Full-automatic intelligent loading and unloading vehicle crane pipe

Abstract

The utility model discloses a full -automatic intelligence loading and unloading truck crane pipe belongs to loading and unloading truck crane pipe technical field, including stand, the top rotation of stand is connected with first support square tube, the top rotation of first support square tube is connected with second support square tube, and one end fixed mounting of second support square tube has the support, and the visual camera is fixedly installed to the support one end, the stand and first support square tube all are provided with servo drive assembly, one side of stand is provided with liquid phase pipeline, and the liquid phase pipeline includes liquid phase inlet pipe, first liquid phase arm pipe, first connection elbow, second liquid phase arm pipe, second connection elbow and vertical pipe, first servo electric jar is fixedly installed to the support bottom, and the taper sealing cap is sleeved on vertical pipe, through full -automatic system replaces the dangerous operation of artificial climbing roof, solves the trouble problem that the slide platform structure is easy to enter dust, realizes high accuracy automatic alignment, and the stable operation under various severe weather conditions is adapted.

Description

Technical Field

[0001] This utility model belongs to the technical field of loading and unloading arms, specifically relating to a fully automatic intelligent loading and unloading arm. Background Technology

[0002] Loading arms are key pieces of equipment in the petrochemical storage and transportation sector, used for open-top unloading operations from trucks. Traditional loading arms typically consist of a rotating base, telescopic arm, swivel joint, and piping system, employing an adjustable spring balancing system. Operators must manually control the loading arm to connect to the tank truck opening.

[0003] The existing technology has at least the following drawbacks: operators need to climb onto the roof for manual docking, which poses a risk of falling from height and exposure to hazardous chemicals; some manufacturers use a sliding table structure, which requires the installation of a bellows cover for protection, but it is susceptible to dust intrusion in outdoor environments, leading to mechanical failure; maintenance is difficult, as key components such as rotary joints and telescopic arms are prone to accumulating contaminants and require frequent maintenance (the sealing ring needs to be replaced every 5,000 operations); positioning accuracy is low, relying on manual visual positioning, resulting in large errors and easy leakage of media (the standard requires the error to be controlled within ±5mm). Utility Model Content

[0004] The purpose of this utility model is to provide a fully automatic intelligent loading and unloading arm to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a fully automatic intelligent loading and unloading arm, comprising a column, a first supporting square tube rotatably connected to the top of the column, a second supporting square tube rotatably connected to the top of the first supporting square tube, a bracket fixedly installed at one end of the second supporting square tube, a vision camera fixedly installed at one end of the bracket, and servo drive components provided on both the column and the first supporting square tube, the two servo drive components being used to drive the first supporting square tube and the second supporting square tube to rotate respectively; A liquid phase pipeline is provided on one side of the column. The liquid phase pipeline includes a liquid phase inlet pipe fixedly installed on the back of the column. The upper end of the liquid phase inlet pipe is rotatably connected to a first liquid phase arm pipe. One end of the first liquid phase arm pipe is rotatably connected to a first connecting bend pipe. One end of the first connecting bend pipe is rotatably connected to a second liquid phase arm pipe. One end of the second liquid phase arm pipe is rotatably connected to a second connecting bend pipe. One end of the second connecting bend pipe is fixedly connected to a vertical pipe. A first servo electric cylinder is fixedly installed between the support and the end of the second liquid phase arm pipe near the second connecting bend pipe. A second servo electric cylinder is fixedly installed on one side of the second liquid phase arm pipe. A connecting frame is hinged to the piston end of the second servo electric cylinder. The connecting frame is fixedly installed on the first connecting bend pipe. A conical sealing cap is sleeved on the vertical pipe.

[0006] In one preferred embodiment, the servo drive assembly consists of a servo motor, a worm gear, and a worm wheel.

[0007] In a preferred embodiment, the first servo electric cylinder has a built-in torque sensor.

[0008] In one preferred embodiment, a connecting rod is fixedly connected to one side of the first connecting bend, and an oil receiving box is fixedly installed at one end of the connecting rod.

[0009] In a preferred embodiment, a gas phase pipeline is fixedly installed on one side of the liquid phase pipeline.

[0010] In a preferred embodiment, a control box is mounted on the front of the column.

[0011] Compared with the prior art, the beneficial effects of this utility model are: This fully automatic intelligent loading and unloading arm replaces the dangerous manual operation of climbing onto the vehicle roof with a fully automated system; it adopts an innovative two-folding arm and electric cylinder design, which completely solves the problem of dust entering the slide structure and causing failures; it integrates an AI vision positioning system to achieve high-precision automatic alignment of ±5mm (better than the industry standard of ±10mm); the windproof oil collection box and sealing cap design can adapt to stable operation under various harsh weather conditions; This fully automatic intelligent loading and unloading arm, through the setting of the oil receiving box, when the docking seal is performed, due to the relative rotation between the first connecting bend and the second liquid phase arm, the first connecting bend will drive the oil receiving box to move automatically away through the connecting rod. After the vertical pipe is retracted, the oil receiving box will automatically move to below the vertical pipe. Attached Figure Description

[0012] Figure 1 This is a first-view structural diagram of the front of this utility model; Figure 2 This is a second-view structural diagram of the front of this utility model; Figure 3 This is a schematic diagram of the structure of the present invention from the front view. Figure 4 This is a first-view structural diagram of the rear of the present invention; Figure 5 This is a second-view structural diagram of the rear side of the present invention; Figure 6 This is a rear view structural schematic diagram of the present invention.

[0013] In the diagram: 1. Column; 2. First supporting square tube; 3. Second supporting square tube; 4. Bracket; 5. Vision camera; 6. Servo drive assembly; 7. Liquid phase pipeline; 71. Liquid phase inlet pipe; 72. First liquid phase arm pipe; 73. First connecting bend pipe; 74. Second liquid phase arm pipe; 75. Second connecting bend pipe; 76. Vertical pipe; 8. First servo electric cylinder; 9. Second servo electric cylinder; 10. Connecting frame; 11. Conical sealing cap; 12. Connecting rod; 13. Oil receiving box; 14. Gas phase pipeline; 15. Control box. Detailed Implementation

[0014] The present invention will be further described below with reference to the embodiments.

[0015] The following embodiments are used to illustrate the present invention, but should not be used to limit the scope of protection of the present invention. The conditions in the embodiments can be further adjusted according to specific conditions, and simple improvements to the method of the present invention under the premise of the concept of the present invention are all within the scope of protection claimed by the present invention.

[0016] Please see Figure 1-6This utility model provides a fully automatic intelligent loading and unloading arm, including a column 1, a control box 15 mounted on the front of the column 1, a first support square tube 2 rotatably connected to the top of the column 1, a second support square tube 3 rotatably connected to the top of the first support square tube 2, a bracket 4 fixedly mounted at one end of the second support square tube 3, and a vision camera 5 fixedly mounted at one end of the bracket 4. Servo drive components 6 are provided on both the column 1 and the first support square tube 2, respectively driving the first support square tube 2 and the second support square tube 3 to rotate. A liquid phase pipeline 7 is provided on one side of the column 1, and a gas phase pipeline 14 is fixedly mounted on one side of the liquid phase pipeline 7. The liquid phase pipeline 7 includes a liquid phase pipeline fixedly mounted on the back of the column 1. A liquid phase inlet pipe 71 is rotatably connected to a first liquid phase arm pipe 72 at its upper end. A first connecting bend pipe 73 is rotatably connected to one end of the first liquid phase arm pipe 72. A second liquid phase arm pipe 74 is rotatably connected to one end of the first connecting bend pipe 73. A second connecting bend pipe 75 is rotatably connected to one end of the second connecting bend pipe 75. A vertical pipe 76 is fixedly connected to one end of the second connecting bend pipe 75. A first servo electric cylinder 8 is fixedly installed between the bracket 4 and the end of the second liquid phase arm pipe 74 near the second connecting bend pipe 75. A second servo electric cylinder 9 is fixedly installed on one side of the second liquid phase arm pipe 74. A connecting frame 10 is hinged to the piston end of the second servo electric cylinder 9. The connecting frame 10 is fixedly installed on the first connecting bend pipe 73. A conical sealing cap 11 is fitted onto the pipe 76. The conical sealing cap 11 is made of fluororubber material with a Shore hardness of 70° and adaptively compensates for an angle of 5-15°. Through the arrangement of the first supporting square pipe 2, the second supporting square pipe 3, the bracket 4, the vision camera 5, the servo drive assembly 6, the liquid phase pipeline 7, the first servo electric cylinder 8, the second servo electric cylinder 9, the connecting frame 10, and the conical sealing cap 11, during operation, the control box 15 receives a signal from the loading system and activates the two servo drive assemblies 6 to rotate the first supporting square pipe 2 and the second supporting square pipe 3, adjusting the liquid phase pipeline 7 and moving the vertical pipe 76 to the preset coordinates. Then, the vision camera 5 acquires an image of the tank opening, and the AI ​​algorithm outputs a 3D coordinate system. The correction values ​​(Δx, Δy, Δz) are used to adjust the position of the vertical tube 76 of the liquid phase pipeline 7 via the servo drive component 6. Then, the first servo electric cylinder 8 can be activated to press down at a speed of 50 mm / s. The first servo electric cylinder 8 drives the end of the second liquid phase arm tube 74 near the second connecting bend 75 to rotate downward, thereby driving the lower end of the vertical tube 76 to gradually extend into the tank opening. Finally, the vertical tube 76 drives the conical sealing cap 11 to be inserted into the tank opening for sealing. When the torque sensor detects ≥200 N•m, it stops and feeds back a sealing completion signal. During recovery, the system ends with a signal received, and the first servo electric cylinder 8 retracts at a speed of 80 mm / s. At the same time, the servo drive component 6 drives the liquid phase pipeline 7 to fold back into position.

[0017] Specifically, the servo drive assembly 6 consists of a servo motor, a worm gear, and a worm wheel. By setting the servo drive assembly 6, the servo motor can be started to drive the worm gear to rotate, which in turn drives the worm wheel to rotate. The worm wheel can then drive the first connecting bend 73 or the second connecting bend 75 to rotate horizontally, with a torque ≥2000 N•m.

[0018] Among them, the vision camera 5 uses a 4-megapixel industrial camera, paired with a deep learning algorithm, with a recognition time of <0.5s and a sampling frequency of 30fps.

[0019] The first liquid phase arm tube 72 is 1.5m long, made of carbon steel, and has a rotation angle of 0-180°. The second liquid phase arm tube 74 is 1.2m long, made of carbon steel, and has a rotation angle of 0-180°.

[0020] The first servo electric cylinder 8 has a thrust of 200 kg and a stroke of 2200 mm. The first servo electric cylinder 8 has a built-in torque sensor (accuracy ±1%FS).

[0021] One side of the first connecting bend 73 is fixedly connected to a connecting rod 12, and one end of the connecting rod 12 is fixedly installed with an oil receiving box 13. Due to the setting of the oil receiving box 13, when the connection is sealed, the first connecting bend 73 and the second liquid phase arm tube 74 rotate relative to each other, and the first connecting bend 73 will drive the oil receiving box 13 to move away automatically through the connecting rod 12 (response time <2s). After the vertical tube 76 is retracted, the oil receiving box 13 will automatically move to the bottom of the vertical tube 76.

[0022] The working principle and usage process of this utility model are as follows: First, during operation, the control box 15 receives a signal from the loading system and activates two servo drive components 6 to rotate the first support square tube 2 and the second support square tube 3, adjusting the liquid phase pipeline 7 and moving the vertical tube 76 to the preset coordinate position. Then, the vision camera 5 acquires an image of the tank opening, and the AI ​​algorithm outputs three-dimensional coordinate correction values ​​(Δx, Δy, Δz). The servo drive components 6 then adjust the position of the vertical tube 76 of the liquid phase pipeline 7. Finally, the first servo electric cylinder can be activated. The first servo cylinder 8 presses down at a speed of 50 mm / s, driving the second liquid phase arm tube 74 to rotate downwards near the end of the second connecting bend 75, thereby driving the lower end of the vertical tube 76 to gradually extend into the tank opening. Finally, the vertical tube 76 drives the conical sealing cap 11 to be inserted into the tank opening for sealing. When the torque sensor detects ≥200 N•m, it stops and sends back a sealing completion signal. During recovery, it receives a system end signal, and the first servo cylinder 8 retracts at a speed of 80 mm / s. At the same time, the servo drive assembly 6 drives the liquid phase pipeline 7 to fold back into place.

[0023] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A fully automatic intelligent loading and unloading arm, comprising a column (1), characterized in that: The top of the column (1) is rotatably connected to a first support square tube (2), the top of the first support square tube (2) is rotatably connected to a second support square tube (3), a bracket (4) is fixedly installed at one end of the second support square tube (3), a vision camera (5) is fixedly installed at one end of the bracket (4), and a servo drive assembly (6) is provided on both the column (1) and the first support square tube (2). The two servo drive assemblies (6) are used to drive the first support square tube (2) and the second support square tube (3) to rotate, respectively. A liquid phase pipeline (7) is provided on one side of the column (1). The liquid phase pipeline (7) includes a liquid phase inlet pipe (71) fixedly installed on the back of the column (1). The upper end of the liquid phase inlet pipe (71) is rotatably connected to a first liquid phase arm pipe (72). One end of the first liquid phase arm pipe (72) is rotatably connected to a first connecting bend pipe (73). One end of the first connecting bend pipe (73) is rotatably connected to a second liquid phase arm pipe (74). One end of the second liquid phase arm pipe (74) is rotatably connected to a second connecting bend pipe (75). A vertical pipe (76) is fixedly connected to one end of the second connecting bend (75). A first servo electric cylinder (8) is fixedly installed between the bracket (4) and the end of the second liquid phase arm pipe (74) near the second connecting bend (75). A second servo electric cylinder (9) is fixedly installed on one side of the second liquid phase arm pipe (74). A connecting frame (10) is hinged to the piston end of the second servo electric cylinder (9). The connecting frame (10) is fixedly installed on the first connecting bend (73). A conical sealing cap (11) is sleeved on the vertical pipe (76).

2. The fully automatic intelligent loading and unloading arm according to claim 1, characterized in that: The servo drive assembly (6) consists of a servo motor, a worm gear, and a worm wheel.

3. The fully automatic intelligent loading and unloading arm according to claim 1, characterized in that: The first servo electric cylinder (8) has a built-in torque sensor.

4. The fully automatic intelligent loading and unloading arm according to claim 1, characterized in that: A connecting rod (12) is fixedly connected to one side of the first connecting bend (73), and an oil receiving box (13) is fixedly installed at one end of the connecting rod (12).

5. The fully automatic intelligent loading and unloading arm according to claim 1, characterized in that: A gas phase pipeline (14) is fixedly installed on one side of the liquid phase pipeline (7).

6. The fully automatic intelligent loading and unloading arm according to claim 1, characterized in that: A control box (15) is installed on the front of the column (1).

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