Three-dimensional joint structure for handling arm and handling arm

Abstract

The utility model relates to a three -dimensional joint structure for loading and unloading arm and loading and unloading arm, three -dimensional joint structure includes at least one first limiting unit, a plurality of second limiting units, at least one third limiting unit and a plurality of fourth limiting units. Its advantage lies in, utilize the cooperation of first limiting unit and second limiting unit, the cooperation of third limiting unit and fourth limiting unit, the movement range of Y axis movement mechanism, the movement range of X axis movement mechanism are limited, avoid Y axis movement mechanism, X axis movement mechanism excessive rotation leads to relevant cable winding, first limiting unit, third limiting unit adopt combined structure, only need to dismantle the partial structure of first limiting unit, third limiting unit can, can prolong the overall length and increase the distance between with the lower elbow pipe unit, prevent the lower elbow pipe unit damage, second limiting unit, fourth limiting unit adopt combined structure, increase detachable buffer structure, avoid the collision and produce spark.

Description

Technical Field

[0001] This utility model relates to the field of dock loading and unloading arm technology, and in particular to a three-dimensional joint structure for loading and unloading arms and a loading and unloading arm. Background Technology

[0002] In the operational systems of petrochemical terminals, the loading and unloading boom is the core equipment for the safe and efficient transfer of fluid media (such as crude oil, refined oil, liquefied petroleum gas, and chemical raw materials) between oil tankers and shore pipelines. Because oil tankers experience displacement and swaying during loading and unloading due to tidal changes, changes in cargo load, and wind forces, the loading and unloading boom needs to possess a certain degree of flexibility and adaptability to ensure a stable and sealed connection with the oil tanker at all times.

[0003] As a key component of the loading and unloading arm, the three-dimensional joint plays an important role in realizing multi-directional rotation adjustment. It can rotate around the X, Y, and Z axes at multiple angles, thereby effectively compensating for the relative displacement between the oil tanker and the shore end and ensuring the smooth progress of loading and unloading operations.

[0004] However, in traditional loading boom designs, the rotating parts of the three-dimensional joint lack corresponding limiting devices. This results in the three-dimensional joint being in a completely free state during the retraction process after the loading boom completes its operation. Under the influence of its own weight, wind force, and the inertia of the equipment during retraction, it will randomly rotate and swing around the X and Y axes. This random rotation poses serious safety hazards and the risk of equipment damage.

[0005] On the one hand, the three-dimensional joint is highly susceptible to collision with the equipment body of the loading and unloading arm (such as columns, booms, and other fixed components) during its irregular rotation. Since the media transported by the loading and unloading arm are often flammable, explosive, or corrosive hazardous chemicals, the impact force generated by the collision can not only cause structural deformation and component damage (such as seal failure and accelerated wear of rotating shafts) of the three-dimensional joint or equipment body, but more seriously, the violent impact between metal parts may generate electrostatic sparks. In the dock operation environment, once these electrostatic sparks come into contact with leaked flammable and explosive media, they can easily trigger serious safety accidents such as fires and explosions, posing a significant threat to personnel safety and the surrounding environment.

[0006] On the other hand, the irregular rotation of the three-dimensional joint can cause the connected hydraulic lines to become entangled and twisted. The loading arm's motion control relies on the hydraulic system, and the rotational function of the three-dimensional joint also requires hydraulic oil. Therefore, a large number of hydraulic lines extend from the equipment body into the three-dimensional joint. When the three-dimensional joint rotates irregularly around the X and Y axes, these hydraulic lines are repeatedly pulled, twisted, and even entangled. Slight entanglement may increase the hydraulic oil flow resistance, affecting the loading arm's response speed and control accuracy; while severe entanglement can cause the outer protective layer of the hydraulic lines to crack and the inner wire braided layer to break, ultimately leading to damage to the hydraulic lines. Damage to the hydraulic lines will result in hydraulic oil leakage, causing not only waste and environmental pollution (especially near dock waters, where hydraulic oil leaks can cause serious water pollution), but also insufficient hydraulic system pressure, preventing the loading arm from performing extension, rotation, and other actions normally, causing operational interruptions. Furthermore, leaked hydraulic oil coming into contact with high-temperature components or open flames also poses a risk of fire.

[0007] Effective solutions have not yet been proposed for problems such as fire risks caused by collisions and damage to hydraulic pipelines due to excessive rotation in related technologies. Utility Model Content

[0008] The purpose of this invention is to address the shortcomings of existing technologies by providing a three-dimensional joint structure and loading / unloading arm for loading / unloading, thereby solving problems such as fire risks caused by collisions and damage to hydraulic pipelines due to excessive rotation.

[0009] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0010] In a first aspect, a three-dimensional joint structure for a loading and unloading arm is provided. The three-dimensional joint structure includes a Z-axis motion mechanism, a Y-axis motion mechanism, an X-axis motion mechanism, and a joint mechanism, comprising:

[0011] At least one first limiting unit is provided on the side of the Y-axis motion mechanism for reciprocating motion following the Y-axis motion mechanism;

[0012] Several second limiting units are distributed on the side of the Y-axis motion mechanism.

[0013] A first limiting unit is provided between two adjacent second limiting units to limit the movement range of the corresponding first limiting unit;

[0014] At least one third limiting unit is provided on the side of the X-axis motion mechanism for reciprocating motion following the X-axis motion mechanism;

[0015] A plurality of fourth limiting units are distributed on the side of the X-axis motion mechanism, and a third limiting unit is provided between two adjacent fourth limiting units to limit the movement range of the corresponding third limiting unit.

[0016] In some embodiments, the first limiting unit includes:

[0017] The first limiting element is disposed on the side of the Y-axis motion mechanism and located between two adjacent second limiting units, and is used to follow the reciprocating motion of the Y-axis motion mechanism.

[0018] At least one first through-slot element is provided, which passes through the first limiting element;

[0019] At least one first locking element, the first locking element being connected to the first through slot element and the Y-axis motion mechanism respectively, for locking the first limiting element to the Y-axis motion mechanism;

[0020] At least one second through-slot element is provided, the second through-slot element being disposed through the first limiting element;

[0021] The second limiting element is disposed at the end of the first limiting element and is used to follow the movement of the first limiting element to contact any one of the two adjacent fourth limiting units;

[0022] At least one third through-slot element, wherein the third through-slot element is disposed through the second limiting element;

[0023] At least one second locking element is provided, which is connected to the second through slot element and the third through slot element respectively, for locking the second limiting element to the first limiting element.

[0024] In some embodiments, the second limiting unit includes:

[0025] The third limiting element is disposed on the side of the Y-axis motion mechanism and is used to cooperate with the adjacent third limiting element to limit the movement range of the corresponding first limiting unit.

[0026] In some embodiments, the second limiting unit further includes:

[0027] At least one first mounting element is disposed on the third limiting element;

[0028] At least one first buffer element is mounted on a corresponding first mounting element to prevent the generation of spark static electricity in the event of a collision with a corresponding first limiting unit.

[0029] In some embodiments, the third limiting unit includes:

[0030] The fourth limiting element is disposed on the side of the X-axis motion mechanism and located between two adjacent fourth limiting units, and is used to follow the reciprocating motion of the X-axis motion mechanism.

[0031] At least one fourth through slot element is provided, the fourth through slot element being disposed through the fourth limiting element;

[0032] At least one third locking element is provided, which is connected to the fourth through slot element and the X-axis motion mechanism respectively, and is used to lock the fourth limiting element to the X-axis motion mechanism;

[0033] At least one fifth through slot element, the fifth through slot element being disposed through the fourth limiting element;

[0034] A fifth limiting element is disposed at the end of the fourth limiting element and is used to follow the movement of the fourth limiting element to contact any one of the two adjacent fourth limiting units;

[0035] At least one sixth through slot element, the sixth through slot element being disposed through the fifth limiting element;

[0036] At least one fourth locking element is provided, which is connected to the fifth through slot element and the sixth through slot element respectively, and is used to lock the fifth limiting element to the fourth limiting element.

[0037] In some embodiments, the fourth limiting unit includes:

[0038] A sixth limiting element is disposed on the side of the X-axis motion mechanism and is used to cooperate with the adjacent sixth limiting element to limit the movement range of the corresponding third limiting unit.

[0039] In some embodiments, the fourth limiting unit further includes:

[0040] At least one second mounting element is disposed on the sixth limiting element;

[0041] At least one second buffer element is mounted on a corresponding second mounting element to prevent the generation of spark static electricity in the event of a collision with the corresponding third limiting unit.

[0042] In some of these embodiments, it also includes:

[0043] A lower bending tube unit is disposed on the side of the Y-axis motion mechanism. The first end of the lower bending tube unit is provided with a plurality of second limiting units, and the second end of the lower bending tube unit is provided with a plurality of fourth limiting units.

[0044] In some embodiments, the range of motion of the first limiting unit defined by two adjacent second limiting units is ±45°.

[0045] In some embodiments, the range of motion of the third limiting unit defined by two adjacent fourth limiting units is ±30°.

[0046] Secondly, a loading / unloading arm is provided, comprising:

[0047] The three-dimensional joint structure as described in the first aspect.

[0048] The present invention adopts the above technical solution and has the following technical effects compared with the prior art:

[0049] This utility model discloses a three-dimensional connector structure and loading / unloading arm for a loading / unloading arm. The first and second limiting units work together to limit the movement range of the Y-axis motion mechanism, preventing excessive rotation of the Y-axis motion mechanism and resulting in cable entanglement. The third and fourth limiting units work together to limit the movement range of the X-axis motion mechanism, also preventing excessive rotation of the X-axis motion mechanism and resulting in cable entanglement. The first and third limiting units are of a combined structure; when the limiting structure needs to be replaced, it is not necessary to disassemble the first and third limiting units as a whole, but only the first and third limiting units themselves need to be replaced. The components can be disassembled in parts, making it simple and quick. Furthermore, this modular structure extends the overall length of the first and third limiting units and increases the distance between them and the lower bend unit, preventing contact and collision between the first and third limiting units and thus protecting the lower bend unit from damage. The second and fourth limiting units also employ a modular structure, with detachable buffer structures added to the inner surfaces of their respective limiting structures to prevent collisions and sparks with the first and third limiting units. Additionally, the detachable buffer structures facilitate replacement and maintenance, making operation simple and convenient. Attached Figure Description

[0050] Figure 1 This is a schematic diagram of a three-dimensional connector structure according to an embodiment of the present utility model;

[0051] Figure 2 yes Figure 1 A partial schematic diagram of direction A;

[0052] Figure 3 yes Figure 1A partial schematic diagram of direction B;

[0053] Figure 4 This is a schematic diagram of the first limiting unit according to an embodiment of the present utility model;

[0054] Figure 5 This is a schematic diagram of the second limiting unit according to an embodiment of the present utility model;

[0055] Figure 6 This is a schematic diagram of the third limiting unit according to an embodiment of the present utility model;

[0056] Figure 7 This is a schematic diagram of the fourth limiting unit according to an embodiment of the present utility model.

[0057] The reference numerals in the accompanying drawings are as follows: 10, first limiting unit; 11, first limiting element; 12, first through-slot element; 13, first locking element; 14, second through-slot element; 15, second limiting element; 16, third through-slot element; 17, second locking element;

[0058] 20. Second limiting unit; 21. Third limiting element; 22. First mounting element; 23. First buffer element;

[0059] 30. Third limiting unit; 31. Fourth limiting element; 32. Fourth through slot element; 33. Third locking element; 34. Fifth through slot element; 35. Fifth limiting element; 36. Sixth through slot element; 37. Fourth locking element;

[0060] 40. Fourth limiting unit; 41. Sixth limiting element; 42. Second mounting element; 43. Second buffer element;

[0061] 50. Lower bend pipe unit;

[0062] A. Z-axis motion mechanism; B. Y-axis motion mechanism; C. X-axis motion mechanism; D. Joint mechanism. Detailed Implementation

[0063] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0064] It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0065] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the present invention.

[0066] Example 1

[0067] This embodiment relates to the three-dimensional joint structure of this utility model.

[0068] An illustrative embodiment of this utility model, such as Figures 1-3 As shown, a three-dimensional joint structure for loading and unloading arms is disclosed. The three-dimensional joint structure includes a Z-axis motion mechanism A, a Y-axis motion mechanism B, an X-axis motion mechanism C, and a joint mechanism D. It includes at least one first limiting unit 10, several second limiting units 20, at least one third limiting unit 30, and several fourth limiting units 40. The first limiting unit 10 is disposed on the side of the Y-axis motion mechanism B and is used to follow the reciprocating motion of the Y-axis motion mechanism B. Several second limiting units 20 are distributed on the side of the Y-axis motion mechanism B, with a first limiting unit 10 positioned between adjacent second limiting units 20 to limit the movement range of the corresponding first limiting unit 10. The third limiting unit 30 is disposed on the side of the X-axis motion mechanism C and is used to follow the reciprocating motion of the X-axis motion mechanism C. Several fourth limiting units 40 are distributed on the side of the X-axis motion mechanism C, with a third limiting unit 30 positioned between adjacent fourth limiting units 40 to limit the movement range of the corresponding third limiting unit 30.

[0069] In this utility model, the Z-axis motion mechanism A, Y-axis motion mechanism B, X-axis motion mechanism C and joint mechanism D are all conventional technical means in this field, and will not be described in detail here.

[0070] In some embodiments, there are multiple first limiting units 10. These multiple first limiting units 10 are arranged around the Y-axis motion mechanism B.

[0071] Several second limiting units 20 are arranged around the Y-axis motion mechanism B.

[0072] The number of second limiting units 20 matches the number of first limiting units 10. Generally, the number of second limiting units 20 is not less than the number of first limiting units 10.

[0073] Generally, a first limiting unit 10 is provided between two adjacent second limiting units 20.

[0074] For example, if there are four second limiting units 20, then there can be two or four first limiting units 10. If there are two first limiting units 10, the two first limiting units 10 are symmetrically arranged, that is, one first limiting unit 10 is arranged between the first and second second limiting units 20, and another first limiting unit 10 is arranged between the third and fourth second limiting units 20. If there are four first limiting units 10, the four first limiting units 10 and the four second limiting units 20 are alternately arranged.

[0075] In some embodiments, the range of motion of the first limiting unit 10 defined by two adjacent second limiting units 20 is ±45°.

[0076] In some embodiments, there are multiple third limiting units 30. These multiple third limiting units 30 are arranged around the X-axis motion mechanism C.

[0077] Several fourth limiting units 40 are arranged around the X-axis motion mechanism C.

[0078] The number of fourth limiting units 40 matches the number of third limiting units 30. Generally, the number of fourth limiting units 40 is not less than the number of third limiting units 30.

[0079] Generally, a third limiting unit 30 is provided between two adjacent fourth limiting units 40.

[0080] For example, if there are six fourth limiting units 40, then there can be three or six third limiting units 30. If there are three third limiting units 30, they are arranged in a ring, that is, the first third limiting unit 30 is placed between the first and second fourth limiting units 40, the second third limiting unit 30 is placed between the third and fourth fourth limiting units 40, and the third third limiting unit 30 is placed between the fifth and sixth fourth limiting units 40. If there are six third limiting units 30, they are arranged alternately with the six fourth limiting units 40.

[0081] In some of these embodiments, the range of motion of the third limiting unit 30 defined by two adjacent fourth limiting units 40 is ±30°.

[0082] like Figure 4As shown, the first limiting unit 10 includes a first limiting element 11, at least one first through slot element 12, at least one first locking element 13, at least one second through slot element 14, a second limiting element 15, at least one third through slot element 16, and at least one second locking element 17. The first limiting element 11 is disposed on the side of the Y-axis motion mechanism B and located between two adjacent second limiting units 20, for reciprocating with the Y-axis motion mechanism B; the first through-slot element 12 is disposed through the first limiting element 11; the first locking element 13 is connected to the first through-slot element 12 and the Y-axis motion mechanism B respectively, for locking the first limiting element 11 to the Y-axis motion mechanism B; the second through-slot element 14 is disposed through the first limiting element 11; the second limiting element 15 is disposed at the end of the first limiting element 11, for moving with the first limiting element 11 to contact any one of the two adjacent fourth limiting units 40; the third through-slot element 16 is disposed through the second limiting element 15; the second locking element 17 is connected to the second through-slot element 14 and the third through-slot element 16 respectively, for locking the second limiting element 15 to the first limiting element 11.

[0083] In some embodiments, the first limiting element 11 is L-shaped. Specifically, the first limiting element 11 includes a first connecting plate and a first extension plate. The first connecting plate is provided with a first through groove element 12; the first extension plate is disposed perpendicular to the first connecting plate and is provided with a second through groove element 14.

[0084] The first extension plate is formed at the end of the first connecting plate. Generally, the first extension plate and the first connecting plate are integrally formed.

[0085] Generally, the thickness and width of the first extension plate are equal to the thickness and width of the first connecting plate, and the length of the first extension plate is greater than the length of the first connecting plate.

[0086] In some embodiments, there are multiple first through-slot elements 12. The multiple first through-slot elements 12 are spaced apart along the length and / or width direction of the first connecting plate.

[0087] In some embodiments, the first through-slot element 12 includes, but is not limited to, a connecting hole, a connecting groove, etc. The first through-slot element 12 can be a smooth hole / groove or a threaded hole.

[0088] The number of first locking elements 13 matches the number of first through-slot elements 12. Generally, the number of first locking elements 13 is equal to the number of first through-slot elements 12.

[0089] In some embodiments, the first locking element 13 includes a first locking bolt and a first locking nut. The first locking bolt passes through the first through-slot element 12 and connects to the mounting structure of the Y-axis motion mechanism B (e.g., a mounting hole on a mounting flange); the first locking nut is threadedly connected to the first locking bolt and abuts against the mounting structure of the Y-axis motion mechanism B.

[0090] In some embodiments, there are multiple second through-slot elements 14. The multiple second through-slot elements 14 are spaced apart along the length direction and / or width direction of the first extension plate.

[0091] In some embodiments, the second through-slot element 14 includes, but is not limited to, a connecting hole, a connecting groove, etc. The second through-slot element 14 can be a smooth hole / groove or a threaded hole.

[0092] The dimensions of the second limiting element 15 match those of the first limiting element 11. Generally, the width of the second limiting element 15 is not greater than the width of the first extension plate.

[0093] Generally, after the second limiting element 15 is installed on the first limiting element 11, the end of the second limiting element 15 protrudes from the end of the first limiting element 11 (first extension plate).

[0094] In some of these embodiments, the second limiting element 15 includes, but is not limited to, a limiting plate, a limiting rod, etc.

[0095] In some embodiments, there are multiple third through-slot elements 16. The multiple third through-slot elements 16 are spaced apart along the length direction and / or width direction of the second limiting element 15.

[0096] The number of third through-slot elements 16 matches the number of second through-slot elements 14. Generally, the number of third through-slot elements 16 is equal to the number of second through-slot elements 14.

[0097] In some embodiments, the third through-slot element 16 includes, but is not limited to, a connecting hole, a connecting groove, etc. The third through-slot element 16 can be a smooth hole / groove or a threaded hole.

[0098] The number of second locking elements 17 matches the number of third through-slot elements 16 (second through-slot elements 14). Generally, the number of second locking elements 17 is equal to the number of third through-slot elements 16 (second through-slot elements 14).

[0099] In some embodiments, the second locking element 17 includes a second locking bolt and a second locking nut. The second locking bolt passes sequentially through the third through slot element 16 and the second through slot element 14; after the second locking nut is threadedly connected to the second locking bolt, it abuts against the first limiting element 11 (first extension plate).

[0100] like Figure 5 As shown, the second limiting unit 20 includes a third limiting element 21. The third limiting element 21 is disposed on the side of the Y-axis motion mechanism B and is used to cooperate with the adjacent third limiting element 21 to limit the movement range of the corresponding first limiting unit 10.

[0101] Specifically, two adjacent third limiting elements 21 cooperate to limit the movement range of the corresponding second limiting element 15.

[0102] Generally, the third limiting element 21 is in a relatively stationary state, that is, during the movement of the second limiting element 15, the third limiting element 21 is stationary relative to the second limiting element 15.

[0103] Generally, the third limiting element 21 can be fixedly connected or detachably connected to other mounting structures. Fixed connections include, but are not limited to, welding; detachable connections include, but are not limited to, bolted connections.

[0104] In some of these embodiments, the third limiting element 21 includes, but is not limited to, a limiting baffle.

[0105] Furthermore, the second limiting unit 20 also includes at least one first mounting element 22 and at least one first buffer element 23. The first mounting element 22 is disposed on the third limiting element 21; the first buffer element 23 is mounted on the corresponding first mounting element 22 to prevent the generation of spark static electricity in the event of a collision with the corresponding first limiting unit 10.

[0106] The first mounting element 22 is set through the third limiting element 21.

[0107] In some embodiments, there are multiple first mounting elements 22. The multiple first mounting elements 22 are spaced apart along the length and / or width direction of the third limiting element 21.

[0108] In some embodiments, the first mounting element 22 includes, but is not limited to, mounting holes, mounting grooves, etc. The first mounting element 22 can be a smooth hole / groove or a threaded hole.

[0109] The number of first buffer elements 23 matches the number of first mounting elements 22. Generally, the number of first buffer elements 23 is equal to the number of first mounting elements 22.

[0110] In some embodiments, the first buffer element 23 includes a first buffer pad, a first mounting screw, and a first mounting nut. The first buffer pad is mounted on the side of the third limiting element 21 facing the second limiting element 15; the first mounting screw is disposed on the rear side of the first buffer pad and passes through the first mounting element 22; the first mounting nut is threadedly connected to the first mounting screw and abuts against the third limiting element 21.

[0111] The dimensions of the first buffer pad are matched with the dimensions of the third limiting element 21. Generally, the length of the first buffer pad is not greater than the length of the third limiting element 21, and the width of the first buffer pad is not greater than the width of the third limiting element 21.

[0112] Generally, the first buffer pad has a certain thickness. Specifically, after the second limiting element 15 contacts (impacts / collides) the first buffer pad, the first buffer pad deforms. After the first buffer pad deforms, the second limiting element 15 still cannot contact the third limiting element 21.

[0113] Generally, the first cushioning pad is made of rubber, silicone, or other materials.

[0114] The first mounting screw and the first mounting element 22 can be either plug-in or threaded.

[0115] The connection between the first mounting screw and the first buffer pad is generally achieved by a plug-in connection. This connection method is a conventional technique in this field and will not be described in detail here.

[0116] Generally, the hardness of the first mounting screw is greater than the hardness of the first buffer pad.

[0117] like Figure 6As shown, the third limiting unit 30 includes a fourth limiting element 31, at least one fourth through slot element 32, at least one third locking element 33, at least one fifth through slot element 34, a fifth limiting element 35, at least one sixth through slot element 36, and at least one fourth locking element 37. The fourth limiting element 31 is disposed on the side of the X-axis motion mechanism C and located between two adjacent fourth limiting units 40, for reciprocating with the X-axis motion mechanism C; the fourth through slot element 32 is disposed through the fourth limiting element 31; the third locking element 33 is connected to the fourth through slot element 32 and the X-axis motion mechanism C respectively, for locking the fourth limiting element 31 to the X-axis motion mechanism C; the fifth through slot element 34 is disposed through the fourth limiting element 31; the fifth limiting element 35 is disposed at the end of the fourth limiting element 31, for moving with the fourth limiting element 31 to contact any one of the two adjacent fourth limiting units 40; the sixth through slot element 36 is disposed through the fifth limiting element 35; the fourth locking element 37 is connected to the fifth through slot element 34 and the sixth through slot element 36 respectively, for locking the fifth limiting element 35 to the fourth limiting element 31.

[0118] In some embodiments, the fourth limiting element 31 is L-shaped. Specifically, the fourth limiting element 31 includes a second connecting plate and a second extension plate. The second connecting plate is provided with a fourth through slot element 32; the second extension plate is disposed perpendicular to the second connecting plate and is provided with a fifth through slot element 34.

[0119] The second extension plate is formed at the end of the second connecting plate. Generally, the second extension plate and the second connecting plate are integrally formed.

[0120] Generally, the thickness and width of the second extension plate are equal to the thickness and width of the second connecting plate, and the length of the second extension plate is greater than the length of the second connecting plate.

[0121] In some embodiments, there are multiple fourth through-slot elements 32. These multiple fourth through-slot elements 32 are spaced apart along the length and / or width direction of the second connecting plate.

[0122] In some embodiments, the fourth through-slot element 32 includes, but is not limited to, a connecting hole, a connecting groove, etc. The fourth through-slot element 32 can be a smooth hole / groove or a threaded hole.

[0123] The number of third locking elements 33 matches the number of fourth through-slot elements 32. Generally, the number of third locking elements 33 is equal to the number of fourth through-slot elements 32.

[0124] In some embodiments, the third locking element 33 includes a third locking bolt and a third locking nut. The third locking bolt passes through the fourth through slot element 32 and connects to the mounting structure of the X-axis motion mechanism C (e.g., a mounting hole on the mounting flange); the third locking nut is threadedly connected to the third locking bolt and abuts against the mounting structure of the X-axis motion mechanism C.

[0125] In some embodiments, there are multiple fifth through-slot elements 34. These multiple fifth through-slot elements 34 are spaced apart along the length and / or width direction of the second extension plate.

[0126] In some embodiments, the fifth through-slot element 34 includes, but is not limited to, a connecting hole, a connecting groove, etc. The fifth through-slot element 34 can be a smooth hole / groove or a threaded hole.

[0127] The dimensions of the fifth limiting element 35 match those of the fourth limiting element 31. Generally, the width of the fifth limiting element 35 is not greater than the width of the second extension plate.

[0128] Generally, after the fifth limiting element 35 is installed on the fourth limiting element 31, the end of the fifth limiting element 35 protrudes from the end of the fourth limiting element 31 (second extension plate).

[0129] In some of these embodiments, the fifth limiting element 35 includes, but is not limited to, a limiting plate, a limiting rod, etc.

[0130] In some embodiments, there are multiple sixth through-slot elements 36. These multiple sixth through-slot elements 36 are spaced apart along the length and / or width direction of the fifth limiting element 35.

[0131] The number of sixth through-slot elements 36 matches the number of fifth through-slot elements 34. Generally, the number of sixth through-slot elements 36 is equal to the number of fifth through-slot elements 34.

[0132] In some embodiments, the sixth through-slot element 36 includes, but is not limited to, a connecting hole, a connecting groove, etc. The sixth through-slot element 36 can be a smooth hole / groove or a threaded hole.

[0133] The number of fourth locking elements 37 matches the number of sixth through-slot elements 36 (fifth through-slot elements 34). Generally, the number of fourth locking elements 37 is equal to the number of sixth through-slot elements 36 (fifth through-slot elements 34).

[0134] In some embodiments, the fourth locking element 37 includes a fourth locking bolt and a fourth locking nut. The fourth locking bolt passes sequentially through the sixth through slot element 36 and the fifth through slot element 34; after the fourth locking nut is threadedly connected to the fourth locking bolt, it abuts against the fourth limiting element 31 (the second extension plate).

[0135] like Figure 7 As shown, the fourth limiting unit 40 includes a sixth limiting element 41. The sixth limiting element 41 is disposed on the side of the X-axis motion mechanism C and is used to cooperate with the adjacent sixth limiting element 41 to limit the movement range of the corresponding third limiting unit 30.

[0136] Specifically, two adjacent sixth limiting elements 41 cooperate to limit the movement range of the corresponding fifth limiting element 35.

[0137] Generally, the sixth limiting element 41 is in a relatively stationary state, that is, during the movement of the fifth limiting element 35, the sixth limiting element 41 is stationary relative to the fifth limiting element 35.

[0138] Generally, the sixth limiting element 41 can be fixedly connected or detachably connected to other mounting structures. Fixed connections include, but are not limited to, welding; detachable connections include, but are not limited to, bolted connections.

[0139] In some of these embodiments, the sixth limiting element 41 includes, but is not limited to, a limiting baffle.

[0140] Furthermore, the fourth limiting unit 40 also includes at least one second mounting element 42 and at least one second buffer element 43. The second mounting element 42 is disposed on the sixth limiting element 41; the second buffer element 43 is mounted on the corresponding second mounting element 42 to prevent the generation of spark static electricity in the event of a collision with the corresponding third limiting unit 30.

[0141] The second mounting element 42 is disposed through the sixth limiting element 41.

[0142] In some embodiments, there are multiple second mounting elements 42. These multiple second mounting elements 42 are spaced apart along the length and / or width of the sixth limiting element 41.

[0143] In some embodiments, the second mounting element 42 includes, but is not limited to, mounting holes, mounting grooves, etc. The second mounting element 42 can be a smooth hole / groove or a threaded hole.

[0144] The number of second buffer elements 43 matches the number of second mounting elements 42. Generally, the number of second buffer elements 43 is equal to the number of second mounting elements 42.

[0145] In some embodiments, the second buffer element 43 includes a second buffer pad, a second mounting screw, and a second mounting nut. The second buffer pad is mounted on the side of the sixth limiting element 41 facing the fifth limiting element 35; the second mounting screw is located on the rear side of the second buffer pad and passes through the second mounting element 42; the second mounting nut is threadedly connected to the second mounting screw and abuts against the sixth limiting element 41.

[0146] The dimensions of the second buffer pad are matched with the dimensions of the sixth limiting element 41. Generally, the length of the second buffer pad is not greater than the length of the sixth limiting element 41, and the width of the second buffer pad is not greater than the width of the sixth limiting element 41.

[0147] Generally, the second buffer pad has a certain thickness. Specifically, after the fifth limiting element 35 contacts (impacts / collides) the second buffer pad, the second buffer pad deforms. After the second buffer pad deforms, the fifth limiting element 35 still cannot contact the sixth limiting element 41.

[0148] Generally, the second cushioning pad is made of rubber, silicone, or other materials.

[0149] The second mounting screw and the second mounting element 42 can be either plug-in or threaded.

[0150] The second mounting screw and the second buffer pad are generally connected by a plug-in connection. This connection method is a conventional technique in this field and will not be described in detail here.

[0151] Generally, the hardness of the second mounting screw is greater than that of the second buffer pad.

[0152] Furthermore, the three-dimensional joint structure also includes a lower bend tube unit 50. The lower bend tube unit 50 is disposed on the side of the Y-axis motion mechanism B, and a number of second limiting units 20 are provided at the first end of the lower bend tube unit 50, and a number of fourth limiting units 40 are provided at the second end of the lower bend tube unit 50.

[0153] Specifically, the first end of the lower bend tube unit 50 is provided with a number of third limiting elements 21, and the second end of the lower bend tube unit 50 is provided with a number of sixth limiting elements 41.

[0154] Several third limiting elements 21 are formed at the first end of the lower bend unit 50. Generally, the several third limiting elements 21 are fixed to the first end of the lower bend unit 50 by welding.

[0155] Several sixth limiting elements 41 are formed at the second end of the lower bend tube unit 50. Generally, the several sixth limiting elements 41 are fixed to the second end of the lower bend tube unit 50 by welding.

[0156] In this utility model, the lower bending tube unit 50 is a conventional technical means in this field, and will not be described in detail here.

[0157] The method of using this utility model is as follows:

[0158] (a) Operation of Y-axis motion mechanism B

[0159] When the Y-axis motion mechanism B moves, the second limiting element 15 moves with the first limiting element 11. When the second limiting element 15 contacts the corresponding third limiting element 21, it indicates that the Y-axis motion mechanism B has moved to the limit position.

[0160] Due to the resistance, the power data (such as electromagnetic torque) of the power structure of the Y-axis motion mechanism B will increase (due to the increase in electromagnetic torque caused by the increase in load). When the preset threshold is reached, the Y-axis motion mechanism B stops working.

[0161] (II) Operation of X-axis motion mechanism C

[0162] When the X-axis motion mechanism C moves, the fifth limiting element 35 moves with the fourth limiting element 31. When the fifth limiting element 35 contacts the corresponding sixth limiting element 41, it indicates that the X-axis motion mechanism C has moved to the limit position.

[0163] Due to the resistance, the power data (such as electromagnetic torque) of the power structure of the X-axis motion mechanism C will increase (due to the increase in electromagnetic torque caused by the increase in load). When the preset threshold is reached, the X-axis motion mechanism C will stop working.

[0164] The technical effects of this utility model are as follows:

[0165] 1) By utilizing the cooperation of the first limiting unit and the second limiting unit, the movement range of the Y-axis motion mechanism is limited to prevent excessive rotation of the Y-axis motion mechanism from causing related cables to become entangled.

[0166] 2) By using the cooperation of the third and fourth limiting units, the range of motion of the X-axis motion mechanism is limited to avoid excessive rotation of the X-axis motion mechanism and related cable entanglement.

[0167] 3) The first and third limiting units adopt a combined structure. When it is necessary to replace the limiting structure, it is not necessary to disassemble the first and third limiting units as a whole. Only a part of the structure of the first and third limiting units needs to be disassembled, which is simple and quick. In addition, by using this combined structure, the overall length of the first and third limiting units can be extended and the distance between the first and third limiting units and the lower bending pipe unit can be increased, avoiding contact and collision between the first and third limiting units and the lower bending pipe unit, and preventing damage to the lower bending pipe unit.

[0168] 4) The second and fourth limiting units adopt a combined structure, with a detachable buffer structure added to the inner side of each limiting structure to avoid collision with the first and third limiting units and generate sparks; in addition, the detachable buffer structure facilitates replacement and maintenance, and is simple and convenient to operate.

[0169] Example 2

[0170] This embodiment relates to the loading and unloading arm of this utility model.

[0171] One illustrative embodiment of this utility model is a loading and unloading arm, which includes a three-dimensional joint structure as described in Embodiment 1.

[0172] The usage method of this embodiment is basically the same as that of Embodiment 1, and will not be repeated here.

[0173] The technical effects of this embodiment are basically the same as those of Embodiment 1, and will not be repeated here.

[0174] The above description is only a preferred embodiment of the present utility model and does not limit the implementation method and protection scope of the present utility model. Those skilled in the art should realize that all solutions obtained by equivalent substitutions and obvious changes made based on the description and illustrations of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A three-dimensional joint structure for a loading / unloading arm, the three-dimensional joint structure comprising a Z-axis motion mechanism, a Y-axis motion mechanism, an X-axis motion mechanism, and a joint mechanism, characterized in that, include: At least one first limiting unit is provided on the side of the Y-axis motion mechanism for reciprocating motion following the Y-axis motion mechanism; Several second limiting units are distributed on the side of the Y-axis motion mechanism. A first limiting unit is provided between two adjacent second limiting units to limit the movement range of the corresponding first limiting unit; At least one third limiting unit is provided on the side of the X-axis motion mechanism for reciprocating motion following the X-axis motion mechanism; A plurality of fourth limiting units are distributed on the side of the X-axis motion mechanism, and a third limiting unit is provided between two adjacent fourth limiting units to limit the movement range of the corresponding third limiting unit.

2. The three-dimensional joint structure according to claim 1, characterized in that, The first limiting unit includes: The first limiting element is disposed on the side of the Y-axis motion mechanism and located between two adjacent second limiting units, and is used to follow the reciprocating motion of the Y-axis motion mechanism. At least one first through-slot element is provided, which passes through the first limiting element; At least one first locking element, the first locking element being connected to the first through slot element and the Y-axis motion mechanism respectively, for locking the first limiting element to the Y-axis motion mechanism; At least one second through-slot element is provided, the second through-slot element being disposed through the first limiting element; The second limiting element is disposed at the end of the first limiting element and is used to follow the movement of the first limiting element to contact any one of the two adjacent fourth limiting units; At least one third through-slot element, wherein the third through-slot element is disposed through the second limiting element; At least one second locking element is provided, which is connected to the second through slot element and the third through slot element respectively, for locking the second limiting element to the first limiting element.

3. The three-dimensional joint structure according to claim 1, characterized in that, The second limiting unit includes: The third limiting element is disposed on the side of the Y-axis motion mechanism and is used to cooperate with the adjacent third limiting element to limit the movement range of the corresponding first limiting unit.

4. The three-dimensional joint structure according to claim 3, characterized in that, The second limiting unit also includes: At least one first mounting element is disposed on the third limiting element; At least one first buffer element is mounted on a corresponding first mounting element to prevent the generation of spark static electricity in the event of a collision with a corresponding first limiting unit.

5. The three-dimensional joint structure according to claim 1, characterized in that, The third limiting unit includes: The fourth limiting element is disposed on the side of the X-axis motion mechanism and located between two adjacent fourth limiting units, and is used to follow the reciprocating motion of the X-axis motion mechanism. At least one fourth through slot element is provided, the fourth through slot element being disposed through the fourth limiting element; At least one third locking element is provided, which is connected to the fourth through slot element and the X-axis motion mechanism respectively, and is used to lock the fourth limiting element to the X-axis motion mechanism; At least one fifth through slot element, the fifth through slot element being disposed through the fourth limiting element; A fifth limiting element is disposed at the end of the fourth limiting element and is used to follow the movement of the fourth limiting element to contact any one of the two adjacent fourth limiting units; At least one sixth through slot element, the sixth through slot element being disposed through the fifth limiting element; At least one fourth locking element is provided, which is connected to the fifth through slot element and the sixth through slot element respectively, and is used to lock the fifth limiting element to the fourth limiting element.

6. The three-dimensional joint structure according to claim 1, characterized in that, The fourth limiting unit includes: A sixth limiting element is disposed on the side of the X-axis motion mechanism and is used to cooperate with the adjacent sixth limiting element to limit the movement range of the corresponding third limiting unit.

7. The three-dimensional joint structure according to claim 6, characterized in that, The fourth limiting unit also includes: At least one second mounting element is disposed on the sixth limiting element; At least one second buffer element is mounted on a corresponding second mounting element to prevent the generation of spark static electricity in the event of a collision with the corresponding third limiting unit.

8. The three-dimensional joint structure according to any one of claims 1 to 7, characterized in that, Also includes: A lower bending tube unit is disposed on the side of the Y-axis motion mechanism. The first end of the lower bending tube unit is provided with a plurality of second limiting units, and the second end of the lower bending tube unit is provided with a plurality of fourth limiting units.

9. The three-dimensional joint structure according to any one of claims 1 to 7, characterized in that, The range of motion of the first limiting unit defined by two adjacent second limiting units is ±45°; and / or The range of motion of the third limiting unit defined by two adjacent fourth limiting units is ±30°.

10. A loading and unloading arm, characterized in that, include: The three-dimensional joint structure as described in any one of claims 1 to 9.

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