Automatic butt-joint method and device suitable for wharf oil conveying pipe loading and unloading arm and ship flange

Abstract

The invention discloses an automatic docking method and equipment applicable to the loading and unloading arm of the wharf oil pipeline and the flange of the ship, and is characterized in that a positioning device, including a laser positioning device and a visual positioning device, is used to initially position the loading and unloading arm of the oil pipeline and the target flange of the ship And precise positioning, through the drive control system to control the horizontal drive device, the outer arm drive device, and the inner arm drive device set on the loading and unloading arm of the oil pipeline, the outer arm is driven to move to the precise docking of the hydraulic quick connector and the target flange of the ship; The invented visual positioning device installs a group of CCD cameras to monitor the position of the oil delivery port in real time, and the processing module in the visual positioning device outputs the coordinate signal to the drive control system, thereby driving the precise positioning of the hydraulic quick connector of the oil delivery pipe arm and the target flange. The docking improves the docking accuracy, ensures that the oil will not leak, avoids the problem of environmental pollution, meets the needs of large-tonnage terminal operations, and greatly improves economic benefits.

Description

technical field [0001] The invention relates to a docking device for a marine oil pipeline, in particular to an automatic docking method and equipment for an oil pipeline loading and unloading arm of a wharf and a ship flange. Background technique [0002] With the rapid development of port construction and the continuous increase of large-tonnage wharves, the use of marine loading and unloading arms has also become popular. The current loading and unloading arm is driven by a hydraulic cylinder, which can realize the left and right rotation of the loading and unloading arm, the movement of the inner arm up and down, and the extension and contraction of the outer arm. When the device is docked with the ship’s berthing flange, it needs to be manually operated. Not only is the docking workload heavy, but the work efficiency is low. Leakage not only causes waste of resources, but also pollutes the wharf and water resource environment, which is not conducive to economic develop...

AI Technical Summary

Problems solved by technology

The current loading and unloading arm is driven by a hydraulic cylinder, which can realize the left and right rotation of the loading and unloading arm, the movement of the inner arm up and down, and the extension and contraction of the outer arm. When the device is docked with t...

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