Pipeline connection loading and unloading arm system with visual alignment function

Abstract

The invention relates to the technical field of loading and unloading arms, and discloses a pipeline connection loading and unloading arm system with a visual alignment function, which comprises a portal frame and a camera, a loading and unloading arm assembly is mounted on an upper side cross beam of the portal frame, and an alignment assist device is suspended below the upper side cross beam of the portal frame and comprises a lifting frame; two limiting clamping plates are rotationally installed in the lifting frame, and a first telescopic driving mechanism for driving the limiting clamping plates to act is arranged in the lifting frame. According to the loading and unloading arm system, a visual assistance mode is adopted, a tank opening flange of a tank car is moved to an alignment area (namely the area between the two limiting clamping plates), the output end of the loading and unloading arm assembly is automatically aligned with the tank opening flange through the alignment assistor, the output end of the loading and unloading arm assembly extends into the tank opening flange, and the automatic alignment effect is achieved; the problems that manual butt joint operation is difficult and labor intensity is large are solved, and working efficiency is greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of loading and unloading arms, and in particular to a pipeline connection loading and unloading arm system with a visual alignment function. Background Art

[0002] The loading and unloading arm is a device used to transfer liquid or gas between the loading platform and the tank trucks on the road or railway. In the prior art, the patent document with the announcement number CN103486370B discloses a rotary joint, a loading and unloading arm including the rotary joint, and a loading and unloading device including the loading and unloading arm. A plurality of centripetal bearings and / or thrust bearings are installed between the rotating core and the shell of the rotary joint. A rotary joint is provided at the lower end of the inner rotary arm of the loading and unloading arm. One end of the outer rotary pipeline is connected to the inner rotary arm through a rotating unit. The bearing of the loading and unloading device is connected to the tee joint through a shaft, and the quick joint is connected to the movable pipeline. The loading and unloading device provided by the invention can be rotated arbitrarily in the vertical and horizontal directions through the rotary joint and the rotating unit composed of the rotary joint, so that the quick joint can be flexibly adjusted to the required loading and unloading position. It has high pressure resistance, is safe and reliable, and has a long service life.

[0003] During use, the docking position of the tank truck is not fixed, and the docking of the quick connector of the loading and unloading arm with the tank mouth of the tank truck needs to be done manually. Especially for the top-loaded tank truck, the tank mouth is high and the line of sight is blocked, which makes the operation very inconvenient and labor-intensive, resulting in low work efficiency. Based on this, the existing loading and unloading arm has the defect of being inconvenient for automatic alignment, which needs further improvement. Summary of the Invention

[0004] The purpose of the present invention is to solve the defect in the prior art that the loading and unloading arms are inconvenient to automatically align, and to propose a pipeline connection loading and unloading arm system with a visual alignment function.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A pipe connection loading and unloading arm system with a visual alignment function includes a gantry and a camera. A loading and unloading arm assembly is installed on the upper crossbeam of the gantry, and an alignment assistant is suspended below the upper crossbeam of the gantry.

[0007] The alignment assist device includes a lifting frame, two limit clamps are rotatably installed in the lifting frame, a first telescopic drive mechanism that drives the limit clamps is provided in the lifting frame, the output end surface of the loading and unloading arm assembly is rotatably connected to the support plate, a second telescopic drive mechanism is fixedly installed on the upper side of the support plate, and the telescopic end of the second telescopic drive mechanism is fixedly connected to the lifting frame;

[0008] When the second telescopic drive mechanism extends, it drives the lifting frame to move downward, so that the two limit clamps are clamped and connected with the tank mouth flange of the tank truck. When the second telescopic drive mechanism shortens, it drives the output end of the loading and unloading arm assembly to move downward and dock with the tank mouth flange of the tank truck. The positioning assistant is used to automatically align the output end of the loading and unloading arm assembly with the tank mouth flange, and the output end of the loading and unloading arm assembly is extended into the tank mouth flange to achieve the effect of automatic positioning.

[0009] Preferably, the loading and unloading arm assembly includes an inlet elbow flange fixedly connected to the gantry, the lower end of the inlet elbow flange is rotatably connected to the inner arm pipe, the lower end of the inner arm pipe is rotatably installed with the intermediate elbow flange, the lower end of the intermediate elbow flange is rotatably installed with the outer arm pipe, the lower end of the outer arm pipe is rotatably installed with a vertical pipe, the support plate is rotatably connected to the vertical pipe, the bottom end of the vertical pipe is fixedly installed with a quick connector, the surface of the outer arm pipe is rotatably installed with a spring telescopic rod, the telescopic end of the spring telescopic rod is rotatably connected to the intermediate elbow flange, and the vertical pipe can move along the X, Y, and Z axis directions.

[0010] Preferably, a balancer is fixedly installed on the lower surface of the upper cross beam of the gantry, and the balancer includes two mounting seats, which are fixedly connected to the lower surface of the upper cross beam of the gantry, and a first guide rail is fixedly installed on the lower side of the two mounting seats, and a sliding seat is slidably installed on the surface of the first guide rails of the two mounting seats, and a second guide rail is fixedly installed between the two sliding seats, and a balancing platform is slidably installed on the surface of the second guide rail, and four connecting rods are rotatably installed on the lower surface of the balancing platform, and the bottom ends of the four connecting rods are rotatably connected to the lifting frame. The four connecting rods are equal in length and arranged parallel to each other, and the lifting frame can move along the X, Y and Z axis directions.

[0011] Preferably, the surface of the first guide rail is provided with two sections of first springs, which respectively press against the two ends of the sliding seat, and the surface of the second guide rail is provided with two sections of second springs, which respectively press against the two sides of the balancing platform. After the loading is completed, under the action of the first spring and the second spring, the balancing platform returns to its initial position, which is convenient for the next loading.

[0012] Preferably, there are two cameras, which are fixedly mounted on the front side of the balance platform. The shooting areas of the two cameras cover the area between the two limiting clamps. The cameras can shoot the position of the tank mouth flange, making it convenient for the tank truck driver to control the parking position.

[0013] Preferably, the ends of the two limit splints are fixedly installed with rotating shafts, and the two limit splints are rotatably connected to the lifting frame through the rotating shafts. Gears are fixedly installed on the surfaces of the two rotating shafts, and the two gears are engaged with each other for transmission. The first telescopic drive mechanism is an electromagnetic telescopic rod, and the end of the electromagnetic telescopic rod is rotatably connected to the lifting frame, and the telescopic end of the electromagnetic telescopic rod is rotatably connected to the limit splint.

[0014] The opposing surfaces of the two limiting splints are embedded with magnetic strips, and the opposing surfaces of the two limiting splints are provided with semicircular grooves. When the two limiting splints approach each other, the semicircular grooves can be clamped on the neck of the tank mouth flange of the tank truck. The neck of the tank mouth flange of the tank truck is embedded with a magnetic ring, and the magnetic ring and the magnetic strips repel each other magnetically. When the limiting splints are clamping, the tank mouth flange does not directly contact the magnetic strips, thereby reducing friction and collision.

[0015] The present invention has the following beneficial effects:

[0016] 1. The loading and unloading arm system proposed in this invention uses visual assistance to move the tank truck's tank mouth flange to the alignment area (i.e., the area between the two limit clamps). Utilizing an alignment assistant, the output end of the loading and unloading arm assembly is automatically aligned with the tank mouth flange and inserted into the tank mouth flange, achieving automatic alignment. This solves the problems of difficult and labor-intensive manual docking operations and greatly improves work efficiency.

[0017] 2. The alignment assist device proposed by the present invention forms a larger alignment area when the two limiting clamps are separated from each other, which facilitates the docking of the tank truck and enables the tank mouth flange of the tank truck to be moved into the alignment area between the two limiting clamps. It has a high fault tolerance rate, low requirements for the tank truck driver, and is easy to operate.

[0018] When the two limit clamps approach each other, the two limit clamps are clamped on the neck of the tank mouth flange. The lifting frame moves in the three-dimensional coordinate system (XYZ coordinate system), and the output end of the loading and unloading arm assembly moves together with the lifting frame, that is, the relative position of the output end of the loading and unloading arm assembly and the tank mouth flange is automatically corrected, thereby realizing the alignment of the output end of the loading and unloading arm assembly and the tank mouth flange. No other position sensor detection is required, and it has the advantages of fast speed, reliability and high accuracy.

[0019] 3. The positioning assist device proposed by the present invention moves the lifting frame along the Z-axis within the three-dimensional coordinate system, which is achieved by controlling a second telescopic drive mechanism. Specifically, when the second telescopic drive mechanism extends, it drives the lifting frame downward, causing the two limit clamps to engage with the tank mouth flange of the tank truck. When the second telescopic drive mechanism shortens, it drives the output end of the loading and unloading arm assembly downward and docks with the tank mouth flange of the tank truck.

[0020] The advantage of this design is that the operation of the second telescopic drive mechanism can not only control the up and down movement of the lifting frame, but also control the up and down movement of the output end of the loading and unloading arm assembly. Moreover, when loading is completed, it is only necessary to release the clamping of the two limit clamps. Under the action of the spring telescopic rod, the output end of the lifting frame and the loading and unloading arm assembly will automatically rise, thus realizing the function of fast and emergency separation. The second telescopic drive mechanism first extends and then shortens, completing the alignment, docking and separation actions in sequence, which can prevent the occurrence of misoperation caused by the coordinated action of multiple drive units, making it safer to use.

[0021] 4. The positioning assistant proposed in the present invention has a lifting frame suspended on the lower side of the balancing platform through a connecting rod. The balancing platform can move along the first guide rail and the second guide rail. Since the balancing platform is a follow-up action, that is, the moving power of the balancing platform is provided by the clamping reaction force of the two limit clamps, it can prevent any limit clamp from pressing against the tank mouth flange, causing the tank mouth flange to deform, so that the lifting frame can move flexibly and safely. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 Schematic diagram of the three-dimensional structure of the loading and unloading arm system proposed in the present invention (I);

[0023] Figure 2 Schematic diagram of the three-dimensional structure of the loading and unloading arm system proposed in the present invention (II);

[0024] Figure 3 Schematic diagram of the three-dimensional structure of the loading and unloading arm system proposed in the present invention (3);

[0025] Figure 4 This is a schematic diagram of the three-dimensional structure of the loading and unloading arm assembly and the alignment assistant proposed in the present invention;

[0026] Figure 5 This is a front view structural diagram of the loading and unloading arm assembly and the alignment assisting device proposed in the present invention;

[0027] Figure 6 This is a schematic diagram of the top view of the lifting frame proposed in the present invention;

[0028] Figure 7 This is a schematic diagram of the cross-sectional structure of the lifting frame proposed in the present invention;

[0029] Figure 8 This is a schematic diagram of the cross-section structure of the spring telescopic rod proposed in the present invention.

[0030] In the figure: 1 gantry, 2 camera, 3 lifting frame, 4 limiting splint, 5 first telescopic drive mechanism, 6 support plate, 7 second telescopic drive mechanism, 8 tank mouth flange, 9 inlet elbow flange, 10 inner arm pipe, 11 middle elbow flange, 12 outer arm pipe, 13 vertical pipe, 14 quick connector, 15 spring telescopic rod, 16 mounting seat, 17 first guide rail, 18 sliding seat, 19 second guide rail, 20 balancing platform, 21 connecting rod, 22 first spring, 23 second spring, 24 gear, 25 magnetic strip, 26 semicircular groove, 27 outer cylinder, 28 inner rod, 29 return spring. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0032] In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as limiting the present invention.

[0033] Reference Figure 1-8 A pipe connection loading and unloading arm system with a visual alignment function includes a gantry 1 and a camera 2. The upper crossbeam of the gantry 1 is equipped with a loading and unloading arm assembly. The loading and unloading arm assembly includes an inlet elbow flange 9 fixedly connected to the gantry 1. The lower end of the inlet elbow flange 9 is rotatably connected to an inner arm pipe 10. The lower end of the inner arm pipe 10 is rotatably installed with an intermediate elbow flange 11. The lower end of the intermediate elbow flange 11 is rotatably installed with an outer arm pipe 12. The lower end of the outer arm pipe 12 is rotatably installed with a vertical pipe 13. The support plate 6 is rotatably connected to the vertical pipe 13. The bottom end of the vertical pipe 13 is fixedly installed with a quick connector 14. Figure 3 or Figure 4 .

[0034] See Figure 3 The surface of the outer arm pipe 12 is rotatably mounted with a spring telescopic rod 15, and the telescopic end of the spring telescopic rod 15 is rotatably connected to the middle elbow flange 11, wherein, as Figure 8 As shown, the spring telescopic rod 15 includes an outer cylinder 27, an inner rod 28 and a return spring 29. The inner rod 28 is slidably installed in the outer cylinder 27. The return spring 29 presses against the inner rod 28, causing the inner rod 28 to slide and retract in the outer cylinder 27.

[0035] A positioning assistant is suspended under the upper crossbeam of the gantry 1, wherein the positioning assistant includes a lifting frame 3, in which two limit clamps 4 are rotatably installed, and a first telescopic drive mechanism 5 for driving the limit clamps 4 is provided in the lifting frame 3. The output end surface of the loading and unloading arm assembly is rotatably connected to a support plate 6, and a second telescopic drive mechanism 7 is fixedly installed on the upper side of the support plate 6. The telescopic end of the second telescopic drive mechanism 7 is fixedly connected to the lifting frame 3, and the second telescopic drive mechanism 7 can optionally use a cylinder or a hydraulic telescopic rod.

[0036] When the second telescopic drive mechanism 7 extends, the lifting frame 3 is driven to move downward, so that the two limit clamps 4 are connected with the tank mouth flange 8 of the tank truck. When the second telescopic drive mechanism 7 shortens, the output end of the loading and unloading arm assembly is driven to move downward and dock with the tank mouth flange 8 of the tank truck. Figure 1 .

[0037] In this embodiment, see Figure 3 and Figure 4 A balancer is fixedly installed on the lower surface of the upper cross beam of the gantry 1, and the balancer includes two mounting seats 16, which are fixedly connected to the lower surface of the upper cross beam of the gantry 1, and a first guide rail 17 is fixedly installed on the lower side of the two mounting seats 16. A sliding seat 18 is slidably installed on the surface of the first guide rails 17 of the two mounting seats 16, and a second guide rail 19 is fixedly installed between the two sliding seats 18. A balancing platform 20 is slidably installed on the surface of the second guide rail 19, and four connecting rods 21 are rotatably installed on the lower surface of the balancing platform 20. The bottom ends of the four connecting rods 21 are rotatably connected to the lifting frame 3, and the four connecting rods 21 are equal in length and arranged parallel to each other.

[0038] Two sections of first springs 22 are sleeved on the surface of the first guide rail 17, and the two sections of first springs 22 are respectively pressed against the two ends of the sliding seat 18. Two sections of second springs 23 are sleeved on the surface of the second guide rail 19, and the two sections of second springs 23 are respectively pressed against the two sides of the balancing platform 20. After the loading is completed, under the action of the first springs 22 and the second springs 23, the balancing platform 20 returns to its initial position, which is convenient for the next loading.

[0039] In this embodiment, there are two cameras 2, which are fixedly mounted on the front side of the balance platform 20. The shooting areas of the two cameras 2 cover the area between the two limiting clamps 4. The cameras 2 can shoot the position of the tank mouth flange 8, making it convenient for the tank truck driver to control the parking position.

[0040] In this embodiment, the ends of the two limiting splints 4 are fixedly mounted with a rotating shaft, and the two limiting splints 4 are rotatably connected to the lifting frame 3 through the rotating shaft. The surfaces of the two rotating shafts are fixedly mounted with gears 24, and the two gears 24 are meshed with each other for transmission. The first telescopic drive mechanism 5 is an electromagnetic telescopic rod, and the end of the electromagnetic telescopic rod is rotatably connected to the lifting frame 3, and the telescopic end of the electromagnetic telescopic rod is rotatably connected to the limiting splint 4, such as Figure 7 shown.

[0041] The opposing surfaces of the two limiting splints 4 are embedded with magnetic strips 25, and the opposing surfaces of the two limiting splints 4 are provided with semicircular grooves 26. When the two limiting splints 4 are close to each other, the semicircular grooves 26 can be clamped on the neck of the tank mouth flange 8 of the tank truck. The neck of the tank mouth flange 8 of the tank truck is embedded with a magnetic ring. The magnetic ring and the magnetic strips 25 magnetically repel each other. Figure 7 .

[0042] Working principle: Figure 1 As described above, the tank truck enters the lower side of the gantry 1, and the video image captured by the camera 2 is transmitted to the display in front of the tank truck (not shown in the drawings). The driver watches the display and controls the tank mouth flange 8 to move to the position directly below the two limit clamps 4, and then parks the vehicle.

[0043] The second telescopic drive mechanism 7 extends to drive the lifting frame 3 to move downward, so that the two limit clamps 4 are lower than the tank mouth flange 8 of the tank truck. Figure 3 As shown, the first telescopic driving mechanism 5 is then extended to drive the two limiting clamps 4 to rotate synchronously and clamp the neck of the tank flange 8;

[0044] At this time, if Figure 6 As shown, the docking position of the tank truck is not fixed, and the output end of the loading and unloading arm assembly is not aligned with the tank mouth flange 8. During the rotation of the limit clamp 4, the limit clamp 4 applies forces (F1 / F2) in two directions to the tank mouth flange 8, and the position of the tank mouth flange 8 does not move. However, the balance platform 20 moves in the +X and -Y directions through the transmission of the connecting rod 21, that is, the lifting frame 3 moves in the XY plane (the vertical tube 13 moves synchronously with the lifting frame 3), and the neck of the tank mouth flange 8 is clamped in the semicircular groove 26. At this time, in the vertical direction, the tank mouth flange 8 is aligned with the vertical tube 13;

[0045] It should be noted that when the first telescopic drive mechanism 5 extends, the lifting frame 3 moves downward along a circular trajectory with the connecting rod 21 as the radius (i.e., vertically approaching the tank mouth flange 8), and the lifting frame 3 moves in a direction away from the tank mouth flange 8 (i.e., horizontally away from the tank mouth flange 8). Figure 3 , which can avoid the collision between the lifting frame 3 and the tank mouth flange 8. After all, the video image captured by the camera 2 cannot accurately show the precise distance between the two and can only be used as a visual auxiliary reference.

[0046] like Figure 5 As shown, due to the state of the two limit clamps 4 clamping the neck of the tank mouth flange 8, the lifting frame 3 is constrained and cannot move up and down. When the second telescopic drive mechanism 7 contracts, the vertical tube 13 moves in the -Z direction (the spring telescopic rod 15 is stretched and extended, and the return spring 29 is compressed), and the quick connector 14 is inserted into the tank mouth flange 8 to achieve the docking of the quick connector 14 and the tank mouth flange 8 for loading. It should be noted that different styles of quick connectors 14 (high pressure, low pressure medium, liquid, gas medium) are selected according to the different media being transported. The quick connector 14 does not fall within the scope of protection required by the present invention and will not be described here.

[0047] After loading is completed, the two limit clamps 4 move away from each other, the elastic potential energy of the spring telescopic rod 15 is released, and the spring telescopic rod 15 automatically contracts, providing an upward force for the vertical tube 13, and the output end of the lifting frame 3 and the loading and unloading arm assembly will automatically rise, and the tank truck will drive away.

[0048] The alignment assisting device proposed by the present invention forms a larger alignment area when the two limiting clamps 4 are separated from each other, which facilitates the docking of the tank truck and enables the tank mouth flange 8 of the tank truck to be moved into the alignment area between the two limiting clamps 4. The device has a high fault tolerance rate, low requirements for the tank truck driver, and is easy to operate.

[0049] When the two limit clamps 4 approach each other and clamp together, the two limit clamps 4 are clamped on the neck of the tank mouth flange 8. The lifting frame 3 moves in the three-dimensional coordinate system (XYZ coordinate system), and the output end of the loading and unloading arm assembly moves with the lifting frame 3, that is, the relative position of the output end of the loading and unloading arm assembly and the tank mouth flange 8 is automatically corrected, and the output end of the loading and unloading arm assembly and the tank mouth flange 8 are aligned. No other position sensors are required for detection, and it has the advantages of fast speed, reliability and high accuracy.

[0050] The movement of the lifting frame 3 along the Z-axis in the three-dimensional coordinate system is achieved by a second telescopic drive mechanism 7. That is, when the second telescopic drive mechanism 7 extends, it drives the lifting frame 3 downward, so that the two limit clamps 4 are clamped and connected with the tank mouth flange 8 of the tank truck. When the second telescopic drive mechanism 7 shortens, it drives the output end of the loading and unloading arm assembly downward and docks with the tank mouth flange 8 of the tank truck.

[0051] The advantage of this design is that the action of the second telescopic drive mechanism 7 can not only control the up and down movement of the lifting frame 3, but also control the up and down movement of the output end of the loading and unloading arm assembly. Moreover, when loading is completed, it is only necessary to release the clamping of the two limit clamps 4. Under the action of the spring telescopic rod 15, the lifting frame 3 and the output end of the loading and unloading arm assembly will automatically rise, thus realizing the function of fast and emergency separation. The second telescopic drive mechanism 7 first extends and then shortens, completing the alignment, docking and separation actions in turn, which can prevent the occurrence of misoperation caused by the coordinated action of multiple drive units, making it safer to use.

[0052] The lifting frame 3 is suspended on the lower side of the balance platform 20 through a connecting rod 21. The balance platform 20 can move along the direction of the first guide rail 17 and the second guide rail 19. Since the balance platform 20 is a follow-up action, that is, the moving power of the balance platform 20 is provided by the clamping reaction force of the two limit clamps 4, it can prevent any limit clamp 4 from pressing against the tank mouth flange 8, causing the tank mouth flange 8 to deform, so that the lifting frame 3 can move flexibly and safely.

[0053] The loading and unloading arm system proposed in the present invention adopts a visually assisted method to move the tank mouth flange 8 of the tank truck to the alignment area (i.e., the area between the two limit clamps 4), and utilizes an alignment assistant to automatically align the output end of the loading and unloading arm assembly with the tank mouth flange 8, and to extend the output end of the loading and unloading arm assembly into the tank mouth flange 8, thereby achieving the effect of automatic alignment, solving the problems of difficult manual docking operations and high labor intensity, and greatly improving work efficiency.

[0054] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A pipe connection loading and unloading arm system with a visual alignment function, comprising a gantry (1) and a camera (2), wherein the upper crossbeam of the gantry (1) is equipped with a loading and unloading arm assembly, characterized in that: A positioning assistant is suspended and installed below the upper crossbeam of the gantry (1); The alignment auxiliary device comprises a lifting frame (3), two limiting clamps (4) are rotatably mounted in the lifting frame (3), a first telescopic drive mechanism (5) for driving the limiting clamps (4) is provided in the lifting frame (3), the output end surface of the loading and unloading arm assembly is rotatably connected to a support plate (6), a second telescopic drive mechanism (7) is fixedly mounted on the upper side of the support plate (6), and the telescopic end of the second telescopic drive mechanism (7) is fixedly connected to the lifting frame (3); When the second telescopic drive mechanism (7) is extended, the lifting frame (3) is driven to move downward, so that the two limit clamps (4) are connected to the tank mouth flange (8) of the tank truck by clamping. When the second telescopic drive mechanism (7) is shortened, the output end of the loading and unloading arm assembly is driven to move downward and dock with the tank mouth flange (8) of the tank truck.

2. The pipe connection loading and unloading arm system with visual alignment function according to claim 1, characterized in that: The loading and unloading arm assembly comprises an inlet elbow flange (9) fixedly connected to the gantry (1); the lower end of the inlet elbow flange (9) is rotatably connected to an inner arm pipe (10); the lower end of the inner arm pipe (10) is rotatably mounted with an intermediate elbow flange (11); the lower end of the intermediate elbow flange (11) is rotatably mounted with an outer arm pipe (12); the lower end of the outer arm pipe (12) is rotatably mounted with a vertical pipe (13); the support plate (6) is rotatably connected to the vertical pipe (13); and the bottom end of the vertical pipe (13) is fixedly mounted with a quick connector (14).

3. The pipe connection loading and unloading arm system with visual alignment function according to claim 2, characterized in that: A spring telescopic rod (15) is rotatably mounted on the surface of the outer arm pipe (12), and the telescopic end of the spring telescopic rod (15) is rotatably connected to the middle elbow flange (11).

4. The pipe connection loading and unloading arm system with visual alignment function according to claim 3 is characterized in that: A balancer is fixedly installed on the lower surface of the upper crossbeam of the gantry (1), and the balancer includes two mounting seats (16). The two mounting seats (16) are fixedly connected to the lower surface of the upper crossbeam of the gantry (1). A first guide rail (17) is fixedly installed on the lower side of the two mounting seats (16). A sliding seat (18) is slidably installed on the surface of the first guide rail (17) of the two mounting seats (16). A second guide rail (19) is fixedly installed between the two sliding seats (18). A balancing platform (20) is slidably installed on the surface of the second guide rail (19). Four connecting rods (21) are rotatably installed on the lower surface of the balancing platform (20). The bottom ends of the four connecting rods (21) are rotatably connected to the lifting frame (3). The four connecting rods (21) are equal in length and arranged parallel to each other.

5. The pipe connection loading and unloading arm system with visual alignment function according to claim 4 is characterized in that: The surface of the first guide rail (17) is provided with two sections of first springs (22), and the two sections of first springs (22) respectively press against the two ends of the sliding seat (18); the surface of the second guide rail (19) is provided with two sections of second springs (23), and the two sections of second springs (23) respectively press against the two sides of the balancing platform (20).

6. The pipe connection loading and unloading arm system with visual alignment function according to claim 5, characterized in that: There are two cameras (2), which are fixedly mounted on the front side of the balancing platform (20), and the shooting areas of the two cameras (2) cover the area between the two limiting clamps (4).

7. A pipe connection loading and unloading arm system with a visual alignment function according to any one of claims 1 to 6, characterized in that: The ends of the two limit clamps (4) are fixedly mounted with rotating shafts, the two limit clamps (4) are rotatably connected to the lifting frame (3) via the rotating shafts, the surfaces of the two rotating shafts are fixedly mounted with gears (24), the two gears (24) are meshed with each other for transmission, the first telescopic drive mechanism (5) is an electromagnetic telescopic rod, the end of the electromagnetic telescopic rod is rotatably connected to the lifting frame (3), and the telescopic end of the electromagnetic telescopic rod is rotatably connected to the limit clamp (4).

8. The pipe connection loading and unloading arm system with visual alignment function according to claim 7, characterized in that: The opposing surfaces of the two limiting clamps (4) are both embedded with magnetic strips (25), and the opposing surfaces of the two limiting clamps (4) are both provided with semicircular grooves (26). When the two limiting clamps (4) are close to each other, the semicircular grooves (26) can be clamped on the neck of the tank mouth flange (8) of the tank truck.

9. The pipe connection loading and unloading arm system with visual alignment function according to claim 8, characterized in that: A magnetic ring is embedded in the neck of the tank mouth flange (8) of the tank truck, and the magnetic ring and the magnetic strip (25) are magnetically repelled.

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