Automatic positioning system and positioning method for a ship loading and unloading arm

Abstract

This invention discloses an automatic positioning system and method for a marine loading and unloading boom, comprising a loading and unloading boom body and a control system. A connecting component is provided at the end of the loading and unloading boom body. The connecting component includes a connector, one end of which is equipped with a quick-connect coupling, and the other end is connected to the pipeline system of the loading and unloading boom body via a tubing. When the pipeline system of the loading and unloading boom is docked with a target flange, the invention uses a wire rope lifting mechanism to lower the connector and a pre-positioning mechanism, allowing the docking plate to land on the target flange surface. A clamping mechanism then clamps the target flange, aligning the connector with the target flange's axis. A traction mechanism then moves the connector to achieve initial docking with the target flange. Finally, the quick-connect coupling is used for locking, ensuring a secure connection. This effectively solves the problem of collision between the target flange and the connector caused by wind and waves in existing technologies, improving the stability and safety of the docking process.

Description

Technical Field

[0001] This invention relates to the field of fluid loading and unloading technology, and specifically to an automatic positioning system and positioning method for a marine loading and unloading arm. Background Technology

[0002] Loading booms are key equipment in the loading and unloading of liquefied natural gas, oil, and other fluid cargoes. They are widely used for pipeline connections between docks and transport vessels. Their structure can be simplified to three main booms and a three-dimensional connector. The three main booms can quickly adjust the position of the three-dimensional connector, allowing it to rapidly approach the target flange. The three-dimensional connector has multiple degrees of freedom. On one hand, it allows for easy and rapid docking with the target flange on the ship by rotating and adjusting the angle. On the other hand, the three-dimensional connector enables flexible connection with the ship's oil inlet pipe, allowing the rigid loading boom to keep up with the ship's swaying motion after docking, ensuring that the rigidly connected pipeline will not be twisted or torn during ship movement.

[0003] To facilitate connection and solve the problem of traditional 3D connectors requiring manual bolt connection to the target flange, existing 3D connectors are generally equipped with quick-connectors. The structure of the quick-connector is shown in the attached diagram in the instruction manual. Figure 1 As shown, the device includes a fixing plate 321 fixed to the side of the three-dimensional joint. A guide groove 322 is provided at the front end of the fixing plate 321, and a clamping cylinder 323 is rotatably mounted on the fixing plate 321. A clamping block 324 is fixed to the telescopic end of the clamping cylinder 323, and a guide post 323 that slides with the guide groove 322 is fixed to the side of the clamping block 324. In use, the clamping cylinder 323 extends, driving the clamping block 324 to move towards the target flange 20 and unfold outwards, so that when the three-dimensional joint approaches the target flange 20, the target flange 20 can align with the end face of the three-dimensional joint. Then, the clamping cylinder 323 retracts, driving the clamping block 324 to move backwards and simultaneously move towards the center of the target flange 20, clamping the flange of the target flange 20 and the flange of the three-dimensional joint together.

[0004] However, ships inevitably bob up and down on the sea due to wind and waves, which causes the position of the target flange to change constantly. At the moment of docking, the side of the target flange is prone to rigid collision with the three-dimensional joint and quick connector, causing wear or even damage to the equipment. Therefore, providing a positioning system that can avoid collisions during docking has become an urgent problem to be solved in this field. Summary of the Invention

[0005] The purpose of this invention is to propose an automatic positioning system and method for marine loading and unloading arms, which solves the problem of rigid collisions that easily occur when existing infusion arms dock with target flanges on ships.

[0006] To address the aforementioned problems, this invention discloses an automatic positioning system for a marine loading and unloading arm, comprising a loading and unloading arm body and a control system, wherein a connecting component is provided at the end of the loading and unloading arm body. The connecting component includes: The connector has a quick connector at one end and is connected to the piping system of the loading and unloading arm body via an infusion hose at the other end. A horizontal rotating mechanism, wherein the horizontal rotating mechanism is rotatably connected to the end of the loading and unloading arm body via a boom; A wire lifting mechanism is connected between the connector and the horizontal rotating mechanism for driving the connector to move up and down; The connector head is provided with a pre-positioning mechanism at its front end, the pre-positioning mechanism comprising: A mating plate, wherein the mating plate is disposed at the front end of the connector; A clamping mechanism, which is connected to the docking plate, is used to clamp the target flange; A traction mechanism, connected between the docking plate and the connector, is used to drive the connector to move toward the target flange; The control system includes a controller module, an image information interface module, and an angle sensor module. The controller module is connected to the image information interface module and the angle sensor module. The controller module obtains the spatial distance information between the target flange and the connector through the image information interface module. The controller module collects the angle data information of the loading arm body and the connector through the angle sensor module, and controls the operation of the loading arm body and the connecting parts.

[0007] Using the above technical solution, when the pipeline system of the loading arm is docked with the target flange, the connecting head and pre-positioning mechanism can be lowered by the wire rope lifting mechanism. After the docking plate lands on the target flange surface, the clamping mechanism holds the target flange, achieving axial alignment between the connecting head and the target flange. Then, the traction mechanism pulls the connecting head to move, achieving initial docking with the target flange. Finally, a quick coupling is used to lock the connection, ensuring a secure connection. This effectively solves the problem of collision between the target flange and the connecting head caused by wind and waves in existing technologies, improving the stability and safety of the docking process. Furthermore, during oil transfer, the connecting head is flexibly connected to the loading arm via wire rope, avoiding rigid tension on the loading arm due to the vessel's floating motion, thus extending the service life of the loading arm.

[0008] According to another specific embodiment of the present invention, the outlet end of the pipeline system extends horizontally from the end of the loading and unloading arm body, the outlet end is equipped with a rotary joint, one end of the infusion hose is connected to the connector, and the other end is fixedly connected to the side of the rotary joint.

[0009] According to another specific embodiment of the present invention, the horizontal rotation mechanism includes a mounting shell, the top of which is fixedly connected to the lower end of the boom, and a base plate is provided at the bottom of the mounting shell. The base plate is horizontally rotatably disposed at the bottom of the mounting shell, and a first hydraulic motor is installed inside the mounting shell. The first hydraulic motor is connected to the controller module and is used to drive the base plate to rotate.

[0010] According to another specific embodiment of the present invention, the wire lifting mechanism includes a wire assembly, the lower end of which is fixedly connected to the connector, and a winding mechanism is installed on the base plate. The winding mechanism is controlled and connected to the controller module for winding and unwinding the wire assembly.

[0011] According to another specific embodiment of the present invention, the connector is fixed with a limiting block, and the lower surface of the base plate is provided with a limiting groove corresponding to the limiting block. When the winding mechanism winds the wire assembly, the connector rises and drives the limiting block to insert into the limiting groove for limiting.

[0012] According to another specific embodiment of the present invention, the clamping mechanism includes a clamping assembly disposed at the bottom of the docking plate, the docking plate is provided with a driving mechanism, the driving mechanism being connected to the controller module for driving the clamping assembly to clamp the target flange; A limit plate is fixed at the mating end of the arc-shaped clamping plate near the target flange.

[0013] According to another specific embodiment of the present invention, the quick connector includes: A fixing plate is fixedly connected to the connector, and the head of the fixing plate is provided with a guide groove; A clamping cylinder is provided, the rear end of which is rotatably connected to the tail end of the fixed plate, and a clamping block is fixed to the head of the clamping cylinder. A guide post is provided on the side of the clamping block, and the guide post is slidably engaged with the guide groove. The guide groove includes a horizontal part and an inclined part. The horizontal part is located on the side close to the connector and its length direction is parallel to the length direction of the connector. One end of the inclined part is integrally formed with one end of the horizontal part, and the other end extends outward in a direction away from the axis of the connector. The controller module is connected to the clamping cylinder control.

[0014] According to another specific embodiment of the present invention, the number of quick connectors is at least three sets, and the quick connectors are equidistantly arranged around the circumferential surface of the connector.

[0015] According to another specific embodiment of the present invention, the traction mechanism includes a traction cylinder connected between the connector and the docking plate, and the controller module is controlled to the traction cylinder.

[0016] In addition, the present invention also discloses an automatic positioning method for a marine loading and unloading arm, using the automatic positioning system for a marine loading and unloading arm of any of the above embodiments, comprising the following steps: S1. After the vessel docks, the controller module obtains the spatial distance information between the target flange and the connector through the image information interface module. The controller module also collects the angle information of the loading arm body and the connector through the angle sensor module, controls the movement of the loading arm body, and moves the pre-positioning mechanism connected to the connecting component to the area above the target flange.

[0017] S2. The controller module controls the horizontal rotation mechanism to rotate the base plate in the horizontal direction, so that the axis of the connector and the axis of the target flange are moved to the same vertical plane.

[0018] S3. The controller module controls the wire lifting mechanism to extend the wire, which in turn moves the pre-positioning mechanism downward, causing the bottom of the docking plate to fall onto the top surface of the target flange. The target flange is then clamped by the clamping assembly at the bottom of the docking plate, aligning the axis of the connector with the axis of the target flange. Next, the controller module controls the traction mechanism to move the connector toward the target flange, bringing the connector into contact with the target flange.

[0019] S4. The controller module controls the quick connector to lock the connector to the target flange. After docking is completed, the filling process begins. Attached Figure Description

[0020] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments: Figure 1 This is a schematic diagram of the existing three-dimensional joint and the target flange connection structure; Figure 2 This is a three-dimensional structural schematic diagram of the present invention; Figure 3 This is a three-dimensional structural diagram of the connecting component of the present invention; Figure 4 This is a schematic diagram of another three-dimensional structure of the connecting component of the present invention; Figure 5 This is the present invention. Figure 2 Enlarged structural diagram at point A in the middle; Figure 6 This is a three-dimensional structural schematic diagram of the clamping mechanism of the present invention; Figure 7 This is a schematic diagram of the positioning process structure of the present invention.

[0021] Figure 8 This is a schematic diagram of the connection structure of the controller module of the present invention. Detailed Implementation

[0022] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. Although the description of the present invention is presented in conjunction with preferred embodiments, this does not mean that the features of the invention are limited to these embodiments. On the contrary, the purpose of describing the invention in conjunction with embodiments is to cover other options or modifications that may be derived based on the claims of the present invention. To provide a deep understanding of the invention, many specific details will be included in the following description. The invention may also be implemented without using these details. Furthermore, to avoid confusion or obscuring the focus of the invention, some specific details will be omitted in the description. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0023] In the description of this embodiment, it should be noted that the terms "upper", "lower", "inner", "bottom", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship that the product of the invention is usually placed in during use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the present invention.

[0024] The terms “first”, “second”, etc., are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0025] In the description of this embodiment, it should also be noted that, unless otherwise explicitly specified and limited, the terms "provided with," "set up," "connected," and "linked" 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 or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this embodiment based on the specific circumstances.

[0026] like Figures 1 to 8 As shown, the present invention discloses an automatic positioning system for a marine loading and unloading arm, comprising a loading and unloading arm body 10 and a control system. The end of the loading and unloading arm body 10 is provided with a connecting component 30 for connecting with a target flange 20, and the loading and unloading arm body 10 is provided with a pipeline system 40 for injecting petrochemical fluids such as crude oil, diesel, and liquefied petroleum gas from shore into the ship through the connecting component 30 and the target flange 20 after the connecting component 30 is connected to the target flange 20.

[0027] The connecting component 30 includes: a connector 31, one end of which is provided with a quick connector 32 for connecting to the target flange 20, and the other end is connected to the pipeline system 40 of the loading and unloading arm body 10 through an infusion hose 33; a horizontal rotation mechanism 34, which is rotatably connected to the end of the loading and unloading arm body through a boom 341. Through the rotational connection of the boom 341, when the loading and unloading arm moves, the connecting component 30 hangs freely under the action of gravity, maintaining a state that is almost parallel to the horizontal plane, which facilitates subsequent alignment with the target flange 20; and a wire lifting mechanism 35, which includes a retractable wire 351 connected between the connector 34 and the horizontal rotation mechanism 34. When the end of the loading and unloading arm body 10 approaches the target flange 20, the wire 351 is extended to form a flexible connection between the connector 31 and the loading and unloading arm body 10. Through the flexible connection, rigid collision is avoided when the connector 31 is docked with the target flange 20.

[0028] The connector 31 is provided with a pre-positioning mechanism 36 at its front end. The pre-positioning mechanism 36 includes: a docking plate 361, which is horizontally slidably disposed at the front end of the connector 31; a clamping mechanism 362, which is connected to the docking plate 361 for clamping the target flange 20; and a traction mechanism 363, which is connected between the docking plate 361 and the connector 31 for driving the connector 31 to move toward the target flange 20, so that the flange of the connector 31 docks with the target flange 20.

[0029] During operation, the wire lifting mechanism 35 extends the wire 351, causing the pre-positioning mechanism 36 to descend along with the connector 31. As the pre-positioning mechanism 36 descends, the mating plate 361 lands on the surface of the target flange 20. Under the influence of gravity, the bottom surface of the mating plate 361 comes into close contact with the side of the target flange 20, achieving linear contact between the target flange 20 and the bottom surface of the mating plate 361, ensuring that the axis of the connector 31 and the axis of the target flange 20 are on the same plane. Next, the clamping mechanism 362 operates and clamps the target flange 20, aligning the axis of the connector 31 with the axis of the target flange 20, achieving initial alignment. Then, the traction mechanism 363 operates, driving the connector 31 to move closer to the target flange 20 and mate. Finally, the connector 31 and the target flange 20 are locked together via the quick connector 32. It is worth mentioning that, because it is a flexible connection, after the position of the connector 31 is adjusted by the horizontal rotation mechanism 34, the mating plate 361 will automatically adjust its position when it lands on the top of the target flange 20, regardless of whether the head of the target flange 20 is tilted up or down. Combined with the secondary adjustment of the clamping mechanism 362, the axis of the connector 31 and the target flange 20 can be made to coincide, achieving the effect of quick alignment.

[0030] The control system includes a controller module, an image information interface module, and an angle sensor module. The controller module is connected to the image information interface module and the angle sensor module. The controller module obtains the spatial distance information between the target flange 20 and the connector 31 through the image information interface module. The controller module collects the angle information between the loading arm body 10 and the connector 31 through the angle sensor module, and controls the loading arm body 10 and the connecting component 30 to work.

[0031] In one specific embodiment of the present invention, the loading / unloading arm body 10 includes a column 11, a trunnion box 12, an inner arm 13, and an outer arm 14. The column 11 is vertically arranged, the trunnion box 12 is connected between the upper end of the inner arm 13 and the column 11 to enable rotation of the inner arm 13 in both the horizontal and vertical directions, and the outer arm 14 is rotatably connected to the other end of the inner arm 13. A piping system 40 sequentially connects the column 11, the trunnion box 12, the inner arm 13, and the outer arm 14. The image information interface module includes at least two binocular recognition cameras, one fixed to the column 11 and the other fixed to the docking plate 361. The angle sensor module includes a rotation angle sensor mounted on a rotary joint at the connection between the column 11 and the trunnion box 12, used to detect the horizontal rotation angle of the inner arm 13. The inner arm angle sensor on the rotary joint at the connection between the inner arm 13 and the outer arm 14 is used to detect the vertical rotation angle of the inner arm 13. The outer arm angle sensor on the rotary joint at the connection between the outer arm 14 and the inner arm 13 is used to detect the rotation angle of the outer arm 14. The connector angle sensor on the rotary joint of the horizontal rotation mechanism 34 is used to detect the rotation angle of the connector 31. It can be understood that the column 11, trunnion box 12, inner arm 13, outer arm 14 and pipeline system 40 are the basic components of the loading and unloading arm and belong to the prior art. In the embodiment of the present invention, the connection relationship of the column 11, trunnion box 12, inner arm 13, outer arm 14, pipeline system 40 and the power mechanism for the movement of the inner arm 13 and outer arm 14 all adopt the existing structure, which will not be described in detail here. Furthermore, the method of installing an image information interface module and an angle sensor module on the loading arm to acquire the position and orientation information of the loading arm, connector, and target flange, and then moving the connector to the position of the target flange 20 for docking based on the acquired position and orientation information, is also existing technology. Related technology can be found in Chinese Invention Patent No. CN111678039A, "Electrical Control System for Automatic Docking of Marine Loading Arms," ​​which will not be elaborated upon here. The difference from this existing technology is that, in this embodiment of the invention, the existing three-dimensional connector has been improved. The sensor originally installed on the existing three-dimensional connector is installed on the rotary connector of the horizontal rotation mechanism 34 in this embodiment of the invention, for detecting the angle information of the connector 31.

[0032] During operation, the controller acquires the position of the target flange 20 through a binocular recognition camera. Subsequently, the controller module controls the rotation of the inner arm 13 and the outer arm 14 to quickly move the connecting component 30 to above the target flange 20. When the outer arm 14 extends, the connecting component 30 always hangs down under the action of gravity and the angle between it and the outer arm 14 changes accordingly, so that the connector 31 is kept in a state that is almost parallel to the horizontal plane. When the pre-positioning mechanism 36 reaches the area above the target flange 20, for example, 30-50 cm, along with the connector 31, the wire lifting mechanism 35 controls the wire 351 to extend, placing the pre-positioning mechanism 36 on the target flange 20 for flexible positioning. After positioning, the connector 31 and the target flange 20 are locked together by the quick connector 32.

[0033] In some embodiments, a laser sensor 50 is installed on the docking plate 361 to detect the distance between the docking plate 361 and the target flange 20, and sends the detection signal to the controller module so that the controller module can control the wire rope lifting mechanism 35 to work according to the distance information.

[0034] In some embodiments, the outlet end of the pipeline system 40 extends horizontally from the side of the end of the loading and unloading arm body 10 and is equipped with a rotary joint. The rotary joint can be an existing structure. One end of the infusion hose 33 is connected to the connector 31, and the other end is fixedly connected to the side of the rotary joint. By setting the rotary joint, the infusion hose 33 can be allowed to twist with the rotary joint when the outer arm 14 is extended.

[0035] In some embodiments, the horizontal rotation mechanism 34 includes a mounting housing 342, the top of which is fixedly connected to the lower end of the boom 341, and a base plate 343 is horizontally rotatably connected to the bottom of the mounting housing 342. A first hydraulic motor 344 for driving the base plate 343 to rotate is installed inside the mounting housing 342, and a controller module is controlled and connected to the first hydraulic motor 344.

[0036] In some embodiments, the wire lifting mechanism 35 includes a wire assembly, the lower end of which is fixedly connected to the connector 31. A winding mechanism 352 is mounted on the base plate 343. The winding mechanism 352 is controlled and connected to the controller module for winding and unwinding the wire assembly, so that the connector 31 can... Figure 2 The movement is vertical in the z-direction as shown. For ease of explanation, it is... Figure 2 and Figure 4The direction indicated by the arrow 'y' is the front end direction. The wire assembly includes two sets of wires 351. One set of wires 351 is fixed to the front end of the connector 31, and the other set of wires 351 is fixed to the rear end of the connector 31. Two winding mechanisms 352 are installed on the bottom of the base plate 343 in the front and rear end directions, respectively. The winding mechanism 352 includes a rotating shaft 3521 rotatably mounted on the bottom of the base plate 343. A winding wheel 3522 is fixed to the rotating shaft 3521. The upper end of the wire 351 located at the front end of the connector 31 is fixedly connected to the winding wheel 3522 at the front end of the base plate 343, and the upper end of the wire 351 located at the rear end of the connector 31 is fixedly connected to the winding wheel 3522 at the rear end of the base plate 343. The wires 351 can be wound or unwound by rotating the rotating shaft 3521 to drive the winding wheel 3522 to rotate. Furthermore, to enable the two sets of steel wires 351 to be wound and unwound synchronously, the two rotating shafts 3521 are connected by a transmission mechanism 3523. The transmission mechanism 3523 can be a sprocket and chain drive structure, which is not specifically limited here. In addition, a second hydraulic motor 3524 is fixed on the side of the base plate 343. The second hydraulic motor 3524 is connected to the controller module to drive one of the rotating shafts 3521 to rotate. When one of the rotating shafts 3521 rotates, the transmission mechanism 3523 drives the other rotating shaft 3521 to rotate synchronously, so as to realize the synchronous winding and unwinding of the two sets of steel wires 351.

[0037] To ensure that the connector 31 is better positioned below the base plate 343 during wire winding and to prevent it from swinging freely during the operation of the horizontal rotation mechanism 34, a limiting block 311 is fixed to the connector 31. The lower surface of the base plate 343 is provided with a limiting groove 3431 corresponding to the limiting block 311. When the winding mechanism 352 winds the wire 351, the connector 31 rises and drives the limiting block 311 into the limiting groove 3431 for positioning. In this embodiment, the head of the limiting block 311 is preferably trapezoidal, and the shape of the limiting groove 3431 matches the shape of the head of the limiting block 31. The trapezoidal limiting groove 3431 has a larger opening, facilitating the insertion of the limiting block 311. Even if the base plate 343 may slightly sway during wire winding, it will not affect the final positioning of the limiting block 311 within the limiting groove 3431.

[0038] It is understandable that the limit block 311 does not need to be completely limited in the limit slot 3431, because the pre-positioning mechanism 36 itself has a relatively large adjustment range.

[0039] In some embodiments, the clamping mechanism 362 includes a clamping assembly disposed at the bottom of the docking plate 361. The docking plate 361 is provided with a driving mechanism 3622, which is connected to a controller module and is used to drive the clamping assembly 362 to clamp the target flange 20. Specifically, the clamping assembly includes two arc-shaped clamping plates 3621, which are slidably disposed on both sides of the bottom of the docking plate 361. A guide rail 3623 is fixed to the bottom of the docking plate 361, and a guide block 3624 that slides with the guide rail 3623 is fixed to the upper end of the two arc-shaped clamping plates 3621. The driving mechanism 3622 can be a motor-driven bidirectional threaded rod structure. The bidirectional threaded rod is rotatably mounted on the bottom of the docking plate 361, and both ends of the bidirectional threaded rod are threadedly connected to the two arc-shaped clamping plates 3621 respectively. When the bidirectional threaded rod rotates, it can drive the two arc-shaped clamping plates 3621 to move closer or further apart. The controller module is connected to the motor control. When the docking plate 361 is placed on top of the target flange 20, the controller module controls the motor to start. When the output shaft of the motor rotates, it drives the bidirectional threaded rod to rotate. When the bidirectional threaded rod rotates, it drives the two arc-shaped clamping plates 3621 to move closer to each other. The two arc-shaped clamping plates 3621 hold the side of the target flange 20 tightly, so that the axis of the connector 31 is aligned with the axis of the target flange 20.

[0040] In some embodiments, a protective cover plate 364 is fixed to the bottom of the docking plate 361, which is used to contact the top surface of the target flange 20 when the docking plate 361 falls. The protective cover plate 364 can be a U-shaped structure, with its two ends fixed to the two sides of the docking plate 361 by bolts, and the guide rail 3623 and the bidirectional threaded rod can be arranged inside the protective cover plate 364.

[0041] In some embodiments, a limiting plate 3625 is fixed to the mating end of the arc-shaped clamping plate 3621 near the target flange 20. The other end of the limiting plate 3625 is used to abut against the inner side of the flange of the target flange 20. Its function is that when the mating plate 361 falls on the surface of the target flange 20, since the connector 31 and the end of the loading and unloading arm body 10 are flexibly connected, the target flange 20 may be displaced due to the swaying of the ship. The limiting plate 3625 can prevent the mating plate 361 from sliding along the surface of the target flange 20 towards the flange, thereby reserving sufficient operating space for the quick connector 32 to work.

[0042] Understandably, when the mating plate 361 slides away from the flange on the surface of the target flange 20, the flange face of the connector 31 can directly contact the mating surface of the target flange 20 without affecting the subsequent normal mating.

[0043] In some embodiments, the quick connector 32 includes: a fixing plate 321 fixed to the side of the connector 31, with its head extending out of the front end of the connector 31 and having a guide groove 322; a clamping cylinder 323, with its rear end rotatably connected to the tail end of the fixing plate 321, and a clamping block 324 fixed to its head, and a guide post 325 fixed to the side of the clamping block 324 that slides with the guide groove 322; the guide groove 322 includes a horizontal portion 3221 and an inclined portion 3222, the horizontal portion 3221 being disposed on the side close to the connector 31, and the length direction of the horizontal portion 3221 being parallel to the length direction of the connector 31, one end of the inclined portion 3222 being integrally formed with one end of the horizontal portion 3221, and the other end extending outward in a direction away from the axis of the connector 31; The controller module is connected to the clamping cylinder 323.

[0044] Before the connector 31 mates with the target flange 20, the guide post 325 is inside the inclined section 3222, and the clamping block 324 is flared outwards, which does not affect the mating of the target flange 20 with the connector 31. After the connector 31 mates with the target flange 20, the controller module controls the clamping cylinder 323 to shorten. Under the guidance of the guide post 323 and the guide groove 322, the clamping block 324 retracts and clamps the flange of the connector 31 and the target flange 20 together. Since the quick connector 32 is an existing structure, it will not be described in detail here.

[0045] The number of quick connectors 32 is at least three sets, and they are equidistantly arranged around the circumference of the connector 31. The connection is secure by clamping multiple sets of quick connectors 32.

[0046] In some embodiments, the traction mechanism 363 includes a traction cylinder 3631 connected between the connector 31 and the docking plate 361, and a controller module is controlled and connected to the traction cylinder 3631. Specifically, a first positioning plate 3632 and a second positioning plate 3633 are fixed on the surface of the docking plate 361. The first positioning plate 3632 is located close to the connector 31, and a pressure sensor 3634 is fixedly installed on the side of the first positioning plate 3632 facing away from the connector 31. The signal output terminal of the pressure sensor 3634 is connected to the signal input terminal of the controller module. One end of the traction cylinder 3631 is fixedly connected to the connector 31, and the other end passes through the first positioning plate 3632 and is fixed with a trigger block 3635. The trigger block 3635 is in contact with the probe of the pressure sensor 3634 and is limited between the first positioning plate 3632 and the second positioning plate 3633. When the connector 31 is aligned with the axis of the target flange 20, the traction cylinder 3631 begins to slowly retract. As the traction cylinder 3631 retracts, it pushes the first positioning plate 3632 via the trigger block 3635, causing the mating plate 361 and the connector 31 to move closer together, thus tightly connecting the target flange 20 and the connector 31. When the target flange 20 contacts the connector 31, the pressure value acquired by the pressure sensor 3634 suddenly increases, sending a signal to the controller module. Upon receiving the signal, the controller module controls the traction cylinder 3631 to stop operating. Conversely, when it is necessary to separate the mating plate 361 from the connector 31, the traction cylinder 3631 extends, pushing the second positioning plate 3633 via the trigger block 3635, moving the mating plate 361 away from the connector 31.

[0047] In addition, the present invention also provides an automatic positioning method for a marine loading and unloading arm, comprising the following steps: S1. After the vessel docks, the controller module obtains the spatial distance information between the target flange 20 and the connector 31 through the image information interface module. The controller module also collects the angle information of the loading arm body 10 and the connector 31 through the angle sensor module, and controls the loading arm body 10 to move, thereby moving the pre-positioning mechanism 36 connected to the connecting component 30 to the area above the target flange 20, for example, a vertical distance of 30-50 cm.

[0048] S2. Next, the controller module controls the horizontal rotation mechanism 34 to work, and drives the base plate 343 to rotate in the horizontal direction through the first hydraulic motor 344, so that the axis of the connector 31 and the axis of the target flange 20 are moved to the same vertical plane.

[0049] S3. Then, the controller module controls the wire lifting mechanism 35 to extend the wire 351, causing the pre-positioning mechanism 36 to move downwards, so that the bottom of the docking plate 361 lands on the top surface of the target flange 20. Simultaneously, the two arc-shaped clamping plates 3621 at the bottom of the docking plate 361 move downwards to both sides of the target flange 20. Subsequently, the controller module controls the drive mechanism 3622 to move the two arc-shaped clamping plates 3621 closer together and clamp the target flange 20, aligning the axis of the connector 31 with the axis of the target flange 20. Next, the controller module controls the traction mechanism 363 to move the connector 31 towards the target flange 20, bringing the connector 31 into contact with the target flange 20.

[0050] S4. Finally, the controller module controls the quick connector 32 to lock the connector 32 with the target flange 20, and the filling work begins after the docking is completed.

[0051] In summary, by adopting the technical solution of this application, when the pipeline system 40 of the loading arm is docked with the target flange 20, the connecting head 31 and the pre-positioning mechanism 36 can be lowered by the wire rope lifting mechanism 34, so that the docking plate 361 lands on the surface of the target flange 20 and is clamped by the clamping mechanism 362, thereby achieving the alignment of the axis of the connecting head 31 with that of the target flange 20. Then, the connecting head 31 is pulled by the traction mechanism 363 to achieve the initial docking with the target flange 20. Finally, the connection is locked by the quick connector 32 to ensure a firm connection. This effectively solves the problem of collision between the target flange 20 and the three-dimensional connector caused by factors such as wind and waves in the prior art, improves the stability and safety of the docking process, and during the oil transfer process, the connecting head 31 is flexibly connected to the end of the loading arm body 10 by the wire rope 351, avoiding rigid tension on the loading arm caused by the floating of the ship and extending the service life of the loading arm.

[0052] While the present invention has been illustrated and described with reference to certain preferred embodiments, those skilled in the art should understand that the above description is a further detailed explanation of the invention in conjunction with specific embodiments, and should not be construed as limiting the specific implementation of the invention to these descriptions. Various changes in form and detail can be made by those skilled in the art, including several simple deductions or substitutions, without departing from the spirit and scope of the invention.

Claims

1. An automatic positioning system for a marine loading and unloading arm, comprising a loading and unloading arm body and a control system, wherein a connecting component is provided at the end of the loading and unloading arm body, characterized in that, The connecting component includes: The connector has a quick connector at one end and is connected to the piping system of the loading and unloading arm body via an infusion hose at the other end. A horizontal rotating mechanism, wherein the horizontal rotating mechanism is rotatably connected to the end of the loading and unloading arm body via a boom; A wire lifting mechanism is connected between the connector and the horizontal rotating mechanism for driving the connector to move up and down; The connector head is provided with a pre-positioning mechanism at its front end, the pre-positioning mechanism comprising: A mating plate, wherein the mating plate is disposed at the front end of the connector; A clamping mechanism, which is connected to the docking plate, is used to clamp the target flange; A traction mechanism, connected between the docking plate and the connector, is used to drive the connector to move toward the target flange; The control system includes a controller module, an image information interface module, and an angle sensor module. The controller module is connected to the image information interface module and the angle sensor module. The controller module obtains the spatial distance information between the target flange and the connector through the image information interface module. The controller module collects the angle information between the loading / unloading arm body and the connector through the angle sensor module, and controls the loading / unloading arm body and the connecting components to work.

2. The automatic positioning system for a marine loading and unloading arm as described in claim 1, characterized in that, The outlet end of the pipeline system extends horizontally from the end of the loading and unloading arm body. A rotary joint is installed at the outlet end. One end of the infusion hose is connected to the connector, and the other end is fixedly connected to the side of the rotary joint.

3. The automatic positioning system for a marine loading and unloading arm as described in claim 1, characterized in that, The horizontal rotation mechanism includes a mounting shell, the top of which is fixedly connected to the lower end of the boom, and a base plate at the bottom of the mounting shell. The base plate is horizontally rotatable at the bottom of the mounting shell. A first hydraulic motor is installed inside the mounting shell and is controlled and connected to the controller module to drive the base plate to rotate.

4. The automatic positioning system for a marine loading and unloading arm as described in claim 3, characterized in that, The wire lifting mechanism includes a wire assembly, the lower end of which is fixedly connected to the connector. The base plate is equipped with a winding mechanism, which is controlled and connected to the controller module for winding and unwinding the wire assembly.

5. The automatic positioning system for a marine loading and unloading arm as described in claim 4, characterized in that, The connector is fixed with a limiting block, and the base plate is provided with a limiting groove corresponding to the limiting block. When the winding mechanism winds the wire assembly, the connector rises and drives the limiting block to insert into the limiting groove for limiting.

6. The automatic positioning system for a marine loading and unloading arm as described in claim 1, characterized in that, The clamping mechanism includes a clamping assembly located at the bottom of the docking plate. The docking plate is provided with a driving mechanism connected to the controller module for driving the clamping assembly to clamp the target flange. A limit plate is fixed at the mating end of the arc-shaped clamping plate near the target flange.

7. The automatic positioning system for a marine loading and unloading arm as described in claim 1, characterized in that, The quick connector includes: A fixing plate is fixedly connected to the connector, and the head of the fixing plate is provided with a guide groove; A clamping cylinder is provided, the rear end of which is rotatably connected to the tail end of the fixed plate, and a clamping block is fixed to the head of the clamping cylinder. A guide post is fixed to the side of the clamping block, and the guide post is slidably engaged with the guide groove. The guide groove includes a horizontal part and an inclined part. The horizontal part is located on the side close to the connector and its length direction is parallel to the length direction of the connector. One end of the inclined part is integrally formed with one end of the horizontal part, and the other end extends outward in a direction away from the axis of the connector. The controller module is connected to the clamping cylinder control.

8. The automatic positioning system for a marine loading and unloading arm as described in claim 7, characterized in that, The number of quick connectors is at least three sets, and the quick connectors are equidistantly arranged around the circumference of the connector.

9. The automatic positioning system for a marine loading and unloading arm as described in claim 1, characterized in that, The traction mechanism includes a traction cylinder connected between the connector and the docking plate, and the controller module is connected to the traction cylinder for control.

10. An automatic positioning method for a marine loading and unloading boom, employing the automatic positioning system for a marine loading and unloading boom as described in any one of claims 1-9, comprising the following steps: S1. After the vessel docks, the controller module obtains the spatial distance information between the target flange and the connector through the image information interface module, and the controller module collects the angle information of the loading arm body and the connector through the angle sensor module, controls the movement of the loading arm body, and moves the pre-positioning mechanism connected to the connecting component to the area above the target flange. S2. The controller module controls the horizontal rotation mechanism to rotate the base plate in the horizontal direction, so that the axis of the connector and the axis of the target flange are moved to the same vertical plane. S3. The controller module controls the wire lifting mechanism to extend the wire, which in turn moves the pre-positioning mechanism downward, so that the bottom of the docking plate lands on the top surface of the target flange. The target flange is clamped by the clamping assembly at the bottom of the docking plate, so that the axis of the connector coincides with the axis of the target flange. Then, the controller module controls the traction mechanism to move the connector toward the target flange, so that the connector contacts the target flange. S4. The controller module controls the quick connector to lock the connector to the target flange. After docking is completed, the filling process begins.

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