A fluid loading and unloading arm inner arm locking and homing signal feedback device

Abstract

The present invention relates to a locking and returning signal feedback device for the inner arm of a fluid loading and unloading arm, wherein the central angle between any two of the three mounting plates is one hundred and twenty degrees, thereby ensuring automatic centering when the outer arm with the mounting plate is connected to the insertion slot of another outer arm, thereby ensuring coaxiality; in addition, a telescopic part and a reflectivity detection sensor are integrated on each mounting plate, and then cooperate with three reflective blocks with unequal reflectivities in the insertion slot; during the alignment process, as long as the reflectivity of the reflective block detected by the reflectivity detection sensor is equal to the set reflectivity, it indicates that the alignment is successful, and at this time the telescopic part is quickly controlled to press against the inner wall of the insertion slot to achieve locking. When the outer arm is locked, the inner arm fixedly connected thereto is also locked and aligned. The above device for locking and detecting alignment angle signals is integrated, with a simple structure, and utilizes the advantages of high sensitivity and high precision of the optical fiber sensing of the reflectivity detection sensor to ensure detection accuracy.

Description

Technical Field

[0001] The present invention relates to the technical field of fluid loading and unloading equipment, and in particular to a locking and homing signal feedback device for an 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 train tank cars and truck tank cars. As the main means of onshore transportation, storage, loading and unloading, fluid loading and unloading arms have been widely promoted due to their unique safety and controllability. Fluid loading and unloading arms can be used to transport liquids and gases and are often used in liquid chemical terminals, chemical storage areas, receiving stations and other places.

[0003] The fluid loading and unloading arm can be divided into multiple sections, some of which are fixedly connected between two adjacent sections. The angle between the two sections will not rotate, and their coaxiality needs to be ensured when connected through flanges.

[0004] Some adjacent sections can be rotated to meet the needs of use; therefore, during rotation, not only the coaxiality 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 set up separately and take up space.

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

[0006] An embodiment of the present invention provides a locking and returning signal feedback device for the inner arm of a fluid loading and unloading arm to solve the problem in the related art that the current fluid loading and unloading arm is difficult to accurately and effectively obtain the rotation angle and lock, and its structure is complex, and the locking and angle acquisition devices are independently set up and occupy space.

[0007] The present invention provides a fluid loading and unloading arm inner arm locking and homing signal feedback device, the fluid loading and unloading arm comprising an outer arm and an inner arm coaxially fixedly connected to the outer arm; one of two adjacent outer arms has a coaxial insertion groove at the end thereof, and the two outer arms are locked by the insertion groove and the fluid loading and unloading arm inner arm locking and homing signal feedback device; the fluid loading and unloading arm inner arm locking and homing signal feedback device comprises:

[0008] Three mounting plates are arranged in a circular array and mounted at the end of the other outer arm; the central angle between two adjacent mounting plates is 120 degrees; a telescopic member is provided on the top surface of one end of each mounting plate, and a reflectivity detection sensor is provided on the bottom surface; the telescopic member is arranged to extend and retract perpendicular to the top surface of the mounting plate;

[0009] Three reflective blocks are installed in the insertion slot; the three reflective blocks are distributed in a circular array and are respectively arranged corresponding to the reflectivity detection sensors; the reflectivities of the three reflective blocks are not equal;

[0010] A controller is connected to the telescopic member and the reflectivity detection sensor signal; 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 slot after the reflectivity detection sensor detects the corresponding reflective block.

[0011] In some embodiments, in the radial direction of the end of the outer arm, the insertion groove has an inner ring wall and an outer ring wall; three limiting grooves corresponding to the telescopic part are provided on the outer ring wall; and a receiving groove for accommodating the reflector block is provided on the inner ring wall.

[0012] 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 the bottom is provided with a mounting channel; the light source and the reflectivity probe are provided in the mounting channel;

[0013] A wire passage is provided inside the mounting plate. A connecting wire connected to the telescopic member, the light source and the reflectivity probe is provided in the wire passage. The connecting wire is connected to the controller.

[0014] In some embodiments, an arc-shaped plate is provided on the outside of the cylindrical rod and at the bottom of the cylindrical rod; the arc-shaped plate is fitted with the inner ring wall of the insertion groove.

[0015] In some embodiments, the ends of the outer arms having three mounting plates are provided with insertion rings for inserting into the insertion grooves; the mounting plates are arranged on the ends of the insertion rings;

[0016] 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; and a plurality of sealing rings are provided on the outer periphery of the insertion ring.

[0017] In some embodiments, one end of the inner arm has a designed axial distance from the corresponding end of the outer arm to form a mounting cavity; the other end extends out from the corresponding end of the outer arm;

[0018] When two adjacent outer arms are connected, the extended end of the inner arm of one of the outer arms is inserted into the mounting cavity of the other outer arm;

[0019] A sealing ring is provided on the outer side of the extending end of the inner arm and is sealed to the inner wall of the installation cavity.

[0020] In some embodiments, in two adjacent outer arms, a mounting flange is provided on the outer side of one end where the two outer arms are connected.

[0021] In some embodiments, among two adjacent outer arms, a gear ring is provided on the outer side of one of the outer arms, and a stepping motor is provided on the outer side of the other outer arm, and the stepping motor is connected to a driving gear meshing with the gear ring.

[0022] In some embodiments, the number of the reflective blocks is at least three and they are distributed in a circular array; the reflectivity of each reflective block is not equal.

[0023] In some embodiments, the controller includes a reflectivity acquisition module, a telescopic member control module, a position determination module, and a control module;

[0024] The reflectivity acquisition module is used to obtain detection information from the reflectivity detection sensor; the control module is used to use the position judgment module and the detection information to determine whether two adjacent outer arms are aligned; the control module is also used to control the extension of the telescopic part and to lock it against the inner wall of the insertion slot through the telescopic part control module while the two adjacent outer arms are aligned.

[0025] The beneficial effects brought about by the technical solution provided by the present invention include:

[0026] The present invention provides a locking and returning signal feedback device for the inner arm of a fluid loading and unloading arm. Since the central angle between any two of the three mounting plates is one hundred and twenty degrees, the outer arm with the mounting plate is automatically centered when connected to the insertion slot of another outer arm, thereby ensuring coaxiality. In addition, a telescopic part and a reflectivity detection sensor are integrated on each mounting plate, and then cooperate with three reflective blocks with unequal reflectivities in the insertion slot. During the alignment process, as long as the reflectivity of the reflective block detected by the reflectivity detection sensor is equal to the set reflectivity, it indicates that the alignment is successful. At this time, the telescopic part is quickly controlled to press against the inner wall of the insertion slot to achieve locking. When the outer arm is locked, the inner arm fixedly connected thereto is also locked and aligned. The above device for locking and detecting alignment angle signals is integrated, with a simple structure. In addition, the optical fiber sensing of the reflectivity detection sensor has the advantages of high sensitivity and high precision, thereby ensuring detection accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0028] Figure 1 It is a structural schematic diagram of a fluid loading and unloading arm provided in the related art;

[0029] Figure 2A schematic structural diagram of a fluid loading and unloading arm inner arm locking and homing signal feedback device provided by an embodiment of the present invention installed in two outer arms;

[0030] Figure 3 The embodiment of the present invention provides Figure 2 Front view of

[0031] Figure 4 The embodiment of the present invention provides Figure 3 Schematic diagram of the cross section at AA in the middle;

[0032] Figure 5 The embodiment of the present invention provides Figure 2 Left view of;

[0033] Figure 6 The embodiment of the present invention provides Figure 5 Schematic diagram of the cross section at BB in FIG;

[0034] Figure 7 A schematic structural diagram of a locking and homing signal feedback device for an inner arm of a fluid loading and unloading arm provided by an embodiment of the present invention;

[0035] Figure 8 A schematic structural diagram of a fluid loading and unloading arm with two rotationally adjustable outer arms provided by an embodiment of the present invention, wherein the inner arm locking and homing signal feedback device is installed in the two outer arms;

[0036] Figure 9 The embodiment of the present invention provides Figure 8 Front view of

[0037] Figure 10 The embodiment of the present invention provides Figure 8 Left view of .

[0038] 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. Ring gear; 13. Drive gear. DETAILED DESCRIPTION

[0039] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0040] It should be understood that the present invention:

[0041] refer to Figure 1 , is a fluid loading and unloading arm in the related art, in which some adjacent sections are fixedly connected, and the angle between the two sections will not rotate, and their coaxiality needs to be ensured when connected by flanges; other adjacent sections can be rotated to meet the needs of use; therefore, during rotation, not only the coaxiality of the two sections 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, and its structure is complex, and the locking and angle acquisition devices are set separately and take up space.

[0042] Therefore, it is necessary to design a locking and returning signal feedback device that can meet the requirements when the angle between the two sections does not rotate; it is also necessary to set up a locking and returning signal feedback device that can always know its rotation angle and lock it after it is in place; but both of them require a locking and returning signal feedback device with a simple structure, which can effectively obtain the rotation angle and lock it, and does not take up space.

[0043] Therefore, in response to the above needs, an embodiment of the present invention provides a locking and returning signal feedback device for the inner arm of a fluid loading and unloading arm to solve the problem in the related art 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 set and occupy space.

[0044] See also Figure 2-Figure 6 This embodiment provides a fluid loading and unloading arm inner arm locking and homing signal feedback device, wherein the fluid loading and unloading arm includes an outer arm 7 and an inner arm 8 coaxially fixedly connected to the inner arm 7; one of two adjacent outer arms 7 has a coaxial insertion groove 9 at its end, and the two outer arms 7 are locked by the insertion groove 9 and the fluid loading and unloading arm inner arm locking and homing signal feedback device; the fluid loading and unloading arm inner arm locking and homing signal feedback device includes:

[0045] Three mounting plates 1 are arranged in a circular array and mounted at the end of another outer arm 7; the central angle between two adjacent mounting plates 1 is 120 degrees; a telescopic member 2 is provided on the top surface of one end of each mounting plate 1, and a reflectivity detection sensor 3 is provided on the bottom surface; the telescopic member 2 is arranged to extend and retract perpendicular to the top surface of the mounting plate 1;

[0046] Three reflective blocks 5 are installed in the insertion slot 9; the three reflective blocks 5 are distributed in a circular array and are respectively arranged corresponding to the reflectivity detection sensors 3; the reflectivities of the three reflective blocks 5 are not equal;

[0047] Controller 6 is connected to the telescopic member 2 and the reflectivity detection sensor 3. Controller 6 is mounted on the outer surface of an outer arm 7 having a mounting plate 1. Controller 6 is configured to control the telescopic member 2 to abut and lock against the inner wall of the insertion slot 9 after the reflectivity detection sensor 3 detects the corresponding reflective block 5. Telescopic member 2 is an electric push rod.

[0048] Through the above settings, the central angle between any two of the three mounting plates 1 is one hundred and twenty degrees, thereby ensuring automatic centering when the outer arm 7 with the mounting plate 1 and the insertion slot 9 of another outer arm 7 are connected, and coaxiality can be guaranteed; in addition, a telescopic part 2 and a reflectivity detection sensor 3 are integrated on each mounting plate 1, and then cooperate with three reflection blocks 5 with unequal reflectivities in the insertion slot 9; in the process of alignment, as long as the reflectivity of the reflection block 5 detected by the reflectivity detection sensor 3 is equal to the set reflectivity, it indicates that the alignment is successful. At this time, the telescopic part 2 is quickly controlled to press against the inner wall of the insertion slot 9 to achieve locking. When the outer arm 7 is locked, the inner arm 8 fixedly connected thereto is also locked in alignment. The above device for locking and detecting alignment angle signals is integrated, and the structure is simple. In addition, the optical fiber sensing of the reflectivity detection sensor 3 has the advantages of high sensitivity and high precision to ensure detection accuracy.

[0049] The reflectivity detection sensor 3 detects three reflective blocks with unequal reflectivities; converts the reflection wavelength change signal into an electrical signal related to the locking and homing state of the inner arm, performs analysis and judgment, and feeds back the signal. It utilizes fiber optic sensing technology, which has the advantages of high sensitivity, high precision, anti-electromagnetic interference, corrosion resistance, small size, and light weight. It can realize distributed and real-time monitoring of the locking and homing state of the inner arm, providing a more comprehensive and accurate status monitoring method for the safe operation of the fluid loading and unloading arm.

[0050] The reason for setting up the above three reflective blocks 5 with unequal reflectivities is to avoid the situation where locking occurs 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 reflective blocks 5 are also set in this way. Therefore, as long as one of the conditions is met, it is considered to be docked. During the docking process, the rotation of the two adjacent outer arms 7 can be done manually or by other tools. Here we only introduce the feedback of the signal when it is locked. The subsequent corresponding situations of the two outer arms 7 being fixed and rotating will be explained later.

[0051] It should be understood that in the present invention, in the radial direction of the end face of the outer arm 7, the width of the insertion slot 9 is equal to the sum of the thickness of the reflectivity detection sensor 3 plus the length of the telescopic part 2 before it is extended; this can ensure that the outer arm 7 of the mounting plate 1 and the insertion slot 9 of another outer arm 7 are automatically centered when connected, and the coaxiality can be guaranteed, and there will be no deviation in the coaxiality during the rotation and alignment process.

[0052] In some preferred embodiments, the above telescopic member 2 may not be firmly locked, so the following settings are also provided:

[0053] refer to Figure 4 and Figure 5 As shown, in the radial direction of the end of the outer arm 7, the insertion groove 9 has an inner ring wall and an outer ring wall; three limiting grooves corresponding to the telescopic part 2 are provided on the outer ring wall; and a receiving groove for accommodating the reflector block 5 is provided on the inner ring wall.

[0054] By setting the accommodating groove on the inner ring wall and the limiting groove on the outer ring wall, the telescopic part 2 can achieve stable limiting after extension to ensure the locking function; in addition, the accommodating groove can provide an installation position for the reflective block 5 to avoid interference between the reflective block 5 and the reflectivity detection sensor 3 during rotation.

[0055] In some preferred embodiments, the specific structure of the reflectivity detection sensor 3 is described in detail:

[0056] 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 a mounting channel is provided at the bottom; the light source and the reflectivity probe are provided in the mounting channel;

[0057] A wire passage is provided inside the mounting plate 1 , and connecting wires connected to the telescopic member 2 , the light source and the reflectivity probe are provided in the wire passage, and the connecting wires are connected to the controller 6 .

[0058] The above describes the key components for detecting reflectivity. After the light source emits light and irradiates the reflective block 5, the reflectivity probe obtains the light reflected by the reflective block 5, thereby obtaining the reflectivity.

[0059] Furthermore, in order 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:

[0060] The outer side of the cylindrical rod and the bottom of the cylindrical rod are provided with an arc plate 4, which is arranged to fit the inner wall of the insertion groove 9. The arc plate 4 increases the contact area, facilitates strengthening the connection, and provides a stable fulcrum for the telescopic member 2.

[0061] In some preferred embodiments, in order to strengthen the airtightness after connection, the following settings are provided:

[0062] The end of the outer arm 7 having three mounting plates 1 is provided with an insertion ring 10, which is used to be inserted into the insertion groove 9; the mounting plate 1 is arranged on the end of the insertion ring 10;

[0063] In the axial direction of the outer arm 7, the sum of the axial lengths of the mounting plate 1 and the insert ring 10 is equal to the axial depth of the insertion groove 9. Multiple sealing rings are provided on the outer circumference of the insert ring 10. The insert ring 10 not only provides a mounting location for the sealing rings but also serves as a guide during connection, increasing the connection area and strengthening the connection between the two outer arms 7.

[0064] To further enhance airtightness, there are the following settings:

[0065] One end of the inner arm 8 has a designed axial distance from 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;

[0066] When two adjacent outer arms 7 are connected, the extended end of the inner arm 8 of one outer arm 7 is inserted into the mounting cavity of the other outer arm 7;

[0067] The outer side of the extended end of the inner arm 8 is provided with a sealing ring which is sealed to the inner wall of the installation cavity. The above double-layer sealing structure ensures airtightness after connection and ensures its safe use.

[0068] In some preferred embodiments, the two outer arms 7 are fixedly connected after alignment, with the following configuration:

[0069] refer to Figure 2 In two adjacent outer arms 7, a mounting flange 11 is provided on the outer side of one end where the two outer arms 7 are connected; the mounting flanges 11 are connected by bolts.

[0070] In some preferred embodiments, the two outer arms 7 are rotated after being aligned to meet various usage requirements, and the following settings are provided:

[0071] refer to Figure 8 、 Figure 9 、 Figure 10 As shown, among the two adjacent outer arms 7 , a gear ring 12 is provided on the outer side of one outer arm 7 , and a stepping motor is provided on the outer side of the other outer arm 7 . The stepping motor is connected to a driving gear 13 meshing with the gear ring 12 .

[0072] When rotation is required, the telescopic part 2 is first controlled to retract, and then the stepping motor is controlled to drive the driving gear 13 to rotate, so that the outer arm 7 with the mounting plate 1 is rotated; during the rotation process, the reflectivity detection sensor 3 records the change in reflectivity, that is, after the reflectivity detection sensor 3 detects the reflective block 5, if this reflective block 5 is not its corresponding reflective block 5, the telescopic part 2 is controlled to extend and lock, and the rotation of one hundred and twenty degrees is completed at this time; of course, this is only the case when there are only three reflective blocks.

[0073] Therefore, in order to further ensure the variability of the rotation angle, detailed settings are made:

[0074] There are at least three reflective blocks 5, which are arranged in a circular array; the reflectivity of each reflective block 5 is not equal. That is, a corresponding number of accommodating grooves are provided on the inner wall of the insertion groove 9.

[0075] In some preferred embodiments, the controller 6 includes a reflectivity acquisition module, a telescopic member control module, a position determination module, and a control module;

[0076] The reflectivity acquisition module is used to obtain the detection information of the reflectivity detection sensor 3; the control module is used to use the position judgment module and the detection information to determine whether the two adjacent outer arms 7 are aligned; the control module is also used to control the extension of the telescopic part 2 to abut and lock it against the inner wall of the insertion slot 9 through the telescopic part control module while the two adjacent outer arms 7 are aligned.

[0077] Of course, the controller 6 can be connected to an external power supply or can be configured by setting a battery pack; the signal connection method can be wired connection or wireless connection.

[0078] Principle of the invention:

[0079] The central angle between any two of the three mounting plates 1 is one hundred and twenty degrees, thereby ensuring automatic centering when the outer arm 7 with the mounting plate 1 and the insertion slot 9 of another outer arm 7 are connected, and coaxiality can be guaranteed; in addition, a telescopic part 2 and a reflectivity detection sensor 3 are integrated on each mounting plate 1, and then cooperate with three reflection blocks 5 with unequal reflectivities in the insertion slot 9; in the process of alignment, as long as the reflectivity of the reflection block 5 detected by the reflectivity detection sensor 3 is equal to the set reflectivity, it indicates that the alignment is successful. At this time, the telescopic part 2 is quickly controlled to press against the inner wall of the insertion slot 9 to achieve locking. When the outer arm 7 is locked, the inner arm 8 fixedly connected thereto is also locked in alignment. The above device for locking and detecting alignment angle signals is integrated, and the structure is simple. In addition, the optical fiber sensing of the reflectivity detection sensor 3 has the advantages of high sensitivity and high precision to ensure detection accuracy.

[0080] The reflectivity detection sensor 3 detects three reflective blocks with unequal reflectivities; converts the reflection wavelength change signal into an electrical signal related to the locking and homing state of the inner arm, performs analysis and judgment, and feeds back the signal. It utilizes fiber optic sensing technology, which has the advantages of high sensitivity, high precision, anti-electromagnetic interference, corrosion resistance, small size, and light weight. It can realize distributed and real-time monitoring of the locking and homing state of the inner arm, providing a more comprehensive and accurate status monitoring method for the safe operation of the fluid loading and unloading arm.

[0081] The reason for setting the above three reflective blocks 5 with unequal reflectivities is to avoid the situation where locking occurs 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 one hundred and twenty degrees, the reflective block 5 is also set in this way. Therefore, as long as one meets the conditions, it is considered to be docked in place.

[0082] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper" and "lower" is based on the orientation or positional relationship shown in the accompanying drawings, and 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, and therefore cannot be understood as a limitation on the present invention. Unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be internal communication between 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 the specific circumstances.

[0083] It should be noted that, in the present invention, relational terms such as "first" and "second" are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element.

[0084] The foregoing description is intended only to provide specific embodiments of the present invention, which will enable those skilled in the art to understand and implement the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not intended to be limited to the embodiments shown herein, but is to be construed in the widest possible manner consistent with the principles and novel features disclosed herein.

Claims

1. A fluid loading and unloading arm inner arm locking and homing signal feedback device, characterized by: The fluid loading and unloading arm comprises an outer arm (7) and an inner arm (8) coaxially fixedly connected to the outer arm (7); a coaxial insertion groove (9) is provided at the end of one of the two adjacent outer arms (7), and the two outer arms (7) are locked via the insertion groove (9) and the fluid loading and unloading arm inner arm locking and homing signal feedback device; the fluid loading and unloading arm inner arm locking and homing signal feedback device comprises: Three mounting plates (1) are arranged in a circular array and are mounted at the end of another outer arm (7); the corresponding central angle between two adjacent mounting plates (1) is one hundred and twenty degrees; a telescopic member (2) is provided on the top surface of one end of each mounting plate (1), and a reflectivity detection sensor (3) is provided on the bottom surface; the telescopic direction of the telescopic member (2) is perpendicular to the top surface of the mounting plate (1); Three reflective blocks (5) are installed in the insertion slot (9); the three reflective blocks (5) are distributed in a circular array and are respectively arranged corresponding to the reflectivity detection sensors (3); the reflectivities of the three reflective blocks (5) are not equal; A controller (6) is connected to the telescopic member (2) and the reflectivity detection sensor (3) by signal; the controller (6) is mounted on the outer surface of an outer arm (7) having the mounting plate (1) and is used to control the telescopic member (2) to abut and lock against the inner wall of the insertion slot (9) after the reflectivity detection sensor (3) detects the corresponding reflective block (5).

2. The fluid loading and unloading arm inner arm locking and homing signal feedback device 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 ring wall surface and an outer ring wall surface; three limiting grooves corresponding to the telescopic member (2) are provided on the outer ring wall surface; and a receiving groove for receiving the reflective block (5) is provided on the inner ring wall surface.

3. The fluid loading and unloading arm inner arm locking and returning signal feedback device according to claim 2, characterized in that: The reflectivity detection sensor (3) comprises 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 the bottom is provided with a mounting channel; the light source and the reflectivity probe are provided in the mounting channel; A wire passage is provided inside the mounting plate (1), and connecting wires connected to the telescopic member (2), the light source, and the reflectivity probe are provided in the wire passage, and the connecting wires are connected to the controller (6).

4. The fluid loading and unloading arm inner arm locking and returning signal feedback device according to claim 3, characterized in that: An arc-shaped plate (4) is provided on the outside of the columnar rod and at the bottom of the columnar rod; the arc-shaped plate (4) is arranged to fit the inner ring wall surface of the insertion groove (9).

5. The fluid loading and unloading arm inner arm locking and returning signal feedback device according to claim 1, characterized in that: An outer arm (7) having three mounting plates (1) is provided with an insertion ring (10) at the end thereof, and the insertion ring (10) is used to be inserted into the insertion groove (9); the mounting plate (1) is arranged on the end of the insertion ring (10); In the axial direction 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); and a plurality of sealing rings are provided on the outer periphery of the insertion ring (10).

6. The fluid loading and unloading arm inner arm locking and returning signal feedback device according to claim 5, characterized in that: One end of the inner arm (8) has a designed axial distance from the corresponding end of the outer arm (7) to form a mounting cavity; the other end extends 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 is provided on the outer side of the extended end of the inner arm (8) and is sealed to the inner wall of the installation cavity.

7. The fluid loading and unloading arm inner arm locking and returning signal feedback device according to claim 1, characterized in that: In two adjacent outer arms (7), a mounting flange (11) is provided on the outer side of one end where the two outer arms (7) are connected.

8. The fluid loading and unloading arm inner arm locking and returning signal feedback device according to claim 1, characterized in that: 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), and the stepping motor is connected to a driving gear (13) meshing with the gear ring (12).

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

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