Automatic butt-joint method and device suitable for wharf oil conveying pipe loading and unloading arm and ship flange

Abstract

The invention discloses an automatic butt-joint method and device suitable for a wharf oil conveying pipe loading and unloading arm and a ship flange. The method is characterized in that a positioningdevice is utilized and comprises a laser positioning device and a vision positioning device, primary positioning and precise positioning are conducted on the oil conveying pipe loading and unloadingarm and a ship target flange, a drive control system is used for controlling a horizontal drive device, an outer arm drive device and an inner arm drive device which are arranged on the oil conveyingpipe loading and unloading arm, and the drive arm moves till a hydraulic drive rapid connector and the ship target flange are in accurate butt joint. A set of CCD cameras are arranged in the vision positioning device to monitor the position of an oil conveying port in real time, a processing module in the vision positioning device outputs coordinate signals to the drive control system, accordingly, the hydraulic drive rapid connector of the oil conveying pipe arm and the target flange are driven to be in accurate butt joint, and the butt joint precision is improved; and it is guaranteed that oil liquid cannot leak, the problem of environment pollution is solved, the requirement for large-tonnage wharf work is met, and economic benefits are greatly increased.

Description

technical field [0001] The invention relates to a docking device for a marine oil pipeline, in particular to an automatic docking method and equipment for an oil pipeline loading and unloading arm of a wharf and a ship flange. Background technique [0002] With the rapid development of port construction and the continuous increase of large-tonnage wharves, the use of marine loading and unloading arms has also become popular. The current loading and unloading arm is driven by a hydraulic cylinder, which can realize the left and right rotation of the loading and unloading arm, the movement of the inner arm up and down, and the extension and contraction of the outer arm. When the device is docked with the ship’s berthing flange, it needs to be manually operated. Not only is the docking workload heavy, but the work efficiency is low. Leakage not only causes waste of resources, but also pollutes the wharf and water resource environment, which is not conducive to economic develop...

AI Technical Summary

Problems solved by technology

The current loading and unloading arm is driven by a hydraulic cylinder, which can realize the left and right rotation of the loading and unloading arm, the movement of the inner arm up and down, and the extension and contraction of the outer arm. When the device is docked with the ship’s berthing flange, it needs to be manually operated. Not only is the docking workload heavy, but the work efficiency is low. Leakage will not only cause waste of resources, but also pollute the wharf and water resource environment, which is not conducive to economic development

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