Full-automatic alignment crane pipe system for liquid loading and unloading

Abstract

The utility model discloses a full-automatic alignment crane pipe system for loading and unloading liquid, which comprises an automatic alignment crane pipe, the lower end of the automatic alignment crane pipe is fixedly connected with a mounting platform, the upper end of the mounting platform is fixedly connected with a control cabinet, and one side of the mounting platform is provided with a tank car; the system is high in automation degree, high in universality, easy and convenient to operate and low in cost, the labor intensity of operators is greatly reduced, the crane pipe butt joint precision and efficiency are improved, and the safety of production operation is also improved by reducing manual intervention; the laser distance measuring sensor is mature in technology, stable in performance, basically not affected by light rays and capable of working in the daytime and at night. As the sensor moves along with the crane pipe, the whole scheme is compact in structure and convenient to install, no additional auxiliary structure is arranged outside the crane pipe, a camera support does not need to be erected in high altitude independently, and occupied space is small.

Description

TECHNICAL FIELD

[0001] The utility model relates to liquid loading and unloading technical field, especially relate to a full -automatic alignment crane pipe system for liquid loading and unloading. BACKGROUND

[0002] Petroleum, chemical raw materials are widely used in inland transportation tank truck filling transportation, filling process involves the loading and unloading of materials, usually need to use crane pipe equipment and tank truck butt joint, the traditional butt joint mode mostly relies on manual operation. With top loading as an example, the operator first moves the crane pipe to the top of the tank truck through push-pull action, and then inserts the vertical pipe at the end of the crane pipe into the tank opening. For the case of requiring closed loading, the sealing cover or sealing device needs to be clamped on the tank opening, and then the pump valve is opened to enter the loading link. After loading is completed, the vertical pipe and sealing cover need to be lifted manually again, and the crane pipe is reset to the parking position. This operation method requires the operator to operate the crane pipe between the trestle and the tank truck, which not only has high labor intensity, but also increases the probability and length of contact with liquid or gas medium, especially for flammable and explosive, toxic and harmful chemicals, which also increases the risk of combustion, explosion and poisoning. At the same time, since the top of the tank truck is generally more than 3 meters from the ground, especially in open air and rainy and snowy weather, it is easy to cause high-altitude falling accidents. Therefore, it is of great significance to develop a crane pipe that can automatically align the tank opening.

[0003] Chinese patent discloses "a crane pipe automatic alignment system based on laser position sensor", the application number is "CN202210220327.4", the system can be divided into detection system and control system two subsystems. In the detection system, first, a tank opening detection system based on three main laser transmitters, a vice laser transmitter and a laser receiver is established. Then the distance from the main laser transmitter to the receiver is taken as the radius, three spherical surfaces are established in space, and the two intersection points of the three spherical surfaces are calculated by using the three-ball positioning principle. Finally, the real tank opening coordinates are verified by using the vice laser transmitter. Since this technical solution introduces four laser transmitters and a laser receiver, the manufacturing and maintenance costs are relatively high. As for the control system, inverse kinematics equation is needed to calculate the expected angle of each joint, and a controller based on non-singular fast terminal sliding mode is designed. Finally, the stability of the system is verified by using Lyapunov second method and simulated by using Matlab, and the overall algorithm is also relatively complex.

[0004] A Chinese patent discloses "a kind of full-automatic fluid loading and unloading crane pipe", its application number is "CN202321041107.1", including crane pipe body, traction mechanism, the traction mechanism includes a rotary beam and a traction frame that can be axially translated along the rotary beam, the traction frame is connected with the vertical lifting mechanism that guide vertical pipe vertical movement downwards, between lifting mechanism and the vertical pipe of crane pipe body is equipped with follow-up connecting device, visual camera and laser radar are fixed on the traction mechanism. The technical scheme is due to increase the traction mechanism outside the crane pipe, and the structure is complex, occupies large space, in addition, it uses visual camera and laser radar double sensors, whether from manufacturing cost, maintenance cost, or installation space, there is certain limitation. SUMMARY

[0005] The utility model discloses the purpose is at least one of the technical problems existing in prior art, provide a kind of full-automatic alignment crane pipe system for liquid loading and unloading, it is high in degree of automation, strong universality, easy to operate, low in cost, greatly reduce the labor intensity of operator, improve the crane pipe butt joint precision and efficiency, also increase the safety of production operation by reducing manual intervention;Laser ranging sensor technology is mature, stable in performance, is not affected by light, can work in day and night;Since sensor moves along with crane pipe, overall scheme structure is compact, easy to install, no additional auxiliary structure outside crane pipe, need not to erect camera support alone in high altitude, small space occupation.

[0006] The utility model discloses still provide with above-mentioned one kind for liquid loading and unloading's full-automatic alignment crane pipe system, it include: automatic alignment crane pipe, the lower end of automatic alignment crane pipe is fixedly connected with installation platform, the upper end of installation platform is provided with control cabinet, the side of installation platform is provided with tank car;Supporting column, the upper end of installation platform is fixedly connected with supporting column, the side end of supporting column is fixedly connected with anti-overflow alarm, the side end of supporting column is fixedly connected with first joint drive, the first joint drive is provided with interface, the second joint drive is rotatably connected with the first joint drive through inner arm, the second joint drive is fixedly connected with third joint drive;Vertical pipe, the upper end of vertical pipe is rotatably connected with third joint drive through vertical pipe vertical adjusting connecting rod, the upper end of vertical pipe is rotatably connected with third joint drive through outer arm, the outer arm is fixedly connected with third joint drive through outer arm balance cylinder.

[0007] According to the full-automatic alignment crane pipe system for liquid loading and unloading, the upper end of the tank car is fixedly connected with the liquid tank, the upper end of the liquid tank is provided with the filling port, and the filling port is rotatably connected with the sealing cover. The loading and unloading of the liquid are facilitated.

[0008] The utility model relates to a full automatic alignment crane pipe system for liquid loading and unloading, the upper end of the installation platform is rotatably connected with a boarding ladder, the boarding ladder abuts against the upper end of the liquid tank.

[0009] The utility model relates to a full automatic alignment crane pipe system for liquid loading and unloading, the side end of the inner arm is provided with a purge control valve. It is convenient to destroy the vacuum in the pipeline after loading is completed, and it is convenient to purge the residual medium in the crane pipe.

[0010] The utility model relates to a full automatic alignment crane pipe system for liquid loading and unloading, the upper end of the vertical pipe is fixedly connected with a leveling mechanism, and the leveling mechanism is provided with a laser ranging sensor. It is convenient to adjust the working angle of the laser sensor, and it is favorable to reduce the measurement error.

[0011] The utility model relates to a full automatic alignment crane pipe system for liquid loading and unloading, the side end of the vertical pipe is provided with a depth detection limiting mechanism, a second detection proximity switch and a third detection proximity switch, and the lower end of the vertical pipe is provided with a vertical pipe collision detection mechanism. It prevents the crane pipe from colliding with the tank opening edge during the vertical pipe descending process due to the positioning deviation.

[0012] The utility model relates to a full automatic alignment crane pipe system for liquid loading and unloading, the side end of the vertical pipe is fixedly connected with a liquid receiving hopper lifting mechanism, the upper end of the liquid receiving hopper lifting mechanism is provided with a first detection proximity switch, and the lower end of the liquid receiving hopper lifting mechanism is provided with a liquid receiving hopper. It is convenient to collect the droplet residual medium on the inner and outer walls of the vertical pipe after loading is completed, and it prevents the medium from dropping on the tank car and the ground to pollute the environment during the crane pipe resetting.

[0013] The utility model relates to a full automatic alignment crane pipe system for liquid loading and unloading, the first joint drive, the second joint drive and the third joint drive all include a servo motor, a speed reducer, a mounting support, a rotary joint, a worm wheel and a worm. It is convenient to drive the crane pipe to move accurately and stably. Advantages

[0014] 1. Compared with the prior art, the full automatic alignment crane pipe system for liquid loading and unloading has high automation, strong universality, simple operation, low cost, greatly reduces the labor intensity of the operating personnel, improves the crane pipe butt joint precision and efficiency, and increases the safety of production operation by reducing manual intervention.

[0015] 2. Compared with the prior art, the full automatic alignment crane pipe system for liquid loading and unloading has mature laser ranging sensor technology, stable performance, and is basically not affected by light, and can work at day and night.

[0016] 3. Compared with the prior art, the automatic positioning crane arm system for liquid loading and unloading has the advantages that the sensor moves with the crane arm, the overall scheme has compact structure, is easy to install, has no additional auxiliary structure outside the crane arm, and does not need to separately erect a camera support in high space, and has small space occupation. BRIEF DESCRIPTION OF DRAWINGS

[0017] The utility model is further illustrated below in combination with the drawings and embodiments.

[0018] Figure 1 It is a structural schematic view of the automatic positioning crane arm of the automatic positioning crane arm system for liquid loading and unloading of the utility model;

[0019] Figure 2 It is a use scene schematic view of the automatic positioning crane arm system for liquid loading and unloading of the utility model;

[0020] Figure 3 It is a structural schematic view of the control cabinet of the automatic positioning crane arm system for liquid loading and unloading of the utility model;

[0021] Figure 4 It is a structural schematic view of the joint drive of the automatic positioning crane arm system for liquid loading and unloading of the utility model;

[0022] Figure 5 It is a control principle schematic view of the automatic positioning crane arm system for liquid loading and unloading of the utility model.

[0023] LEGEND:

[0024] 1. Automatic positioning crane arm; 2. Control cabinet; 3. Installation platform; 4. Loading ladder; 5. Support column; 6. Filling port; 7. Tank truck; 8. Liquid tank; 9. Sealing cover; 10. Anti-overflow alarm; 11. Second joint drive; 12. Third joint drive; 13. Liquid receiving hopper; 14. Vertical pipe collision detection mechanism; 15. Vertical pipe; 16. Liquid receiving hopper lifting mechanism; 17. Insertion depth detection limiting mechanism; 18. Second detection proximity switch; 19. Outer arm; 20. First detection proximity switch; 21. Leveling mechanism; 22. Laser ranging sensor; 23. Vertical pipe vertical adjustment connecting rod; 24. Outer arm balance cylinder; 25. Purging control valve; 26. Inner arm; 27. First joint drive; 28. Interface; 29. Servo motor; 30. Reducer; 31. Rotary joint; 32. Worm gear; 33. Mounting support; 34. Worm; 35. Third detection proximity switch. DETAILED DESCRIPTION

[0025] The detailed embodiments of the present application will be described in this section. The preferred embodiments of the present application are shown in the drawings, and the drawings serve to supplement the description in the text part of the specification, so that each technical feature and the overall technical scheme of the present application can be understood intuitively and visually by people. However, it cannot be understood as a limitation on the protection scope of the present application.

[0026] With reference to Figures 1-5 The present application discloses a kind of full-automatic alignment crane pipe systems for liquid loading and unloading, it includes: automatic alignment crane pipe 1, the lower end of automatic alignment crane pipe 1 is fixedly connected with installation platform 3, installation automatic alignment crane pipe 1 and control cabinet 2, the upper end of installation platform 3 is provided with control cabinet 2, control adjustment is carried out loading and unloading operation, one side of installation platform 3 is provided with tank car 7, loading and transportation are carried out, the upper end of tank car 7 is fixedly connected with liquid tank 8, liquid is stored, the upper end of liquid tank 8 is provided with filling port 6, liquid is added, filling port 6 is rotatably connected with sealing cover 9, liquid tank 8 is sealed, the upper end of installation platform 3 is rotatably connected with boarding ladder 4, and the working channel between installation platform 3 and tank car 7 is formed, boarding ladder 4 is in abutment with the upper end of liquid tank 8;

[0027] Supporting column 5 is fixedly connected to the upper end of installation platform 3, the side end of supporting column 5 is fixedly connected with anti-overflow alarm 10, anti-overflow alarm is carried out during liquid loading and unloading process, the side end of supporting column 5 is fixedly connected with first joint drive 27, and the joint is driven to rotate, first joint drive 27 is provided with interface 28, and the liquid to be loaded and unloaded is added, second joint drive 11 is rotatably connected to first joint drive 27 through inner arm 26, the side end of inner arm 26 is provided with purge control valve 25, which is used to destroy the vacuum in the pipeline after loading is completed, and the residual medium in the crane pipe is purged, the joint is driven to rotate, and third joint drive 12 is fixedly connected to second joint drive 11, and the joint is driven to rotate.

[0028] The vertical pipe 15 is rotationally connected with the third joint drive 12 through the vertical pipe vertical adjustment connecting rod 23 at the upper end of the vertical pipe 15, and is rotationally connected with the third joint drive 12 through the outer arm 19 at the upper end of the vertical pipe 15, and the outer arm 19 is fixedly connected with the third joint drive 12 through the outer arm balance cylinder 24, the first joint drive 27, the second joint drive 11 and the third joint drive 12 all comprise a servo motor 29, a speed reducer 30, a mounting support 33, a rotary joint 31, a worm gear 32 and a worm 34, and are used for driving the crane pipe to move accurately and stably, the upper end of the vertical pipe 15 is fixedly connected with the leveling mechanism 21 for leveling control, the leveling mechanism 21 is provided with a laser ranging sensor 22 for adjusting the working angle of the laser sensor and reducing the measurement error, the side end of the vertical pipe 15 is provided with a plug-in depth detection limiting mechanism 17, a second detection proximity switch 18 and a third detection proximity switch 35, the lower end of the vertical pipe 15 is provided with a vertical pipe collision detection mechanism 14 for preventing the crane pipe from colliding with the edge of the tank mouth during the lowering process due to positioning deviation, and the side end of the vertical pipe 15 is fixedly connected with the liquid receiving hopper lifting mechanism 16 for detecting the normal signal of the lifting of the liquid receiving hopper, the upper end of the liquid receiving hopper lifting mechanism 16 is provided with a first detection proximity switch 20, and the lower end of the liquid receiving hopper lifting mechanism 16 is provided with a liquid receiving hopper 13 for collecting the residual medium on the inner and outer walls of the vertical pipe after the loading is completed, preventing the medium from dropping on the tank car and the ground to pollute the environment during the repositioning of the crane pipe.

[0029] Working principle: by installing servo motors at multiple rotary joints of the crane pipe, the crane pipe can obtain driving force, the absolute value type rotary encoder of the servo motor 29 can record the motor rotation angle in real time, and there is a regular functional relationship between the motor rotation angle and the rotation angle of the automatic alignment crane pipe 1 during movement. Through this relationship, the end of the automatic alignment crane pipe 1 can be accurately controlled, and the vertical pipe can reach the specified position. Because the position of the automatic alignment crane pipe 1 is fixed after installation, in order to facilitate the determination of the position information of the vertical pipe 15, a coordinate system can be established to assist calculation, and the projection point of the first rotation shaft of the automatic alignment crane pipe 1 on the horizontal plane is taken as the coordinate origin. The projection point coordinate of the vertical pipe axis on the horizontal plane is a variable that can be calculated. Therefore, only by obtaining the coordinates of the center of the tank mouth after the tank car 7 is parked, the vertical pipe can be driven to move above the center of the tank mouth.

[0030] In the above process, since the tank mouth of the tank car 7 is a regular circle, the coordinates of the center of the tank mouth can be obtained by scanning the edge of the tank mouth through the laser ranging sensor 22. The specific implementation manner is as follows: the laser ranging sensor 22 is fixed on the crane pipe vertical pipe, and the emission window of the laser pulse is installed vertically downward. When the vertical pipe 15 moves, the laser ranging sensor 22 moves synchronously.

[0031] Before scanning, the tank mouth is parked in a designated area, usually a rectangular frame on a horizontal plane within the movable range of the crane pipe and the vertical pipe. When scanning, let the vertical pipe 15 enter the frame from one corner of the rectangular frame and scan the tank mouth through a set path. For example, staggered reciprocating scanning can cover the entire area of ​​the rectangular frame. Because the laser ranging sensor 22 can feedback relative height data in real time, and the height difference between the inside and outside of the tank mouth edge is different and the difference is large, when the laser pulse ray sweeps over the tank mouth edge, the height value will change significantly. By setting the detection threshold, such points can be screened out and the point coordinates, i.e., the tank mouth edge point coordinates, can be obtained at the same time. Then, by continuing to scan, multiple tank mouth edge point coordinates can be screened out. Known theorem: three non-collinear points can determine the center of a circle. By substituting the multiple tank mouth edge point coordinates obtained above into the formula, the coordinates of the tank mouth center can be determined. The calculation process will not be repeated here. Next, just control the vertical pipe to move to the top of the center coordinate point, insert it vertically to complete the alignment, and then enter the loading process. After loading is completed, the automatic alignment crane pipe 1 first lifts the vertical pipe to a safe height, and then moves back to the initial docking position.

[0032] The embodiments of the present invention are described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Various changes can be made within the scope of knowledge possessed by ordinary technicians in the relevant technical field without departing from the purpose of the present invention.

Claims

1. A fully automatic positioning crane system for liquid loading and unloading, characterized in that: include: An automatic alignment crane pipe (1), wherein the lower end of the automatic alignment crane pipe (1) is fixedly connected to a mounting platform (3), the upper end of the mounting platform (3) is provided with a control cabinet (2), and a tank car (7) is provided on one side of the mounting platform (3); A support column (5), wherein the support column (5) is fixedly connected to the upper end of the mounting platform (3), the side end of the support column (5) is fixedly connected to an anti-overflow alarm (10), the side end of the support column (5) is fixedly connected to a first joint drive (27), the first joint drive (27) is provided with an interface (28), the first joint drive (27) is rotatably connected to a second joint drive (11) through an inner arm (26), and the second joint drive (11) is fixedly connected to a third joint drive (12); A vertical tube (15), the upper end of the vertical tube (15) is rotatably connected to the third joint drive (12) through a vertical tube vertical adjustment link (23), the upper end of the vertical tube (15) is rotatably connected to the third joint drive (12) through an outer arm (19), and the outer arm (19) is fixedly connected to the third joint drive (12) through an outer arm balancing cylinder (24).

2. The fully automatic alignment crane system for liquid loading and unloading according to claim 1 is characterized in that: The upper end of the tanker (7) is fixedly connected to a liquid tank (8), the upper end of the liquid tank (8) is provided with a filling port (6), and the filling port (6) is rotatably connected to a sealing cover (9).

3. The fully automatic alignment crane system for liquid loading and unloading according to claim 1 is characterized in that: The upper end of the mounting platform (3) is rotatably connected to a boarding ladder (4), and the boarding ladder (4) abuts against the upper end of the liquid tank (8).

4. The fully automatic alignment crane system for liquid loading and unloading according to claim 1 is characterized in that: A purge control valve (25) is provided at the side end of the inner arm (26).

5. The fully automatic alignment crane system for liquid loading and unloading according to claim 1 is characterized in that: The upper end of the vertical tube (15) is fixedly connected to a leveling mechanism (21), and the leveling mechanism (21) is provided with a laser distance sensor (22).

6. The fully automatic alignment crane system for liquid loading and unloading according to claim 1 is characterized in that: The side end of the vertical tube (15) is provided with an insertion depth detection limit mechanism (17), a second detection proximity switch (18), and a third detection proximity switch (35), and the lower end of the vertical tube (15) is provided with a vertical tube collision detection mechanism (14).

7. The fully automatic alignment crane system for liquid loading and unloading according to claim 1 is characterized in that: The side end of the vertical pipe (15) is fixedly connected to a liquid receiving bucket lifting mechanism (16), the upper end of the liquid receiving bucket lifting mechanism (16) is provided with a first detection proximity switch (20), and the lower end of the liquid receiving bucket lifting mechanism (16) is provided with a liquid receiving bucket (13).

8. The fully automatic alignment crane system for liquid loading and unloading according to claim 1 is characterized in that: The first joint drive (27), the second joint drive (11) and the third joint drive (12) each include a servo motor (29), a reducer (30), a mounting support (33), a rotary joint (31), a worm gear (32) and a worm (34).

Images