the two are connected; a pressurizing ring (32) is arranged in the annular sealing groove of the outer tube (34); the pressurizing ring (32) is located at the end of the inflatable portion (331); the pressurizing ring (32) and the end wall of the annular sealing groove of the outer tube (34) are connected via a spring; when the third inflatable sealing ring (33) is filled with gas, the pressurizing ring (32) compresses the spring.

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