CN207386981U - Suitable for harbour petroleum pipeline loading arm and the automatic butt equipment of ship flange - Google Patents
Suitable for harbour petroleum pipeline loading arm and the automatic butt equipment of ship flange Download PDFInfo
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- CN207386981U CN207386981U CN201721478480.8U CN201721478480U CN207386981U CN 207386981 U CN207386981 U CN 207386981U CN 201721478480 U CN201721478480 U CN 201721478480U CN 207386981 U CN207386981 U CN 207386981U
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- petroleum pipeline
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- driving device
- loading arm
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Abstract
The utility model discloses the automatic butt equipment suitable for harbour petroleum pipeline loading arm and ship flange, including the pedestal being fixed on harbour face, column, shaft case is connected on column, petroleum pipeline loading arm including inner arm and outer arm, column and petroleum pipeline loading arm junction, inner arm and outer arm junction are equipped with detachable elbow, petroleum pipeline loading arm is equipped with support case, maintenance platform, steel wire rope mechanism, driving device, laser locating apparatus is equipped with positioned at the harbour face of pedestal, outer arm end connects Three dimensional joint, surge quick connector, bend pipe positioned at Three dimensional joint is equipped with vision positioning device；The utility model CCD camera can monitor and realize surge quick connector and goal method orchid Dock With Precision Position in real time, it ensure that the operation of fluid normal transport conveying, the problem of fluid leakage causes environmental pollution to harbour and harbour is avoided simultaneously, it improves work efficiency simultaneously, meet the needs of large-tonnage dock operation, substantially increase economic benefit.
Description
Technical field
The utility model is related to marine oil delivery pipe docking facilities, are especially adapted for use in harbour petroleum pipeline loading arm and ship method
Blue automatic butt equipment.
Background technology
It is continuously increased with the fast development and large-tonnage harbour of the construction at harbour, the use of loading arm peculiar to vessel is also therewith
Popularization.Current loading arm using the driving of hydraulic cylinder, it can be achieved that the left rotation and right rotation of loading arm, face upward down attached, outer arm by inner arm
The movements such as stretching, extension contraction, loading arm end structure is compact, and spatial position is than narrow, when the Quick Connect Kit of loading arm end
Also manual type is needed to operate when being docked with vessel flange, do not only exist that mating operation amount is big, and work efficiency is low, if petroleum pipeline fills
It unloads arm and slitless connection is not implemented in ship collection pipe flange, leakage can be generated during fluid conveys, not only cause resource unrestrained
Take, and pollute harbour and water resource environment, be unfavorable for economic development.Therefore efficient dock operation is to ensure Port Economic
The chip of steady-state growth, in order to realize the steady-state growth of harbour economy and development, mechanization and intelligence replace artificial behaviour
It is necessary.
It is full in order to realize quick, accurate, the efficient docking of surge quick connector and ship target flange on harbour face
Sufficient large-tonnage harbour fills the demand of high efficiency harbour service, the utility model cooperation intelligent industrial technology using laser positioning
It puts and Dual positioning is carried out to target flange with vision positioning device, and pass through driving device, surging for driving outer arm end is quick
Connector and ship target flange Dock With Precision Position, in order to improve docking precision and flexibility ratio, the present invention is in the three-dimensional of loading arm
Connector adds two groups of connector driving devices, and connector driving device is made of oscillating oil cylinder and big small transmission gear, can meet ship
The requirement waved, impact and rotated of oceangoing ship, the structure can flexibly control the Quick Connect Kit of end and ship flange from
Dynamic docking, petroleum pipeline arm and ship collection pipe flange Dock With Precision Position, ensure that the operation of fluid normal transport conveying, avoid simultaneously
The problem of fluid leakage causes environmental pollution to harbour and harbour, protects environment, improves dock operation efficiency and economic effect
Benefit is worthy to be popularized.
Utility model content
It is docked for existing dock operation scale, the demand of mechanization and petroleum pipeline arm and steamer oil transportation mouth
The high request of precision, the utility model proposes the automatic butt equipment suitable for harbour petroleum pipeline loading arm and ship flange,
Technical solution is as follows：
Suitable for harbour petroleum pipeline loading arm and the automatic butt equipment of ship flange, including the base being fixed on harbour face
Seat, column are equipped with hydraulic valve box at the pedestal, shaft case, the oil transportation for including inner arm and outer arm are connected on the column
Pipe loading arm, the column and the petroleum pipeline loading arm junction, the inner arm and the outer arm junction are equipped with removable
Elbow is unloaded, the petroleum pipeline loading arm periphery is equipped with support case, maintenance platform, steel wire rope mechanism, driving device, and feature exists
In described to be equipped with laser locating apparatus positioned at the harbour face of pedestal, the laser locating apparatus is by holder and laser range finder
Composition, the outer arm end connect Three dimensional joint, and the Three dimensional joint is made of connector driving device and bend pipe, described to be located at three
Dimension connector end connects the quick connector that surges, and the bend pipe positioned at Three dimensional joint is equipped with vision positioning device, described to regard
Feel that positioner includes hardware module and processing module, the hardware module is made of camera, holder, capture card, computer, institute
Processing module is stated, is made of image pre-processing module, characteristic extracting module, target identification module, position coordinates computing module, institute
Processing module is stated to be suitable for sending acquisition picture signal to the camera of the hardware module, and the image of acquisition is pre-processed,
Feature extraction, target identification calculate outer arm terminal position coordinate and output parameter, and the driving device is according to output outer arm end
Position coordinates, driving outer arm move to the Dock With Precision Position of surge quick connector and ship target flange.
Further, the connector driving device is made of oscillating oil cylinder, gear wheel, pinion gear and encoder.
Further, the camera is two groups of binocular CCD camera.
Further, the driving device includes horizontal drive apparatus, outer arm driving device and inner arm driving device, described
Horizontal drive apparatus, outer arm driving device and inner arm driving device are equipped with hydraulic cylinder, the hydraulic cylinder and the hydraulic pressure
Clack box is connected and driven.
Further, the oscillating oil cylinder is connected and driven with hydraulic valve box.
Further, the outer arm driving device is equipped with outer arm and drives encoder, and the inner arm driving device is equipped with inner arm
Drive encoder.
Further, the quick connector that surges is equipped with adjustable legs.
Further, it is equipped with mechanical locking device at the inner arm lower end and the shaft case.
Further, the inner arm is equipped with to balance the clump weight of its gravitational moment.
The beneficial effects of the utility model are as follows：
The vision positioning device of the utility model is mounted on petroleum pipeline arm outer arm end, two groups of CCD binocular cameras being equipped with,
When petroleum pipeline arm is into ship target flange position moving process, CCD camera can detect the position of oil transportation mouth in real time, and will regard
Positioner coordinate transform is felt into the coordinate compared with mechanical arm tail end, while the processing module in vision positioning device is by coordinate
Signal output, so as to drive the movement of petroleum pipeline arm, realizes surge quick connector and the steamer of outer arm to driving control system
The Dock With Precision Position of oil transportation mouth.Petroleum pipeline arm and oil transportation mouth Dock With Precision Position, ensure that the operation of fluid normal transport conveying, keep away simultaneously
The problem of fluid leakage causes environmental pollution to harbour and harbour is exempted from, has improved work efficiency simultaneously, meet large-tonnage harbour
The demand of operation, substantially increases economic benefit.
Description of the drawings
Fig. 1 is the utility model harbour petroleum pipeline loading arm docking using status schematic diagram.
Fig. 2 is followed successively by the utility model Three dimensional joint and the structure diagram of connector driving device from left to right.
Fig. 3 is the utility model harbour petroleum pipeline loading arm main structure diagram.
Fig. 4 is the utility model harbour petroleum pipeline loading arm side structure schematic view and camera structure schematic diagram.
Wherein, 1- pedestals, 2- columns, 3- inner arms, 4- outer arms, 5- shaft casees, 6- support casees, 7- Three dimensional joints, 71- are swung
Oil cylinder, 72- gear wheels, 73- pinion gears, 74- encoders, 8- surge quick connector, 81- adjustable legs, and 9- is detachably curved
Head, 10- maintenance platforms, 11- steel wire ropes mechanism, 12- horizontal drive apparatus, 13- outer arm driving devices, 14- inner arm driving devices,
15- clump weights, 16- hydraulic cylinders, 17- laser locating apparatus, 18- cameras, 19- tool locking devices, 20- hydraulic valve boxes.
Specific embodiment
In the following with reference to the drawings and specific embodiments, the utility model is furtherd elucidate, it should be understood that embodiment is merely to illustrate
The utility model rather than limitation the scope of the utility model, after the utility model has been read, those skilled in the art
The application scope as defined in the appended claims is fallen within to the modification of the various equivalent forms of the utility model.
1 the utility model is further explained to attached drawing 4 below in conjunction with the accompanying drawings：
Suitable for harbour petroleum pipeline loading arm and the automatic butt equipment of ship flange, including the base being fixed on harbour face
Seat 1, column 2 are equipped with hydraulic valve box 20 at the pedestal 1, shaft case 5 are connected on the column 2, including inner arm 3 and outer
The petroleum pipeline loading arm of arm 4, the column 2 and petroleum pipeline loading arm junction, the inner arm 3 and outer arm 4 connect
Place is equipped with detachable elbow 9, and the petroleum pipeline loading arm periphery is equipped with support case 6, maintenance platform 10, steel wire rope mechanism 11,
Driving device, it is described to be equipped with laser locating apparatus 17 positioned at the harbour face of pedestal 1, the laser locating apparatus 17 by holder and
Laser range finder forms；4 end of outer arm connects Three dimensional joint 7, and the Three dimensional joint 7 is by connector driving device and bend pipe group
Into 7 end of Three dimensional joint that is located at connects the quick connector 8 that surges, and the bend pipe positioned at Three dimensional joint 7 is equipped with vision
Positioner, the vision positioning device include hardware module and processing module, the hardware module by camera 18, holder, adopt
Truck, computer composition, the processing module, by image pre-processing module, characteristic extracting module, target identification module, position
Coordinate calculation module forms, and the processing module is suitable for sending acquisition picture signal to the camera 18 of the hardware module, and right
The image of acquisition is pre-processed, feature extraction, target identification, calculate 4 terminal position coordinate of outer arm and output parameter, the drive
Dynamic device moves to surge quick connector 8 and ship target flange according to output 4 terminal position coordinate of outer arm, driving outer arm 4
Dock With Precision Position.
Preferably, the connector driving device is made of oscillating oil cylinder 71, gear wheel 72, pinion gear 73 and encoder 74.
Preferably, the camera 18 is two groups of binocular CCD camera.
Preferably, the driving device includes horizontal drive apparatus 12, outer arm driving device 13 and inner arm driving device 14,
The horizontal drive apparatus 12, outer arm driving device 13 and inner arm driving device 14 are equipped with hydraulic cylinder 16, the hydraulic oil
Cylinder 16 and the hydraulic valve box 20 are connected and driven.
Preferably, the oscillating oil cylinder 71 and hydraulic valve box 20 are connected and driven.
Preferably, the outer arm driving device 13 is equipped with outer arm and drives encoder 41, and the inner arm driving device 14 is equipped with
Inner arm drives encoder 31.
Preferably, the quick connector 8 that surges is equipped with adjustable legs 81.
Preferably, it is equipped with mechanical locking device 19 at 3 lower end of inner arm and the shaft case 5.
Preferably, the inner arm 3 is equipped with to balance the clump weight 15 of its gravitational moment.
Embodiment 1：
As shown in attached drawing 1 to attached drawing 4, in order to realize the collection pipe flange of surge quick connector 8 and ship it is automatic, it is quick,
Dock With Precision Position, the utility model on harbour face be provided with laser locating apparatus 17, outer arm 4 Three dimensional joint 7 bend pipe
It is upper to be provided with vision positioning device, during Dock With Precision Position is realized：
The first step just positions：The two-dimentional integration high speed holder of operation drives laser range finder, and laser positioning hot spot is aligned
The range data of acquisition is transformed to sit under loading arm basis coordinates system by the target flange that will be engaged by coordinate system transformational relation
Data are marked, each joint angles are obtained according to loading arm kinematical equation, and then drive joint motions, while pass through each joint
Absolute value encoder feeds back current location, and if joint terminates to move if in place, loading arm completes target flange Primary Location；
It can float due in docking operation, mooring a boat with water level fluctuation, target flange position can also change therewith, therefore,
Second, the vision positioning device of installation is believed by the three-dimensional coordinate for being gathered target flange in real time due to binocular CCD camera 18
Breath obtains each joint angle angle value of loading arm by coordinate transform and solving kinematic equation, and driving device passes through feedack
The execution position for the quick connector 8 that surges constantly is adjusted, is moved to target flange position, realizes loading arm and the essence of target flange
Quasi- docking.
Specifically, under conditions of external signal triggering, camera 18 carries out Image Acquisition, is delivered to preprocessing module progress；
After preprocessing module demarcates camera, the object comprising target collected is pre-processed, it is uniform using histogram
Change and sharpen the pretreatment method being combined, be minimized influence of the illumination variation to picture, the feature of prominent target object；
Characteristic extracting module and target identification module are extracted and split to the picture after correction, are asked for edge using threshold value, are asked
Contouring and image moment and central moment computing, simplification figure picture distinguish target and other disturbing factors, obtain required mesh
Mark nozzle；Position coordinates computing module carries out line up position seat after sub-department's target nozzle, using principle of triangulation
Mark is calculated and obtains target's center's three-dimensional coordinate, obtained three-dimensional coordinate is conveyed to driving device, driving device passes through real-time steamer
Collect pipe flange coordinate, be calculated the joint angle in each joint of petroleum pipeline arm, obtain the target code value that Hydraulic Elements perform, give
Each joint absolute value encoder is judged, terminates to run if in place if each joint, and feeds back the signal for performing and terminating to control
System processed completes automatic butt operation.
Wherein, the column 2 is the vertical support member of loading arm, is used for supporting loading arm and providing on harbour
With the tie point of live pipeline；The shaft case 5 is used for connecting column 2 and support case 6, and pivoting support is mounted in column 2 and support
Between case 6, for rotating freely loading arm；6 intensity of the support case is high and smaller by wind load, for bearing interior outer arm
Pipeline weight and other load；The connection Three dimensional joint 7 includes elbow, connector driving device structure, the connector driving dress
It puts and is made of oscillating oil cylinder 71, gear wheel 72, pinion gear 73 and encoder 74, waving, impact and rotating for ship can be met
Requirement；7 end of Three dimensional joint connects the quick connector 8 that surges, and connects for loading arm and the non-bolt of slot ship collection pipe flange
The hydraulic pressure connect quickly couples, and the adjustable legs 81 are a permanent, adjustable load carriers, mounted on Three dimensional joint
It is used on 7 by the weight transmittings such as outer arm 4 to deck, and reduces the impact force from medium acted on ship flange；Institute
Detachable elbow 9 is stated to replace sealing ring in the case where not dismantling handling arm body, without lifting appliance, is stopped without extending
Maintenance work can be completed between man-hour and without many maintenance costs；The maintenance platform 10 is to replace with rope for operator
Swivel seal circle at wheel and set up, being designed as two operating personnel can stand to tie up rotary joint simultaneously
It repaiies or pivoting support is lubricated, the steel wire rope mechanism 11 includes upper rope sheave, lower rope sheave and steel wire rope, for equilibrant force
Square passes to outer arm 4 from secondary counterweight, and the horizontal drive apparatus 12, outer arm driving device 13, inner arm driving assembling device 14 are all provided with
There is hydraulic cylinder 16, for driving outer arm 4, inner arm 3 and shaft case 5, the clump weight 15, for balancing the gravitational moment of outer arm 4,
It can adjust the length of the balance arm of force by adjusting bolt, mechanical interlocking be equipped at 3 lower end of inner arm and the shaft case 5
Entire loading arm is locked at plumbness by device 19, the mechanical locking device 19 by two simple mechanical pins, is inserted
Pin is securely locked on the inner arm and shaft case of loading arm on column 2.
The above is only specific embodiment of the present utility model, but the protection domain of utility model is not limited to
This, in the technical scope that any those skilled in the art disclose in the utility model, the variation that can readily occur in or replaces
It changes, should be covered within the scope of the utility model.
Claims (9)
1. suitable for harbour petroleum pipeline loading arm and the automatic butt equipment of ship flange, including the pedestal being fixed on harbour face
(1), column (2) are equipped with hydraulic valve box (20) at the pedestal (1), be connected on the column (2) shaft case (5), including
The petroleum pipeline loading arm of inner arm (3) and outer arm (4), the column (2) and the petroleum pipeline loading arm junction, the inner arm
(3) and the outer arm (4) junction is equipped with detachable elbow (9), the petroleum pipeline loading arm periphery be equipped with support case (6),
Maintenance platform (10), steel wire rope mechanism (11), driving device, it is characterised in that：
Laser locating apparatus (17) is equipped with positioned at the harbour face of the pedestal (1), the laser locating apparatus (17) is by holder
It is formed with laser range finder；
Outer arm (4) the end connection Three dimensional joint (7), the Three dimensional joint (7) are made of connector driving device and bend pipe, position
The quick connector (8) that surges is connected in the Three dimensional joint (7) end, is equipped with and regards positioned at the bend pipe of the Three dimensional joint (7)
Feel positioner, the vision positioning device includes hardware module and processing module, and the hardware module is by camera (18), cloud
Platform, capture card, computer composition, the processing module, by image pre-processing module, characteristic extracting module, target identification module,
Position coordinates computing module forms, wherein：
The processing module is suitable for sending acquisition picture signal to the camera (18) of the hardware module, and to the image of acquisition into
Row pretreatment, feature extraction, target identification, calculate outer arm (4) terminal position coordinate simultaneously output parameter, the driving device according to
Outer arm (4) terminal position coordinate is exported, driving outer arm (4) moves to the essence of the quick connector that surges (8) and ship target flange
Quasi- docking.
2. it is according to claim 1 suitable for harbour petroleum pipeline loading arm and the automatic butt equipment of ship flange, it is special
Sign is：The connector driving device is made of oscillating oil cylinder (71), gear wheel (72), pinion gear (73) and encoder (74).
3. it is according to claim 1 suitable for harbour petroleum pipeline loading arm and the automatic butt equipment of ship flange, it is special
Sign is：The camera (18) is two groups of binocular CCD camera.
4. it is according to claim 1 suitable for harbour petroleum pipeline loading arm and the automatic butt equipment of ship flange, it is special
Sign is：The driving device includes horizontal drive apparatus (12), outer arm driving device (13) and inner arm driving device (14), institute
It states horizontal drive apparatus (12), outer arm driving device (13) and inner arm driving device (14) and is equipped with hydraulic cylinder (16), it is described
Hydraulic cylinder (16) and the hydraulic valve box (20) are connected and driven.
5. it is according to claim 2 suitable for harbour petroleum pipeline loading arm and the automatic butt equipment of ship flange, it is special
Sign is：The oscillating oil cylinder (71) and hydraulic valve box (20) are connected and driven.
6. it is according to claim 4 suitable for harbour petroleum pipeline loading arm and the automatic butt equipment of ship flange, it is special
Sign is：The outer arm driving device (13) is equipped with outer arm driving encoder (41), and the inner arm driving device (14) is equipped with interior
Arm driving encoder (31).
7. it is according to claim 1 suitable for harbour petroleum pipeline loading arm and the automatic butt equipment of ship flange, it is special
Sign is：The quick connector that surges (8) is equipped with adjustable legs (81).
8. it is according to claim 1 suitable for harbour petroleum pipeline loading arm and the automatic butt equipment of ship flange, it is special
Sign is：Mechanical locking device (19) is equipped at inner arm (3) lower end and the shaft case (5).
9. it is according to claim 1 suitable for harbour petroleum pipeline loading arm and the automatic butt equipment of ship flange, it is special
Sign is：The inner arm (3) is equipped with to balance the clump weight (15) of its gravitational moment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721478480.8U CN207386981U (en) | 2017-11-08 | 2017-11-08 | Suitable for harbour petroleum pipeline loading arm and the automatic butt equipment of ship flange |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721478480.8U CN207386981U (en) | 2017-11-08 | 2017-11-08 | Suitable for harbour petroleum pipeline loading arm and the automatic butt equipment of ship flange |
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| Publication Number | Publication Date |
|---|---|
| CN207386981U true CN207386981U (en) | 2018-05-22 |
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| CN201721478480.8U Active CN207386981U (en) | 2017-11-08 | 2017-11-08 | Suitable for harbour petroleum pipeline loading arm and the automatic butt equipment of ship flange |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109914809A (en) * | 2019-04-11 | 2019-06-21 | 长沙赛搏机器智能有限公司 | A kind of concrete arm tail house and concrete pumping equipment |
| CN111664354A (en) * | 2020-05-09 | 2020-09-15 | 中国船舶重工集团公司第七一六研究所 | LNG heavy-calibre bank base intelligence handling system |
| CN111854697A (en) * | 2020-06-22 | 2020-10-30 | 中国船舶重工集团公司第七一六研究所 | Recognition positioning attitude determination system based on visual sensor |
| CN113866627A (en) * | 2021-11-23 | 2021-12-31 | 广东电网有限责任公司 | Automatic wiring device for electrical test of high-voltage circuit breaker |
| CN116989845A (en) * | 2023-07-06 | 2023-11-03 | 伊维氏传动***（平湖）有限公司 | Detection equipment and detection method for production of photovoltaic connector joint terminal |
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2017
- 2017-11-08 CN CN201721478480.8U patent/CN207386981U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109914809A (en) * | 2019-04-11 | 2019-06-21 | 长沙赛搏机器智能有限公司 | A kind of concrete arm tail house and concrete pumping equipment |
| CN111664354A (en) * | 2020-05-09 | 2020-09-15 | 中国船舶重工集团公司第七一六研究所 | LNG heavy-calibre bank base intelligence handling system |
| EP4148319A4 (en) * | 2020-05-09 | 2023-11-08 | Jiangsu Automation Research Institute | Lng large-caliber shore-based intelligent loading and unloading system |
| CN111854697A (en) * | 2020-06-22 | 2020-10-30 | 中国船舶重工集团公司第七一六研究所 | Recognition positioning attitude determination system based on visual sensor |
| CN113866627A (en) * | 2021-11-23 | 2021-12-31 | 广东电网有限责任公司 | Automatic wiring device for electrical test of high-voltage circuit breaker |
| CN116989845A (en) * | 2023-07-06 | 2023-11-03 | 伊维氏传动***（平湖）有限公司 | Detection equipment and detection method for production of photovoltaic connector joint terminal |
| CN116989845B (en) * | 2023-07-06 | 2024-03-22 | 伊维氏传动***（平湖）有限公司 | Detection equipment and detection method for production of photovoltaic connector joint terminal |
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