CN107790987A - Suitable for harbour petroleum pipeline loading arm and the automatic butt method and apparatus of ship flange - Google Patents

Abstract

The invention discloses an automatic docking method and equipment applicable to the loading and unloading arm of the wharf oil pipeline and the flange of the ship, and is characterized in that a positioning device, including a laser positioning device and a visual positioning device, is used to initially position the loading and unloading arm of the oil pipeline and the target flange of the ship And precise positioning, through the drive control system to control the horizontal drive device, the outer arm drive device, and the inner arm drive device set on the loading and unloading arm of the oil pipeline, the outer arm is driven to move to the precise docking of the hydraulic quick connector and the target flange of the ship; The invented visual positioning device installs a group of CCD cameras to monitor the position of the oil delivery port in real time, and the processing module in the visual positioning device outputs the coordinate signal to the drive control system, thereby driving the precise positioning of the hydraulic quick connector of the oil delivery pipe arm and the target flange. The docking improves the docking accuracy, ensures that the oil will not leak, avoids the problem of environmental pollution, meets the needs of large-tonnage terminal operations, and greatly improves economic benefits.

Description

Applicable to automatic docking method and equipment for wharf oil pipeline loading and unloading arm and ship flange

technical field

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

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 development. Therefore, high-efficiency terminal operations are the bargaining chip to ensure the steady growth of the port economy. In order to achieve the steady growth and development of the terminal economy, it is very necessary to replace manual operations with mechanization and intelligence.

In order to realize the rapid, accurate and efficient docking of the oil pipeline arm on the wharf and the target flange of the ship, and meet the needs of large-tonnage wharfs for high-efficiency port operations, this invention cooperates with intelligent industrial technology to use laser positioning devices and visual positioning devices to target The flange is double-positioned, and the driving device is controlled by the drive control system to drive the hydraulic quick connector at the end of the outer arm to accurately dock with the target flange of the ship. Two sets of joint driving devices are added. The joint driving device is composed of a swing cylinder and a large and small transmission gear. This structure can flexibly control the automatic docking of the quick connection device at the end and the ship flange. The precise docking of the oil pipeline arm and the oil delivery port ensures the normal transfer and delivery of oil, and at the same time avoids the environmental pollution caused by oil leakage to the port and wharf, protects the environment, improves the efficiency and economic benefits of the wharf operation, and is worthy of promotion .

Contents of the invention

In view of the large-scale and mechanized needs of existing wharf operations, and the high requirements for the accuracy of the docking of the loading and unloading arm of the oil pipeline and the flange of the ship header, the present invention proposes an automatic docking method and equipment suitable for the loading and unloading arm of the wharf oil pipeline and the flange of the ship , the specific technical scheme is as follows:

It is suitable for the automatic docking method between the loading and unloading arm of the wharf oil pipeline and the flange of the ship. It is characterized in that the positioning device is used to perform initial positioning and fine positioning of the loading and unloading arm of the oil pipeline and the target flange of the ship, and the hydraulic quick connector is controlled by the control system to control the driving device. Accurately docking with the target flange, the specific method includes the following steps:

(1) Use a laser rangefinder to locate the distance between the base of the oil pipeline loading and unloading arm and the flange of the ship, and convert the obtained distance data into coordinate data under the coordinate system of the base of the oil pipeline loading and unloading arm through the coordinate system conversion relationship;

(2) According to the coordinate data obtained in the above steps, the angles of each joint are obtained through the kinematic equation of the loading and unloading arm of the oil pipeline, and then the control system controls the driving device to drive the movement of each joint of the loading and unloading arm of the oil pipeline, and at the same time feedback through the encoder at each joint At the current position, complete the preliminary positioning of the loading and unloading arm of the oil pipeline and the target flange of the ship;

(3) The binocular vision system installed at the end of the loading and unloading arm collects the 3D coordinate information of the ship flange in real time after the initial positioning is completed, obtains 3D information through image acquisition, image preprocessing, feature extraction and segmentation, and feeds back to the driver Control System;

(4) The drive control system obtains the three-dimensional coordinate information of the ship flange through coordinate transformation and kinematic equation solution to obtain the joint angles of the loading and unloading arm, and continuously adjusts according to the real-time monitoring information of the current target flange, and transmits the kinematic joint angles to Each actuator of the drive device;

(5) The end of the loading and unloading arm of the oil pipeline executes commands, continuously moves and adjusts to the position of the target flange, and realizes the precise docking of the hydraulic quick connector at the end of the loading and unloading arm of the oil pipeline and the target flange.

In order to realize the automatic docking method of the above-mentioned wharf oil pipeline loading and unloading arm and the ship flange, the technical scheme adopted in the present invention is as follows:

It is suitable for the automatic docking equipment between the loading and unloading arm of the wharf oil pipeline and the flange of the ship. It includes a base and a column fixed on the wharf. The base is provided with a hydraulic valve box, and the top of the column is provided with a shaft box. The shaft The tank connection includes the oil pipeline loading and unloading arm of the outer arm and the inner arm. The outer circumference of the oil pipeline loading and unloading arm is provided with a support box, a maintenance platform, a wire rope mechanism, and a driving device. The connection between the outer arm and the inner arm, the column and the oil pipeline loading and unloading arm Detachable elbows are provided at the joints, a mechanical locking device is provided at the lower end of the inner arm and the shaft box, and a counterweight is provided at the inner arm to balance its moment of gravity. It is characterized in that the A laser positioning device is provided on the wharf surface at the base, and the laser positioning device is composed of a pan-tilt and a laser range finder; a three-dimensional joint is provided at the end of the outer arm, and the three-dimensional joint is composed of a joint driving device and a bending device. The end of the three-dimensional joint is connected with a hydraulic quick connector, and a visual positioning device is provided on the elbow of the three-dimensional joint. The visual positioning device includes a hardware module and a processing module. The hardware module consists of a camera, Composed of an acquisition card and a computer, the processing module is composed of an image preprocessing module, a feature extraction module, a target recognition module, and a position coordinate calculation module, wherein: the processing module is suitable for sending an acquisition image signal to the camera of the hardware module , and perform preprocessing, feature extraction, and target recognition on the collected images, calculate the position coordinates of the end of the outer arm and output parameters, and the drive device drives the outer arm to move to the hydraulic quick connector and the ship according to the output coordinates of the end of the outer arm Precise mating of target flanges.

Further, the joint driving device is composed of a swing cylinder, a large gear, a pinion and an encoder.

Further, the camera is a group of binocular CCD cameras.

Further, the drive device includes a horizontal drive device, an outer arm drive device, and an inner arm drive device, and the horizontal drive device, the outer arm drive device, and the inner arm drive device are all equipped with hydraulic cylinders, and the hydraulic cylinders and The hydraulic valve box is connected and driven.

Further, the swing cylinder provided on the joint driving device is connected and driven with the hydraulic valve box provided at the base.

Further, the outer arm driving device is provided with an outer arm driving encoder, and the inner arm driving device is provided with an inner arm driving encoder.

Further, the hydraulic quick connector is provided with adjustable legs.

The beneficial effects that the present invention has are as follows:

The visual positioning device of the present invention is installed at the end of the outer arm of the oil delivery pipe arm, and is equipped with a group of CCD binocular cameras. When the oil delivery pipe arm moves to the target flange position of the ship, the CCD camera will monitor the position of the oil delivery port in real time, and Transform the coordinates of the vision system into coordinates relative to the end of the mechanical arm, and at the same time, the processing module in the vision positioning device outputs the coordinate signal to the drive control system, thereby driving the movement of the oil pipeline arm, and realizing the hydraulic quick connector of the outer arm and the transportation of the ship. Precise docking of oil ports. The precise docking of the oil delivery pipe arm and the oil delivery port ensures the normal transfer and delivery of oil, avoids the environmental pollution caused by oil leakage to the port and wharf, improves work efficiency, and meets the needs of large-tonnage wharf operations. Improved economic efficiency.

Description of drawings

Fig. 1 is a structural schematic diagram of a three-dimensional joint and a joint driving device from left to right.

Fig. 2 is a schematic diagram of the docking use state of the loading and unloading arm of the oil pipeline at the wharf.

Fig. 3 is a schematic structural diagram of the front view of the loading and unloading arm of the oil pipeline at the wharf.

Fig. 4 is a schematic diagram of the side view structure of the loading and unloading arm of the oil pipeline at the wharf and a schematic diagram of the camera structure.

Among them, 1-base, 2-column, 3-inner arm, 4-outer arm, 5-spindle box, 6-support box, 7-three-dimensional joint, 71-swing cylinder, 72-big gear, 73-pinion , 74-encoder, 8-hydraulic quick connector, 81-adjustable outrigger, 9-removable elbow, 10-maintenance platform, 11-wire rope mechanism, 12-horizontal driving device, 13-outer arm driving device , 14-inner arm driving device, 15-counterweight, 16-hydraulic cylinder, 17-laser positioning device, 18-camera, 19-mechanical locking device, 20-hydraulic valve box.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

In order to achieve the purpose of the present invention, as shown in Figures 1-4, it is suitable for the automatic docking method of the loading and unloading arm of the wharf oil pipeline and the flange of the ship, and the positioning device is used to perform initial positioning and fine positioning of the loading and unloading arm of the oil pipeline and the target flange of the ship. The driving device is controlled by the drive control system to accurately dock the hydraulic quick connector with the target flange. The specific method includes the following steps: (1) Use a laser rangefinder to locate the distance between the base of the oil pipeline loading and unloading arm and the flange of the ship , and transform the obtained distance data into coordinate data in the base coordinate system of the oil pipeline loading and unloading arm through the coordinate system conversion relationship;

(2) According to the coordinate data obtained in the above steps, carry out the kinematic equation of the loading and unloading arm of the oil pipeline to obtain the angles of each joint, and the drive control system controls the driving device to drive the movement of each joint of the loading and unloading arm of the oil pipeline, and at the same time, the encoder at each joint feeds back the current position, complete the preliminary positioning of the oil pipeline loading and unloading arm and the target flange of the ship;

(3) The binocular vision system installed at the end of the loading and unloading arm collects the 3D coordinate information of the ship flange in real time after the initial positioning is completed, obtains 3D information through image acquisition, image preprocessing, feature extraction and segmentation, and feeds back to the driver Control System;

(4) The drive control system obtains the three-dimensional coordinate information of the ship flange through coordinate transformation and kinematic equation solution to obtain the joint angles of the loading and unloading arm, and continuously adjusts according to the real-time monitoring information of the current target flange, and transmits the kinematic joint angles to Each actuator of the drive device;

(5) The end of the loading and unloading arm of the oil pipeline executes commands, continuously moves and adjusts to the position of the target flange, and realizes the precise docking of the hydraulic quick connector at the end of the loading and unloading arm of the oil pipeline and the target flange.

In order to realize the automatic docking method of the above-mentioned wharf oil pipeline loading and unloading arm and the ship flange, the technical scheme adopted in the present invention is as follows:

It is suitable for the automatic docking equipment between the loading and unloading arm of the wharf oil pipeline and the flange of the ship, including a base 1 and a column 2 fixed on the wharf surface, the base 1 is provided with a hydraulic valve box 20, and the top of the column 2 is provided with a rotating shaft Box 5, the shaft box 5 is connected to the loading and unloading arm of the oil pipeline comprising the outer arm 4 and the inner arm 3, the outer periphery of the loading and unloading arm of the oil pipeline is provided with a support box 6, a maintenance platform 10, a wire rope mechanism 11, a driving device, and the outer arm 4 A detachable elbow 9 is provided at the junction with the inner arm 3, the junction of the column 2 and the loading and unloading arm of the oil delivery pipe, and a mechanical locking device 19 is provided at the lower end of the inner arm 3 and the shaft box 5. The inner arm 3 is provided with a counterweight 15 for balancing its moment of gravity, and the dock surface at the base 1 is provided with a laser positioning device 17, and the laser positioning device 17 is composed of a cloud platform and a laser rangefinder; The end of the outer arm 4 is provided with a three-dimensional joint 7, the three-dimensional joint 7 is composed of a joint driving device and an elbow, the end of the three-dimensional joint is connected to a hydraulic quick connector 8, and the end of the three-dimensional joint 7 is connected to the elbow A visual positioning device is provided, and the visual positioning device includes a hardware module and a processing module. The hardware module is made up of a camera 18, a cloud platform, a capture card, and a computer. The processing module is composed of an image preprocessing module, a feature extraction module, Composed of a target recognition module and a position coordinate calculation module, wherein: the processing module is suitable for sending collected image signals to the camera of the hardware module, and performing preprocessing, feature extraction, and target recognition on the collected images to calculate the position of the end of the outer arm Coordinates and output parameters, the driving device drives the outer arm to move to the precise docking of the hydraulic quick connector and the target flange of the ship according to the output coordinates of the end position of the outer arm.

Preferably, the joint driving device is composed of a swing cylinder 71 , a large gear 72 , a pinion 73 and an encoder 74 .

Preferably, the camera 18 is a group of binocular CCD cameras.

Preferably, the driving device includes a horizontal driving device 12, an outer arm driving device 13, and an inner arm driving device 14, and the horizontal driving device 12, the outer arm driving device 13, and the inner arm driving device 14 are all provided with hydraulic cylinders 16. The hydraulic cylinder 16 is connected and driven with the hydraulic valve box 20.

Preferably, the swing cylinder 71 provided in the joint driving device is connected and driven with the hydraulic valve box 20 provided at the base.

Preferably, the outer arm driving device 13 is provided with an outer arm driving encoder 41 , and the inner arm driving device 14 is provided with an inner arm driving encoder 31 .

Preferably, the hydraulic quick connector 8 is provided with adjustable legs 81 .

Example 1:

The loading and unloading arm of the oil pipeline of the present invention is double-positioned by the positioning device, and the driving device is controlled by the drive control system to drive the movement of the outer arm and the inner arm, so as to realize the precise docking of the hydraulic quick connector at the end of the outer arm of the oil pipeline arm and the flange of the ship header. As shown in Figure 1, it is suitable for the automatic docking equipment between the loading and unloading arm of the wharf oil pipeline and the flange of the ship, including: the loading and unloading arm of the oil pipeline, the base 1, the column 2, the inner arm 3, the outer arm 4, the shaft box 5, the support box 6, Three-dimensional joint 7, swing cylinder 71, large gear 72, pinion 73, encoder 74, hydraulic quick connector 8, adjustable outrigger 81, detachable elbow 9, maintenance platform 10, wire rope mechanism 11, horizontal driving device 12. Outer arm driving device 13, inner arm driving device 14, counterweight 15, hydraulic cylinder 16, laser positioning device 17, camera 18, mechanical locking device 19, hydraulic valve box 20;

The base 1 is used to fix the loading and unloading arm of the oil pipeline on the dock surface, and the loading and unloading arm of the oil pipeline includes an inner arm 3 and an outer arm 4; The loading and unloading arm also provides a connection point with the on-site pipeline; the shaft box 5 is used to connect the column 2 and the support box 6, and the slewing bearing is installed between the column 2 and the support box 6 to make the loading and unloading arm rotate freely; the support The box 6 has high strength and less wind load, and is used to bear the weight of the inner and outer arm pipelines and other loads; the end of the outer arm 4 is connected to a three-dimensional joint 7, and the three-dimensional joint 7 includes an elbow and a joint driving device structure. The drive device consists of a swing cylinder 71, a large gear 72, a pinion 73 and an encoder 74, which can meet the requirements of the ship's swing, impact and rotation; the end of the three-dimensional joint 7 is connected to a hydraulic quick connector 8 for loading and unloading arms It is a hydraulic quick coupling with non-bolt connection to the header flange of the tanker. The hydraulic quick connector 8 is provided with an adjustable outrigger 81, and the adjustable outrigger 81 is a permanent and adjustable bearing mechanism. Installed on the three-dimensional joint 7 to transfer the weight of the outer arm 4 to the deck, and reduce the impact force from the medium acting on the flange of the ship; the joint between the inner arm 3 and the outer arm 4, the There are detachable elbows 9 at the 5 places of the rotating shaft box. The detachable elbows 9 can be used to replace the sealing ring without disassembling the main body of the loading and unloading arm. Complete the maintenance work; the loading and unloading arm is provided with a maintenance platform 10, a wire rope mechanism 11, a horizontal driving device 12, an outer arm driving device 13, an inner arm driving device 14, and a counterweight 15, and the maintenance platform 10 is for operation It is designed to replace the sealing ring of the rotary joint at the upper sheave. It is designed so that two operators can stand at the same time to repair the rotary joint or lubricate the slewing bearing. The wire rope mechanism 11 includes an upper sheave and a lower sheave. and steel wire ropes are used to transfer the balance moment from the auxiliary counterweight to the outer arm 4. The horizontal drive device 12, the outer arm drive device 13 and the inner arm drive device 14 are all equipped with hydraulic cylinders 16 for driving the outer arm 4 , the inner arm 3 and the pivot box 5, the counterweight 15 is used to balance the moment of gravity of the outer arm 4, the length of the balance arm can be adjusted by adjusting the bolt, the lower end of the inner arm 3 and the pivot box 5 There is a mechanical locking device 19, which locks the entire loading and unloading arm in a vertical state through two simple mechanical latches, and the latches securely lock the inner arm and the shaft box of the loading and unloading arm on the column 2 .

Described be positioned at the pier face of base 1 and be provided with laser positioning device 17, described laser positioning device is made up of two-dimensional integrated high-speed pan-tilt and laser rangefinder, during initial positioning:

Operate the two-dimensional integrated high-speed pan/tilt to drive the laser rangefinder, aim the laser positioning spot at the target flange to be joined, and transform the obtained distance data into coordinate data in the base coordinate system of the loading arm through the coordinate system conversion relationship. The arm kinematics equation calculates the angle of each joint, and then drives the joint movement, and at the same time feeds back the current position through the absolute value encoder at each joint. If the joint is in place, the movement ends, and the loading and unloading arm completes the preliminary positioning of the target flange;

The hydraulic quick connector 8 is equipped with a visual positioning device. During the docking process, the mooring boat will float with the fluctuation of the water surface, and the position of the target flange will also change accordingly. Therefore, the binocular vision positioning device installed at the end of the loading and unloading arm The device collects the three-dimensional coordinate information of the target flange, obtains the angle value of each joint of the loading and unloading arm through coordinate transformation and kinematic equation solution, and drives the end of the loading and unloading arm to move to the target position; because the visual positioning device of the binocular CCD camera 18 can real-time position information Therefore, the control system can continuously adjust the execution position of the end of the loading and unloading arm according to the current target information, so as to realize the precise docking of the loading and unloading arm and the target flange. The processing module carries out; after the preprocessing module calibrates the camera, it preprocesses the collected objects containing the target, and adopts a preprocessing method combining histogram homogenization and sharpening to minimize the impact of illumination changes on the picture , to highlight the characteristics of the target object; the feature extraction module and the target recognition module extract and segment the corrected picture, use the threshold to find the edge, find the contour and image moment and the central moment operation, simplify the image, and distinguish the target from other disturbances factor to obtain the required target nozzle; the position coordinate calculation module uses the triangular distance measurement principle to calculate the nozzle position coordinates to obtain the three-dimensional coordinates of the target center after the target nozzle is divided into branches, and the obtained three-dimensional coordinates are sent to the control system , the control system calculates the joint angles of each joint of the oil delivery pipe arm through the real-time coordinates of the oil delivery port of the ship, obtains the target code value executed by the hydraulic components, and judges the absolute value encoder of each joint. If the joints are in place, the operation ends and Feedback the signal of the end of execution to the control system to complete the automatic docking operation.

The above is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Anyone skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present invention. Should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be determined by the protection scope of the claims.

Claims (8)

1. It is suitable for the automatic docking method of the loading and unloading arm of the oil pipeline at the wharf and the flange of the ship. It is characterized in that the initial positioning and fine positioning of the loading and unloading arm of the oil pipeline and the target flange of the ship are carried out by using the positioning device, and the driving device is controlled by the drive control system to perform hydraulic pressure. The quick connector is accurately docked with the target flange, and the specific method includes the following steps: (1) Use a laser rangefinder to locate the distance between the base of the oil pipeline loading and unloading arm and the flange of the ship, and convert the obtained distance data into coordinate data under the coordinate system of the base of the oil pipeline loading and unloading arm through the coordinate system conversion relationship; (2) According to the coordinate data obtained in the above steps, the angles of each joint are obtained through the kinematic equation of the loading and unloading arm of the oil pipeline, and then the control system controls the driving device to drive the movement of each joint of the loading and unloading arm of the oil pipeline, and at the same time feedback through the encoder at each joint At the current position, complete the preliminary positioning of the loading and unloading arm of the oil pipeline and the target flange of the ship; (3) The visual positioning device at the end of the loading and unloading arm collects the three-dimensional coordinate information of the ship flange in real time after the initial positioning is completed, and obtains the three-dimensional information through image acquisition, image preprocessing, feature extraction and segmentation, and feeds back to the drive control system; (4) The drive control system obtains the three-dimensional coordinate information of the ship flange through coordinate transformation and kinematic equation solution to obtain the joint angles of the loading and unloading arm, and continuously adjusts according to the real-time monitoring information of the current target flange, and transmits the kinematic joint angles to Each actuator of the drive device; (5) The end of the loading and unloading arm of the oil pipeline executes commands, continuously moves and adjusts to the position of the target flange, and realizes the precise docking of the hydraulic quick connector at the end of the loading and unloading arm of the oil pipeline and the target flange. 2. It is suitable for automatic docking equipment between the loading and unloading arm of the wharf oil pipeline and the flange of the ship, including a base and a column fixed on the wharf surface. The base is provided with a hydraulic valve box, and the top of the column is provided with a shaft box. The shaft box is connected to the loading and unloading arm of the oil pipeline including the outer arm and the inner arm. The outer circumference of the loading and unloading arm of the oil pipeline is provided with a support box, a maintenance platform, a wire rope mechanism, and a driving device. The connection between the outer arm and the inner arm, the column and the oil pipeline The joints of the loading and unloading arms are provided with detachable elbows, the lower end of the inner arm and the shaft box are provided with a mechanical locking device, and the inner arm is provided with a counterweight for balancing its moment of gravity, which is characterized in that : A laser positioning device is provided on the wharf surface at the base, and the laser positioning device is composed of a cloud platform and a laser range finder; The end of the outer arm is provided with a three-dimensional joint, the three-dimensional joint is composed of a joint driving device and an elbow, the end of the three-dimensional joint is connected to a hydraulic quick connector, and the elbow located at the three-dimensional joint is provided with a visual positioning device , the visual positioning device includes a hardware module and a processing module, the hardware module is composed of a camera, an acquisition card, and a computer, and the processing module is composed of an image preprocessing module, a feature extraction module, a target recognition module, and a position coordinate calculation module ,in: The processing module is adapted to send collected image signals to the camera of the hardware module, and perform preprocessing, feature extraction, and target recognition on the collected images, calculate the position coordinates of the end of the outer arm and output parameters, and the driving device outputs parameters according to the output The position coordinates of the end of the arm drive the movement of the outer arm to the precise docking of the hydraulic quick connector and the target flange of the ship. 3. The automatic docking equipment suitable for loading and unloading arms of wharf oil pipelines and ship flanges according to claim 2, characterized in that: the joint driving device is composed of a swing cylinder, a large gear, a pinion and an encoder. 4. The automatic docking equipment suitable for loading and unloading arms of wharf oil pipelines and ship flanges according to claim 2, wherein the camera is a set of binocular CCD cameras. 5. The automatic docking equipment suitable for loading and unloading arms of wharf oil pipelines and ship flanges according to claim 2, characterized in that: the driving device includes a horizontal driving device, an outer arm driving device, and an inner arm driving device, and the The horizontal driving device, the outer arm driving device and the inner arm driving device are all equipped with hydraulic oil cylinders, and the hydraulic oil cylinders are connected and driven with the hydraulic valve box. 6. The automatic docking equipment suitable for loading and unloading arms of wharf oil pipelines and ship flanges according to claim 3, characterized in that: the swing cylinder provided in the joint driving device is connected and driven by the hydraulic valve box provided at the base. 7. The automatic docking equipment suitable for loading and unloading arms of wharf oil pipelines and ship flanges according to claim 4, characterized in that: the outer arm driving device is provided with an outer arm driving encoder, and the inner arm driving device is Equipped with an inner arm drive encoder. 8. The automatic docking equipment suitable for loading and unloading arms of wharf oil pipelines and ship flanges according to claim 2, wherein the hydraulic quick connector is provided with adjustable legs.