EP3533755A1 - Vorrichtung zum transfer von fluiden - Google Patents

Vorrichtung zum transfer von fluiden Download PDF

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Publication number
EP3533755A1
EP3533755A1 EP19160609.4A EP19160609A EP3533755A1 EP 3533755 A1 EP3533755 A1 EP 3533755A1 EP 19160609 A EP19160609 A EP 19160609A EP 3533755 A1 EP3533755 A1 EP 3533755A1
Authority
EP
European Patent Office
Prior art keywords
sensor means
site
access opening
basis
working position
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP19160609.4A
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English (en)
French (fr)
Other versions
EP3533755B1 (de
EP3533755C0 (de
Inventor
Francesco Paolini
Giuseppe MATTEO
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zipfluid Srl
Original Assignee
Zipfluid Srl
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Zipfluid Srl filed Critical Zipfluid Srl
Publication of EP3533755A1 publication Critical patent/EP3533755A1/de
Application granted granted Critical
Publication of EP3533755B1 publication Critical patent/EP3533755B1/de
Publication of EP3533755C0 publication Critical patent/EP3533755C0/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
    • B67D—DISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
    • B67D9/00—Apparatus or devices for transferring liquids when loading or unloading ships
    • B67D9/02—Apparatus or devices for transferring liquids when loading or unloading ships using articulated pipes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
    • B67D—DISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
    • B67D7/00—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes
    • B67D7/04—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes for transferring fuels, lubricants or mixed fuels and lubricants
    • B67D7/0401—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes for transferring fuels, lubricants or mixed fuels and lubricants arrangements for automatically fuelling vehicles, i.e. without human intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
    • B67D—DISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
    • B67D7/00—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes
    • B67D7/04—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes for transferring fuels, lubricants or mixed fuels and lubricants
    • B67D7/0401—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes for transferring fuels, lubricants or mixed fuels and lubricants arrangements for automatically fuelling vehicles, i.e. without human intervention
    • B67D2007/0444—Sensors
    • B67D2007/0455—Sensors recognising the position

Definitions

  • the invention relates to a device for transferring fluids, in particular a device for transferring fluids that, in certain non-limiting embodiments, can consist of a loading arm for loading from above, of a loading/unloading arm for unloading liquids from below (for examples for LPG), of a marine loading arm, of a transferring device with a flexible tube, etc.
  • the invention can be used for moving a liquid from a storage zone (for example a large tank) to a zone of use (for example a road tanker).
  • a storage zone for example a large tank
  • a zone of use for example a road tanker
  • Patent publication EP 2 543 624 A1 shows a loading arm comprising a support column and a plurality of arm elements that are mutually movable and driven by a driving system controlled by electric motors and by transmission units with a screw feed and cogs.
  • Patent publication US 4,190,080 shows a loading arm for dispensing petrol or other liquids into a tank through a discharge pipe, in which the arm is provided with a hydraulic jack for adjusting the angle defined by two sections of the arm and with sensor means that detects a change in the orientation of these an established azimuthal position sections and activates the hydraulic jack to maintain the discharge pipe whilst is it lowered or raised from the tank.
  • Patent publication US 4,402,350 shows a system for detecting the position of an end of a loading arm connected to a ship, to see whether the arm will move outside a safe operating area, to interrupt the flow of fluid before the arm reaches an unsafe area and disconnect the arm of the ship when the arm reaches an unsafe area.
  • Patent publication WO 2009/141675 shows a fluid transfer device according to the preamble of the first claim.
  • One of the problems of the prior art is that of positioning exactly and promptly the terminal of the loading arm inside the entry hatch of the container to be loaded. Another problem is the risk for the safety of the operator, who has to manoeuvre the loading arm, a risk due, in particular, to the hazardousness of the treated liquids, which are often explosive and/or flammable and/or toxic.
  • One object of the invention is to provide an alternative solution to the problem of transferring fluids from a first site, for example a fluid storage site, to a second site, for example a site of use of the fluid.
  • One advantage is to provide a device for transferring fluids that is able to position exactly a terminal of the device at an access opening (for example a hatch) for accessing the container.
  • One advantage is to make a device for transferring fluids that is provided with one or more piloted actuators so as to direct a terminal of the device at an access opening for accessing the container.
  • One advantage is to make available a device for transferring fluids that is constructionally simple and cheap.
  • One advantage is to reduce the risk for the operator, who can stay at a distance from the access opening giving access to the container.
  • a device for transferring fluids such as for example a loading arm comprising several conduit sections joined by at least one joint, comprises a recognition system for recognising an access opening (hatch) for accessing a container, in which the recognition system (for example an artificial vision system) is able to identify the opening inside a preset loading area and determine the position of the opening (absolute or relative position with respect to a terminal of the device); the device further comprises actuator means piloted on the basis of signals supplied by the recognition system, so as to position a terminal of the device at the access opening.
  • the recognition system for example an artificial vision system
  • the device may comprise first sensor means for providing signals used to perform a first piloting of the positioning of the terminal towards the access opening and second sensor means to provide signals used to perform a subsequent piloting of the positioning of the terminal at the access opening.
  • the device may comprise control means configured to control actuator means on the basis of signals supplied by the second sensor means.
  • the second sensor means may be arranged on the movable terminal, so that the second sensor means by means of the first piloting is positioned close to the access opening.
  • the second piloting can thus be effective and reliable, reducing the possibility of errors in identifying the access opening.
  • the device may comprise a safety system that enables the correctness of the positioning of the terminal to be checked automatically and independently of the piloting system of the actuator means.
  • the device may comprise a confirmation system to enable an operator to confirm the correctness of the positioning of the terminal and give or withhold consent to dispensing of the liquid.
  • the first site may comprise, for example, a fluid storage site (a large tank, a tanker ship, etc).
  • the second site 3 may comprise, for example, a fluid using site (a road tanker, a rail tanker, etc).
  • the fluid transferring device 1 enables a liquid to be loaded into/unloaded from a container.
  • the fluid transferring device 1 may comprise, as in the embodiment illustrated here, an articulated loading arm, for loading a container from above.
  • the fluid transferring device 1 may comprise, in particular, at least one frame 2 and at least one conduit 4 constrained on the frame 2 and set up for transferring fluids (liquids).
  • the frame 2 may comprise, for example, a base and a column that emerges vertically from the base to support the conduit 4.
  • the conduit 4 may comprise, in particular, at least one first end 5 that is connectable to the first site and at least one second end 6 that is connectable to the second site 3.
  • the conduit 4 comprises two or more sections 7 (sections of the loading arm) and one or more fluid-tight rotatable joints 8 that connect the sections 7 of the conduit 4 to one another in a rotatable manner.
  • the second end 6 may be movable with respect to the first end 5 with the possibility of adopting at least one working position ( Figure 1 ) in which it is possible to transfer a fluid through an access opening 9 of the second site 3.
  • the access opening 9 may comprise, in particular, a hatch of a movable tank (road tanker or rail tanker).
  • the access opening 9 for access to the second site 3 may be arranged, in particular, on the upper part of a container.
  • the fluid transferring device 1 may comprise, in particular, actuator means 10 configured to move the second end 6 and to position the second end 6 at least in the aforesaid working position.
  • the actuator means 10 may comprise, in particular, one or more pneumatically and/or hydraulically and/or electrically driven actuators, etc.
  • the actuator means 10 may comprise, in particular, one or more actuators with at least one translating and/or rotating movable element.
  • the actuator means 10 may comprise, as in this specific embodiment, one or more linear actuators.
  • the actuator means 10 may comprise, as in this specific embodiment, an actuator that is operationally associated with a respective section 7 of the conduit 4.
  • the fluid transferring device 1 may comprise, in particular, control means (for example programmable electronic control means, in particular a PLC controller) configured to control the actuator means 10.
  • control means for example programmable electronic control means, in particular a PLC controller
  • the fluid transferring device 1 may comprise, in particular, first sensor means 11 configured to identify the position of the access opening 9 of the second site 3.
  • the first sensor means 11 may comprise, in particular, optical sensor means for the perception of the environment, for example sensor means of the type that use visible and/or infrared and/or ultraviolet light.
  • the optical sensor means may be positioned, in particular, so as to observe an operating area that includes the access opening 9 of the second site 3.
  • the optical sensor means may be configured, in particular, to determine a set of points that describes the observed operating area (liquid loading area) and to analyze this set of points so as to identify an access opening present in the operating area.
  • the first sensor means 11 may be configured to devise an artificial vision system that is suitable for inspecting the operating area that includes the access opening 9 of the second site 3, so as to acquire, record and process the images so as to recognize the features of the image that are suitable for identifying the access opening 9 (for example the hatch) of the second site 3.
  • the first sensor means 11 may comprise, in particular, camera means provided with at least one camera (for example one camera that is fixed with respect to the first end 5 of the conduit 4) and with computer programme instructions (that are implementable by programmable electronic control means) to run a process of recognizing objects in which the object to be recognized includes, in particular, an access opening for accessing a site (a container), for example an (upper) hatch of a tank or other access port.
  • camera means provided with at least one camera (for example one camera that is fixed with respect to the first end 5 of the conduit 4) and with computer programme instructions (that are implementable by programmable electronic control means) to run a process of recognizing objects in which the object to be recognized includes, in particular, an access opening for accessing a site (a container), for example an (upper) hatch of a tank or other access port.
  • the control means may be configured, in particular, to control the actuator means 10 on the basis of signals supplied by the aforesaid first sensor means 11, so as to pilot the movement of the second end 6 and position the second end 6 in the working position in order to transfer the fluid through the opening 9.
  • the first sensor means 11 could comprise, in other embodiments, other types of sensor means, like for example scanner means with a projector and camera and/or scanner means with luminous triangulation (in particular of the laser/LED type) and/or flight time sensor means (in particular of the laser scanner and/or of the camera type) and/or stereoscopic vision sensor means and/or distance sensor means (in particular of the ultrasound and/or radar and/or laser type) and/or sensor means for recognizing objects (in particular of the ultrasound and/or radar and/or laser type).
  • other types of sensor means like for example scanner means with a projector and camera and/or scanner means with luminous triangulation (in particular of the laser/LED type) and/or flight time sensor means (in particular of the laser scanner and/or of the camera type) and/or stereoscopic vision sensor means and/or distance sensor means (in particular of the ultrasound and/or radar and/or laser type) and/or sensor means for recognizing objects (in particular of the ultrasound and/or radar and/or laser type).
  • the first sensor means 11 could comprise, in further embodiments, sensor means provided with at least one radiation emitter and receiver, in particular mechanical waves, for example sound waves (ultrasound), and/or electromagnetic waves, for example radio waves or microwaves.
  • the first sensor means 11 may comprise, in particular, any sensor that is suitable for recognizing an object, like an access opening for accessing a site (container), and for determining the position thereof (in space).
  • the first sensor means 11 may be able, in particular, to determine three coordinates (for example x, y, z) of the centre of the opening (hatch) in a spatial reference system having as zero, for example, a fixed point with respect to the first end of the conduit.
  • the three coordinates may be used by the electronic control means to calculate the movements of the movable elements of the actuator means 10 that enable the second end 6 at the access opening 9 to be positioned.
  • the fluid transferring device 1 may comprise, in particular, second sensor means 12 (distinct from the first sensor means 11) configured to identify the presence of an access opening.
  • the control means may be configured, in particular, to control the actuator means on the basis of signals provided by the second sensor means 12.
  • the second sensor means 12 may be configured, in particular, to check the position of the second end 6 with respect to the position of the access opening 9 of the second site 3.
  • the second sensor means 12 may enable the safety and reliability of the system to be increased, providing a guarantee of correct positioning of the second end 6 performed by the actuator means 10.
  • the aforesaid check may be run, in particular, when the actuator means 10 has already positioned the second end 6 of the conduit 4 in the aforesaid working position, or near the working position.
  • the second sensor means 12 may allow performing a fine control of the positioning of the second end 6 in the desired working position.
  • the second sensor means 12 may be, in particular, arranged on the second end 6.
  • the second sensor means 12 may be configured, in particular, to identify the presence of an access opening.
  • the second sensor means 12 may be arranged on the second end 6 so as to be situated on the vertical of the access opening 9 (facing the opening 9) when the second end 6 is in the working position.
  • the second sensor means 12 may be used, in particular, to send a signal that confirms the presence of the access opening 9, in a position that is correct with respect to the second end 6 of the conduit 4, when the second end 6 of the conduit is in a working position, or near this position, ready for transferring the fluid.
  • the second sensor means 12 may, in particular, serve to send a signal which detects the presence of the access opening 9, when the second end 6 of the conduit is not yet precisely in the desired working position, but only in proximity to this position, for controlling the fine positioning of the second end 6.
  • the second sensor means 12 may comprise, in particular, liquid level sensor means, for example of the ultrasound and/or laser and/or infrared and/or radio wave type (radar), suitable for detecting the liquid present in the second site 3 (container) operating through the access opening 9 with the second end 6 in the working position.
  • liquid level sensor means for example of the ultrasound and/or laser and/or infrared and/or radio wave type (radar), suitable for detecting the liquid present in the second site 3 (container) operating through the access opening 9 with the second end 6 in the working position.
  • the second sensor means 12 could comprise, in other embodiments, proximity sensor means (for example optical, ultrasound, magnetic, inductive, capacitive, etc sensor means) and/or optical sensor means (for example of the laser and/or infrared type) and/or magnetic sensor means with electromagnetic field generator and detector (the detector could comprise, for example, an antenna) and/or distance sensor means (in particular of the ultrasound and/or radar and/or laser type) and/or sensor means for recognizing objects (in particular of the ultrasound and/or radar and/or laser type).
  • proximity sensor means for example optical, ultrasound, magnetic, inductive, capacitive, etc sensor means
  • optical sensor means for example of the laser and/or infrared type
  • magnetic sensor means with electromagnetic field generator and detector the detector could comprise, for example, an antenna
  • distance sensor means in particular of the ultrasound and/or radar and/or laser type
  • sensor means for recognizing objects in particular of the ultrasound and/or radar and/or laser type.
  • the second sensor means 12 could comprise, in further embodiments, sensor means provided with at least one radiation emitter and receiver, in particular mechanical waves, for example sound waves (ultrasound), and/or electromagnetic waves, for example radio waves or microwaves.
  • the second sensor means 12 may comprise second sensor means configured, in particular, to measure a physical parameter that is different from the first sensor means and/or may be provided with an operating principle that is different from the first sensor means. It is possible, for example, to provide for the first (piloting) sensor means comprising camera means and the second (safety and/or fine piloting) sensor means comprising a laser and/or radar and/or magnetic and/or ultrasound means, or the first sensor means comprising laser sensor means and the second sensor means comprising radar and/or magnetic and/or ultrasound and/or camera sensor means, or the first sensor means comprising electromagnetic wave sensor means and the second sensor means comprising mechanical wave sensor means, or the first sensor means comprising image recognition sensor means and the second sensor means comprising distance and/or proximity and/or level sensor means or other possible combinations.
  • the first (piloting) sensor means comprising camera means and the second (safety and/or fine piloting) sensor means comprising a laser and/or radar and/or magnetic and/or ultrasound means
  • the first sensor means comprising laser sensor means
  • the use of two distinct sensor means, the first for approaching and the second for fine driving, in particular configured to exploit two different technologies or two different operating principles, or in such a way as to measure two different physical quantities, allows to improve the accuracy and speed of positioning.
  • the second sensor means 12 may be configured so as to provide consent to the transfer of fluids in response to the aforesaid check of the correct position of the opening 9 with respect to the second end 6, so that the transfer of the liquid cannot occur in the absence of the consent provided by the second sensor means 12. It is possible to provide for the transfer of the liquid occurring after a final command given (remotely) by an operator.
  • safety means may comprise the same first sensor means 11 used for piloting the movement of the second end 6 of the conduit 4.
  • the safety means may comprise computer programming instructions suitable for activating the first sensor means 11 so as to identify (for example by an artificial vision system) the position of the second end 6 when the actuator means 10 has positioned the second end 6 in the working position, or near the working position.
  • This detected position of the second end 6 of the conduit 4 may then be compared with the previously detected position of the access opening 9 of the second site 3 to perform piloting of the second end 6. Consent to the liquid transfer may be given according to the outcome of the aforesaid comparison.
  • the fluid transferring device 1 comprises, basically, a loading arm in turn comprising a conduit with several conduit sections that are articulated on one another and joined by fluid-tight rotatable joints.
  • the loading arm is shown in the working position, in which the unloading second end 6 is positioned on the vertical of the access opening 9 on the second site 3; in Figure 2 the loading arm is shown in a rest or parked position (in a dedicated parking zone that is integral with the frame 2), in which the arm is located waiting for a loading operation to be performed; in Figure 3 the loading arm is shown in a possible intermediate position during movement between the rest and working positions.
  • Figures 4 and 5 show schematically the loading arm in a possible Cartesian reference system x, y, z; in particular, Figure 5 shows a possible sequence of three approach positions of the arm to the opening 9, in which the second sensor means 12 can detect the presence of the opening 9.
  • fluid conveying conduit comprises at least one flexible tube carried by a frame that in turn comprises at least two sections that are articulated between one another and moved in relation to one another by actuator means.
  • the operation of the device 1 disclosed now can implement a method for transferring fluids between the first site and the second site 3, which comprises the step of providing at least one conduit 4 for transferring fluids with at least one first end 5 and at least one second end 6, which is movable with respect to the first end 5.
  • the method may comprise, in particular, the step of connecting (for example in a substantially known manner) the first end 5 to the first site.
  • the programmable electronic control means may thus be able to move the second end 6 on the basis of the signals supplied by the first sensor means 11, in particular on the basis of the spatial coordinates that identify the position of the access opening 9, by piloting of the actuator means 10 that will position the second end 6 towards the working position, in which the liquid can be transferred from the first site to the second site 3 through the access opening 9, with the second end 6 of the conduit 4 that can act as a discharge end of the liquid.
  • the programmable electronic control means may be configured to initially move the second end 6 according to signals provided by the first sensor means 11 for positioning the second end 6 with approximation near the desired working position, after which the second sensor means 12 may detect the position of the opening 9 and the control means may be configured to move the second end 6 with greater precision in the working position according to the signals provided by the second sensor means 11.
  • the position of the opening 9 may be detected by the second said sensor means 11 when the second end 6 has already been positioned with approximation near the working position on the basis of the signals provided by the first sensor means 11.
  • the second sensor means 12 Before activating (for example in a known manner) the transfer of the fluid, the second sensor means 12 may perform a safety check, verifying the correctness of the relative position between the second end 6 and the opening 9 and providing consent to the transfer of the liquid on the basis of the aforesaid check.
  • connection for permitting the transfer of the fluid is made by inserting an end portion of the conduit at an access opening; the latter may comprise a hatch or other type of access port arranged on an upper part of the container.
  • connection for allowing the fluid to be transferred may provide for the use of a coupler, in particular male coupler that is connectable with a female coupler, or vice versa.
  • a loading arm for loading from below can be adapted, in particular, for loading/unloading from below a road or rail tanker with flange connections or by a joint or a coupler.
  • the access opening may comprise one of the aforesaid connections, joints or couplers (for example a dry coupler, of known type) which are usable, in particular, for ensuring the safety and cleanliness of the operations of loading and unloading a tank from below.
  • couplers for example a dry coupler, of known type

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Loading And Unloading Of Fuel Tanks Or Ships (AREA)
  • Fluid-Pressure Circuits (AREA)
EP19160609.4A 2018-03-02 2019-03-04 Vorrichtung zum transfer von fluiden Active EP3533755B1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IT102018000003219A IT201800003219A1 (it) 2018-03-02 2018-03-02 Dispositivo di trasferimento fluidi

Publications (3)

Publication Number Publication Date
EP3533755A1 true EP3533755A1 (de) 2019-09-04
EP3533755B1 EP3533755B1 (de) 2023-07-19
EP3533755C0 EP3533755C0 (de) 2023-07-19

Family

ID=62386715

Family Applications (1)

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EP19160609.4A Active EP3533755B1 (de) 2018-03-02 2019-03-04 Vorrichtung zum transfer von fluiden

Country Status (3)

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EP (1) EP3533755B1 (de)
ES (1) ES2958855T3 (de)
IT (1) IT201800003219A1 (de)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111533077A (zh) * 2020-06-12 2020-08-14 宝钢化工湛江有限公司 垂管调节机构及液体装卸设备
CN111762748A (zh) * 2020-07-10 2020-10-13 连云港华恒石化设备制造有限公司 一种基于3d机器视觉的火车悬臂装车鹤管
CN115893295A (zh) * 2023-02-07 2023-04-04 深圳市奥图威尔科技有限公司 一种液体危化品装卸车一体撬

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0029768A1 (de) * 1979-11-12 1981-06-03 FMC EUROPE S.A. Société anonyme dite: Verfahren und Anlage zum Überwachen und Steuern eines gelenkigen Fluidumübertragungsarmes, der dazu bestimmt ist, ein Schiff mit einer Plattform im Meer zu verbinden
US6237647B1 (en) * 1998-04-06 2001-05-29 William Pong Automatic refueling station
WO2009141675A1 (en) * 2008-05-22 2009-11-26 Fmc Technologies Sa Control device for fluid transfer system on sea
WO2015088331A1 (en) * 2013-12-09 2015-06-18 Rotec Special Projects B.V. Tank unit for automatic refuelling a vehicle tank, tankstation comprising such tank unit and method therefor
WO2018030897A1 (en) * 2016-08-10 2018-02-15 Rolls-Royce Marine As Motion compensating crane system

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SE538470C2 (sv) * 2014-02-21 2016-07-12 Celective Source Ab Förfarande för att upprätta en temporär anslutning
FR3051782B1 (fr) * 2016-05-24 2018-07-06 Fmc Technologies Sa Dispositif de commande de deplacement, procede et dispositif d'acquisition et de calcul pour celui-ci, ainsi que bras articule de chargement de fluide le comportant.

Patent Citations (5)

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Publication number Priority date Publication date Assignee Title
EP0029768A1 (de) * 1979-11-12 1981-06-03 FMC EUROPE S.A. Société anonyme dite: Verfahren und Anlage zum Überwachen und Steuern eines gelenkigen Fluidumübertragungsarmes, der dazu bestimmt ist, ein Schiff mit einer Plattform im Meer zu verbinden
US6237647B1 (en) * 1998-04-06 2001-05-29 William Pong Automatic refueling station
WO2009141675A1 (en) * 2008-05-22 2009-11-26 Fmc Technologies Sa Control device for fluid transfer system on sea
WO2015088331A1 (en) * 2013-12-09 2015-06-18 Rotec Special Projects B.V. Tank unit for automatic refuelling a vehicle tank, tankstation comprising such tank unit and method therefor
WO2018030897A1 (en) * 2016-08-10 2018-02-15 Rolls-Royce Marine As Motion compensating crane system

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111533077A (zh) * 2020-06-12 2020-08-14 宝钢化工湛江有限公司 垂管调节机构及液体装卸设备
CN111762748A (zh) * 2020-07-10 2020-10-13 连云港华恒石化设备制造有限公司 一种基于3d机器视觉的火车悬臂装车鹤管
CN111762748B (zh) * 2020-07-10 2021-02-05 连云港华恒石化设备制造有限公司 一种基于3d机器视觉的火车悬臂装车鹤管
CN115893295A (zh) * 2023-02-07 2023-04-04 深圳市奥图威尔科技有限公司 一种液体危化品装卸车一体撬
CN115893295B (zh) * 2023-02-07 2024-01-30 深圳市奥图威尔科技有限公司 一种液体危化品装卸车一体撬

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Publication number Publication date
IT201800003219A1 (it) 2019-09-02
EP3533755B1 (de) 2023-07-19
ES2958855T3 (es) 2024-02-15
EP3533755C0 (de) 2023-07-19

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