Double-hydraulic-cylinder type clamping system and working method

Abstract

The double-hydraulic-cylinder type clamping system comprises a double-hydraulic-cylinder type clamping device and a controller, the double-hydraulic-cylinder type clamping device comprises a clamping head and a clamping head hydraulic adjusting structure, a hydraulic input port of the clamping head hydraulic adjusting structure is connected with a hydraulic pump through a hydraulic conveying pipe, and an electric control valve is arranged on the hydraulic conveying pipe; the hydraulic pump and the electric control valve are connected with a controller through wires, the upper end of the clamping head hydraulic adjusting structure stretches into the clamping head, two clamping working faces are formed by the upper end of the clamping head hydraulic adjusting structure and the upper surface of the interior of the clamping head, and a pressure sensor is arranged at the upper end of the clamping head hydraulic adjusting structure and connected with the controller through a wire. The problem that in the prior art, a rigid connector of underwater equipment is affected by sea waves, water flow and a mud surface for a long time, so that connection is loosened, separation and sealing leakage are caused, and the operation process is interrupted is solved. The invention further discloses a working method of the double-hydraulic-cylinder type clamping system.

Description

Technical Field

[0001] The invention belongs to the technical field of offshore oil and gas drilling equipment, and relates to a double-liquid cylinder clamping system. The invention also relates to a working method of the double-liquid cylinder clamping system. Background Art

[0002] In the process of offshore oil and gas development, there are long-distance connections of underwater equipment such as underwater risers, watertight pipes, submarine umbilical cables, and production pipelines to establish closed channels for drilling, lifting and lowering operations, and oil and gas transportation. These underwater equipment are placed in the marine operating environment for a long time and are easily affected by external dynamic loads such as waves, water currents, and mud collapse, causing wear and fatigue damage to the rigid joints at the joints, resulting in loose connections, separation, and failure of sealing leakage, which interrupts the operation process. Once an abnormality occurs, it is usually necessary to conduct underwater inspection and maintenance, or recover the problematic equipment, and re-enter it after the repair is completed before continuing operations or production. The complex maintenance supporting equipment and personnel requirements, as well as the difficulty and long cycle of underwater maintenance operations, result in high maintenance operation costs. In summary, underwater equipment is prone to risks such as wear and breakage under the action of external dynamic loads, and after a failure occurs, the maintenance operation takes a long time and is risky, and the cost of deepwater operations is high. Therefore, there is an urgent need to develop a device that is easy to operate and can reduce the impact of external loads such as waves and currents on submarine umbilical cables, underwater risers, risers and production pipelines, so as to achieve long-term reliable connection and real-time connection status monitoring of underwater equipment, thereby improving its reliability and service life. Summary of the invention

[0003] The purpose of the present invention is to provide a double-cylinder clamping system, which solves the problem in the prior art that the rigid joints of underwater equipment are affected by waves, currents and mud for a long time, resulting in loose connections, separation and seal leakage, thereby interrupting the operation process.

[0004] Another object of the present invention is to provide a working method of a double-cylinder clamping system.

[0005] The technical solution adopted by the present invention is a double-cylinder clamping system, including a double-cylinder clamping device and a controller. The double-cylinder clamping device includes a clamping head and a hydraulic adjustment structure of the clamping head. The hydraulic input port of the hydraulic adjustment structure of the clamping head is connected to a hydraulic pump through a hydraulic delivery pipe, and an electric control valve is arranged on the hydraulic delivery pipe. The hydraulic pump and the electric control valve are respectively connected to the controller through wires. The upper end of the hydraulic adjustment structure of the clamping head extends into the clamping head and forms two clamping working surfaces with the internal upper surface of the clamping head. The upper end of the hydraulic adjustment structure of the clamping head is provided with a pressure sensor, and the pressure sensor is connected to the controller through a wire.

[0006] The present invention is also characterized in that

[0007] The hydraulic adjustment structure of the clamping head includes a cylinder body arranged below the clamping head, an upper end cover and a lower end cover are fixedly arranged at the upper and lower ends of the cylinder body respectively, the upper end cover is fixedly connected to the lower end of the clamping head, an upper clamping drive mechanism, an adaptive force balancing mechanism, a lower clamping drive mechanism, an isolation plate, and a self-locking mechanism are arranged in the cylinder body from top to bottom, the upper end of the upper clamping drive mechanism passes through the upper end cover to extend into the clamping head and is slidably connected to the upper end cover, the lower end of the lower clamping drive mechanism passes through the isolation plate and the self-locking mechanism in sequence, a hydraulic port E is opened on the side wall of the cylinder body corresponding to the self-locking mechanism and the isolation plate, a hydraulic port F is opened on the side wall of the cylinder body corresponding to the self-locking mechanism and the lower end cover, a mounting guide rod M is fixedly installed on the outer side wall of the lower end cover, hydraulic port F and hydraulic port E are connected to the hydraulic pump through hydraulic delivery pipes respectively, and hydraulic port An electric control valve f and an electric control valve e are respectively arranged on the hydraulic delivery pipes corresponding to F and hydraulic port E, and the electric control valve f and the electric control valve e are respectively connected to the controller through wires. A cavity b is formed between the lower clamping drive mechanism, the isolation plate and the inner wall of the cylinder body. A hydraulic port B is opened on the side wall of the cylinder body corresponding to the cavity b, and the hydraulic port B is connected to the hydraulic pump through a hydraulic delivery pipe. An electric control valve b is arranged on the hydraulic delivery pipe corresponding to the hydraulic port B, and the electric control valve b is connected to the controller through a wire. The self-locking mechanism is respectively provided with a position sensor a and a position sensor b at the corresponding upper limit position and lower limit position in the cylinder body, and the position sensor a and the position sensor b are commonly connected to a collector through wires, and the collector is connected to the controller through wires. A temperature sensor is arranged on the outer wall of the cylinder body, and the temperature sensor is connected to the collector through a wire.

[0008] The clamping head is configured as a clamping head with a "C"-shaped opening, an end cover assembly hole is provided on the lower wall of the clamping head, a retaining nut slot is provided on the inner surface of the lower wall of the clamping head around the end cover assembly hole, an extension end is provided in the middle of the upper surface of the upper end cover, the extension end extends into the end cover assembly hole and into the "C"-shaped interior of the clamping head, the extension end of the upper end cover is connected to a retaining nut by a threaded connection, the retaining nut is clamped in the retaining nut slot, the clamping head and the upper end cover are fixed by the retaining nut being clamped in the retaining nut slot and the lower surface of the clamping head and the upper surface of the upper end cover being clamped.

[0009] The upper clamping drive mechanism includes an upper piston that is slidably connected to the inner wall of the cylinder body below the upper end cover in the cylinder body, a clamping rod is connected in the middle of the upper surface of the upper piston, the upper end of the clamping rod passes through the upper end cover and extends into the "C"-shaped interior of the clamping head, the clamping rod is slidably connected to the upper end cover, a pressure sensor is arranged on the top of the clamping rod, a cavity a is formed between the upper surface of the upper piston, the clamping rod and the lower surface of the upper end cover, a hydraulic port A is opened on the side wall of the cylinder body corresponding to the cavity a, the hydraulic port A is connected to the hydraulic pump through a hydraulic delivery pipe, an electric control valve a is arranged on the hydraulic delivery pipe corresponding to the hydraulic port A, the electric control valve a is connected to the controller through a wire, a position sensor c is arranged at the upper limit position of the upper piston in the cavity a, and the position sensor c is connected to the collector through a wire.

[0010] The lower clamping drive mechanism includes a lower piston slidably connected to the inner wall of the cylinder below the adaptive force balancing mechanism in the cylinder body, and a self-locking rod is fixedly connected to the center of the lower surface of the lower piston, and the lower end of the self-locking rod passes through the isolation plate and the self-locking mechanism in turn.

[0011] The adaptive force balancing mechanism is a plurality of groups of springs evenly arranged between the upper surface of the lower piston and the lower surface of the upper piston, and the two ends of the springs are respectively fixed on the upper surface of the lower piston and the lower surface of the upper piston; the isolation plate is connected to the inner wall of the cylinder body by a threaded connection, and a cavity b is formed between the upper surface of the isolation plate, the self-locking rod, and the lower surface of the lower piston; a position sensor d is arranged in the cavity b at the lower limit position corresponding to the lower piston, and the position sensor d is connected to the collector through a wire.

[0012] The self-locking mechanism includes multiple locking sliders, the outer contour of the locking slider is a conical surface, the inner side of the locking slider is a cylindrical surface, and the multiple locking sliders are spliced ​​into a complete hollow frustum body. The self-locking rod passes through the hollow part of the hollow frustum body, and the outer diameter of the hollow frustum body gradually decreases from top to bottom. The inner wall of the cylinder body corresponding to the hollow frustum body is set to a conical surface that matches the hollow frustum body. The upper surfaces and lower surfaces of the multiple locking sliders are respectively provided with an upper push plate and a lower push plate. The upper push plate and the lower push plate are adapted to the inner wall of the cylinder body and slide up and down on the inner wall of the cylinder body. The upper push plate and the lower push plate are provided with an edge at the position corresponding to each locking slider Its radially distributed T-slots, the upper and lower surfaces of each locking slider have T-slots corresponding to the T-slots, the T-slots slide radially along the upper push plate and the lower push plate in the T-slots; a cavity e is formed between the upper push plate, the self-locking rod, the inner wall of the cylinder body and the lower surface of the isolation plate, the hydraulic port E is arranged on the side wall of the cylinder body corresponding to the cavity e, the lower surface of the lower push plate, the self-locking rod, the inner wall of the cylinder body and the upper surface of the lower end cover form a cavity f, the hydraulic port F is arranged on the side wall of the cylinder body corresponding to the cavity f, the cone angle of the locking slider, that is, the self-locking angle is γ, and the locking slider is made of deformable material.

[0013] A wear-resistant ring and a seal I are arranged between the upper end cover and the clamping rod from top to bottom, a seal II is arranged between the upper end cover and the inner wall of the cylinder body, a seal III is arranged between the upper piston and the inner wall of the cylinder body, a seal IV is arranged between the lower piston and the inner wall of the cylinder body, a seal V and a seal VI are arranged between the isolation plate and the self-locking rod and the inner wall of the cylinder body respectively, a seal VII and a seal VIII are arranged between the upper push plate and the self-locking rod and the inner wall of the cylinder body respectively, and a seal X and a seal IX are arranged between the lower push plate and the self-locking rod and the inner wall of the cylinder body respectively.

[0014] Another technical solution adopted by the present invention is to adopt the above-mentioned double-cylinder clamping system, which specifically includes clamping operation, releasing operation and external load balancing, wherein the clamping operation includes clamping operation and locking operation, and the releasing operation includes unlocking operation and loosening operation.

[0015] After the workpiece I of the clamped product is connected to the workpiece II, at least two double-cylinder clamping devices are placed next to the connection between the workpiece I and the workpiece II, and the guide rod M is fixed on the workpiece II to ensure that the connection between the workpiece I and the workpiece II is in the C-shaped of the clamping head and between the upper end of the clamping rod and the upper surface of the C-shaped inner part of the clamping head. Then, the clamping operation is performed, and the end of the clamping head away from the retaining nut is the upper working plane during the clamping action;

[0016] The clamping operation is as follows:

[0017] Clamping: The controller controls the hydraulic pump and the electric control valve b to open, and inputs the hydraulic oil into the cavity b through the hydraulic port B to apply pressure to the cavity b, so that the lower piston drives the self-locking rod, the adaptive force balancing mechanism, the upper piston and the clamping rod to move upward, and the upper end of the clamping rod and the upper surface in the clamping head clamp the connection between workpiece I and workpiece II. During the process, the pressure sensor feeds back the pressure information to the controller in real time. When the fed-back pressure information reaches the preset value of the required clamping force and touches the position sensor d, the controller controls the hydraulic pump to stop inputting hydraulic oil, thus completing the clamping of workpieces I and II;

[0018] Locking:

[0019] Maintain the pressure in cavity b, control the hydraulic pump and the electric control valve e corresponding to the hydraulic port E to open through the controller, deliver hydraulic oil to cavity e to apply pressure to cavity e, and under the action of the hydraulic oil, the locking slider moves downward to the lower limit position and touches the position sensor b. During the downward movement of the locking slider along the cylinder cone L, it holds the outer contour surface K of the self-locking rod to achieve a locked state; the wedge surface of the locking slider has a self-locking function, so that the self-locking rod always maintains the locked position when subjected to a downward axial external load, and the locking of the clamping position is completed; the controller controls the hydraulic pump to relieve pressure in cavity e and cavity b, disconnects the hydraulic source, turns off the hydraulic pump, the electric control valve e and the electric control valve b, and the clamped product always maintains a clamped state and a locked state;

[0020] When inspecting or recovering the clamped product, the locking rod needs to be unlocked, the clamping rod needs to be retracted, and the workpieces I and II need to be released. The release operation is as follows:

[0021] Unlock:

[0022] The controller controls the hydraulic pump and the electric control valve b to open, and the hydraulic pump injects hydraulic oil into the cavity b to apply pressure to the cavity b to the pressure corresponding to the clamping operation, closes the electric control valve b, and at the same time, the controller controls the electric control valve f to open, injects hydraulic oil into the cavity f to apply pressure to the cavity f to the preset pressure, and then closes the electric control valve f to maintain the pressure. When the hydraulic oil is injected into the cavity f, the locking slide gradually moves upward, moves to the upper limit position in the radial direction away from the self-locking rod, and touches the position sensor a in the cylinder body, the outer contour surface K of the self-locking rod is released, and the self-locking rod is in an unlocked state; the controller controls the electric control valve b to open, and uses the hydraulic pump to slowly reduce the pressure in the cavity b, the external load of the adaptive force balancing mechanism is released, and it expands until the clamping force fed back by the pressure sensor on the end face of the clamping rod is zero, and the pressure relief of the cavity b is completely completed, and the electric control valve b is closed to complete the unlocking of the clamping position;

[0023] Release:

[0024] The controller controls the electric control valve f to open, and uses the hydraulic pump to relieve the pressure of the cavity f. After completion, the controller controls the electric control valve f to close and the electric control valve a to open, and delivers hydraulic oil to the cavity a to apply pressure to the cavity a, so that the upper piston drives the clamping rod, the adaptive force balancing mechanism, the lower piston and the self-locking rod to move to the lower limit position, and touches the position sensor d in the cylinder body, so that the workpiece I and the workpiece II are released; then the controller controls the hydraulic pump to relieve the pressure of the cavity a, and after completion, the hydraulic pump and the electric control valve a are closed to disconnect the hydraulic source;

[0025] External load balancing is specifically:

[0026] When workpiece I is subjected to a bending moment load, workpiece I and workpiece II tend to separate on one side. At this time, the compressed spring force group of the adaptive force balancing mechanism pushes the clamping rod out, providing a continuous and stable clamping force, so that workpiece I and workpiece II are always in a reliably connected state.

[0027] The beneficial effects of the present invention are:

[0028] The present invention is hydraulically driven and allows remote and fully automatic operation. It is not limited by the operating water depth, which solves the problem that deep-water and ultra-deep-water divers cannot operate, reduces the cost and risk of underwater maintenance operations of underwater equipment, and has remote data collection and monitoring functions, thereby improving the automatic control capability of underwater equipment.

[0029] The adaptive force balancing mechanism of the present invention can automatically adjust and absorb the force caused by the change of external load, reduce the unbalanced load and wear of underwater equipment caused by wind and waves, water flow and mud collapse, and improve the connection reliability and service life of underwater equipment.

[0030] The clamping device of the present invention is a mechanical structure, can be applied to harsh seabed environments, and is reusable. It can meet the application requirements of the clamping force of specific underwater equipment through the combination with a variety of cylinder sizes and the spring capacity of the adaptive force balancing mechanism, and has low manufacturing and use costs.

[0031] The self-locking mechanism of the present invention can provide a continuous and constant clamping force once the clamping operation is completed without the need for continuous energy supply and regular maintenance throughout the entire life cycle. The device has strong versatility and is suitable for a variety of underwater equipment such as underwater risers, watertight pipes, submarine umbilical cables, production pipelines, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a structural schematic diagram of the double-cylinder clamping system of the present invention;

[0033] Figure 2 It is a structural schematic diagram of a double-liquid cylinder type clamping device in a double-liquid cylinder type clamping system of the present invention;

[0034] Figure 3 It is a schematic diagram of the self-locking principle of the locking slide block in the double-liquid cylinder clamping device of the present invention;

[0035] Figure 4 It is a schematic diagram of the assembly structure of the locking slider, the upper push plate and the lower push plate in the double-cylinder clamping device of the present invention;

[0036] Figure 5 It is a schematic structural diagram of a locking slider and a T-shaped slider in a double-liquid cylinder clamping device of the present invention;

[0037] Figure 6 This is a process diagram of the release operation of the double-cylinder clamping device of the present invention;

[0038] Figure 7 It is a circuit connection diagram of the present invention.

[0039] In the figure, 1. lower end cover, 2. cylinder body, 3. locking slider, 3-1. T-type slider, 4. self-locking rod, 5. isolation plate, 6. lower piston, 7. adaptive force balancing mechanism, 8. upper piston, 9. upper end cover, 10. clamping rod, 11. retaining nut, 12. clamping head, 13. pressure sensor, 14. wear-resistant ring, 15. seal I, 16. seal II, 17. seal III, 16. seal IV, 19. seal V, 20. seal VI, 21. seal VII, 2 2. Upper push plate, 22-1. T-slot, 23. Seal VIII, 24. Lower push plate, 25. Seal IX, 26. Seal X, 27. Controller, 28. Hydraulic pump, 29-1. Position sensor a, 29-2. Position sensor b, 29-3. Position sensor c, 29-4. Position sensor d, 30. Temperature sensor, 31-1 Electric control valve f, 31-2. Electric control valve e, 31-3. Electric control valve b, 31-4. Electric control valve a, 32. Collector. DETAILED DESCRIPTION

[0040] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0041] Example 1

[0042] The double-cylinder clamping system of the present invention is as follows: Figure 1 and Figure 7 As shown, it includes a double-cylinder clamping device and a controller 27, as shown in FIG. Figure 2 As shown, the double-cylinder clamping device includes a clamping head 12 and a hydraulic adjustment structure of the clamping head. The hydraulic input port of the hydraulic adjustment structure of the clamping head is connected to a hydraulic pump 28 through a hydraulic delivery pipe. An electric control valve is arranged on the hydraulic delivery pipe. The hydraulic pump 28 and the electric control valve are respectively connected to a controller 27 through wires. The upper end of the hydraulic adjustment structure of the clamping head extends into the clamping head 12 and forms two clamping working surfaces with the internal upper surface of the clamping head 12. The upper end of the hydraulic adjustment structure of the clamping head is provided with a pressure sensor 13, and the pressure sensor 13 is connected to the controller 27 through a wire.

[0043] The clamping head hydraulic adjustment structure includes a cylinder body 2 arranged below the clamping head 12, an upper end cover 9 and a lower end cover 1 are fixedly arranged at the upper and lower ends of the cylinder body 2, the upper end cover 9 is fixedly connected to the lower end of the clamping head 12, and an upper clamping drive mechanism, an adaptive force balancing mechanism 7, a lower clamping drive mechanism, an isolation plate 5, and a self-locking mechanism are arranged in the cylinder body 2 from top to bottom. The upper end of the upper clamping drive mechanism passes through the upper end cover 9 and extends into the clamping head 12 and is slidably connected to the upper end cover 9. The lower clamping drive mechanism The lower end of the cylinder body 2 passes through the isolation plate 5 and the self-locking mechanism in sequence. A hydraulic port E is provided on the side wall of the cylinder body 2 corresponding to the self-locking mechanism and the isolation plate 5. A hydraulic port F is provided on the side wall of the cylinder body 2 corresponding to the self-locking mechanism and the lower end cover 1. A mounting guide rod M is fixedly installed on the outer side wall of the lower end cover 1. The hydraulic port F and the hydraulic port E are connected to the hydraulic pump 28 through hydraulic delivery pipes respectively. The hydraulic delivery pipes corresponding to the hydraulic port F and the hydraulic port E are respectively provided with an electric control valve f31-1 and an electric control valve e31-2 , the electric control valve f31-1 and the electric control valve e31-2 are respectively connected to the controller 27 through wires, a cavity b is formed between the lower clamping drive mechanism, the isolation plate 5 and the inner wall of the cylinder body 2, a hydraulic port B is opened on the side wall of the cylinder body 2 corresponding to the cavity b, the hydraulic port B is connected to the hydraulic pump 28 through a hydraulic delivery pipe, and an electric control valve b31-3 is arranged on the hydraulic delivery pipe corresponding to the hydraulic port B, and the electric control valve b31-3 is connected to the controller 27 through a wire, and the self-locking mechanism is respectively provided with a position sensor a29-1 and a position sensor b29-2 at the corresponding upper limit position and lower limit position in the cylinder body 2, the position sensor a29-1 and the position sensor b29-2 are commonly connected to a collector 32 through wires, and the collector 32 is connected to the controller 27 through wires, and a temperature sensor 30 is arranged on the outer wall of the cylinder body 2, and the temperature sensor 30 is connected to the collector 32 through a wire, which is used to collect temperature information of the environment in which the clamping device is installed, and the collected information is transmitted to the controller through wires.

[0044] The clamping head 12 is configured as a clamping head with a "C"-shaped opening, and an end cover assembly hole is provided on the lower wall of the clamping head 12, and a retaining nut slot is provided on the inner surface of the lower wall of the clamping head 12 around the end cover assembly hole. An extended end is provided in the middle of the upper surface of the upper end cover 9, and the extended end extends into the end cover assembly hole and into the "C"-shaped interior of the clamping head 12. The extended end of the upper end cover 9 is connected to a retaining nut 11 by a threaded connection, and the retaining nut 11 is clamped in the retaining nut slot. The clamping head 12 and the upper end cover 9 are fixed by the retaining nut 11 being clamped in the retaining nut slot and the lower surface of the clamping head 12 and the upper surface of the upper end cover 9 being clamped.

[0045] The upper clamping drive mechanism includes an upper piston 8 that is slidably connected to the inner wall of the cylinder body 2 below the upper end cover 9 in the cylinder body 2, a clamping rod 10 is connected in the middle of the upper surface of the upper piston 8, the upper end of the clamping rod 10 passes through the upper end cover 9 and extends into the "C"-shaped interior of the clamping head 12, the clamping rod 10 is slidably connected to the upper end cover 9, a pressure sensor 13 is arranged on the top of the clamping rod 10, a cavity a is formed between the upper surface of the upper piston 8, the clamping rod 10 and the lower surface of the upper end cover 9, a hydraulic port A is opened on the side wall of the cylinder body 2 corresponding to the cavity a, the hydraulic port A is connected to the hydraulic pump 28 through a hydraulic delivery pipe, an electric control valve a31-4 is arranged on the hydraulic delivery pipe corresponding to the hydraulic port A, the electric control valve a31-4 is connected to the controller 27 through a wire, a position sensor c29-3 is arranged at the upper limit position corresponding to the upper piston 8 in the cavity a, and the position sensor c29-3 is connected to the collector 32 through a wire.

[0046] The lower clamping drive mechanism includes a lower piston 6 that is slidably connected to the inner wall of the cylinder body 2 below the adaptive force balancing mechanism 7 in the cylinder body 2. A self-locking rod 4 is fixedly connected to the center of the lower surface of the lower piston 6, and the lower end of the self-locking rod 4 passes through the isolation plate 5 and the self-locking mechanism in turn.

[0047] The adaptive force balancing mechanism 7 is a plurality of groups of springs evenly arranged between the upper surface of the lower piston 6 and the lower surface of the upper piston 8, and the two ends of the springs are respectively fixed on the upper surface of the lower piston 6 and the lower surface of the upper piston 8; the isolation plate 5 is connected to the inner wall of the cylinder body 2 by a threaded connection, and a cavity b is formed between the upper surface of the isolation plate 5, the self-locking rod 4, and the lower surface of the lower piston 6. A position sensor d29-4 is arranged in the cavity b at the lower limit position corresponding to the lower piston 6, and the position sensor d29-4 is connected to the collector 32 through a wire.

[0048] like Figure 3-5As shown, the self-locking mechanism includes a plurality of locking sliders 3, the outer contour of the locking slider 3 is a conical surface, the inner side of the locking slider 3 is a cylindrical surface, and the plurality of locking sliders 3 are spliced ​​into a complete hollow frustum body, the self-locking rod 4 passes through the hollow part of the hollow frustum body, the outer diameter of the hollow frustum body gradually decreases from top to bottom, and the inner wall of the hollow frustum body corresponding to the cylinder body 2 is set to a conical surface matching the hollow frustum body, and the upper surfaces and lower surfaces of the plurality of locking sliders 3 are respectively provided with an upper push plate 22 and a lower push plate 24, which are adapted to the inner wall of the cylinder body 2 and slide up and down on the inner wall of the cylinder body 2, and the upper push plate 22 and the lower push plate 24 are provided with radial extensions at the position corresponding to each locking slider 3. The T-slots 22-1 are distributed, and the upper and lower surfaces of each locking slider 3 have T-slots corresponding to the T-slots 22-1. The T-slots extend radially in the T-slots 22-1 by the upper push plate 22 and the lower push plate 24. A cavity e is formed between the upper surface of the upper push plate 22, the self-locking rod 4, the inner wall of the cylinder body 2 and the lower surface of the isolation plate 5. The hydraulic port E is arranged on the side wall of the cylinder body 2 corresponding to the cavity e. A cavity f is formed between the lower surface of the lower push plate 24, the self-locking rod 4, the inner wall of the cylinder body 2 and the upper surface of the lower end cover 1. The hydraulic port F is arranged on the side wall of the cylinder body 2 corresponding to the cavity f. The cone angle of the locking slider 3, that is, the self-locking angle is γ, and the locking slider 3 is made of deformable material.

[0049] The working principle of the self-locking mechanism is as follows:

[0050] The locking slider 3 is a split rotating body structure, radially distributed around the self-locking rod 4, located between the upper push plate 22 and the lower push plate 24, with its outer contour being a cone and the inner contour being a cylinder; the cross-section of a single slider is a wedge-shaped structure, which can move axially under the action of external force, and the wedge angle γ is the self-locking angle; the upper and lower ends of the locking slider 3 are respectively inserted into the radial T-shaped grooves 22-1 in the upper push plate 22 and the lower push plate 24, and can move downward with the upper push plate 22, and can also move upward with the lower push plate 24; when the locking slider 3 moves upward, it moves radially away from the self-locking rod 4; when the locking slider 3 moves downward, the outer conical surface moves downward along the conical surface L of the cylinder body 2, and moves radially close to the self-locking rod 4.

[0051] A wear-resistant ring 14 and a seal Ⅰ15 are arranged between the upper end cover 9 and the clamping rod 10 from top to bottom, a seal Ⅱ16 is arranged between the upper end cover 9 and the inner wall of the cylinder body 2, a seal Ⅲ17 is arranged between the upper piston 8 and the inner wall of the cylinder body 2, a seal Ⅳ18 is arranged between the lower piston 6 and the inner wall of the cylinder body 2, a seal Ⅴ19 and a seal Ⅵ20 are arranged between the isolation plate 5 and the self-locking rod 4 and the inner wall of the cylinder body 2, respectively, a seal Ⅶ21 and a seal Ⅷ23 are arranged between the upper push plate 22 and the self-locking rod 4 and the inner wall of the cylinder body 2, respectively, and a seal Ⅹ26 and a seal Ⅸ25 are arranged between the lower push plate 24 and the self-locking rod 4 and the inner wall of the cylinder body 2.

[0052] The upper end cover 9 of the present invention is an L-shaped rotating body structure, which is connected to the cylinder body 2 as a whole by fastening screws at the bottom, has connecting threads at the top, and is equipped with a wear-resistant ring 14 on the inside. The locking slider 3 is made of special material, which can be partially deformed under the action of external force and generate friction between the self-locking rod 4; a seal can be added between the lower end cover 1 and the self-locking rod 4 to form a closed cavity, and is connected to the closed cavity b to increase the clamping force of the clamping drive mechanism.

[0053] Example 2

[0054] The working method of the double-cylinder clamping system of the present invention adopts the double-cylinder clamping system of embodiment 1, and specifically includes clamping operation, loosening operation and external load balancing, wherein the clamping operation includes clamping operation and locking operation, and the loosening operation includes unlocking operation and loosening operation.

[0055] like Figure 6 As shown, after the workpiece I of the clamped product is connected with the workpiece II, at least two double-cylinder clamping devices are placed beside the connection between the workpiece I and the workpiece II, and the guide rod M is fixed on the workpiece II to ensure that the connection between the workpiece I and the workpiece II is in the C-shape of the clamping head 12 and is located between the upper end of the clamping rod 10 and the upper surface of the C-shape inside the clamping head 12. Then, the clamping operation is performed, and the end of the clamping head 12 away from the retaining nut 11 is the upper working plane during the clamping action;

[0056] The clamping operation is as follows:

[0057] Clamping: The controller 27 controls the hydraulic pump 28 and the electric control valve b31-3 to open, and inputs the hydraulic oil into the cavity b through the hydraulic port B to apply pressure to the cavity b, so that the lower piston 6 drives the self-locking rod 4, the adaptive force balancing mechanism 7, the upper piston 8 and the clamping rod 10 to move upward, and the upper end of the clamping rod 10 and the upper surface of the clamping head 12 clamp the connection between the workpiece I and the workpiece II. During the process, the pressure sensor 13 feeds back the pressure information to the controller 27 in real time. When the fed-back pressure information reaches the preset value of the required clamping force and touches the position sensor d29-4, the controller 27 controls the hydraulic pump 28 to stop inputting hydraulic oil, thereby completing the clamping of the workpiece I and the workpiece II;

[0058] Locking:

[0059] Maintain the pressure in cavity b, control the hydraulic pump 28 and the electric control valve e31-2 to open through the controller 27, deliver hydraulic oil into cavity e to apply pressure to cavity e, and under the action of the hydraulic oil, the locking slider 3 moves downward to the lower limit position and touches the position sensor b29-2. During the downward movement of the locking slider 3 along the conical surface L of the cylinder body 2, it holds the outer contour surface K of the self-locking rod 4 to reach a locked state; the wedge surface of the locking slider 3 has a self-locking function, so that the self-locking rod 4 always maintains the locked position when subjected to a downward axial external load, and the locking of the clamping position is completed; the controller 27 controls the hydraulic pump 28 to relieve the pressure in cavity e and cavity b, disconnects the hydraulic source, turns off the hydraulic pump 28, the electric control valve e and the electric control valve b, and the clamped product always maintains a clamped state and a locked state;

[0060] When inspecting or recovering the clamped product, the locking rod needs to be unlocked, and the clamping rod 10 needs to be retracted to release the workpieces I and II. The specific release operation is as follows:

[0061] Unlock:

[0062] The controller 27 controls the hydraulic pump 28 and the electric control valve b to open, and the hydraulic pump 28 injects hydraulic oil into the cavity b to apply pressure to the cavity b to the pressure corresponding to the clamping operation, closes the electric control valve b, and at the same time, the controller 27 controls the electric control valve f to open, injects hydraulic oil into the cavity f to apply pressure to the cavity f to the preset pressure, and then closes the electric control valve f to maintain the pressure. When the hydraulic oil is injected into the cavity f, the locking slider 3 gradually moves upward, moves to the upper limit position in the radial direction away from the self-locking rod 4, and touches the position sensor a29-1 in the cylinder body 2, the outer contour surface K of the self-locking rod 4 is released, and the self-locking rod 4 is in an unlocked state; the controller 27 controls the electric control valve b to open, and uses the hydraulic pump 28 to slowly reduce the pressure in the cavity b, the adaptive force balancing mechanism 7 is released from the external load, and expands until the clamping force fed back by the pressure sensor 13 on the end face of the clamping rod 10 is zero, and the pressure relief of the cavity b is completely completed, and the electric control valve b is closed to complete the unlocking of the clamping position; loosening:

[0063] The controller 27 controls the electric control valve f to open, and the hydraulic pump 28 is used to release the pressure of the cavity f. After completion, the controller 27 controls the electric control valve f to close and the electric control valve a to open, and the hydraulic oil is delivered into the cavity a to apply pressure to the cavity a, so that the upper piston 8 drives the clamping rod 10, the adaptive force balancing mechanism 7, the lower piston 6 and the self-locking rod 4 to move to the lower limit position, and touches the position sensor d29-4 in the cylinder 2, so that the workpieces I and II are released; then the controller 27 controls the hydraulic pump 28 to release the pressure of the cavity a, and after completion, the hydraulic pump 28 and the electric control valve a are closed to disconnect the hydraulic source;

[0064] The loosening operation process of the present invention avoids the impact on the device caused by the sudden loss of external force on the clamping rod 10 and the self-locking rod 4, and the impact on the connected joints, threads, fasteners, etc. caused by the sudden disappearance of the clamping force of the clamped product.

[0065] External load balancing is specifically:

[0066] When workpiece I is subjected to a bending moment load, workpiece I and workpiece II tend to be separated on one side. At this time, the compressed spring force group of the adaptive force balancing mechanism 7 pushes the clamping rod 10 out, providing a continuous and stable clamping force, so that workpiece I and workpiece II are always in a reliably connected state.

[0067] Example 3

[0068] On the basis of Example 1 and Example 2, Figure 1 As shown, after workpiece I of the clamped product is connected to workpiece II, two double-cylinder clamping devices are respectively placed on the F side and E side of the connection between workpiece I and workpiece II.

[0069] Working condition description: Under normal working conditions, after the device is installed on the clamped products such as underwater risers, watertight pipes, submarine umbilical cables, production pipelines, etc., during use, the clamping rod 10 is in the ejection working state, the self-locking rod 4 is locked, and the various sensor data deviations of all double-cylinder clamping devices in the clamping system are within the normal working range. When the clamped products are affected by factors such as wind and waves, water flow and mud collapse, causing bending moments, torques, tensions and other multi-angle and multi-directional external loads, the device can automatically start the adaptive force balancing mechanism 7 to adjust the external loads.

[0070] When the clamped product is subjected to an external load of a turning force, workpieces I and II tend to separate on the F side, and workpieces I and II tend to move closer on the E side; at this time, under the influence of the external load, the clamping rod 10 on the E side tends to move upward, and the spring group in the adaptive force balancing mechanism 7 expands, causing the clamping rod 10 to push upward, balancing a part of the extrusion force on workpieces I and II on the E side; under the influence of the external load, the clamping rod 10 on the F side tends to move downward, and the spring group in the adaptive force balancing mechanism 7 on the F side is further compressed, causing the clamping rod 10 to retract upward, balancing a part of the extrusion force on workpieces I and II on the F side. The spring force group of the adaptive force balancing mechanism 7 in the clamping system can not only provide a continuous and stable clamping force, but also automatically absorb and balance the force caused by the changing external load, so that workpieces I and II are always in a reliable connection state.

[0071] The double-cylinder clamping system of the present invention is used for monitoring the clamping and connection status of the joints of underwater equipment such as underwater risers, risers, submarine umbilical cables, and production pipelines after underwater installation and connection. The advantage is that the present invention is hydraulically driven, allowing remote and fully automatic operation, is not limited by the operating water depth, does not require divers or underwater robots to operate, and reduces the cost and risk of underwater maintenance operations of underwater equipment. The clamping device of the present invention can automatically adjust and absorb the force caused by changes in external loads, thereby improving the connection reliability and service life of underwater equipment; the clamping device of the present invention is a mechanical structure, which can be applied to harsh seabed environments and can be reused, reducing manufacturing costs and use costs. The self-locking mechanism of the present invention, once the clamping operation is completed, does not require continuous energy supply throughout the entire life cycle, and can maintain a constant clamping force. The device has strong versatility and is suitable for a variety of underwater equipment such as underwater risers, risers, submarine umbilical cables, and production pipelines, and can meet the application requirements of the clamping force of specific underwater equipment by combining with a variety of cylinder sizes and energy storage component spring capacities.

[0072] The initial positioning and clamping of the double-cylinder clamping system of the present invention is achieved by hydraulically driving the clamping drive mechanism. When the clamping force is adjusted to a predetermined value, the self-locking mechanism is activated to maintain the clamping position of the clamping drive mechanism. When the load of the clamped system changes, the adaptive force balancing mechanism can respond in time, providing a constant clamping force during the entire use of the clamping device to reduce the impact of load changes caused by wind and waves, water flow, and mud collapse. The clamping drive mechanism and the self-locking mechanism of the clamping device are both hydraulically operated, and energy supply is required only during positioning and initial clamping. No energy supply and regular maintenance are required during use.

Claims

1. Double hydraulic cylinder clamping system, characterized in that: The invention comprises a double-cylinder clamping device and a controller (27), wherein the double-cylinder clamping device comprises a clamping head (12) and a hydraulic adjustment structure of the clamping head, wherein the hydraulic input port of the hydraulic adjustment structure of the clamping head is connected to a hydraulic pump (28) via a hydraulic delivery pipe, wherein an electric control valve is arranged on the hydraulic delivery pipe, wherein the hydraulic pump (28) and the electric control valve are respectively connected to the controller (27) via wires, wherein the upper end of the hydraulic adjustment structure of the clamping head extends into the clamping head (12) and forms two clamping working surfaces with the inner upper surface of the clamping head (12), wherein the upper end of the hydraulic adjustment structure of the clamping head is provided with a pressure sensor (13), wherein the pressure sensor (13) is connected to the controller (27) via a wire.

2. The double-cylinder clamping system according to claim 1, characterized in that: The clamping head hydraulic adjustment structure comprises a cylinder body (2) arranged below the clamping head (12), an upper end cover (9) and a lower end cover (1) are fixedly arranged at the upper and lower ends of the cylinder body (2), the upper end cover (9) is fixedly connected to the lower end of the clamping head (12), an upper clamping drive mechanism, an adaptive force balancing mechanism (7), a lower clamping drive mechanism, an isolation plate (5), and a self-locking mechanism are arranged in sequence from top to bottom in the cylinder body (2), and the upper end of the upper clamping drive mechanism passes through the upper end cover (9) and extends into the clamping head (12) and is connected to the upper end cover (1). 9) Sliding connection, the lower end of the lower clamping drive mechanism passes through the isolation plate (5) and the self-locking mechanism in sequence, a hydraulic port E is provided on the side wall of the cylinder body (2) corresponding to the self-locking mechanism and the isolation plate (5), a hydraulic port F is provided on the side wall of the cylinder body (2) corresponding to the self-locking mechanism and the lower end cover (1), a mounting guide rod M is fixedly installed on the outer side wall of the lower end cover (1), the hydraulic port F and the hydraulic port E are respectively connected to the hydraulic pump (28) through hydraulic delivery pipes, and the hydraulic delivery pipes corresponding to the hydraulic port F and the hydraulic port E are respectively provided with electric control valves f (31-1) and an electric control valve e (31-2), the electric control valve f (31-1) and the electric control valve e (31-2) are respectively connected to the controller (27) through wires, a cavity b is formed between the lower clamping drive mechanism, the isolation plate (5) and the inner wall of the cylinder body (2), a hydraulic port B is provided on the side wall of the cylinder body (2) corresponding to the cavity b, the hydraulic port B is connected to the hydraulic pump (28) through a hydraulic delivery pipe, an electric control valve b (31-3) is provided on the hydraulic delivery pipe corresponding to the hydraulic port B, and the electric control valve b (31-3) is connected to the hydraulic pump (28) through a hydraulic delivery pipe. The controller (27), the self-locking mechanism is provided with a position sensor a (29-1) and a position sensor b (29-2) at the corresponding upper limit position and lower limit position in the cylinder body (2), the position sensor a (29-1) and the position sensor b (29-2) are connected to a collector (32) via a wire, the collector (32) is connected to the controller (27) via a wire, and a temperature sensor (30) is provided on the outer wall of the cylinder body (2), and the temperature sensor (30) is connected to the collector (32) via a wire.

3. The double-cylinder clamping system according to claim 2, characterized in that: The clamping head (12) is configured as a clamping head with a "C"-shaped opening, an end cover assembly hole is provided on the lower wall of the clamping head (12), a retaining nut slot is provided on the inner surface of the lower wall of the clamping head (12) around the end cover assembly hole, an extension end is provided in the middle of the upper surface of the upper end cover (9), the extension end extends into the end cover assembly hole and into the "C"-shaped interior of the clamping head (12), the extension end of the upper end cover (9) is connected to a retaining nut (11) by a threaded connection, the retaining nut (11) is clamped in the retaining nut slot, the clamping head (12) and the upper end cover (9) are fixed by the retaining nut (11) being clamped in the retaining nut slot and the lower surface of the clamping head (12) and the upper surface of the upper end cover (9) being clamped.

4. The double-cylinder clamping system according to claim 3 is characterized in that: The upper clamping drive mechanism comprises an upper piston (8) which is slidably connected to the inner wall of the cylinder body (2) below the upper end cover (9) in the cylinder body (2); a clamping rod (10) is connected in the middle of the upper surface of the upper piston (8); the upper end of the clamping rod (10) passes through the upper end cover (9) and then extends into the "C"-shaped interior of the clamping head (12); the clamping rod (10) is slidably connected to the upper end cover (9); a pressure sensor (13) is arranged on the top of the clamping rod (10); the upper surface of the upper piston (8), the clamping rod (10) and the upper end cover (9) A cavity a is formed between the upper and lower surfaces; a hydraulic port A is provided on the side wall of the cylinder body (2) corresponding to the cavity a; the hydraulic port A is connected to the hydraulic pump (28) via a hydraulic delivery pipe; an electric control valve a (31-4) is provided on the hydraulic delivery pipe corresponding to the hydraulic port A; the electric control valve a (31-4) is connected to the controller (27) via a wire; a position sensor c (29-3) is provided at the upper limit position of the upper piston (8) in the cavity a; the position sensor c (29-3) is connected to the collector (32) via a wire.

5. The double-cylinder clamping system according to claim 4, characterized in that: The lower clamping drive mechanism comprises a lower piston (6) which is slidably connected to the inner wall of the cylinder body (2) below the adaptive force balancing mechanism (7) in the cylinder body (2); a self-locking rod (4) is fixedly connected to the center of the lower surface of the lower piston (6); and the lower end of the self-locking rod (4) passes through the isolation plate (5) and the self-locking mechanism in sequence.

6. The double-cylinder clamping system according to claim 5, characterized in that: The adaptive force balancing mechanism (7) is a plurality of groups of springs evenly arranged between the upper surface of the lower piston (6) and the lower surface of the upper piston (8), and the two ends of the springs are respectively fixed to the upper surface of the lower piston (6) and the lower surface of the upper piston (8); the isolation plate (5) is connected to the inner wall of the cylinder body (2) by means of a threaded connection, and a cavity b is formed between the upper surface of the isolation plate (5), the self-locking rod (4) and the lower surface of the lower piston (6); a position sensor d (29-4) is arranged in the cavity b at the lower limit position corresponding to the lower piston (6), and the position sensor d (29-4) is connected to the collector (32) via a wire.

7. The double-cylinder clamping system according to claim 6, characterized in that: The self-locking mechanism comprises a plurality of locking sliders (3), the outer contour of the locking slider (3) is a conical surface, the inner side of the locking slider (3) is a cylindrical surface, and the plurality of locking sliders (3) are spliced ​​into a complete hollow conical body, the self-locking rod (4) passes through the hollow part of the hollow conical body, the outer diameter of the hollow conical body gradually decreases from top to bottom, the inner wall of the hollow conical body corresponding to the cylinder body (2) is set as a conical surface matching the hollow conical body, and the upper surfaces and lower surfaces of the plurality of locking sliders (3) are respectively provided with an upper push plate (22) and a lower push plate (24), the upper push plate (22) and the lower push plate (24) are adapted to the inner wall of the cylinder body (2) and slide up and down on the inner wall of the cylinder body (2), and the upper push plate (22) and the lower push plate (24) are provided with radially corresponding positions of each locking slider (3). The upper and lower surfaces of each locking slider (3) have T-slide blocks corresponding to the T-slots (22-1), and the T-slide blocks slide radially in the T-slots (22-1) along the extension of the upper push plate (22) and the lower push plate (24); a cavity e is formed between the upper surface of the upper push plate (22), the self-locking rod (4), the inner wall of the cylinder body (2) and the lower surface of the isolation plate (5); the hydraulic port E is arranged on the side wall of the cylinder body (2) corresponding to the cavity e; a cavity f is formed between the lower surface of the lower push plate (24), the self-locking rod (4), the inner wall of the cylinder body (2) and the upper surface of the lower end cover (1); the hydraulic port F is arranged on the side wall of the cylinder body (2) corresponding to the cavity f; the cone angle of the locking slider (3), that is, the self-locking angle, is γ; and the locking slider (3) is made of a deformable material.

8. The double-cylinder clamping system according to claim 7, characterized in that: A wear-resistant ring (14) and a seal I (15) are arranged in sequence from top to bottom between the upper end cover (9) and the clamping rod (10); a seal II (16) is arranged between the upper end cover (9) and the inner wall of the cylinder body (2); a seal III (17) is arranged between the upper piston (8) and the inner wall of the cylinder body (2); a seal IV (18) is arranged between the lower piston (6) and the inner wall of the cylinder body (2); a seal V (19) and a seal VI (20) are arranged between the isolation plate (5) and the inner wall of the self-locking rod (4) and the cylinder body (2); a seal VII (21) and a seal VIII (23) are arranged between the upper push plate (22) and the inner wall of the self-locking rod (4) and the cylinder body (2); and a seal X (26) and a seal IX (25) are arranged between the lower push plate (24) and the inner wall of the self-locking rod (4) and the cylinder body (2).

9. The working method of the double-cylinder clamping system is characterized in that: The double-cylinder clamping system according to claim 8 specifically includes a clamping operation, a releasing operation and external load balancing, wherein the clamping operation includes a clamping operation and a locking operation, and the releasing operation includes an unlocking operation and a loosening operation.

10. The working method of the double-cylinder clamping system according to claim 9, characterized in that: After the workpiece I of the clamped product is connected to the workpiece II, at least two double-cylinder clamping devices are respectively placed beside the connection point after the workpiece I and the workpiece II are connected, and the installation guide rod M is fixed on the workpiece II to ensure that the connection point between the workpiece I and the workpiece II is in the C-shape of the clamping head (12) and is located between the upper end of the clamping rod (10) and the upper surface of the C-shape inside the clamping head (12). Then, the clamping operation is performed, and the end of the clamping head (12) away from the retaining nut (11) is the upper working plane during the clamping action; The clamping operation is specifically as follows: Clamping: The controller (27) controls the hydraulic pump (28) and the electric control valve b (31-3) to open, and inputs the hydraulic oil into the cavity b through the hydraulic port B to apply pressure to the cavity b, so that the lower piston (6) drives the self-locking rod (4), the adaptive force balancing mechanism (7), the upper piston (8) and the clamping rod (10) to move upward, and the upper end of the clamping rod (10) and the upper surface of the clamping head (12) clamp the connection between the workpiece I and the workpiece II. During the process, the pressure sensor (13) feeds back the pressure information to the controller (27) in real time. When the fed-back pressure information reaches the preset value of the required clamping force and touches the position sensor d (29-4), the controller (27) controls the hydraulic pump (28) to stop inputting the hydraulic oil, thereby completing the clamping of the workpiece I and the workpiece II; Locking: The pressure in cavity b is maintained, and the controller (27) controls the hydraulic pump (28) and the electric control valve e (31-2) corresponding to the hydraulic port E to open, and hydraulic oil is delivered to cavity e to apply pressure to cavity e. Under the action of the hydraulic oil, the locking slider (3) moves downward to the lower limit position and touches the position sensor b (29-2). During the downward movement of the locking slider (3) along the conical surface L of the cylinder body (2), the outer contour surface K of the self-locking rod (4) is tightly held to achieve a locked state; the wedge surface of the locking slider (3) has a self-locking function, so that the self-locking rod (4) always maintains a locked position when subjected to a downward axial external load, thereby completing the locking of the clamping position; the controller (27) controls the hydraulic pump (28) to release pressure in cavity e and cavity b, disconnects the hydraulic source, and turns off the hydraulic pump (28), the electric control valve e (31-2) and the electric control valve b (31-3), so that the clamped product always maintains a clamped state and a locked state; When inspecting or recovering the clamped product, the locking rod needs to be unlocked and the clamping rod (10) needs to be retracted to release the workpiece I and the workpiece II. The release operation is specifically as follows: Unlock: The controller (27) controls the hydraulic pump (28) and the electric control valve b (31-3) to open, the hydraulic pump (28) injects hydraulic oil into the cavity b to apply pressure to the cavity b to the pressure corresponding to the clamping operation, the electric control valve b (31-3) is closed, and the controller (27) controls the electric control valve f (31-1) to open, injects hydraulic oil into the cavity f to apply pressure to the cavity f to a preset pressure, and then closes the electric control valve f (31-1) to maintain the pressure. When the hydraulic oil is injected into the cavity f, the locking slider (3) gradually moves upward and moves away from the self-locking rod (4) in the radial direction. The self-locking rod (4) is moved to the upper limit position and the position sensor a (29-1) in the cylinder body 2 is triggered, the outer contour surface K of the self-locking rod (4) is released, and the self-locking rod (4) is in an unlocked state; the controller (27) controls the electric control valve b (31-3) to open, and uses the hydraulic pump (28) to slowly reduce the pressure in the cavity b, and the external load of the adaptive force balancing mechanism (7) is released and expanded until the clamping force fed back by the pressure sensor (13) on the end face of the clamping rod (10) is zero, and the pressure relief of the cavity b is completely completed, and the electric control valve b (31-3) is closed to complete the unlocking of the clamping position; Release: The controller (27) controls the electric control valve f (31-1) to open, and uses the hydraulic pump (28) to release the pressure of the cavity f. After completion, the controller (27) controls the electric control valve f (31-1) to close and the electric control valve a (31-4) to open, and delivers hydraulic oil to the cavity a to apply pressure to the cavity a, so that the upper piston (8) drives the clamping rod (10), the adaptive force balancing mechanism (7), the lower piston (6) and the self-locking rod (4) to move to the lower limit position, and triggers the position sensor d (29-4) in the cylinder body 2, so that the workpiece I and the workpiece II are released. Then the controller (27) controls the hydraulic pump (28) to release the pressure of the cavity a. After completion, the hydraulic pump (28) and the electric control valve a (31-4) are closed to disconnect the hydraulic source. The external load balancing is specifically: When workpiece I is subjected to a bending moment load, workpiece I and workpiece II tend to be separated on one side. At this time, the spring force group of the compressed adaptive force balancing mechanism (7) pushes the clamping rod (10) out to provide a continuous and stable clamping force, so that workpiece I and workpiece II are always in a reliably connected state.

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