Connector docking device

Abstract

The utility model discloses connector butt joint equipment, which comprises a mounting frame and a flange butt joint system, and is characterized in that the mounting frame comprises a main frame body and a vertical guide rod arranged on the main frame body; the flange butt joint system comprises a guiding and fixing assembly, a screw mounting assembly and a nut mounting assembly, a flange to be in butt joint is fixed to the guiding and fixing assembly, the guiding and fixing assembly comprises an end limiting plate, a flange clamping device and a position adjusting assembly, and the flange to be in butt joint is clamped and fixed to the flange clamping device; a screw rod is detachably installed on the screw rod installation assembly, the nut installation assembly comprises a nut installation frame, a transmission part and a rotary power part, the transmission part is rotatably installed on the nut installation frame, the rotary power part is in transmission connection with the transmission part, and a nut to be installed is rotatably installed on the nut installation frame through the transmission part. And the motor rotates under the driving of the rotating power piece. The connector can be sent into water, and the flange screw rod and the flange nut can be installed and tightened.

Description

Technical Field

[0001] The utility model relates to the technical field of underwater construction equipment, in particular to a connector docking device. Background Art

[0002] With the development of marine technology, deep-sea pipelines play an increasingly important role in marine engineering. Deep-sea pipelines are widely used in fields such as oil and gas transportation and fluid transportation. During use, various reasons can cause pipeline damage. For example, due to the long-term exposure of deep-sea pipelines to seawater and other corrosive environments, the pipelines may experience corrosion and wear, affecting their structural integrity and function. At the same time, submarine earthquakes, landslides, mooring accidents, or other underwater activities may cause the pipelines to be subjected to external impacts, resulting in damage or rupture. In addition, long-term exposure to pressure and temperature changes, as well as dynamic loads such as ocean currents, may cause pipeline material fatigue, leading to cracks or fractures.

[0003] In order to replace damaged submarine pipelines, existing technologies mostly use connectors to replace the damaged sections of submarine pipelines. How to send the connector underwater and, during the installation process of the connector, install the flange screws and tighten the flange nuts to improve the installation convenience of the flange has become an urgent problem for those skilled in the art. Summary of the Utility Model

[0004] The purpose of the utility model is to provide a connector docking device, hoping to be able to send the connector underwater and realize the installation of flange screws and the tightening of flange nuts, thereby improving the installation convenience of the flange. This purpose is achieved through the following technical solutions:

[0005] The utility model provides a connector docking device, and the connector docking device includes:

[0006] An installation frame, the installation frame includes a main frame body and a vertical guide rod installed on the main frame body;

[0007] A flange docking system, the flange docking system includes:

[0008] A guiding and fixing component, the flange to be docked is fixed to the guiding and fixing component, the guiding and fixing component includes an end limiting plate and a flange gripper, and the flange to be docked is clamped and fixed to the flange gripper;

[0009] A screw installation component, a screw is detachably installed on the screw installation component, and the screw installation component moves in a direction close to or away from the flange along the guiding and fixing component under the drive of a first longitudinal power mechanism;

[0010] Nut installation assembly, which moves in the direction close to or away from the flange along the guiding and fixing assembly under the drive of the second longitudinal power mechanism; the nut installation assembly includes a nut installation frame, a transmission member rotatably installed on the nut installation frame, and a rotary power member drivingly connected to the transmission member. The nut to be installed is rotatably installed on the nut installation frame through the transmission member and rotates on its own under the drive of the rotary power member;

[0011] Position adjustment assembly, the position adjustment assembly includes:

[0012] The first telescopic mechanism, one end of the first telescopic mechanism is installed on the main frame body, and the other end is installed on the first installation position of the flange docking system;

[0013] The second telescopic mechanism, one end of the second telescopic mechanism is installed on the main frame body, and the other end is installed on the second installation position of the flange docking system;

[0014] The first installation position is arranged on the flange gripper, and the second installation position is arranged on the end limiting plate.

[0015] In some embodiments, both the first telescopic mechanism and the first installation position are two. The two first telescopic mechanisms are respectively connected to the first installation position in a one-to-one correspondence, and the two first installation positions have a preset horizontal distance;

[0016] The two first installation positions are respectively arranged on both sides of the flange gripper, and the second installation position is arranged on the end limiting plate.

[0017] In some embodiments, the guiding and fixing assembly further includes:

[0018] Axial guide rods, both ends of the axial guide rods are respectively installed on the vertical guide rods of the installation frame. There are two groups of axial guide rods. The vertical guide rods include two first installation rods and two second installation rods. One of the axial guide rods has both ends respectively installed on the first installation rods, and the other axial guide rod has both ends respectively installed on the second installation rods;

[0019] The end limiting plate is fixed to the axial guide rod, and the end limiting plate is arranged on the side of the screw installation frame away from the nut installation frame;

[0020] The flange gripper is fixedly connected to the end clamping plate and the axial guide rod, and the flange to be docked is clamped and fixed by the flange gripper.

[0021] In some embodiments, the installation frame further includes:

[0022] Coarse positioning structure, the coarse positioning structure includes a positioning hole opened on the ear plate on the side of the main frame body and a guide post provided on the jacket. When in the positioning state, the positioning hole is sleeved on the guide post;

[0023] Fine positioning structure, the fine positioning structure includes a guide post provided on the jacket and a guide sleeve provided on the main frame body. When in the positioning state, the guide post is inserted into the guide sleeve.

[0024] In some embodiments, the mounting frame further includes:

[0025] Lifting beam, a plurality of mounting holes are opened on the longitudinal beam, and the lifting beam can be selectively installed in the mounting holes on the longitudinal beam;

[0026] Adjusting plate, the adjusting plate is installed on the lifting beam, and a plurality of lifting holes are opened in the transverse direction on the adjusting plate so that the hook can be selectively hooked on the lifting holes.

[0027] In some embodiments, the transmission member includes:

[0028] Sleeve, one end of the sleeve is installed with a nut to be installed;

[0029] Poking rod, the poking rod is installed at the other end of the sleeve;

[0030] Poking disk, fixedly connected to the rotary power member, a strip-shaped hole is opened on the poking disk, and the poking rod passes through the strip-shaped hole.

[0031] In some embodiments, the screw installation assembly includes:

[0032] Moving frame, the moving frame is installed on the guiding and fixing assembly;

[0033] Screw installation frame, the screw installation frame is detachably installed on the moving frame through the fixing assembly, the screw to be installed is installed on the screw installation frame, and the screw installation frame has an avoidance space for the subsea pipeline to be repaired to pass through;

[0034] Fixing assembly, the screw installation frame is detachably installed on the moving frame through the fixing assembly.

[0035] In some embodiments, the fixing assembly includes a claw installed on the moving frame and a clamping post installed on the screw installation frame. The fixed end of the claw is rotatably installed on the moving frame, the moving end of the claw is hooked or separated from the clamping post, and the fixed end and the moving end of the claw are connected to an oil cylinder, and under the action of the oil cylinder, the fixed end of the claw rotates around the connecting shaft on the moving frame, so that the moving end of the claw is hooked or separated from the clamping post.

[0036] In some embodiments, the connector docking device further includes:

[0037] A stretcher is sleeved on the screw to be installed. The stretcher comprises a stretching cylinder and a stretching nut. The stretching nut is arranged at one end of the screw away from the nut to be installed. After the screw is tightened, the stretching nut is tightened by a stretching motor.

[0038] In some embodiments, the connector docking device further comprises:

[0039] A rear motor bracket, wherein the rear motor bracket is axially movably mounted on the guide fixing assembly, and the stretching motor is mounted on the rear motor bracket; the rear motor bracket includes a shift plate, a shift claw mounted on the shift plate, and a rod mounted on the tightening nut; the tightening motor drives the shift plate to rotate, and the shift claw on the shift plate shifts the rod mounted on the tightening nut to rotate the tightening nut to tighten the screw.

[0040] The connector docking device provided by the utility model comprises a mounting frame and a flange docking system, wherein the mounting frame comprises a main frame body and a vertical guide rod mounted on the main frame body; the flange docking system comprises a guide fixing assembly, a screw mounting assembly, a nut mounting assembly and a flange to be docked is fixed to the guide fixing assembly, the guide fixing assembly comprises an end limit plate, a flange clamp and a position adjustment assembly, and the flange to be docked is clamped and fixed to the flange clamp; wherein a screw is detachably mounted on the screw mounting assembly, and the screw mounting assembly moves along the guide fixing assembly toward or away from the flange under the drive of a first longitudinal power mechanism; the nut mounting assembly moves along the guide fixing assembly under the drive of a second longitudinal power mechanism. The part moves in the direction approaching or away from the flange; the nut mounting assembly includes a nut mounting frame, a transmission member rotatably mounted on the nut mounting frame, and a rotating power member transmission-connected to the transmission member, the nut to be installed is rotatably mounted on the nut mounting frame through the transmission member, and rotates under the drive of the rotating power member; the position adjustment assembly includes a first telescopic mechanism and a second telescopic mechanism, one end of the first telescopic mechanism is mounted on the main frame, and the other end is mounted on the first mounting position of the flange docking system, one end of the second telescopic mechanism is mounted on the main frame, and the other end is mounted on the second mounting position of the flange docking system; the first mounting position is set on the flange clamp, and the second mounting position is set on the end limit plate.

[0041] During the working process, the mounting frame drives the flange docking system and the connector into the water. After the mounting frame completes the positioning with the jacket, the flange to be docked is fixed by the guiding and fixing assembly. Then, the screw mounting assembly is driven to move along the guiding and fixing assembly towards the flange, and the screw carried on the screw mounting assembly is passed through the flange. The nut mounting assembly is driven to move towards the flange. After the nut is sleeved on the screw, the nut is tightened by the action of the rotating power member and the transmission member. Thus, the connector is sent into the water, and the installation of the flange screw and the tightening of the flange nut are realized, ensuring the automatic installation of the flange and improving the convenience of flange installation. Brief Description of the Drawings

[0042] By reading the following detailed description of the preferred embodiments, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present invention. Moreover, throughout the drawings, the same reference numerals are used to represent the same components. In the drawings:

[0043] Figure 1 FIG. 9 is one of the structural schematic diagrams of a specific embodiment of the connector docking device provided by the present invention;

[0044] Figure 2 FIG. 13 is the second structural schematic diagram of a specific embodiment of the connector docking device provided by the present invention;

[0045] Figure 3 FIG. 17 is the third structural schematic diagram of a specific embodiment of the connector docking device provided by the present invention;

[0046] Figure 4 FIG. 21 is one of the structural schematic diagrams of the mounting frame in the connector docking device provided by the present invention;

[0047] Figure 5 FIG. 25 is the second structural schematic diagram of the mounting frame in the connector docking device provided by the present invention;

[0048] Figure 6 FIG. 29 is the third structural schematic diagram of the mounting frame in the connector docking device provided by the present invention;

[0049] Figure 7 FIG. 33 is the fourth structural schematic diagram of the mounting frame in the connector docking device provided by the present invention;

[0050] Figure 8 FIG. 37 is the fifth structural schematic diagram of the mounting frame in the connector docking device provided by the present invention;

[0051] Figure 9 FIG. 41 is the flowchart of the control method provided by the present invention;

[0052] Figure 10 One of the structural schematic diagrams of a specific embodiment of the flange docking system in the connector docking device provided by the present utility model;

[0053] Figure 11 One of the structural schematic diagrams of a specific embodiment of the flange docking system in the connector docking device provided by the present utility model;

[0054] Figure 12 One of the structural schematic diagrams of a specific embodiment of the flange docking system in the connector docking device provided by the present utility model;

[0055] Figure 13 One of the structural schematic diagrams of a specific embodiment of the flange docking system in the connector docking device provided by the present utility model;

[0056] Figure 14 One of the structural schematic diagrams of a specific embodiment of the nut installation component in the flange docking system provided by the present utility model;

[0057] Figure 15 One of the structural schematic diagrams of a specific embodiment of the nut installation component in the flange docking system provided by the present utility model;

[0058] Figure 16 One of the structural schematic diagrams of a specific embodiment of the nut installation component in the flange docking system provided by the present utility model;

[0059] Figure 17 One of the structural schematic diagrams of a specific embodiment of the nut installation component in the flange docking system provided by the present utility model;

[0060] Figure 18 One of the structural schematic diagrams of a specific embodiment of the nut installation component in the flange docking system provided by the present utility model;

[0061] Figure 19 One of the structural schematic diagrams of a specific embodiment of the nut installation component in the flange docking system provided by the present utility model;

[0062] Figure 20 One of the structural schematic diagrams of a specific embodiment of the nut installation component in the flange docking system provided by the present utility model;

[0063] Figure 21 One of the structural schematic diagrams of a specific embodiment of the nut installation component in the flange docking system provided by the present utility model;

[0064] Figure 22One of the structural schematic diagrams of a specific embodiment of the screw installation component in the flange docking system provided by the present utility model;

[0065] Figure 23 Two of the structural schematic diagrams of a specific embodiment of the screw installation component in the flange docking system provided by the present utility model;

[0066] Figure 24 Three of the structural schematic diagrams of a specific embodiment of the screw installation component in the flange docking system provided by the present utility model;

[0067] Figure 25 Four of the structural schematic diagrams of a specific embodiment of the screw installation component in the flange docking system provided by the present utility model;

[0068] Figure 26 Five of the structural schematic diagrams of a specific embodiment of the screw installation component in the flange docking system provided by the present utility model;

[0069] Figure 27 Six of the structural schematic diagrams of a specific embodiment of the screw installation component in the flange docking system provided by the present utility model;

[0070] Figure 28 Seven of the structural schematic diagrams of a specific embodiment of the screw installation component in the flange docking system provided by the present utility model;

[0071] Figure 29 Eight of the structural schematic diagrams of a specific embodiment of the screw installation component in the flange docking system provided by the present utility model;

[0072] Figure 30 Nine of the structural schematic diagrams of a specific embodiment of the screw installation component in the flange docking system provided by the present utility model;

[0073] Figure 31 Ten of the structural schematic diagrams of a specific embodiment of the screw installation component in the flange docking system provided by the present utility model;

[0074] Figure 32 Partial enlarged view of the screw installation component in the flange docking system provided by the present invention;

[0075] Figure 33 Part drawing of the tensioner.

[0076] The reference signs are as follows:

[0077] 100 - screw, 200 - nut;

[0078] 10 - mounting bracket;

[0079] 11 - Main frame body, 12 - ROV handle, 13 - Metal block, 14 - First telescopic mechanism, 15 - Second telescopic mechanism;

[0080] 16 - First installation cross beam, 17 - Second installation cross beam, 18 - Longitudinal beam, 19 - First installation rod, 110 - Second installation rod;

[0081] 111 - Transverse installation plate, 112 - Ear plate, 113 - Positioning hole, 114 - Guide post, 115 - Lifting beam, 116 - Adjusting plate;

[0082] 21 - Axial guide rod, 211 - Collar;

[0083] 22 - End limiting plate;

[0084] 23 - Flange gripper, 231 - Gripper frame body, 232 - Flange accommodating space, 233 - Positioning block;

[0085] 30 - Nut installation assembly;

[0086] 31 - Nut installation frame, 311 - Frame body, 312 - First clamping arm, 32 - Rotary power component;

[0087] 33 - Second longitudinal power mechanism; 34 - Sleeve, 35 - Pusher rod, 36 - Dial, 38 - First pipeline accommodating space;

[0088] 39 - First mounting seat;

[0089] 40 - Screw installation assembly, 41 - First longitudinal power mechanism, 42 - Moving frame, 43 - Screw installation frame, 431 - Gantry part;

[0090] 432 - Second clamping arm, 44 - Tensioner, 45 - Rear motor bracket, 46 - Second mounting seat, 47 - Clamp, 48 - Connecting rod;

[0091] 49 - Guide structure, 410 - Claw, 411 - Clamping post, 412 - Second pipeline accommodating space, 413 - Tightening motor;

[0092] 414 - Paddle, 415 - Rod member, 416 - Tightening nut. Detailed implementation mode

[0093] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be fully conveyed to those skilled in the art.

[0094] It should be understood that the terms used herein are for the purpose of describing particular example embodiments only and are not intended to be limiting. Unless the context clearly dictates otherwise, the singular forms "a", "an", and "the" as used herein may also include the plural forms. The terms "comprising", "including", "containing", and "having" are inclusive and thus specify the presence of stated features, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. Method steps, processes, and operations described herein are not to be construed as necessarily requiring their performance in the particular order described or illustrated, unless explicitly indicated as the order of performance. It should also be understood that additional or alternative steps may be used.

[0095] Although the terms first, second, third, etc. may be used herein to describe multiple elements, components, regions, layers, and / or sections, these elements, components, regions, layers, and / or sections should not be limited by these terms. These terms may be used only to distinguish one element, component, region, layer, or section from another. Unless the context clearly dictates otherwise, terms such as "first", "second", and other numerical terms when used herein do not imply an order or sequence. Thus, a first element, component, region, layer, or section discussed below may be referred to as a second element, component, region, layer, or section without departing from the teachings of example embodiments.

[0096] For ease of description, spatial relative relation terms may be used herein to describe the relationship of one element or feature shown in the figures to another element or feature, such as "inside", "outside", "inner side", "outer side", "below", "beneath", "above", "over", etc. Such spatial relative relation terms are intended to include different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is flipped, an element described as "below" or "beneath" another element or feature will then be oriented "above" or "over" the other element or feature. Thus, the example term "below" can include both an orientation above and below.

[0097] Please refer to Figures 1 - 33 , the flange docking system provided by the present utility model is used for a connector docking device. The connector docking device includes a mounting rack 10 and a flange docking system. Both the flange docking system and the connector are mounted on the mounting rack 10 and are sent to a preset underwater position through the mounting rack 10. The positioning and position adjustment of the system are completed through the mounting rack 10, and the installation of the screw 100 and nut 200 of the flange is completed through this flange docking system.

[0098] Please refer to Figures 1 - 9 , the mounting bracket 10 provided by the present utility model is used for a connector docking device. The mounting bracket 10 includes a main frame body 11, a height indicating component, a position adjusting component, and a control unit. Among them, the main frame body 11 serves as the basic structure of the mounting bracket 10, providing support and stability. The main frame body 11 is composed of multiple profiles detachably connected to facilitate disassembly and assembly, and the components can be reused. The main frame body 11 is composed of multiple profiles, and the connection between these profiles adopts a detachable connection method. There may be various connection methods between the profiles, such as bolt connection, snap connection, or using special quick connectors. These connection methods ensure the stability and durability of the structure of the main frame body 11, and at the same time facilitate quick disassembly and assembly. Since the profiles can be disassembled, the main frame body 11 can be adjusted and reorganized according to different maintenance requirements, improving its adaptability in different environments and working conditions. At the same time, the detachable design also makes the main frame body 11 easier to transport and store, especially suitable for large-sized underwater maintenance operation equipment.

[0099] An ROV handle 12 for cooperating with an underwater robot is also provided on the main frame body 11. After the main frame body 11 enters the underwater area, the underwater robot grabs the ROV handle 12 through its robotic arm or gripper, and pulls or pushes the main frame body 11 to adjust the pose of the main frame body 11. The ROV handle 12 can be installed on the side or other positions of the main frame body 11 to ensure that its position is convenient for the underwater robot to operate, and at the same time does not affect the functions of other components.

[0100] An anti-corrosion metal block 13 can also be installed on the main frame body 11. Due to the large corrosiveness of the underwater environment, in order to extend the service life of the main frame body 11, a metal block 13 with higher activity than the material activity of the main frame body 11 can be installed on the main frame body 11. The active substances in seawater will react with the metal block 13 preferentially, avoiding the reaction between the active substances and the main frame body 11 to corrode the main frame body 11. Specifically, the connection form can usually be welding or bolt connection. Generally, a wire is connected between the metal block 13 and the device to ensure reliable electrical connection between the two. When the metal block 13 is corroded, the metal block 13 can be replaced in time to avoid corrosion of the main frame body 11.

[0101] The position adjustment component is installed between the main frame 11 and the flange docking system of the connector docking device, and adjusts the position and angle of the flange docking system so as to accurately dock with the subsea pipeline. The main function of the position adjustment component is to adjust the position and angle of the connector docking device. For example, linear movement can be achieved by driving a lead screw or a slide rail with a motor, and rotational adjustment can be achieved by using a rotary joint, so as to adapt to different docking requirements. Specifically, when the lead screw or slide rail is driven by a motor, the lead screw or slide rail can be installed on the main frame 11 and connected to the flange docking system of the connector docking device. The motor rotates the lead screw or drives the slide rail, causing the connector docking device to move along a preset path. The movement of the lead screw is a linear movement, while the slide rail can achieve linear or curvilinear movement, thereby adjusting the position and angle.

[0102] The control unit is used to generate a control instruction according to the current pose of the flange docking system, and the control instruction is used to control the position adjustment component to move according to a preset strategy. During the working process, the control unit first monitors the current pose of the flange docking system through sensors. These sensors can be position sensors, angle sensors or pose sensors, etc., for obtaining the accurate position and angle information of the docking mechanism in real time. After receiving the sensor data, the control unit calculates the pose deviation according to the required target pose and the current pose, and calculates the amount that the position adjustment component needs to adjust. According to the calculated adjustment amount, the control unit generates corresponding control instructions, which will indicate how the position adjustment component moves to achieve the position and angle adjustment of the docking mechanism. The control instructions are output through control signals and transmitted to the position adjustment component. The position adjustment component responds to these instructions and moves according to a preset strategy, thereby adjusting the position and angle of the flange docking system.

[0103] During the working process, the connector enters the water under the drive of the mounting frame 10. When approaching the subsea jacket, the image acquisition device carried by the underwater robot obtains the current pose of the flange docking system on the mounting frame 10 and transmits the image to the control unit. The control unit generates a control instruction according to the current pose of the flange docking system, and the control instruction is used to control the position adjustment component to move according to a preset strategy, so as to adjust the docking position and angle to accurately dock with the subsea pipeline and the jacket. When the angle and position are adjusted, the mounting frame 10 continues to descend and is fixedly connected to the jacket. The height indicating component installed on the main frame 11 is used to observe the height position between the device and the subsea pipeline, so that the device can be installed at an appropriate height position. In this way, by setting the position adjustment component and the control unit for controlling its movement, the connector can be adjusted to enter the water at an appropriate angle and direction, thereby ensuring that the position of the connector matches that of the jacket, reducing the positioning difficulty between the connector and the jacket, and improving the installation convenience and installation efficiency of the connector.

[0104] When obtaining the current pose, the extended length of the piston rod can also be obtained in real time by the displacement sensor in the oil cylinder. By comparing with the reference value, the attitude and position data of the current flange docking mechanism can be obtained. For example, during the factory calibration of the equipment, the fully retracted position of the oil cylinder is set as the "reference". When the three oil cylinders are fully retracted, the plane formed by the three positions where the flange docking mechanism (hereinafter referred to as the "mechanism") is connected to the oil cylinders is the reference plane. Once the piston rod of any oil cylinder extends, the plane determined by these three points will change. In one case, when the three oil cylinders extend the same length h at the same time, it means that the plane determined by these three points is translated downward by h relative to the original reference. In the second case, when the extended length of oil cylinder 15 is greater than or less than the extended lengths of the two oil cylinders 14, the "mechanism" will tilt forward or backward. When the extended lengths of the left and right oil cylinders 14 are different, the "mechanism" will tilt left or right. These deflection values can be obtained by the sensors built in the oil cylinders and the degree of offset or tilt relative to the "reference" can be displayed. In this way, the preset position of the "mechanism" can be achieved by controlling the extension of the oil cylinders in automatic control.

[0105] In some embodiments, the position adjustment assembly includes a first telescopic mechanism 14 and a second telescopic mechanism 15. Wherein, one end of the first telescopic mechanism 14 is installed on the main frame 11, and the other end is installed at the first installation position of the flange docking system. The first telescopic mechanism 14 extends or retracts under the control of the control instruction. One end of the second telescopic mechanism 15 is installed on the main frame 11, and the other end is installed at the second installation position of the flange docking system. The second telescopic mechanism 15 extends or retracts under the control of the control instruction. The first installation position and the second installation position have a preset longitudinal distance. It should be understood that in this embodiment, the longitudinal distance refers to the direction extending along the axial direction of the submarine pipeline, and the transverse direction refers to the direction extending along the radial direction of the submarine pipeline.

[0106] Specifically, the position adjustment assembly is used to implement the position adjustment of the flange docking system. The flange docking system is installed on the main frame 11. One end of the first and second telescopic mechanisms 15 is fixed on the main frame 11, and the other ends are respectively installed at the first and second installation positions of the flange docking system. During operation, a sensor (which can be a sensor carried by an underwater robot) is used to measure the current pose of the flange docking system, including position and orientation. According to the preset target pose and the current pose, the pose deviation is calculated. Based on the pose deviation, the control unit generates control instructions, and these instructions will guide the telescopic mechanism to perform corresponding elongation or shortening actions. During the operation of the telescopic mechanism, the pose of the flange docking system is continuously monitored and feedback is provided to the control unit. According to the feedback information, the control unit may need to adjust the control instructions to ensure that the flange docking system reaches the required relatively accurate pose until the pose deviation of the flange docking system is within an acceptable range, and then the telescopic mechanism stops operating. It is necessary to lock the position of the telescopic mechanism to ensure the stability of the flange docking system during operation.

[0107] Further, in order to achieve pose adjustment in the lateral plane, both the first telescopic mechanism 14 and the first installation position are two. The two first telescopic mechanisms 14 are respectively connected to the first installation position in a one-to-one correspondence, and the two first installation positions have a preset lateral distance.

[0108] Specifically, the first telescopic mechanism 14 and the second telescopic mechanism 15 can both be oil cylinders. That is to say, the position adjustment mechanism is three groups of oil cylinders. The oil cylinders are arranged between the main frame 11 and the flange docking structure. Through the coordinated actions of the three oil cylinders, the adjustment of the pitch angle, tilt angle, and position during the connector's entry into the water is completed, so that after the connector enters the water, it can have a relatively appropriate docking position with the guide frame and the submarine pipeline, improving the accuracy of the docking position and reducing the positioning difficulty during docking.

[0109] To improve the stability of the oil cylinders, the position adjustment assembly further includes a first installation crossbeam 16 and a second installation crossbeam 17. The first telescopic mechanism 14 is installed on the main frame 11 through the first installation crossbeam 16, and the second telescopic mechanism 15 is installed on the main frame 11 through the second installation crossbeam 17. Specifically, two longitudinal beams 18 are installed on the main frame 11. A plurality of installation holes are provided along the longitudinal direction of the longitudinal beams 18. The first installation crossbeam 16 and the second installation crossbeam 17 are movably installed longitudinally on the main frame 11. One end of the first telescopic mechanism 14 is installed on the first installation crossbeam 16, and one end of the second telescopic mechanism 15 is installed on the second installation crossbeam 17. That is to say, according to the specifications of the connector, the first installation crossbeam 16 and the second installation crossbeam 17 can select installation holes at appropriate positions to be fixedly connected to the longitudinal beams 18, thereby adjusting the installation positions of the first installation crossbeam 16 and the second installation crossbeam 17 on the longitudinal beams 18.

[0110] In some embodiments, the height indicating assembly includes a first mounting rod 19, a second mounting rod 110 and an adjusting structure. The first mounting rod 19 is mounted on the first side of the flange docking system, and the second mounting rod 110 is mounted on the second side of the flange docking system. The distance between the first mounting rod 19 and the second mounting rod 110 is adjusted by the adjusting structure; the first side and the second side are respectively located on the radial two sides of the flange docking system. The adjusting structure includes two transverse mounting plates 111. A plurality of mounting holes are formed in the transverse mounting plates 111. The first mounting rod 19 and the second mounting rod 110 are mounted on the transverse mounting plates 111 by selecting appropriate mounting holes.

[0111] The first mounting rod 19 and the second mounting rod 110 are used to display the position height of the flange docking mechanism relative to the frame. For easy observation, scale values are provided on both the first mounting rod 19 and the second mounting rod 110.

[0112] To improve the positioning performance between the equipment and the jacket, the mounting frame 10 further includes a positioning assembly. The positioning assembly is mounted on the main frame body 11, and the main frame body 11 is positioned and connected to the jacket through the positioning assembly. Specifically, the positioning assembly includes a rough positioning structure and a fine positioning structure. The rough positioning structure includes a positioning hole 113 formed in an ear plate 112 on the side of the main frame body 11 and a guide post 114 provided on the jacket. After reaching the designated underwater position, the positioning hole 113 is sleeved on the guide post 114 to achieve preliminary positioning; the fine positioning structure includes a guide post 114 provided on the jacket and a guide sleeve provided on the main frame body 11. After reaching the installation position, the guide post 114 is inserted into the guide sleeve to achieve further positioning. To realize the guiding when the guide post 114 is inserted, the guide post 114 is of a frustum structure.

[0113] Furthermore, to cooperate with the lifting mechanism, the mounting frame 10 further includes a lifting mechanism. The lifting mechanism is movably and fixedly connected to the main frame body 11 in the transverse and / or longitudinal directions; the lifting mechanism is mounted on the top of the main frame body 11, and the lifting mechanism is adjustable in the horizontal direction (including transverse and longitudinal) to change the lifting position and adapt to the seabed inclination angle, further improving the matching with the position of the jacket. Specifically, the lifting mechanism includes a lifting beam 115 and an adjusting plate 116 mounted on the lifting beam 115. A plurality of lifting holes are formed in the adjusting plate 116 in the transverse direction, so that the lifting hook can be selectively hooked on the lifting holes to achieve the transverse adjustability of the lifting position; at the same time, the lifting beam 115 can be selectively mounted on the mounting holes of the longitudinal beam 18 to achieve the longitudinal adjustability of the lifting position.

[0114] In addition to the above mounting bracket 10, the present utility model further provides a connector docking device including the mounting bracket 10. For the structures of other parts of the connector docking device, reference can be made to the prior art and will not be elaborated herein.

[0115] Furthermore, the present utility model further provides a position adjustment method based on the above-mentioned mounting bracket 10. As Figure 9 shown, the method includes the following steps:

[0116] S110: Obtain the current image of the connector docking device in real time; for example, the current image of the connector docking device can be obtained in real time by using a camera or other sensors carried on an underwater robot;

[0117] S120: Extract the current pose of the flange docking system in the current image, including the current position and angle information;

[0118] S130: Generate a control instruction according to the relationship between the current pose and the preset target pose. The control instruction is used to control the position adjustment component to move according to a preset strategy until the current pose coincides with the target pose; that is, calculate the deviation between the current pose and the target pose, and generate a control instruction according to the deviation situation;

[0119] Among them, the preset strategy includes:

[0120] When the first distance between the current position and the target position of the first mounting position is greater than the second distance between the current position and the target position of the second mounting position, the control instruction controls the first telescopic mechanism 14 to shorten a preset length and / or controls the second telescopic mechanism 15 to extend a preset length, and the sum of the length values by which the first telescopic mechanism 14 shortens and the length values by which the second telescopic mechanism 15 extends is equal to the difference between the first distance and the second distance;

[0121] When the first distance is less than the second distance, the control instruction controls the first telescopic mechanism 14 to extend a preset length and / or controls the second telescopic mechanism 15 to shorten a preset length, and the sum of the length values by which the first telescopic mechanism 14 extends and the length values by which the second telescopic mechanism 15 shortens is equal to the difference between the first distance and the second distance;

[0122] Taking the jacket as a reference plane, when the first mounting position on one side is lower than the first mounting position on the other side, the control instruction controls the first telescopic mechanism 14 at the lower position to extend, and / or controls the first telescopic mechanism 14 at the higher position to shorten.

[0123] That is to say, the preset strategy can be based on comparing the distances between the current positions and the target positions of the first installation position and the second installation position. When the first distance between the current position of the first installation position and the target position is greater than the second distance between the current position of the second installation position and the target position, the strategy begins to take effect. According to the result of the distance comparison, the first telescopic mechanism 14 and the second telescopic mechanism 15 are controlled to make corresponding adjustments. If the first installation position is farther away, the first telescopic mechanism 14 will shorten by a preset length; while if the second installation position is farther away, the second telescopic mechanism 15 will extend by a preset length. During the adjustment process, the sum of the length values shortened by the first telescopic mechanism 14 and the length values extended by the second telescopic mechanism 15 should be equal to the difference between the distance between the first installation position and the target position and the distance between the second installation position and the target position, ultimately achieving the purpose of precise docking.

[0124] Furthermore, the jacket is used as a reference plane to determine the height position of the first installation position. When one side of the first installation position is lower than the other side, the lower and higher first installation positions are identified. According to the height position, the first telescopic mechanism 14 at the lower position is controlled to extend to increase its height; at the same time, the first telescopic mechanism 14 at the higher position is controlled to shorten to decrease its height. Through this adjustment, the balance of the height position is achieved, ensuring the accuracy of the docking position between the mounting frame 10 and the jacket.

[0125] In a specific embodiment, the flange docking system provided by the present invention is used for a connector docking device, and the connector docking device includes a mounting frame 10, as Figures 10 - 13As shown, the flange docking system includes a guiding and fixing component, a screw mounting component 40, and a nut mounting component 30. Among them, two flange plates of the flanges to be docked are respectively arranged at the cut position of the subsea pipeline to be repaired and the end of the connector. When installing the connector and the subsea pipeline, the two flange plates need to be fixed by screws 100 and nuts 200. After the mounting frame 10 carries the flange docking system and the connector to the specified underwater position, the flanges to be docked are fixed on the guiding and fixing component, and the two flange plates are centered and arranged opposite to each other under the position adjustment of the mounting frame 10. The screw mounting component 40 is detachably mounted with the screw 100 to be installed. Driven by the first longitudinal power mechanism, the screw mounting component 40 moves along the guiding and fixing component in the direction close to or away from the flange. After reaching the installation position, the screw 100 passes through the mounting hole on the flange plate. Driven by the second longitudinal power mechanism 33, the nut mounting component 30 moves along the guiding and fixing component in the direction close to or away from the flange. After reaching the installation position, the nut 200 is sleeved on the outer periphery of the screw 100. The nut mounting component 30 includes a nut mounting frame 31, a transmission member rotatably mounted on the nut mounting frame 31, and a rotational power member 32 drivingly connected to the transmission member. The nut 200 to be installed is rotatably mounted on the nut mounting frame 31 through the transmission member and rotates self-driven by the rotational power member 32, so as to screw the nut 200 onto the screw 100 to complete the flange installation.

[0126] It should be understood that generally multiple mounting holes are formed in the circumferential direction of the flange plate. Correspondingly, there are also multiple combinations of the screw 100 and the nut 200. Each screw 100 correspondingly passes through a mounting hole and is correspondingly tightened and fixed by a nut 200.

[0127] The guiding and fixing component includes two axial guide rods 21. The two axial guide rods 21 are spaced apart in the width direction, and structures such as the screw mounting component 40, the nut mounting component 30, the flange, and the connector are all arranged between the two axial guide rods 21. The two ends of the axial guide rod 21 are respectively mounted on the vertical guide rods of the mounting frame. In this embodiment, the axial direction refers to the axial extension direction of the connector or the direction parallel to the axial direction of the connector. Four vertical guide rods are arranged on the mounting frame, and there are scale lines on the vertical guide rods. A collar 211 is arranged at the end of the axial guide rod 21, and the collar 211 is sleeved on the vertical guide rod to facilitate installation and obtain the installation height by using the scale lines.

[0128] During the working process, the mounting bracket drives the flange docking system and the connector into the water. After the mounting bracket completes the positioning with the jacket, the flange to be docked is fixed by the guiding and fixing assembly. Then, the screw mounting assembly 40 is driven to move along the guiding and fixing assembly in the direction close to the flange, and the screw 100 carried on the screw mounting assembly 40 is passed through the flange. The nut mounting assembly 30 is driven to move in the direction close to the flange. After the nut 200 is sleeved on the screw 100, the nut 200 is tightened by the action of the rotary power member 32 and the transmission member. Thus, the installation of the flange screw 100 and the tightening of the flange nut 200 are realized, ensuring the automatic installation of the flange and improving the convenience of flange installation.

[0129] In some embodiments, the guiding and fixing assembly further includes an end limiting plate 22. The end limiting plate 22 is fixed to the axial guide rod 21, and the end limiting plate 22 is disposed on the side of the screw mounting bracket 43 away from the nut mounting bracket 31. The end limiting plate 22 and the gripper frame 231 are rigidly connected together by a connecting rod 48. The end limiting plate 22 and the gripper frame 231 are connected to the three oil cylinders of the mounting frame to determine the positions of the two axial guide rods 21. The positioning of the screw mounting assembly 40 and the axial guide rod 21 bracket is determined by the holes opened on the axial guide rod 21 and the holes opened on the first longitudinal power mechanism 41. The holes opened on the hollow cylindrical piston rod are aligned with the holes opened on the axial guide rod 21 and screws are screwed in to realize the positioning of the piston rod and the axial guide rod 21. Once positioned, the two will not move relative to each other. A cylinder barrel is sleeved outside the piston rod, and the cylinder barrel moves on the piston rod. The stroke of the oil cylinder determines the moving range of the entire moving frame 42.

[0130] To improve the positioning reliability of the flange, the guiding and fixing assembly further includes a flange gripper 23. The flange gripper 23 is fixedly connected to the end clamping plate and the axial guide rod 21, and the flange to be docked is clamped and fixed by the flange gripper 23. The flange gripper 23 is fixedly connected to the end clamping plate and the axial guide rod 21, which is used to clamp and fix the flange to be docked, improving the positioning reliability of the flange and ensuring the accurate position of the flange during the docking process. The flange gripper 23 plays a key role in the guiding and fixing assembly, contributing to improving the stability and accuracy of the entire flange docking system. Among them, the flange gripper 23 is fixedly connected to the end limiting plate 22 by a connecting rod 48.

[0131] Specifically, the flange clamp 23 includes a clamp frame 231, a positioning block 233 and a positioning power member; wherein the clamp frame has a flange accommodating space 232 for accommodating the flange; the clamp frame is a door-type structure, and a through hole is provided at the bottom of the clamp frame, and the axial guide rod 21 passes through the through hole to install the clamp frame on the axial guide rod 21. The clamp frame is a double-layer plate structure to increase the structural strength, and a reinforcing column is provided between the two layers of plates, and the two layers of plates are detachably connected by bolts. The positioning blocks 233 are in two groups, and the two positioning blocks 233 are respectively arranged on the inner side walls opposite to the flange accommodating space 232; the positioning blocks 233 are specifically an annular frame structure, and the inner side walls of the annular frame abut against the positioning pins on the flange to achieve clamping and fixing; the positioning power member drives the two positioning blocks 233 to move in the direction of approaching or moving away from each other, and when the two positioning blocks 233 are in a state of approaching each other, they are clamped and fixed with the positioning pins on the outer periphery of the flange; the positioning power member can be an oil cylinder, one end of the oil cylinder is installed on the positioning block 233, and the other end is installed on the clamp frame. When the docking system reaches the specified position, the oil cylinder as the positioning power member pushes the annular frame structure to extend, so as to abut and fix with the positioning pins on the flange through the inner side wall of the annular frame structure. Theoretically, the positioning power member can also be in the form of a cylinder, an electric telescopic cylinder, etc.

[0132] In some embodiments, Figures 14 - 21 As shown, the nut mounting frame 31 includes a frame body 311 and a first clamping arm 312; wherein, the frame body 311 includes a gate-type portion 431 and a connecting arm, the connecting arm is transmission-connected to the guide fixing assembly through a second longitudinal driving mechanism, and a plurality of nuts 200 to be installed are arranged at intervals in the gate-type portion 431; the first clamping arm 312 is swingably mounted on the frame body 311, and there are two first clamping arms 312, and the two first clamping arms 312 and the gate-type portion 431 enclose a first pipeline accommodating space 38, and the two first clamping arms 312 open and close under the action of the clamping power member to allow the sea pipe to be repaired to enter and exit the first pipeline accommodating space 38; that is, when the two first clamping arms 312 are opened, the sea pipe can enter the first pipeline accommodating space 38, and after the sea pipe enters, the two first clamping arms 312 rotate in the opposite direction to close. Specifically, one end of the first clamping arm 312 is connected to the pin shaft of the frame body 311, so that the first clamping arm 312 can rotate around the pin shaft relative to the frame body 311 under the drive of the cylinder. There is also a nut 200 on the first clamping arm 312. The nuts 200 on the first clamping arm 312 and the door-type part 431 constitute all the nuts 200 required for flange installation.

[0133] The rotary power member 32 of the nut installation assembly 30 is a motor, and each nut 200 corresponds to a motor and a set of transmission components. During the tightening process of the nut 200, all the rotary power members 32 move synchronously so that each nut 200 is tightened synchronously. By configuring a motor and transmission components for each nut 200 respectively, the structural complexity of the transmission system can be reduced, which is convenient for equipment layout. Theoretically speaking, it is also possible for multiple or all nuts 200 to share the same motor. In this case, a gear transmission group needs to be used to make all nuts 200 move synchronously.

[0134] The second longitudinal power mechanism of the nut installation assembly 30 is an oil cylinder. The piston rod of the oil cylinder is connected to the axial guide rod 21, and the cylinder barrel is sleeved on the outer periphery of the piston rod. The nut installation assembly 30 is fixed to the cylinder barrel through the first mounting seat 39 provided on the connecting arm. In this way, the oil cylinder adopts a structure form in which the piston rod penetrates through the cylinder barrel to reduce the risk of the piston rod bending when the extension length is relatively large.

[0135] In some embodiments, such as Figures 22 - 33 shown, a second mounting seat 46 is connected to the frame 311 of the screw installation assembly 40. A clamp 47 is provided at the bottom of the second mounting seat 46. The cylinder barrel of the second longitudinal power mechanism is held tightly by the clamp 47 to realize the fixed connection between the cylinder barrel and the screw installation assembly 40, thereby improving the installation reliability and convenience between the screw installation assembly 40 and the axial guide rod 21.

[0136] The transmission components of the screw installation assembly 40 include a sleeve 34, a dial rod 35 and a dial 36. One end of the sleeve 34 is installed with the nut 200 to be installed, and the dial rod 35 is installed at the other end of the sleeve 34. The dial rod 35 is fixedly connected to the rotary power member 32. A strip-shaped hole is provided on the dial 36, and the dial rod 35 passes through the strip-shaped hole. After the rotary power member 32 is started, it drives the dial rod 35 to rotate, thereby driving the dial 36 to rotate, and then driving the sleeve 34 and the nut 200 on the sleeve 34 to rotate, so as to realize tightening. The form of the strip-shaped hole can avoid the impact during startup and play a buffering role. The above-mentioned frame 311 can be a double-layer structure, and a connecting plate is installed between the two layers of plates. The dial 36 is located between the two layers of plates.

[0137] Specifically, the first longitudinal power mechanism is an oil cylinder. This oil cylinder adopts a structure form in which the piston rod penetrates through the cylinder barrel to reduce the risk of the piston rod bending when the extension length is relatively large. The piston rod of the oil cylinder is connected to the axial guide rod 21, and the cylinder barrel is sleeved on the outer periphery of the piston rod. The piston rod penetrates through the cylinder barrel. The frame 311 of the screw installation assembly 40 is connected to the second mounting seat 46. A clamp 47 is provided at the bottom of the second mounting seat 46. The clamp 47 holds the cylinder barrel tightly to realize the fixed connection between the cylinder barrel and the screw installation assembly 40. The cylinder barrel moves along the piston rod, driving the entire screw installation assembly 40 to move.

[0138] Theoretically speaking, the first longitudinal power mechanism 41 generally refers to the component that provides longitudinal thrust in the flange docking system. This component can be various mechanical devices, such as hydraulic cylinders, electric push rods, pneumatic actuators, or manual operating devices. Its main function is to generate sufficient force to ensure the tight docking between flanges and be able to separate them when needed. In addition to the above structural forms, the first longitudinal power mechanism 41 can also be an electric push rod, which generates thrust through mechanical transmission methods such as lead screws, gears, or belts; it can also be a pneumatic actuator, which uses compressed air as the power source and generates thrust through cylinders or air motors.

[0139] In some embodiments, the screw mounting assembly 40 includes a moving frame 42 and a screw mounting bracket 43. Among them, the moving frame 42 is mounted on the guiding and fixing assembly. Specifically, mounting angle plates are provided at the bottom of the moving frame 42, and the moving frame 42 is mounted on the axial guide rod 21 through the mounting angle plates; the screw mounting bracket 43 is detachably mounted on the moving frame 42 through a fixing assembly, and the screw 100 to be installed is mounted on the screw mounting bracket 43. The screw mounting bracket 43 has an avoidance space for the subsea pipeline to be repaired to pass through.

[0140] The screw mounting bracket 43 includes a portal part 431 and a second clamping arm 432. The portal part 431 is detachably mounted on the moving frame 42 through a fixing assembly, and multiple screws 100 to be installed are arranged at intervals on the portal part 431; the second clamping arm 432 is swingably mounted on the portal part 431. There are two second clamping arms 432, and the two second clamping arms 432 and the portal part 431 enclose a second pipeline accommodating space 412. The two second clamping arms 432 open and close under the action of a clamping power member to enable the subsea pipeline to be repaired to enter and exit the second pipeline accommodating space 412. Specifically, one end of the second clamping arm 432 is pin-connected to the portal part 431, and the second clamping arm 432 is clamped under the drive of the pin rod of the movable jaw of the rear motor bracket 45. The movable jaw of the rear motor bracket 45 acts under the drive of an oil cylinder and drives the 432 through the pin rod; among them, screws 100 are also provided on the second clamping arm 432, and the number and position of the screws 100 are matched with the nuts 200.

[0141] After the connector is fixed to the subsea pipeline, the screw 100 and the screw mounting bracket 43 for mounting the screw 100 need to remain underwater. In order to reduce the consumption of consumables and save costs, so that the moving frame 42 can be separated from the screw mounting bracket 43 and reused, the screw mounting bracket 43 and the moving frame 42 are of a detachable connection structure, and this detachable connection is realized through a fixing assembly. The fixing assembly can be a buckle or a bolt, etc. In order to reduce the operation difficulty.

[0142] Preferably, the fixing assembly includes a guiding structure 49. There are three groups of the guiding structure 49, which are respectively arranged on both sides and the end where the moving frame 42 is connected to the screw mounting frame 43. Each group of the guiding structure 49 includes two guiding plates, and a guiding groove is formed between the two guiding plates. During the installation process, the screw mounting frame 43 is inserted into the guiding grooves on both sides and is snap-fitted and fixed in the guiding groove at the end after being installed in place, so as to realize guiding and positioning during the installation process.

[0143] The fixing assembly further includes a claw 410 installed on the moving frame 42 and a clamping post 411 installed on the screw mounting frame 43. The fixed end of the claw 410 is rotatably installed on the moving frame 42. The moving end of the claw 410 is hooked or separated from the clamping post 411. An oil cylinder is connected between the fixed end and the moving end of the claw 410. Under the action of the oil cylinder, the fixed end of the claw 410 rotates around the connecting shaft on the moving frame 42, so that the moving end of the claw 410 is hooked or separated from the clamping post 411. After the screw mounting frame 43 is inserted into the guiding groove on the moving frame 42 and positioned, the hydraulic cylinder drives the claw 410 to rotate and hook with the clamping post 411 on the screw mounting frame 43 to realize installation, and reverse rotation to realize unhooking can achieve separation. There are fixing mechanisms on both sides of the plate body of the moving frame 42, and they move synchronously under the action of the oil cylinder.

[0144] In some embodiments, the flange docking system provided by the present invention further includes a stretcher 44. The stretcher 44 is sleeved on the screw 100 to be installed. The stretcher 44 includes a stretching cylinder barrel and a stretching nut 416. The stretching nut 416 and the nut 200 are respectively sleeved on both ends of the screw 100. The nut 200 is fixed and immovable after being tightened. After the screw 100 is tightened, the stretching nut 416 is tightened by a stretching motor. Specifically, one stretcher 44 is sleeved on each screw 100. The stretcher 44 can be regarded as a small oil cylinder. When oil is introduced, the stretching piston rod moves relative to the stretching cylinder barrel, so that the tightening nut 416 is tightened, and then the screw 100 is pushed to be tightened in the direction of the nut 200. Usually, through repeated actions of tightening and stretching, the tightening of the tightening nut 416 on the screw 100 is realized.

[0145] In some embodiments, the flange docking system provided by the utility model further includes a rear motor bracket 45, which is axially movably mounted on the guide fixing assembly, and the tensioning motor is mounted on the rear motor bracket 45. Since during operation, when the tensioner 44 tightens the screw rod 100, the tightening nut 416 will be displaced along the screw rod 100, in order to ensure the axial movement of the tensioner, the tightening motor 413 is installed through the rear motor bracket 45, and the tightening motor 413 drives the dial plate 414 to rotate, and the dial claw on the dial plate 414 drives the rod 415 installed on the tightening nut 416, so that the tightening nut 416 rotates to tighten the screw rod 100. The rear motor bracket 45 is movable relative to the axial guide rod 21 and can move with the tensioner.

[0146] Specifically, the first longitudinal power mechanism is an oil cylinder, which adopts a structural form in which a cylinder rod passes through a cylinder barrel to reduce the risk of bending of the cylinder rod caused by a large extension length. The cylinder rod of the oil cylinder is connected to the axial guide rod 21, and the cylinder barrel is sleeved on the outer periphery of the cylinder rod, and the cylinder rod passes through the cylinder barrel. The frame 311 of the screw mounting assembly 40 is connected to the first mounting seat 39. A clamp 47 is provided at the bottom of the first mounting seat 39. The clamp 47 clamps the cylinder barrel to achieve a fixed connection between the cylinder barrel and the screw mounting assembly 40. The cylinder barrel moves along the cylinder rod, driving the entire screw mounting assembly 40 to move.

[0147] The first longitudinal power mechanism 41 of the screw mounting assembly 40 provides longitudinal thrust for the screw mounting frame 43 , and similar to the second longitudinal power mechanism 33 , it may be a hydraulic cylinder, an electric push rod, a pneumatic actuator, or the like.

[0148] In addition to the above-mentioned flange docking system, the present invention also provides a connector docking device including the flange docking system. For the structure of other parts of the connector docking device, please refer to the prior art and will not be described in detail here.

[0149] In the above-mentioned specific embodiment, the flange docking system provided by the utility model is used for a connector docking device, and the connector docking device includes a mounting frame, and the flange docking system includes a guide fixing assembly, a screw mounting assembly 40 and a nut mounting assembly 30; wherein, the flange to be docked is fixed to the guide fixing assembly, and the screw mounting assembly 40 moves along the guide fixing assembly toward or away from the flange under the drive of the first longitudinal power mechanism; the nut mounting assembly 30 moves along the guide fixing assembly toward or away from the flange under the drive of the second longitudinal power mechanism 33; the nut mounting assembly 30 includes a nut mounting frame 31, a transmission member rotatably mounted on the nut mounting frame 31, and a rotating power member 32 transmission-connected to the transmission member, and the nut 200 to be installed is rotatably mounted on the nut mounting frame 31 through the transmission member, and rotates under the drive of the rotating power member 32.

[0150] During the working process, the mounting bracket drives the flange docking system and the connector into the water. After the mounting bracket completes the positioning with the jacket, the flange to be docked is fixed by the guiding and fixing assembly. Then, the screw mounting assembly 40 is driven to move along the guiding and fixing assembly towards the flange, and the screw 100 carried on the screw mounting assembly 40 is passed through the flange. The nut mounting assembly 30 is driven to move towards the flange. After the nut 200 is sleeved on the screw 100, the nut 200 is tightened by the action of the rotary power member 32 and the transmission member. Thus, the installation of the flange screw 100 and the tightening of the flange nut 200 are realized, ensuring the automatic installation of the flange and improving the convenience of flange installation.

[0151] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed by the present invention should be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A connector docking device, characterized in that: The connector docking device comprises: A mounting frame, the mounting frame comprising a main frame body and a vertical guide rod mounted on the main frame body; Flange docking system, the flange docking system comprising: A guide fixing assembly, to which the flange to be butted is fixed, the guide fixing assembly comprising an end stop plate and a flange clamp, to which the flange to be butted is clamped and fixed; A screw mounting assembly, on which a screw is detachably mounted, and driven by a first longitudinal power mechanism, the screw mounting assembly moves along the guide fixing assembly toward or away from the flange; A nut installation assembly, wherein the nut installation assembly moves along the guide fixing assembly toward or away from the flange under the drive of the second longitudinal power mechanism; the nut installation assembly comprises a nut installation frame, a transmission member rotatably mounted on the nut installation frame, and a rotating power member drivingly connected to the transmission member, and the nut to be installed is rotatably mounted on the nut installation frame through the transmission member and rotates under the drive of the rotating power member; A position adjustment component, the position adjustment component comprising: A first telescopic mechanism, one end of which is mounted on the main frame, and the other end of which is mounted on a first mounting position of the flange docking system; A second telescopic mechanism, one end of the second telescopic mechanism is installed on the main frame, and the other end is installed on the second installation position of the flange docking system; the first installation position is set on the flange clamp, and the second installation position is set on the end limit plate.

2. The connector docking device according to claim 1, characterized in that: There are two of the first telescopic mechanisms and the first mounting positions, the two first telescopic mechanisms are respectively connected to the first mounting positions in a one-to-one correspondence, and the two first mounting positions have a preset lateral distance; The two first mounting positions are respectively arranged on both sides of the flange clamp, and the second mounting position is arranged on the end limit plate.

3. The connector docking device according to claim 1, characterized in that: The guide fixing assembly also includes: Axial guide rods, both ends of which are respectively mounted on the vertical guide rods of the mounting frame, and there are two groups of axial guide rods, the vertical guide rods comprising two first mounting rods and two second mounting rods, both ends of one of the axial guide rods are respectively mounted on the first mounting rods, and both ends of the other of the axial guide rods are respectively mounted on the second mounting rods; The end stop plate is fixed to the axial guide rod, and the end stop plate is arranged on a side of the screw rod mounting assembly away from the nut mounting frame; The flange clamp is fixedly connected to the end clamping plate and the axial guide rod, and the flange to be butted is clamped and fixed to the flange clamp.

4. The connector docking device according to claim 1, characterized in that: The mounting frame also includes: A rough positioning structure, the rough positioning structure includes a positioning hole opened on the ear plate on the side of the main frame body and a guide column arranged on the catheter frame, and when in a positioning state, the positioning hole is sleeved on the guide column; The precise positioning structure comprises a guide column arranged on the catheter frame and a guide sleeve arranged on the main frame body. When in the positioning state, the guide column is inserted into the guide sleeve.

5. The connector docking device according to claim 1, characterized in that: The mounting frame also includes: A lifting beam, wherein a plurality of mounting holes are provided on the longitudinal beam, and the lifting beam can be selectively mounted in the mounting holes on the longitudinal beam; The adjusting plate is installed on the lifting beam, and a plurality of lifting holes are opened transversely along the upper edge of the adjusting plate so that the lifting hook can be selectively hooked on the lifting holes.

6. The connector docking device according to claim 1, characterized in that: The transmission member comprises: A sleeve, one end of which is provided with a nut to be installed; A lever, the lever being mounted on the other end of the sleeve; The dial is fixedly connected to the rotating power member, and a strip hole is provided on the dial, through which the shifting rod passes.

7. The connector docking device according to claim 6, characterized in that: The screw mount kit includes: A movable frame, the movable frame being mounted on the guide fixing assembly; A screw mounting frame, wherein the screw mounting frame is detachably mounted on the mobile frame through a fixing assembly, the screw to be installed is mounted on the screw mounting frame, and the screw mounting frame has an escape space for the sea pipe to be repaired to pass through; A fixing assembly, through which the screw mounting frame is detachably mounted on the moving frame.

8. The connector docking device according to claim 7, characterized in that: The fixing assembly includes a clamping claw installed on a movable frame and a clamping column installed on a screw mounting frame. The fixed end of the clamping claw is rotatably installed on the movable frame, and the movable end of the clamping claw is hooked or separated from the clamping column. The fixed end and the movable end of the clamping claw are connected with an oil cylinder, and under the action of the oil cylinder, the fixed end of the clamping claw rotates around the connecting shaft on the movable frame, so that the movable end of the clamping claw is hooked or separated from the clamping column.

9. The connector docking device according to claim 1, characterized in that: Also includes: A stretcher is sleeved on the screw to be installed. The stretcher comprises a stretching cylinder and a stretching nut. The stretching nut is arranged at one end of the screw away from the nut to be installed. After the screw is tightened, the stretching nut is tightened by a stretching motor.

10. The connector docking device according to claim 9, characterized in that: Also includes: A rear motor bracket, the rear motor bracket is axially movably mounted on the guide fixing assembly, and the stretching motor is mounted on the rear motor bracket; The rear motor bracket includes a shift plate, a shift claw installed on the shift plate, and a rod installed on the tension nut; The tensioning motor drives the shifting plate to rotate, and the shifting claw on the shifting plate shifts the rod installed on the tensioning nut to rotate the tensioning nut to tighten the screw.

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