Actuator rotator adapter

Abstract

The invention relates to a coupling system for coupling fluid conduits, the coupling system comprising a first coupling housing and a second coupling housing. The first coupling housing is suspended by a suspension comprising a rotatable receptacle. The second coupling housing comprises a guiding element for entering the receptacle. The first and second coupling housing are alignable by rotation of the receptacle.

Description

Technical Field

[0001] This invention relates to the transfer of fluids between two loading / unloading units. The invention is particularly applicable to systems for the marine transfer of gases, liquefied gases, and hydrocarbons such as oils (e.g., between production vessels / facilities and shuttle tankers). Background Technology

[0002] When transferring fluid from a loading / unloading unit (such as from one ship to another or from one ship to a facility), it is known in the art to connect a fluid conduit from one ship to a fluid conduit on another ship. This connection is typically facilitated by two coupling housings on the respective fluid conduits. The coupling housings typically include valves.

[0003] The so-called tandem loading of fluid is known in the art from WO2010137990A1, i.e., from one vessel to another. Two vessels are aligned approximately bow-to-bow directly in a line, with hoses transferring fluid from one vessel to the other. WO2010137990A1 describes a first coupling housing including guiding elements and a second coupling housing including a housing. This system allows alignment of the first and second coupling housings when the bows of the respective vessels are also aligned.

[0004] However, a recent need has arisen to transfer fluid between loading / unloading units (such as ships) whose locations result in an angle greater than approximately ±30° between loading / unloading points (such as the bow).

[0005] The coupling system of WO2010137990A1 is not designed for such extreme angles between loading / unloading points because there is a risk that the guide element may not enter the housing at the proper angle, which could lead to twisting and misalignment of the coupling housing. This could make a secure connection of the housing impossible.

[0006] WO2018015311A1 discloses a transfer system suitable for transferring fluids between the bow area of ​​a ship and a hydrocarbon transport facility on the high seas. The system allows for a greater angle between loading / unloading points by implementing a drive system with at least three individually controlled drive units configured to generate oscillating and rotational movements of the coupling housing to align with another coupling housing pulled in by a tether attached to a tether lug. While the system provides a means of connecting fluid conduits arranged at a large angle between them, the system is limited to adjusting one coupling housing while the other coupling housing is allowed at least some degrees of freedom of movement when attached to the tether system.

[0007] The present invention aims to address the need for a secure connection when the loading / unloading points are positioned at a large angle relative to each other, while precisely aligning the axes of the two connecting housings and the rotational alignment of the two connecting housings. Summary of the Invention

[0008] The invention is set forth and characterized in the main claims, while the dependent claims describe other features of the invention.

[0009] In a first aspect, the present invention relates to a coupling system for connecting a first fluid conduit to a second fluid conduit, the coupling system being adapted to transfer fluid between first and second loading / unloading units, the coupling system comprising:

[0010] A first connecting housing, the first connecting housing being used for fluid connection at a first end to a first fluid conduit, the first connecting housing comprising:

[0011] - The second end opposite to the first end, and

[0012] - Central longitudinal axis A extending from the first end to the second end x ,

[0013] A second connecting housing, configured for fluid connection at a first end to a second fluid conduit, the second connecting housing comprising:

[0014] - The second end opposite to the first end, and

[0015] - Central longitudinal axis B extending from the first end to the second end x ,

[0016] - Attached to one side of the second connecting housing and approximately along the central longitudinal axis B x The guide element extends in a direction away from the first end, and the guide element includes a guide element head located at the end away from the second coupling housing.

[0017] A suspension configured to suspend a first connecting housing, wherein the suspension includes:

[0018] - A housing attached to the suspension, wherein the housing is configured to receive a guide element therein, and wherein the housing includes a central longitudinal axis C extending from the end of the housing near the suspension to the end of the housing away from the suspension. x ,as well as

[0019] The connection system includes a pull-in device for attaching to the head of the guide element.

[0020] The pull-in device is configured to pull the guide element into the housing.

[0021] The feature is that the housing is rotatably attached to the suspension and thereby configured about a central longitudinal axis (C). x Rotate to center longitudinal axis (B) xAlignment with the central longitudinal axis (A) x ).

[0022] The pulling device can be, for example, a rope, wire, or chain made of a suitable material such as fiber, synthetic fiber, or metal such as steel.

[0023] The device can be pulled through the housing.

[0024] The term “fluid” as used in this article should be understood to encompass gases or liquids or materials capable of flowing.

[0025] In one example configuration of the connectivity system, the suspension includes:

[0026] - A rotary drive unit attached to one side of the suspension.

[0027] The rotary drive unit is connected to the housing and configured to apply a rotational force to the housing. The rotary drive unit can be, for example, a motor, worm gear, hydraulic actuator, or cylinder.

[0028] In one example configuration of the connectivity system, the receptacle includes:

[0029] - At least two seat guides are attached to and spaced apart from the end of the seat away from the suspension for accommodating and being configured to support a guide element therebetween. In one example configuration of the coupling system, the seat includes a lateral seat guide attached to the end of the seat away from the suspension and extending in the lateral direction toward at least a portion of the space length between the at least two seat guides.

[0030] In another example configuration of the connection system, the housing includes two upper lateral housing guides.

[0031] The reservoir guide can be a roller, a rod, or even a plate, and can be adapted to reduce friction between the guide element and the reservoir.

[0032] In one example configuration of the connection system, one or more berth guides, lateral berth guides, and / or upper lateral guides are configured as rollers, rods, or even plates.

[0033] In one example configuration of the connection system, at least a portion of the cross-section of the guide element is non-circular for non-rotational interaction with the reservoir. The cross-section of the guide element can be, for example, square, elongated rectangle, ellipse, oblong, or other non-circular shapes suitable for non-rotational interaction with another object, such as the reservoir.

[0034] In one example configuration of the coupling system, the second coupling housing includes a second coupling fluid conduit connector for connection to a fluid conduit, wherein the second fluid conduit connector is a rotatable connector for allowing the coupling housing to rotate freely relative to the second fluid conduit.

[0035] In one example configuration of the linkage system, the suspension is attached to a swivel suspension to allow pivoting motion about at least one axis or at least two axes. This helps to align the center longitudinal axis A. x and the central longitudinal axis B x .

[0036] In one example configuration of the connection system, the first connection housing includes:

[0037] - A connecting flange located at the second end.

[0038] - A guide pin extending from the first connecting flange is used to interact with the second connecting flange disposed at the second end and guide it toward the first connecting flange.

[0039] In one example configuration of the coupling system, the first coupling housing includes at least one coupling device and a coupling device actuator configured to interact with a coupling device interface on a second coupling housing to couple the first coupling housing and the second coupling housing.

[0040] The connecting device can be, for example, a gripper, a threaded screw connector, a pin connector, etc. The interface of the connecting device can be adapted to the type of connecting device used, for example, by including threads or a defined notch for interaction between the grippers.

[0041] In one example configuration, the coupling system includes a controller unit for controlling the coupling system. The controller unit can be connected via wired or wireless means to at least the actuating device and the suspension. The controller unit can be connected to any one of the drive unit, the coupling device, valves on the first and / or second coupling housing, or the omnidirectional suspension.

[0042] Any pulling device, suspension, drive unit, coupling device, valves on the first and / or second coupling housing, and omnidirectional suspension may be configured with one or more sensors to provide feedback to the controller unit. Sensors may include units such as cameras, tension sensors, and ultrasonic sensors.

[0043] The controller unit can be fixed or portable.

[0044] In a second aspect, the present invention relates to a method for transferring fluid between a first loading / unloading unit and a second loading / unloading unit, the method comprising the following steps:

[0045] A. Provide a connectivity system with any of the example configurations described above.

[0046] B. Position the first loading / unloading unit and the second loading / unloading unit within the operating range of the fluid conduit, and ensure that the loading / unloading points on the loading / unloading units are at a suitable angle.

[0047] C. Connect the pull-in device to the guide element head at one end, and connect the pull-in device to the pull device at the other end.

[0048] D. Operate the pulling device to pull the second connecting housing toward the first connecting housing.

[0049] E. Optionally, when the second connecting housing is within a distance of approximately 0.1 meters to approximately 3 meters, approximately 1 meter to 2 meters, or for example, 1.5 meters from the first connecting housing, the rotary drive unit is operated to align the receiving seat with the guide element.

[0050] F. Operate the pulling device to pull in the second connecting housing, causing the guide element to enter the receiver.

[0051] G. Optionally, before the second connecting flange reaches the vertical height of the guide pin, the pulling device is operated to pause the pull-in.

[0052] H. Operate the rotary drive unit to make axis B x Align with axis A x ,

[0053] During step E, it is permissible for the guide element head to contact the housing, as long as the connecting housing and the housing can rotate relative to each other.

[0054] The method may also include the following steps:

[0055] I. Optionally, the pulling device is operated to pull in the second coupling housing, and a guide pin is used to ensure that the second coupling flange is aligned and close to the first coupling flange.

[0056] The method may also include the following steps:

[0057] J. Optionally, the coupling device actuator is operated to facilitate the interaction between the coupling device and the coupling device interface, thereby connecting the first coupling housing and the second coupling housing.

[0058] The method may also include the following steps between steps E and F;

[0059] Optionally, when the second connecting housing is about 0.1 meters to about 3 meters, about 1 meter to 2 meters, for example 1.5 meters, or within 1 meter of the first connecting housing, the universal suspension is operated to align the receiving seat with the guide element.

[0060] The method may also include the following steps after step J:

[0061] Operate the omnidirectional suspension to an angle to mitigate any angular forces acting on the connected first and second coupling housings. Attached Figure Description

[0062] Figure 1 The image shows a view of two ships positioned at approximately a 90° angle between their bows.

[0063] Figure 2 A view of the coupling system is shown, in which the pull-in device is attached to the head of the guide element at one end and to the winch at the other end. Angles a and b, in which the omnidirectional suspension can rotate, are also shown.

[0064] Figure 3 A front view of the omnidirectional suspension, the first connecting housing, and the housing is shown. The angle c at which the omnidirectional suspension can rotate is also shown.

[0065] Figure 4 The diagram shows views of the first and second connecting housings and the receptacle, with the guide element not yet inserted and not aligned with the receptacle.

[0066] Figure 5 The diagram shows views of the first and second connecting housings and the receptacle, with the guide element not yet inserted but aligned with the receptacle.

[0067] Figure 6 A view of the first and second connecting housings and the reservoir is shown, with the guide element inserted into the reservoir.

[0068] Figure 7 A view of the first and second connecting housings and the receptacle is shown, with the sidewalls of the receptacle removed.

[0069] Figure 8 This shows a view with the central longitudinal axes of the first and second connecting housings aligned.

[0070] Figures 9A-9D The steps for aligning and connecting the first and second coupling housings after the guide element enters the housing are shown. Detailed Implementation

[0071] Specific embodiments of the invention will be described in more detail below with reference to the accompanying drawings. However, the invention is not limited to the embodiments and illustrations contained herein. It is particularly intended that the invention include modifications to the embodiments, portions of the embodiments, and combinations of elements from different embodiments. It should be understood that in any actual implementation of development, as with any engineering or design project, specific decisions must be made to achieve the developers' specific goals, such as compliance with system and / or business-related constraints. Furthermore, it should be understood that such development work may be complex and time-consuming, but it remains routine work for those skilled in the art who benefit from this disclosure in design, manufacturing, and production.

[0072] Figures 1-9D The diagram illustrates the various components and operating states of the connection system 1.

[0073] Figure 1 A view of the first loading / unloading unit 400 and the second loading / unloading unit 500 is shown. Loading / unloading units 400 and 500 can be, for example, vessels (such as production vessels, shuttle tankers, floating production storage and offloading facilities (FPSOs)). Loading / unloading units 400 and 500 can also be facilities such as offshore platforms or facilities on docks. Loading / unloading units 400 and 500 are capable of receiving or unloading fluids.

[0074] The first loading / unloading unit 400 includes a suspension 300 mounted to it. The suspension 300 is configured to suspend a first connecting housing 100. The first connecting housing 100 can be attached to the suspension 300 via a connecting housing joint 301. Figure 2 As shown, the first connecting housing 100 can be fluidly connected to the first fluid conduit 101. The first fluid conduit 101 can be fluidly connected at an end away from the first connecting housing 100 to a storage compartment located on the first loading / unloading unit 400, or alternatively to a storage compartment located elsewhere.

[0075] The suspension 300 can be mounted on one side of the loading / unloading unit 400. If the first loading / unloading unit 400 is a ship, the suspension 300 can be mounted on the stern, port, starboard, or bow of the ship. The suspension 300 can be mounted on the top deck, or alternatively on any of the lower decks, and has suitable openings on the ship's side for access to the first connecting housing 100. If the first loading / unloading unit 400 is an offshore platform or dock facility, the suspension 300 can be mounted on any suitable structure known to those skilled in the art, such as a crane.

[0076] The second loading / unloading unit 500 may include a second fluid conduit arrangement 210 that can accommodate a second fluid conduit 201. The second fluid conduit 201 may, for example, be wound around the fluid conduit arrangement 210 so that a fluid conduit 201 of suitable length can be deployed in use. The second fluid conduit 201 may include a second coupling housing 200 fluidly connected at its free end. The second fluid conduit 201 may be fluidly connected at its end away from the second coupling housing 200 to a storage compartment located on the second loading / unloading unit 500, or alternatively to a storage compartment located elsewhere.

[0077] The second fluid conduit arrangement 210 can be installed on one side of the loading / unloading unit 500. If the loading / unloading unit 500 is a ship, the second fluid conduit arrangement 210 can be installed at the stern, port, starboard, or bow of the ship. The second fluid conduit arrangement 210 can be installed on the top deck, or alternatively on any of the lower decks, and has suitable openings on the ship's side for deployment of the second connecting housing 200. If the loading / unloading unit is an offshore platform or dock facility, the second fluid conduit arrangement 210 can be installed on any suitable structure known to those skilled in the art.

[0078] The first connecting housing 100 and the second connecting housing 200 can be used to establish a fluid connection between the first and second fluid conduits 101, 201, allowing any fluid to be transported through them. It should be understood that, in this context, "fluid" means any substance that can flow, such as gases and liquids, including liquefied gases.

[0079] Turn now Figure 2 This illustrates the installation of suspension 300 onto omnidirectional suspension 420, which can also be referred to as a universal joint. Omnidirectional suspension 420 can pivot vertically forward and backward by angles a and b. For example... Figure 3 As shown, suspension 300 may also be able to Figure 2 The pivot angle c in the transverse plane of the plane shown. Angles a, b, and c can be, for example, a maximum of 90° or greater.

[0080] Let's shift our focus for now. Figure 6 The diagram illustrates that the second connecting housing 200 may include a first end 211 configured for connection to the fluid conduit 201 and a second end 212 opposite to the first end. The second connecting housing may also show a central longitudinal axis B extending from the first end 211 to the second end 212. x .

[0081] Turning Figure 4The diagram shows a second fluid conduit 201, with a second coupling housing 200 connected at one end. The second coupling housing 200 includes a guide element 203 attached at one end to one side of the coupling housing 200. The guide element 203 is generally along the axial direction B. x Extending, along the central longitudinal axis B of the second connecting housing 200 x The radial distance d between them. The guide element 203 includes a guide element head 204 located at the end remote from the second coupling housing 200.

[0082] Back Figure 2 A pull-in device 50 (such as a rope, wire, or chain) may be attached to the guide element head 204. The pull-in device 50 may be attached to a pulling device 410 (such as a winch) at an end remote from the element head 204. The pulling device 410 is used to apply a pulling force to the pull-in device 50. For smaller systems, the pulling force may be applied manually, for example by human power.

[0083] The pull-in device 50 can pass through the housing 310 and travel via pulleys 120, 121 to the pull-up device 410. The housing 310 is adapted to receive the guide element 203 when the guide element 203 is pulled into the housing 310 due to the pulling force applied to the pull-in device 50 by the pull-up device 410. The housing 310 is rotatably attached to the suspension 300 and can rotate clockwise and counterclockwise.

[0084] The guide element 203 can be positioned perpendicular to the central longitudinal axis B of the second connecting housing 200. x It has a flat, elongated shape in the direction of the guide element 203. The housing 310 may have a corresponding flat internal shape, extending at least a portion of the internal portion of the housing. When the flat portion of the guide element 203 and the flat portion of the housing interact, the connecting housing 200 about the central longitudinal axis B x The rotation of the container is connected to the rotation of the housing 310, so it is prevented as long as the housing 310 does not rotate.

[0085] The omnidirectional suspension 420 allows adjustment of the tilt of the first connecting housing 100 and the receiver 310, such that the angle is favorable for guiding the element 203 into the receiver 310.

[0086] The connection system 1 may also include a controller unit 150, which can be connected via wired or wireless means to at least the pulling device 410 and the suspension 300. The controller unit 150 may be a fixed unit, for example, located in a control room on the loading / unloading unit 400, such as on the bridge of a ship. It is also conceivable that the controller unit 150 is portable, in which case wireless connectivity is most practical. The function of the controller unit 150 will be disclosed in more detail below.

[0087] Figure 4and Figure 5 The first and second connecting housings 100 and 200 are shown close to each other. The guide element head 204 is between 0.1 meters and 1 meter away from the receiver 310, for example. The distance may be longer, such as 2 to 3 meters or more, or it may be shorter than 0.1 meters. The guide element head 204 may even contact the receiver 310, as long as the connecting housing 200 and the receiver 310 can rotate relative to each other.

[0088] Let's shift our focus for now. Figure 6 The first connecting housing 100 is connected to the first fluid conduit 101 at a first end 111, and may include a second end 112 opposite to the first end 111. The first connecting housing 100 may show a central longitudinal axis A extending from the first end to the second end. x The housing 310 is attached to the suspension 300 at one end and shows a central longitudinal axis C extending from the end of the housing 310 near the suspension 300 to the end of the housing 310 away from the suspension 300. x Central longitudinal axis A x and the central longitudinal axis C x They are parallel to each other and spaced apart, for example, by a distance D.

[0089] Distances d and D are adapted such that when the guide element 203 is inserted into the receiver 310, it can pass through the receiver 310 around the central longitudinal axis C. x Rotation to align with the central longitudinal axis A x and the central longitudinal axis B x .

[0090] Figure 4 The suspension 300 includes a rotary drive unit 313 attached to one side of the suspension 300. The rotary drive unit 313 may be, for example, a motor including a drive unit engagement device 312, which may be a sprocket. The drive unit engagement device 312 may be connected to a seat engagement device 311 fixed to a seat 310, which may also be a sprocket. Alternatively, the rotary drive unit 313 may be another type of drive unit, such as a worm gear, hydraulic actuator, or cylinder, and the drive unit engagement device 312 may be a rod connected to the seat engagement device 311, which may be, for example, a connection point on the seat 310. Activating the rotary drive unit 313 causes the seat to reposition relative to the suspension 300 around axis C. x Rotation clockwise and counterclockwise. The rotation drive unit 313 is configured to apply a rotational force to the rotation drive unit engagement device 312, thereby rotating the housing 310.

[0091] Figure 4One scenario is illustrated where the flat shape of the guide element 203 is not rotationally aligned with the internal flat shape of the container 310. Therefore, the guide element 203 cannot smoothly enter the container or may not be able to do so at all. To align the flat shape of the container 310 with the flat shape of the guide element 203, the container can be rotated around the central longitudinal axis C by operating the rotation drive unit 313. x Rotate.

[0092] Figure 5 One scenario is illustrated where the flat shape of the guide element 203 is rotatably aligned with the inlet of the container 310. The container can be rotated around the central longitudinal axis C by operating the rotation drive unit 313. x Alignment is achieved by rotation. In this position, if a pulling force is applied to the pull-in device 50, the guide element 203 can smoothly enter the receiver 310.

[0093] Figure 6 The first coupling housing 100 is shown to include coupling devices 103 disposed on one side of the first coupling housing 100 and coupling device actuators 106 for activating the coupling devices 103 to engage a second coupling housing 200. The second coupling housing 200 may include a coupling device interface 207 adapted for engagement of the coupling devices 103. It is conceivable that the coupling housing includes a plurality of coupling devices 103, each connected to a plurality of coupling device actuators 106, or that all of the coupling devices 103 are connected to a single coupling actuator 106. The coupling device 103 may be, for example, a gripper, a threaded screw connector, a pin connector, etc. The coupling device interface 207 may be adapted to the type of coupling device 103 used, for example by including threads or defined notches for gripper interaction.

[0094] The first connecting housing 100 can be connected to the first fluid conduit 101 at the first fluid conduit connector 107, which can be, for example, a rotary connector.

[0095] The second connecting housing 200 can be connected to the second fluid conduit 201 at the second fluid conduit connector 202, which can be, for example, a swivel connector. The swivel connector can rotate freely, thereby reducing any torsional loads applied to the fluid conduits 101 and 201 by the connecting housings 100 and 200.

[0096] The first connecting housing 100 also includes a first connecting flange 105 disposed at a second end 112. The first connecting flange 105 is along a longitudinal axis A relative to the center. x Extending in a radial direction, and including openings that allow fluid to flow through. The coupling housing 100 may include a guide pin 104 attached to the periphery of the coupling flange 105 and extending along a generally parallel longitudinal axis A.x The direction extends away from the first connecting housing 100.

[0097] The second connecting housing 200 may include a second connecting flange 205 disposed at a second end 212. The second connecting flange 205 is along the longitudinal axis B relative to the center. x It extends in the radial direction and includes openings that allow fluid to flow through it.

[0098] like Figure 7 As shown, the housing 310 may include at least two housing guides 314, spaced apart and arranged near the end away from the suspension 300. The housing guides 314 may be rods, plates, or rollers, used to minimize friction and facilitate the smooth entry of the guide element 203 therebetween. The housing guides 314 may be parallel and transverse to the central longitudinal axis C. x The housing 310 extends and is arranged at appropriate intervals to interact with the guide element 203. The housing 310 may also include lateral housing guides 315 arranged further away from the suspension than the housing guides 314. The lateral housing guides 315 can support the guide element 203 when it enters the housing 310. A set of two upper lateral housing guides 316, 317 may be arranged at the end of the housing near the suspension 300. The upper lateral housing guides 316, 317 may be arranged such that when the guide element 203 is inserted into the housing 310, the guide element head 204 abuts against them to stabilize the guide element 203 therein. When the guide element head 204 abuts against the upper lateral housing guides 316, 317, the second connecting flange 205 remains sufficiently distanced from the first connecting flange 105 to allow the housing 310 and the second connecting housing 200 to revolve around the central longitudinal axis C. x Rotation without collision of any components of the connecting system 1, see also Figures 9A-9C .

[0099] refer to Figure 8 The first connection housing 100 may include a valve 108 for sealing an opening in a first connection flange 105. The valve 108 can be removed from the opening in the first connection flange 105, thereby allowing fluid to flow through it. The second connection housing 200 may include a valve 208 for sealing an opening in a second connection flange 205. The valve 208 can be removed from the opening in the second connection flange 205, thereby allowing fluid to flow through it.

[0100] Now for reference Figure 9A and Figure 9B They illustrate two scenarios, in which the guide element 203 has entered the housing 310 such that it abuts against the upper transverse housing guides 316, 317, but the central longitudinal axis A of the first and second connecting housings 100, 200 is not... xand the central longitudinal axis B x The components are misaligned. For example, if the container is already aligned around the central longitudinal axis C... x Rotating the guide element 203 to align it with the housing 310 may result in either of the two situations described above, as referenced above. Figure 4 and Figure 5 The final connection of the first and second connecting housings 100 and 200 may not occur until their central longitudinal axis A. x B x alignment.

[0101] Figure 9C One scenario is illustrated where the receiver 310 is oriented around the central longitudinal axis C by operating the rotary drive unit 313. x Rotate to align the central longitudinal axis A of the first and second connecting housings 100 and 200, respectively. x and the central longitudinal axis B x Note that container 310 can be drawn from... Figure 9A The positions shown and Figure 9B Rotate bidirectionally to the position shown.

[0102] Figure 9D One scenario is illustrated where the guide element 203 has been fully pulled into the housing, for example, by applying a pulling force to the guide element head 204 by operating the pulling device 410. The first and second connecting flanges 105, 205 are in contact with each other, and valves 108, 208 can be opened to establish a fluid connection between the first and second fluid conduits 101, 201.

[0103] Optionally, when the second connecting housing 200 and the connecting device interface 207 are within the reach of the connecting device 103, but before the first and second connecting flanges 105, 205 contact, the connecting device actuator 106 can be operated. By operating the connecting device actuator 106, the connecting device 103 engages the connecting device interface 207 to move the first and second connecting housings 100, 200 together with sufficient force, thereby forming a sealed connection between the first and second connecting flanges 105, 205, at which point the central longitudinal axis A... x and the central longitudinal axis B x Perfect alignment.

[0104] Figure 2The control unit 150 shown can be connected to and used to control, for example, the speed and tension applied by the pulling device 410 to the pulling device 50, the activation of the coupling device actuator 106, the tilting of the omnidirectional suspension 420, and the activation of the rotary drive unit 313 for the rotating housing 310. These components can be equipped with sensors suitable for communicating the status or position of the various system components to the control unit 150, which can be used to control these units, either manually or automatically by running appropriate software on the control unit 150 or a connected computer. The control unit 150 can be equipped with a suitable software interface for communication with computer-based external systems, such as external control units located on other loading / unloading units.

[0105] It should also be understood that some or all of the above adjustments and connections, as well as the following steps, can be performed manually.

[0106] refer to Figure 1 - As shown in Figure 9, the steps to ensure successful alignment and connection of the connecting housings 100 and 200 can be performed as follows:

[0107] - Provide the connection system 1 as disclosed above,

[0108] - Position the first loading / unloading unit 400 and the second loading / unloading unit 500 within the operating range of the fluid conduit 201, and ensure that the loading / unloading points on the loading / unloading units 400 and 500 are at a suitable angle.

[0109] - The pull-in device 50 is connected to the guide element head 204 at one end, and the pull-in device 50 is connected to the pull device 410 at the other end.

[0110] - Operate the pulling device 410 to pull the second connecting housing 200 toward the first connecting housing 100.

[0111] - Optionally, when the second connecting housing 200 is within approximately 1 meter of the first connecting housing 100, the rotary drive unit 313 is operated to align the receiving seat 310 with the guide element 203.

[0112] - Operate the pulling device 410 to pull in the second connecting housing 200, so that the guide element 203 enters the receiver 310.

[0113] - Optionally, before the second connecting flange 205 reaches the vertical height of the guide pin 104, the pulling device 410 is operated to pause the pull-in.

[0114] - Operate the rotary drive unit 313 to make axis A x With axis B x alignment,

[0115] - Operate the pulling device 410 to pull in the second connecting housing 200, and use the guide pin 104 to ensure that the second connecting flange 205 is aligned and close to the first connecting flange 105.

[0116] - Operate the coupling device actuator 106 to facilitate the interaction between the coupling device 103 and the coupling device interface 207, thereby connecting the first coupling housing 100 and the second coupling housing 200.

[0117] - Optionally, when the second connecting housing 200 is within approximately 1 meter of the first connecting housing 100, the universal joint 420 is operated to align the receiving seat 310 with the guide element 203.

[0118] - Optionally, the omnidirectional suspension 420 is operated to an angle to mitigate any angular forces acting on the connected first coupling housing 100 and second coupling housing 200.

[0119] List of reference numerals

Claims

1. A coupling system (1) for connecting a first fluid conduit (101) to a second fluid conduit (201), the coupling system (1) being adapted to transfer fluid between a first loading / unloading unit (400) and a second loading / unloading unit (500), the coupling system (1) comprising: - A first connecting housing (100) for fluid connection at a first end (111) to the first fluid conduit (101), the first connecting housing (100) comprising: - The second end (112) opposite to the first end (11), and - The central longitudinal axis extending from the first end to the second end (A) x ), - A second connecting housing (200) for fluid connection at a first end (211) to the second fluid conduit (201), the second connecting housing 200 comprising: - The second end (212) opposite to the first end (211), and - The central longitudinal axis (B) extending from the first end (211) to the second end (212) x ), - Guide element (203), said guide element (203) is attached to one side of the second coupling housing (200) and generally along the central longitudinal axis B x Extending in the direction away from the first end (211), the guide element (203) includes a guide element head (204) located at the end away from the second coupling housing (200). - A suspension (300) configured to suspend the first connecting housing (100), wherein the suspension (300) comprises: - A housing (310) attached to the suspension (300), wherein the housing (310) is configured to receive the guide element (203) therein, and wherein the housing (310) includes a central longitudinal axis (C) extending from the end of the housing (310) near the suspension (300) to the end of the housing (310) away from the suspension (300). x ),as well as The connection system (1) includes: - Pull-in device (50) for attaching to the head (204) of the guide element. The pull-in device (50) is configured to pull the guide element (203) into the receiver (310). The feature is that the housing (310) is rotatably attached to the suspension (300) and thereby configured about the central longitudinal axis (C). x ) rotate to rotate the central longitudinal axis (B) x ) and the central longitudinal axis (A) x )alignment.

2. The connection system (1) according to claim (1), wherein, The suspension (300) includes: - A rotary drive unit (313) attached to one side of the suspension (300). The rotary drive unit (313) is connected to the housing (310) and configured to apply a rotational force to the housing (310).

3. The connection system (1) according to any one of the preceding claims, wherein, The receiving seat (310) includes: - At least two seat guides (314) are attached to and spaced apart from the end of the seat away from the suspension (300) for receiving the guide element (203) between the at least two seat guides (314) and configured to support the guide element (203).

4. The connection system (1) according to claim 3, wherein, The housing (310) includes a lateral housing guide (315) attached to the end of the housing away from the suspension (300) and extending in the lateral direction toward at least a portion of the space length between the at least two housing guides (314).

5. The connection system (1) according to any one of the preceding claims, wherein, The sump (310) includes two upper transverse sump guides (316, 137).

6. The connection system (1) according to claims 4 and 5, wherein, One or more of the said receiving guides (314), lateral receiving guides (315) and / or upper lateral guides (316, 137) are configured as rollers.

7. The connection system (1) according to any one of the preceding claims, wherein, At least a portion of the cross-section of the guide element (203) is non-circular, for non-rotational interaction with the receiver (310).

8. The connection system (1) according to any one of the preceding claims, wherein, The second coupling housing (200) includes: - Second connecting fluid conduit connector (202) for connection to fluid conduit. The second fluid conduit connector (22) is a rotary connector.

9. The connection system (1) according to any one of the preceding claims, wherein, The suspension (300) is attached to the omnidirectional suspension (420) to allow pivoting motion about at least one axis.

10. The connection system (1) according to any one of the preceding claims, wherein, The first coupling (100) housing includes: - A connecting flange (105) is arranged at the second end (112). - A guide pin (104) extending from the first connecting flange (105) is used to interact with the second connecting flange (205) disposed at the second end (212) and guide the second connecting flange (205) toward the first connecting flange (105).

11. The connection system (1) according to any one of the preceding claims, wherein, The first coupling housing (100) includes at least one coupling device (103) and a coupling device actuator (106), the at least one coupling device (103) and the coupling device actuator (106) being configured to interact with a coupling device interface (207) on the second coupling housing (200) to couple the first coupling housing (100) and the second coupling housing (200).

12. The connection system (1) according to any of the preceding claims further includes a controller unit (150) for controlling the connection system (1).

13. A method for transferring fluid between a first loading / unloading unit (400) and a second loading / unloading unit (500), the method comprising the steps of: A. Providing a connection system 1 according to any one of claims 1-12, B. Position the first loading / unloading unit (400) and the second loading / unloading unit (500) within the operating range of the fluid conduit (201), and ensure that the loading / unloading points on the loading / unloading units (400, 500) are at a suitable angle. C. Connect the pull-in device (50) to the guide element head (204) at one end and connect the pull-in device (50) to the pull device (410) at the other end. D. Operate the pulling device (410) to pull the second connecting housing (200) toward the first connecting housing (100). E. Optionally, when the second connecting housing (200) is within 1 meter of the first connecting housing (100), the rotary drive unit (313) is operated to align the receiving seat (310) with the guide element (203). F. Operate the pulling device (410) to pull in the second connecting housing (200), so that the guide element (203) enters the receiver (310). G. Optionally, before the second connecting flange (205) reaches the vertical height of the guide pin (104), the pulling device (410) is operated to pause the pull-in. H. Operate the rotary drive unit (313) to make the axis (B) x ) and axis (A) x )alignment.

14. The method of claim 13, further comprising the step of: I. Optionally, the pull device (410) is operated to pull in the second coupling housing (200), and the guide pin (104) is used to ensure that the second coupling flange (205) is aligned and close to the first coupling flange (105).

15. The method according to claim 13 or 14, further comprising the step of: J. Optionally, the coupling device actuator (106) is operated to facilitate the interaction between the coupling device (103) and the coupling device interface (207), thereby connecting the first coupling housing (100) and the second coupling housing (200).

16. The method according to any one of claims 13-15, further comprising the following steps between step E and step F: - Optionally, when the second connecting housing (200) is within about 1 meter of the first connecting housing (100), the universal joint (420) is operated to align the housing (310) with the guide element (203).

17. The method of claim 15, further comprising the following steps after step J: - Operate the omnidirectional suspension (420) to an angle to relieve any angular forces acting on the connected first coupling housing (100) and second coupling housing (200).

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