A super-large-caliber loading and unloading mechanical arm

Abstract

The application discloses a super-large-caliber loading and unloading mechanical arm and relates to the technical field of loading and unloading arms. The super-large-caliber loading and unloading mechanical arm comprises a column top hinged inner arm and outer arm, a centering and tensioning component with a fixed disc, a centering sliding groove, a centering rod, a rotating disc and a centering and merging assembly arranged at a docking end of the outer arm, an emergency rotating and separating component with a rack, a gear slot and a hinged and separated assembly, and three auxiliary icebreaking components. When the flanges are docked, the rotating disc drives the three centering rods to contract and center towards the center through the centering sliding groove, the tensioning blocks generate axial tension to force alignment after being slid into the tensioning sliding groove, the rack drives the centering rod to rotate by 180 degrees, and the tensioning blocks are turned from outward to inward to be ready for tensioning. When a storm occurs, the rack is reversely driven by the driving push rod to trigger the tensioning blocks to turn from inward to outward to release the extrusion and separate urgently. When low-temperature conveying causes the flanges to be adhered, the inclined surface insertion rod is inserted into the gap between the flanges to generate a vertical separating force, the frozen adhesion is overcome to ensure separation, and the docking accuracy and safety are ensured.

Description

Technical Field

[0001] This invention relates to the field of loading and unloading arm technology, specifically to an ultra-large diameter loading and unloading robotic arm. Background Technology

[0002] With the development of automation technology in marine engineering equipment, the need for automatic docking of ultra-large diameter loading and unloading arms with ship flanges is becoming increasingly urgent in scenarios such as oil and gas transportation and LNG loading and unloading. Traditional docking methods rely on manual operation or mechanical positioning devices in static environments to achieve flange alignment through fixed guide structures or operator visual calibration. However, manual operation relies on operator experience, and repeated manual adjustments result in a large amount of time being spent on each docking. In addition, operators need to board the ship to work, which poses safety risks such as falls and collisions, and cannot meet the modern demand for efficient and safe operations.

[0003] To overcome the drawbacks of manual operation, existing technologies have developed automated docking solutions. The typical process is as follows: First, the spatial coordinates of the receiving flange of the loading arm and the flange of the ship are determined by the satellite positioning module. After the coordinates of both flanges are determined, the receiving flange automatically moves closer to the ship flange. At the same time, multiple distance sensors are evenly distributed on the end face of the receiving flange. When the two flanges approach the working range of the distance sensors, the system determines whether the flange docking is in place based on whether each sensor is triggered. The receiving flange of the loading arm makes a fine adjustment in the direction of the untriggered sensor until all sensors are blocked, which means that the two flanges are in the center state. Then, the gripping mechanism is activated to complete the docking and locking.

[0004] However, during the approach and docking process, the ship is constantly in a state of free-motion due to wind, waves, tides, and loading and unloading operations. Although the refresh frequency of the satellite positioning module is sufficient relative to the frequency of the ship's movement, signal transmission delays and obstructions from dock facilities (such as the loading and unloading arms themselves and the ship's superstructure) can cause coordinate data jumps or losses. This can lead to misalignment when the receiving flange tracks the ship's flange, affecting docking efficiency. Furthermore, the distance sensor can only detect the vertical approach distance and cannot detect the radial misalignment. During the ship's movement, a false docking situation may occur where "all sensors are blocked but the two flanges are not coaxial"—for example, the ship's flange is tilted and pressing against the receiving flange, triggering the sensor due to the pressure, but in reality, there is a significant radial deviation between the centerlines of the two flanges, making it difficult to guarantee docking accuracy. Summary of the Invention

[0005] The purpose of this invention is to provide an ultra-large diameter loading and unloading robotic arm to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an ultra-large diameter loading and unloading robotic arm, comprising a column, an inner arm rotatably mounted on one side of the top of the column, an outer arm rotatably mounted on the other end of the inner arm, and a ship receiving flange mounted on the docking end of the outer arm. The outer wall of the docking end of the outer arm is provided with a centering and tensioning component. The centering and tensioning component includes a fixed plate fixedly connected to the outer wall of the docking end of the outer arm. The end face of the fixed plate is provided with centering grooves at equal intervals. Centering rods are slidably connected to the inner walls of the three centering grooves. A rotating disk is rotatably connected to the outer wall of the docking end of the outer arm. A centering and merging assembly is provided on the outer wall of the docking end of the outer arm. During the docking process, the three centering rods first move synchronously inward to retract and align the flanges of both sides through the centering and merging assembly, and then move synchronously axially to merge and fit the flanges of both sides. The outer wall of the docking end of the outer arm is provided with a rapid rotation release component, which includes three racks that are slidably connected to the end face of the rotating disk. The outer wall of one end of the centering rod is provided with a tooth groove corresponding to the rack. The outer wall of the docking end of the outer arm is provided with a hinge release assembly so that during the fluid transport process, the three centering rods can directly rotate in the opposite direction through the hinge release assembly, directly releasing the pressure on the back of the ship flange. The end face of the fixed plate is also provided with three auxiliary ice-breaking components.

[0007] Preferably, the centering and merging component includes: A gear ring is fixedly connected to the end face of the rotating disk facing the fixed disk. A drive motor is fixedly installed on the outer wall of the docking end of the outer arm, and a drive gear is fixedly connected to the output shaft of one end of the drive motor. The outer wall of the drive gear meshes with the inner wall of the gear ring for transmission. Limiting grooves are opened through the end face of the rotating disk at equal intervals. The outer wall of the centering rod is in contact with the inner wall of the limiting groove and is slidably connected.

[0008] Preferably, the end face of the fixed plate is provided with tensioning grooves at equal intervals, the inner walls of the three tensioning grooves are respectively connected and matched with the three centering grooves, the outer wall of the centering rod is fixedly connected with a sliding ball, the end face of the fixed plate facing the rotating plate is fixedly connected with an inclined slide, and the front end of the centering rod is fixedly connected with a tensioning block.

[0009] Preferably, a spring is sleeved on the outer wall of the centering rod, an auxiliary ring is fixedly connected to one end of the spring, one end face of the auxiliary ring is pressed and fitted against one end face of the rotating disk, and the other end of the spring is pressed and fitted against the outer wall of the slider.

[0010] Preferably, the hinge disengagement assembly includes: Three slide rods are fixedly connected to the end face of the rotating disk away from the fixed disk. The inner wall of the rack is in contact with the outer wall of the slide rod and is slidably connected. One side of the rack is engaged with the inner wall of the tooth groove for transmission. A sliding disk is slidably connected to the outer wall of the docking end of the outer arm.

[0011] Preferably, drive push rods are installed at equal intervals on one end face of the rotating disk facing the sliding disk, one end of the drive push rod is fixedly connected to one end face of the sliding disk, and connecting rods are hinged at equal intervals on the outer wall of the sliding disk, and the other end of the connecting rod is hinged to the outer wall of the rack.

[0012] Preferably, the auxiliary ice-breaking component includes three mounting blocks fixedly connected to the end face of the fixed disk away from the rotating disk, and inclined rods are slidably connected to the inner wall of the mounting blocks. The ends of the three inclined rods that are close to each other are inclined, and the outer walls of the ends of the three inclined rods that are far apart are provided with movable grooves. The inner wall of the movable groove is slidably connected to a first fixed rod, and a second fixed rod is fixedly connected to the bottom of one end of the first fixed rod. The bottom of the second fixed rod is fixedly connected to the outer wall of the sliding disk.

[0013] Preferably, a second spring is fixedly connected to the inner wall of the movable groove, the bottom of the second spring is pressed against the upper surface of the first fixed rod, and the other end of the first fixed rod is fixedly connected to a pressing wedge block corresponding to the movable groove.

[0014] Compared with the prior art, the beneficial effects of the present invention are: 1. During flange docking, the three centering rods are extended outwards, allowing them to surround the outer perimeter of the ship's flange. The turntable has three centering grooves. As the turntable rotates, these grooves drive the three centering rods to synchronously contract towards the center, guiding the position of the receiving ship's flange and ensuring forced alignment. Then, the centering rods slide out of the centering grooves and enter the tensioning grooves. The trajectory design of the tensioning grooves converts the radial movement of the centering rods into axial movement, generating uniform axial tension through the tensioning blocks, ensuring a tight fit between the two flanges. This achieves the effect of centering first and then tensioning, unaffected by wind, waves, or signal interference, thus guaranteeing the docking accuracy of the robotic arm.

[0015] 2. During flange docking, before the forced alignment action, the three tensioning blocks face outwards, facilitating the outward extension of the centering rods to cover the outside of the ship's flange. During forced alignment, the rack drives the three centering rods to rotate 180 degrees synchronously, causing the tensioning blocks to turn from facing outwards to facing inwards. At this time, the inner side of the tensioning blocks faces the back of the ship's flange, preparing for subsequent tensioning. During fluid transfer, if unexpected situations such as sudden storms, abnormal ship drift, or fire occur, the drive push rod triggers the rack to reverse drive, causing the three centering rods to rotate in the opposite direction, causing the tensioning blocks to directly turn from facing inwards to facing outwards. The pressure on the back of the ship's flange immediately disappears, and the loading and unloading arm can quickly swing open and detach without going through a complete reverse process, thus ensuring the safety of this robotic arm.

[0016] 3. During flange docking, in emergency separation, the temperature of the transported medium in LNG loading and unloading operations is -162°C. This extreme low temperature can cause ice crystals to condense, causing the two flanges to stick together and generating additional resistance to separation. To avoid affecting the emergency separation, the push rod synchronously drives the squeezing wedge to squeeze the inclined insertion rod downward. This allows the rod to insert into the tiny gap between the connecting end faces of the ship flange and the receiving flange when the tensioning block separates from the ship flange. This generates a separation force perpendicular to the flange end face, helping to overcome the freezing and adhesion caused by the low temperature, allowing the two flanges to separate quickly, thus ensuring the safety of the robotic arm. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the front structure of the receiving flange of the entire invention; Figure 3 This is a schematic diagram of the rear structure of the receiving flange of the entire invention; Figure 4 This is a schematic diagram illustrating the kinematic relationship between the centering rod and the fixed disk in this invention. Figure 5 This is a schematic diagram illustrating the kinematic relationship between the centering rod and the rotating disk in this invention. Figure 6 This is a structural schematic diagram of the connection position between the rack and the tooth groove of the present invention; Figure 7 This is a schematic diagram illustrating the kinematic relationship between the fixed rod and the movable groove of the present invention.

[0018] In the diagram: 1. Column; 2. Inner arm; 3. Outer arm; 4. Ship receiving flange; 5. Centering and tensioning components; 501. Fixed plate; 502. Centering groove; 503. Centering rod; 504. Rotating plate; 505. Gear ring; 506. Drive motor; 507. Drive gear; 508. Limiting groove; 509. Tensioning groove; 510. Sliding ball; 511. Inclined slide; 512. Tensioning block; 513. 514. Spring 1; 6. Auxiliary ring; 7. Rapid rotation release component; 601. Rack; 602. Tooth groove; 603. Slide rod; 604. Sliding disc; 605. Drive push rod; 606. Connecting rod; 7. Auxiliary ice-breaking component; 701. Mounting block; 702. Inclined insert rod; 703. Movable groove; 704. Fixed rod 1; 705. Fixed rod 2; 706. Spring 2; 707. Extrusion inclined block. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Example 1, please refer to Figures 1-7 The present invention provides a technical solution: an ultra-large diameter loading and unloading robotic arm, including a column 1, an inner arm 2 rotatably mounted on one side of the top of the column 1, an outer arm 3 rotatably mounted on the other end of the inner arm 2, and a ship receiving flange 4 mounted on the docking end of the outer arm 3.

[0021] The outer wall of the docking end of the outer arm 3 is provided with a centering and tensioning component 5. The centering and tensioning component 5 includes a fixed plate 501 fixedly connected to the outer wall of the docking end of the outer arm 3. The end face of the fixed plate 501 is provided with centering grooves 502 at equal intervals. The inner walls of the three centering grooves 502 are respectively slidably connected with centering rods 503. The outer wall of the docking end of the outer arm 3 is rotatably connected with a rotating disk 504. The outer wall of the docking end of the outer arm 3 is provided with a centering and merging assembly.

[0022] In this embodiment, when the loading and unloading robotic arm is in use, the spatial coordinates of the receiving flange 4 and the ship flange are first determined by the satellite positioning module. After the coordinates of both flanges are determined, the receiving flange 4 automatically moves closer to the ship flange until the three centering rods 503 in the extended state surround the outer perimeter of the ship flange. Then, the three centering rods 503 first move synchronously in a centripetal contraction motion through the centering merging component, so that the receiving flange 4 is guided by the centripetal contraction of the centering rods 503, so that it maintains an alignment with the ship flange in the subsequent docking process. Then, they move synchronously axially to merge and fit the two flanges together, thereby achieving the effect of centering first and then tightening, which is not affected by wind, waves, or signal interference, thus ensuring the docking accuracy of the robotic arm.

[0023] Furthermore, the centering and merging components include: A gear ring 505 is fixedly connected to the end face of the rotating disk 504 facing the fixed disk 501. A drive motor 506 is fixedly installed on the outer wall of the docking end of the outer arm 3. A drive gear 507 is fixedly connected to the output shaft of the drive motor 506. The outer wall of the drive gear 507 meshes with the inner wall of the gear ring 505 for transmission. Limiting grooves 508 are opened through the end face of the rotating disk 504 at equal intervals. The outer wall of the centering rod 503 is in contact with the inner wall of the limiting groove 508 and is slidably connected.

[0024] Specifically, when the three centering rods 503 in their extended positions surround the outer perimeter of the ship flange, the drive motor 506 drives the drive gear 507 to rotate, thereby synchronously driving the rotating disk 504 located at the docking end of the outer arm 3 to rotate. Then, centering grooves 502 are equally spaced through the end face of the fixed disk 501, and the centering rods 503 are slidably connected to the inner walls of the three centering grooves 502 respectively. Limiting grooves 508 are equally spaced through the end face of the rotating disk 504, and the outer walls of the centering rods 503... The limiting groove 508 is slidably connected to the inner wall of the limiting groove 508, so that the centering rod 503 can be supported and restricted in the horizontal and vertical directions through the cooperation of the limiting groove 508 and the centering slide 502. When the rotating disk 504 rotates, the limiting groove 508 can drive the centering rod 503 to slide on the centering slide 502. In turn, the three centering slides 502 are curved inward, which drives the three centering rods 503 to move in a concentric direction, guiding and maintaining the forced alignment between the receiving flange 4 and the ship flange.

[0025] Furthermore, tensioning grooves 509 are evenly spaced through the end face of the fixed plate 501. The inner walls of the three tensioning grooves 509 are respectively connected and matched with the three centering grooves 502. A sliding ball 510 is fixedly connected to the outer wall of the centering rod 503. An inclined slide 511 is fixedly connected to one end face of the fixed plate 501 facing the rotating plate 504. A tensioning block 512 is fixedly connected to the front end of the centering rod 503.

[0026] A spring 513 is sleeved on the outer wall of the centering rod 503. An auxiliary ring 514 is fixedly connected to one end of the spring 513. One end face of the auxiliary ring 514 is pressed and adhered to one end face of the rotating disk 504. The other end of the spring 513 is pressed and adhered to the outer wall of the slider 510.

[0027] Specifically, when the three centering rods 503 slide to the end of the centering groove 502, the alignment of the two flanges is completed. At this time, tensioning grooves 509 are evenly spaced through the end face of the fixed plate 501. The inner walls of the three tensioning grooves 509 are connected and matched with the three centering grooves 502, and the inner walls of the tensioning grooves 509 are in the same arc shape as the outer diameter of the receiving flange 4. Thus, after the centering rods 503 slide into the tensioning grooves 509, the alignment of the two flanges can be maintained. Then, a sliding ball 510 is fixedly connected to the outer wall of the centering rod 503, and an inclined ball is fixedly connected to the end face of the fixed plate 501 facing the rotating plate 504. The front end of the centering rod 503 is fixedly connected to the sliding track 511 and the tension block 512. When the centering rod 503 slides in the tension groove 509, the three centering rods 503 can move axially towards the receiving flange 4 through the cooperation of the ball 510 and the inclined sliding track 511. Then, the tension block 512 generates a uniform axial tension, making the two flanges fit tightly together. Then, one end face of the auxiliary ring 514 is pressed and fitted with one end face of the rotating disk 504, and the other end of the spring 513 is pressed and fitted with the outer wall of the ball 510. Thus, the axial reset capability of the centering rod 503 can be achieved by the spring 513.

[0028] In Example 2, based on the above examples, the outer wall of the docking end of the outer arm 3 is provided with a rapid rotation release component 6.

[0029] Furthermore, the rapid rotation release component 6 includes three racks 601 that are slidably connected to the end face of the rotating disk 504. A toothed groove 602 is provided on the outer wall of one end of the centering rod 503 corresponding to the rack 601. A hinge release component is provided on the outer wall of the docking end of the outer arm 3.

[0030] In this embodiment, before the forced alignment action, the three tensioning blocks 512 are in an outward-facing state, which facilitates the centering rod 503 covering the outside of the ship flange when it is extended. During the forced alignment process, through the cooperation of the toothed groove 602 and the rack 601, the three centering rods 503 can rotate 180 degrees synchronously when they retract inward, so that the tensioning blocks 512 turn from outward to inward. At this time, the inner side of the tensioning blocks 512 faces the back of the ship flange, which is ready for subsequent tensioning. In the event of a sudden storm, abnormal ship drift, fire or other unexpected situation during fluid transportation, the three centering rods 503 can directly rotate in the opposite direction through the hinged release assembly, directly releasing the pressure on the back of the ship flange without going through the complete reverse process of release, i.e., the process of centripetal tensioning, thereby ensuring the safety of the use of this robotic arm.

[0031] Furthermore, the hinge disengagement assembly includes: Three slide rods 603 are fixedly connected to the end face of the rotating disk 504 away from the fixed disk 501. The inner wall of the rack 601 is in contact with the outer wall of the slide rod 603 and is slidably connected. One side of the rack 601 is engaged with the inner wall of the tooth groove 602 for transmission. The outer wall of the docking end of the outer arm 3 is slidably connected to the sliding disk 604.

[0032] Drive push rods 605 are installed at equal intervals on one end face of the rotating disk 504 facing the sliding disk 604. One end of the drive push rod 605 is fixedly connected to one end face of the sliding disk 604. Connecting rods 606 are hinged at equal intervals on the outer wall of the sliding disk 604, and the other end of the connecting rod 606 is hinged to the outer wall of the rack 601.

[0033] Specifically, under normal circumstances, the inner wall of the rack 601 slides against the outer wall of the slide bar 603, thus supporting and restricting the sliding direction of the rack 601. Then, drive push rods 605 are installed at equal intervals on one end face of the rotating disk 504 facing the sliding disk 604. One end of the drive push rod 605 is fixedly connected to one end face of the sliding disk 604. Connecting rods 606 are hinged at equal intervals on the outer wall of the sliding disk 604, and the other end of the connecting rods 606 is hinged to the outer wall of the rack 601. Thus, in an emergency, the drive push rod 605 drives the sliding disk 604 to slide away from the rotating disk 504, thereby driving the three racks 601 to move closer to each other through the connecting rods 606. At this time, the centering rod 503, which is in the centering docking stage, will directly rotate 180 degrees in the opposite direction, causing the tensioning block 512 to turn directly from facing inward to facing outward. The pressure on the back of the ship flange immediately disappears, and the loading and unloading arm can be quickly swung open and detached.

[0034] In Example 3, based on the above examples, the end face of the fixed disk 501 is further provided with three auxiliary ice-breaking components 7.

[0035] Furthermore, the auxiliary ice-breaking component 7 includes three mounting blocks 701 fixedly connected to the end face of the fixed disk 501 away from the rotating disk 504, and inclined rods 702 are slidably connected to the inner wall of the mounting block 701. The ends of the three inclined rods 702 that are close to each other are inclined, and the outer wall of the ends of the three inclined rods 702 that are far apart is provided with a movable groove 703. The inner wall of the movable groove 703 is slidably connected to a first fixed rod 704, and a second fixed rod 705 is fixedly connected to the bottom of one end of the first fixed rod 704. The bottom of the second fixed rod 705 is fixedly connected to the outer wall of the sliding disk 604.

[0036] A second spring 706 is fixedly connected to the inner wall of the movable groove 703. The bottom of the second spring 706 is pressed against the upper surface of the first fixed rod 704. The other end of the first fixed rod 704 is fixedly connected to the bottom of the movable groove 703 with a pressing inclined block 707.

[0037] In this embodiment, during LNG loading and unloading operations, the temperature of the transported medium is -162°C. This extreme low temperature causes ice crystals to condense, causing the two flanges to stick together and generating additional resistance to detachment. To avoid affecting emergency detachment, inclined rods 702 are slidably connected to the inner wall of the mounting block 701. A movable groove 703 is formed through the outer wall of the three inclined rods 702 at their far ends. A fixed rod 704 is slidably connected to the inner wall of the movable groove 703, and a fixed rod 705 is fixedly connected to the bottom of one end of the fixed rod 704. The bottom of the fixed rod 705 is fixedly connected to the outer wall of the sliding disc 604. Thus, during emergency detachment, the sliding disc 604 will simultaneously drive the fixed rod 704 to slide via the fixed rod 705. A spring 706 is then fixedly connected to the inner wall of the movable groove 703. The compression mechanism is located on the upper surface of the fixed rod 704. The bottom of the other end of the fixed rod 704 is fixedly connected to the compression wedge 707 corresponding to the movable groove 703. The ends of the three inclined rods 702 that are close to each other are inclined. Under normal conditions, the three inclined rods 702 are in a state of mutual outward contraction under the elastic force of the spring 706. When the fixed rod 704 slides, the compression wedge 707 will compress the movable groove 703, causing the three inclined rods 702 to move closer to each other synchronously. This allows them to insert into the tiny gap between the connecting end faces of the ship flange and the receiving flange 4 when the tensioning block 512 is in emergency contact with the ship flange, generating a separation force perpendicular to the flange end face. This helps to overcome the freezing and adhesion caused by low temperature, allowing the two flanges to separate quickly, thus ensuring the safety of the robotic arm.

[0038] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A large-diameter loading and unloading robotic arm, comprising a column (1), characterized in that: An inner arm (2) is rotatably installed on one side of the top of the column (1), and an outer arm (3) is rotatably installed on the other end of the inner arm (2). A ship receiving flange (4) is installed at the docking end of the outer arm (3). The outer wall of the docking end of the outer arm (3) is provided with a centering tensioning component (5). The centering tensioning component (5) includes a fixed plate (501) fixedly connected to the outer wall of the docking end of the outer arm (3). The end face of the fixed plate (501) is provided with centering grooves (502) at equal intervals. The inner walls of the three centering grooves (502) are respectively slidably connected with centering rods (503). The outer wall of the docking end of the outer arm (3) is rotatably connected with a rotating disk (504). The outer wall of the docking end of the outer arm (3) is provided with a centering merging component. During the docking process, the three centering rods (503) first move synchronously inward to align the flanges of both sides through the centering merging component, and then move synchronously axially to merge and fit the flanges of both sides. The outer wall of the docking end of the outer arm (3) is provided with a rapid rotation release component (6). The rapid rotation release component (6) includes three racks (601) that are slidably connected to the end face of the rotating disk (504). The outer wall of one end of the centering rod (503) is provided with a tooth groove (602) corresponding to the rack (601). The outer wall of the docking end of the outer arm (3) is provided with a hinge release assembly so that during the fluid transport process, the three centering rods (503) can directly rotate in the opposite direction through the hinge release assembly to directly release the pressure on the back of the ship flange. The end face of the fixed plate (501) is also provided with three auxiliary ice-breaking components (7).

2. The ultra-large diameter loading and unloading robotic arm according to claim 1, characterized in that, The centering and merging component includes: A gear ring (505) is fixedly connected to one end face of the rotating disk (504) facing the fixed disk (501). A drive motor (506) is fixedly installed on the outer wall of the docking end of the outer arm (3), and a drive gear (507) is fixedly connected to one end output shaft of the drive motor (506). The outer wall of the drive gear (507) meshes with the inner wall of the gear ring (505) for transmission. Limiting grooves (508) are opened through the end face of the rotating disk (504) at equal intervals. The outer wall of the centering rod (503) is in contact with the inner wall of the limiting groove (508) and slides.

3. The ultra-large diameter loading and unloading robotic arm according to claim 2, characterized in that, The end face of the fixed plate (501) is provided with tensioning grooves (509) at equal intervals. The inner walls of the three tensioning grooves (509) are respectively connected and matched with the three centering grooves (502). The outer wall of the centering rod (503) is fixedly connected with a sliding ball (510). The end face of the fixed plate (501) facing the rotating plate (504) is fixedly connected with an inclined slide (511). The front end of the centering rod (503) is fixedly connected with a tensioning block (512).

4. The ultra-large diameter loading and unloading robotic arm according to claim 3, characterized in that, The outer wall of the centering rod (503) is fitted with a spring (513), and an auxiliary ring (514) is fixedly connected to one end of the spring (513). One end face of the auxiliary ring (514) is pressed against one end face of the rotating disk (504), and the other end of the spring (513) is pressed against the outer wall of the slider (510).

5. The ultra-large diameter loading and unloading robotic arm according to claim 1, characterized in that, The hinge disengagement assembly includes: Three slide rods (603) are fixedly connected to the end face of the rotating disk (504) away from the fixed disk (501). The inner wall of the rack (601) is in contact with the outer wall of the slide rod (603) and is slidably connected. One side of the rack (601) is engaged with the inner wall of the tooth groove (602) for transmission. The outer wall of the docking end of the outer arm (3) is slidably connected to the sliding disk (604).

6. The ultra-large diameter loading and unloading robotic arm according to claim 5, characterized in that, The rotating disk (504) has drive push rods (605) installed at equal distances on one end face of the sliding disk (604). One end of the drive push rod (605) is fixedly connected to one end face of the sliding disk (604). The outer wall of the sliding disk (604) is hinged with connecting rods (606) at equal distances, and the other end of the connecting rod (606) is hinged to the outer wall of the rack (601).

7. The ultra-large diameter loading and unloading robotic arm according to claim 1, characterized in that, The auxiliary ice-breaking component (7) includes three mounting blocks (701) fixedly connected to the end face of the fixed disk (501) away from the rotating disk (504), and the inner wall of the mounting block (701) is slidably connected to the inclined rod (702). The ends of the three inclined rods (702) that are close to each other are inclined, and the outer wall of the ends of the three inclined rods (702) that are far apart is provided with a movable groove (703). The inner wall of the movable groove (703) is slidably connected to a fixed rod one (704), and the bottom of one end of the fixed rod one (704) is fixedly connected to a fixed rod two (705). The bottom of the fixed rod two (705) is fixedly connected to the outer wall of the sliding disk (604).

8. The ultra-large diameter loading and unloading robotic arm according to claim 7, characterized in that, The inner wall of the movable groove (703) is fixedly connected to a second spring (706), the bottom of the second spring (706) is pressed against the upper surface of the first fixed rod (704), and the bottom of the other end of the first fixed rod (704) is fixedly connected to a pressing inclined block (707) corresponding to the movable groove (703).

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