54 results about "Fluid loading" patented technology

The invention discloses a fluid loading and unloading arm dynamic flange automatic docking method based on image visual servo, which comprises the following steps: initializing the tail end position of a loading and unloading arm, and controlling the loading and unloading arm to move until complete image information of a flange to be docked can be acquired; the method comprises the following steps: acquiring an image of a flange to be butted, and extracting initial candidate circles with circle features in the image by adopting a Hough circle detection algorithm; through an RANSAC (Random Sample Consensus) algorithm, performing refined fitting to obtain a refined candidate circle; extracting the center coordinates of the positioning holes from the refined candidate circle; according to the circle center coordinate of the positioning hole and the butt joint state coordinate position, calculating the current time deviation; taking the minimum deviation as a target, solving an angular motion angular velocity instruction of each joint of the loading and unloading arm, driving each joint of the loading and unloading arm to adjust the pose until the deviation converges, and completing the butt joint of the flange at the tail end of the loading and unloading arm and the to-be-butt-jointed flange. The method is suitable for millimeter-level accurate butt joint and control of loading and unloading arm flanges in the dynamic marine environment, and the operation efficiency and safety in the complex environment are remarkably improved.

The utility model discloses a special rotary joint for an ultralow-temperature fluid loading and unloading arm, and relates to the technical field of rotary joints. The connector comprises a connector body, a first flange plate is arranged at the top of the connector body, a second flange plate is arranged above the first flange plate, a plurality of mounting holes are formed in the first flange plate and the second flange plate, and mounting assemblies are arranged in the mounting holes in the second flange plate. And a driving mechanism is arranged in an inner cavity of the mounting assembly. When dismounting is needed, the driving mechanism is rotated reversely, thrust to the balls is reduced, the mounting holes in the first flange plate are obliquely arranged, the balls can retract, and then the tight connection state of the first flange plate and the second flange plate is relieved, so that tedious operation of traditional flange connection is avoided, and the dismounting efficiency is improved. The connecting and detaching efficiency of the loading and unloading arm and the external pipe is improved, time and labor cost is reduced, and convenience and reliability of the loading and unloading system are improved.

The invention relates to the technical field of automatic fluid treatment, and provides a fluid sample loading dynamic calibration method and system based on a sensor, and the method comprises the following steps: after executing calibration operation on a bioreactor, obtaining a first sensing signal output in a transition fluid disturbance observation stage by controlling the sensor of a fluid sample loading unit; acquiring a second sensing signal output in a stable sample physical property evaluation stage by controlling a sensor of a fluid sample loading unit; performing feature comparison on the first sensing signal and the second sensing signal, and determining a disturbance compensation amount according to a comparison result; performing feature comparison on the second sensing signal and a historical reference sensing signal, and determining a drift compensation amount according to a comparison result; according to the disturbance compensation amount and the drift compensation amount, differential compensation adjustment is carried out on driving parameters or sensor interpretation logic of the fluid sample loading unit. The method has the effect of continuously and accurately reflecting the sample loading volume of the undisturbed sample state.

The invention relates to the technical field of fluid loading and unloading equipment, and discloses an electric vertical pipe of a train submerged loading and unloading vehicle, an outer sleeve, a middle sleeve and an inner sleeve are sequentially and coaxially sleeved to form a telescopic fluid channel; sliding sealing structures are respectively arranged between the outer sleeve and the middle sleeve and between the middle sleeve and the inner sleeve; the steel wire take-up and pay-off machine is connected with the inner sleeve through a The hydraulic oil replacing pump is arranged at the outlet end of the inner sleeve; the hydraulic pipeline is connected to the hydraulic oil replacing pump; a hydraulic oil replacing pump is directly arranged at the outlet end of the inner sleeve, so that liquid is sucked and output from the tank bottom, the whole loading and unloading process is ensured to be performed below the liquid level, volatilization loss and oil gas dissipation are thoroughly avoided, and the explosion risk and environmental pollution are remarkably reduced; the steel wire take-up and pay-off machine drives the sleeve to stretch out and draw back, automatic lifting of the vertical pipe is achieved, and manual operation risks are avoided. The three layers of sleeves are nested and telescopic, and are shrunk when not working, so that the occupied space is reduced; the problems that efficiency is low and safety risks exist in the manual loading process of the vertical pipe of the loading and unloading vehicle are solved.

The utility model discloses an anti-freezing low-temperature fluid loading and unloading arm, and relates to the technical field of loading and unloading arms. The device comprises a supporting frame, and a connecting assembly, a limiting assembly, a driving assembly, a transmission assembly and an extending assembly are arranged on the supporting frame. The driving assembly is started to drive the transmission assembly fixedly installed at the output end of the driving assembly to rotate, the interior of the transmission assembly and the outer surface of the limiting assembly are fixedly installed, and the top end of the limiting assembly and the bottom end of the extending assembly are fixedly installed, so that when the transmission assembly rotates, the limiting assembly can rotate; the extending assemblies can be driven to rotate by cooperating with the limiting assemblies, so that the multiple sets of extending assemblies in the folded state are unfolded, when the extending assemblies need to be folded and retracted, the steps are reversely operated, and the limiting assemblies are limited and fixed, so that the positions of the extending assemblies can be limited and fixed; and the limiting assembly is matched to prevent the extension assembly from swinging in the folded state.

The utility model relates to the technical field of valves, and discloses a fluid loading and unloading valve assembly which comprises a valve body, a feeding pipe extending to the right side of the inner wall of the valve body is fixedly installed on the right side of the inner wall of the valve body, a connecting pipe is fixedly installed at one end of the right side of the feeding pipe, and a discharging pipe extending to the left side of the inner wall of the valve body is fixedly installed on the left side of the inner wall of the valve body. A mounting cover is movably mounted at one end of the left side of the discharging pipe, and a discharging pipe extending to the bottom of the discharging pipe is fixedly mounted on the inner bottom wall of the discharging pipe. The pull ring is lifted upwards, so that the sliding plate slides along the frame body to drive the vertical plate to ascend, the vertical plate and the ring body move when the vertical plate moves upwards through cooperation of the connecting rod, the anti-blocking blades and the mounting rod synchronously move along with the vertical plate, blocking objects in the feeding pipe or the discharging pipe are broken, and the purpose of arranging the anti-blocking structure is achieved.

The utility model provides a motor bearing steel ball cleaning and drying all-in-one machine, which relates to the technical field of bearing steel ball processing and comprises an operating machine table, a cleaning fluid loading bin fixed at the top of the operating machine table, a first lifting sliding rod fixed at the top of the operating machine table, and a first upper supporting seat fixed at the other end of the first lifting sliding rod. The top of the operation machine table is rotationally connected with a first lifting screw rod, the other end of the first lifting screw rod is rotationally connected with the first upper supporting seat, the surface of the first lifting screw rod is in threaded connection with a first lifting seat, the first lifting seat is slidably connected to the surface of a first lifting sliding rod, and the first lifting screw rod is driven by a first motor to rotate; the first motor is fixed to the top of the first upper supporting seat, a steel ball cleaning round bin is fixed to one side of the first lifting seat, a liquid inlet hole is formed in the bottom of the steel ball cleaning round bin in a penetrating mode, a first supporting plate is fixed to the top of the first lifting seat and the top of the steel ball cleaning round bin, and a round rod bearing part is fixed to the top of the first supporting plate. The round rod bearing piece is rotationally connected with a horizontal rotating rod in a penetrating mode.

The utility model discloses a rotary joint for a fluid loading and unloading arm, which relates to the technical field of fluid loading and unloading arms and comprises a joint body, the left surface of the joint body is fixedly connected with a fixed pipe, the left surface of the fixed pipe is movably sleeved with a movable pipe, and the left surface of the movable pipe is fixedly connected with a connecting ring. When the connector body is connected with a second connecting pipe for use, the second connecting pipe and the flange plate fixed to the connecting ring are fixed through a set of bolts, the tightness in the use process is guaranteed, the movable pipe is fixed to the right side of the connecting ring, and the movable pipe is movably clamped in the fixed pipe through the two limiting blocks fixed to the movable pipe. A movable pipe is inwards extruded to the bottom end through a second connecting pipe, two limiting blocks push two movable blocks to move together in the inwards extruding process of the movable pipe, two springs are compressed, and the two movable blocks are completely clamped in two limiting grooves at the moment.

The utility model provides a connecting device for a loading and unloading arm and a tank opening, which belongs to the field of fluid loading and unloading and comprises a stand column, a loading and unloading arm body is mounted on the side wall of the stand column, a discharge pipe is communicated with the loading and unloading arm body, a sealing cap is slidably connected to the side wall of the discharge pipe, and the sealing cap is conical. A protection assembly is mounted on the loading and unloading arm body; an adjusting assembly; the adjusting assembly comprises an outer threaded pipe fixedly connected to the side wall of the discharging pipe, a lifting sleeve is slidably connected to the side wall of the discharging pipe, a supporting frame is fixedly connected to the upper end face of the lifting sleeve, a first rotating gear is rotationally connected to the upper end face of the supporting frame, and the outer threaded pipe penetrates through the first rotating gear in a threaded mode. According to the utility model, counter-acting force is applied to the sealing cap through the spring bracket, the sealing effect of canning is improved, and after the height of the can opening is reduced, the sealing cap is always attached to the can opening under the action of the elastic force of the spring bracket, so that the sealing effect of the sealing cap is ensured.

The utility model belongs to the field of fluid loading and unloading special equipment, and relates to a tank car quick connector which comprises an external thread sleeve, an internal thread sleeve, a hand wheel, a connecting rod mechanism, two clamping jaws and a loose flange. During butt joint, the connecting rod mechanism is pulled backwards, the abutting block of the connecting rod mechanism is opened towards the outer side, the clamping jaw connected with the abutting block is opened, the tank car quick connector is pushed to be close to the tank car interface flange, the connecting rod mechanism is loosened, and the clamping jaw is folded; the hand wheel is rotated clockwise to drive the external thread sleeve to rotate clockwise, the internal thread sleeve moves in the direction close to the hand wheel through thread transmission, the clamping jaw is driven to move backwards, and the clamping jaw and the tank car interface flange are tightened. The quick butt joint of the tank car quick connector and the tank car interface flange is achieved in a hand wheel transmission mode, the butt joint precision and the sealing tightness are improved, the connecting rod mechanism is adopted to be connected with the clamping jaws, opening and closing of the clamping jaws can be achieved, and the tank car quick connector and the tank car interface flange can be aligned and fixed conveniently.

A pressure stabilizing and loading system for a cavitation bubble water tunnel experimental device comprises a fluid loading tank and an air pressure loading unit, the air pressure loading unit comprises an air supply device and a pressure stabilizing cylinder, the pressure stabilizing cylinder is provided with a cylinder body and an elastic diaphragm arranged in the cylinder body, the elastic diaphragm divides the internal space of the pressure stabilizing cylinder into a first chamber and a second chamber, and the first chamber and the second chamber are communicated with each other. And air conveyed by the air supply device is fed into the fluid loading tank through the first chamber. According to the embodiment of the utility model, the experimental water is loaded to the water tunnel device at a high speed through the loading of the high-pressure gas and the air pressure, so that the cavitation experiment is carried out in the water tunnel device, the vibration and noise of the loaded gas are relatively small, and the pulse pressure of the filled air can be eliminated by the elastic diaphragm in the pressure stabilizing cylinder; the pressure of gas in the fluid loading tank is kept stable, experimental water is stably pressed to the water tunnel device, the experimental water cannot be disturbed or generate turbulent flow, and pulsating pressure cannot be generated.

The utility model discloses an overhanging arm structure of a fluid loading and unloading arm, which relates to the technical field of fluid loading and unloading arms, and comprises a stand column, a support block fixedly connected to the annular side surface of the stand column, and an inner arm arranged on the upper surface of the support block, the outer arm is pressed rightwards to drive the second flange plate fixed to the outer arm to move together, the second flange plate drives the connecting pipe fixed to the second flange plate to move together in the stress process, the connecting pipe pushes the two arc-shaped blocks to move together in the rightward moving process, the two springs are compressed, and at the moment, when the outer arm is pushed to the top end and then rotates, the outer arm rotates; the connecting pipe rotates along with the rotating shaft, at the moment, the two connecting blocks fixed to the connecting pipe rotate in the clamping grooves, the design that limiting is opened, the outer arm can be detached, and the outer arm is convenient to detach allows rapid maintenance and repair work, the whole loading and unloading arm does not need to be detached, and therefore the maintenance time and cost are reduced.

The invention discloses a bottom joint for a fluid loading and unloading tank car and a loading and unloading device, the joint comprises a first joint body matched with a male joint fixed on the tank car, a second joint body and a third joint body are arranged between the first joint body and the front end of a loading and unloading arm, and a space for accommodating a liquid discharge column is formed inside the first joint body, the second joint body and the third joint body; a locking anti-falling mechanism is arranged on the first joint body; the locking anti-falling mechanism comprises a first oscillating cylinder, a first oscillating shaft, a plug pin driving disc, a plug pin and a guide pin, the first oscillating cylinder is in driving connection with the first oscillating shaft, the plug pin driving disc is connected to the first oscillating shaft, and the plug pin driving disc has the freedom degree in the circumferential direction of the first oscillating shaft; a Z-shaped guide sliding groove is formed in the plug pin driving disc, a guide pin on the plug pin is connected with the Z-shaped guide sliding groove in a matched mode, and the Z-shaped guide sliding groove is divided into a large arc section, a middle curve section and a small arc section. The device is suitable for loading and unloading dangerous media such as liquid chemical raw materials and oil products, manual intervention is reduced, and safety and efficiency are improved.

The invention discloses an intelligent loading arm system for a train and a using method of the intelligent loading arm system, and relates to the technical field of fluid loading and unloading, the intelligent loading arm system comprises a stand column, a first bent pipe, a first rotary joint, a second rotary joint, a second bent pipe and a cantilever, a first mounting plate is fixed to the upper side of the first rotary joint, and a regulation and control assembly is arranged on the first mounting plate; a temperature detection module is arranged on the bent pipe I; the regulation and control assembly comprises an outer shell, the outer shell is of an annular structure and is provided with an annular groove, an inner shell is rotationally arranged in the annular groove and comprises an outer ring and an inner ring, a plurality of first windows are correspondingly formed in the outer ring and the inner ring, and a plurality of fixing blocks are connected between the outer ring and the inner ring; an electric heating plate is hinged to the fixing block, a spring is connected between the electric heating plate and the fixing block, and a pressure detection module is arranged at the joint of the spring and the fixing block. The convenience and safety of fluid loading and unloading are improved.

The present invention relates to an actuator device (10) having at least one driven element (12) capable of being fluid-loaded and thus movable to at least one holding position. An actuator (34) is provided, which is operable in a pumping operation by manipulation of the actuator (34), in which at least a component (T) of the actuator (34) is alternately movable along a first direction (36) and along a second direction (38) opposite to the first direction (36) by manipulation of the actuator (34), thereby allowing fluid to be delivered to the driven element (12) for fluid loading. A discharge passage (32) is provided through which fluid is discharged from the driven element (12).

The invention relates to a fluid storage and / or transport tank intended for a ship having a longitudinal direction (X), the tank comprising: a fluid loading / unloading tower, a first sump (30) formed in a bottom wall (23), a support foot (31) fixed in an area of ​​the bottom wall, the tower comprising at least three vertical masts (11, 12, 13), two of which are arranged in a first transverse plane (P1) orthogonal to the longitudinal direction (X), the masts (11, 12, 13) delimiting, by axial projection onto the bottom wall, a first perimeter, the tower being equipped with a first pump (20) entirely disposed outside the first perimeter and extending into the first sump (30), the support foot (31) being disposed in a second transverse plane (P2), parallel to the first transverse plane (P1), the first pump (20) extending in a third transverse plane (P3), parallel to the first transverse plane (P1),The first transverse plane (P1) and the third transverse plane (P3) are located on either side of the second transverse plane (P2). Figure 5,

An emergency release mechanism is applied to fluid loading equipment for transporting fluid, and includes: a pair of pipe portions having a vacuum double structure in each of which a flow path for transporting the fluid is formed, the pair of pipe portions being arranged with opening ends abutting against each other; a coupling member capable of coupling the pair of pipe portions to each other and being removed therefrom; and a pair of shutoff valves configured to shut off the flow path in the pipe portions. The pair of pipe portions respectively include valve seats formed in the flow path. The shutoff valves respectively include valve bodies configured to seat on the respective valve seats to close the flow path, and linear motion drive devices configured to move the respective valve bodies along the flow path to cause the valve bodies to seat on the respective valve seats.

The present application relates to the technical field of automated fluid processing, and provides a sensor-based fluid loading dynamic calibration method and system, which comprises the following steps: after performing a calibration operation on a bioreactor, obtaining a first sensing signal output in a transition fluid disturbance observation stage by controlling a sensor of a fluid loading unit; obtaining a second sensing signal output in a stable sample physical property evaluation stage by controlling the sensor of the fluid loading unit; comparing features of the first sensing signal and the second sensing signal, and determining a disturbance compensation amount according to a comparison result; comparing features of the second sensing signal and a historical reference sensing signal, and determining a drift compensation amount according to a comparison result; and differentially compensating and adjusting driving parameters or sensor interpretation logic of the fluid loading unit according to the disturbance compensation amount and the drift compensation amount. The present application has the effect of providing a continuously accurate sample volume reflecting an undisturbed sample state.

The utility model relates to the technical field of fluid loading and unloading, in particular to an automatic locking pneumatic sealing cap which comprises a sealing cap body, a plurality of pressing blocks arranged below the sealing cap body and a sealing driving mechanism installed on the sealing cap body and used for driving all the pressing blocks to be turned upwards together. The sealing driving mechanism comprises a supporting frame fixedly arranged above the sealing cap body, the middle of the supporting frame is downwards provided with an installation inserting opening in a penetrating mode, a double-outlet air cylinder is correspondingly arranged in the installation inserting opening, the double-outlet air cylinder comprises a cylinder barrel and a piston rod, and the cylinder barrel is fixedly installed on the upper surface of the supporting frame. By arranging the sealing driving mechanism, the pressing blocks are turned upwards together to abut against the lower edge of the tank opening, so that the sealing cap body is pressed on the tank opening to achieve crane pipe sealing, automatic locking is achieved through pneumatic driving in the whole process, manual screwing is not needed, the labor intensity of workers and the risk that the workers are exposed in harmful or high-temperature media are effectively reduced, and the working efficiency is improved. And the working efficiency is greatly improved.

This invention discloses a parallel-driven automatic fluid loading and unloading arm and its usage method. A vertical displacement mechanism is mounted on a column and can reciprocate vertically along the column. The pipe string assembly includes a fluid source adapter pipe, a first pipe body, a second pipe body, a third pipe body, a fourth pipe body, a fifth pipe body, and a sixth pipe body, connected sequentially by a first rotary joint, a second rotary joint, a third rotary joint, a fourth rotary joint, a fifth rotary joint, and a sixth rotary joint. The fluid source adapter pipe is mounted on the column, the third pipe body is fixed to the vertical displacement mechanism, and the sixth pipe body is vertically downward. The axes of the first, second, and third rotary joints are horizontal and parallel to each other, while the axes of the fourth, fifth, and sixth rotary joints are vertical and parallel to each other. A rotary drive mechanism is mounted on the vertical displacement mechanism, and its rotary output end is connected to the outer ring of the fourth rotary joint. A two-bar drive mechanism is mounted on the vertical displacement mechanism, and its rotary output end is connected to a two-bar component. The rotation axis of the rotary output end of the two-bar drive mechanism is parallel to the axis of the four rotary joints, and the other end of the two-bar component is connected to the outer ring of the sixth rotary joint. The purpose of this invention is to solve the problem that the vertical filling pipe at the end cannot be kept in a fixed position in the horizontal plane when the height changes, as well as the problem of large load pressure and bending moment caused by the center of gravity being far from the column.

The utility model relates to an end caliber emergency conversion loading arm, which belongs to the technical field of fluid loading and unloading and comprises a vertical column and at least one multi-degree-of-freedom conveying pipe, the vertical column is vertically arranged, the at least one multi-degree-of-freedom conveying pipe is arranged on the vertical column, and one end of the multi-degree-of-freedom conveying pipe is communicated with the vertical column; one end of the multi-degree-of-freedom conveying pipe is a connecting end matched with a tank car, the horizontal end of the first oil conveying pipe is communicated with the stand column, the vertical end of the first oil conveying pipe is communicated with one end of the second oil conveying pipe, and the other end of the second oil conveying pipe is communicated with one end of the third oil conveying pipe. The other end of the third oil conveying pipe is detachably connected with an emergency multi-conversion connector; the first external connecting pipe of the device can quickly clamp the universal main connecting pipe of the device, the phenomenon that the whole connector is not tight due to the fact that the tail pipe is not tight in input is avoided, and the universal main connecting pipe, the first external connecting pipe and the second clamping spring extend outwards. And a reliable connection mode can be formed between the general main connecting pipe and the first external connecting pipe.

The present disclosure provides a flow path selection valve, a fluidic system, and a method for controlling fluid flow. The flow path selection valve is configured to switch between a first valve position and a second valve position, and the flow path selection valve is provided with a common port, a plurality of first ports, a plurality of second ports, a first communication groove, and second communication grooves. In a case that the flow path selection valve is in the first valve position, the plurality of first ports are in communication with the common port through the first communication groove; in a case that the flow path selection valve is in the second valve position, the first ports are in communication with the second ports through the second communication grooves in a one-to-one correspondence. In this way, the control over the switching of fluid flow paths can be achieved, the number of three-way valves in the fluidic system can be reduced, and the structure of the fluidic system can be simplified, such that the cost of the fluidic system is lowered, and the sequencing cost is further reduced. In addition, different fluid inlet modes can be selected, which enhances the flexibility of fluid loading, thereby improving the sequencing quality and sequencing efficiency.

The present invention discloses a method for automatic docking of dynamic flanges of a fluid loading and unloading arm based on image visual servoing, comprising: initializing the end position of the loading and unloading arm, controlling the loading and unloading arm to move until the complete image information of the flange to be docked can be collected; collecting the image of the flange to be docked, and using the Hough circle detection algorithm to extract the initial candidate circle with circular features in the image; performing fine fitting through the RANSAC algorithm to obtain a fine candidate circle; extracting the coordinates of the center of the positioning hole from the fine candidate circle; calculating the deviation at the current moment based on the coordinates of the center of the positioning hole and its docking state coordinate position; solving the angular velocity instructions of the angle movement of each joint of the loading and unloading arm with the goal of minimizing the deviation, driving each joint of the loading and unloading arm to adjust the posture until the deviation converges, and completing the docking of the end flange of the loading and unloading arm with the flange to be docked. The present invention is suitable for millimeter-level precise docking and control of loading and unloading arm flanges in dynamic marine environments, significantly improving the operating efficiency and safety in complex environments.

The application provides a marine low-temperature fluid loading and unloading arm, relates to the technical field of loading and unloading arms, and comprises a high-point rope wheel, an outer arm pipe movably connected to the inner wall of the high-point rope wheel, a three-dimensional rotating pipe head arranged at the other end of the outer arm pipe, an inner arm pipe fixedly connected to the high-point rope wheel and penetrating through the outer arm pipe, an inner arm cylinder movably arranged below the outer wall of the inner arm pipe, a gas phase balance assembly arranged in the middle of the inner arm cylinder, the gas phase balance assembly comprising an auxiliary cylinder fixedly arranged in the middle of the inner arm cylinder, a second hose fixedly connected to the upper side of the inner arm cylinder, and a fixed pipe fixedly connected to the other end of the second hose. The motor is controlled to drive the fan blades to rotate, so that suction force is generated to extract the excess oil gas in the oil injection space into the oil suction space. During the adjustment process, the inner arm pipe is used for buffering, so that the air pressure during the loading and unloading process between the shore warehouse and the ship tank is balanced, and the overpressure and negative pressure states are prevented.

The application discloses a dynamic high-precision docking control method and system for a fluid loading and unloading arm in a non-steady environment based on imitation learning, and the method comprises the following steps: initializing the end position of the fluid loading and unloading arm to a position at which complete image information can be collected; collecting a ship receiving device marker point image in real time, and calculating a visual feature error vector; inputting the visual feature error vector into a Gaussian mixture model regression model which is trained in advance by using an expert demonstration data set, and outputting a dynamic compensation speed vector; calculating a control instruction for minimizing docking deviation according to the visual feature error and the compensation speed; and driving a hydraulic execution system of the fluid loading and unloading arm to perform real-time adjustment according to the control instruction until the visual error converges, and high-precision docking of the end of the fluid loading and unloading arm and the ship receiving device is completed. The application is suitable for cm-level accurate docking of a fluid loading and unloading arm in a non-steady marine environment coupled by strong wind and sea waves, and significantly improves the safety and reliability of dangerous fluid conveying operations.

The invention discloses a dynamic high-precision butt joint control method and system for a fluid loading and unloading arm in an unsteady state environment based on imitation learning. The method comprises the steps that the tail end position of the fluid loading and unloading arm is initialized to the position where complete image information can be collected; acquiring a mark point image of the ship receiving device in real time, and calculating a visual feature error vector; inputting the visual feature error vector into a Gaussian mixture model regression model which is trained by using an expert demonstration data set in advance, and outputting a dynamic compensation velocity vector; according to the visual feature error and the compensation speed, a control instruction used for minimizing the butt joint deviation is calculated; and the fluid loading and unloading arm hydraulic execution system is driven to conduct real-time adjustment according to the control instruction until the visual error converges, and high-precision butt joint of the tail end of the loading and unloading arm and the ship receiving device is completed. The method is suitable for centimeter-level accurate butt joint of the fluid loading and unloading arm in the unsteady state marine environment with strong wind and sea wave coupled, and the safety and reliability of dangerous fluid conveying operation are remarkably improved.

The utility model discloses novel fluid loading and unloading equipment with a recovery function, which comprises a cleaning pipe, the upper surface of the cleaning pipe is rotatably connected with a rotating sleeve, the inner side surface of the rotating sleeve is in threaded connection with a screw rod I, one end of the screw rod I is fixedly connected with a cleaning scraper blade, and the side surface of the cleaning pipe is fixedly connected with a liquid inlet pipe; the side surface of the cleaning pipe is fixedly connected with a liquid outlet pipe, the upper surfaces of the liquid inlet pipe and the liquid outlet pipe are fixedly connected with sliding groove plates, the upper surfaces of the sliding groove plates are fixedly connected with motors, the output ends of the motors are fixedly connected with driving bevel gears, the side surfaces of the driving bevel gears are meshed with driven bevel gears, and the side surfaces of the driven bevel gears are fixedly connected with second screws. The side surfaces of the second screws are in threaded connection with sliding plates, and cleaning blocks are arranged on the lower surfaces of the sliding plates. By means of the components, liquid backflow can be prevented through the structure of the cleaning block when the liquid is conveyed, the surface of the cleaning block is cleaned through the cleaning scraper after the pipe wall is cleaned through the cleaning block, the liquid is prevented from remaining on the cleaning block, and the cleaning effect is improved.

The utility model relates to the technical field of fluid loading and unloading devices, in particular to a swing arm type full-automatic crane pipe, which is characterized in that a threaded rod is rotatably mounted on a base, a first motor for driving the threaded rod is fixedly mounted on the base, a second gear ring is fixedly mounted on a first swing arm, and a second gear ring is fixedly mounted on a second swing arm; a third motor used for driving a first rotating arm is fixedly installed on the lifting seat, a first supporting arm is fixedly installed on the first rotating arm, an electric push cylinder used for driving a second rotating arm is rotatably installed on the first supporting arm, a second supporting arm is fixedly installed on the second rotating arm, a first gear ring is fixedly installed on the liquid injection pipe, and a second gear ring is fixedly installed on the liquid injection pipe. A second motor for driving the liquid injection pipe is fixedly mounted on the second rotating arm; an electric push cylinder, a second motor and a third motor are driven through a PLC control system and an upper computer, a liquid injection pipe can be aligned with a liquid injection opening of the vehicle according to information recorded by a first rotary encoder, and the effects of full-automatic adjustment and convenient use are achieved.

The invention discloses an autonomous positioning and docking control system and method for a crane pipe end effector, and relates to the technical field of fluid loading and unloading automation, and the system comprises a global sensing unit which is fixedly installed above a crane position and is used for scanning the overall contour of a tank car to obtain vehicle global pose data; the local sensing and executing unit is integrated on an end effector and is used for collecting tank opening area images and three-dimensional point cloud and extracting and mapping three-dimensional coordinates of natural feature points; the calculation control unit receives the data, calculates the local position and posture of the tank opening, fuses the global posture and the local posture through a confidence weighted fusion algorithm to obtain corrected tank opening posture estimation, plans the movement track of the end effector, and controls the end effector to move when approaching the tank opening. The system is switched to an admittance control mode based on feedback of the six-dimensional force sensor, and smooth butt joint is achieved. The system does not need to transform the tank car, can adapt to the complex working conditions of random parking of vehicles and changeable tank opening states, and realizes safe and flexible butt joint.