Automatic loading arm device for caustic soda liquid

Abstract

The utility model discloses an automatic loading arm device for caustic soda liquid, which belongs to the technical field of loading and comprises a base column, a first-stage rotating arm mechanism, a second-stage rotating arm mechanism, a vertical rotating arm mechanism, a positioning mechanism and a controller. The second-stage rotating arm mechanism comprises a second-stage rotating mechanism and a second-stage rotating arm pipeline, a butt joint vertical pipe is arranged at the tail end of the second-stage rotating arm pipeline, and the vertical rotating arm mechanism comprises a third-stage rotating mechanism and a posture keeping mechanism; a liquid inlet is formed in the first-stage rotating arm pipeline, and the first-stage rotating arm pipeline is arranged on the foundation pillar through a first-stage rotating mechanism; the second-stage rotating arm pipeline is communicated with the first-stage rotating arm pipeline through a middle piece, and the second-stage rotating mechanism is arranged on the middle piece; the third-stage rotating mechanism is arranged below the second-stage rotating arm pipeline, and the posture keeping mechanism is located above the second-stage rotating arm pipeline; according to the crane pipe device of the structure, the structure is more compact, the occupied area is reduced, all the structures do not interfere with one another, and stable and accurate automatic alignment can be achieved.

Description

Technical Field

[0001] This utility model belongs to the field of loading technology, and in particular relates to an automatic loading arm device for caustic soda liquid. Background Technology

[0002] For automated loading arms for liquid caustic soda, most manufacturers use pneumatic loading arms. While this can improve loading efficiency to some extent, it also has some drawbacks, mainly including the following:

[0003] (1) Dependence on air pressure stability; The working principle of pneumatic loading arms depends on the stability of air pressure. If the air pressure is unstable, it may cause the loading arms to move inaccurately, or even affect the accuracy and safety of loading.

[0004] (2) High maintenance costs: Pneumatic loading arms contain complex mechanical structures and pneumatic components, which require regular maintenance and upkeep. These maintenance tasks are not only time-consuming, but may also involve high costs, especially when it is necessary to replace pneumatic components or carry out large-scale repairs.

[0005] (3) Complex operation: The operation of pneumatic loading arms requires certain professional skills and experience. If the operator is not familiar with the performance and operation requirements of loading arms, it may lead to operational errors, which in turn affects the efficiency and safety of loading.

[0006] Therefore, designing a compact, reliable, and highly automated automatic loading arm device for caustic soda liquid is a technical problem that this application urgently needs to solve. Based on this problem, a prior invention patent with patent application number 202411297839.6 disclosed an automatic loading arm device for tank trucks. The solution disclosed in the prior invention patent can be used to solve the above-mentioned problem, but the invention patent has certain shortcomings in practical applications. Since the third rotary drive mechanism controlling the vertical rotary arm mechanism is fixed on the secondary rotary arm pipeline independently of the second rotary drive mechanism, it increases the load on the second rotary joint on the secondary rotary arm pipeline. On the other hand, in order to avoid structural interference, it is necessary to increase the horizontal distance between the interconnected primary rotary arm pipeline and the secondary rotary arm pipeline, which increases the overall weight and floor space of the device. In view of this, this application improves on the basis of the prior patent technology and designs an automatic loading arm device suitable for caustic soda liquid. Utility Model Content

[0007] The purpose of this invention is to provide an automatic loading arm device for caustic soda liquid. This device has a compact structure, stable operation, and can achieve automatic and precise alignment, thus solving the shortcomings of existing pneumatic loading arms for caustic soda liquid.

[0008] This application provides an automatic loading arm device for caustic soda liquid, comprising at least a base column, a primary rotating arm mechanism, a secondary rotating arm mechanism, a vertical rotating arm mechanism, a positioning mechanism, and a controller. The primary rotating arm mechanism includes a primary slewing mechanism and a primary rotating arm pipeline; the secondary rotating arm mechanism includes a secondary slewing mechanism and a secondary rotating arm pipeline, with a rotatable docking vertical pipe at the end of the secondary rotating arm pipeline; the vertical rotating arm mechanism includes a tertiary slewing mechanism and an attitude-maintaining mechanism; the primary rotating arm pipeline can be horizontally rotated via the primary slewing mechanism. The rotating mechanism is mounted on the base column, and the first-stage rotating arm pipeline is equipped with a liquid inlet; the second-stage rotating arm pipeline is connected to the first-stage rotating arm pipeline end-to-end via an intermediate component, and the second-stage rotation mechanism is mounted on the intermediate component to drive the second-stage rotating arm pipeline to rotate horizontally relative to the first-stage rotating arm pipeline; the third-stage rotation mechanism is located below the second-stage rotating arm pipeline and is connected to the second-stage rotating arm pipeline via a push-pull assembly, and the attitude maintaining mechanism is located above the second-stage rotating arm pipeline to drive the docking vertical pipe to always remain in a vertical state.

[0009] As a preferred embodiment of this application: the intermediate component is an "L"-shaped connecting pipe, or a "T"-shaped two-way connecting pipe, the channel of the "T"-shaped two-way connecting pipe is L-shaped, the two connecting ports of the connecting pipe are respectively provided with a first rotary joint and a second rotary joint, the primary rotary arm pipe and the secondary rotary arm pipe are connected through the first rotary joint and the second rotary joint, and the axes of the primary rotary arm pipe and the secondary rotary arm pipe are offset in the horizontal and vertical directions.

[0010] As a preferred embodiment of this application: the secondary rotary machine includes a secondary rotary bearing and a secondary servo motor. The secondary rotary bearing is horizontally arranged and its power output end is connected to the connecting pipe to transmit the power of horizontal rotation vertically to the connecting pipe. The secondary servo motor provides power to the secondary rotary bearing.

[0011] As a preferred embodiment of this application: the three-stage slewing mechanism includes a three-stage slewing bearing and a three-stage servo motor. The three-stage slewing bearing is vertically arranged and fixed to the reverse extension end of the connecting pipe or the power output end of the two-stage slewing bearing through a first support plate. The power output end of the three-stage slewing bearing is connected to the two-stage rotating arm pipeline through the push-pull assembly to transmit the vertical rotation power to the push-pull assembly. The three-stage servo motor provides power to the two-stage slewing bearing.

[0012] As a preferred embodiment of this application: the push-pull assembly includes an L-shaped connecting rod with its ends hinged together. The L-shaped connecting rod is disposed between the secondary rotating arm pipeline and the tertiary rotating mechanism, and its two ends are respectively hinged to the secondary rotating arm pipeline and the tertiary rotating mechanism.

[0013] As a preferred embodiment of this application: the attitude holding mechanism includes a linkage rod and a connecting push handle. The length of the linkage rod corresponds to the length of the secondary rotary arm pipeline. There are two connecting push handles, which are respectively vertically fixed to the docking vertical pipe and the intermediate piece near the rotatable connection point with the secondary rotary arm pipeline. The linkage rod is horizontally arranged and its two ends are respectively hinged to the two connecting push handles.

[0014] As a preferred embodiment of this application: the docking vertical pipe is connected to the secondary rotary arm pipeline via a third rotary joint.

[0015] As a preferred embodiment of this application: the primary rotary arm pipeline includes a horizontal suspension pipe and a vertical suspension pipe that are connected. The liquid inlet is connected to the bottom of the vertical suspension pipe through a fourth rotary joint, and the liquid inlet is fixed to the base column near the bottom by a fastener.

[0016] As a preferred embodiment of this application: the primary slewing mechanism is fixed at the upper end of the base column. The primary slewing mechanism and the fastener cooperate to form a slewing arm mechanism support. The primary slewing mechanism includes a primary slewing bearing and a primary servo motor. The primary slewing bearing is horizontally arranged, and its power output end is connected to the top of the primary slewing arm pipeline. The primary servo motor provides power to the primary slewing bearing.

[0017] As a preferred embodiment of this application: an extension frame extending towards the docking vertical pipe is provided above the base column, and the positioning mechanism is set above the docking vertical pipe through the extension frame; the controller can control the operation of the first-stage slewing mechanism, the second-stage slewing mechanism and the third-stage slewing mechanism according to the position information obtained by the positioning mechanism.

[0018] Compared with the prior art, this utility model has significant advantages:

[0019] (1) The positioning mechanism 21 is used to detect the position information of the filling port. The controller can control the operation of the first-stage rotary mechanism, the second-stage rotary mechanism and the third-stage rotary mechanism according to the position information of the filling port obtained by the positioning mechanism, and then control the action of the first-stage rotating arm pipeline, the second-stage rotating arm pipeline and the attitude holding mechanism to accurately and automatically extend the docking vertical pipe into the filling port, thus realizing the automation of the device operation.

[0020] (2) The docking vertical pipe can be driven to perform two-stage adjustment in the X-axis and Y-axis directions by the cooperation of the first-stage rotating arm mechanism and the second-stage rotating arm mechanism. The docking vertical pipe can be moved to a specified position in the horizontal direction by the two-stage adjustment. Then, the vertical rotating arm mechanism can be used to adjust the displacement of the docking vertical pipe in the Z-axis direction and maintain the vertical state, which can improve the accuracy of the docking vertical pipe entering the filling port and improve the accuracy and reliability of the device operation.

[0021] (3) Compared with the existing traditional linear telescopic movement method, the volume of the loading arm structure is reduced, making the overall structure of the loading arm more compact. On the other hand, the loading arm alignment procedure is simplified, and the X-axis displacement and Y-axis displacement do not need to be adjusted separately. It can be achieved with one swing. In addition, each rotary mechanism uses a servo motor as the driving component. Compared with the existing telescopic or lifting mechanism, the motor has more reliable running accuracy and higher running stability, reducing the interference of inertia on the alignment operation.

[0022] (4) The three-stage slewing mechanism is set below the two-stage slewing arm pipeline. Compared with the prior patent, this design structure reduces the load on the second rotary joint on the one hand, and also reduces the rigid requirements for the horizontal offset of the first-stage and second-stage slewing arm pipelines on the other hand. This can further reduce the overall weight and volume of the device. In addition, setting the three-stage slewing mechanism and the attitude holding mechanism at the upper and lower positions of the second-stage slewing arm pipeline can effectively reduce the interference between the structures during operation. Attached Figure Description

[0023] Figure 1 A schematic diagram of the overall structure of the automatic loading arm device for caustic soda liquid provided in this embodiment of the utility model.

[0024] Figure 2 This is a front view structural schematic diagram of the automatic loading arm device for caustic soda liquid provided in an embodiment of this utility model.

[0025] Figure Labels

[0026] 1 is the base column; 2-1 is the first-stage slewing bearing; 2-2 is the first-stage planetary reducer; 2-3 is the first-stage servo motor; 3 is the fixed base; 4 is the first-stage rotary arm pipeline; 5 is the pipeline purging interface; 6-1 is the second-stage slewing bearing; 6-2 is the second-stage planetary reducer; 6-3 is the second-stage servo motor; 7 is the push-pull assembly; 8 is the hinge shaft; 9 is the linkage rod; 10 is the connecting push handle; 11 is the second-stage rotary arm pipeline; 12 is the third rotary joint; 13 is the docking vertical pipe; 14 is the material level sensor; 15 is the first support plate; 16-1 is the third-stage slewing bearing; 16-2 is the third-stage planetary reducer; 16-3 is the third-stage servo motor; 17 is the second support plate; 18 is the plate frame; 19 is the liquid inlet; 20 is the extension frame; 21 is the positioning mechanism; 22 is the first rotary joint; 23 is the second rotary joint; 24 is the connecting pipe; 25 is the fastener; 26 is the fourth rotary joint; 27 is the bend. Detailed Implementation

[0027] The present invention will be further described in detail below with reference to specific embodiments and accompanying drawings. It should be emphasized that the following description is merely exemplary and not intended to limit the scope and application of the present invention.

[0028] like Figure 1-2 As shown, this embodiment provides an automatic loading arm device for caustic soda liquid. The device includes at least a base column 1, a primary rotating arm mechanism, a secondary rotating arm mechanism, a vertical rotating arm mechanism, a positioning mechanism 21, and a controller. The primary rotating arm mechanism includes a primary slewing mechanism and a primary rotating arm pipeline 4. The secondary rotating arm mechanism includes a secondary slewing mechanism and a secondary rotating arm pipeline 11, with a rotatable docking vertical pipe 13, preferably connected via a third rotary joint 12, at the end of the secondary rotating arm pipeline 11. The vertical rotating arm mechanism includes a tertiary slewing mechanism and a posture holding mechanism. The primary rotating arm pipeline 4 is horizontally rotatable on the base column 1 via the primary slewing mechanism, and a liquid inlet 19 is provided on the primary rotating arm pipeline 4, from which liquid flows. Liquid inlet 19 enters the horizontal suspension pipe. Understandably, under the action of the primary rotary mechanism, the primary swing arm mechanism should be suspended to provide a foundation for subsequent stable rotation. In this embodiment, the primary swing arm mechanism includes a horizontal suspension pipe and a vertical suspension pipe that are interconnected. Liquid inlet 19 is connected to the bottom of the vertical suspension pipe via the fourth rotary joint 26, and the liquid inlet 19 is fixed to the base column 1 near the bottom by a fastener 25. In this embodiment, the primary rotary mechanism and the fastener 25 cooperate to form a support seat for the primary swing arm mechanism, improving the stability of the primary swing arm mechanism. The primary rotary mechanism can drive the primary swing arm mechanism to rotate horizontally relative to the base column 1 and the liquid inlet 19. Secondary... The rotating arm pipe 11 is connected to the first-stage rotating arm pipe 4 horizontally via an intermediate component. A second-stage rotation mechanism, mounted on the intermediate component, drives the second-stage rotating arm pipe 11 to rotate horizontally relative to the first-stage rotating arm pipe 4. In this embodiment, the second-stage rotating arm pipe 11 also includes a horizontal suspension pipe, which serves as an extension of the horizontal suspension pipe in the first-stage rotating arm pipe 4. Under the action of the second-stage rotation mechanism, the second-stage rotating arm pipe 11 can rotate independently horizontally relative to the first-stage rotating arm pipe 4. A third-stage rotation mechanism is located below the second-stage rotating arm pipe 11 and is connected to it via a push-pull assembly 7. The third-stage rotation mechanism can drive the second-stage rotating arm pipe 11 vertically via the push-pull assembly 7, connecting it to the intermediate component. The connection point rotates vertically, and the attitude-maintaining mechanism is located above the secondary rotating arm pipeline 11 to drive the docking vertical pipe 13 to always be in a vertical state. This avoids the secondary rotating arm pipeline 11 from rotating and swinging vertically, causing the docking vertical pipe 13 to tilt and thus preventing the docking vertical pipe 13 from entering the filling port. The positioning mechanism 21 is located above the secondary rotating arm mechanism. This positioning mechanism 21 is a laser ranging system, an optical positioning system, or a combination of a laser ranging system and an optical positioning system, used to obtain the position information of the tanker truck filling port. The controller controls the operation of the primary rotating mechanism, the secondary rotating mechanism, and the tertiary rotating mechanism according to the position information obtained by the positioning mechanism 21. This controller adopts a DCS control system.

[0029] Before use, the device is in its initial state. After the tanker truck stops at the edge of the trestle, the device starts. First, the positioning mechanism 21 detects the position information of the filling port and transmits it to the controller (this position information is mainly coordinate information). Then, the controller issues commands to the primary, secondary, and tertiary slewing mechanisms based on this position information. These commands can be understood as the displacement information of each slewing mechanism. Finally, the primary, secondary, and tertiary slewing mechanisms are driven to move sequentially according to the commands. Specifically, the primary slewing mechanism is driven by the commands to simultaneously rotate the primary rotating arm pipe 4, the secondary rotating arm mechanism, and the vertical rotating arm mechanism relative to the base column 1 at a specified angle in the horizontal direction to achieve docking of the vertical pipe 13 in the X and Y axes. The first-stage adjustment, understandably, has a relatively large radius of operation, enabling significant displacement adjustment of the docking vertical pipe 13 in the X and Y axes. After completing the first-stage adjustment, the second-stage rotation mechanism is driven by an action command. This second-stage rotation mechanism drives the second-stage rotating arm pipe 11 and the vertical rotating arm mechanism to swing horizontally for a second-stage rotation. This second-stage rotation revolves around the hinge point between the first-stage rotating arm pipe 4 and the second-stage rotating arm pipe 11. Understandably, this second-stage rotation has a smaller radius of operation, used to achieve fine adjustments of the docking vertical pipe 13 in the X and Y axes. Understandably, after the tanker truck is parked in position, the filling port should be located at the point where the far ends of the first-stage and second-stage rotating arm mechanisms rotate horizontally relative to the base column 1. The area where the two concentric arcs formed by the rotation intersect with the arc trajectory formed by the secondary rotating arm mechanism relative to the primary rotating arm mechanism in the horizontal direction is called the inlet area. In this embodiment, after the primary and secondary adjustments are completed, the docking vertical pipe 13 is not located directly above the inlet, but at a certain position in front of and above the inlet. At this time, the action command drives the tertiary rotating mechanism to drive the distal end of the secondary rotating arm mechanism to move downward through the push-pull assembly 7. Since the downward movement also makes an arc trajectory movement, the distal end of the docking vertical pipe 13 will retract to compensate for the displacement difference of the docking vertical pipe 13 located in front of and above the inlet. At the same time, the retracted docking vertical pipe 13 will tilt. At this time, the attitude holding mechanism adjusts the state of the vertical pipe to make it vertical. After a certain downward displacement, The docking vertical tube 13 can extend into a designated position inside the filling port. In this embodiment, it is preferred that the distance from which the docking vertical tube 13 extends into the filling port is about 20-30cm below the plane of the tank opening. In this embodiment, it is preferred that the docking vertical tube 13 is located 5-10cm above the horizontal distance of the filling port. The specific distance can be determined according to the vertical distance between the docking vertical tube 13 and the filling port. The aim is to ensure that the retraction displacement of the docking vertical tube 13 when it extends into the filling port just makes up for the displacement difference of the docking vertical tube 13 located in front of and above the filling port, so as to ensure that the docking vertical tube 13 accurately extends into the filling port. Since the size of the filling port is usually between 10-25cm, that is, the size is relatively large, there will be no phenomenon that the docking vertical tube 13 retracts and contacts the filling port wall but still does not reach the required insertion position.At this point, the alignment of the docking vertical pipe 13 is complete. After loading is finished, the controller receives a command to return to the standby position and controls the automatic loading arm to automatically return to the standby position. Specifically, the vertical slewing mechanism uses the reverse operation steps of the alignment operation to remove the docking vertical pipe 13 from the inlet, and controls the first-stage and second-stage slewing mechanisms to operate until they are reset to the initial state; this process is repeated sequentially.

[0030] As can be seen, the optimized loading arm device in this embodiment not only has a more compact structure and a smaller footprint, but also ensures that the various structures do not interfere with each other, enabling stable and accurate automatic alignment.

[0031] The intermediate component is an "L"-shaped connecting pipe 24, or a "T"-shaped two-way connecting pipe 24. The channel of the "T"-shaped two-way connecting pipe 24 is L-shaped. In this embodiment, the latter is preferred. The connecting pipe 24 is arranged vertically, and its two connecting ports are respectively provided with a first rotary joint 22 and a second rotary joint 23. The primary rotary arm pipe 4 and the secondary rotary arm pipe 11 are connected through the first rotary joint 22 and the second rotary joint 23. Furthermore, the axes of the primary rotary arm pipe 4 and the secondary rotary arm pipe 11 are offset in the horizontal and vertical directions. The offset setting enables the secondary rotary arm pipe 11 to swing sequentially in the horizontal and vertical directions, reducing interference between structures.

[0032] like Figure 1 As shown, both the first rotary joint 22 and the secondary rotary structure are connected to bends 27, and the ends of the bends 27 are connected to the corresponding pipelines. In this embodiment, the specific length of the offset is sufficient to ensure that the secondary rotary arm pipeline 11 can rotate normally without interference. It does not need to be designed to be large, which can further reduce the size of the device and increase the compactness of the structure.

[0033] The secondary rotary mechanism includes a secondary rotary bearing 6-1 and a secondary servo motor 6-3. The secondary rotary bearing 6-1 is horizontally arranged and its power output end is connected to the connecting pipe 24. Specifically, the power output end of the secondary rotary bearing 6-1 is connected to the blind end of the vertically arranged "T"-shaped two-way connecting pipe 24. Through the secondary rotary bearing 6-1, the power of horizontal rotation can be vertically transmitted to the two-way connecting pipe 24, and then the secondary rotary arm pipeline 11 is driven to rotate horizontally through the cooperation of the two-way connecting pipe 24 and the first rotary joint 22. The secondary servo motor 6-3 provides power to the secondary rotary bearing 6-1, which can drive the secondary rotary bearing 6-1 to drive the secondary rotary arm pipeline 11 to rotate and swing horizontally around the first rotary joint 22. In this embodiment, the secondary rotary mechanism is supported by a support frame, which includes a second support plate 17 and a plate frame 18 connected to the base column 1.

[0034] The three-stage rotary mechanism includes a three-stage rotary bearing 16-1 and a three-stage servo motor 16-3. The three-stage rotary bearing 16-1 is vertically arranged and fixed to the reverse extension end of the power output end of the connecting pipe 24 or the second-stage rotary bearing 6-1 via a first support plate 15, to ensure that the three-stage rotary mechanism can rotate with the second-stage rotating arm pipe 11. The second-stage servo motor 6-3 provides power to the second-stage rotary bearing 6-1. In this embodiment, the three-stage rotary bearing 16-1 is preferably fixed to the reverse extension end of the power output end of the second-stage rotary bearing 6-1 via the first support plate 15, that is, located below the second-stage rotary bearing 6-1 and coaxially designed with the second-stage rotary bearing 6-1. Compared with the scheme of fixing the three-stage rotary bearing 16-1 to the connecting pipe 24, this scheme can reduce the design size requirements of the connecting pipe 24 on the one hand, and reduce the torque of the second-stage rotary bearing 6-1 on the other hand, ensuring the efficient operation of the second-stage rotary bearing 6-1. At the same time, it also makes the design of the second-stage rotary mechanism and the three-stage rotary mechanism more concentrated.

[0035] The first support plate 15 is a frame plate, which is fixed to the reverse extension end and extends to the bottom of the secondary slewing pipe 11. The secondary slewing bearing 6-1 is vertically arranged to transmit the power of vertical swing to the secondary slewing pipe 11 through the push-pull assembly 7, thereby driving the far end of the secondary slewing pipe 11 to swing vertically with the second rotary joint 23 as the center.

[0036] The push-pull assembly 7 includes an L-shaped connecting rod that is hinged at both ends by a hinge shaft 8. The L-shaped connecting rod is located between the secondary rotating arm pipeline 11 and the tertiary rotary mechanism, and its two ends are respectively hinged to the secondary rotating arm pipeline 11 and the tertiary rotary mechanism. It can be understood that in order to realize the pitch swing of the distal end of the secondary rotating arm pipeline 11 in the vertical direction with the second rotary joint 23 as the center, it is preferable that one end of the L-shaped connecting rod is connected to the end of the secondary rotating arm pipeline 11 near the primary rotating arm pipeline 4. This ensures that the tertiary rotary mechanism can drive the distal end of the secondary rotating arm pipeline 11 to swing a larger displacement with a smaller stroke angle, ensuring that the docking vertical pipe 13 can stably and safely enter and exit the filling port.

[0037] The attitude holding mechanism includes a linkage rod 9 and a connecting push handle 10. The length of the linkage rod 9 corresponds to the length of the secondary rotary arm pipe 11. There are two connecting push handles 10, which are vertically fixed to the docking vertical pipe 13 and the intermediate part near the rotatable connection point with the secondary rotary arm pipe 11. The rotatable connection point is the position of the second rotary joint 23 and the third rotary joint 12, to ensure that the two connecting push handles 10 do not rotate relative to the rotary joint. The linkage rod 9 is horizontally arranged and its two ends are respectively hinged to the two connecting push handles 10. At the same time, the linkage rod 9 forms a 90° angle with the docking vertical pipe 13 in a vertical state.

[0038] Specifically, according to Figure 1As can be seen from point 2, the linkage rod 9 is a rod with a constant length that is similar to or the same as the length of the horizontal pipe of the secondary rotating arm pipe 11. The two connecting push handles 10 are symmetrical in structure, and the linkage rod 9 is mounted above the secondary rotating arm pipe 11 through the two connecting push handles 10. In use, when the third-stage rotary mechanism drives the far end of the secondary rotating arm pipe 11 to rotate in the vertical direction through the push-pull assembly 7, the docking vertical pipe 13 will swing with the secondary rotating arm pipe 11 and be in an inclined state. Since the connecting push handle 10 does not rotate with the second rotary joint 23, the vertical state between the linkage rod 9 and the docking vertical pipe 13 remains unchanged. That is, during the swinging process of the docking vertical pipe 13 with the secondary rotating arm pipe 11, the docking vertical pipe 13 will always be kept in a vertical state under the action of the push-pull force of the linkage rod 9 and the third rotary joint 12.

[0039] The primary slewing mechanism is fixed to the upper part of the base column 1 by the fixed seat 3. The primary slewing mechanism and the fastener 25 cooperate to form a support seat for the slewing arm mechanism to support and fix the slewing arm mechanism. The primary slewing mechanism includes a primary slewing bearing 2-1 and a primary servo motor 2-3. The primary slewing bearing 2-1 is horizontally arranged, and its power output end is connected to the top of the primary slewing arm pipeline 4 to transmit the power of horizontal rotation to the primary slewing arm pipeline 4. The primary servo motor 2-3 provides power to the primary slewing bearing 2-1.

[0040] In this embodiment, the servo motors in each stage of the rotary mechanism are connected to the slewing bearing through corresponding planetary reducers to ensure the smooth rotation of the slewing bearing. The servo motors drive the slewing bearing to rotate by rotating the drive gear set, thus enabling the low-speed and stable operation of each mechanism, improving the alignment accuracy and the smoothness of operation. It is understood that the specific model of the servo motor is selected based on actual experiments, and this embodiment does not make specific limitations here.

[0041] Furthermore, in this embodiment, a material level sensor 14 is provided on the docking vertical pipe 13. The material level sensor 14 can monitor the amount of material in the tank truck to prevent overflow. The probe of the material level sensor 14 is located about 20cm below the tank opening plane, which effectively prevents overflow.

[0042] Furthermore, in this embodiment, the rotating outer arm tube is provided with a pipe purging port 5, which is connected to a positive pressure system to input positive pressure into the pipe to purge the residual liquid in the pipe.

[0043] Furthermore, in this embodiment, an extension frame 20 extending in the direction of the rotating arm is provided above the base column 1. The positioning mechanism 21 is set above the docking vertical tube 13 through the extension frame 20. In this embodiment, the positioning mechanism 21 only collects position information once during actual use. Of course, in other embodiments of this application, the positioning mechanism 21 can also periodically collect position information multiple times to calibrate the alignment accuracy, depending on the actual needs.

[0044] The above descriptions are merely embodiments of this utility model, and common knowledge regarding specific structures and characteristics is not elaborated upon here. It should be noted that those skilled in the art can make various improvements without departing from this utility model, and these improvements should also be considered within the scope of protection of this utility model. These improvements will not affect the effectiveness of the implementation of this utility model or the practicality of the patent. The scope of protection claimed in this application should be determined by the content of the claims, and the specific embodiments described in the specification can be used to interpret the content of the claims.

Claims

1. An automatic loading arm device for caustic soda liquid, comprising at least a base column, a primary rotating arm mechanism, a secondary rotating arm mechanism, a vertical rotating arm mechanism, a positioning mechanism, and a controller, characterized in that: The first-stage rotary arm mechanism includes a first-stage slewing mechanism and a first-stage rotary arm pipeline. The second-stage rotary arm mechanism includes a second-stage slewing mechanism and a second-stage rotary arm pipeline, with a rotatable docking vertical pipe at the end of the second-stage rotary arm pipeline. The vertical rotary arm mechanism includes a third-stage slewing mechanism and an attitude-maintaining mechanism. The first-stage rotary arm pipeline is horizontally rotatable on the base column via the first-stage slewing mechanism and has a liquid inlet. The second-stage rotary arm pipeline is connected to the first-stage rotary arm pipeline end-to-end via an intermediate component. The second-stage slewing mechanism is mounted on the intermediate component and can drive the second-stage rotary arm pipeline to rotate horizontally relative to the first-stage rotary arm pipeline. The third-stage slewing mechanism is located below the second-stage rotary arm pipeline and is connected to the second-stage rotary arm pipeline via a push-pull assembly. The attitude-maintaining mechanism is located above the second-stage rotary arm pipeline to drive the docking vertical pipe to always remain in a vertical state.

2. The automatic loading arm device for caustic soda liquid according to claim 1, characterized in that: The intermediate component is an "L"-shaped connecting pipe, or a "T"-shaped two-way connecting pipe. The channel of the "T"-shaped two-way connecting pipe is L-shaped. The two connecting ports of the connecting pipe are respectively provided with a first rotary joint and a second rotary joint. The primary rotary arm pipe and the secondary rotary arm pipe are connected through the first rotary joint and the second rotary joint. Furthermore, the axes of the primary rotary arm pipe and the secondary rotary arm pipe are offset in the horizontal and vertical directions.

3. The automatic loading arm device for caustic soda liquid according to claim 2, characterized in that: The secondary rotary machine includes a secondary rotary bearing and a secondary servo motor. The secondary rotary bearing is horizontally arranged and its power output end is connected to the connecting pipe to transmit the power of horizontal rotation vertically to the connecting pipe. The secondary servo motor provides power to the secondary rotary bearing.

4. The automatic loading arm device for caustic soda liquid according to claim 2, characterized in that: The three-stage slewing mechanism includes a three-stage slewing bearing and a three-stage servo motor. The three-stage slewing bearing is vertically arranged and fixed to the reverse extension end of the connecting pipe or the power output end of the two-stage slewing bearing through the first support plate. The power output end of the three-stage slewing bearing is connected to the two-stage rotating arm pipeline through the push-pull assembly to transmit the vertical rotation power to the push-pull assembly. The three-stage servo motor provides power to the two-stage slewing bearing.

5. The automatic loading arm device for caustic soda liquid according to claim 4, characterized in that: The push-pull assembly includes an L-shaped connecting rod that is hinged at both ends. The L-shaped connecting rod is located between the secondary rotating arm pipeline and the tertiary rotating mechanism, and its two ends are respectively hinged to the secondary rotating arm pipeline and the tertiary rotating mechanism.

6. The automatic loading arm device for caustic soda liquid according to claim 1, characterized in that: The attitude holding mechanism includes a linkage rod and a connecting push handle. The length of the linkage rod corresponds to the length of the secondary rotary arm pipeline. There are two connecting push handles, which are respectively vertically fixed to the docking vertical pipe and the intermediate piece near the rotatable connection point with the secondary rotary arm pipeline. The linkage rod is horizontally arranged and its two ends are respectively hinged to the two connecting push handles.

7. The automatic loading arm device for caustic soda liquid according to claim 1, characterized in that: The docking vertical pipe is connected to the secondary rotary arm pipeline via a third rotary joint.

8. The automatic loading arm device for caustic soda liquid according to claim 1, characterized in that: The primary rotary arm pipeline includes a horizontal suspension pipe and a vertical suspension pipe that are connected. The liquid inlet is connected to the bottom of the vertical suspension pipe through a fourth rotary joint, and the liquid inlet is fixed to the base column near the bottom by a fastener.

9. The automatic loading arm device for caustic soda liquid according to claim 8, characterized in that: The primary slewing mechanism is fixed to the base column near the upper end. The primary slewing mechanism and the fastener cooperate to form a slewing arm mechanism support. The primary slewing mechanism includes a primary slewing bearing and a primary servo motor. The primary slewing bearing is horizontally arranged, and its power output end is connected to the top of the primary slewing arm pipeline. The primary servo motor provides power to the primary slewing bearing.

10. The automatic loading arm device for caustic soda liquid according to claim 1, characterized in that: An extension frame extending towards the docking vertical pipe is provided above the base column, and the positioning mechanism is set above the docking vertical pipe through the extension frame; the controller can control the operation of the first-stage slewing mechanism, the second-stage slewing mechanism and the third-stage slewing mechanism according to the position information obtained by the positioning mechanism.

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