CN206943800U - A kind of LNG unloading arms automatic butt control system - Google Patents
A kind of LNG unloading arms automatic butt control system Download PDFInfo
- Publication number
- CN206943800U CN206943800U CN201720896547.3U CN201720896547U CN206943800U CN 206943800 U CN206943800 U CN 206943800U CN 201720896547 U CN201720896547 U CN 201720896547U CN 206943800 U CN206943800 U CN 206943800U
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- China
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- arm
- unloading
- unloading arm
- unit
- discharging
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Abstract
The utility model provides LNG unloading arm automatic butt control systems, including the prefabricated position alignment system of unloading arm discharging, unloading arm connects arm system automatically, the prefabricated position alignment system of unloading arm discharging includes unloading arm position monitoring unit and unloading arm hydraulic control unit, the unloading arm connects arm system automatically includes hand eye coordination unit, unloading arm position, speed acquisition unit and unloading arm motion planning unit, the prefabricated position alignment system of unloading arm discharging realizes that unloading arm is automatically positioned and set in advance connects the prefabricated position of arm, the unloading arm connect automatically arm system realize unloading arm by the prefabricated position of discharging automatic butt on discharging flange.Prevent traditional unloading arm and the dangerous risk that may trigger in the defeated manual docking operation of interface outside ship, it is quick, accurate, reliable to complete defeated interface automatic butt outside unloading arm and ship, shorten the whole LNG unloading operations time.
Description
Technical field
The utility model belongs to LNG receiving stations technical field, and in particular to a kind of LNG unloading arms automatic butt control system
System.
Background technology
Liquefied natural gas has the characteristics such as low-density, small volume, calorific value height as a kind of Novel clean, high efficient energy sources,
Widely used in global range.Receiving terminal of the LNG receiving stations as liquefied natural gas transport by sea, carry natural gas storage
The vital task such as deposit, re-vaporize, exporting, being played an important role for energy security and natural gas peak-shaving, but liquefied natural gas has
There is inflammable, explosive and low temperature characteristic, therefore require very high for liquefied natural gas unloading operation safety and reliability,
And the existing easing gear of receiving station is mainly to control discharging arm controller to drive unloading arm liquid manually according to operating desk at the scene
Press pump and positioning magnetic valve carry out coarse localization, while unloading arm PMS（Position monitor system）System is to discharging
The important parameters such as position, state and the hydraulic system of arm are monitored in real time, and provide corresponding alarm and provisional orders, then
Accurate dock is completed according to the manually operated wireless remote controller of artificial vision with defeated interface outside LNG ship oceangoing ship to LNG unloading arms to start
Discharging.Above-mentioned unloading arm docking system belongs to automanual system, if very may be used during manually operated once making a fault
Unloading arm and defeated interface outside LNG ship oceangoing ship can be caused to cause unloading arm accessory to damage collided during docking situations such as
Or flange leakage etc., discharge operation is influenceed, or even cause operating personnel's injury etc..Therefore, it is automatically right that a kind of LNG unloading arms are designed
Connected control system will effectively solve and ensure the safe and reliable property of LNG receiving stations discharge operation.
Utility model content
LNG unloading arms automatic butt control system provided by the utility model, overcome prior art existing by manual
It is accurately positioned, easily causes unloading arm damage, flange leakage, or even the problems such as injury to personnel, prevented traditional unloading arm and ship
The dangerous risk that may trigger in the defeated manual docking operation of interface outside oceangoing ship, it is quick, accurate, reliable to complete unloading arm and ship
Outer defeated interface automatic butt, shortens the whole LNG unloading operations time.
A kind of LNG unloading arms automatic butt control system provided by the utility model, including the prefabricated position of unloading arm discharging are determined
Position system and unloading arm connect arm system automatically, and the prefabricated position alignment system of unloading arm discharging includes unloading arm position monitoring unit
With unloading arm hydraulic control unit, the unloading arm connects arm system automatically includes hand eye coordination unit, and unloading arm position, speed are adopted
Collect unit and unloading arm motion planning unit,
The unloading arm position monitoring unit be used to carrying out the three-dimensional position of unloading arm inner arm, outer arm monitoring in real time and with
Track；
The unloading arm hydraulic control unit is used for the unloading arm hydraulic-driven generated according to unloading arm position monitoring unit
Control logic control unloading arm inner arm, outer arm move to the prefabricated position of discharging；
The hand eye coordination unit is used for the position of real-time update unloading arm and discharging flange, and exports unloading arm rotation and connect
The position deviation of head and discharging flange；
The unloading arm position, speed acquisition unit are used to gather the inner arm of unloading arm, the position of outer arm and motion in real time
Velocity information；
The unloading arm motion planning unit is used for unloading arm swivel joint and the discharging exported according to hand eye coordination unit
The position deviation of flange determines unloading arm inner arm, outer arm motion path, is unloaded according to what unloading arm position, speed acquisition unit exported
Material arm inner arm, the position of outer arm and motion velocity information and unloading arm position and angle threshold determine the speed of unloading arm motion
Pattern, and the unloading arm inner arm, outer arm motion path and the fast slow mode of motion are transferred to unloading arm hydraulic control unit.
Further, the unloading arm hydraulic control unit includes hydraulic controller and hydraulic actuating mechanism.
Further, the hydraulic actuating mechanism is arranged on the inner arm and outer arm of unloading arm.
Further, the unloading arm position, speed acquisition unit include position sensor and velocity sensor.
Further, the hand eye coordination unit includes vision-based detection module and vision controller.
The beneficial effects of the utility model：
The rough position of outer defeated interface on ship after LNG ship oceangoing ship berthing harbour can effectively be judged, pass through unloading arm hydraulic pressure control
Unloading arm is moved in the range of unloading arm operating radius by unit processed, is restarted hand eye coordination unit and is accurately positioned, not
It is completely cured and is finely adjusted according to visual signal feedback movement warp, accurate docking is realized with reference to unloading arm real time position and movement velocity,
Reach the automation of receiving station's unloading arm defeated with outboard interface and dock control, avoid manually-operated cumbersome, shorten harbour and unload
Expect the time, and reduce manually-operated error risk.
Brief description of the drawings
Fig. 1 is theory diagram of the present utility model,
Fig. 2 is the structural representation of unloading arm.
1st, inner arm, 2, outer arm, 3, swivel joint.
Embodiment
In order that the purpose of this utility model, technical scheme and advantage are more clearly understood, below in conjunction with accompanying drawing and implementation
Example, the utility model is further elaborated.It should be appreciated that specific embodiment described herein is used only for explaining
The utility model, it is impossible to be interpreted as the restriction to the specific protection domain of the utility model.
Embodiment
Reference picture 1-2, the LNG unloading arm automatic butts control system of the present embodiment include the prefabricated position positioning of unloading arm discharging
System and unloading arm connect arm system automatically, and it is advance that the prefabricated position alignment system of unloading arm discharging realizes that unloading arm is automatically positioned
Setting connects the prefabricated position of arm, the unloading arm connect automatically arm system realize unloading arm by the prefabricated position of discharging automatic butt to
On discharging flange.
Further, the prefabricated position alignment system of the unloading arm discharging includes unloading arm position monitoring unit and unloading arm hydraulic pressure
Control unit, the unloading arm hydraulic control unit include hydraulic controller and hydraulic actuating mechanism, the hydraulic actuating mechanism
On the inner arm and outer arm of unloading arm.The unloading arm connects arm system automatically includes hand eye coordination unit, unloading arm position,
Speed acquisition unit and unloading arm motion planning unit, the unloading arm position, speed acquisition unit include position sensor and
Velocity sensor, the hand eye coordination unit include vision-based detection module and vision controller.
The unloading arm position monitoring unit be used to carrying out the three-dimensional position of unloading arm inner arm, outer arm monitoring in real time and with
Track, the unloading arm hydraulic-driven control that the unloading arm hydraulic control unit is used to be generated according to unloading arm position monitoring unit are patrolled
Collect control unloading arm inner arm, outer arm moves to the prefabricated position of discharging.Specifically, hydraulic controller receives unloading arm position monitoring unit
The unloading arm hydraulic-driven control logic of generation, and hydraulic actuating mechanism is transferred to, hydraulic actuating mechanism action, realize unloading arm
Inner arm and outer arm move to the prefabricated position of discharging.
The hand eye coordination unit is used for the position of real-time update unloading arm and discharging flange, and exports unloading arm rotation and connect
The position deviation of head and discharging flange；
The unloading arm position, speed acquisition unit are used to gather the inner arm of unloading arm, the position of outer arm and motion in real time
Velocity information；
The unloading arm motion planning unit is used for unloading arm swivel joint and the discharging exported according to hand eye coordination unit
The position deviation of flange determines unloading arm inner arm, outer arm motion path, is unloaded according to what unloading arm position, speed acquisition unit exported
Material arm inner arm, the position of outer arm and motion velocity information and unloading arm position and angle threshold determine the speed of unloading arm motion
Pattern, and the unloading arm inner arm, outer arm motion path and the fast slow mode of motion are transferred to unloading arm hydraulic control unit.Tool
Body, the unloading arm inner arm, outer arm motion path and the fast slow mode of motion are transferred to the hydraulic pressure of unloading arm hydraulic control unit
Controller, realize that exact position is docked by hydraulic controller control hydraulic actuating mechanism driving unloading arm inner arm and outer arm action.
The course of work of Tthe utility model system is as follows：
The prefabricated position coordinate of the discharging of unloading arm is inputted into unloading arm position monitoring unit, then unloading arm position monitoring unit
According to the deviation of unloading arm current location and predeterminated position, unloading arm inner arm, outer arm movement velocity generation unloading arm hydraulic-driven
Control logic, is then transferred to hydraulic controller, at the same unloading arm position monitoring unit according to some cycles periodically to unloading arm
Hydraulic-driven control logic is updated, and unloading arm position monitoring unit and unloading arm hydraulic control unit is formed closed loop control
System, so that it is guaranteed that unloading arm can fast and accurately move to the prefabricated position of discharging.Unloading arm is after the prefabricated position of discharging is navigated to, hand
Eye coordinate unit and motion planning unit are started working, and the docking location that motion planning unit exports according to hand eye coordination unit is inclined
Difference provides hydraulic control sequential, at the same according to unloading arm position, the unloading arm inner arm that speed acquisition unit exports, outer arm position
The fast slow mode of unloading arm motion is determined with motion velocity information and unloading arm position and angle threshold, then drives unloading arm
Hydraulic control unit moves unloading arm, gathers position and the velocity information of unloading arm in real time in unloading arm motion process, so as to
Suitable movement velocity can be selected in docking operation according to positioning threshold values by ensuring unloading arm, while hand eye coordination unit is not yet
Disconnected renewal position deviation parameter, makes unloading arm hydraulic control unit and hand eye coordination unit form a closed-loop control, it is ensured that to be
The accurate docking of system.
Claims (5)
- A kind of 1. LNG unloading arms automatic butt control system, it is characterised in that：Including the prefabricated position alignment system of unloading arm discharging and Unloading arm connects arm system automatically, and the prefabricated position alignment system of unloading arm discharging includes unloading arm position monitoring unit and unloading arm Hydraulic control unit, the unloading arm connects arm system automatically includes hand eye coordination unit, unloading arm position, speed acquisition unit and Unloading arm motion planning unit,The unloading arm position monitoring unit is used to the three-dimensional position of unloading arm inner arm, outer arm is carried out to monitor and track in real time；The unloading arm hydraulic-driven that the unloading arm hydraulic control unit is used to be generated according to unloading arm position monitoring unit controls Logic control unloading arm inner arm, outer arm move to the prefabricated position of discharging；The hand eye coordination unit is used for the position of real-time update unloading arm and discharging flange, and export unloading arm swivel joint and The position deviation of discharging flange；The unloading arm position, speed acquisition unit are used to gather the inner arm of unloading arm, the position of outer arm and movement velocity in real time Information；The unloading arm motion planning unit is used for the unloading arm swivel joint and discharging flange exported according to hand eye coordination unit Position deviation determine unloading arm inner arm, outer arm motion path, according to unloading arm position, speed acquisition unit export unloading arm Inner arm, the position of outer arm and motion velocity information and unloading arm position and angle threshold determine the speed mould of unloading arm motion Formula, and the unloading arm inner arm, outer arm motion path and the fast slow mode of motion are transferred to unloading arm hydraulic control unit.
- 2. LNG unloading arms automatic butt control system according to claim 1, it is characterised in that：The unloading arm hydraulic pressure Control unit includes hydraulic controller and hydraulic actuating mechanism.
- 3. LNG unloading arms automatic butt control system according to claim 2, it is characterised in that：The hydraulic pressure performs machine Structure is arranged on the inner arm and outer arm of unloading arm.
- 4. LNG unloading arms automatic butt control system according to claim 1, it is characterised in that：The unloading arm position, Speed acquisition unit includes position sensor and velocity sensor.
- 5. LNG unloading arms automatic butt control system according to claim 1, it is characterised in that：The hand eye coordination list Member includes vision-based detection module and vision controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720896547.3U CN206943800U (en) | 2017-07-24 | 2017-07-24 | A kind of LNG unloading arms automatic butt control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720896547.3U CN206943800U (en) | 2017-07-24 | 2017-07-24 | A kind of LNG unloading arms automatic butt control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206943800U true CN206943800U (en) | 2018-01-30 |
Family
ID=61371477
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720896547.3U Expired - Fee Related CN206943800U (en) | 2017-07-24 | 2017-07-24 | A kind of LNG unloading arms automatic butt control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206943800U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110526195A (en) * | 2019-07-15 | 2019-12-03 | 罗蕾 | A kind of fluid assembly and disassembly equipment tank car tank mouth center support system and its method |
| CN111524330A (en) * | 2020-05-21 | 2020-08-11 | 大连华锐重工集团股份有限公司 | LNG unloads arm position safety monitoring and alarm system |
| CN111915718A (en) * | 2020-06-22 | 2020-11-10 | 中国船舶重工集团公司第七一六研究所 | Automatic butt joint system suitable for ship bank LNG loading and unloading arm |
-
2017
- 2017-07-24 CN CN201720896547.3U patent/CN206943800U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110526195A (en) * | 2019-07-15 | 2019-12-03 | 罗蕾 | A kind of fluid assembly and disassembly equipment tank car tank mouth center support system and its method |
| CN111524330A (en) * | 2020-05-21 | 2020-08-11 | 大连华锐重工集团股份有限公司 | LNG unloads arm position safety monitoring and alarm system |
| CN111524330B (en) * | 2020-05-21 | 2023-09-15 | 大连华锐重工集团股份有限公司 | LNG unloading arm position safety monitoring and alarm system |
| CN111915718A (en) * | 2020-06-22 | 2020-11-10 | 中国船舶重工集团公司第七一六研究所 | Automatic butt joint system suitable for ship bank LNG loading and unloading arm |
| CN111915718B (en) * | 2020-06-22 | 2024-01-09 | 中国船舶集团有限公司第七一六研究所 | Automatic docking system suitable for ship shore LNG loading and unloading arm |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180130 Termination date: 20190724 |