Cantilever type full-automatic intelligent loading and unloading vehicle crane

Abstract

This invention provides a cantilevered fully automatic intelligent loading arm, relating to the technical field of loading arms; it includes a supporting frame, a robotic arm mounted at the top of the supporting frame, a pipe assembly mounted on the supporting frame, and a fourth connecting pipe mounted at the outlet end of the pipe assembly; the bottom end of the fourth connecting pipe is fixedly connected to the loading arm's vertical pipe; an oil receiving protection unit is mounted on the fourth connecting pipe for receiving liquid and protecting the loading arm's vertical pipe; a draining unit is mounted on the oil receiving protection unit for discharging and storing the liquid received by the oil receiving protection unit; an oil receiving cylinder is driven by an electric cylinder to descend, allowing the oil receiving cylinder to move below the loading arm's vertical pipe to receive residual dripping liquid on the loading arm's vertical pipe, reducing the risk of liquid dripping causing pollution to the working environment; the loading arm's vertical pipe is enclosed by a circular plate, corrugated pipe, lower fixing ring, and oil receiving cylinder in cooperation, reducing the risk of the loading arm's vertical pipe being exposed to the external environment and contaminated by external dust and impurities during non-operational periods.

Description

Technical Field

[0001] This invention relates to the technical field of loading arms, and more particularly to a cantilevered fully automatic intelligent loading arm for loading and unloading vehicles. Background Technology

[0002] Loading arms are key pieces of equipment commonly used in liquid loading and unloading operations. They are widely used in industries such as petroleum, chemical, and food for loading and unloading liquid materials from tank trucks. In a typical loading and unloading operation, a loading arm usually consists of a column, pipe assembly, rotary joint, and loading arm vertical tube. During operation, the loading arm vertical tube is moved in three-dimensional space to above the tank truck loading / unloading port through manual operation or driven by an automated robotic arm. It then descends vertically and accurately inserts into the tank truck loading / unloading port. The liquid medium is then transported into the tank truck through the pipe assembly. To adapt to the changing positions of different tank truck loading / unloading ports, loading arms are usually equipped with multiple rotary joints, giving the pipe assembly multi-degree-of-freedom follow-up capabilities. This ensures that the pipes can flexibly follow the movement of the loading arm vertical tube without interference during loading and unloading. After the loading and unloading operation is completed, the loading arm vertical tube is pulled out of the tank truck loading / unloading port and returned to the standby position, waiting for the next operation.

[0003] In actual operation, after loading and unloading, when the loading arm is pulled out of the tank truck loading / unloading port, a small amount of residual liquid often adheres to the inner cavity and outer wall of the loading arm. During the lifting, moving, and standby processes of the loading arm, this residual liquid easily flows down the outer wall of the loading arm under the influence of gravity, eventually dripping from the bottom of the loading arm onto the ground, equipment surface, or work platform. The dripping of residual liquid will pollute the working environment and increase on-site cleaning and maintenance costs. In addition, when the loading arm is not in operation, it is exposed to the external environment for a long time, and its outer wall and outlet end are prone to accumulating a lot of dust, impurities, and other pollutants, affecting the cleanliness of subsequent loading and unloading operations. Therefore, it is necessary to provide a cantilevered fully automatic intelligent loading arm to solve the above technical problems. Summary of the Invention

[0004] To solve the above-mentioned technical problems, the present invention provides a cantilevered fully automatic intelligent loading and unloading arm.

[0005] The present invention provides a cantilevered fully automatic intelligent loading and unloading arm, including a support frame, a robotic arm installed at the top of the support frame, a pipe assembly installed on the support frame, a fourth connecting pipe installed at the outlet end of the pipe assembly, and a vertical pipe of the loading arm fixedly connected to the bottom end of the fourth connecting pipe;

[0006] The fourth connecting pipe is equipped with an oil receiving protection unit for receiving liquid and protecting the loading arm vertical pipe.

[0007] The oil receiving protection unit is equipped with a draining unit for discharging and storing the liquid received by the oil receiving protection unit.

[0008] The fourth connecting pipe is detachably connected to the output end of the robotic arm via a disassembly and assembly unit. The disassembly and assembly unit is used to lock and fix the fourth connecting pipe to the output end of the robotic arm, and can be manually unlocked to allow the loading arm to quickly detach from the robotic arm in case of a malfunction.

[0009] Preferably, the oil receiving protection unit includes a protective component and a transmission component; the protective component includes a circular plate, which is fixedly sleeved on the upper outer side of the fourth connecting pipe, a corrugated pipe is fixedly connected to the bottom of the circular plate, a lower fixing ring is fixedly connected to the bottom end of the corrugated pipe, an oil receiving cylinder is provided at the bottom of the lower fixing ring, a receiving shell is fixedly connected to the top of the circular plate, an electric cylinder and a vertical sliding rod are provided inside the receiving shell, the cylinder body of the electric cylinder is fixedly connected to the circular plate through the circular plate, the vertical sliding rod is slidably connected to the circular plate through the circular plate vertically, the top end of the vertical sliding rod is fixedly connected to the telescopic end of the electric cylinder, and the bottom end of the vertical sliding rod is fixedly connected to the top of the lower fixing ring.

[0010] Preferably, the transmission component includes a vertical tube disposed within the housing, with its bottom end fixedly connected to the top of the circular plate. A spiral guide groove and a vertical guide groove are formed on the side wall of the vertical tube. The top end of the spiral guide groove communicates with the bottom end of the vertical guide groove, and the connection is rounded. A vertical rod is coaxially disposed on the inner side of the vertical tube. A horizontally arranged guide roller is rotatably connected to one side of the top end of the vertical rod. The bottom end of the vertical rod passes through the circular plate and the lower fixing ring in sequence and is fixedly connected to the top of the oil receiving cylinder. A through hole is vertically formed on the circular plate for the vertical rod to move through. The vertical rod is rotatably connected to the lower fixing ring.

[0011] Preferably, the draining unit includes a draining component and a receiving component; the draining component includes a first drain pipe, which is fixedly connected to the bottom end of the receiving cylinder, and the outlet end of the first drain pipe is fixedly connected to a valve housing. The lower part of the valve housing is fixedly connected to a drain pipe communicating with its interior. The inlet end of the drain pipe is directly opposite to the outlet end of the first drain pipe. The inner side of the valve housing is slidably sealed with a valve core that is adapted to the inner cavity of the valve housing. A vertical through hole is provided on the valve core. A first spring is provided inside the valve housing. One end of the first spring is fixedly connected to the inner wall of the valve housing, and the other end of the first spring is fixedly connected to one end of the valve core.

[0012] Preferably, the liquid receiving component includes a connecting rod, one end of which is fixedly connected to the outer wall of the lower fixing ring, and the other end of which is fixedly connected to a liquid receiving tank. The top of the liquid receiving tank is open, and a clearance opening is provided on one side of the liquid receiving tank. A push rod is fixedly connected to the inner wall of the liquid receiving tank opposite to the clearance opening. The push rod is correspondingly arranged with the valve core. An L-shaped cover plate is fixedly connected to the outer side of the first drain pipe and the valve housing. A second drain pipe is fixedly connected to the bottom of the liquid receiving tank. A flexible hose is connected to the bottom of the second drain pipe. The bottom of the flexible hose is connected to a liquid storage tank through a pipe.

[0013] Preferably, the assembly / disassembly unit includes a connecting component and a locking component; the connecting component includes an upper connecting block, a lower connecting block is provided at the bottom of the upper connecting block, the top of the upper connecting block is fixedly connected to the output end of the robotic arm, the bottom of the lower connecting block is fixedly connected to the upper outer wall of the fourth connecting pipe, vertical insertion posts are fixedly connected to the four corners of the top of the lower connecting block, vertical insertion holes corresponding to and adapted to the vertical insertion posts are opened at the four corners of the bottom of the upper connecting block, the vertical insertion posts are inserted into the corresponding vertical insertion holes, vertical fixing posts are fixedly connected to the top of the lower connecting block, at least two vertical fixing posts are provided, a groove is opened on the outer side of the vertical fixing posts, and a vertical through hole corresponding to and adapted to the vertical fixing posts is opened at the bottom of the upper connecting block.

[0014] Preferably, the locking component includes a mounting cavity, which is located inside the upper connecting block. The vertical through hole communicates with the interior of the mounting cavity. A retaining seat is provided on the inner side of the mounting cavity. An arc-shaped protrusion is provided on one side of the retaining seat. The arc-shaped protrusion and the groove are correspondingly and compatible. A pressing crossbar is fixedly connected to the middle of one side of the retaining seat. One end of the pressing crossbar slides through the side wall of the upper connecting block and extends to the outside. A second spring is fixedly connected to the side of the retaining seat away from the pressing crossbar. One end of the second spring is fixedly connected to the inner side wall of the mounting cavity. Two sliders are symmetrically fixedly connected to both sides of the retaining seat. Sliding grooves matching the sliders are provided on both sides of the interior of the mounting cavity. The sliders are slidably connected in the corresponding sliding grooves.

[0015] Preferably, both the spiral guide groove and the vertical guide groove are adapted to the guide roller, and the guide roller is rotatably disposed within the spiral guide groove and the vertical guide groove.

[0016] Preferably, the pipe assembly includes a first pipe body, a second pipe body, and a third pipe body. The first pipe body is rotatably connected to the support frame. One end of the first pipe body is connected to one end of the second pipe body through a rotary joint. The other end of the second pipe body is connected to one end of the third pipe body through a rotary joint. The other end of the third pipe body is connected to the top end of a fourth connecting pipe through a rotary joint.

[0017] Preferably, a conical plug is fixedly sleeved on the upper outer side of the loading arm vertical tube.

[0018] Compared with related technologies, the cantilevered fully automatic intelligent loading and unloading arm provided by the present invention has the following beneficial effects:

[0019] 1. This invention uses an electric cylinder to drive the oil receiving cylinder downwards. The guide roller first rolls along the vertical guide groove, causing the oil receiving cylinder to descend vertically to below the loading arm's vertical pipe. After it has descended to the correct position, the guide roller then enters the spiral guide groove, causing the oil receiving cylinder to rotate to directly below the loading arm's vertical pipe as it continues to descend. This allows the oil receiving cylinder to move to the bottom of the loading arm's vertical pipe and collect any residual dripping liquid, reducing the risk of liquid dripping causing pollution to the working environment. When the loading arm's vertical pipe is not in operation, the circular plate, corrugated pipe, lower fixing ring, and oil receiving cylinder work together to enclose the loading arm's vertical pipe, reducing the risk of the loading arm's vertical pipe being exposed to the external environment and contaminated by external dust and impurities during long-term exposure to the external environment when not in operation.

[0020] 2. This invention utilizes the rotational motion of the transmission components to open the draining unit. As the oil receiving cylinder rotates to its final position under the guidance of the spiral guide groove, the push rod fixed on the lower fixing ring can push the valve core, aligning the connecting hole with the outlet end of the first drain pipe and the inlet end of the discharge pipe. The residual liquid collected in the oil receiving cylinder is discharged into the receiving tank and finally flows into the storage tank for centralized collection.

[0021] 3. This invention includes a disassembly and assembly unit between the robotic arm and the fourth connecting pipe. The arc-shaped protrusion on the mounting bracket and the groove on the vertical fixing column form a locking engagement. When the robotic arm malfunctions and cannot properly drive the loading arm vertical pipe to detach, the operator only needs to press the crossbar to disengage the arc-shaped protrusion from the groove, releasing the lock between the upper and lower connecting blocks. This achieves rapid separation of the loading arm vertical pipe from the robotic arm, avoiding the problem of the loading arm vertical pipe being difficult to remove from the tanker due to robotic arm malfunction. Attached Figure Description

[0022] Figure 1 A schematic diagram of the overall structure of the cantilevered fully automatic intelligent loading and unloading arm provided by the present invention.

[0023] Figure 2 This is another perspective view of the cantilevered fully automatic intelligent loading and unloading arm in this invention;

[0024] Figure 3 This is a schematic diagram of the structure of the oil receiving cylinder in this invention;

[0025] Figure 4 This is a partial structural schematic diagram of the oil contact protection unit in this invention;

[0026] Figure 5 This is a cross-sectional view of the vertical tube of the loading arm in this invention;

[0027] Figure 6 This is a schematic diagram of the structure of the transmission component in this invention;

[0028] Figure 7 This is a schematic diagram of how the corrugated pipe protects the vertical arm of the loading arm after being stretched in this invention.

[0029] Figure 8 This is an enlarged view of point A in this invention;

[0030] Figure 9 This is a partial structural diagram of the drainage unit in this invention;

[0031] Figure 10 This is a schematic diagram of the structure after the push rod pushes the valve core in this invention;

[0032] Figure 11 This is a schematic diagram of the disassembly and assembly unit in this invention;

[0033] Figure 12 This is a cross-sectional view of the upper connecting block in this invention;

[0034] Figure 13 This is a schematic diagram of the structure at the vertical through-hole in this invention;

[0035] Figure 14 This is a schematic diagram of the structure of the lower connecting block in this invention.

[0036] The diagram shows: 1. Support frame; 2. Pipe assembly; 201. First pipe body; 202. Second pipe body; 203. Third pipe body; 3. Robotic arm; 4. Fourth connecting pipe; 5. Oil receiving protection unit; 51. Protective component; 511. Circular plate; 512. Corrugated pipe; 513. Lower fixing ring; 514. Oil receiving cylinder; 515. Receiving shell; 516. Electric cylinder; 517. Vertical slide bar; 52. Transmission component; 521. Vertical pipe; 5211. Spiral guide groove; 5212. Vertical guide groove; 522. Vertical rod; 523. Guide roller; 6. Drainage unit; 61. Discharge component; 611. First drain pipe; 612. Valve housing; 613. Valve core; 6131. ​​Connecting hole; 614. L-shaped cover plate; 615, first spring; 616, discharge pipe; 62, liquid receiving component; 621, connecting rod; 622, liquid receiving tank; 623, clearance opening; 624, push rod; 625, second discharge pipe; 626, hose; 627, liquid storage tank; 7, disassembly and assembly unit; 71, connecting component; 711, upper connecting block; 712, lower connecting block; 713, vertical insertion post; 714, vertical insertion hole; 715, vertical fixing post; 7151, groove; 716, vertical through hole; 72, locking component; 721, mounting cavity; 722, card seat; 723, pressing crossbar; 724, arc-shaped protrusion; 725, slider; 726, sliding groove; 727, second spring; 8, loading arm vertical tube; 9, conical plug. Detailed Implementation

[0037] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0038] Example 1

[0039] Please refer to the following: Figures 1 to 7 A cantilevered fully automatic intelligent loading and unloading arm includes a support frame 1, a robotic arm 3 mounted on the top of the support frame 1, a pipe assembly 2 mounted on the support frame 1, and a fourth connecting pipe 4 mounted on the outlet end of the pipe assembly 2; the bottom end of the fourth connecting pipe 4 is fixedly connected to the loading arm's vertical pipe 8; an oil receiving protection unit 5 is mounted on the fourth connecting pipe 4 for receiving liquid and protecting the loading arm's vertical pipe 8; a draining unit 6 is mounted on the oil receiving protection unit 5 for discharging and storing the liquid received by the oil receiving protection unit 5; the fourth connecting pipe 4 is detachably connected to the output end of the robotic arm 3 via a disassembly and assembly unit 7, which is used to lock and fix the fourth connecting pipe 4 to the output end of the robotic arm 3, and can be manually unlocked to allow the loading arm's vertical pipe 8 to quickly detach from the robotic arm 3 in case of a malfunction.

[0040] As described above, the robotic arm 3 can drive the fourth connecting pipe 4 and the loading arm 8 to complete the alignment and movement in three-dimensional space, realizing the automation of loading and unloading operations; the oil receiving and protection unit 5 can receive the residual liquid dripping from the loading arm 8 after the loading and unloading operation is completed, and at the same time form protection for the loading arm 8; the liquid discharge unit 6 can collect and discharge the residual liquid received by the oil receiving and protection unit 5, and store and collect it, reducing the environmental pollution and safety hazards caused by liquid dripping; the disassembly and assembly unit 7 can realize the quick and detachable connection between the loading arm 8 and the robotic arm 3, and can quickly complete the separation operation when the robotic arm 3 malfunctions, avoiding the loading arm 8 from getting stuck in the tanker and being unable to be moved out, ensuring the passage and safety of the work site.

[0041] Furthermore, the oil receiving protection unit 5 includes a protective component 51 and a transmission component 52; the protective component 51 includes a circular plate 511, which is fixedly sleeved on the upper outer side of the fourth connecting pipe 4. A corrugated pipe 512 is fixedly connected to the bottom of the circular plate 511. The corrugated pipe 512 is a stainless steel welded corrugated pipe. A lower fixing ring 513 is fixedly connected to the bottom end of the corrugated pipe 512. An oil receiving cylinder 514 is provided at the bottom of the lower fixing ring 513. The top of the oil receiving cylinder 514 is open. The inner diameter of the oil receiving cylinder 514 is larger than the outer diameter of the loading arm vertical pipe 8. The top edge of 4 is embedded with an annular rubber sealing ring along the circumferential direction; the top of the circular plate 511 is fixedly connected to a receiving shell 515, and an electric cylinder 516 and a vertical slide rod 517 are provided inside the receiving shell 515. The vertical slide rod 517 can adopt a spline shaft structure and can be provided in several places. The cylinder body of the electric cylinder 516 is fixedly connected to the circular plate 511 through the plate, and the vertical slide rod 517 is slidably connected to the circular plate 511 through the plate. The top end of the vertical slide rod 517 is fixedly connected to the telescopic end of the electric cylinder 516, and the bottom end of the vertical slide rod 517 is fixedly connected to the top of the lower fixing ring 513.

[0042] In the above, the extension and retraction of the electric cylinder 516 drives the vertical slide rod 517 to slide vertically along the circular plate 511, thereby driving the lower fixing ring 513 to complete the vertical lifting and lowering action, realizing the stretching and contraction of the bellows 512. The stainless steel welded bellows 512 has excellent corrosion resistance and deformation resistance. After stretching, it can cooperate with the circular plate 511, the lower fixing ring 513, and the oil receiving cylinder 514 to form a protective cavity, providing dust protection for the loading arm 8. The oil receiving cylinder 514, with an inner diameter larger than the outer diameter of the loading arm 8, can collect residual liquid dripping from the loading arm 8. The rubber sealing ring on the oil receiving cylinder 514 can improve the sealing performance at the joint between the lower fixing ring 513 and the oil receiving cylinder 514, reducing the risk of the loading arm 8 being contaminated by dust and impurities. The housing 515 can protect the electric cylinder 516 and the vertical slide rod 517, preventing corrosion from the medium and dust in the external environment.

[0043] Furthermore, the transmission component 52 includes a vertical tube 521, which is disposed inside the housing 515. The bottom end of the vertical tube 521 is fixedly connected to the top of the circular plate 511. A spiral guide groove 5211 and a vertical guide groove 5212 are provided on the side wall of the vertical tube 521. The top end of the spiral guide groove 5211 is connected to the bottom end of the vertical guide groove 5212, and the connection is treated with a rounded corner. A vertical rod 522 is coaxially disposed on the inner side of the vertical tube 521. A horizontally disposed guide roller 523 is rotatably connected to one side of the top end of the vertical rod 522. The bottom end of the vertical rod 522 passes through the circular plate 511 and the lower fixing ring 513 in sequence and is fixedly connected to the top of the oil receiving cylinder 514. A through hole is vertically opened on the circular plate 511 for the vertical rod 522 to move through. The vertical rod 522 is rotatably connected to the lower fixing ring 513 through a bearing.

[0044] In the above, the vertical guide groove 5212 and the spiral guide groove 5211 connected on the vertical tube 521 can cooperate with the guide roller 523 to realize the two-stage movement of the vertical rod 522, which first descends vertically in a straight line and then rotates synchronously. The rounded transition at the connection point can prevent the guide roller 523 from getting stuck when switching between grooves, ensuring the smoothness of the movement process. The vertical rod 522 is rotatably connected to the lower fixed ring 513 through the bearing, so that the lower fixed ring 513 only completes the vertical rise and fall with the vertical rod 522 without rotating. The through hole on the circular plate 511 provides the activity space for the vertical rise and fall and rotation of the vertical rod 522, avoiding interference between the vertical rod 522 and the circular plate 511 during the movement. The bottom end of the vertical rod 522 is fixedly connected to the oil receiving cylinder 514, which can drive the oil receiving cylinder 514 to complete the rise and fall and rotation of the vertical rod 522, realizing the alignment of the oil receiving cylinder 514.

[0045] Furthermore, both the spiral guide groove 5211 and the vertical guide groove 5212 are adapted to the guide roller 523. The guide roller 523 is rotatably disposed in the spiral guide groove 5211 and the vertical guide groove 5212. The initial position of the guide roller 523 is located inside the top of the vertical guide groove 5212. The length of the vertical guide groove 5212 is greater than the length of the spiral guide groove 5211.

[0046] In the above, the guide roller 523 replaces sliding friction with rolling friction, reducing the frictional resistance of the vertical rod 522 during movement and improving the smoothness and stability of the movement. The guide roller 523 is initially located inside the top of the vertical guide groove 5212. When the oil receiving and protection unit 5 is in its initial retracted state, the oil receiving cylinder 514 is in a high position that is misaligned with the loading arm vertical pipe 8, avoiding the loading and unloading operation path of the loading arm vertical pipe 8 and preventing interference with normal loading and unloading operations.

[0047] Furthermore, the pipeline assembly 2 includes a first pipe body 201, a second pipe body 202, and a third pipe body 203. The first pipe body 201 is rotatably connected to the support frame 1. One end of the first pipe body 201 is connected to one end of the second pipe body 202 through a rotary joint. The other end of the second pipe body 202 is connected to one end of the third pipe body 203 through a rotary joint. The other end of the third pipe body 203 is connected to the top end of the fourth connecting pipe 4 through a rotary joint. The liquid inlet end of the first pipe body 201 is rotatably connected to a fixed external pipeline through a rotary joint to accommodate the rotation of the first pipe body 201 relative to the external pipeline when the robotic arm 3 moves.

[0048] In the above, through the cooperation of the first pipe body 201, the second pipe body 202, the third pipe body 203 and the rotary joint, the pipe assembly 2 has a multi-degree-of-freedom follow-up capability, and can follow the movement of the loading arm 8 in three-dimensional space to complete flexible posture adjustment.

[0049] Furthermore, a conical plug 9 is fixedly sleeved on the upper outer side of the loading arm 8, and the inner diameter of the lower fixing ring 513 is larger than the outer diameter of the conical plug 9 so that the lower fixing ring 513 can pass over the conical plug 9.

[0050] As described above, the conical plug 9 can form a sealing fit with the inner wall of the loading and unloading port when the loading arm vertical pipe 8 is inserted into the loading and unloading port of the tanker, preventing the liquid medium in the tank from splashing during the loading and unloading operation; the lower fixing ring 513, whose inner diameter is larger than the outer diameter of the conical plug 9, can smoothly pass over the conical plug 9 during the lifting and lowering process without colliding or interfering with the conical plug 9.

[0051] Example 2

[0052] For further details, please refer to [link / reference]. Figures 1 to 9Based on Embodiment 1, the draining unit 6 includes a draining component 61 and a receiving component 62. The draining component 61 includes a first drain pipe 611, which is fixedly connected to the bottom end of the oil receiving cylinder 514. The outlet end of the first drain pipe 611 is fixedly connected to a valve housing 612. The lower part of the valve housing 612 is fixedly connected to a drain pipe 616 that communicates with its interior. The inlet end of the drain pipe 616 is directly opposite to the outlet end of the first drain pipe 611. A valve core 613 that is adapted to the inner cavity of the valve housing 612 is slidably and sealingly connected to the inner side of the valve housing 612. A vertical through hole 613 is provided on the valve core 613. 1. The outer wall of the valve core 613 is provided with at least two annular mounting grooves along the circumference. A sealing ring is embedded in the annular mounting groove. The sealing ring slides and seals with the inner wall of the valve body 612. The sealing ring is set on both sides of the connecting hole 6131. ​​A first spring 615 is provided in the valve body 612. One end of the first spring 615 is fixedly connected to the inner wall of the valve body 612, and the other end of the first spring 615 is fixedly connected to one end of the valve core 613. In the free state, the first spring 615 causes the connecting hole 6131 on the valve core 613 to be misaligned with the outlet end of the first drain pipe 611 and the inlet end of the drain pipe 616, so as to block the flow of liquid.

[0053] In the above, the first drain pipe 611 can guide the residual liquid in the oil receiving cylinder 514 to the valve body 612; one end of the valve body 612 is provided with an opening to provide clearance space for the push rod 624, and the other end is provided with an exhaust port to ensure that the push rod 624 can smoothly enter the valve body 612 to contact the valve core 613 and push it to move.

[0054] Furthermore, the liquid receiving component 62 includes a connecting rod 621. One end of the connecting rod 621 is fixedly connected to the outer wall of the lower fixing ring 513, and the other end of the connecting rod 621 is fixedly connected to a liquid receiving box 622. The top of the liquid receiving box 622 is open, and a clearance opening 623 is provided on one side of the liquid receiving box 622. The opening size of the clearance opening 623 meets the allowance for the valve housing 612 to rotate in and out. A push rod 624 is fixedly connected to the inner wall of the liquid receiving box 622 opposite to the clearance opening 623. The outer diameter of the push rod 624 is smaller than the inner diameter of the valve housing 612, and the gap between the two inner diameters meets the allowance for the push rod 624 to squeeze the valve core 613 after entering the valve housing 612. The 24 is oriented towards the clearance opening 623. The push rod 624 is correspondingly set with the valve core 613 and is used to push the valve core 613 to move when the oil receiving cylinder 514 rotates to the predetermined position. The first drain pipe 611 and the outer side of the valve body 612 are fixedly connected to an L-shaped cover plate 614. A rubber sealing gasket is installed in the L-shaped groove of the L-shaped cover plate 614 to improve the shielding effect. When the L-shaped cover plate 614 is aligned with the liquid receiving tank 622, the L-shaped cover plate 614 is used to shield the top opening of the liquid receiving tank 622 and the clearance opening 623. The bottom end of the liquid receiving tank 622 is fixedly connected to a second drain pipe 625. The bottom end of the second drain pipe 625 is connected to a hose 626. The bottom end of the hose 626 is connected to a liquid storage tank 627 through a pipe.

[0055] In the above, the connecting rod 621 stably connects the receiving tank 622 to the lower fixing ring 513, allowing the receiving tank 622 to move vertically up and down with the lower fixing ring 513 while maintaining a fixed relative position with the lower fixing ring 513, preventing it from rotating with the oil receiving cylinder 514; the clearance opening 623 on one side of the receiving tank 622 provides clearance space for the valve body 612 to rotate in, preventing interference between the oil receiving cylinder 514 and the receiving tank 622 when the valve body 612 rotates; the push rod 624 can smoothly push the valve core 613 to complete the sliding; the L-shaped cover plate When the oil receiving cylinder 514 rotates to its final position, it forms a shield between the top opening of the receiving tank 622 and the clearance opening 623, reducing splashing during the process of liquid being discharged into the receiving tank 622; the second drain pipe 625 and the hose 626 guide the liquid collected in the receiving tank 622 to the storage tank 627, realizing the centralized recovery and storage of residual liquid, which is convenient for subsequent unified treatment. The hose 626 can be adapted to the vertical lifting and lowering movement of the receiving tank 622, reducing the pulling effect on the pipeline caused by the movement of the receiving tank 622.

[0056] Example 3

[0057] For further details, please refer to [link / reference]. Figures 1 to 14Based on Embodiment 2, the disassembly and assembly unit 7 includes a connecting component 71 and a locking component 72; the connecting component 71 includes an upper connecting block 711, a lower connecting block 712 is provided at the bottom of the upper connecting block 711, the top of the upper connecting block 711 is fixedly connected to the output end of the robotic arm 3, the bottom of the lower connecting block 712 is fixedly connected to the upper outer wall of the fourth connecting pipe 4, vertical insertion posts 713 are fixedly connected to the four corners of the top of the lower connecting block 712, and the four corners of the bottom of the upper connecting block 711 are provided with Vertical insertion holes 714 are provided to correspond one-to-one with and are adapted to the vertical insertion posts 713. The vertical insertion posts 713 are inserted into the corresponding vertical insertion holes 714. The top of the lower connecting block 712 is fixedly connected to a vertical fixing post 715. At least two vertical fixing posts 715 are provided. A groove portion 7151 is provided on the outer side of the vertical fixing post 715. The bottom of the upper connecting block 711 is provided with a vertical through hole 716 that corresponds one-to-one with and is adapted to the vertical fixing post 715. The vertical through hole 716 is connected to the inside of the mounting cavity 721.

[0058] In the above, the upper connecting block 711 and the lower connecting block 712 serve as the connecting carriers of the robotic arm 3 and the fourth connecting pipe 4, respectively, to achieve docking and detachable connection between the two. The vertical insertion posts 713 at the top four corners of the lower connecting block 712 are inserted one-to-one with the vertical insertion holes 714 at the bottom of the upper connecting block 711, so as to achieve positioning when the upper connecting block 711 and the lower connecting block 712 dock, and at the same time, it can withstand the horizontal shearing force, improve the stability of the connection structure, and avoid horizontal misalignment or displacement of the upper connecting block 711 and the lower connecting block 712 during loading and unloading operations.

[0059] Furthermore, the locking component 72 includes a mounting cavity 721, which is located inside the upper connecting block 711. A retainer 722 is provided on the inner side of the mounting cavity 721. An arc-shaped protrusion 724 is provided on one side of the retainer 722. The arc-shaped protrusion 724 and the groove 7151 are correspondingly provided and adapted to each other. A pressing crossbar 723 is fixedly connected to the middle of one side of the retainer 722. One end of the pressing crossbar 723 slides through the side wall of the upper connecting block 711 and extends to the outside. A second spring 727 is fixedly connected to the side of the retainer 722 away from the pressing crossbar 723. One end of the second spring 727 is fixedly connected to the inner side wall of the mounting cavity 721. Two sliders 725 are symmetrically fixedly connected to both sides of the retainer 722. Slide grooves 726 that match the sliders 725 are provided on both sides of the interior of the mounting cavity 721. The sliders 725 are slidably connected in the corresponding slide grooves 726.

[0060] In the above-mentioned configuration, the arc-shaped protrusion 724 on the card holder 722 is adapted to the groove 7151 on the vertical fixing column 715. After docking, it is inserted into the groove 7151 to form a stable locking fit, thereby achieving a firm connection between the upper connecting block 711 and the lower connecting block 712. The pressing crossbar 723 extends to the outside of the upper connecting block 711, which is convenient for operators to press quickly in emergency situations and unlock without the need for special tools. The second spring 727 provides continuous pre-tightening force to the card holder 722. In the absence of external pressure, the card holder 722 is pushed to make the arc-shaped protrusion 724 engage with the groove 7151, preventing the arc-shaped protrusion 724 from accidentally loosening and ensuring the reliability of the connection during normal operation. The sliders 725 on both sides of the card holder 722 slide in conjunction with the sliding grooves 726 in the mounting cavity 721, providing guidance for the sliding of the card holder 722.

[0061] Furthermore, both the robotic arm 3 and the electric cylinder 516 are electrically connected to the PLC controller via wires. The output end of the robotic arm 3 is also equipped with a vision positioning unit, which is electrically connected to the PLC controller via wires. The vision positioning unit is used to collect image information of the tanker loading and unloading port and transmit the collected image signals to the PLC controller. The PLC controller calculates the position coordinates of the loading and unloading port based on the received image signals and controls the robotic arm 3 to move the loading arm 8 to the loading and unloading position.

[0062] The working principle of the cantilevered fully automatic intelligent loading and unloading arm provided by this invention is as follows:

[0063] In the initial state, the robotic arm 3 is fixedly connected to the fourth connecting pipe 4 through the disassembly and assembly unit 7. The pipe assembly 2 allows the first pipe body 201, the second pipe body 202, the third pipe body 203 and the rotary joint to rotate relative to each other.

[0064] At this time, the oil receiving protection unit 5 is in the retracted state: the telescopic end of the electric cylinder 516 is in the extended state, and the lower fixing ring 513 and the oil receiving cylinder 514 are lifted to the high position through the vertical slide rod 517. The bellows 512 is in the compressed state, and the oil receiving cylinder 514 is located on the upper outer side of the loading arm vertical pipe 8, which does not affect the normal loading and unloading operation of the loading arm vertical pipe 8.

[0065] When loading and unloading operations are required, the robotic arm 3 drives the loading arm 8 to move in three-dimensional space, so that the loading arm 8 moves to the loading and unloading port of the tank truck. The loading arm 8 descends and inserts into the loading and unloading port of the tank truck. The conical plug 9 on the loading arm 8 forms a sealing fit with the loading and unloading port of the tank truck to prevent liquid from splashing out during the loading and unloading process.

[0066] After the loading and unloading operation is completed, the robotic arm 3 drives the loading arm vertical pipe 8 to rise, so that the loading arm vertical pipe 8 is completely separated from the tank truck loading and unloading port. At this time, the oil contact protection unit 5 is activated. The movement process of the oil contact protection unit 5 is divided into the following two time sequences:

[0067] When the electric cylinder 516 is activated, its telescopic end retracts downward, causing the vertical slide rod 517 to slide downward along the circular plate 511. The bottom end of the vertical slide rod 517 is fixedly connected to the lower fixed ring 513, thereby pushing the lower fixed ring 513 to move downward. At this time, the vertical rod 522, which is rotatably connected to the lower fixed ring 513, also moves downward simultaneously. The guide roller 523 on one side of the top of the vertical rod 522 is initially located inside the top of the vertical guide groove 5212. In the initial stage of the descent of the lower fixed ring 513, the guide roller 523 rolls downward along the vertical guide groove 5212. During this stage, the vertical rod 522 only descends without rotating, causing the oil receiving cylinder 514 to descend vertically to below the loading arm vertical tube 8. At the same time, the corrugated pipe 512 is gradually stretched, surrounding the loading arm vertical tube 8 on the inside.

[0068] When the guide roller 523 rolls to the bottom of the vertical guide groove 5212, the guide roller 523 enters the spiral guide groove 5211 which is connected to the bottom of the vertical guide groove 5212. After that, as the vertical rod 522 continues to descend, the guide roller 523 rolls along the spiral guide groove 5211, causing the vertical rod 522 to rotate. The vertical rod 522 drives the oil receiving cylinder 514 to rotate synchronously.

[0069] At this time, since the oil receiving cylinder 514 has descended to below the loading arm vertical pipe 8 in the first stage, a radial non-contact gap is maintained between the oil receiving cylinder 514 and the loading arm vertical pipe 8 during the rotation process to avoid mechanical interference. When the guide roller 523 moves to the bottom of the spiral guide groove 5211, the oil receiving cylinder 514 rotates to the position aligned with the lower fixing ring 513. At this time, the oil receiving cylinder 514 is located directly below the loading arm vertical pipe 8 and is used to receive the dripping liquid remaining on the loading arm vertical pipe 8.

[0070] During this process, the circular plate 511, the elongated corrugated pipe 512, the lower fixing ring 513 and the oil receiving cylinder 514 work together to surround the loading arm vertical pipe 8 on the inner side, forming a protective cavity, which can reduce the adhesion of external dust and impurities to the loading arm vertical pipe 8.

[0071] The first drain pipe 611 and valve housing 612, which are fixedly connected to the bottom of the oil receiving cylinder 514, rotate synchronously with the oil receiving cylinder 514. At this time, the liquid receiving box 622 and the push rod 624 fixed on the outside of the lower fixing ring 513 remain stationary.

[0072] When the guide roller 523 enters the latter half of the spiral guide groove 5211, one end of the valve body 612 and the discharge pipe 616 extend into the liquid receiving tank 622. When the oil receiving cylinder 514 rotates to near its final position, one end of the valve core 613 contacts the push rod 624. As the oil receiving cylinder 514 continues to rotate, under the obstruction of the push rod 624, it overcomes the elastic force of the first spring 615 and gradually pushes the valve core 613 into the valve body 612. When the oil receiving cylinder 514 rotates to its final position (i.e., aligned with the lower fixing ring 513), the connecting hole 6131 of the valve core 613 moves to a position aligned with the outlet end of the first drain pipe 611 and the inlet end of the discharge pipe 616. At this time, the residual liquid collected inside the oil receiving cylinder 514 flows into the liquid receiving tank 622 in sequence through the first drain pipe 611, the connecting hole 6131 and the discharge pipe 616 under the action of gravity.

[0073] At the same time, the L-shaped cover plate 614 rotates synchronously with the valve body 612 to a position aligned with the liquid receiving tank 622, thereby blocking the top opening and the clearance opening 623 of the liquid receiving tank 622 and reducing the risk of splashing during the process of the discharge pipe 616 discharging liquid into the liquid receiving tank 622.

[0074] The liquid collected in the receiving tank 622 flows into the hose 626 through the second drain pipe 625 under the action of gravity, and is then transported to the storage tank 627 for storage, thereby realizing the centralized recycling and treatment of the liquid.

[0075] After completing the above operations, when the next loading and unloading operation is required, the telescopic end of the control electric cylinder 516 extends upward, driving the vertical slide rod 517 and the lower fixed ring 513 to move upward. The guide roller 523 rolls in the opposite direction along the spiral guide groove 5211, causing the oil receiving cylinder 514 to rotate in the opposite direction. In the initial stage of the reverse rotation, the push rod 624 gradually disengages from the valve core 613. Under the action of the elastic force, the first spring 615 pushes the valve core 613 to reset, causing the connecting hole 6131 to be misaligned with the outlet end of the first drain pipe 611 and the inlet end of the discharge pipe 616, blocking the flow of liquid. Subsequently, the guide roller 523 enters the vertical guide groove 5212 and rolls upward. The oil receiving cylinder 514 stops rotating and continues to rise, eventually returning to the initial retracted state for the next loading and unloading operation.

[0076] When the robotic arm 3 malfunctions and cannot properly drive the loading arm vertical tube 8 to detach, the disassembly unit 7 is used to achieve emergency detachment. The operator presses the pressing crossbar 723, which pushes the mounting bracket 722 to slide within the mounting cavity 721. The sliders 725 on both sides of the mounting bracket 722 slide within the sliding grooves 726, acting as guides. When the mounting bracket 722 moves, the arc-shaped protrusion 724 on the mounting bracket 722 disengages from the groove 7151 of the vertical fixing post 715, and at the same time, the mounting bracket 722 compresses the second spring 727; at this time, the vertical fixing... When column 715 is unlocked, the upper connecting block 711 and the lower connecting block 712 are released from fixation, pushing the output end of the robotic arm 3 to move upward, causing the upper connecting block 711 to move upward, so that the vertical insertion posts 713 at the four corners of the top of the lower connecting block 712 are dislodged from the vertical insertion holes 714, and the fourth connecting pipe 4 and the loading arm vertical pipe 8 are completely dislodged from the output end of the robotic arm 3. Before dislodging, the operator manually supports the fourth connecting pipe 4 and removes the loading arm vertical pipe 8 from the tanker to avoid the problem of the loading arm vertical pipe 8 being difficult to remove from the tanker due to the failure of the robotic arm 3.

[0077] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A cantilever full-automatic intelligent loading and unloading vehicle crane pipe, comprising a support vertical frame, a mechanical arm is installed at the top end of the support vertical frame, characterized in that, A pipe assembly is installed on the support frame, and a fourth connecting pipe is installed at the outlet end of the pipe assembly; the bottom end of the fourth connecting pipe is fixedly connected to an arm-load vertical pipe. The fourth connecting pipe is equipped with an oil receiving protection unit for receiving liquid and protecting the loading arm vertical pipe. The oil receiving protection unit is equipped with a draining unit for discharging and storing the liquid received by the oil receiving protection unit. The fourth connecting pipe is detachably connected to the output end of the robotic arm via a disassembly and assembly unit. The disassembly and assembly unit is used to lock and fix the fourth connecting pipe to the output end of the robotic arm, and can be manually unlocked to enable the loading arm to quickly detach from the robotic arm in case of a robotic arm malfunction. The oil receiving protection unit includes a protective component and a transmission component; the protective component includes a circular plate, which is fixedly sleeved on the upper outer side of the fourth connecting pipe. A corrugated pipe is fixedly connected to the bottom of the circular plate, and a lower fixing ring is fixedly connected to the bottom end of the corrugated pipe. An oil receiving cylinder is provided at the bottom of the lower fixing ring. A receiving shell is fixedly connected to the top of the circular plate. An electric cylinder and a vertical sliding rod are provided inside the receiving shell. The cylinder body of the electric cylinder is fixedly connected to the circular plate through the circular plate. The vertical sliding rod is slidably connected to the circular plate through the circular plate vertically. The top end of the vertical sliding rod is fixedly connected to the telescopic end of the electric cylinder, and the bottom end of the vertical sliding rod is fixedly connected to the top of the lower fixing ring. The transmission component includes a vertical tube, which is disposed inside the housing and its bottom end is fixedly connected to the top of the circular plate. The side wall of the vertical tube is provided with a spiral guide groove and a vertical guide groove. The top end of the spiral guide groove is connected to the bottom end of the vertical guide groove, and the connection is treated with a rounded corner. A vertical rod is coaxially disposed on the inner side of the vertical tube. A horizontally disposed guide roller is rotatably connected to one side of the top end of the vertical rod. The bottom end of the vertical rod passes through the circular plate and the lower fixing ring in sequence and is fixedly connected to the top of the oil receiving cylinder. A through hole is vertically opened on the circular plate for the vertical rod to move through. The vertical rod is rotatably connected to the lower fixing ring. The draining unit includes a draining component and a receiving component; the draining component includes a first drain pipe, which is fixedly connected to the bottom end of the oil receiving cylinder, and the outlet end of the first drain pipe is fixedly connected to a valve housing. The lower part of the valve housing is fixedly connected to a drain pipe that communicates with its interior. The inlet end of the drain pipe is directly opposite to the outlet end of the first drain pipe. The inner side of the valve housing is sealed and slidably connected to a valve core that is adapted to the inner cavity of the valve housing. A vertical through hole is provided on the valve core. A first spring is provided inside the valve housing. One end of the first spring is fixedly connected to the inner wall of the valve housing, and the other end of the first spring is fixedly connected to one end of the valve core. The liquid receiving component includes a connecting rod, one end of which is fixedly connected to the outer wall of the lower fixing ring, and the other end of which is fixedly connected to a liquid receiving tank. The top of the liquid receiving tank is open, and a clearance opening is provided on one side of the liquid receiving tank. A push rod is fixedly connected to the inner wall of the liquid receiving tank opposite to the clearance opening. The push rod is correspondingly arranged with the valve core. An L-shaped cover plate is fixedly connected to the outer side of the first drain pipe and the valve housing. A second drain pipe is fixedly connected to the bottom of the liquid receiving tank. A flexible hose is connected to the bottom of the second drain pipe. The bottom of the flexible hose is connected to a liquid storage tank through a pipe.

2. The cantilevered full-automatic intelligent loading and unloading vehicle crane according to claim 1, characterized in that, The assembly / disassembly unit includes a connecting component and a locking component; the connecting component includes an upper connecting block, a lower connecting block is provided at the bottom of the upper connecting block, the top of the upper connecting block is fixedly connected to the output end of the robotic arm, the bottom of the lower connecting block is fixedly connected to the upper outer wall of the fourth connecting pipe, vertical insertion posts are fixedly connected to the four corners of the top of the lower connecting block, vertical insertion holes corresponding to and adapted to the vertical insertion posts are opened at the four corners of the bottom of the upper connecting block, the vertical insertion posts are inserted into the corresponding vertical insertion holes, vertical fixing posts are fixedly connected to the top of the lower connecting block, at least two vertical fixing posts are provided, a groove is opened on the outer side of the vertical fixing posts, and vertical through holes corresponding to and adapted to the vertical fixing posts are opened on the bottom of the upper connecting block.

3. The cantilevered fully automatic intelligent loading and unloading arm according to claim 2, characterized in that, The locking component includes a mounting cavity located inside the upper connecting block. The vertical through hole communicates with the interior of the mounting cavity. A retaining seat is provided on the inner side of the mounting cavity. An arc-shaped protrusion is provided on one side of the retaining seat, and the arc-shaped protrusion and the groove are correspondingly and compatible. A pressing crossbar is fixedly connected to the middle of one side of the retaining seat. One end of the pressing crossbar slides through the side wall of the upper connecting block and extends to the outside. A second spring is fixedly connected to the side of the retaining seat away from the pressing crossbar. One end of the second spring is fixedly connected to the inner side wall of the mounting cavity. Two sliders are symmetrically fixedly connected to both sides of the retaining seat. Sliding grooves matching the sliders are provided on both sides of the interior of the mounting cavity, and the sliders are slidably connected in the corresponding sliding grooves.

4. The cantilevered fully automatic intelligent loading and unloading arm according to claim 1, characterized in that, Both the spiral guide groove and the vertical guide groove are adapted to the guide roller, and the guide roller is rotatably disposed within the spiral guide groove and the vertical guide groove.

5. The cantilevered fully automatic intelligent loading and unloading arm according to claim 1, characterized in that, The pipe assembly includes a first pipe body, a second pipe body, and a third pipe body. The first pipe body is rotatably connected to a support frame. One end of the first pipe body is connected to one end of the second pipe body via a rotary joint. The other end of the second pipe body is connected to one end of the third pipe body via a rotary joint. The other end of the third pipe body is connected to the top end of a fourth connecting pipe via a rotary joint.

6. The cantilevered fully automatic intelligent loading and unloading arm according to claim 1, characterized in that, A conical plug is fixedly fitted on the upper outer side of the loading arm's vertical tube.

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