JPH063840Y2 - Alarm device in fluid handling equipment - Google Patents

Description

[Detailed Description of the Invention] [Industrial field of application] For example, when unloading oil from an oil tanker moored in a sea berth to an onshore storage tank or when loading oil from the storage tank to the oil tanker, The present invention relates to an alarm device in a fluid cargo handling device for correcting fluctuations in a petroleum tanker or the like during cargo handling so that cargo can be safely handled.

[Conventional technology]

As an example of the fluid handling apparatus used in the above-mentioned case, as shown in FIG. 8, a rising pipe 1 erected on a seaverse S is vertically moved by a hydraulically driven inboard cylinder 2 and a horizontal cylinder. An inboard arm 4 that can be rotated to the left and right by 3 is attached, and an outboard arm 6 that can be rotated up and down by a hydraulically driven outboard cylinder 5 is attached to the tip of the inboard arm 4. A structure is known in which the balance of the arms 4 and 6 is maintained by the counterweight 7.

When carrying out a cargo handling operation by such a fluid cargo handling apparatus, the connecting pipe 8 at the tip of the outboard arm 6 is connected to the cargo handling pipe 9 on the oil tanker T to perform the cargo handling work. , 5 are pressure oil circulation pipelines that circulate the pressure oil discharged from the cylinders 2, 3, 5 to the cylinders 2, 3, 5 to bring the cylinders 2, 3, 5 into a free operating state. By this, even if the oil tanker T swings or changes the water level at the time of cargo handling, or each arm 4 or 6 follows the seabass S, the cargo handling work proceeds. It is like this.

At this time, the cargo handling work is carried out by mooring the petroleum tanker T so that the cargo handling pipe 9 of the petroleum tanker T is located in the optimum range near the center of the movable range of the tip of the fluid handling device.
When there is a situation in which the vehicle moves away from the safe operating range of the fluid handling equipment under the influence of strong winds or waves, or when a sudden accident such as a fire occurs, the fluid handling equipment on the sea berth S and the oil It is necessary to separate the tanker T.

Therefore, the emergency disconnecting device 10 is interposed between the outboard arm 6 and the connecting pipe 8 at the tip thereof, and in an emergency, the emergency disconnecting device 10 is disconnected by a command signal as shown in FIG. 9 to avoid the worst situation. You can do it.

[Problems to be solved by the device]

By the way, when the above emergency disconnection device 10 is operated,
It is desirable to keep the emergency disconnection device 10 safe by another means before the operation of the emergency disconnection device 10 because there is a risk that some fluid may flow out from the relevant part and a fire may be caused, and that once the operation is performed, it takes time and trouble to recover. .

Therefore, it is conceivable to keep the oil tanker T such that the position of the cargo handling pipe 9 is always within the above-mentioned optimum range so that it is difficult to exceed the safe movable range of the fluid handling device even if it moves due to strong wind or waves. However, conventionally, a person determines the position of the oil tanker T by using the structure of the seaverse S as a guide, and when it determines that it is necessary, operates a mooring winch or the like to control the position. It was a work that relied on my intuition, so I could not get a sufficient effect.

This device can display the position of the tanker on the position indicator and always know exactly whether it is in the optimum range and can take appropriate measures, and in the case where the emergency disconnection device is disconnected. It is an object of the present invention to provide an alarm device in a fluid cargo handling device, which can respond quickly and accurately by cooperating with each other on the tanker side and the seaverse side.

[Means for Solving the Problems]

In order to achieve the above-mentioned object, the present invention is such that an inboard arm is rotatably connected to a rising pipe erected on a seaverse, and an outboard arm is rotatably connected to the inboard arm. In the fluid cargo handling device in which a connection portion connected to a cargo handling pipe of a tanker moored to a seabers is provided at a free end of the outboard arm, a sensor for detecting their postures is attached to each of the arms,
The seabass is connected to the alarm device, position indicator and main radio transmitter / receiver on the seaverse, and the position of the connection part is calculated based on the data from the sensor and the calculated value is set in advance in the optimum range. Compared with the setting value indicating
The calculation result is displayed on the position indicator on the seaverse and transmitted from the main wireless transceiver, and when the calculated value exceeds the set value, an alarm signal is set and transmitted from the main wireless transceiver. The device is installed, and the tanker connected to the cargo handling pipe is connected to the position indicator on the tanker and the sub wireless transceiver, and the signal transmitted from the main wireless transceiver is sent to the sub wireless transceiver. While receiving and displaying on the position indicator on the tanker, when the calculated value exceeds the set value, the sub-radio is a recovery signal to inform the arithmetic and control unit that the signal from the main wireless transceiver has been received. A central signal processing unit that sends an alarm from the transceiver to the main radio transceiver and issues an alarm from the alarm through the arithmetic and control unit when an alarm signal is set in the arithmetic and control unit is installed. .

[Action]

When the tanker moored to the seabers and having the cargo handling pipe connected to the connection portion of the fluid cargo handling device moves due to waves or wind, the inboard arm and the outboard arm rotate following the movement of the tanker. Each sensor attached to each arm detects the posture of each arm and outputs it to the arithmetic and control unit installed in the seaverse. The arithmetic and control unit calculates the position of the connection portion of the fluid cargo handling device based on each detection signal (data) output from each sensor, and compares the calculated value with a set value indicating a preset optimum range, The result is displayed on the position indicator on the seaverse and transmitted from the main radio transceiver. The arithmetic and control unit sets an alarm signal when the calculated value exceeds the set value and transmits the alarm signal from the main radio transceiver.

The central signal processing unit installed in the tanker receives the signal transmitted from the main radio transceiver in the sub radio transceiver and displays it on the position indicator on the tanker, and the calculated value exceeds the set value. When the alarm signal is set in the arithmetic and control unit by sending a recovery signal from the sub-wireless transceiver to the main and wireless transceivers to inform the arithmetic and control unit that the above signal from the main and wireless transceiver has been received The alarm is issued from the alarm device through the arithmetic and control unit.

Therefore, it is confirmed on the seaverse side that the abnormality was transmitted to the tanker side, and the confirmation sound on the seaverse side is confirmed on the tanker side by the warning sound of the seaverse side. Even if the fluid handling work is performed, it is possible to take appropriate measures promptly and accurately in cooperation with each other, or to take appropriate measures.

〔Example〕

An embodiment of the present invention will be described below with reference to FIGS. 1 to 7.

First, the overall structure of the fluid cargo handling device A will be described.
Reference numeral 0 is a rising pipe erected on the sea berth S or the like. An inboard arm 21 is rotatably attached to the upper end of the rising pipe 20 via a horizontal horizontal joint 22 and a vertical vertical joint 23 so as to be rotatable vertically.
An outboard arm 24 is attached to the tip of the inboard arm 21 via a hollow vertical rotation joint 25 so as to be vertically rotatable. Further, a hydraulically driven outboard cylinder 26 having a piston with a piston rod inserted therein is attached to the inboard arm 21 so as to be vertically rotatable, and the tip of the piston rod is
The tip of a link 27a pin-connected to the inboard arm 21 and the tip of a link 27b pin-connected to the outboard arm 24 are rotatably connected by the same shaft pin.

The links 27a and 27b constitute a V-shaped link mechanism 27, and when the outboard cylinder 26 is extended and contracted, the outboard arm 24 is rotated up and down via the V-shaped link mechanism 27. It has become. In addition, a hydraulically driven inward that vertically rotates the inboard arm 21 is provided between the rising pipe 20 and the inboard arm 21 via a V-shaped link mechanism 28 having the same configuration as the V-shaped link mechanism 27. A board cylinder 29 and a hydraulically driven horizontal cylinder 31 for horizontally rotating the inboard arm 21 via a similar V-shaped link mechanism (not shown) are provided. Further, a balance arm 33 having a main counterweight 32 is provided at the root end portion of the inboard arm 21, and a balance arm 35 having a sub counterweight 34 is provided at the root end portion of the outboard arm 24. ing.

An emergency disconnecting device 36 is attached to the tip of the outboard arm 24 via a hollow vertical rotary joint 37 and a hollow horizontal rotary joint 37a. This emergency disconnecting device 36 includes a disconnecting coupler 39 that is separated by a disconnecting cylinder 38, and a pair of shutoff valves 40a, 40 such as butterfly valves arranged above and below sandwiching the disconnecting coupler 39.
b, a control unit 36a and a hydraulic device 36b, and the upper shutoff valve 40a is the outboard arm 24.
Is connected to the hollow horizontal rotary joint 37a at the tip of the connector via a connecting pipe 41, and the lower shutoff valve 40b is provided with an L-shaped connecting pipe having a connecting portion P at the end thereof to be connected to the cargo handling pipe 43 on the tanker side. 42 is connected. Further, the shut-off valves 40a and 40b are provided with shut-off cylinders 44 that interlock the shut-off couplers 39 with a link mechanism (not shown) before they are activated in an emergency.

Further, the inboard arm 21 and the outboard arm 24 are provided with arm inclination angle sensors 50a and 50b, respectively, and the rising pipe 20 is provided with a turning angle sensor 50c, respectively. the inclination angle theta ₁ with respect to the vertical line of the arm _21, the inclination angle theta ₂ with respect to the vertical line of the outboard arms 24,
Also, the horizontal turning angle θ _{3 of the} inboard arm 21 is detected. Each sensor 50a, 50
b and 50c are each composed of an inclinometer (not shown) in which a pendulum is attached to a 10-bit absolute encoder, and a parallel / serial conversion section connected to the inclinometer via a parallel input section. It has a built-in damper oil for shock absorption. The sensors 50a, 50b, 50
c is connected to the arithmetic and control unit 51 installed in the seaverse S via a cable or the like.

The arithmetic and control unit 51 includes the sensors 50a, 50b,
The position of the connecting portion P at the tip of the outboard arm 24 is calculated based on the data from 50c, and the calculated value is compared with a set value indicating an optimum range set in advance, and the result is on the seaverse S. Position display (position indicator)
52, or the monitor display 52a printer 54, the data storage device 55 and the main wireless transceiver 56, and when the calculated value exceeds the set value, an alarm signal is set to set the main wireless transceiver 56. Is configured to originate from. The arithmetic and control unit 51 is also connected to a voice generator (alarm) 53 and a control unit 36a of the emergency disconnection device 36.

The arithmetic and control unit 51 performs the following calculation in its arithmetic unit (not shown) based on the data from the respective sensors 50a, 50b and 50c.

X ₀ = (R ₁ sin θ ₁ + R ₂ sin θ ₂ ) × cos θ ₃ + R ₃ sin θ ₃ + L
(1) Y ₀ = (R ₁ sin θ ₁ + R ₂ sin θ ₂ ) × sin θ ₃ −R ₃ cos θ ₃
(2) Z ₀ = R ₁ cos θ ₁ −R ₂ cos θ ₂ −H
(3) However, here, the vertical rotation joint 23 at the top of the rising pipe 20
With the center of rotation as the origin, the X-axis is set in the direction perpendicular to the outer wall line 1 (see FIG. 4) of the seaverse S in the horizontal plane, the Y-axis is set in the direction orthogonal to this in the horizontal plane, and the Z-axis is set in the vertical direction. , The length of the inboard arm 21 is R ₁ , the length of the outboard arm is R ₂ , and the arms 21 and 2 of the vertical portion of the connecting portion P and the origin.
4, the deviation in the direction orthogonal to 4 is R ₃ , the length of the horizontal portion of the connecting pipe 42 is L, the distance between the hollow vertical rotary joint 37 and the horizontal portion of the connecting pipe 42 is H, and the connection of the tip of the connecting pipe 42 is performed. The position of the portion P is (X ₀ , Y ₀ , Z ₀ ) (see FIGS. 4 and 5).

On the other hand, the tanker T is provided with a sub wireless transmitter / receiver 57 that transmits / receives signals to / from the main wireless transmitter / receiver 56 via the antennas 56a and 57a. The sub wireless transmitter / receiver 57 has a central signal processing unit (CPU). 58 is connected to the central signal cylinder section 58, and a control section 59a of a position display (position display) 59 installed in the operation room of the tanker T, a digital input section 60a of an operation panel 60, and It is connected to the digital output section 60b.

The central signal processing unit 58 receives the signal transmitted from the main radio transmitter / receiver 56 on the sub radio transmitter / receiver 57 and displays it on the position indicator 59 on the tanker T, and the calculated value exceeds the set value. In the case where the signal from the main radio transceiver 56 is received, a recovery signal for notifying the arithmetic and control unit 51 that the signal has been received is sent from the sub radio transceiver 57 to the main radio transceiver 56, and an alarm signal is sent to the arithmetic and control unit 51. When it is set, an alarm is issued from the alarm device 53 through the arithmetic and control unit 51.

By the way, as described above, the arithmetic and control unit 51 sets an alarm signal when the calculated value of the position of the connection portion P exceeds the set value and transmits it from the main radio transceiver 56, and the central signal processing unit 58. Sends a recovery signal from the sub wireless transceiver 57 to the main wireless transceiver 56 informing the arithmetic and control unit 51 that the signal from the main wireless transceiver 56 has been received when the calculated value exceeds the set value. Then, when the alarm signal is set in the arithmetic and control unit 51, the alarm unit 53 is configured to issue an alarm through the arithmetic and control unit 51, and the reason for doing so is as follows.

That is, the emergency disconnection device 36 is activated to operate the cargo handling pipe 4
In order to separate the outboard arm 24 from 3, in order not to generate surge pressure or water hammer phenomenon,
For example, after stopping the cargo handling pump, the shutoff valve 40a,
It is necessary to close 40b and then disconnect the disconnect coupler 39.

In order to perform such work efficiently, quickly and accurately, close communication of information between the seaverse side and the tanker side,
Moreover, it is necessary to double check the transmission in double and triple and to work together between them.

With the above configuration, the following (a) and (b) can be confirmed on the seabers side and the tanker side, which facilitates the linking work.

(A) The fact that the calculated value exceeded the set value was reported to the tanker side (confirmed on the seaverse side).

(B) The above (a) was transmitted to the seaverse side (confirmed by the tanker side).

In addition, the calculated value of the position of the connecting portion P exceeds the set value, and the alarm does not sound unless the alarm signal is set on the seaverse side, so that erroneous transmission from the tanker side does not cause confusion.

Further, the tanker T is provided with a mooring device (not shown), which includes a winch installed at a plurality of positions on the tanker T and a plurality of winches wound around the winch and installed at the other end of the seaverse S. The mooring line is fixed to the mooring member of the mooring member. The mooring line is kept in an appropriate emergency state in this winch, and as described above, the mooring line is released when the tanker T itself moves due to the influence of strong wind or waves. A mechanism is provided. In addition, an operation switch for starting and stopping the operation of these winches is installed in the operation room of the tanker, and one or a plurality of winches can be operated to control the mooring position of the tanker T.

In FIG. 2, reference numeral 70 denotes a main controller, which includes the inclination angle sensors 50a and 50b, the turning angle sensor 50c, the inboard cylinder 29, and the outboard cylinder 2.
6 and hydraulic device 71 for supplying hydraulic pressure to the horizontal cylinder 31
After the emergency disconnecting device 36 is activated and the fluid handling device A and the tanker T are separated from each other, the hydraulic device 71 is connected according to the detection values of the sensors 50a, 50b, 50c.
While controlling the positions of the inboard arm 21 and the outboard arm 24 (for example, the connecting portion P follows the locus O shown by the broken line in FIG. 2). Each hollow joint 22,
It is configured to rotate around 23 and 25 to prevent contact accident with the tanker T or the like.

It should be noted that the position indicator 52 on the seaverse S and the position indicator 59 on the tanker T are substantially the same.

Next, the operation of the alarm device in the fluid handling device configured as described above will be described mainly based on the flow charts of FIGS. 6 and 7. When the cargo handling pipe 43 of the tanker T is connected to the connecting portion P of the connecting pipe 42 of the fluid cargo handling device A and the cargo handling of the fluid is started, the angle sensors 50a, 50b,
From 50c, the detected values θ ₁ , θ ₂ , of the tilt angle or the turning angle of each arm 21, 24 in the vertical and horizontal directions.
θ ₃ is input to the arithmetic and control unit 51, and the arithmetic and control unit 5
1 is based on this, and according to the equations (1), (2), and (3), the position coordinates (X ₀ , Y ₀ ,
Z ₀ ) is calculated (St1), and this is sent to the printer 54 and the data storage device 56, converted into a display signal, and displayed on the position display 52 and the monitor display 52a so that a person can immediately judge it. Let

Further, the arithmetic and control unit 51 compares the above calculated value with a preset value indicating a preset optimum range (St2), and if it exceeds this range, an alarm signal is set (S2).
t3), these calculated data, and the alarm signal when set in St3, the sub wireless transceiver 5 on the tanker T from the main wireless transceiver 56 via the antennas 56a and 57a.
7 (St4), and is input to the central signal processing unit 58 and processed (St5).

The position calculation data sent from the main wireless transmitter / receiver 56 to the sub wireless transmitter / receiver 57 is sent to the LCD controller 59a and displayed on the position display 59 (St).
6). Then, in the operation room of the tanker T, a person takes necessary measures such as manually operating the mooring winch when deviating from the center of the optimum range while monitoring the position display 59.

When the alarm signal is received by the sub wireless transceiver 57, the central signal processing unit 58 outputs a recovery signal for confirming that the signal has been received on the side of the seaverse S, and the calculation is performed in the route opposite to the above. It is input to the control device 51. When the recovery signal is input to the arithmetic and control unit 51, the arithmetic and control unit 51 outputs a command signal for issuing an alarm to the voice generator 53 (St8, St9).

On the other hand, in the central signal processing unit 58, when the received signal includes the alarm signal, the central signal processing unit 58 outputs an alarm to the outside through the digital output unit 60b to temporarily stop the transfer of the fluid cargo handling apparatus A, for example. A signal to stop the operation of the pump is issued to the controller (St10, St11).

Even if the position exceeds the optimum range, the mooring winch is operated to correct the position of the tanker T, and when the position returns to the optimum range, the alarm signal is canceled (St3 '), and accordingly, the sound generator 53 is notified. The signal for sending an alarm is also released (St
8), the same applies to the central signal processing unit 58 (St).
10). On the other hand, when the movement distance of the tanker T is large and exceeds not only the optimum range but also the safe movable range as it is, the control unit 36a operates the hydraulic device 36b of the emergency disconnecting device 36 to disconnect the disconnecting coupler 39. The fluid handling device A is separated from the tanker T, and the main controller 70
By the hydraulic device 71, the connecting portion P is returned to a substantially upright position so as to draw an appropriate trajectory.

The setting of the optimum range is set in consideration of the size of the tanker T, the situation of the seaverse S, and other conditions.
It is also possible to set each time considering the weather conditions such as wind speed, wind direction and tidal current.

[Effect of device]

As described above in detail, in the present invention, the inboard arm is rotatably connected to the rising pipe erected on the seaverse, and the outboard arm is rotatably connected to the inboard arm. In a fluid handling apparatus provided with a connection portion connected to a cargo handling pipe of a tanker with a seabers moored at a free end of an outboard arm, a sensor for detecting their posture is attached to each of the arms, and the seaverse is provided. It is connected to the alarm device on the seaverse, the position indicator, and the main radio transceiver, and calculates the position of the connection part based on the data from the sensor and sets the calculated value to show the preset optimum range. When the calculated value is compared with the above value, displayed on the position indicator on the seaverse and transmitted from the main radio transceiver, and the calculated value exceeds the set value. An arithmetic and control unit that sets an alarm signal and transmits from the main wireless transceiver is installed, and the tanker whose connection part is connected to the cargo handling pipe is connected to the position indicator on the tanker and the sub wireless transceiver. And the signal transmitted from the main radio transceiver is received by the sub radio transceiver and displayed on the position indicator on the tanker, and the above-mentioned from the main radio transceiver when the calculated value exceeds the set value. A warning signal is sent from the sub-radio transceiver to the main radio transceiver to inform the arithmetic and control unit that a signal has been received, and an alarm is issued from the alarm device through the arithmetic and control unit when an alarm signal is set in the arithmetic and control unit. Since the central signal processing unit for sending out is installed, the fact that the data of each arm of the fluid handling device obtained on the seaverse side was transmitted to the tanker side is the recovery signal on the tanker side. Therefore confirmed in sea berth side, it was confirmed by sea berth side is to be confirmed by the tanker side by sea berth side of the alarm sound. Therefore, regardless of whether the tanker side or the seaverse side is carrying out fluid handling work, the tanker side and the seaverse side can cooperate with each other quickly and accurately to take appropriate measures, or to prepare for them. And reliability are obtained.

[Brief description of drawings]

FIG. 1 is a diagram showing the configuration and linkage of each part of one embodiment of the present invention, FIG. 2 is a diagram showing an outline of a fluid cargo handling device, FIG. 3 is a diagram showing the configuration of a control mechanism, FIG. 4 and FIG. 5 is a schematic diagram showing a calculation method, FIG. 6 is a diagram showing a flow of control on the seaverse side, FIG. 7 is a diagram showing a flow of control on the tanker side, FIG. 8 is a diagram showing a conventional fluid handling apparatus, FIG. 9 is a diagram showing a state in which the emergency disconnecting device is operated in the conventional example. 20 ... Stand-up pipe 21 ... Inboard arm 24 ... Outboard arm 43 ... Cargo handling pipes 50a, 50b ... Arm tilt angle sensor 50c ... Turning angle sensor 51 ... Arithmetic control device 56 ... Main radio transceiver 57 ... Sub wireless transceiver A ... Fluid handling device T ... Tanker S ... Seaverse P ... Connection

 ─────────────────────────────────────────────────── ─── Continuation of front page (56) References JP-A-56-142780 (JP, A) JP-B-54-37396 (JP, B2) JP-B-59-38160 (JP, B2)

Claims (1)

[Scope of utility model registration request] 1. An inboard arm (21) is rotatably connected to a rising pipe (20) erected on a seaverse (S), and the outboard arm (2) is connected to the inboard arm.
4) is connected rotatably and is connected to the cargo handling pipe (43) of the tanker (T) moored to the seaverse (S) at the free end of the outboard arm (24). In the fluid cargo handling apparatus provided with a sensor (5) for detecting the posture of each arm (21, 24).
0a, 50b, 50c) are attached, and sea berth (S)
Is connected to the alarm device (53) on the seaverse (S), the position indicator (52) and the main radio transceiver (56), and based on the data from the sensors (50a, 50b, 50c). The position of the connection part (P) is calculated, the calculated value is compared with a preset set value indicating an optimum range, and the result is displayed on the position indicator (52) on the seaverse (S). An arithmetic and control unit (51) is installed which transmits from the main wireless transceiver (56) and sets an alarm signal when the calculated value exceeds the set value and transmits from the main wireless transceiver (56). Also, the cargo handling pipe (4
The tanker (T) connected to the connection part (P) in (3) is connected to the position indicator (59) and the sub wireless transceiver (57) on the tanker (T), and also the main wireless transceiver (56). ) Is received by the sub wireless transceiver (57) and displayed on the position indicator (59) on the tanker (T), and the main radio when the calculated value exceeds the set value. A sub-radio transceiver (57) sends a recovery signal to the main radio transceiver (56) to inform the arithmetic and control unit (51) that the signal from the transceiver (56) has been received,
A fluid characterized by comprising a central signal processing unit (58) for issuing an alarm from an alarm device (53) through the arithmetic and control unit (51) when the alarm signal is set in the arithmetic and control unit (51). Warning device in cargo handling equipment.