CN108793044A - Closed automatic sled of unloading - Google Patents
Closed automatic sled of unloading Download PDFInfo
- Publication number
- CN108793044A CN108793044A CN201810757165.1A CN201810757165A CN108793044A CN 108793044 A CN108793044 A CN 108793044A CN 201810757165 A CN201810757165 A CN 201810757165A CN 108793044 A CN108793044 A CN 108793044A
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- China
- Prior art keywords
- axis
- frame
- rack
- fixed
- mechanical arm
- Prior art date
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67D—DISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
- B67D7/00—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes
- B67D7/04—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes for transferring fuels, lubricants or mixed fuels and lubricants
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67D—DISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
- B67D7/00—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes
- B67D7/06—Details or accessories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67D—DISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
- B67D7/00—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes
- B67D7/06—Details or accessories
- B67D7/78—Arrangements of storage tanks, reservoirs or pipe-lines
Abstract
The invention discloses closed automatic sleds of unloading, and relate generally to tank car unloading unit field.Including mechanical arm, range-measurement system, alignment system, pipe-line system, connection system, control system, tension is provided by machine driving, spring provides pulling force, realizes the folding at fixture mouth, in conjunction with spring and air bag floating support, closed and angular adjustment isobaric at any angle can be realized.The beneficial effects of the present invention are：It utilizes automatic technology, realizes that unloading system dock with the automatic positioning of tank wagon unloading port position, sealing, so realize truck tank unload station production automation and long-range precision control.
Description
Technical field
The present invention relates to tank car unloading unit field, specifically closed automatic sled of unloading.
Background technology
The crude oil that petroleum recovering operation area acquires out, according to the how many difference of operation area yield, on the spot by simple place
After reason, the handling point, such as loading station, oiling water-injection station etc. of concentration are aggregated into such a way that pipe is defeated or overland transport, into
The interim storage of row after reaching certain storage capacity, then by the approach of Relatively centralized, is maneuvered into Petrochemical Enterprises and carries out depth and add
Work.Since domestic each the distance between point that recovers the oil compares farther out, the oil pump capacity of each point is also little, and original is realized using the defeated mode of pipe
The case where oil conveying, is fewer, and the crude oil of each single well oil drop extraction is just needed carried of crude oil through tank wagon to uniformly
Handling point is transported through, and such case is commonplace.
Carried of crude oil is needed for crude oil to be discharged to specified Fuel Tanking Unit by tank wagon to after concentrating handling point, current general
Mode be to build several crude storage ponds in handling point, the absolute altitude of storage pool is relatively low, tank wagon in place after, with a hose
It is connect with tank car mouth of unloading, then opens valve, by gravity by CRUDE OIL EMISSIONS to storage pool.This mode of production is very thick
It puts, open work, the requirement of environmental protection policy is not achieved in open discharge.More there is a problem of that docking is bad, is primarily due to deposit
It is rubber tyre in automobile tire, loaded vehicle, light car interface height tolerance are big；Height of the same pressure under different temperatures environment is inclined
It is poor big；Damping spring will appear irregular rebound during unloading；The factors such as error are welded at interface position, are caused and are being unloaded
In the process, the height, angle of tank car tail portion interface are likely to change, this allows for docking good pipeline of unloading originally
Connector can not keep higher, lasting correspondence with tank car tail portion interface so that the second half of car unloading operation usually occurs pair
Connect bad situation.
Invention content
The purpose of the present invention is to provide closed automatic sleds of unloading, it utilizes automatic technology, realizes unloading system and vapour
The automatic positioning of recessing vehicle unloading port position, sealing docking, and then realize that truck tank is unloaded the production automation of station and remote
Cheng Jingmi is controlled.
The present invention to achieve the above object, is achieved through the following technical solutions：
Closed automatic sled of unloading, including：
Mechanical arm, the mechanical arm include that the X-axis assembly, Y-axis assembly, Z axis assembly and the W axis that are driven by servo motor are total
At, W axle assemblies realizing the integral-rotation of tri- axle systems of X-Y-Z, the X-axis assembly, Y-axis assembly, Z axis assembly difference
To realize three axis direction linear runnings of X-axis, Y-axis, Z axis；
Range-measurement system, the range-measurement system includes the laser range sensor being set at left and right sides of mechanical arm, for obtaining
The different distance between two monitoring points of tank car tail plane distance is obtained, judges that tank car stops inclining for relative mechanical arm X-direction
Rake angle, and by control machinery arm along the dynamic X-axis and tank car rear portion keeping parallelism for making mechanical arm of W shaft rotations；
Alignment system, the alignment system are mounted on the front end of mechanical arm, including industrial camera and light source, by acquiring slot
Nearby image, analysis obtain tank car interface position, instruct the operation of mechanical arm in tailstock portion；
Pipe-line system, the pipe-line system include connecting tube, and the connecting tube is used for pumped (conveying) medium；
Connection system, the connection system include connector housing, swagelok, contraposition sealing clamp, tension spring, the first tooth
Item, the second rack, the connector housing are fixed on the front end of mechanical arm, and driving gear, the driving are equipped on the connector housing
Gear is driven by the connector servo motor that is fixed on connector housing, and first rack and the setting arranged side by side of the second rack are being driven
The front and rear sides of moving gear, first rack and the second rack are meshed with driving gear, and the first rack and the second tooth
Item is slidably connected with connector housing respectively, and the position and sliding stroke of corresponding first rack and the second rack are equipped on the sliding rack
One end of strip-type hole, first rack is fixed with the first connector, and the described one end of second rack far from the first connector is set
There are the second connector, first connector and the second connector to extend through the corresponding strip-type hole in position, the contraposition clips
Tool includes two hood type handgrips being symmetrical set, the bottom end of first connector and the second connector respectively with homonymy
Contraposition sealing clamp be fixedly connected, for drives align sealing clamp folding, the bottom of the connector housing is fixed with ring
Shape frame, the toroidal frame are two and are set up in parallel that the middle part of the toroidal frame is equipped with mounting hole, and the swagelok is through peace
It fills between hole and the two there are gap, annular air-pocket, the inner ring and swagelok of the annular air-pocket is fixed on the toroidal frame
It is in contact, the tension spring is set between two toroidal frames, and one end of the tension spring is fixed on swagelok, institute
The other end for stating tension spring is fixed on connector housing, and the front end of the swagelok is described to connect for being docked with tank car interface
The end of head casing tube with connecting tube for connecting；
Control system, the control system are carried out for input/output signal to be handled and uploaded, and to mechanical arm
Control.
The W axle assemblies include fixed seat, and the fixed seat is fixed on the vehicle tail end in parking lot, the fixed seat be equipped with
Its chassis being rotatablely connected, the chassis are driven by W axis servo motors and are rotated,
The X-axis assembly includes supporting rack, X-axis stroke frame, X-axis slide unit, and support frame as described above is vertically arranged and its bottom end is solid
It is scheduled on the middle part of chassis, top and the X-axis stroke frame of support frame as described above are fixed, and X is equipped in X direction on the X-axis stroke frame
Axis the linear guide and X-axis rack, the X-axis the linear guide be two and it is front and back be set up in parallel, slided in the X-axis the linear guide
It is connected with X-axis slide block, the X-axis slide block is fixed on X-axis slide unit, and the bottom surface of the X-axis slide unit is rotatably equipped with X-axis tooth
Wheel, the X-axis gear is driven by the X-axis servo motor on X-axis slide unit, and the X-axis gear is nibbled with X-axis rack
It closes,
The Y-axis assembly includes frame-type frame, and the frame-type frame is rectangular frame and its length direction and Y direction phase one
It causes, the bottom of the frame-type frame is equipped with Y-axis guide rail along Y direction, and the inboard side wall upper edge Y direction of the frame-type frame is fixed with
Y-axis rack slidably connects Y-axis sliding block in the Y-axis guide rail, and the Y-axis sliding block is fixed on X-axis slide unit, the X-axis slide unit
On Y-axis gear is also rotatably installed, the Y-axis gear is driven by the Y-axis servo motor on X-axis slide unit, and
The Y-axis gear is meshed with Y-axis rack,
The Z axis assembly includes crane, and the crane is equipped with the Z axis guide rail being arranged along Z-direction and Z axis tooth
Item slidably connects Z axis sliding block in the Z axis guide rail, and the Z axis sliding block is fixed on the front end of frame-type frame, the frame-type frame
Front end is also rotatably equipped with Z axis gear, and the Z axis gear is driven by the Z axis servo motor being fixed on frame-type frame, institute
Z axis gear is stated to be meshed with Z axis rack.
The 0.6m for being formed as bi-directional symmetrical of the X-axis assembly, the Y-axis assembly are formed as 1m, the X-axis assembly
Be formed as 0.3m up and down
The range-measurement system includes being set to the laser range sensor at X-axis stroke frame both ends, the laser sensor with
Control system connects, and it is 12m to be set with distance range, after automobile enters setting range, makes a sound alarm or reminds automobile
Parking, after parking of automobile, two laser range sensors by the different distance numeric feedback of two detected monitoring points extremely
Controller judges the relative dip angle of automobile and chassis, and controlling W shaft rotations by control system moves, until eliminating relative tilt
Ensure mechanical arm and tank car rear portion keeping parallelism.
The alignment system is mounted on X-axis slide unit, and the alignment system includes mounting bracket, industrial camera, light source, industry control
Machine, the mounting bracket are fixed on X-axis slide unit, and the light source and industrial camera are mounted on mounting bracket, and the industrial camera will
Captured image information feeds back to industrial personal computer, to judge the relative position relation of connection system and tank car interface, the work
Control machine is connect with control system signal.
Further include purging attachment, the purging attachment use hot-air blowing, including first purging attachment and second purge it is attached
Part, the first purging attachment are mounted on the front end of instrument arm, for carrying out purging cleaning, institute to tank car interface before and after docking
The side for stating mechanical arm is additionally provided with parking bracket, and the parking bracket is set to when mechanical arm is in initial or reset state, connection
System position, it is described second purging attachment be mounted on parking bracket on, for after reset connection system component and connection
Pipe nozzle carries out purging cleaning.
The prior art is compared, the beneficial effects of the present invention are：
Using automatic technology, realize the automatic positioning of unloading system and tank wagon unloading port position, automatic butt and
Airtight connection, to solve the inclination such as formed during because of structural member welding production, damping spring is in the process of unloading
In will appear irregular rebound；Loaded vehicle, light car interface height tolerance are big；Height tolerance of the same pressure under different temperatures environment
Greatly；Caused by there are the factors such as variation during the different load-carryings unloaded in tire, height, the angle of tank car tail portion interface
The problems such as changing, tilting is to realize that essential link during contraposition in short supply, this programme are provided by machine driving
Tension, spring provide pulling force, realize the folding at fixture mouth.Interior be oriented to makes with aluminium bronze, in interface portion bit occupancy flow-passing surface
The effectively docking of product 9%.In conjunction with spring and air bag floating support, closed and angular adjustment isobaric at any angle can be realized.
Description of the drawings
Attached drawing 1 is the tank car tail portion interface diagram of institute's operation of the present invention.
Attached drawing 2 is the whole front schematic view (junction portion fractionation) of the present invention.
Attached drawing 3 is the whole side schematic view of the present invention.
Attached drawing 4 is the connection components of system as directed schematic diagram of the present invention.
Attached drawing 5 is the schematic diagram of the mechanical arm front end of the present invention.
Attached drawing 6 is the schematic diagram of laser range sensor of the present invention.
Label shown in attached drawing：
1, fixed seat；2, chassis；3, supporting rack；4, X-axis stroke frame；5, X-axis slide unit；6, frame-type frame；7, crane；8, swash
Ligh-ranging sensor；9, mounting bracket；10, industrial camera；11, light source；12, connector housing；13, swagelok；14, clips are aligned
Tool；15, tension spring；16, the first rack；17, the second rack；18, toroidal frame；19, annular air-pocket；20, connecting tube；21, stop
By frame.
Specific implementation mode
Present invention will be further explained below with reference to specific examples.It should be understood that these embodiments are merely to illustrate the present invention
Rather than it limits the scope of the invention.In addition, it should also be understood that, after reading the content taught by the present invention, people in the art
Member can make various changes or modifications the present invention, and such equivalent forms equally fall within range defined herein.
Of the present invention is closed automatic sled of unloading, and agent structure includes：Mechanical arm, range-measurement system, alignment system, connection
System, pipe-line system, purging attachment, control system.
The mechanical arm includes X-axis assembly, Y-axis assembly, Z axis assembly and the W axle assembly driven by servo motor, described
W axle assemblies are to realize the integral-rotation of tri- axle systems of X-Y-Z, and the X-axis assembly, Y-axis assembly, Z axis assembly are respectively to reality
Three axis direction linear runnings of existing X-axis, Y-axis, Z axis, the 0.6m for being formed as bi-directional symmetrical of the X-axis assembly, the Y-axis assembly
Be formed as 1m, the X-axis assembly is formed as 0.3m up and down.
The W axle assemblies include fixed seat 1, and the fixed seat 1 is fixed on the vehicle tail end in parking lot, is set in the fixed seat 1
There are the chassis 2 being rotatablely connected with it, the chassis 2 to drive and rotate by W axis servo motors.The general deviation of stop of automobile compared with
Greatly, it causes many docking facilities and operation that can not adapt to such deviation in docking, influences to dock effect.The present apparatus is in this regard
Judged by the range-measurement system of setting and scan tank car resting state, and W axis is controlled, to ensure that mechanical arm in X
Axis direction is parallel with tank car tail portion, ensures the sealing effect of docking.
The X-axis assembly includes supporting rack 3, X-axis stroke frame 4, X-axis slide unit 5, and support frame as described above 3 is vertically arranged and its bottom
End is fixed on the middle part of chassis 2, and top and the X-axis stroke frame 4 of support frame as described above 3 are fixed, on the X-axis stroke frame 4 in X direction
X-axis the linear guide and X-axis rack be installed, the X-axis the linear guide be two and it is front and back be set up in parallel, the X-axis straight line is led
X-axis slide block is slidably connected on rail, the X-axis slide block is fixed on X-axis slide unit 5, and the bottom surface of the X-axis slide unit 5 is rotatable
X-axis gear is installed, the X-axis gear is driven by the X-axis servo motor on X-axis slide unit 5, and the X-axis gear
It is engaged with X-axis rack.
The Y-axis assembly includes frame-type frame 6, and the frame-type frame 6 is rectangular frame and its length direction and Y direction phase one
It causes, the bottom of the frame-type frame 6 is equipped with Y-axis guide rail along Y direction, and the inboard side wall upper edge Y direction of the frame-type frame 6 is fixed
There is Y-axis rack, Y-axis sliding block is slidably connected in the Y-axis guide rail, the Y-axis sliding block is fixed on X-axis slide unit 5, the X-axis
Y-axis gear is also rotatably installed, the Y-axis gear is driven by the Y-axis servo motor on X-axis slide unit 5 on slide unit 5
It is dynamic, and the Y-axis gear is meshed with Y-axis rack,
The Z axis assembly includes crane 7, and the crane 7 is equipped with the Z axis guide rail being arranged along Z-direction and Z axis tooth
Item slidably connects Z axis sliding block in the Z axis guide rail, and the Z axis sliding block is fixed on the front end of frame-type frame 6, the frame-type frame 6
Front end Z axis gear is also rotatably installed, the Z axis gear is driven by the Z axis servo motor being fixed on frame-type frame 6
Dynamic, the Z axis gear is meshed with Z axis rack.
The mechanical arm considers the stability of whole system, takes into account symmetrical, and needs the width adjusted in height
It spends limited, therefore is driven by above-mentioned mechanical structure.
The range-measurement system includes being set to the laser range sensor 8 at 4 both ends of X-axis stroke frame, the laser sensor
Connect with control system, be set with distance range be 12m (10000LUX is more than to the anti-interference ability of strong light, under normal circumstances,
Service life is more than 10 years), after automobile enters setting range, makes a sound alarm or remind parking of automobile, after parking of automobile,
The different distance numeric feedback of two detected monitoring points to controller, is judged automobile by two laser range sensors 8
With the relative dip angle of chassis 2, W shaft rotations are controlled by control system and are moved, ensures mechanical arm and slot until eliminating relative tilt
Vehicle rear portion keeping parallelism.
The alignment system is mounted on X-axis slide unit 5, and the alignment system includes mounting bracket 9, industrial camera 10, light source
11, industrial personal computer, the mounting bracket 9 are fixed on X-axis slide unit 5, and the light source 11 and industrial camera 10 are mounted on mounting bracket 9,
Captured image information is fed back to industrial personal computer by the industrial camera 10, to judge that connection system is opposite with tank car interface
Position relationship, the industrial personal computer are connect with control system signal.
The connection system be mounted on crane 7 front side, the connection system include connector housing 12, swagelok 13,
Sealing clamp 14, tension spring 15, the first rack 16, the second rack 17 are aligned, the connector housing 12 is fixed on the bottom of crane 7
Portion, is equipped with driving gear on the connector housing 12, and the driving gear passes through the connector servo electricity that is fixed on connector housing 12
Machine drives, and first rack, 16 and second rack 17 is arranged side by side to be arranged in the front and rear sides of driving gear, first rack
16 and second rack 17 with driving gear be meshed, and the first rack 16 and the second rack 17 respectively with connector housing 12 slide connect
It connecing, the position and sliding stroke of corresponding first rack 16 and the second rack 17 are equipped with strip-type hole on the sliding rack, and described first
One end of rack 16 is fixed with the first connector, and second rack, 17 one end far from the first connector is equipped with the second connection
Part, first connector and the second connector extend through the corresponding strip-type hole in position, and the contraposition sealing clamp 14 includes two
The bottom end of a hood type handgrip being symmetrical set, first connector and the second connector is close with the contraposition of homonymy respectively
Binder tool 14 is fixedly connected, and the folding for driving contraposition sealing clamp 14, the bottom of the connector housing 12 is fixed with annular
Frame 18, the toroidal frame 18 are two and are set up in parallel that the middle part of the toroidal frame 18 is equipped with mounting hole, the swagelok 13
There are gap between penetrating mounting holes and the two, be fixed with annular air-pocket 19 on the toroidal frame 18, the annular air-pocket 19 it is interior
Circle is in contact with swagelok 13, and the tension spring 15 is set between two toroidal frames 18, and the one of the tension spring 15
End is fixed on swagelok 13, and the other end of the tension spring 15 is fixed on connector housing 12, the swagelok 13
Front end with tank car interface for docking, and the end of the swagelok 13 with connecting tube 20 for connecting.
The pipe-line system connects mechanical arm, passes through the position adjustment realization of mechanical arm and docking for tank car interface, pipeline
System includes connecting tube 20, and the lower interface of connecting tube 20 is connect with trestle pipeline, and pipe end is fixed on the connector of adapter system
On casing 13, it is (true in signal that connecting tube 20 is equipped with rotary joint (Arbitrary Rotation is realized within the scope of envelope), motor-driven valve
In the case of recognizing, realize the switch of process pipelines), level switch (realize medium whether there is or not detection, provide production start and terminate
Signal confirm), heat tracing and attemperator.
The purging attachment uses hot-air blowing, including the first purging attachment and the second purging attachment, first purging
Attachment is mounted on the front end of instrument arm, for carrying out purging cleaning to tank car interface before and after docking, is additionally provided on the chassis 2
Parking bracket 21, the parking bracket 21 are set to when mechanical arm is in initial or reset state, connect system position, described
Second purging attachment be mounted on parking bracket 21 on, for after reset connection system component and 20 nozzle of connecting tube purge
Cleaning.Due to influences such as environment and modes of operation, the attachments such as silt, medium can be adhered in the associated component of butted part, such as
Fruit is not cleared up in time, and residual dielectric, attachment can be formed about in interface to be freezed, and is further influenced connection sealing, is caused to unload
Situation is leaked in race in vehicle.By purging attachment, associated component is timely purged before and after docking, the purging energy before docking
Butt sealing effect is enough improved, the purging after docking can clear up attachment medium and sundries, ensure the cleaning of associated component in time.
Control system, the control system are used to receive the feedback data information of alignment system and range-measurement system, and to machine
Tool arm, connection system and purging attachment are controlled.
In addition, being additionally provided with spare connector, current general manual discharging connector, automatic equipment is under failure, power-off condition
Spare unit.
The motion flow of the present apparatus in actual production is：
1) automobile enters defined area, and two laser range sensors 8 detect simultaneously, when any one detecting distance is less than
Setting value provides stop sign；(skid front end sets parking shift, it is ensured that skid safety)；
2) it just positions：According to laser range finder offer apart from testing result, system-computed automobile stop gradient；
3) W axis rotates, it is ensured that mechanical arm is parallel with automobile tail；
4) secondary contraposition：Alignment system is opened, the position of mouth on a vertical plane of unloading, and location information is provided
To system；
5) manipulator is along X-axis, Z-axis linkage, after along Y-axis run to interface position；
6) contraposition sealing clamp 14 opens, close along Y-axis tank car with manipulator；
7) Y-axis forward travel distance is compared with laser measured distance, when into interface area, stopping starts purge system, docking
Mouth is cleared up；
8) Y-axis moves on, and when y-axis motor torque is more than the 20% of average torque, moves forward and backward stopping, interface pine
It opens, docking is completed, and manipulator is moved to home.
9) signal confirmation is completed in production, and manipulator captures interface, steps back setpoint distance, starts purge system, clears up tank car
Under unload mouth；
10) mechanical arm resets, and interface resets to parking bracket 21, starts purge system and clears up interface, then will connect
Mouth is docked to parking bracket 21, and flow terminates.
Claims (6)
1. closed automatic sled of unloading, which is characterized in that including：
Mechanical arm, the mechanical arm include X-axis assembly, Y-axis assembly, Z axis assembly and the W axle assemblies driven by servo motor,
The W axle assemblies are realizing that the integral-rotation of tri- axle systems of X-Y-Z, the X-axis assembly, Y-axis assembly, Z axis assembly are used respectively
To realize three axis direction linear runnings of X-axis, Y-axis, Z axis；
Range-measurement system, the range-measurement system includes the laser range sensor being set at left and right sides of mechanical arm, for obtaining slot
Different distance between two monitoring points of tailstock facial planes distance judges that tank car stops the inclination angle of relative mechanical arm X-direction
Degree, and by control machinery arm along the dynamic X-axis and tank car rear portion keeping parallelism for making mechanical arm of W shaft rotations；
Alignment system, the alignment system are mounted on the front end of mechanical arm, including industrial camera and light source, by acquiring tank car tail
Nearby image, analysis obtain tank car interface position, instruct the operation of mechanical arm in portion；
Pipe-line system, the pipe-line system include connecting tube, and the connecting tube is used for pumped (conveying) medium；
Connection system, the connection system include connector housing, swagelok, contraposition sealing clamp, tension spring, the first rack,
Second rack, the connector housing are fixed on the front end of mechanical arm, and driving gear, the driving gear are equipped on the connector housing
By the driving of the connector servo motor that is fixed on connector housing, first rack and the setting arranged side by side of the second rack are in sliding tooth
The front and rear sides of wheel, first rack and the second rack are meshed with driving gear, and the first rack and the second rack point
It is not slidably connected with connector housing, the position and sliding stroke of corresponding first rack and the second rack are equipped with stripe shape on the sliding rack
Hole, one end of first rack are fixed with the first connector, and the described one end of second rack far from the first connector is equipped with the
Two connectors, first connector and the second connector extend through the corresponding strip-type hole in position, the contraposition sealing clamp packet
Include two hood type handgrips being symmetrical set, the bottom end of first connector and the second connector respectively with pair of homonymy
Position sealing clamp is fixedly connected, and the folding for driving contraposition sealing clamp, the bottom of the connector housing is fixed with toroidal frame,
The toroidal frame is two and is set up in parallel that the middle part of the toroidal frame is equipped with mounting hole, the swagelok penetrating mounting holes
And there are gap between the two, it is fixed with annular air-pocket on the toroidal frame, the inner ring of the annular air-pocket connects with swagelok
It touches, the tension spring is set between two toroidal frames, and one end of the tension spring is fixed on swagelok, the drawing
The other end of power spring is fixed on connector housing, and the front end of the swagelok with tank car interface for docking, the fitting sleeve
The end of pipe with connecting tube for connecting；
Control system, the control system control mechanical arm for input/output signal to be handled and uploaded.
2. closed automatic sled of unloading according to claim 1, it is characterised in that：The W axle assemblies include fixed seat, described solid
Reservation is fixed on the vehicle tail end in parking lot, and the fixed seat is equipped with the chassis being rotatablely connected with it, and the chassis passes through W axis servos
Motor-driven rotation,
The X-axis assembly includes supporting rack, X-axis stroke frame, X-axis slide unit, and support frame as described above is vertically arranged and its bottom end is fixed on
The middle part of chassis, top and the X-axis stroke frame of support frame as described above are fixed, and it is straight to be equipped with X-axis in X direction on the X-axis stroke frame
Line guide rail and X-axis rack, the X-axis the linear guide be two and it is front and back be set up in parallel, be slidably connected in the X-axis the linear guide
There are X-axis slide block, the X-axis slide block to be fixed on X-axis slide unit, the bottom surface of the X-axis slide unit is rotatably equipped with X-axis gear,
The X-axis gear is driven by the X-axis servo motor on X-axis slide unit, and the X-axis gear is engaged with X-axis rack,
The Y-axis assembly includes frame-type frame, and the frame-type frame is rectangular frame and its length direction is consistent with Y direction, institute
The bottom for stating frame-type frame is equipped with Y-axis guide rail along Y direction, and the inboard side wall upper edge Y direction of the frame-type frame is fixed with Y-axis tooth
Item slidably connects Y-axis sliding block in the Y-axis guide rail, and the Y-axis sliding block is fixed on X-axis slide unit, on the X-axis slide unit also
Rotatable to be equipped with Y-axis gear, the Y-axis gear is driven by the Y-axis servo motor on X-axis slide unit, and the Y
Shaft gear is meshed with Y-axis rack,
The Z axis assembly includes crane, and the crane is equipped with the Z axis guide rail being arranged along Z-direction and Z axis rack, institute
It states and slidably connects Z axis sliding block in Z axis guide rail, the Z axis sliding block is fixed on the front end of frame-type frame, and the front end of the frame-type frame is also
Rotatable to be equipped with Z axis gear, the Z axis gear is driven by the Z axis servo motor being fixed on frame-type frame, the Z axis
Gear is meshed with Z axis rack.
3. closed automatic sled of unloading according to claim 1, it is characterised in that：The X-axis assembly is formed as bi-directional symmetrical
0.6m, the Y-axis assembly is formed as 1m, and the X-axis assembly is formed as 0.3m up and down
4. closed automatic sled of unloading according to claim 1, it is characterised in that：The range-measurement system includes being set to X-axis row
The laser range sensor at journey frame both ends, the laser sensor are connect with control system, and it is 12m to be set with distance range, when
It after automobile enters setting range, makes a sound alarm or reminds parking of automobile, after parking of automobile, two laser range sensors will
The different distance numeric feedback of two detected monitoring points judges the relative dip angle of automobile and chassis to controller,
W shaft rotations are controlled by control system to move, and ensure mechanical arm and tank car rear portion keeping parallelism until eliminating relative tilt.
5. closed automatic sled of unloading according to claim 1, it is characterised in that：The alignment system is mounted on X-axis slide unit,
The alignment system includes mounting bracket, industrial camera, light source, industrial personal computer, and the mounting bracket is fixed on X-axis slide unit, the light
Source and industrial camera are mounted on mounting bracket, and captured image information is fed back to industrial personal computer by the industrial camera, to sentence
The relative position relation of disconnection welding system and tank car interface, the industrial personal computer are connect with control system signal.
6. closed automatic sled of unloading according to claim 1, it is characterised in that：Further include purging attachment, the purging attachment
Using hot-air blowing, including the first purging attachment and the second purging attachment, before the first purging attachment is mounted on instrument arm
End, for carrying out purging cleaning to tank car interface before and after docking, the side of the mechanical arm is additionally provided with parking bracket, the stop
Erection is placed in when mechanical arm is in initial or reset state, connects system position, and the second purging attachment is mounted on
On parking bracket, for after reset connection system component and connecting tube nozzle carry out purging cleaning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810757165.1A CN108793044A (en) | 2018-07-11 | 2018-07-11 | Closed automatic sled of unloading |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810757165.1A CN108793044A (en) | 2018-07-11 | 2018-07-11 | Closed automatic sled of unloading |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108793044A true CN108793044A (en) | 2018-11-13 |
Family
ID=64076062
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810757165.1A Withdrawn CN108793044A (en) | 2018-07-11 | 2018-07-11 | Closed automatic sled of unloading |
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| CN (1) | CN108793044A (en) |
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| JPH07291398A (en) * | 1994-04-20 | 1995-11-07 | Tokiko Yuki Kk | Overflow prevention device for oil storage tank |
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| JP2010105708A (en) * | 2008-10-31 | 2010-05-13 | Tatsuno Corp | Unloading system |
| CN203212314U (en) * | 2013-01-30 | 2013-09-25 | 李小磊 | Mechanical-alignment installation and detachment vehicle loading arm driven by air cylinder or hydraulic cylinder |
| CN106743577A (en) * | 2017-01-17 | 2017-05-31 | 浙江优通自动化技术有限公司 | A kind of three-freedom mechanical arm device and manipulator plateform system |
| CN107327699A (en) * | 2017-08-12 | 2017-11-07 | 连云港市拓普科技发展有限公司 | Intelligent integral packaged type LNG unloads sled |
| CN206985696U (en) * | 2017-03-17 | 2018-02-09 | 中国石油化工股份有限公司 | A kind of tank car oil filling riser rapid connector component |
| CN208932965U (en) * | 2018-07-11 | 2019-06-04 | 天津市正方科技发展有限公司 | Closed sledge of unloading automatically |
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2018
- 2018-07-11 CN CN201810757165.1A patent/CN108793044A/en not_active Withdrawn
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07291398A (en) * | 1994-04-20 | 1995-11-07 | Tokiko Yuki Kk | Overflow prevention device for oil storage tank |
| JP2008127080A (en) * | 2006-11-22 | 2008-06-05 | Tokiko Techno Kk | Tank facility |
| JP2010105708A (en) * | 2008-10-31 | 2010-05-13 | Tatsuno Corp | Unloading system |
| CN203212314U (en) * | 2013-01-30 | 2013-09-25 | 李小磊 | Mechanical-alignment installation and detachment vehicle loading arm driven by air cylinder or hydraulic cylinder |
| CN106743577A (en) * | 2017-01-17 | 2017-05-31 | 浙江优通自动化技术有限公司 | A kind of three-freedom mechanical arm device and manipulator plateform system |
| CN206985696U (en) * | 2017-03-17 | 2018-02-09 | 中国石油化工股份有限公司 | A kind of tank car oil filling riser rapid connector component |
| CN107327699A (en) * | 2017-08-12 | 2017-11-07 | 连云港市拓普科技发展有限公司 | Intelligent integral packaged type LNG unloads sled |
| CN208932965U (en) * | 2018-07-11 | 2019-06-04 | 天津市正方科技发展有限公司 | Closed sledge of unloading automatically |
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Application publication date: 20181113 |