An automatic docking connection device for ammonia fuel bunkering between ships

Abstract

The present application relates to ammonia fuel filling technical field, the present application provides a kind of automatic docking connecting device between ship ammonia fuel filling, comprising: liquid end module, laser emitter is arranged on liquid end module;Liquid feeding end module, photosensitive sensor is arranged on liquid feeding end module, photosensitive sensor can be matched with laser emitter to carry out initial positioning;Hydraulic auxiliary docking system, hydraulic auxiliary docking system is connected between liquid feeding end module and ammonia fuel filling ship, hydraulic auxiliary docking system drives liquid feeding end module and liquid end module communication or separate;Positioning mechanical arm assembly, one end of positioning mechanical arm assembly is connected on hydraulic auxiliary docking system, the other end of positioning mechanical arm assembly is closely combined with liquid end module and corrects liquid end module position, realizes accurate centering.The automatic docking connecting device between ship ammonia fuel filling of the present application is not needed manual intervention in whole process, and safety is high;It is simple to operate, and efficiency is high.

Description

Technical Field

[0001] This invention relates to the field of automatic ammonia refueling technology, and more specifically, to an automatic docking connection device for ammonia refueling between ships. Background Technology

[0002] As the global shipping industry accelerates its efforts to reduce carbon emissions, the market for clean energy to replace traditional marine fuel oil is expanding and diversifying. Meanwhile, increasingly stringent emission regulations from the International Maritime Organization (IMO) are driving zero-carbon or low-carbon fuels such as ammonia, hydrogen, and methanol to become core choices for future ship propulsion. Among these, ammonia fuel, due to its carbon-free characteristics, mature production and storage infrastructure, and high volumetric energy density, has particularly broad application prospects in large ocean-going vessels. This trend inevitably creates an urgent need for marine ammonia refueling technology and equipment, especially for ship-to-ship (STS) refueling.

[0003] However, the highly corrosive and toxic nature of ammonia fuel places far more stringent safety requirements on its refueling than on liquefied natural gas (LNG). Its characteristics not only challenge the compatibility of sealing materials but also demand that the system achieve an absolute "zero-leakage" standard to ensure the safety of crew and the environment. Furthermore, the medium-pressure storage conditions of liquid ammonia and its different temperature range (-33°C) compared to LNG mean that LNG-based technologies cannot be directly applied, necessitating the development of a dedicated safety protection system.

[0004] Currently, no technical solutions for ship ammonia refueling devices have been found. Although some marine refueling connectors and related patents exist for LNG, such as patent application number CN202510567771.7 and patent application number CN202411117307.X, these technical solutions have two major gaps when applied to ammonia refueling between ships: First, most existing patents lack true "automatic docking" capabilities. They typically rely on manual operation by crew or auxiliary machinery for coarse alignment and connection, which is inefficient and extremely risky in harsh sea conditions, making it difficult to meet the needs of efficient commercial refueling. Second, and more importantly, they seriously neglect the complexity of "moving base" operations between ships. This is completely different from the refueling scenario based on fixed bases such as land or docks. Existing designs have failed to solve the problem of complex relative motion between two ships under the action of wind, waves and currents. They lack both high-precision adaptive docking capabilities and a solution to deal with ship swaying and achieve safe emergency break-off during continuous refueling, posing a huge risk of leakage.

[0005] In summary, existing technologies for ship clean energy refueling devices do not have dedicated refueling technology for ammonia fuel, nor do they consider the refueling process when ships are in a dynamic base state. This results in problems such as reliance on manual docking, cumbersome operation, poor safety, and low efficiency.

[0006] In view of this, the present invention is hereby proposed. Summary of the Invention

[0007] The purpose of this invention is to propose an automatic docking and connection device for ammonia refueling between ships, in order to solve the problems of existing ship clean energy refueling devices that do not have a dedicated ammonia refueling technology and do not consider the refueling process when ships are in a moving base state, which result in reliance on manual docking, cumbersome operation, poor safety, and low efficiency.

[0008] To achieve the above objectives, the technical solution of the present invention is implemented as follows:

[0009] An automatic docking connection device for inter-ship ammonia refueling, the device comprising:

[0010] A liquid-fueled end module is connected to an ammonia fuel receiving vessel, and a laser emitter is installed on the liquid-fueled end module, which is capable of emitting laser signals;

[0011] A liquid feeder module is connected to the ammonia refueling vessel. A photosensitive sensor is installed on the liquid feeder module. The photosensitive sensor can receive the laser signal emitted by the laser emitter. The photosensitive sensor and the laser emitter work together to perform initial positioning.

[0012] A hydraulically assisted docking system is provided, which connects the feed end module and the ammonia fuel bunkering vessel. The hydraulically assisted docking system drives the feed end module to connect or disconnect from the receiving end module.

[0013] A positioning robotic arm assembly is provided, one end of which is connected to the hydraulically assisted docking system, which provides power for the movement of the positioning robotic arm assembly. The other end of the positioning robotic arm assembly is closely attached to the liquid receiving end module and corrects the position of the liquid receiving end module, thereby achieving precise alignment between the liquid receiving end module and the liquid receiving end module.

[0014] Furthermore, the positioning robotic arm assembly includes a positioning hydraulic cylinder, a mechanical connecting arm, and an arc-shaped roller. One end of the positioning hydraulic cylinder is mounted on the hydraulic auxiliary docking system, and the other end of the positioning hydraulic cylinder is mounted on the mechanical connecting arm. One end of the mechanical connecting arm is mounted on the hydraulic auxiliary docking system, and the arc-shaped roller is mounted on the other end of the mechanical connecting arm. The arc-shaped roller is in close contact with the liquid receiving end module.

[0015] Furthermore, the automatic docking connection device for ammonia refueling between ships also includes an ammonia break-off valve, the front end of which is connected to the end of the hydraulic assisted docking system, and the end of which is connected to the ammonia refueling vessel via a connecting hose.

[0016] Furthermore, a double-layer channel is provided in the hydraulic assisted docking system, and a BOG inlet is provided in the double-layer channel. The ammonia break-off valve adopts a concentric double-walled pipe integrated structure, and the ammonia break-off valve includes an inner liquid ammonia flow channel and an outer BOG return gas path jacket. The connecting hose is configured as a double layer, and the connecting hose includes an inner channel and an outer channel. Both the inner and outer channels are connected to the ammonia refueling vessel. The double-layer channel is connected to the BOG return gas path jacket and the outer channel to form an evaporation gas circuit. During ammonia refueling between ships, the evaporation gas generated by the ammonia refueling vessel enters the evaporation gas circuit through the BOG inlet and is recovered to the ammonia refueling vessel, realizing a closed loop.

[0017] Furthermore, the liquid feeding end module includes a first housing, a guide rod, a spiral groove, a liquid filling valve core, and a sealing structure; a spiral groove is provided at the rear end inside the first housing, the front end of the guide rod is connected to the liquid filling valve core, and a sealing structure is installed at the front end of the liquid filling valve core; the liquid receiving end module includes a liquid receiving valve core, a spring, a cavity, a valve core base, and a second housing; a cavity is formed inside the second housing, and the liquid receiving valve core is disposed inside the cavity; the sealing structure is disposed at one end of the liquid receiving valve core, and the other end of the liquid receiving valve core is connected to the valve core base; the spring is sleeved on the outside of the liquid receiving valve core.

[0018] The hydraulic assisted docking system can drive the guide rod to rotate and move along the spiral groove, thereby driving the liquid filling valve core and the liquid receiving valve core to open and close.

[0019] Furthermore, a spring locking pin is provided in the middle of the guide rod, and a locking pin hole is formed on the inner wall of the cavity, wherein the spring locking pin engages with the locking pin hole.

[0020] Furthermore, the base of the sealing structure is a metal sealing ring, and an outer layer and an inner layer are provided on the base. The outer layer is Hastelloy, and the inner layer is a perfluoroether rubber gasket.

[0021] Furthermore, an inert gas inlet is provided on the first outer casing.

[0022] Furthermore, an annular scraper is provided on the outer side of the second housing.

[0023] Furthermore, the automatic docking connection device for ammonia refueling between ships also includes a ball-joint floating flange, which is connected between the liquid-filling end module and the ammonia refueling receiving vessel.

[0024] Compared with the prior art, the automatic docking connection device for ammonia refueling between ships described in this invention has the following advantages:

[0025] 1. The automatic docking and connection device for ammonia refueling between ships described in this invention has a high degree of automation: unlike the limitations of existing technologies that rely on manual docking and are cumbersome to operate, this invention relies on a photosensitive sensor and a laser emitter to perform initial positioning. The positioning robotic arm assembly closely fits with the liquid receiving end module and corrects the position of the liquid receiving end module, achieving precise alignment between the liquid receiving end module and the liquid receiving end module; the hydraulic assisted docking system drives the liquid receiving end module to connect or separate from the liquid receiving end module, requiring no manual intervention throughout the process, ensuring high safety; it is simple to operate and highly efficient.

[0026] 2. The automatic docking connection device for inter-ship ammonia refueling described in this invention features an optimized closed-loop design: Compared to existing technologies that rely solely on BOG pipelines to recover evaporative gases, this invention incorporates a double-layered channel in the hydraulically assisted docking system. A BOG inlet is located within this double-layered channel. The ammonia breakaway valve employs a concentric double-walled integrated structure, comprising an inner liquid ammonia flow channel and an outer BOG return gas path jacket. The connecting hose is double-layered, comprising an inner and outer channel, both connected to the ammonia refueling vessel. The double-layered channel connects to the BOG return gas path jacket and the outer channel, forming an evaporative gas circuit. During inter-ship ammonia refueling, the evaporative gas generated by the receiving vessel enters the evaporative gas circuit through the BOG inlet and is recovered back to the refueling vessel, achieving a closed loop and forming a BOG closed-loop circuit. This ensures efficient return of ammonia evaporative gas from the receiving vessel, preventing fuel loss. Simultaneously, it reduces the number of pipelines required, lowers costs and the risk of damage due to vibration, balancing economic efficiency and environmental friendliness, and overcoming the resource waste inherent in traditional technologies.

[0027] 3. The automatic docking connection device for ammonia refueling between ships described in this invention has stronger adaptability to the moving base: Compared with the shortcomings of existing technologies in dealing with the refueling of moving bases between ships, this invention compensates for the ship's sway angle deviation by using a ball-joint floating flange, and achieves double breakage and double sealing in case of over-limit displacement fracture by using a pull-off valve for ammonia. Combined with the sealing structure and inert gas positive pressure protection, multiple leakage prevention schemes are constructed, which greatly reduces the risk of ammonia leakage under the moving base and solves the core problem of poor safety of traditional technologies. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the overall structure of an automatic docking and connection device for ammonia refueling between ships according to an embodiment of the present invention;

[0029] Figure 2 This is a partially enlarged structural schematic diagram of an automatic docking connection device for ammonia refueling between ships according to an embodiment of the present invention;

[0030] Figure 3 This is a partial cross-sectional view of an automatic docking connection device for ammonia refueling between ships according to an embodiment of the present invention;

[0031] Figure 4 for Figure 3 Enlarged structural diagram at point A;

[0032] Figure 5 This is a schematic diagram of the feed end module of an automatic docking connection device for ammonia refueling between ships according to an embodiment of the present invention;

[0033] Figure 6 This is a schematic diagram of the liquid-filling end module and the ball-joint floating flange of an automatic docking connection device for ammonia refueling between ships, as described in an embodiment of the present invention.

[0034] Explanation of reference numerals in the attached figures:

[0035] 1. Positioning robotic arm assembly; 11. First positioning robotic arm; 12. Second positioning robotic arm; 13. Third positioning robotic arm; 101. Arc-shaped roller; 102. Positioning hydraulic cylinder; 103. Mechanical connecting arm; 2. Hydraulic auxiliary docking system; 201. Interlayer channel; 202. BOG inlet; 3. Ball-joint floating flange; 301. Flexible hose; 302. Front end of floating flange; 303. Rear end of floating flange; 4. Ammonia breakaway valve; 41. Male connector; 42. Female connector; 401. Liquid ammonia flow channel; 402. BOG return gas path jacket; 403. First breakaway sealing mechanism; 4031. First piston; 4032. First preload spring; 4033. First annular seal 404. Second pull-off sealing mechanism; 4041. Second annular piston; 4042. Second pre-tightening spring; 4043. Second annular sealing body; 5. Feed end module; 501. First outer shell; 502. Guide rod; 503. Spiral groove; 504. Liquid filling valve core; 505. Spring locking pin; 506. Sealing structure; 507. Photosensitive sensor; 508. Inert gas inlet; 6. Liquid receiving end module; 601. Liquid receiving valve core; 602. Spring; 603. Cavity; 604. Annular scraper; 605. Locking pin hole; 606. Valve core base; 607. Second outer shell; 608. Laser emitter; 7. Ammonia fuel filling vessel; 8. Ammonia fuel receiving vessel; 9. Connecting hose. Detailed Implementation

[0036] To make the technical means and objectives and effects of the present invention easier to understand, the embodiments of the present invention will be described in detail below with reference to specific illustrations.

[0037] It should be noted that all directional and positional terms used in this invention, such as "up," "down," "left," "right," "front," "back," "vertical," "horizontal," "inner," "outer," "top," "lower," "lateral," "longitudinal," and "center," are only used to explain the relative positional relationships and connections between components in a specific state (as shown in the accompanying drawings). They are merely for the convenience of describing the invention and do not require the invention to be constructed and operated in a specific orientation; therefore, they should not be construed as limitations on the invention. Furthermore, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated.

[0038] In the description of this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0039] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0040] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0041] Example 1

[0042] Currently, there is no dedicated ammonia refueling technology for ship clean energy refueling devices, nor is there any consideration for the refueling process when ships are in a dynamic base state, resulting in technical problems such as poor safety and low efficiency.

[0043] To solve the above-mentioned technical problems, in this embodiment, as follows: Figures 1-6 As shown, the applicant proposes an automatic docking connection device for inter-ship ammonia refueling, the device comprising:

[0044] The liquid-filled end module 6 is connected to the ammonia fuel receiving vessel 8. A laser emitter 608 is installed on the liquid-filled end module 6, and the laser emitter 608 is capable of emitting laser signals.

[0045] The liquid feed end module 5 is connected to the ammonia fuel bunkering vessel 7. A photosensitive sensor 507 is installed on the liquid feed end module 5. The photosensitive sensor 507 can receive the laser signal emitted by the laser emitter 608. The photosensitive sensor 507 and the laser emitter 608 cooperate to perform initial positioning.

[0046] Hydraulic auxiliary docking system 2, which is connected between the feed end module 5 and the ammonia fuel bunkering vessel 7, drives the feed end module 5 to connect or disconnect from the receiving end module 6;

[0047] The positioning robotic arm assembly 1 has one end connected to the hydraulic assisted docking system 2, which provides power for the movement of the positioning robotic arm assembly 1. The other end of the positioning robotic arm assembly 1 is closely attached to the liquid receiving end module 6 and the position of the liquid receiving end module 6 is corrected to achieve precise alignment between the liquid feeding end module 5 and the liquid receiving end module 6.

[0048] The automatic docking and connection device for ammonia refueling between ships described in this embodiment uses a photosensitive sensor 507 and a laser emitter 608 to perform initial positioning. The positioning robotic arm assembly 1 is closely attached to the liquid receiving end module 6 and corrects the position of the liquid receiving end module 6, achieving precise alignment between the liquid feeding end module 5 and the liquid receiving end module 6. The hydraulic assisted docking system 2 enables the liquid feeding end module 5 and the liquid receiving end module 6 to connect or separate without manual intervention, ensuring high safety. The device is simple to operate and highly efficient.

[0049] Specifically, the positioning robotic arm assembly 1 includes a positioning hydraulic cylinder 102, a mechanical connecting arm 103, and an arc-shaped roller 101. One end of the positioning hydraulic cylinder 102 is mounted on the hydraulic auxiliary docking system 2, and the other end of the positioning hydraulic cylinder 102 is mounted on the mechanical connecting arm 103. One end of the mechanical connecting arm 103 is mounted on the hydraulic auxiliary docking system 2, and the arc-shaped roller 101 is mounted on the other end of the mechanical connecting arm 103. The arc-shaped roller 101 is in close contact with the liquid receiving end module 6.

[0050] More specifically, the force by which the arc-shaped roller 101 presses against the outside of the liquid receiving end module 6 can be controlled by the telescopic movement of the positioning hydraulic cylinder 102 and the rotation of the mechanical connecting arm 103.

[0051] During the preparation process before ammonia fuel refueling, the positioning robotic arm assembly 1 is closely attached to the liquid receiving end module 6 and the position of the liquid receiving end module 6 is corrected to achieve precise alignment between the liquid feeding end module 5 and the liquid receiving end module 6; during the refueling process, in order to prevent the ship from swaying, the positioning robotic arm assembly 1 is retracted to the outside of the housing of the liquid feeding end module 5.

[0052] More specifically, the arc-shaped roller 101 is tightly fitted to the second outer shell 607 of the liquid receiving end module 6. The arc-shaped roller 101 can be replaced with arc-shaped rollers of different curvature sizes according to the different diameters of the second outer shell 607 of the liquid receiving end module 6, thereby ensuring that the arc-shaped roller 101 and the second outer shell 607 are tightly fitted.

[0053] Furthermore, the specific number of positioning robotic arms in the positioning robotic arm assembly 1 is not limited.

[0054] In this embodiment, the number of positioning robotic arms in the positioning robotic arm assembly 1 is set to three.

[0055] The positioning robotic arm assembly 1 includes a first positioning robotic arm 11, a second positioning robotic arm 12, and a third positioning robotic arm 13, which are equidistantly distributed around the hydraulically assisted docking system 2.

[0056] Specifically, the automatic docking connection device for ammonia refueling between ships also includes an ammonia break-off valve 4. The front end of the ammonia break-off valve 4 is connected to the end of the hydraulic auxiliary docking system 2, and the end of the ammonia break-off valve 4 is connected to the ammonia refueling vessel 7 via a connecting hose 9.

[0057] Specifically, the hydraulic assisted docking system 2 is equipped with a double-layer channel 201, and a BOG inlet 202 is provided on the double-layer channel 201. The ammonia break-off valve 4 adopts a concentric double-walled integrated structure, and the ammonia break-off valve 4 includes an inner liquid ammonia flow channel 401 and an outer BOG return gas path jacket 402. The connecting hose 9 is configured as a double layer, and the connecting hose 9 includes an inner layer channel and an outer layer channel. Both the inner layer channel and the outer layer channel are connected to the ammonia refueling vessel 7. The double-layer channel 201 is connected to the BOG return gas path jacket 402 and the outer channel as an evaporation gas circuit, and the inner layer channel is connected to the liquid ammonia flow channel 401. During ammonia refueling between ships, the evaporation gas generated by the ammonia refueling receiving vessel 8 enters the evaporation gas circuit through the BOG inlet 202 and is recovered to the ammonia refueling vessel 7, realizing a closed loop.

[0058] This setup improves ammonia refueling efficiency. During the ammonia refueling process between ships, compared to using a BOG pipeline alone for vapor recovery, the double-walled pipeline recovers vapors, achieving efficient return of ammonia vapors from the receiving ship and avoiding fuel loss. At the same time, it reduces the number of pipelines required, lowers installation costs, improves refueling efficiency, and reduces installation risks caused by ship swaying and ammonia fuel leakage risks.

[0059] The hydraulic power comes from the pipeline of the ammonia refueling vessel 7 and is quickly connected to the hydraulic auxiliary docking system 2 via the connecting hose 9 to provide power to the positioning robotic arm assembly 1 and control the movement of the robotic arm.

[0060] Specifically, such as Figure 3 As shown, the ammonia breakaway valve 4 includes a male head 41 and a female head 42. The male head 41 is located on the side near the ammonia fuel bunkering vessel 7, and the female head 42 is located on the side near the ammonia fuel receiving vessel 8.

[0061] Specifically, such as Figure 3 As shown, a first pull-off sealing mechanism 403 is provided in the liquid ammonia flow channel 401 of both the male head 41 and the female head 42, such as... Figure 3As shown, a second pull-off sealing mechanism 404 is provided in the BOG return gas path jacket 402 of both the male head 41 and the female head 42.

[0062] This setup ensures that the internal and external dual-channel self-sealing can prevent fuel leakage from the refueling vessel pump out to the greatest extent possible in the event of fracture under excessive tensile force.

[0063] Specifically, such as Figure 3 As shown, the first pull-off sealing mechanism 403 includes a first piston 4031, a first preload spring 4032 is provided inside the first piston 4031, and a first annular sealing body 4033 is provided on the first piston 4031.

[0064] When the breakage occurs, the first preload spring 4032 drives the first piston 4031 to move axially. The first annular sealing body 4033 on the first piston 4031 is radially expanded by the radial compression inside the valve body, thereby achieving active sealing of the liquid ammonia flow channel 401.

[0065] Specifically, such as Figure 4 As shown, the second pull-off sealing mechanism 404 includes a second annular piston 4041, a second preload spring 4042 is provided inside the second annular piston 4041, and a second annular sealing body 4043 is provided on the second annular piston 4041.

[0066] More specifically, the first annular sealing body 4033 and the second annular sealing body 4043 are FFKM sealing rings.

[0067] When the breakage occurs, the second preload spring 4042 drives the second annular piston 4041 to move axially. The second annular seal 4043 on the second annular piston 4041 is radially expanded by the radial compression of the conical surface inside the valve body, thereby achieving active sealing of the annular air passage of the BOG return air passage jacket 402.

[0068] When the ship's sway exceeds the maximum threshold of the compensation angle of the ball-hinged floating flange 3, and the relative displacement between the ammonia refueling vessel 7 and the ammonia receiving vessel 8 exceeds the limit, causing abnormal tension and torque on the double-layer connecting hose 9, the male end 41 of the ammonia break-off valve 4 disconnects on the side of the ammonia refueling vessel 7. The first break-off sealing mechanism 403 can automatically seal the liquid ammonia flow channel 401, and the second break-off sealing mechanism 404 can automatically seal the annular gas path of the BOG return gas path jacket 402, which can prevent fuel leakage pumped out by the ammonia refueling vessel 7 to the greatest extent. At the same time, the male end 41 of the ammonia break-off valve 4 retracts with the connecting hose 9, and the female end 42 of the ammonia break-off valve 4 disconnects on the side of the ammonia receiving vessel 8. The first break-off sealing mechanism 403 can automatically seal the liquid ammonia flow channel 401, and the second break-off sealing mechanism 404 can automatically seal the annular gas path of the BOG return gas path jacket 402, realizing double break-off and double sealing.

[0069] Specifically, the liquid feeding module 5 includes a first housing 501, a guide rod 502, a spiral groove 503, a liquid filling valve core 504, and a sealing structure 506; the spiral groove 503 is provided at the rear end inside the first housing 501, the front end of the guide rod 502 is connected to the liquid filling valve core 504, and the sealing structure 506 is installed at the front end of the liquid filling valve core 504; the liquid receiving module 6 includes a liquid receiving valve core 601, a spring 602, a cavity 603, a valve core base 606, and a second housing 607; the cavity 6 is formed inside the second housing 607. 03, the receiving valve core 601 is disposed inside the cavity 603; the sealing structure 506 is disposed at one end of the receiving valve core 601, and the other end of the receiving valve core 601 is connected to the valve core base 606; the spring 602 is sleeved on the outside of the receiving valve core 601; the hydraulic assisted docking system 2 can push the guide rod 502 to rotate and move along the spiral groove 503, thereby driving the liquid filling valve core 504 and the receiving valve core 601 to open and close, thereby enabling the liquid feeding end module 5 to connect or separate from the liquid receiving end module 6.

[0070] The hydraulically assisted docking system 2 can push the guide rod 502 in the feed end module 5 to move along the spiral groove 503 during the filling process, thereby driving the opening of the filling valve core 504 of the feed end module 5 and the receiving valve core 601 of the receiving end module 6. This setting can eliminate manual operation, requiring no human intervention throughout the process, and is highly safe; it is also simple to operate and highly efficient.

[0071] Under the action of spring 602, the front end of the liquid receiving valve core 601 reciprocates within the cavity 603, thereby opening and closing the liquid receiving end module 6.

[0072] Specifically, a spring locking pin 505 is provided in the middle of the guide rod 502, and a locking pin hole 605 is formed on the inner wall of the cavity 603. The spring locking pin 505 is engaged with the locking pin hole 605.

[0073] The liquid filling valve core 504 in the liquid feeding end module 5 moves under hydraulic drive, thereby compressing the spring 602 in the liquid receiving end module 6, which in turn drives the liquid receiving valve core 601 to move, and the filling process is started. During the movement, the spring locking pin 505 is engaged in the locking pin hole 605 to achieve mechanical interlocking. The liquid receiving valve core 601 is opened to the maximum, and the ammonia fuel filling flow reaches the maximum.

[0074] Specifically, the base of the sealing structure 506 is a metal sealing ring, and an outer layer and an inner layer are provided on the base. The outer layer is Hastelloy, and the inner layer is a perfluoroether rubber gasket.

[0075] Ammonia fuel is corrosive to metals such as iron, copper, and zinc. Hastelloy is resistant to ammonia corrosion, while perfluoroether rubber is resistant to chemical corrosion and has good low-temperature elasticity, thus preventing ammonia penetration.

[0076] An inert gas inlet 508 is provided on the first outer casing 501.

[0077] When the liquid filling valve core 504 is closed, nitrogen gas is injected into the sealing surface through the inert gas inlet 508 to maintain a positive pressure environment and prevent ammonia gas from leaking out or air from entering and forming an explosive mixture.

[0078] Since ammonia is prone to frost formation at low temperatures, and to prevent impurities from damaging the seal, an annular scraper 604 is provided on the outer side of the second outer shell 607. The annular scraper 604 is made of linear polyethylene with a relative molecular mass greater than 1.5 million, and can be used for a long time at temperatures ranging from -269 to 80°C. This feature facilitates the automatic removal of frost or impurities from the sealing surface during insertion and removal.

[0079] Specifically, the automatic docking connection device for ammonia refueling between ships also includes a ball-joint floating flange 3, which is connected between the liquid-filling end module 6 and the ammonia refueling receiving vessel 8.

[0080] The purpose of the ball-joint floating flange 3 is to ensure that there is a small angular offset between the feed end module 5 and the receiving end module 6, so as to overcome the floating changes during the refueling process between ships by overcoming the rigid docking.

[0081] An elastic hose 301 is provided inside the ball-joint floating flange 3, which can seal the front end 302 and the rear end 303 of the floating flange.

[0082] The use of flexible hose 301 solves the complexity of the mechanical seal required for direct flow of ammonia fuel through the ball-joint floating flange 3, and prevents leakage between the connection with the ball-joint floating flange 3 during the ammonia fuel filling process.

[0083] More specifically, the front end 302 of the floating flange is connected to the second housing 607 of the liquid-filling end module 6; the rear end 303 of the floating flange is connected to the flange of the ammonia fuel receiving vessel 8.

[0084] The operation process of the automatic docking connection device for ammonia refueling between ships described in this embodiment is as follows: First, the laser emitter 608 of the liquid receiving end module 6 and the photosensitive sensor 507 of the liquid feeding end module 5 assist the ship in adjusting its position for initial positioning; when the positioning robotic arm assembly 1 extends and can contact the liquid receiving end module 6, the positioning robotic arm assembly 1, driven by the hydraulic auxiliary docking system 2, extends, and the arc-shaped roller 101 at the end of the positioning robotic arm assembly 1 closely contacts and corrects the position of the liquid receiving end module 6, achieving precise centering; subsequently, the hydraulic auxiliary docking system 2 pushes the guide rod 502 of the liquid feeding end module 5 to move along the spiral groove 503, driving the liquid filling valve core 504 forward to open, the liquid receiving valve core 601 of the liquid receiving end module 6 opens, and the liquid feeding end module 5 and the liquid receiving end module 6 are connected, then... A spring locking pin 505 engages with a locking pin hole 605 to achieve mechanical interlocking, and a sealing structure 506 forms a seal. During refueling, ammonia fuel is transported through the inner liquid ammonia flow channel 401 of the ammonia break-off valve 4. The vaporized gas generated by the ammonia fuel receiving vessel 8 enters the vaporized gas circuit through the BOG inlet 202 and is recovered to the ammonia fuel refueling vessel 7, achieving a closed loop. The ball-joint floating flange 3 compensates for the angular deviation caused by the relative motion of the vessels in real time, ensuring reliable sealing. When the operation ends, the hydraulic auxiliary docking system 2 moves in the opposite direction to close the liquid filling valve core 504 and the liquid receiving valve core 601, separating the liquid feeding end module 5 from the liquid receiving end module 6. If an emergency over-limit pulling force is encountered, the ammonia break-off valve 4 is triggered instantly, simultaneously cutting off the liquid ammonia flow channel 401 and the BOG return gas path jacket 402, achieving dual-channel self-sealing and ensuring safety and no leakage throughout the entire process.

[0085] The automatic docking and connection device for inter-ship ammonia refueling described in this embodiment has the following beneficial effects:

[0086] 1. The automatic docking and connection device for ammonia refueling between ships described in this embodiment has a high degree of automation: unlike the limitations of existing technologies that rely on manual docking and are cumbersome to operate, this invention relies on a photosensitive sensor and a laser emitter to perform initial positioning. The positioning robotic arm assembly closely fits with the liquid receiving end module and corrects the position of the liquid receiving end module, achieving precise alignment between the liquid receiving end module and the liquid receiving end module; the hydraulic assisted docking system drives the liquid receiving end module to connect or separate from the liquid receiving end module, requiring no manual intervention throughout the process, ensuring high safety; it is simple to operate and highly efficient.

[0087] 2. The automatic docking connection device for inter-ship ammonia refueling described in this embodiment features an optimized closed-loop design: Compared to the existing technology that uses a BOG pipeline to recover evaporated gas alone, this invention sets up a jacketed channel in the hydraulically assisted docking system, with a BOG inlet on the jacketed channel. The ammonia break-off valve adopts a concentric double-walled integrated structure, including an inner liquid ammonia flow channel and an outer BOG return gas path jacket. The connecting hose is double-layered, including an inner channel and an outer channel, both of which are connected to the ammonia refueling vessel. The jacketed channel is connected to the BOG return gas path jacket and the outer channel to form an evaporated gas circuit. During inter-ship ammonia refueling, the evaporated gas generated by the ammonia refueling vessel enters the evaporated gas circuit through the BOG inlet and is recovered to the ammonia refueling vessel, achieving a closed loop and forming a BOG closed-loop circuit. This enables efficient return of ammonia evaporated gas from the refueling vessel and avoids fuel loss. At the same time, it reduces the number of pipes installed, lowers costs and the risk of damage caused by shaking, balances economy and environmental protection, and makes up for the shortcomings of traditional technology in terms of resource waste.

[0088] 3. The automatic docking connection device for ammonia refueling between ships described in this embodiment has stronger adaptability to the moving base: Compared with the shortcomings of existing technologies in dealing with the refueling of moving bases between ships, the present invention compensates for the ship's sway angle deviation by using a ball-joint floating flange, and achieves double breakage and double sealing in case of over-limit displacement fracture by using a pull-off valve for ammonia. Combined with the sealing structure and inert gas positive pressure protection, multiple leakage prevention schemes are constructed, which greatly reduces the risk of ammonia leakage under the moving base and solves the core problem of poor safety of traditional technologies.

[0089] While the present invention has been disclosed above, it is not limited thereto. Any person skilled in the art can make various modifications and alterations without departing from the spirit and scope of the invention; therefore, the scope of protection of the present invention should be determined by the scope defined in the claims.

Claims

1. An automatic docking connection device for ammonia refueling between ships, characterized in that, The automatic docking connection device for ammonia refueling between ships includes: A liquid-filled end module (6) is connected to an ammonia fuel receiving vessel (8). A laser emitter (608) is installed on the liquid-filled end module (6) and the laser emitter (608) is capable of emitting laser signals. A liquid feeder module (5) is connected to an ammonia fuel bunkering vessel (7). A photosensitive sensor (507) is installed on the liquid feeder module (5). The photosensitive sensor (507) can receive the laser signal emitted by the laser emitter (608). The photosensitive sensor (507) and the laser emitter (608) cooperate to perform initial positioning. Hydraulic auxiliary docking system (2), which is connected between the feed end module (5) and the ammonia fuel bunkering vessel (7), drives the feed end module (5) to connect or disconnect from the receiving end module (6); Positioning robotic arm assembly (1), one end of which is connected to the hydraulic auxiliary docking system (2), which provides power for the movement of the positioning robotic arm assembly (1), and the other end of which is closely attached to the liquid receiving end module (6) and corrects the position of the liquid receiving end module (6) to achieve precise alignment between the liquid feeding end module (5) and the liquid receiving end module (6); The automatic docking connection device for ammonia refueling between ships also includes an ammonia break valve (4), the front end of which is connected to the end of the hydraulic auxiliary docking system (2), and the end of which is connected to the ammonia refueling vessel (7) via a connecting hose (9). A double-walled channel (201) is provided in the hydraulic assisted docking system (2), and a BOG inlet (202) is provided on the double-walled channel (201). The ammonia break-off valve (4) adopts a concentric double-walled pipe integrated structure. The ammonia break-off valve (4) includes an inner liquid ammonia flow channel (401) and an outer BOG return gas path jacket (402). The connecting hose (9) is set as a double layer. The connecting hose (9) includes an inner channel and an outer channel. The inner channel and the outer channel are both connected to the ammonia fuel bunkering vessel (7). The double-walled channel (201) is connected to the BOG return gas path jacket (402) and the outer channel as an evaporation gas circuit. When ammonia fuel is bunkered between ships, the evaporation gas generated by the ammonia fuel receiving vessel (8) enters the evaporation gas circuit through the BOG inlet (202) and is recovered to the ammonia fuel bunkering vessel (7) to achieve a closed loop.

2. The automatic docking connection device for ammonia refueling between ships according to claim 1, characterized in that, The positioning robotic arm assembly (1) includes a positioning hydraulic cylinder (102), a mechanical connecting arm (103), and an arc-shaped roller (101). One end of the positioning hydraulic cylinder (102) is mounted on the hydraulic auxiliary docking system (2), and the other end of the positioning hydraulic cylinder (102) is mounted on the mechanical connecting arm (103). One end of the mechanical connecting arm (103) is mounted on the hydraulic auxiliary docking system (2), and the arc-shaped roller (101) is mounted on the other end of the mechanical connecting arm (103). The arc-shaped roller (101) is in close contact with the liquid receiving end module (6).

3. The automatic docking connection device for ammonia refueling between ships according to claim 1, characterized in that, The feed end module (5) includes a first housing (501), a guide rod (502), a spiral groove (503), a liquid filling valve core (504), and a sealing structure (506); a spiral groove (503) is provided at the rear end inside the first housing (501), the front end of the guide rod (502) is connected to the liquid filling valve core (504), and a sealing structure (506) is installed at the front end of the liquid filling valve core (504). The receiving end module (6) includes a receiving valve core (601), a spring (602), a cavity (603), a valve core base (606), and a second housing (607); the first The inner cavity (603) of the outer shell (607) is formed, and the liquid receiving valve core (601) is disposed inside the cavity (603); the sealing structure (506) is disposed at one end of the liquid receiving valve core (601), and the other end of the liquid receiving valve core (601) is connected to the valve core base (606); the spring (602) is sleeved on the outside of the liquid receiving valve core (601); the hydraulic auxiliary docking system (2) can push the guide rod (502) to rotate and move along the spiral groove (503), thereby driving the liquid filling valve core (504) and the liquid receiving valve core (601) to open and close.

4. The automatic docking connection device for ammonia refueling between ships according to claim 3, characterized in that, A spring locking pin (505) is provided in the middle of the guide rod (502), and a locking pin hole (605) is formed on the inner wall of the cavity (603). The spring locking pin (505) is engaged with the locking pin hole (605).

5. The automatic docking connection device for ammonia refueling between ships according to claim 3, characterized in that, The base of the sealing structure (506) is a metal sealing ring, and an outer layer and an inner layer are provided on the base. The outer layer is Hastelloy, and the inner layer is a perfluoroether rubber gasket.

6. The automatic docking connection device for ammonia refueling between ships according to claim 3, characterized in that, An inert gas inlet (508) is provided on the first outer casing (501).

7. The automatic docking connection device for ammonia refueling between ships according to claim 3, characterized in that, An annular scraper (604) is provided on the outer side of the second housing (607).

8. The automatic docking connection device for ammonia refueling between ships according to claim 1, characterized in that, The automatic docking connection device for ammonia refueling between ships also includes a ball-joint floating flange (3), which is connected between the liquid-filling end module (6) and the ammonia refueling receiving vessel (8).

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