阅读说明：本技术 一种输油臂自动对接系统 (Automatic butt joint system of oil transportation arm ) 是由 弓句民 陈修祥 于 2021-05-21 设计创作，主要内容包括：本发明适用于输油臂对接技术领域,公开了一种输油臂自动对接系统,包括对接靶和对接头；所述对接靶包括固定卡圈、定位靶、锁紧法兰；所述固定卡圈与所述定位靶设为一体,在其上设有夹紧孔位；所述定位靶上设有位置大小不一的圆孔；所述锁紧法兰设有定位孔和锁紧孔；所述对接头包括固定卡圈、识别平台、定位法兰；所述定位法兰包括可伸入定位孔的柔性定位销和锁紧钩；所述固定卡圈和所述识别平台设置为一体,其上设有摄像头及光电测距传感器得定位孔。所述机器视觉检测系统包括上述自动对接系统和视觉识别模块。本发明结构设计合理,能实现码头输油臂的高效对接,改善人工作业的弊端,很好地符合了智能制造的要求。(The invention is suitable for the technical field of butt joint of oil transfer arms, and discloses an automatic butt joint system of an oil transfer arm, which comprises a butt joint target and a butt joint; the butt joint target comprises a fixing clamping ring, a positioning target and a locking flange; the fixed clamping ring and the positioning target are integrated, and clamping hole sites are arranged on the fixed clamping ring and the positioning target; round holes with different positions are arranged on the positioning target; the locking flange is provided with a positioning hole and a locking hole; the butt joint comprises a fixed clamping ring, an identification platform and a positioning flange; the positioning flange comprises a flexible positioning pin and a locking hook which can extend into the positioning hole; the fixed clamping ring and the identification platform are arranged into a whole, and a positioning hole for a camera and a photoelectric distance measuring sensor is formed in the fixed clamping ring and the identification platform. The machine vision detection system comprises the automatic docking system and a vision recognition module. The invention has reasonable structural design, can realize the efficient butt joint of the wharf oil conveying arm, overcomes the defect of manual operation and well meets the requirement of intelligent manufacturing.)

1. An automatic butt joint system of an oil transportation arm comprises an oil transportation arm (4) at an oil wheel end and the oil transportation arm (15), and is characterized in that a locking flange (5) is installed on the oil transportation arm (4) at the oil wheel end, a positioning flange (14) is installed on the oil transportation arm (15), and a plurality of flexible pre-tightening pins (8) and a plurality of rigid locking hooks (9) are arranged on the positioning flange (14); a plurality of pre-tightening slots (6) and a plurality of locking grooves (7) are arranged on the locking flange (5); a locking hook (3) driven by a hydraulic motor is fixed in each locking groove (6); the positioning target (1) is connected to the oil transportation arm (4) at the oil wheel end by a fixing collar (13); the identification platform (12) is connected to the oil transportation arm (15) through a fixing clamping ring (13), an industrial camera (10) and a photoelectric distance measuring sensor in signal connection with the industrial camera (10) are installed on the identification platform (12), and the industrial camera (10) is right opposite to the positioning target (1).

2. The automatic docking system for the oil delivery arm according to claim 1, wherein a central positioning hole (2) is formed in the middle of the positioning target (1), a direction recognition hole is formed above the positioning target (1), a plurality of error calculation recognition holes are formed in the outer circle of the direction recognition hole, and four target position detection holes are formed in the outermost side of the direction recognition hole; the industrial camera (10) is over against the central positioning hole (2), and four photoelectric distance measuring sensors are arranged at four corners of the recognition platform (12).

3. The automatic docking system for the oil transfer arm as claimed in claim 1, wherein the pre-tightening slots (6) and the locking grooves (7) are circumferentially distributed on the locking flange (5) at regular intervals.

4. An automatic docking system for an oil transfer arm according to claim 1, characterized in that said flexible pre-tensioning pin (8) is made of flexible material.

5. An automatic docking system for an oil transfer arm according to claim 1, characterized in that said hydraulic motor is fixed on the ground by a bracket for controlling the movement of said locking hook (3); the oil transportation arm (15) is provided with a motor, and the motor is fixed on the ground through a motor support.

6. The automatic docking system for the oil delivery arm as claimed in claim 1, further comprising an automatic docking system for the oil delivery arm, wherein the automatic docking system for the oil delivery arm is fixed on a motor bracket and connected with the industrial camera (10) and the electro-optical distance measuring sensor (12) through wires.

Technical Field

The invention is applied to a wharf oil conveying chain, and particularly relates to an automatic butt joint system for an oil conveying arm.

Background

With the rapid development of tanker transport, problems have also arisen in the course of transporting crude oil ashore when the tanker arrives at a port. The crude oil is transported by means of a system of oil transportation arms installed on the wharf or pontoon for transporting liquid and gaseous media between the wharf and tanker pipelines. However, in the flange connection of the traditional oil transportation arm and the oil tanker, the hydraulic pump needs to be manually started, the buttons in six directions are triggered, and the oil transportation arm is controlled to enable the interface of the three-dimensional joint to move towards the flange interface of the tanker, so that the problems of low moving speed and poor operation stability exist in the face of the mass production requirement of crude oil transportation. Therefore, a novel docking system with high speed, simple structure, small occupied area and wide application range is needed to meet the increasing production requirements of the crude oil transportation industry.

Disclosure of Invention

The invention aims to provide an automatic docking system for an oil transfer arm, which solves the technical problems of low operation speed and poor stability in the flange connection of the traditional oil transfer arm and an oil tanker.

In order to realize the purpose, the invention adopts the technical scheme that: an automatic butt joint system of an oil transportation arm comprises the oil transportation arm at an oil wheel end and the oil transportation arm, wherein a locking flange is arranged on the oil transportation arm at the oil wheel end, a positioning flange is arranged on the oil transportation arm, and a plurality of flexible pre-tightening pins and a plurality of rigid locking hooks are arranged on the positioning flange; the locking flange is provided with a plurality of pre-tightening slots and a plurality of locking grooves; a locking hook driven by a hydraulic motor is fixed in each locking groove; the positioning target is connected to the oil tanker end oil transportation arm through a fixing clamp ring; the identification platform is connected to the oil transportation arm through a fixing clamping ring, an industrial camera and a photoelectric distance measuring sensor in signal connection with the industrial camera are mounted on the identification platform, and the industrial camera is over against the positioning target.

In the scheme, a central positioning hole is formed in the middle of the positioning target, a direction identification hole is formed above the positioning target, a plurality of error calculation identification holes are formed in the outer circle of the direction identification hole, and four target position detection holes are formed in the outermost side of the direction identification hole; the industrial camera is right opposite to the central positioning hole, and the four photoelectric distance measuring sensors are arranged at four corners of the identification platform.

In the above scheme, the pre-tightening slot and the locking groove are uniformly and circumferentially distributed on the locking flange at intervals.

In the scheme, the hydraulic motor is fixed on the ground by a support and is used for controlling the movement of the locking hook; the oil transportation arm is provided with a motor, and the motor is fixed on the ground through a motor support.

In the scheme, the automatic oil conveying arm butt joint system is further included, is fixed on the motor support and is connected with the industrial camera and the photoelectric distance measuring sensor through a lead.

The invention has the beneficial effects that: the automatic butt joint system for the oil conveying arm can realize quick automatic butt joint operation in a working state, achieves the high-speed standard, can replace the flange, is suitable for oil conveying arm operation of different specifications and sizes, and well meets the requirement of actual production.

Drawings

Fig. 1 is a schematic structural diagram of an initial state of the present invention.

Fig. 2 is a schematic structural diagram of the working state of the present invention.

Fig. 3 is a schematic structural view of a locking flange of the present invention.

FIG. 4 is a schematic view of the structure of the positioning target of the present invention.

In the figure, 1-a positioning target, 2-a central positioning hole, 3-a locking hook, 4-an oil tanker end oil transportation arm, 5-a locking flange, 6-a pre-tightening slot, 7-a locking groove, 8-a flexible pre-tightening bolt, 9-a rigid locking hook, 10-an industrial camera, 11-an identification platform, 12-a photoelectric sensor, 13-a fixing collar, 14-a positioning flange and 15-an oil transportation arm.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1, fig. 2, fig. 3 and fig. 4, the present embodiment provides an automatic docking system for an oil transportation arm, including: the device comprises a positioning target 1, a central positioning hole 2, a locking flange 5, a pre-tightening slot 6, a locking groove 7, a flexible pre-tightening pin 8, a rigid locking hook 9, a positioning flange 14, an identification platform 11 and a fixing clamping ring 13; the locking flange 5 is connected with the oil transportation arm 4 at the oil tanker end, and the connection is rigid connection; the locking flange 5 is provided with 8 pre-tightening slots 6 and 8 locking grooves 7; the pre-tightening slot 6 and the locking groove 7 are evenly and circumferentially distributed on the locking flange 5 at intervals; (ii) a A locking hook 3 driven by a hydraulic motor is fixed in the locking groove 6; the positioning target 1 is connected to the oil transportation arm 4 at the oil wheel end by a fixing clamp ring 13; the flexible pre-tightening pin 8 and the rigid locking hook 9 are supported and connected by a positioning flange 14; the positioning flange 14 is fixed on the oil transportation arm 15; the outer side of the oil transportation arm 15 is connected with a fixed clamping ring 13; the identification platform 12 is attached to a retaining collar 13.

Further, the industrial camera 10 and the 4 photoelectric distance measuring sensors are fixed on the recognition platform 11, the industrial camera 10 is just opposite to the positioning target, and the 4 photoelectric distance measuring sensors are distributed on four corners of the recognition platform.

Further, the center positioning hole 2 is located at the center of the positioning target 1, a direction recognition hole is arranged above the center positioning hole 2, 8 error calculation recognition holes distributed circumferentially are arranged on the outer ring of the direction recognition hole, and four target position detection holes are arranged on the outermost side.

Further, the hydraulic motor is fixed on the ground by a support and is used for controlling the movement of 8 locking hooks 3; the motor is fixed on the ground by a motor bracket and controls the movement of the oil transportation arm 15.

Further, a processor of the automatic docking system of the oil delivery arm is fixed on the motor bracket and is connected with the industrial camera 10 and the photoelectric distance measuring sensor 12 through leads.

The following is a specific course of motion.

(1) And moving the docking target. During oil transportation, the oil tanker oil transportation arm 4 positioned on the oil tanker moves to a fixed position through translation, extends out the positioning target 1, rotates to a specified position, and is used for photographing and identifying by the industrial camera 10.

(2) Movement of the joint: after the positioning target 1 moves to a designated position, the oil transportation arm 15 starts to move to a preset position range, the 4 photoelectric distance measuring sensors 12 measure the distance of four point positions on the positioning target, the inclination angle of the oil transportation arm is calculated by comparing the return distance values of the four point positions, and corresponding angle adjustment is carried out according to the inclination angle of the oil transportation arm 15; then the industrial camera 10 starts to photograph the positioning target 1, the photograph is transmitted back to the processor for calculation, and the deviation angle and the deviation distance are calculated; the oil transportation arm 15 carries out compensation movement according to the deviation distance returned by the processor; the industrial camera continues to take pictures and transmits the pictures to the processor, and the processor can continuously calculate the deviation angle and the deviation distance until the positioning target 1 is located at the preset position in the pictures transmitted back by the industrial camera 10.

(3) Butt joint movement: after the positioning target 1 and the recognition platform 11 move to the designated positions, the oil delivery arm 15 is pre-tightened, and the positioning flange 14 performs translational motion along the axial direction, so that the 8 flexible positioning pins 8 enter the pre-tightening slots 6 in advance; at this time, the industrial camera 10 takes a picture, and after being processed by the processor, the flange 14 is positioned and finely adjusted according to the returned data; then, the positioning flange 14 is rigidly connected, and the positioning flange 14 continues to translate along the axial direction until the positioning flange 14 is just attached to the locking flange 5; then 8 locking hooks 3 on the locking method 5 are extended out, and 8 rigid locking hooks 9 are fixed.

The automatic butt joint system for the oil conveying arms provided by the invention is reasonable and feasible in structural design, can be suitable for the oil conveying arms of various specifications and sizes, and reaches the butt joint high-speed standard.

The above-mentioned embodiments only express the embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.