A remotely operated underwater clamping docking system, docking device and docking method

Abstract

The application discloses a kind of underwater clamping butt joint systems of remote control operation, butt joint device and butt joint method, it is related to seabed mining joint butt joint field;Butt joint system includes fixed joint and free joint, and the clamping butt joint device for clamping free joint is arranged on fixed joint, clamping butt joint device has centering clamping mechanism, and the axis of fixed joint coincides with the centering clamping center line of centering clamping mechanism;Centering clamping mechanism is connected with the lifting mechanism for driving centering clamp to make centering clamping action and lifting entire centering clamping mechanism, so that free joint is butt jointed with fixed joint.The purpose of the application is to use remote control unmanned submersible and the clamping butt joint device described above, the quick butt joint and disconnection of underwater pipe joint can be completed on sea surface, solve the problem that free joint of underwater mining slurry suction pipe is quickly clamped, aligned and connected to fixed joint.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of seabed mining joint docking, in particular to a remotely operated underwater clamping docking system, a docking device and a docking method. BACKGROUND

[0002] With the continuous exploitation of land mineral resources, the land mineral resources are increasingly exhausted, and the demand for mineral resources is increasing day by day. The contradiction between mineral resource depletion and demand increase is increasingly prominent, and it is urgent to seek new mineral resources to make up for the shortage of land mineral resources. As we all know, the ocean accounts for two-thirds of the earth's area, and obtaining new mineral resources from the seabed is one of the currently feasible ways.

[0003] At present, there are several effective schemes for deep sea mining, the main way is to excavate the ore slurry by seabed equipment, and the ore slurry is transported to the sea surface platform through the ore slurry conveying pipe as the channel. Due to the complex sea conditions, in order to prevent the ore slurry pipe from being damaged and emergency escape when connected with the sea surface platform in bad sea conditions, the ore slurry conveying pipe is often disconnected from the fixed interface on the sea surface. After the ore slurry conveying pipe is disconnected underwater, how to restore the connection of the underwater joint of the ore slurry pipe is a difficult problem in calm sea conditions.

[0004] To solve the technical problem of "how to restore the connection of the underwater joint of the ore slurry pipe", the ore slurry conveying pipe is usually salvaged to the sea surface connection and then lowered to the seabed; this requires a series of complex operations and is time-consuming. Therefore, realizing the underwater connection of the joint on the sea surface is a desirable way.

[0005] Underwater pipe joint docking has certain difficulty. Usually, within 100 meters of water depth, underwater operation can be carried out by divers or ROV (remote operated vehicle); for water depth above 100 meters, divers cannot withstand high water pressure, and underwater docking operation is usually carried out by ROV; but the joint of underwater mining is mostly used for high pressure pipe interface, and it is difficult for ROV to carry out underwater docking operation; therefore, after the joint is disconnected, a joint docking system that is convenient for underwater remote operation and installation is needed to ensure the quick centering and connection of the pipe joint. SUMMARY

[0006] One object of the present application is to provide a remotely operated underwater clamping docking system and a docking method to solve the above problems, which can realize quick docking and disconnection of underwater pipe joints on the sea surface by using a remote operated vehicle and the above clamping docking device;

[0007] Another object of the present application is to provide a remote control underwater clamping docking device to solve the problem of quick clamping and docking of the free end of the underwater mining slurry suction pipe.

[0008] The technical scheme adopted by the present application is as follows: a remote control underwater docking system, comprising a fixed joint and a free joint, wherein the fixed joint is provided with a clamping docking device for clamping the free joint, the clamping docking device has a centering clamping mechanism, and the axis of the fixed joint coincides with the centering clamping center line of the centering clamping mechanism; the centering clamping mechanism is connected with a lifting mechanism for driving the centering clamping mechanism to make a centering clamping action and lifting the entire centering clamping mechanism, so that the free joint is docked with the fixed joint.

[0009] Further, the free joint is provided with a limiting boss for limiting the relative displacement of the centering clamping mechanism and the free joint.

[0010] Further, the fixed joint comprises a joint seat for docking with the free joint, and the inner wall shape of the joint seat matches the outer wall shape of the free joint.

[0011] Further, the inner wall of the joint seat is provided with a sealing ring.

[0012] Further, the inner wall of the joint seat and / or the outer wall of the free joint has a tapered surface.

[0013] Further, the connecting end of the joint seat is connected with a pipeline, and the joint seat and the pipeline connection position are provided with a buffer cavity.

[0014] Further, the access end of the joint seat is provided with a guide cover, and the guide cover is conical.

[0015] Further, the fixed joint further comprises a locking mechanism for locking the joint seat and the free joint.

[0016] Further, the locking mechanism comprises a plurality of radial holes provided on the joint seat and a sleeve provided on the joint seat, a locking steel ball is arranged in the radial hole, the diameter of the locking steel ball is greater than the axial size of the radial hole, the free joint is provided with an annular clamping groove, and the inner wall of the sleeve restricts the locking steel ball so that the locking steel ball is located between the clamping groove and the radial hole.

[0017] Further, the sleeve and the joint seat are in sliding connection to realize the replacement of the locking state and the unlocking state of the locking mechanism.

[0018] Further, the outer sleeve has a locking ring platform for restraining the locking steel ball, and the inner wall of the locking ring platform is in contact with the outer wall of the joint seat; the outer sleeve also has an unlocking cavity for storing the locking steel ball, and the unlocking cavity is located on one side of the locking ring platform, and the inner diameter of the unlocking cavity is larger than the inner diameter of the locking ring platform.

[0019] Further, there is a transition slope between the unlocking cavity and the locking ring platform.

[0020] Further, the inner diameter of the unlocking cavity is smaller than the sum of the outer diameter of the joint seat and the diameter of the locking steel ball, and the inner diameter of the unlocking cavity is greater than or equal to the sum of the inner diameter of the joint seat and the diameter of the locking steel ball.

[0021] Further, the outer sleeve also has a locking cavity located on the other side of the locking ring platform, and an elastic member is arranged in the locking cavity to push the locking ring platform to a position for restraining the locking steel ball; the outer sleeve is connected with a power-assisted system for overcoming the elastic force of the elastic member.

[0022] Further, the joint seat is provided with a stop ring for limiting the position of the outer sleeve, so that the locking ring platform is kept in the position for restraining the locking steel ball under the action of the elastic member and the stop ring.

[0023] Further, the power-assisted system includes a power-assisted hydraulic cylinder for providing a pulling force, and a power-assisted traction rope is arranged between the output shaft of the power-assisted hydraulic cylinder and the outer sleeve for transmitting the pulling force.

[0024] Further, the front end of the output shaft of the power-assisted hydraulic cylinder is provided with a power-assisted pulley assembly, and the power-assisted traction rope is connected with the outer sleeve after passing through the power-assisted pulley assembly.

[0025] Further, the power-assisted system also includes a power-assisted guide wheel assembly for installation on the fixed joint, and the two ends of the power-assisted traction rope are respectively connected with the outer sleeve through the power-assisted guide wheel assembly.

[0026] Further, the power-assisted system also includes a power-assisted guide bracket, and the power-assisted guide bracket is in sliding connection with the output shaft of the power-assisted hydraulic cylinder.

[0027] A remotely operated underwater clamping docking device applied to the underwater docking system, comprising a centering clamping mechanism and a supporting structure for supporting the centering clamping mechanism, the centering clamping mechanism has a centering clamp for clamping a free joint, and the centering clamp is connected with a lifting mechanism for driving the centering clamp to make a centering clamping action and lifting the entire centering clamping mechanism.

[0028] Further, the centering clamp comprises at least two clamping blocks capable of moving towards or away from each other, and the lifting mechanism is connected with the centering clamp to enable the clamping blocks to move towards or away from each other.

[0029] Further, the centering clamp further comprises a conical ring seat and a balance ring above the conical ring seat, the balance ring is close to the small-diameter end of the conical ring seat, the lifting mechanism is connected with the balance ring to realize the movement of the balance ring in the vertical direction; the clamping blocks are movably connected with the balance ring and the surface of the conical ring seat to enable the clamping blocks to move along the surface of the conical ring seat.

[0030] Further, the conical ring seat is placed on the support structure to enable the support structure to support the centering clamp.

[0031] Further, at least two guide bar holes for allowing displacement are arranged on the balance ring, one end of the clamping block is slidably connected with the guide bar hole, and the number of the guide bar holes matches the number of the clamping blocks to enable each clamping block to have a corresponding movable space.

[0032] Further, the conical ring seat has guide rails for guiding the clamping blocks to move towards or away from each other, the guide rails match the guide bar holes in spatial position and number, and the other end of the clamping block is slidably connected with the guide rails.

[0033] Further, the length direction of the guide rails is parallel to the generatrix of the corresponding position on the conical ring seat, or / and the length direction of the guide bar holes is parallel to the radial direction of the balance ring.

[0034] Further, the support structure comprises a support disc, a plurality of connecting rods for connecting the fixing joints are arranged on the support disc, and the support disc supports the centering clamp.

[0035] Further, the lifting mechanism comprises a hydraulic cylinder for providing lifting force, and a traction rope for transmitting the lifting force is arranged between the output shaft of the hydraulic cylinder and the centering clamp.

[0036] Further, the front end of the output shaft of the hydraulic cylinder is provided with a pulley assembly, and the traction rope is connected with the centering clamp after passing through the pulley assembly.

[0037] Further, a guide wheel assembly for being installed on the fixing joint is further included, and the two ends of the traction rope pass through the guide wheel assembly to be connected with the centering clamp.

[0038] Further, the lifting mechanism further comprises a guide frame slidably connected with the output shaft of the hydraulic cylinder.

[0039] A remote control underwater docking method, underwater docking system and underwater clamping docking device are provided.

[0040] S1: placing a free end into a centering clamping mechanism with the help of an ROV;

[0041] S2: working of a lifting mechanism to make the centering clamping mechanism perform a centering clamping action;

[0042] S3: clamping the free end by the centering clamping mechanism and moving the free end under the continuous action of the lifting mechanism;

[0043] S4: docking the free end with a fixed end.

[0044] As described above, the present application has the following advantages:

[0045] 1. The clamping docking device can clamp and pull the free end under the action of the lifting mechanism, and the operator can control the lifting mechanism on the sea surface to complete the quick docking and disconnection of the underwater pipe joint on the sea surface;

[0046] 2. The centering clamping mechanism can center and connect the free end under the action of the self-weight and the lifting power of the lifting mechanism, and pull the free end to the fixed end position to complete the joint docking, effectively solving the problem of quick clamping, aligning and connecting the free end of the underwater mining slurry suction pipe to the fixed joint;

[0047] 3. The support structure is arranged to support the centering clamping mechanism, so that the centering clamping mechanism can be supported by the support structure when it is not subjected to the lifting force of the lifting mechanism, and the centering clamp has the maximum opening under the action of its own gravity and is in the maximum opening state, so that the free end of the joint can smoothly enter the centering clamping mechanism under the assistance of the ROV. BRIEF DESCRIPTION OF DRAWINGS

[0048] The present application will be described by way of example and with reference to the accompanying drawings, in which:

[0049] Figure 1 is a schematic diagram of the overall structure of the present application;

[0050] Figure 2 is a schematic diagram of the structure of the fixed end disclosed in embodiment 2 of the present application;

[0051] Figure 3 is a schematic diagram of the structure of the free end disclosed in embodiment 2 of the present application;

[0052] Figure 4 is a schematic diagram of the structure of the power-assisted system disclosed in embodiment 4 of the present application;

[0053] Figure 5 This is a schematic diagram of the connection between the fixed connector and the free connector disclosed in this invention;

[0054] Figure 6 This is a three-dimensional structural schematic diagram of the clamping and docking device disclosed in Embodiment 5 of the present invention;

[0055] Figure 7 This is a front view schematic diagram of the clamping and docking device disclosed in Embodiment 5 of the present invention;

[0056] Figure 8 This is a schematic diagram of the centering clamping mechanism disclosed in Embodiment 5 of the present invention;

[0057] Figure 9 This is a schematic diagram of the support structure disclosed in Embodiment 5 of the present invention;

[0058] Figure 10 This is a schematic diagram of the lifting mechanism disclosed in Embodiment 5 of the present invention;

[0059] In the diagram, the markings are: 1-fixed joint; 11-joint seat; 111-radial hole; 12-outer sleeve; 121-locking ring platform; 122-unlocking cavity; 123-locking cavity; 124-transition slope; 13-locking steel ball; 14-elastic element; 15-sealing ring; 16-retaining ring; 17-guide cover; 18-buffer cavity; 2-clamping and docking device; 21-centering clamping mechanism; 211-balance ring; 2111-guide strip hole; 212-clamping block; 213-conical ring seat. ; 2131-Guide rail; 22-Support structure; 221-Connecting rod; 222-Support plate; 23-Lifting mechanism; 231-Lifting traction rope; 232-Lifting guide wheel assembly; 233-Lifting hydraulic cylinder; 234-Lifting pulley assembly; 235-Lifting guide frame; 3-Free joint; 31-Slot; 4-Assist system; 41-Assist hydraulic cylinder; 42-Assist traction rope; 43-Assist pulley assembly; 44-Assist guide wheel assembly; 45-Assist guide frame. Detailed Implementation

[0060] All features disclosed in this specification, or steps in all methods or processes disclosed herein, may be combined in any way, except for mutually exclusive features and / or steps.

[0061] Any feature disclosed in this specification, unless otherwise stated, may be replaced by other equivalent or similar features. That is, unless otherwise stated, each feature is merely one example of a series of equivalent or similar features.

[0062] Example 1

[0063] like Figures 1-10As shown, a remotely controlled underwater docking system includes a fixed connector 1 and a free connector 3. The fixed connector 1 is connected to a pipeline and is connected to an operating platform 5 on the sea surface through the pipeline. The operating platform 5 can be an operating vessel. The free connector 3 is located at a position 100m below the sea surface (a position where divers cannot withstand the water pressure). The fixed connector 1 is provided with a clamping docking device 2 for clamping the free connector 3. The clamping docking device 2 has a centering clamping mechanism 21, and the axis of the fixed connector 1 coincides with the centering clamping centerline of the centering clamping mechanism 21. The centering clamping mechanism 21 is connected to a lifting mechanism 23 for driving the centering clamp to perform a centering clamping action and lifting the entire centering clamping mechanism 21 so that the free connector 3 docks with the fixed connector 1.

[0064] Specifically, in this embodiment, the fixed joint 1 equipped with the clamping and docking device 2 is lowered from the operating platform 5 to the sea surface via a pipeline. The free joint 3 underwater is sent to the clamping position of the clamping and docking device 2 with the assistance of the ROV. The centering clamping mechanism 21 of the clamping and docking device 2 performs a clamping action under the action of the lifting mechanism 23, thereby clamping the free joint 3. The lifting mechanism 23 continues to generate lifting force, causing the centering clamping mechanism 21 to move the free joint 3 toward the fixed joint 1, thereby completing the docking of the free joint 3 and the fixed joint 1.

[0065] Example 2

[0066] like Figures 2-3 , Figure 5 As shown, based on Example 1, further feasible implementation methods are proposed.

[0067] In one specific implementation, the free connector 3 is provided with a limiting boss 32 for limiting the relative displacement between the centering clamping mechanism 21 and the free connector 3. The limiting boss 32 can be an annular boss or bosses evenly arranged along the circumference of the free connector 3; the specific limiting operation is as follows:

[0068] The lifting mechanism 23 makes the centering and clamping mechanism 21 make a clamping action and clamp the outer wall of the free joint 3. After that, under the interaction of the lifting force provided by the lifting mechanism 23 and the gravity of the free joint 3, the centering and clamping mechanism 21 and the free joint 3 can produce relative sliding (the relative sliding occurs when the friction between the centering and clamping mechanism 21 and the outer wall of the free joint 3 is not enough to overcome the gravity of the free joint 3, and the size of the friction is related to the friction factor and the clamping pressure between the centering and clamping mechanism 21 and the outer wall of the free joint 3), until the centering and clamping mechanism abuts against the limiting boss 32, the limiting boss 32 limits the relative sliding between the centering and clamping mechanism 21 and the free joint 3, ensures that the free joint 3 can stably follow the movement of the centering and clamping mechanism 21 under the action of the lifting mechanism 23, and ensures that the free joint 3 can be connected with the fixed joint 1.

[0069] A feasible specific embodiment is that the fixed joint 1 comprises a joint seat 11 for connecting with the free joint 3, the inner wall of the joint seat 11 is shaped to match the outer wall of the free joint 3, and after the free joint 3 is connected with the joint seat 11, the gap between the outer wall of the free joint 3 and the inner wall of the joint seat 11 is minimized, which can improve the sealing performance of the transported ore pulp after the connection, and increase the area of the connection between the free joint 3 and the joint seat 11, thereby improving the stability of the connection.

[0070] A feasible specific embodiment is that the inner wall of the joint seat 11 is provided with a sealing ring 15, and specifically, the inner wall of the joint seat 11 is provided with a sealing groove for installing the sealing ring 15, and the sealing ring 15 is installed in the sealing groove. After the free joint 3 is connected with the joint seat 11, the sealing ring 15 is pressed between the outer wall of the free joint 3 and the inner wall of the joint seat 11, so as to achieve the sealing effect and prevent the ore pulp from leaking from the gap between the outer wall of the free joint 3 and the inner wall of the joint seat 11 during the transportation of the ore pulp.

[0071] A feasible specific embodiment is that the connecting end of the joint seat 11 is connected with the pipeline, and the joint seat 11 is provided with a buffer cavity 18 at the position connected with the pipeline. Generally, the inner diameter of the pipeline is smaller than the inner diameter of the connecting end of the joint seat 11, the buffer cavity 18 can buffer the ore pulp from the free joint 3 and not timely enter the pipeline, and the ore pulp in the buffer cavity 18 can generate hydraulic pressure to push the ore pulp in the pipeline to flow, and the buffer cavity can also reduce the erosion and wear of the sealing ring by the fluid in the pipeline.

[0072] In one feasible specific implementation, the access end of the connector seat 11 is provided with a guide cover 17. The guide cover 17 is conical. Before the free connector 3 enters the connector seat 11, the guide cover 17 can increase the access area of ​​the free connector 3 that can be connected to the connector seat 11, thereby improving the success rate of underwater docking. In addition, the guide cover 17 guides the free connector 3 so that the axis of the free connector 3 gradually becomes collinear with the axis of the connector seat 11, ensuring docking accuracy.

[0073] In one feasible specific implementation, the inner wall of the connector seat 11 and / or the outer wall of the free connector 3 have a tapered surface. The small diameter end of the tapered surface is close to the connection end of the connector seat, and the large diameter end of the tapered surface is close to the access end of the connector seat. The purpose of setting the tapered surface is to guide and ensure that the free connector 3 and the connector seat 11 can maintain collinear alignment when they are connected.

[0074] Example 3

[0075] like Figures 2-5 As shown, based on any one of the embodiments in Examples 1-2, further feasible implementation methods are proposed.

[0076] In one feasible specific implementation, the fixed connector 1 further includes a locking mechanism for locking the connector seat 11 and the free connector 3. The locking mechanism locks the connector seat 11 and the free connector 3. After the locking mechanism is unlocked, the free connector 3 disengages from the connector seat 11 under its own gravity. The free connector 3 and the connector seat 11 can be quickly unlocked and separated simply by operating the locking mechanism on the operating platform 5 to change from the locked state to the unlocked state.

[0077] In one feasible embodiment, the locking mechanism includes 12 radial holes 111 disposed on the connector seat 11 and an outer sleeve 12 sleeved on the connector seat 11. A locking steel ball 13 is disposed in the radial holes 111, and the diameter of the locking steel ball 13 is larger than the axial dimension of the radial holes 111. An annular groove 31 is disposed on the free connector 3. The inner wall of the outer sleeve 12 constrains the locking steel ball 13 so that the locking steel ball 13 is located between the groove 31 and the radial holes 111.

[0078] Specifically, in this embodiment, the 12 radial holes 111 are evenly distributed circumferentially. When locking the free connector 3 and the connector seat 11, the weight of the free connector 3 itself can be evenly distributed on each locking steel ball 13. Furthermore, the even distribution of the radial holes 111 circumferentially ensures that the locking steel balls 13 are evenly distributed, so that the resultant force of the supporting force generated by the locking steel balls 13 to support the free connector 3 can be along the axial direction of the free connector 3, thereby improving the locking stability.

[0079] More specifically, in this embodiment, the locking mechanism locks the free connector 3 and the connector seat 11 in the following specific process:

[0080] Before the free joint 3 enters the joint seat 11, the locking steel ball 13 is in a free state; after the free joint 3 enters the joint seat 11, and the clamping groove 31 has not moved to the radial hole 111 / locking steel ball 13 position, the locking steel ball 13 is moved by the free joint 3 along the radial hole 111 to the outer wall of the joint seat 11, providing space for the free joint 3 to enter the joint seat 11; when the clamping groove 31 moves to the radial hole 111 / locking steel ball 13 position, the locking steel ball 13 is again in a free state due to the space of the clamping groove 31, at this time, the outer sleeve 12 is controlled to be sleeved on the joint seat 11, and the inner wall of the outer sleeve 12 restricts the locking steel ball 13 to move along the radial hole 111 to the clamping groove 31, thereby restricting the locking steel ball 13 between the clamping groove 31 and the radial hole 111, achieving the purpose of the locking mechanism locking the free joint 3 and the joint seat 11.

[0081] It should be noted that the free joint 3 and the joint seat 11 are locked by the locking steel ball 13, which can lock the positions of the free joint 3 and the joint seat 11 while ensuring relative rotation between the free joint 3 and the joint seat 11, thereby avoiding the phenomenon of knotting of the pipe manifold or the pipeline connected by the fixed joint 1; specifically, the mining excavator walks underwater, and the pipe manifold or the pipeline will also be twisted, and keeping the fixed joint 1 and the free joint 3 rotating can effectively avoid the phenomenon of knotting of the pipe manifold or the pipeline due to twisting.

[0082] Further, the outer sleeve 12 and the joint seat 11 are slidingly connected to achieve the change of the locking state and the unlocking state of the locking mechanism, when the outer sleeve 12 slides to the radial hole 111 / locking steel ball 13 position, the locking mechanism is in a locked state, achieving the purpose of locking the free joint 3 and the joint seat 11; when the outer sleeve 12 slides to other positions of the joint seat 11, the locking mechanism is in an unlocked state, achieving the purpose of unlocking the free joint 3 and the joint seat 11.

[0083] Further, the worker can remotely control the outer sleeve 12 to slide on the joint seat 11 on the operation platform 5, change the relative position of the outer sleeve 12 and the joint seat 11, and remotely control the locking and unlocking of the free joint 3 and the joint seat 11, further remotely control the docking and separation of the fixed joint 1 and the free joint 3, without the need for the operator to operate underwater, and the operation can be completed on the sea surface, ensuring the safety of the operator.

[0084] Specifically, in the embodiment, the outer sleeve 12 has a locking ring platform 121 for restraining the locking steel ball 13, the inner wall of the locking ring platform 121 is in contact with the outer wall of the joint seat 11, and the locking ring platform 121 restrains the locking steel ball 13 when the locking ring platform 121 is located at the position of the radial hole 111 / locking steel ball 13, so as to realize the locking of the fixed joint 1 and the free joint 3; the outer sleeve 12 also has an unlocking cavity 122 for storing the locking steel ball 13, the unlocking cavity 122 is located on one side of the locking ring platform 121, the inner diameter of the unlocking cavity 122 is greater than the inner diameter of the locking ring platform 121, and after the locking ring platform 121 slides to deviate from the position of the radial hole 111 / locking steel ball 13, the unlocking cavity 122 is located at the position of the radial hole 111 / locking steel ball 13, and the unlocking cavity 122 gives space for storing the locking steel ball 13, that is, the outer sleeve 12 slides to change the positions of the locking ring platform 121 and the unlocking cavity 122, so as to realize the change of the locking and unlocking states of the locking mechanism.

[0085] A feasible specific embodiment is that a transition slope 124 exists between the unlocking cavity 122 and the locking ring platform 121, the transition slope 124 plays a transition role, and facilitates the change of the positions of the locking steel ball 13 in the locking ring platform 121 and the unlocking cavity 122; specifically, when the locking steel ball 13 enters the unlocking cavity 122 from the locking ring platform 121 or the locking steel ball 13 enters the locking ring platform 121 from the unlocking cavity 122, the locking steel ball 13 can complete a transition movement along the transition slope 124, so as to avoid the blocking effect of the end surface of the locking ring platform 121 on the locking steel ball 13.

[0086] A feasible specific embodiment is that the inner diameter of the unlocking cavity 122 is smaller than the sum of the outer diameter of the joint seat 11 and the diameter of the locking steel ball 13, so as to effectively avoid the locking steel ball 13 from completely falling into the unlocking cavity 122, that is, when the locking mechanism is in the unlocking state, part of the locking steel ball 13 also exists in the radial hole 111, so as to ensure that the locking mechanism can move along the radial hole 111 when locking; the inner diameter of the unlocking cavity 122 is greater than or equal to the sum of the inner diameter of the joint seat 11 and the diameter of the locking steel ball 13, so that when the locking mechanism is unlocked, the unlocking cavity 122 can have enough space to match the space of the radial hole 111 to accommodate the locking steel ball 13.

[0087] A feasible embodiment is that the sleeve 12 further has a locking cavity 123 located on the other side of the locking ring platform 121, and an elastic member 14 is arranged in the locking cavity 123 to push the locking ring platform 121 to a position for restraining the locking steel ball 13, the elastic potential energy generated by the elastic member 14 serves as the power for the locking mechanism to change from the unlocked state to the locked state, and the locking mechanism is always kept in the locked state; the sleeve 12 is connected with a power-assisted system 4 for overcoming the elastic force of the elastic member 14, and the power-assisted system 4 overcomes the elastic force of the elastic member 14 to provide power for the locking mechanism to change from the locked state to the unlocked state.

[0088] Specifically, before the fixed connector 1 is connected with the free connector 3, the operator can remotely operate the power-assisted system 4 on the operation platform 5 to generate a pulling force, the pulling force overcomes the elastic force of the elastic member 14, the power-assisted system 4 pulls the sleeve 12 to move, so that the radial hole 111 / locking steel ball 13 position changes from the position of the locking ring platform 121 to the position of the unlocking cavity 122, and the locking steel ball 13 is in a free state (the locking steel ball 13 is located between the radial hole 111 and the unlocking cavity 122), avoiding that the locking steel ball 13 blocks the free connector 3 from entering the fixed connector 1; after the free connector 3 enters the connector seat 11 and the clamping groove 31 is located in the radial hole 111 / locking steel ball 13 position, the operator can remotely operate the power-assisted system 4 on the operation platform 5 to release the pulling force, the power-assisted system 4 no longer overcomes the elastic force of the elastic member 14, and the elastic force of the elastic member 14 pushes the locking ring platform 121 / sleeve 12 to move, the locking ring platform 121 moves to the radial hole 111 / locking steel ball 13 position, and the locking steel ball 13 is located between the clamping groove 31 and the radial hole 111, achieving the purpose of locking the fixed connector 1 and the free connector 3; when it is needed to separate the fixed connector 1 and the free connector 3, the operator can remotely operate the power-assisted system 4 on the operation platform 5 to generate a pulling force, the pulling force makes the locking mechanism unlocked (for details, refer to the working mode of the locking mechanism in the “before the fixed connector 1 is connected with the free connector 3” part of this paragraph), and the free connector 3 is separated from the fixed connector 1 under the action of its own gravity.

[0089] A feasible embodiment is that the connector seat 11 is provided with a stop ring 16 for limiting the position of the sleeve 12, so that the locking ring platform 121 is kept in the position for restraining the locking steel ball 13 under the action of the elastic member 14 and the stop ring 16; specifically, the stop ring 16 limits the position of the sleeve 12 to avoid that the sleeve 12 is separated from the connector seat 11; and when the sleeve 12 abuts against the stop ring 16, the locking ring platform 121 is located in the radial hole 111 / locking steel ball 13 position, and the locking mechanism is in the locked state.

[0090] Embodiment 4

[0091] As Figures 1-5As shown, based on any one of the embodiments in Examples 1-3, further feasible implementation methods are proposed.

[0092] In one feasible implementation, the assist system 4 includes an assist hydraulic cylinder 41 for providing tension. An assist traction rope 42 for transmitting tension is provided between the output shaft of the assist hydraulic cylinder 41 and the outer sleeve 12. Specifically, the outer sleeve 12 is provided with an ear plate, which can be integrally formed with the outer sleeve or welded to the outer wall of the outer sleeve 12 by welding. The assist traction rope 42 is connected to the ear plate to connect the assist traction rope 42 to the outer sleeve 12. Under its own hydraulic action, the output shaft of the assist hydraulic cylinder 41 can extend or retract, causing the assist traction rope 42 to move upward or downward. When the assist traction rope 42 moves upward, it transmits tension to the outer sleeve 12 and overcomes the elastic potential energy of the elastic element 14, allowing the outer sleeve 12 to move, thereby unlocking the locking mechanism.

[0093] In one feasible specific implementation, the front end of the output shaft of the power-assisted hydraulic cylinder 41 is provided with a power-assisted pulley assembly 43, and the power-assisted traction rope 42 is connected to the outer sleeve 12 after passing around the power-assisted pulley assembly 43, so as to realize the synchronous movement of the two ends of the power-assisted traction rope 42, so as to ensure that the tension on the outer sleeve 12 is along the axis of the outer sleeve 12, and to avoid the outer sleeve 12 from getting stuck during movement.

[0094] In one feasible specific implementation, the assist system 4 further includes an assist guide wheel assembly 44 for mounting on the fixed joint 1. The two ends of the assist traction rope 42 pass through the assist guide wheel assembly 44 and are connected to the outer jacket 12. The assist guide wheel assembly 44 is equivalent to a fixed pulley, changing the direction of the traction of the assist traction rope 42.

[0095] In one feasible specific implementation, the assist system 4 further includes an assist guide frame 45, which is slidably connected to the output shaft of the assist hydraulic cylinder 41. The assist guide frame 45 is used to guide the movement of the output shaft of the assist hydraulic cylinder 41 and ensure the stability of the movement of the output shaft of the assist hydraulic cylinder 41.

[0096] In one feasible specific implementation, the assist system 4 is installed on the operating platform 5 or the fixed joint 1.

[0097] Example 5

[0098] like Figures 1-10 As shown, based on any one of the embodiments in Examples 1-4, further feasible implementation methods are proposed.

[0099] The underwater centering and clamping docking device is applied to the underwater docking system in any one of the embodiments 1-4, and comprises a centering and clamping mechanism 21 and a supporting structure 22 for supporting the centering and clamping mechanism 21; the centering and clamping mechanism 21 has a centering clamp for clamping the free joint 3, and the centering clamp is connected with a lifting mechanism 23 for driving the centering clamp to make a centering and clamping action and lifting the whole centering and clamping mechanism 21.

[0100] In the embodiment, when the centering and clamping mechanism 21 is not subjected to the lifting force of the lifting mechanism 23, the supporting structure 22 can support the centering and clamping mechanism 21, and make the centering clamp in the maximum opening state under the action of the gravity of the centering and clamping mechanism 21, so as to facilitate the free joint 3 to enter the centering and clamping mechanism 21 smoothly under the assistance of the ROV; the lifting mechanism 23 gives the centering and clamping mechanism 21 the power to clamp the free joint 3, and after clamping the free joint 3, the lifting mechanism 23 can continue to move with the centering and clamping mechanism 21 and the free joint 3 until the docking with the fixed joint 1.

[0101] Specifically, the centering and clamping center line of the centering clamp is collinear with the central axis of the fixed joint 1, and in the implementation, the central axis of the supporting structure 22 can be collinear with the central axis of the fixed joint 1, so that the centering and clamping mechanism 21 is located at the central axis position of the fixed joint 1 when being supported, and the direction of the lifting force given to the centering clamp by the lifting mechanism 23 is always on the central axis of the fixed joint 1, so that the centering and clamping mechanism 21 and the centering clamp can move along the central axis of the fixed joint 1; when the docking of the fixed joint 1 and the free joint 3 is performed, the lifting mechanism 23 is completely released, that is, the lifting mechanism 23 does not give the centering clamp the lifting force, and the centering and clamping mechanism 21 is completely released, the operator can operate the free joint 3 to enter the centering and clamping mechanism 21 and be located in the centering clamp smoothly under the assistance of the ROV, and the operator can operate the lifting mechanism 23 to work on the operation platform 5, the lifting mechanism 23 gives the centering clamp the lifting force, so that the centering clamp of the centering and clamping mechanism 21 makes a clamping action; the lifting mechanism 23 continues to give the centering clamp of the centering and clamping mechanism 21 the lifting force, the centering clamp clamps the outer wall of the free joint 3 with greater clamping force, and the centering and clamping mechanism 21 moves towards the fixed joint 1 under the action of the lifting force, so as to realize the docking of the free joint 3 and the fixed joint 1.

[0102] It should be noted that when the free joint 3 needs to be separated from the fixed joint 1 in an emergency, the lifting mechanism 23 only needs to be completely released, and the centering clamp is in the maximum opening state under the action of the gravity of the centering and clamping mechanism 21, so that the docking device does not affect the separation of the free joint 3 and the fixed joint 1 at all; the process of remotely controlling the separation of the free joint 3 and the fixed joint 1 is described in detail in the embodiment 1.

[0103] A feasible embodiment is that the centering clamp comprises at least two clamping blocks 212 capable of moving towards or away from each other, and the lifting mechanism 23 is connected with the centering clamp to enable the clamping blocks 212 to move towards or away from each other; in particular, when the lifting force generated by the lifting mechanism 23 acts on the centering clamp, the clamping blocks 212 move towards each other to perform a centering clamping action; when the lifting mechanism 23 releases the lifting force, the centering clamp is completely released, so that the clamping blocks 212 move away from each other under the action of the gravity of the centering clamping mechanism 21, that is, the operator can control whether the centering clamp clamps the free joint 3 by controlling whether the lifting mechanism 23 works on the operation platform 5.

[0104] A feasible embodiment is that the centering clamping mechanism 21 further has a conical ring seat 213 and a balance ring 211 located above the conical ring seat 213, the balance ring 211 is close to the small-diameter end of the conical ring seat 213, and the lifting mechanism 23 is connected with the balance ring 211 to realize the movement of the balance ring 211 in the vertical direction; the clamping blocks 212 are movably connected with the balance ring 211, and the clamping blocks 212 are movably connected with the surface of the conical ring seat 213 to enable the clamping blocks 212 to move along the surface of the conical ring seat 213.

[0105] In particular, the axis of the conical ring seat 213 is collinear with the axis of the balance ring 211, and the inner diameters of the positions of the conical ring seat 213 and the balance ring 211 are both greater than the maximum radial dimension of the free joint 3, so that the free joint 3 can smoothly enter and extend out of the balance ring 211 from the conical ring seat 213, thereby realizing that the free joint 3 enters the centering clamping mechanism 21 and the centering clamp can clamp the outer wall of the free joint 3; the balance ring 211 is located above the conical ring seat 213 and close to the small-diameter end of the conical ring seat 213, so it can be uniquely inferred that the conical ring seat 213 is vertically placed and the position of the small-diameter end of the conical ring seat 213 is higher than the large-diameter end of the conical ring seat 213; the balance ring 211 moves upward, the balance ring 211 is movably connected with the centering clamp, the clamping blocks 212 move along the surface of the conical ring seat 213, the closer the position of the clamping blocks 212 to the small-diameter end of the conical ring seat 213, the smaller the distance between the clamping blocks 212, thereby realizing that the balance ring 211 makes the centering clamp perform a centering clamping action, so that the centering clamp clamps the outer wall of the free joint 3.

[0106] Further, the conical ring seat 213 is placed on the support structure 22 to realize that the support structure 22 supports the centering and clamping mechanism 21, on the one hand, the support structure 22 can support the centering and clamping mechanism 21 when the centering and clamping mechanism 21 is not subjected to the lifting force of the lifting mechanism 23; on the other hand, the lifting mechanism 23 can also ensure that the centering and clamping mechanism 21 can be smoothly lifted by the lifting mechanism 23 when lifting the centering and clamping mechanism 21.

[0107] A feasible specific embodiment is that the balance ring 211 is provided with at least two guide strip holes 2111 for giving way, in the embodiment, the number of guide strip holes 2111 is four, one end of the clamping block 212 is in sliding connection with the guide strip hole 2111, and the number of guide strip holes 2111 matches the number of clamping blocks 212 so that each clamping block 212 has a corresponding movable space.

[0108] Specifically, in the embodiment, when the balance ring 211 is subjected to the lifting force of the lifting mechanism 23, the balance ring 211 moves upward, and the clamping block 212 moves upward along the conical ring seat 213, that is, the clamping block 212 moves from the large-diameter end of the conical ring seat 213 to the small-diameter end of the conical ring seat 213, and the clamping blocks 212 approach each other, and the guide strip hole 2111 gives the clamping block 212 a moving space to approach each other, so as to achieve the purpose of the clamping block 212 centering and clamping the free joint 3; when the balance ring 211 is not subjected to the lifting force of the lifting mechanism 23, the balance ring 211 moves downward under the action of its own gravity and the gravity of other components of the centering and clamping mechanism 21, and the clamping block 212 also moves downward along the conical ring seat 213 under the action of its own gravity, that is, the clamping block 212 moves from the small-diameter end of the conical ring seat 213 to the large-diameter end of the conical ring seat 213, so as to realize that the clamping blocks 212 move away from each other, facilitate the free joint 3 to enter the centering and clamping mechanism 21, and facilitate the free joint 3 to separate from the fixed joint 1.

[0109] A feasible specific embodiment is that the conical ring seat 213 has guide rails 2131 for guiding the clamping blocks 212 to approach or move away from each other, the guide rails 2131 match the guide strip holes 2111 in spatial position and number, that is, the projections of the guide rails 2131 and the guide strip holes 2111 on the horizontal plane coincide, and the other end of the clamping block 212 is in sliding connection with the guide rail 2131, and the clamping block 212 moves along the surface of the conical ring seat 213, which is actually moving along the length direction of the guide rail 2131.

[0110] A feasible embodiment is that the length direction of the guide rail 2131 is parallel to the generatrix of the corresponding position on the conical ring seat 213, or / and the length direction of the guide bar hole 2111 is parallel to the radial direction of the balance ring 211, so that the clamp block 212 moves in the radial direction of the balance ring 211, thereby making the clamp block 212 have no other redundant actions in addition to clamping the free joint 3.

[0111] It should be noted that in actual work, the length direction of the guide bar hole 2111 and the radial direction of the balance ring 211 form an angle, and although this mode can realize the centering movement of the clamp block 212, there is still a side shift during the centering movement, thereby providing a torque for the joint moving end, causing the joint moving end to rotate; for most joint moving ends, this movement is an unfavorable movement, so in the embodiment, the length direction of the guide bar hole 2111 is preferably parallel to the radial direction of the balance ring 211.

[0112] A feasible embodiment is that the support structure 22 includes a support disc 222 supporting the centering and clamping mechanism 21, and in particular, in the embodiment, the support disc 222 supports the conical ring seat 213 on the centering and clamping mechanism 21; a plurality of connecting rods 221 for connecting the fixed joint 1 are arranged on the support disc 222, one end of the connecting rod 221 is connected with the fixed joint 1 through a connecting seat, and the other end of the connecting rod 221 is connected with the support disc 222, so that the relative position between the support disc 222 and the fixed joint 1 does not change, and the support disc 222 supports the centering and clamping mechanism 21, so that the centering and clamping mechanism 21 can be supported at a certain position below the sea surface under the support of the support disc 222 without the lifting force applied by the lifting mechanism 23, and the centering clamp can be in the maximum opening state under the action of the centering and clamping mechanism 21 itself.

[0113] Further, a feasible embodiment is that since the entire clamping docking device 2 works in water, the flow of water will affect the centering and clamping mechanism 21, for example, the flow of water causes the centering and clamping mechanism 21 to move in the horizontal direction, which increases the difficulty of the ROV in placing the free joint 3 into the centering and clamping mechanism 21, and also increases the difficulty of the coaxial docking of the free joint 3 with the fixed joint 1 under the action of the lifting mechanism 23, so the support disc 222 is provided with a guide rod (not shown in the figure), the axis of the guide rod is parallel to the axis of the centering and clamping mechanism 21 and the axis of the fixed joint 1, and the support disc 222 and / or the conical ring seat 213 are both in sliding connection with the guide rod and can slide along the axis direction of the guide rod; the guide rod limits the travel direction of the support disc 222 and / or the conical ring seat 213, effectively reducing the influence of water flow on the work of the entire device.

[0114] A feasible embodiment is that the lifting mechanism 23 comprises a lifting hydraulic cylinder 233 for providing a lifting force, and a lifting traction rope 231 is arranged between the output shaft of the lifting hydraulic cylinder 233 and the centering and clamping mechanism 21 for transmitting the lifting force; in particular, the output shaft of the lifting hydraulic cylinder 233 can extend or retract under the hydraulic action of the lifting hydraulic cylinder 233, and the output shaft of the lifting hydraulic cylinder 233 moves upward or downward with the lifting traction rope 231, and when the lifting traction rope 231 moves upward, the lifting traction rope 231 transmits the lifting force to the centering and clamping mechanism 21.

[0115] A feasible embodiment is that the output shaft of the lifting hydraulic cylinder 233 is provided with a lifting pulley assembly 234, and the lifting traction rope 231 is connected to the centering and clamping mechanism 21 after passing through the lifting pulley assembly 234, so as to realize synchronous movement of both ends of the lifting traction rope 231 and ensure that the centering and clamping mechanism 21 is lifted in a non-inclined state.

[0116] A feasible embodiment is that the lifting mechanism 23 further comprises a lifting guide wheel assembly 232 for being installed on the fixed joint 1, and both ends of the lifting traction rope 231 are connected to the centering and clamping mechanism 21 after passing through the lifting guide wheel assembly 232, and the lifting guide wheel assembly 232 is equivalent to a fixed pulley, changes the direction of traction of the lifting traction rope 231, and enables the centering and clamping mechanism 21 to move along the axis of the fixed joint 1.

[0117] A feasible embodiment is that the lifting mechanism 23 further comprises a lifting guide frame 235, which is in sliding connection with the output shaft of the hydraulic cylinder, and the lifting guide frame 235 is used for guiding the movement of the output shaft of the hydraulic cylinder and ensuring the stable movement of the output shaft of the hydraulic cylinder.

[0118] Embodiment 6

[0119] A remotely operated underwater docking method, which uses the underwater docking system in embodiments 1-4 and the underwater clamping docking device in embodiment 5, comprises the following steps:

[0120] S1: placing the free joint 3 into the centering and clamping mechanism 21 with the assistance of the ROV;

[0121] S2: the lifting mechanism 23 works to make the centering and clamping mechanism 21 perform a centering and clamping action;

[0122] In particular, the lifting hydraulic cylinder 233 in the lifting mechanism 23 works to move the lifting traction rope 231, the lifting traction rope 231 moves the balance ring 211, thereby driving the clamping blocks 212 to move along the guide rails 2131 on the conical ring seat 213, the clamping blocks 212 move towards each other, the centering and clamping mechanism 21 performs a centering and clamping action, and the free joint is clamped.

[0123] S3: the centering clamping mechanism 21 clamps the free joint 3, and moves with the free joint 3 under the continuous action of the lifting mechanism 23;

[0124] Specifically, the lifting hydraulic cylinder 233 in the lifting mechanism 23 continues to work, and the centering clamping mechanism 21 has been clamped on the free joint 3, so the lifting mechanism 23 only continues to rise with the centering clamping mechanism 21, the free joint 3 has its own gravity, the centering clamping mechanism 21 and the free joint 3 produce relative sliding, until the centering clamping mechanism 21 abuts against the limiting boss, the relative sliding between the centering clamping mechanism 21 and the free joint 3 is limited, so that the lifting mechanism 23 moves with the free joint 3 and the centering clamping mechanism 21 to the fixed joint 1;

[0125] S4: the free joint 3 is connected with the fixed joint 1, the power assisting mechanism 4 works, the pulling force is transmitted to the outer sleeve 12 through the power assisting traction rope 42, the outer sleeve 12 overcomes the elastic potential energy of the elastic element 14, the locking mechanism is unlocked, the space for the free joint 3 to enter the fixed joint 1 is given, after the free joint 3 is connected with the fixed joint 1, the power assisting mechanism 4 is released, the outer sleeve 12 is reset under the action of the elastic potential energy of the elastic element 14, the locking mechanism is locked, so that the locking of the fixed joint 1 and the free joint is realized, and the connection is completed.

[0126] The present application is not limited to the foregoing specific embodiments. The present application extends to any novel one, or any new combination, of the characteristics disclosed in this specification, as well as to any novel method or process disclosed in any step, or any new combination, of the steps.

Claims

1. A remotely controlled underwater docking system, characterized in that: The device includes a fixed connector (1) and a free connector (3). The fixed connector (1) is provided with a clamping and docking device (2) for clamping the free connector (3). The clamping and docking device (2) has a centering clamping mechanism (21), and the axis of the fixed connector (1) coincides with the centering clamping centerline of the centering clamping mechanism (21). The centering clamping mechanism (21) is connected to a lifting mechanism (23) for driving the centering clamping mechanism (21) to perform a centering clamping action and lifting the entire centering clamping mechanism (21), so that the free connector (3) docks with the fixed connector (1). The centering clamping mechanism (21) has a centering clamp for clamping the free connector (3), and the centering clamp is connected to a lifting mechanism (23) for driving the centering clamp to perform a centering clamping action and lifting the entire centering clamping mechanism (21). The centering clamp includes at least two clamping blocks (212) that can move closer to or further away from each other, and the lifting mechanism (23) is connected to the centering clamp so that the clamping blocks (212) can move closer to or further away from each other; The centering clamping mechanism (21) also has a conical ring seat (213) and a balance ring (211) located above the conical ring seat (213). The balance ring (211) is close to the small diameter end of the conical ring seat (213). The lifting mechanism (23) is connected to the balance ring (211) to enable the balance ring (211) to move in the vertical direction. The clamping block (212) is movably connected to the balance ring (211) and is movably connected to the surface of the conical ring seat (213) so that the clamping block (212) can move along the surface of the conical ring seat (213).

2. The remotely controlled underwater docking system according to claim 1, characterized in that: The free connector (3) is provided with a limiting boss for limiting the relative displacement between the centering clamping mechanism (21) and the free connector (3).

3. The remotely controlled underwater docking system according to claim 1, characterized in that: The fixed connector (1) includes a connector seat (11) for mating with the free connector (3), the inner wall shape of the connector seat (11) matching the outer wall shape of the free connector (3).

4. The remotely controlled underwater docking system according to claim 3, characterized in that: A sealing ring (15) is provided on the inner wall of the connector seat (11).

5. The remotely controlled underwater docking system according to claim 3, characterized in that: The connector (11) is connected to the pipe at its connecting end, and a buffer cavity (18) is provided at the connection position between the connector (11) and the pipe.

6. The remotely controlled underwater docking system according to claim 3, characterized in that: The connector (11) is provided with a guide cover (17) at its access end, and the guide cover (17) is conical.

7. The remotely controlled underwater docking system according to any one of claims 1-6, characterized in that: The fixed connector (1) also includes a locking mechanism for locking the connector seat (11) and the free connector (3).

8. The remotely controlled underwater docking system according to claim 7, characterized in that: The locking mechanism includes a plurality of radial holes (111) provided on the connector seat (11) and an outer sleeve (12) sleeved on the connector seat (11). A locking steel ball (13) is provided in the radial holes (111). The diameter of the locking steel ball (13) is larger than the axial dimension of the radial holes (111). An annular groove (31) is provided on the free connector (3). The inner wall of the outer sleeve (12) constrains the locking steel ball (13) so that the locking steel ball (13) is located between the groove (31) and the radial holes (111).

9. The remotely controlled underwater docking system according to claim 8, characterized in that: The outer casing (12) is slidably connected to the connector (11) to enable the locking mechanism to switch between locked and unlocked states.

10. The remotely controlled underwater docking system according to claim 9, characterized in that: The outer casing (12) has a locking ring platform (121) for restraining and locking the steel ball (13), the inner wall of the locking ring platform (121) being in contact with the outer wall of the connector seat (11); the outer casing (12) also has an unlocking cavity (122) for storing the locking steel ball (13), the unlocking cavity (122) being located on one side of the locking ring platform (121), and the inner diameter of the unlocking cavity (122) being larger than the inner diameter of the locking ring platform (121).

11. The remotely controlled underwater docking system according to claim 10, characterized in that: There is a transition slope (124) between the unlocking cavity (122) and the locking ring platform (121).

12. The remotely controlled underwater docking system according to claim 10, characterized in that: The inner diameter of the unlocking cavity (122) is smaller than the sum of the outer diameter of the connector seat (11) and the diameter of the locking steel ball (13), and the inner diameter of the unlocking cavity (122) is greater than or equal to the sum of the inner diameter of the connector seat (11) and the diameter of the locking steel ball (13).

13. The remotely controlled underwater docking system according to claim 10, characterized in that: The outer sleeve (12) also has a locking cavity (123), which is located on the other side of the locking ring platform (121). The locking cavity (123) is provided with an elastic element (14) that pushes the locking ring platform (121) to the position of the locking ball (13). The outer sleeve (12) is connected to an assist system (4) for overcoming the elastic force of the elastic element (14).

14. The remotely controlled underwater docking system according to claim 13, characterized in that: The connector seat (11) is provided with a retaining ring (16) for limiting the position of the outer sleeve (12) so that the locking ring platform (121) is held in the position of the restraining locking steel ball (13) under the action of the elastic member (14) and the retaining ring (16).

15. The remotely controlled underwater docking system according to claim 13, characterized in that: The assist system (4) includes an assist hydraulic cylinder (41) for providing tension, and an assist traction rope (42) for transmitting tension is provided between the output shaft of the assist hydraulic cylinder (41) and the outer sleeve (12).

16. The remotely controlled underwater docking system according to claim 15, characterized in that: The output shaft of the power-assisted hydraulic cylinder (41) is provided with a power-assisted pulley assembly (43) at the front end, and the power-assisted traction rope (42) passes around the power-assisted pulley assembly (43) and is connected to the outer sleeve (12).

17. The remotely controlled underwater docking system according to claim 15, characterized in that: The assist system (4) also includes an assist guide wheel assembly (44) for mounting on the fixed joint (1), and the two ends of the assist traction rope (42) pass through the assist guide wheel assembly (44) and are connected to the outer jacket (12).

18. The remotely controlled underwater docking system according to claim 15, characterized in that: The power assist system (4) also includes a power assist guide frame (45), which is slidably connected to the output shaft of the power assist hydraulic cylinder (41).

19. The remotely controlled underwater docking system according to claim 1, characterized in that: The clamping and docking device further includes a support structure (22) for supporting the centering clamping mechanism (21), and the conical ring seat (213) is placed on the support structure (22) to enable the support structure (22) to support the centering clamping mechanism (21).

20. The remotely controlled underwater docking system according to claim 19, characterized in that: The support structure (22) includes a support plate (222), on which a plurality of connecting rods (221) for connecting the fixed joint (1) are provided, and the support plate (222) supports the centering clamping mechanism (21).

21. The remotely controlled underwater docking system according to claim 1, characterized in that: The balance ring (211) is provided with at least two guide strip holes (2111) for clearance. One end of the clamping block (212) is slidably connected to the guide strip hole (2111). The number of guide strip holes (2111) matches the number of clamping blocks (212) so that each clamping block (212) has a corresponding movable space.

22. The remotely controlled underwater docking system according to claim 21, characterized in that: The conical ring seat (213) has a guide rail (2131) for guiding the clamping blocks (212) to move closer or further apart from each other. The guide rail (2131) matches the guide bar holes (2111) in spatial position and number. The other end of the clamping block (212) is slidably connected to the guide rail (2131).

23. The remotely controlled underwater docking system according to claim 22, characterized in that: The length direction of the guide rail (2131) is parallel to the generatrix at the corresponding position on the conical ring seat (213), or / and the length direction of the guide bar hole (2111) is parallel to the radial direction of the balance ring (211).

24. The remotely controlled underwater docking system according to claim 1, characterized in that: The lifting mechanism (23) includes a hydraulic cylinder for providing lifting force, and a traction rope for transmitting lifting force is provided between the output shaft of the hydraulic cylinder and the centering clamping mechanism (21).

25. The remotely controlled underwater docking system according to claim 24, characterized in that: The output shaft of the hydraulic cylinder is provided with a pulley assembly at its front end, and the traction rope passes around the pulley assembly and is connected to the centering clamping mechanism (21).

26. The remotely controlled underwater docking system according to claim 25, characterized in that: It also includes a guide wheel assembly for mounting on a fixed joint (1), with both ends of the traction rope passing through the guide wheel assembly and connected to the centering clamping mechanism (21).

27. The remotely controlled underwater docking system according to claim 25, characterized in that: The lifting mechanism (23) also includes a guide frame, which is slidably connected to the output shaft of the hydraulic cylinder.

28. A remotely controlled underwater docking method, using the underwater docking system described in any one of claims 1-27, characterized in that: Includes the following steps: S1: The free connector (3) is inserted into the centering clamping mechanism (21) with the assistance of ROV; S2: The lifting mechanism (23) operates, causing the centering clamping mechanism (21) to perform a centering clamping action; S3: The centering clamping mechanism (21) clamps the free connector (3) and moves the free connector (3) along with the lifting mechanism (23) under the continued action of the lifting mechanism (23); S4: The free connector (3) is connected to the fixed connector (1).

Images