Locking and homing signal feedback device for inner arm of fluid loading and unloading arm

Abstract

The invention relates to a locking and homing signal feedback device for an inner arm of a fluid loading and unloading arm, which is characterized in that the central angle between any two of three mounting plates is 120 degrees, so that automatic centering is ensured when an outer arm with the mounting plate is connected with an insertion groove of another outer arm, and the coaxiality is ensured; in addition, each mounting plate is integrally provided with a telescopic piece and a reflectivity detection sensor, and then is matched with three reflection blocks which are inserted into the grooves and have different reflectivity; in the alignment process, as long as one reflectivity detection sensor detects that the reflectivity of the reflection block is equal to the set reflectivity, it is indicated that alignment succeeds, at the moment, the telescopic piece is rapidly controlled to abut against the inner wall of the insertion groove to achieve locking, and after the outer arm is locked, the inner arm fixedly connected with the outer arm is also locked and aligned; the devices for locking and detecting the alignment angle signals are integrated, the structure is simple, the advantages of high sensitivity and high precision of optical fiber sensing of the reflectivity detection sensor are utilized, and the detection precision is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of fluid loading and unloading equipment, and particularly relates to a signal feedback device for locking and homing the inner arm of a fluid loading and unloading arm. Background Art

[0002] At present, the onshore storage and transportation logistics of petrochemical fluid media mainly rely on railway tank cars and road tank cars; as the main means of onshore transportation and storage loading and unloading, fluid loading and unloading arms have been widely promoted for their unique safety and controllability. Fluid loading and unloading arms can be used to transport liquids and gases, and are commonly used in places such as liquid chemical terminals, chemical product storage areas, and receiving stations.

[0003] The fluid loading and unloading arm can be divided into multiple sections. Some adjacent two sections are fixedly connected, and the angle between the two sections does not rotate. When connected by a flange, its coaxiality needs to be ensured.

[0004] Some other adjacent two sections can rotate to meet the usage requirements; therefore, when rotating, not only the coaxiality problem of the two sections needs to be ensured, but also the rotation angle needs to be known in real time and locked; however, the current fluid loading and unloading arm is difficult to accurately and effectively obtain the rotation angle and lock it, and its structure is complex, and the locking and angle acquisition devices are independently arranged, occupying space.

[0005] In some related technologies, the airtightness requirement of the fluid loading and unloading arm is also relatively important and is also a problem that needs to be solved. Summary of the Invention

[0006] An embodiment of the present invention provides a signal feedback device for locking and homing the inner arm of a fluid loading and unloading arm to solve the problems in the related technologies that the current fluid loading and unloading arm is difficult to accurately and effectively obtain the rotation angle and lock it, and its structure is complex, and the locking and angle acquisition devices are independently arranged, occupying space.

[0007] The present invention provides a signal feedback device for locking and homing the inner arm of a fluid loading and unloading arm. The fluid loading and unloading arm includes an outer arm and an inner arm coaxially and fixedly connected inside the outer arm; among two adjacent outer arms, one end of one outer arm is provided with a coaxial insertion groove, and the two outer arms are locked through the insertion groove and the signal feedback device for locking and homing the inner arm of the fluid loading and unloading arm; the signal feedback device for locking and homing the inner arm of the fluid loading and unloading arm includes: Three mounting plates, which are distributed in a circular array and are mounted at the end of the other outer arm; the corresponding central angle between two adjacent mounting plates is 120 degrees; at the top surface of one end of each mounting plate, a telescopic member is provided, and at the bottom surface, a reflectivity detection sensor is provided; the telescopic direction of the telescopic member is perpendicular to the top surface of the mounting plate; Three reflecting blocks, which are installed in the insertion groove; the three reflecting blocks are distributed in a circular array and are respectively arranged corresponding to the reflectivity detection sensor; the reflectivities of the three reflecting blocks are not equal; A controller, which is signal-connected to the telescopic member and the reflectivity detection sensor; the controller is installed on the outer surface of the outer arm having the mounting plate, so as to control the telescopic member to abut and lock against the inner wall of the insertion groove after the reflectivity detection sensor detects the corresponding reflecting block.

[0008] In some embodiments, in the radial direction of the end of the outer arm, the insertion groove has an inner circumferential wall surface and an outer circumferential wall surface; three limiting grooves corresponding to the telescopic member are provided on the outer circumferential wall surface; a receiving groove for receiving the reflecting block is provided on the inner circumferential wall surface.

[0009] In some embodiments, the reflectivity detection sensor includes a cylindrical rod, a light source and a reflectivity probe; the top of the cylindrical rod is fixedly connected to the mounting plate, and an installation channel is provided at the bottom; the light source and the reflectivity probe are provided in the installation channel; A wire passing channel is provided inside the mounting plate, and a connecting wire connected to the telescopic member, the light source and the reflectivity probe is provided in the wire passing channel, and the connecting wire is connected to the controller.

[0010] In some embodiments, an arc-shaped plate is provided outside the cylindrical rod and at the bottom of the cylindrical rod; the arc-shaped plate is attached to the inner circumferential wall surface of the insertion groove.

[0011] In some embodiments, an insertion ring is provided at the end of the outer arm having three mounting plates, and the insertion ring is used for inserting into the insertion groove; the mounting plate is provided at the end of the insertion ring; In the axial direction of the outer arm, the sum of the axial lengths of the mounting plate and the insertion ring is equal to the axial depth of the insertion groove; a plurality of sealing rings are provided on the outer periphery of the insertion ring.

[0012] In some embodiments, there is a designed axial distance between one end of the inner arm and the corresponding end of the outer arm, forming an installation cavity; the other end extends out from the corresponding end of the outer arm; When two adjacent outer arms are connected, the extended end of the inner arm of one of the outer arms is inserted into the installation cavity of the other outer arm; A sealing ring for sealing connection with the inner wall of the installation cavity is provided on the outer side of the extended end of the inner arm.

[0013] In some embodiments, on the outer sides of the connected ends of two adjacent outer arms, mounting flange plates are provided.

[0014] In some embodiments, in two adjacent outer arms, a gear ring is provided on the outer side of one of the outer arms, and a stepper motor is provided on the outer side of the other outer arm. The stepper motor is connected to a driving gear that meshes with the gear ring.

[0015] In some embodiments, the number of the reflection blocks is at least three, and they are distributed in a circular array; the reflectivity of each reflection block is not equal.

[0016] In some embodiments, the controller includes a reflectivity acquisition module, a telescopic member control module, a position judgment module, and a control module; The reflectivity acquisition module is used to acquire the detection information of the reflectivity detection sensor; the control module is used to judge whether two adjacent outer arms are aligned by using the position judgment module and the detection information; the control module is further used to control the telescopic member to extend and abut against the inner wall of the insertion groove for locking while two adjacent outer arms are aligned.

[0017] The beneficial effects brought by the technical solution provided by the present invention include: The present invention provides a signal feedback device for locking and homing the inner arm of a fluid loading and unloading arm. Since the central angle between any two of the three mounting plates is 120 degrees, it is ensured that the outer arm with the mounting plate and the insertion groove of the other outer arm are automatically centered when connected, ensuring coaxiality; in addition, a telescopic member and a reflectivity detection sensor are integrally provided on each mounting plate, and then cooperated with three reflection blocks with unequal reflectivities in the insertion groove; during the alignment process, as long as the reflectivity of the reflection block detected by one of the reflectivity detection sensors is equal to the set reflectivity, it indicates that the alignment is successful. At this time, the telescopic member is quickly controlled to abut against the inner wall of the insertion groove to achieve locking. When the outer arm is locked, the inner arm fixedly connected thereto is also locked and aligned. The above integrates the device for locking and detecting the alignment angle signal, with a simple structure. In addition, the optical fiber sensing of the reflectivity detection sensor is used, which has the advantages of high sensitivity and high precision, ensuring the detection accuracy. Description of the Drawings

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0019] Figure 1 It is a schematic structural diagram of a fluid loading and unloading arm provided in the related art; Figure 2 It is a schematic structural diagram of the signal feedback device for locking and homing the inner arm of the fluid loading and unloading arm provided in the embodiment of the present invention installed in two outer arms; Figure 3 Provided by an embodiment of the present invention Figure 2 front view; Figure 4 Provided by an embodiment of the present invention Figure 3 Schematic cross-sectional view at A-A in Figure 5 Provided by an embodiment of the present invention Figure 2 left view; Figure 6 Provided by an embodiment of the present invention Figure 5 Schematic cross-sectional view at B-B in Figure 7 Schematic structural diagram of the locking and homing signal feedback device for the inner arm of the fluid loading and unloading arm provided by an embodiment of the present invention; Figure 8 Schematic structural diagram of the locking and homing signal feedback device for the inner arm of the fluid loading and unloading arm with two rotatable outer arms installed in the two outer arms provided by an embodiment of the present invention; Figure 9 Provided by an embodiment of the present invention Figure 8 front view; Figure 10 Provided by an embodiment of the present invention Figure 8 left view.

[0020] In the figure: 1, mounting plate; 2, telescopic member; 3, reflectivity detection sensor; 4, arc plate; 5, reflection block; 6, controller; 7, outer arm; 8, inner arm; 9, insertion slot; 10, insertion ring; 11, mounting flange; 12, gear ring; 13, driving gear. Detailed implementation manners

[0021] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0022] Regarding the present invention, it should be understood that: Refer to Figure 1, it is a fluid loading and unloading arm in the related art. Some of the adjacent two segments are fixedly connected, and the angle between the two segments does not rotate. When connected by a flange, its coaxiality needs to be ensured; some of the adjacent two segments can rotate to meet the usage requirements; therefore, when rotating, not only the coaxiality problem of the two segments needs to be ensured, but also the rotation angle needs to be known at all times and locked; however, the current fluid loading and unloading arm is difficult to accurately and effectively obtain the rotation angle and lock it, and its structure is complex, and the locking and angle acquisition devices are independently arranged, occupying space.

[0023] Therefore, it is necessary to design a locking and homing signal feedback device that can meet the requirements when the angle between the two segments does not rotate; it is also necessary to set up a locking and homing signal feedback device that can always know its rotation angle and lock it after reaching the position; however, both of these require a locking and homing signal feedback device with a simple structure, which can effectively obtain the rotation angle and lock it without occupying space.

[0024] Therefore, in view of the above requirements, the embodiment of the present invention provides a locking and homing signal feedback device for the inner arm of a fluid loading and unloading arm to solve the problems that the current fluid loading and unloading arm in the related art is difficult to accurately and effectively obtain the rotation angle and lock it, and its structure is complex, and the locking and angle acquisition devices are independently arranged, occupying space.

[0025] Please refer to Figures 2 - 6 , this embodiment provides a locking and homing signal feedback device for the inner arm of a fluid loading and unloading arm. The fluid loading and unloading arm includes an outer arm 7 and an inner arm 8 coaxially and fixedly connected inside the outer arm 7; among the adjacent two outer arms 7, one end of one outer arm 7 is provided with a coaxial insertion groove 9, and the two outer arms 7 are locked through the insertion groove 9 and the locking and homing signal feedback device for the inner arm of the fluid loading and unloading arm; the locking and homing signal feedback device for the inner arm of the fluid loading and unloading arm includes: Three mounting plates 1, which are distributed in a circular array and are mounted at the end of the other outer arm 7; the corresponding central angle between two adjacent mounting plates 1 is one hundred and twenty degrees; at the top surface of one end of each mounting plate 1, a telescopic member 2 is provided, and a reflectivity detection sensor 3 is provided at the bottom surface; the telescopic direction of the telescopic member 2 is perpendicular to the top surface of the mounting plate 1; Three reflection blocks 5, which are mounted in the insertion groove 9; the three reflection blocks 5 are distributed in a circular array and are respectively arranged corresponding to the reflectivity detection sensors 3; the reflectivities of the three reflection blocks 5 are all unequal; A controller 6, which is signal-connected to the telescopic member 2 and the reflectivity detection sensor 3; the controller 6 is mounted on the outer surface of the outer arm 7 with the mounting plate 1 to control the telescopic member 2 to abut against the inner wall of the insertion groove 9 and lock it after the reflectivity detection sensor 3 detects the corresponding reflection block 5. The telescopic member 2 is an electric push rod.

[0026] With the above settings, the central angle between any two of the three mounting plates 1 is 120 degrees, which ensures automatic centering when the insertion groove 9 of the outer arm 7 with the mounting plate 1 is connected to the insertion groove 9 of another outer arm 7, and can ensure coaxiality. In addition, a telescopic member 2 and a reflectivity detection sensor 3 are integrally provided on each mounting plate 1, and then three reflecting blocks 5 with different reflectivities are provided in the insertion groove 9. During the alignment process, as long as the reflectivity of the reflecting block 5 detected by one reflectivity detection sensor 3 is equal to the set reflectivity, it indicates that the alignment is successful. At this time, quickly control the telescopic member 2 to abut against the inner wall of the insertion groove 9 to achieve locking. After the outer arm 7 is locked, the inner arm 8 fixedly connected thereto is also locked and aligned. The above integrates the device for locking and detecting the alignment angle signal, with a simple structure. In addition, the fiber optic sensing of the reflectivity detection sensor 3 has the advantages of high sensitivity, high precision, anti-electromagnetic interference, corrosion resistance, small size, and light weight, ensuring the detection accuracy.

[0027] The reflectivity detection sensor 3 detects three reflecting blocks with different reflectivities; converts the reflected wavelength change signal into an electrical signal related to the locking and homing state of the inner arm, analyzes and judges it, and feeds back the signal. Using fiber optic sensing technology, it has the advantages of high sensitivity, high precision, anti-electromagnetic interference, corrosion resistance, small size, and light weight, and can realize distributed and real-time monitoring of the locking and homing state of the inner arm, providing a more comprehensive and accurate means of state monitoring for the safe operation of the fluid loading and unloading arm.

[0028] The reason for setting the above three reflecting blocks 5 with different reflectivities is to avoid the situation of locking before alignment. Each of the above reflectivity detection sensors 3 corresponds to a set reflectivity. In addition, since the central angle between any two of the three mounting plates 1 is 120 degrees, the reflecting blocks 5 are also set in this way. Therefore, as long as one meets the conditions, it is considered that the docking is in place. During the docking process, the rotation of two adjacent outer arms 7 can be manual rotation or can be rotated by using other tools. Here, only the signal feedback during its locking is introduced, and the subsequent situation of fixing and rotating of the two corresponding outer arms 7 will be described later.

[0029] It should be understood in the present invention that in the radial direction of the end face of the outer arm 7, the width of the insertion groove 9 is equal to the sum of the thickness of the reflectivity detection sensor 3 and the length of the telescopic member 2 before it extends; this can ensure automatic centering when the insertion groove 9 of the outer arm 7 of the mounting plate 1 is connected to the insertion groove 9 of another outer arm 7, and can ensure coaxiality, and during the rotation alignment process, the coaxiality will not deviate.

[0030] In some preferred embodiments, the abutment of the above telescopic member 2 may have the situation of insecure locking, so there are the following settings: Reference Figure 4 And Figure 5As shown in the figure, radially at the end of the outer arm 7, the insertion groove 9 has an inner circumferential wall surface and an outer circumferential wall surface; three limiting grooves corresponding to the telescopic member 2 are provided on the outer circumferential wall surface; a receiving groove for receiving the reflection block 5 is provided on the inner circumferential wall surface.

[0031] Through the provision of the receiving groove on the inner circumferential wall surface and the limiting groove on the outer circumferential wall surface, stable limiting can be achieved after the telescopic member 2 extends, ensuring the locking function; in addition, the receiving groove can provide an installation position for the reflection block 5, preventing interference between the reflection block 5 and the reflectivity detection sensor 3 during rotation.

[0032] In some preferred embodiments, the specific structure of the reflectivity detection sensor 3 is described in detail: Refer to Figure 7 , the reflectivity detection sensor 3 includes a cylindrical rod, a light source, and a reflectivity probe; the top of the cylindrical rod is fixedly connected to the mounting plate 1, and an installation channel is provided at the bottom; the light source and the reflectivity probe are provided in the installation channel; A wire passing channel is provided inside the mounting plate 1, and a connecting wire connecting the telescopic member 2, the light source, and the reflectivity probe is provided in the wire passing channel, and the connecting wire is connected to the controller 6.

[0033] The key components for detecting the reflectivity are introduced above. After the light source emits light and irradiates on the reflection block 5, the reflectivity probe obtains the light reflected by the reflection block 5, thereby obtaining the reflectivity.

[0034] Furthermore, to ensure the connection stability during the rotation alignment process and increase the contact area of the reflectivity detection sensor 3, the following settings are made: On the outside of the cylindrical rod and at the bottom of the cylindrical rod, there is an arc-shaped plate 4; the arc-shaped plate 4 is arranged in close contact with the inner circumferential wall surface of the insertion groove 9. The arc-shaped plate 4 increases the contact area, facilitating the strengthening of the connection and providing a stable fulcrum for the telescopic member 2.

[0035] In some preferred embodiments, to strengthen the airtightness after connection, the following settings are made: The end of the outer arm 7 with three mounting plates 1 is provided with an insertion ring 10, and the insertion ring 10 is used to be inserted into the insertion groove 9; the mounting plate 1 is arranged at the end of the insertion ring 10; Axially on the outer arm 7, the sum of the axial lengths of the mounting plate 1 and the insertion ring 10 is equal to the axial depth of the insertion groove 9; a plurality of sealing rings are provided on the outer circumference of the insertion ring 10. The insertion ring 10 not only provides an installation position for the sealing ring, but also plays a guiding role during connection, and strengthens the connection area, increasing the connection strength between the two outer arms 7.

[0036] Furthermore, to strengthen the airtightness, the following settings are made: There is a designed axial distance between one end of the inner arm 8 and the corresponding end of the outer arm 7, forming an installation cavity; the other end extends out from the corresponding end of the outer arm 7; When two adjacent outer arms 7 are connected, the extended end of the inner arm 8 of one of the outer arms 7 is inserted into the installation cavity of the other outer arm 7; A sealing ring for sealing connection with the inner wall of the installation cavity is provided on the outer side of the extended end of the inner arm 8. The above realizes a double-layer sealing structure, ensuring the airtightness after connection and ensuring its safe use.

[0037] In some preferred embodiments, for the fixed connection after the alignment between the two outer arms 7, there are the following settings: Reference Figure 2 As shown in, on the outer side of the connected ends of two adjacent outer arms 7, mounting flange plates 11 are provided; the mounting flange plates 11 are connected by bolts.

[0038] In some preferred embodiments, for the rotation after the alignment between the two outer arms 7 to meet various usage requirements, there are the following settings: Reference Figure 8 、 Figure 9 、 Figure 10 As shown in, in two adjacent outer arms 7, a gear ring 12 is provided on the outer side of one of the outer arms 7, and a stepping motor is provided on the outer side of the other outer arm 7. The stepping motor is connected with a driving gear 13 meshing with the gear ring 12.

[0039] When rotation is required, first control the telescopic member 2 to retract, and then control the stepping motor to drive the driving gear 13 to transmit, so that the outer arm 7 with the mounting plate 1 rotates; during the rotation, the change in reflectivity is recorded by the reflectivity detection sensor 3, that is, after the reflectivity detection sensor 3 detects the reflection block 5, if this reflection block 5 is not its corresponding reflection block 5, then control the telescopic member 2 to extend and lock. At this time, a rotation of 120 degrees is completed; of course, this is only the case with three reflection blocks.

[0040] Therefore, in order to further ensure the variability of the rotation angle, refined settings are made: The number of reflection blocks 5 is at least three, and they are distributed in a circular array; the reflectivity of each reflection block 5 is not equal. That is, a corresponding number of receiving grooves are provided on the inner circumferential wall surface of the insertion groove 9.

[0041] In some preferred embodiments, the controller 6 includes a reflectivity acquisition module, a telescopic member control module, a position judgment module, and a control module; The reflectivity acquisition module is used to acquire the detection information of the reflectivity detection sensor 3; the control module is used to determine whether two adjacent outer arms 7 are aligned by using the position judgment module and the detection information; the control module is further used to control the telescopic member 2 to extend and abut against and lock with the inner wall of the insertion groove 9 while the two adjacent outer arms 7 are aligned, through the telescopic member control module.

[0042] Of course, the controller 6 can be externally powered or set by setting a battery pack; the signal connection method can be wired connection and wireless connection.

[0043] Principle of the present invention: The central angle between any two of the three mounting plates 1 is 120 degrees, so as to ensure that the outer arm 7 with the mounting plate 1 and the insertion groove 9 of another outer arm 7 are automatically centered when connected, and the coaxiality can be ensured; in addition, each mounting plate 1 is integrally provided with a telescopic member 2 and a reflectivity detection sensor 3, and then cooperates with three reflection blocks 5 with unequal reflectivities in the insertion groove 9; during the alignment process, as long as the reflectivity of the reflection block 5 detected by one reflectivity detection sensor 3 is equal to the set reflectivity, it indicates that the alignment is successful. At this time, quickly control the telescopic member 2 to abut against the inner wall of the insertion groove 9 to achieve locking. When the outer arm 7 is locked, the inner arm 8 fixedly connected thereto is also locked and aligned. The above integrates the device for locking and detecting the alignment angle signal, with a simple structure. In addition, the fiber optic sensing of the reflectivity detection sensor 3 has the advantages of high sensitivity, high precision, anti-electromagnetic interference, corrosion resistance, small volume, and light weight, ensuring the detection accuracy.

[0044] The reflectivity detection sensor 3 detects three reflection blocks with unequal reflectivities; converts the reflected wavelength change signal into an electrical signal related to the locking and homing state of the inner arm, analyzes and judges, and feeds back the signal. Using fiber optic sensing technology, it has the advantages of high sensitivity, high precision, anti-electromagnetic interference, corrosion resistance, small volume, and light weight, and can realize distributed and real-time monitoring of the locking and homing state of the inner arm, providing a more comprehensive and accurate state monitoring means for the safe operation of the fluid loading and unloading arm.

[0045] The reason for setting the above three reflection blocks 5 with unequal reflectivities is to avoid the situation of locking before alignment. The above reflectivity detection sensors 3 all correspond to a set reflectivity. In addition, since the central angle between any two of the three mounting plates 1 is 120 degrees, the reflection blocks 5 are also set in this way. Therefore, as long as one meets the conditions, it is considered that the docking is in place.

[0046] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by terms such as "upper" and "lower" is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention. Unless otherwise clearly specified and defined, the terms "installed", "connected" and "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0047] It should be noted that in the present invention, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising one..." does not exclude the existence of another identical element in the process, method, article or device comprising the said element.

[0048] The above are only specific embodiments of the present invention, enabling those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the broadest scope consistent with the principles and novel features disclosed herein.

Claims

1. A signal feedback device for locking and resetting the inner arm of a fluid loading and unloading arm, characterized in that: The fluid loading and unloading arm includes an outer arm (7) and an inner arm (8) fixedly connected coaxially inside the outer arm (7); among two adjacent outer arms (7), one end of one outer arm (7) is provided with a coaxial insertion groove (9), and the two outer arms (7) are locked through the insertion groove (9) and the signal feedback device for locking and resetting the inner arm of the fluid loading and unloading arm; the signal feedback device for locking and resetting the inner arm of the fluid loading and unloading arm includes: Three mounting plates (1), which are distributed in a circular array and are mounted at the end of the other outer arm (7); the corresponding central angle between two adjacent mounting plates (1) is 120 degrees; at the top surface of one end of each mounting plate (1), there is a telescopic member (2), and at the bottom surface, there is a reflectivity detection sensor (3); the telescopic direction of the telescopic member (2) is perpendicular to the top surface of the mounting plate (1); Three reflecting blocks (5), which are mounted in the insertion groove (9); the three reflecting blocks (5) are distributed in a circular array and are respectively arranged corresponding to the reflectivity detection sensors (3); the reflectivities of the three reflecting blocks (5) are all not equal; A controller (6), which is signal-connected to the telescopic member (2) and the reflectivity detection sensor (3); the controller (6) is mounted on the outer surface of the outer arm (7) having the mounting plate (1) to control the telescopic member (2) to abut and lock against the inner wall of the insertion groove (9) after the reflectivity detection sensor (3) detects the corresponding reflecting block (5).

2. The signal feedback device for locking and resetting the inner arm of a fluid loading and unloading arm according to claim 1, characterized in that: In the radial direction of the end of the outer arm (7), the insertion groove (9) has an inner circumferential wall surface and an outer circumferential wall surface; three limiting grooves corresponding to the telescopic members (2) are provided on the outer circumferential wall surface; a receiving groove for receiving the reflecting block (5) is provided on the inner circumferential wall surface.

3. The signal feedback device for locking and resetting the inner arm of a fluid loading and unloading arm according to claim 2, characterized in that: The reflectivity detection sensor (3) includes a cylindrical rod, a light source, and a reflectivity probe; the top of the cylindrical rod is fixedly connected to the mounting plate (1), and an installation channel is provided at the bottom; the light source and the reflectivity probe are provided in the installation channel; A wire passing channel is provided inside the mounting plate (1), and a connecting wire connected to the telescopic member (2), the light source, and the reflectivity probe is provided in the wire passing channel, and the connecting wire is connected to the controller (6).

4. The signal feedback device for locking and resetting the inner arm of a fluid loading and unloading arm according to claim 3, characterized in that: An arc-shaped plate (4) is provided outside the cylindrical rod and at the bottom of the cylindrical rod; the arc-shaped plate (4) is attached to the inner circumferential wall surface of the insertion groove (9).

5. The signal feedback device for locking and resetting the inner arm of a fluid loading and unloading arm according to claim 1, characterized in that: An insertion ring (10) is provided at the end of the outer arm (7) having three mounting plates (1), and the insertion ring (10) is used for inserting into the insertion groove (9); the mounting plates (1) are provided at the end of the insertion ring (IO). Axially of the outer arm (7), the sum of the axial lengths of the mounting plate (1) and the insertion ring (10) is equal to the axial depth of the insertion groove (9); a plurality of sealing rings are provided on the outer periphery of the insertion ring (10).

6. The inner arm locking and homing signal feedback device of a fluid loading and unloading arm according to claim 5, characterized in that: There is a designed axial distance between one end of the inner arm (8) and the corresponding end of the outer arm (7) to form a mounting cavity; the other end extends out from the corresponding end of the outer arm (7); When two adjacent outer arms (7) are connected, the extended end of the inner arm (8) of one of the outer arms (7) is inserted into the mounting cavity of the other outer arm (7); A sealing ring for sealing connection with the inner wall of the mounting cavity is provided on the outer side of the extended end of the inner arm (8).

7. The inner arm locking and homing signal feedback device of a fluid loading and unloading arm according to claim 1, characterized in that: On the outer sides of the connected ends of two adjacent outer arms (7), mounting flange plates (11) are provided.

8. The inner arm locking and homing signal feedback device of a fluid loading and unloading arm according to claim 1, characterized in that: Among two adjacent outer arms (7), a toothed ring (12) is provided on the outer side of one of the outer arms (7), and a stepping motor is provided on the outer side of the other outer arm (7), and the stepping motor is connected with a driving gear (13) meshing with the toothed ring (12).

9. The inner arm locking and homing signal feedback device of a fluid loading and unloading arm according to claim 8, characterized in that: The number of the reflection blocks (5) is at least three, and they are distributed in a circular array; the reflectivity of each reflection block (5) is not equal.

10. The inner arm locking and homing signal feedback device of a fluid loading and unloading arm according to claim 1, characterized in that: The controller (6) includes a reflectivity acquisition module, a telescopic member control module, a position judgment module, and a control module; The reflectivity acquisition module is used to acquire the detection information of the reflectivity detection sensor (3); the control module is used to judge whether two adjacent outer arms (7) are aligned by using the position judgment module and the detection information; the control module is further used to, when two adjacent outer arms (7) are aligned, control the telescopic member (2) to extend and abut against and lock with the inner wall of the insertion groove (9) through the telescopic member control module.

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