MX2010008611A - Dispositivo con control directo, en particular control proporcional y/o rectilineo para un sistema de carga y/o de descarga de fluido. - Google Patents
Dispositivo con control directo, en particular control proporcional y/o rectilineo para un sistema de carga y/o de descarga de fluido.Info
- Publication number
- MX2010008611A MX2010008611A MX2010008611A MX2010008611A MX2010008611A MX 2010008611 A MX2010008611 A MX 2010008611A MX 2010008611 A MX2010008611 A MX 2010008611A MX 2010008611 A MX2010008611 A MX 2010008611A MX 2010008611 A MX2010008611 A MX 2010008611A
- Authority
- MX
- Mexico
- Prior art keywords
- coupling
- movement
- control
- input interface
- freedom
- Prior art date
Links
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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/24—Arrangement of ship-based loading or unloading equipment for cargo or passengers of pipe-lines
-
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45045—Maintenance, automatic storage and retrieval system
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T137/00—Fluid handling
- Y10T137/0318—Processes
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T137/00—Fluid handling
- Y10T137/8158—With indicator, register, recorder, alarm or inspection means
- Y10T137/8225—Position or extent of motion indicator
- Y10T137/8275—Indicator element rigidly carried by the movable element whose position is indicated
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T137/00—Fluid handling
- Y10T137/8593—Systems
- Y10T137/8807—Articulated or swinging flow conduit
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Fluid-Pressure Circuits (AREA)
- Manipulator (AREA)
- Ship Loading And Unloading (AREA)
- Loading And Unloading Of Fuel Tanks Or Ships (AREA)
- Control Of Position Or Direction (AREA)
Abstract
La invención se relaciona con un dispositivo de control para el movimiento y la colocación de un acoplamiento para un sistema (2) de carga marina, el sistema de carga marina comprende por lo menos una línea de transferencia de fluido que tiene un extremo de línea fijo con una base y un extremo de línea que se puede mover provisto con un acoplamiento adaptado para la conexión con un conducto principal, el sistema también tiene una pluralidad de conexiones mecánicas, de modo que el acoplamiento tiene por lo menos tres grados de libertad con relación a la base, el dispositivo comprende por lo menos tres accionadores (27, 28, 29) de control proporcional, cada uno para controlar en forma proporcional, el movimiento del sistema en un grado de libertad, un sensor (30, 31, 32) de posición del sistema que rastrea cada grado de libertad, una interfase (60) de entrada del operador para calcular la posición instantánea del acoplamiento a partir de la información provista por los sensores, y para calcular, a partir de las entradas de comando de movimiento de la interfase de entrada, las instrucciones de control simultáneas para ofrecerlas a cada uno de los accionadores, de manera que los movimientos combinados resultan en un movimiento del acoplamiento correspondiente al comando de movimiento provisto por el operador en la interfase de entrada.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR0850820A FR2927322B1 (fr) | 2008-02-08 | 2008-02-08 | Dispositif de commande directe, notamment proportionnelle et/ou de chargement et/ou dechargement de fluides |
PCT/IB2008/002628 WO2009098540A2 (en) | 2008-02-08 | 2008-06-23 | Device with direct control, in particular proportional and/or rectilinear control, for fluid loading and/or unloading system |
Publications (1)
Publication Number | Publication Date |
---|---|
MX2010008611A true MX2010008611A (es) | 2010-09-07 |
Family
ID=39838871
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
MX2010008611A MX2010008611A (es) | 2008-02-08 | 2008-06-23 | Dispositivo con control directo, en particular control proporcional y/o rectilineo para un sistema de carga y/o de descarga de fluido. |
Country Status (17)
Country | Link |
---|---|
US (1) | US8439059B2 (es) |
EP (1) | EP2257493B1 (es) |
JP (2) | JP6284289B2 (es) |
KR (1) | KR101516462B1 (es) |
CN (1) | CN101939251B (es) |
AU (1) | AU2008350052B2 (es) |
BR (1) | BRPI0822331B1 (es) |
CA (1) | CA2713203C (es) |
ES (1) | ES2436294T3 (es) |
FR (1) | FR2927322B1 (es) |
MX (1) | MX2010008611A (es) |
MY (1) | MY154209A (es) |
PL (1) | PL2257493T3 (es) |
PT (1) | PT2257493E (es) |
RU (1) | RU2488547C2 (es) |
WO (1) | WO2009098540A2 (es) |
ZA (1) | ZA201005448B (es) |
Families Citing this family (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8210770B2 (en) * | 2008-07-18 | 2012-07-03 | Cimline, Inc. | Boom assembly for holding hose outputting liquefied paving material |
FR2964093B1 (fr) * | 2010-09-01 | 2012-12-07 | Fmc Technologies Sa | Bras de chargement sans embase |
DE202011051271U1 (de) * | 2011-07-28 | 2012-11-07 | Emco Wheaton Gmbh | Offshore-beladungssystem |
WO2013177568A1 (en) * | 2012-05-25 | 2013-11-28 | T&T Engineering Services, Inc. | Service line transport and deployment system |
DE102012212916A1 (de) * | 2012-07-24 | 2014-01-30 | Putzmeister Engineering Gmbh | Rundverteiler für Dickstoffe |
NO340699B1 (no) | 2013-02-05 | 2017-06-06 | Macgregor Norway As | Fluidoverføringssystem, samt fremgangsmåte, for overføring av kryogenisk hydrokarbonbasert fluid fra en forsyningsstruktur til en mottaksstruktur |
FR3003855B1 (fr) * | 2013-03-29 | 2016-01-29 | Fmc Technologies Sa | Bras de transfert d'un produit fluide de navire a navire |
FR3010044B1 (fr) * | 2013-08-30 | 2017-05-05 | Technip France | Systeme de fluide entre une installation fixe ou flottante de production ou de stockage de fluide et un navire tel qu'un methanier navette |
FR3017127B1 (fr) * | 2014-01-31 | 2016-02-05 | Gaztransp Et Technigaz | Systeme de transfert de gnl d'un navire vers une installation |
WO2016024952A1 (en) * | 2014-08-12 | 2016-02-18 | Halliburton Energy Services, Inc. | Methods and systems for routing pressurized fluid utilizing articulating arms |
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. |
FR3064620B1 (fr) | 2017-03-31 | 2019-06-14 | Fmc Technologies Sa | Systeme de transfert de fluide a actionneurs munis de reducteurs de vitesse reversibles |
FR3075755A1 (fr) * | 2017-12-22 | 2019-06-28 | Fmc Technologies Sa | Systeme de transfert de produit cryogenique entre deux navires places cote a cote |
SG10201807799UA (en) * | 2018-09-10 | 2020-04-29 | Eng Soon Goh | Crash-resistant Bulk Fluid Cargo Distribution Terminal |
KR102019148B1 (ko) * | 2018-09-28 | 2019-11-04 | 로텍엔지니어링 주식회사 | 해상 로딩 암 구동 시스템 |
CN109773779B (zh) * | 2018-12-09 | 2020-12-08 | 西安航天精密机电研究所 | 一种自动对位换油机器人的建模与控制方法 |
CN109399546B (zh) * | 2018-12-11 | 2022-02-11 | 连云港步升机械有限公司 | 一种可转动调节方向具有防漏功能的输油臂 |
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 |
CN116425104B (zh) * | 2022-12-05 | 2024-03-22 | 连云港恩发机械有限公司 | 一种低温无氮气装卸臂及其使用方法 |
Family Cites Families (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2384194A1 (fr) * | 1977-03-17 | 1978-10-13 | Fmc Europe | Bras de chargement articule |
US4109688A (en) * | 1977-08-08 | 1978-08-29 | Fmc Corporation | Attitude maintaining mechanism for a marine loading arm |
US4205308A (en) * | 1977-11-21 | 1980-05-27 | Fmc Corporation | Programmable alarm system for marine loading arms |
DE3071572D1 (en) * | 1979-11-12 | 1986-05-28 | Fmc Europe | Process and apparatus for watching and controlling an articulated fluid-transfer arm for linking a ship to a platform in the sea |
US4408943A (en) * | 1981-02-27 | 1983-10-11 | Fmc Corporation | Ship-to-ship fluid transfer system |
JPS60123628A (ja) * | 1983-12-06 | 1985-07-02 | Hitachi Constr Mach Co Ltd | マニピユレ−タの作業機構姿勢制御装置 |
JPS61165000A (ja) * | 1984-12-29 | 1986-07-25 | 株式会社新潟鐵工所 | 流体荷役装置 |
FR2638731B1 (fr) * | 1988-11-09 | 1991-02-08 | Fmc Europe | Procede pour assurer une deconnexion entre un bras de chargement de fluide et une citerne dont l'un est porte par un vehicule en cas de depart inopine du vehicule; bras de chargement de fluide mettant en oeuvre ce procede; deconnecteur de securite pour sa mise en oeuvre |
JPH05295754A (ja) * | 1992-04-15 | 1993-11-09 | Komatsu Ltd | 油圧式掘削機の作業機操作装置 |
JPH0724754A (ja) * | 1993-07-13 | 1995-01-27 | Komatsu Ltd | 作業用ロボット及びその制御方法 |
JP2888325B2 (ja) * | 1994-04-11 | 1999-05-10 | 株式会社新潟鉄工所 | 流体荷役装置における船舶の甲板検知制御装置 |
JPH09272081A (ja) * | 1996-04-05 | 1997-10-21 | Nippon Steel Corp | 遠隔操作入力装置及び遠隔操作入力方法 |
JPH11347983A (ja) * | 1998-06-11 | 1999-12-21 | Meidensha Corp | マニプレータの動作制限装置 |
FR2796375B1 (fr) * | 1999-07-13 | 2001-10-12 | Fmc Europe | Systeme de chargement offshore par tuyauterie suspendue |
US6382269B1 (en) * | 2000-02-22 | 2002-05-07 | Tatsuno Corp. | Automatic fueling system |
AU2003218178B2 (en) * | 2002-03-14 | 2009-05-21 | Euronet Worldwide, Inc. | A system and method for purchasing goods and services through data network access points over a point of sale network |
JP2004352016A (ja) | 2003-05-28 | 2004-12-16 | Kayaba Ind Co Ltd | 洋上給油装置 |
CN1677382A (zh) * | 2004-03-31 | 2005-10-05 | 联想(北京)有限公司 | 计算机与无线设备相融合的通讯装置 |
EP1999008B1 (en) * | 2006-03-30 | 2010-02-24 | Single Buoy Moorings Inc. | Hydrocarbon transfer system with horizontal displacement |
-
2008
- 2008-02-08 FR FR0850820A patent/FR2927322B1/fr not_active Expired - Fee Related
- 2008-06-23 AU AU2008350052A patent/AU2008350052B2/en active Active
- 2008-06-23 US US12/735,687 patent/US8439059B2/en active Active
- 2008-06-23 JP JP2010545567A patent/JP6284289B2/ja active Active
- 2008-06-23 ES ES08872266T patent/ES2436294T3/es active Active
- 2008-06-23 WO PCT/IB2008/002628 patent/WO2009098540A2/en active Application Filing
- 2008-06-23 RU RU2010137349/12A patent/RU2488547C2/ru active
- 2008-06-23 PL PL08872266T patent/PL2257493T3/pl unknown
- 2008-06-23 PT PT88722665T patent/PT2257493E/pt unknown
- 2008-06-23 CA CA2713203A patent/CA2713203C/en active Active
- 2008-06-23 CN CN2008801263473A patent/CN101939251B/zh active Active
- 2008-06-23 BR BRPI0822331A patent/BRPI0822331B1/pt active IP Right Grant
- 2008-06-23 KR KR1020107017486A patent/KR101516462B1/ko active IP Right Grant
- 2008-06-23 MX MX2010008611A patent/MX2010008611A/es active IP Right Grant
- 2008-06-23 EP EP20080872266 patent/EP2257493B1/en active Active
- 2008-06-23 MY MYPI2010003516A patent/MY154209A/en unknown
-
2010
- 2010-07-29 ZA ZA2010/05448A patent/ZA201005448B/en unknown
-
2014
- 2014-07-18 JP JP2014147990A patent/JP2014237442A/ja active Pending
Also Published As
Publication number | Publication date |
---|---|
CA2713203C (en) | 2015-10-06 |
RU2010137349A (ru) | 2012-03-20 |
PL2257493T3 (pl) | 2014-04-30 |
US20100313977A1 (en) | 2010-12-16 |
JP6284289B2 (ja) | 2018-02-28 |
RU2488547C2 (ru) | 2013-07-27 |
FR2927322B1 (fr) | 2010-03-05 |
CA2713203A1 (en) | 2009-08-13 |
BRPI0822331B1 (pt) | 2019-01-02 |
BRPI0822331A2 (pt) | 2015-06-16 |
AU2008350052B2 (en) | 2013-10-17 |
US8439059B2 (en) | 2013-05-14 |
WO2009098540A3 (en) | 2009-11-19 |
KR20100112609A (ko) | 2010-10-19 |
KR101516462B1 (ko) | 2015-05-04 |
EP2257493A2 (en) | 2010-12-08 |
PT2257493E (pt) | 2013-11-25 |
WO2009098540A2 (en) | 2009-08-13 |
ES2436294T3 (es) | 2013-12-30 |
JP2014237442A (ja) | 2014-12-18 |
AU2008350052A1 (en) | 2009-08-13 |
CN101939251B (zh) | 2013-07-10 |
EP2257493B1 (en) | 2013-08-21 |
FR2927322A1 (fr) | 2009-08-14 |
ZA201005448B (en) | 2011-07-27 |
JP2011515280A (ja) | 2011-05-19 |
MY154209A (en) | 2015-05-15 |
CN101939251A (zh) | 2011-01-05 |
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Legal Events
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FG | Grant or registration |