WO2024246372A1 - Dispositif de charge pour transfert de fluides - Google Patents

Dispositif de charge pour transfert de fluides Download PDF

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Publication number
WO2024246372A1
WO2024246372A1 PCT/ES2023/070342 ES2023070342W WO2024246372A1 WO 2024246372 A1 WO2024246372 A1 WO 2024246372A1 ES 2023070342 W ES2023070342 W ES 2023070342W WO 2024246372 A1 WO2024246372 A1 WO 2024246372A1
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WO
WIPO (PCT)
Prior art keywords
section
rotation
zone
sensor
access opening
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.)
Ceased
Application number
PCT/ES2023/070342
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English (en)
Spanish (es)
Inventor
Ignasi GASSÓ ESPINA
Francesc GASSÓ BUSQUETS
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.)
Gasso Equipments SA
Original Assignee
Gasso Equipments SA
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 Gasso Equipments SA filed Critical Gasso Equipments SA
Priority to PCT/ES2023/070342 priority Critical patent/WO2024246372A1/fr
Publication of WO2024246372A1 publication Critical patent/WO2024246372A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • B67D2007/0403—Fuelling robots

Definitions

  • the present invention relates to a mechanical device for fluid transfer, well known as a loading arm. More specifically, it relates to a device for robotically positioning the outlet orifice of a loading arm, the device comprising said loading arm, which is formed by a plurality of parts and sections joined and articulated by means of mechanically actuated joints, with robotized positioning, by means of closed-loop control rotation of each of the joints of each section, which automatically position the outlet orifice of the loading arm in the correct location, for the transfer of fluids between two areas, specifically from a storage area, for example, a storage tank, to a use area, for example, a tanker truck or a ship tank.
  • a storage area for example, a storage tank
  • a use area for example, a tanker truck or a ship tank.
  • Loading arms are well known throughout the world as the ideal method of transferring fluids or liquefied gas from one storage site to another via a manual articulated pipe system comprising rigid pipes and rotating joints.
  • a bottom or top loading arm for fluids such as, but not limited to, gasoline, diesel, sulfuric acid, petroleum, liquefied petroleum gas (LPG), liquefied natural gas (LNG), from bulk storage containers to mobile containers such as tankers on trucks and units on ships or containers on railroads, transfers are made possible and made safer from a physical, health, ergonomic and ecological point of view by using loading arms instead of hoses.
  • Typical industries that use loading arms include petrochemical, shipping, oil and gas, wastewater treatment plants, overhead crane systems, and many other commercial applications.
  • a loading arm is necessary, which allows movements similar to a human arm, to position itself precisely, in a position that is variable and indeterminate and also follow the dynamics
  • the loading arms are designed to be used in the loading process due to the change of weight during loading, wind or sea motions in the case of ships.
  • These loading arms are metal tubes consisting of a plurality of straight sections joined to adjacent ones by means of rotating elbow couplings. The rotating joints join the elbow coupling to the tube section, allow their axial rotation relative to each other and remain leak-free under both mechanical and pressure loads.
  • Both the arm sections and the elbow couplings are completely tight with respect to the fluid being loaded into the tank or the like, for example gasoline, diesel, sulfuric acid, petroleum, liquefied petroleum gas (LPG), liquefied natural gas (LNG), etc.
  • LPG liquefied petroleum gas
  • LNG liquefied natural gas
  • the present invention is aimed at addressing such extreme needs to remotely operate and robotize loading/unloading by positioning the outlet orifice portion of the loading arm for fluid transfer, such that the risks resulting from the hazardous nature of the transferable fluids which are often explosive and/or flammable and/or toxic are greatly reduced, as there is no proximity of people and less intervention by operators in the process.
  • the object of the present invention is a robotic loading device for fluid transfer between a first zone and a second zone.
  • the device includes a loading arm that typically includes a first section configured to rotate about a fixed inlet portion according to a first rotation, a second section configured to rotate about a fixed inlet portion according to a second rotation, and a second section configured to rotate about a fixed inlet portion according to a second rotation. rotate about the first section in a second rotation, and a third section configured to rotate about the second section in a third rotation (although there may be configurations with (N) sections and (N) rotation, the one with 3 sections will be referred to as being the most common).
  • the first section, the second section and the third section are joined by rotating joints and configured to rotate about each other.
  • the first section is attached to the fixed inlet portion that can be connected to the first zone and the third section is attached to an outlet portion that has access to the second zone (located, for example, in a tanker truck or a tank of a ship).
  • the outlet portion of the third section is movable with respect to the fixed inlet portion in a working position to transfer fluid through an access opening of the second zone.
  • the closed loop actuators respectively command and control the angle of rotation of the first section, the second section, and the third section of the loading arm to position the outlet portion of the third section in the working position for transferring the fluid.
  • a sensing system assists in sensing the working position of the access opening of the second zone.
  • the sensing system includes a first sensor for capturing the image of the second zone and a human interface device (HID) for converting the captured image of the second zone into position data of the access opening of the second zone.
  • HID human interface device
  • the angular and/or positional sensors and a control unit that is part of the closed loop actuators are configured to control the actuators based on the working position data of the access opening of the second zone provided by the sensing system.
  • the closed loop actuators include (i) a first servo motor with built-in angle sensor for performing the first rotation of the first section on a vertical axis about the fixed input portion, (ii) a second servo motor with built-in angle sensor for performing the second rotation of the second section on a horizontal axis about the first section, (iii) a first pneumatic cylinder plus an external sensor, an angle sensor of the rotary joint or stroke sensor of the first pneumatic cylinder for performing the third rotation of the third section on a horizontal axis about the second section.
  • the closed loop actuators include (i) a first servo motor with built-in angle sensor for performing the first rotation of the first section on a vertical axis about the fixed input portion, (ii) a second servo motor with built-in angle sensor for performing the second rotation of the second section on a horizontal axis. around the first section, (iii) a third servo motor with built-in angle sensor to perform the third rotation of the third section on the horizontal axis around the second section.
  • the closed loop actuator unit includes (i) the first servo motor with built-in angle sensor for performing the first rotation of the first section on the vertical axis about the fixed input portion, (ii) a first pneumatic cylinder plus an external sensor, a rotary joint angle sensor or stroke sensor of the first pneumatic cylinder for performing the second rotation of the second section on the horizontal axis about the first section, (iii) a second pneumatic cylinder plus an external sensor, a rotary joint angle sensor or stroke sensor of the second pneumatic cylinder for performing the third rotation of the third section on a horizontal axis about the second section.
  • the first pneumatic cylinder acts on a lever attached to the rotary joint to effect and control the angle of rotation of the rotary joint.
  • the second pneumatic cylinder acts on a biasing lever attached to the rotary joint to effect and control the angle of rotation of the rotary joint.
  • the rotation of the sections is controlled by sensors and graduated marks on one of the parts with relative angular rotation or relative displacement or by sensors with built-in graduation.
  • the closed loop actuator comprises (i) a first motor with an external sensor for performing and controlling the first rotation of the first section on a vertical axis about the fixed input portion, (ii) a second motor with an external sensor for performing and controlling the second rotation of the second section on a horizontal axis about the first section, (iii) a third motor with an external sensor for performing and controlling the third rotation of the third section on the horizontal axis about the second section.
  • the first sensor is an image capture device.
  • control unit is configured to move the outlet orifice from the third section vertically into the access opening of the second zone.
  • the vertical movement of the third section is controlled by a second sensor to detect the boundaries of the environment of the access opening of the second zone with respect to the exit portion.
  • the second sensor comprises proximity switches, ultrasonic and/or laser type sensors, among other proximity sensors.
  • control unit is configured to stop the movement of the third section vertically at the access of the Outlet Portion to the access opening of the second zone based on signals provided by the second sensor.
  • control unit is configured to analyze the first images captured by the sensor of the second zone and determine a set of X Y Z coordinates to identify the position of the access opening in the second zone.
  • the closed loop actuators are configured to move the Outlet Portion of the third section to reach the working position for transferring the fluids with respect to the set of coordinates of the access opening in the second zone.
  • control unit is configured to actuate and control the actuators upon receiving a command from an operator locally or remotely, via open loop actuator control or via approval of closed loop actuator control.
  • the present invention also provides a method of transferring fluids between a first zone and a second zone using a robotic loading device including the steps of (i) providing the loading arm including the first section configured to rotate about the fixed inlet portion in accordance with the first rotation, the second section configured to rotate about the first section in the second rotation, and the third section configured to rotate about the second section in the third rotation for fluid transfer.
  • the first section, the second section, and the third section are joined by rotary joints and configured to rotate over each other, (ii) connecting the fixed portion inlet to the first zone, and the outlet port of the outlet portion to an access opening of the second zone.
  • the Outlet Portion of the third section is movable relative to the inlet portion fixed in the working position to transfer the fluid through the access opening of the second zone, (iii) detecting the access opening by means of the sensor unit including the first sensor to capture the image of the second zone and (iv) moving the Outlet Portion of the third section based on the position data of the access opening of the second zone provided by the operator through the analysis of the image captured by the sensor of the second zone and the HID device, towards the working position to transfer fluids through the access opening of the second zone.
  • the robotic loading device of the present invention provides safer, easier and more ergonomic operation and allows emergency actions without spills, avoiding human and ecological accidents.
  • the robotic loading device automates the loading/unloading procedures by robotizing the actions of the procedure, so that there is no personnel around the tanks and there is less intervention of a person, also in the loading/unloading procedure.
  • Each rotation of sections of the loading arm is controlled by closed loop actuators formed by actuators, external sensors, signals, control unit, in some cases, the actuators are servo motors with a built-in sensor and control unit, in some cases, the control unit is PID, PLC or a computer, for a safer and more efficient transfer of fluids that reduces the intervention of a person only to the determination of the reference point by HDMY, so that somehow the operator has knowledge of the procedure, gets involved in the procedure and in a comfortable and safe way, can concentrate on being aware of the operations.
  • FIG. 1 illustrates a robotic loading device for transferring fluids between a first zone and a second zone, in accordance with various embodiments of the present invention.
  • FIGS. 2A-C illustrate the device of FIG. 1 showing a plurality of horizontal and vertical displacements to locate the outlet portion of the third section in the access opening of a plurality of second zones in accordance with various embodiments of the present invention.
  • FIG. 3 illustrates the top view of the robotic loading device of FIG. 1 for transferring fluids between the first zone and the second zone, in accordance with various embodiments of the present invention.
  • FIG. 4 illustrates the robotic loading device of FIG. 1 for transferring fluids between the first zone and the second zone with two pneumatic cylinders as actuators, in accordance with various embodiments of the present invention.
  • FIG. 5A-D illustrates operating positions, some of many possible, of the robotic loading device of FIG. 1 for transferring fluids between the first zone and the second zone, in accordance with various embodiments of the present invention.
  • FIGS. 6A-B illustrate a flow diagram of a method of transferring fluids between the first zone and the second zone using a robotic loading device of FIG. 1, in accordance with various embodiments of the present invention.
  • FIG. 7 illustrates a general computer or PLC architecture that may be suitably configured to implement the described components in accordance with various embodiments of the present invention.
  • FIG. 1 illustrates a robotic loading device for transferring fluids between a first zone and a second zone, in accordance with various embodiments of the present invention.
  • the device 100 includes a loading arm comprising a first section 112 configured to rotate about a fixed inlet portion 110 according to a first rotation, a second rotation, and a second rotation.
  • section 114 configured to rotate about the first section 112 in a second rotation
  • a third section 116 configured to rotate about the second section 114 in a third rotation.
  • the first section 112, the second section 114 and the third section 116 are joined by a first rotary joint 122, a second rotary joint 124, a third rotary joint 126 respectively, and configured to rotate relative to each other.
  • the rotary joints 122, 124 and 126 join the elbow coupling with the first section 112, the second section 114 and the third section 116 and allow their axial rotation relative to each other.
  • the first section 112 comprises a fixed inlet portion 110 connectable to the first zone via inlet port 102 and the third section 116 comprises an outlet portion 118 accessing the second zone via outlet port 104.
  • the outlet portion 118 of the third section 116 is movable relative to the fixed inlet portion 110 of the first section 112 into a working position for transferring fluid through an access opening of the second zone.
  • Closed loop actuators (130-136, 140-146, 150-156) are used to effect and control the angle of rotation of the first section 112, the second section 114 and the third section 116 of the loading arm to position the outlet portion 118 of the third section 116 into the working position for transferring fluid.
  • a sensor unit is used to detect the working position of the access opening of the second zone.
  • the sensor unit comprises a first sensor 162 for capturing the image of the access opening of the second zone.
  • the sensor unit includes a camera disposed on a platform focusing on the second zone.
  • a control unit 160 is used to control the closed loop actuators (130-136, 140-146, 150-156) based on the signals 168 provided by the human interface device (HID) 166 through an intervention of a person based on the capture of images of the second zone by the first sensor 162.
  • HID human interface device
  • the angle of rotation of the first section 112, the second section 114 and the third section 116 of the loading arm is driven by closed loop actuators (130-136, 140-146, 150-156) including motors 130, 140 with external sensors 136, 146 or servo motor with an embedded sensor (130 and 136, 140 and 146), a pneumatic or hydraulic cylinder 150 with an external sensor 156.
  • a first servo motor with embedded sensors 130 and 136 performs the first rotation of the first section 112 on a vertical axis about the fixed input portion 110 and a second servo motor with embedded sensors 140 and 146 performs the second rotation of the second section 114 on a vertical axis about the first section 112.
  • a first pneumatic cylinder 150 performs the third rotation of the third section 116 on the horizontal axis around the second section 114.
  • the first pneumatic cylinder 150 acts on a lever 159 fixed to the rotary joint 126 to promote the angle of rotation of the rotary joint 126.
  • the first rotation is promoted by the first servo motor with built-in sensors 130 and 136
  • the second rotation is promoted by the second pneumatic cylinder provided with the sensor
  • the third rotation is promoted by a first pneumatic cylinder 150 provided with the sensor 156.
  • the second pneumatic cylinder acts on a push lever attached to the rotary joint 124 to promote the angle of rotation of the rotary joint 124.
  • the first rotation is promoted by the first sensor-embedded servo motor 130 and 146
  • the second rotation is promoted by the second sensor-embedded servo motor 140 and 146
  • the third rotation is promoted by a third sensor-embedded servo motor.
  • the sensor-embedded servo motors perform and control the angle of rotation.
  • the rotation of the sections is controlled by sensors 136, 146, 156 and graduated marks 138, 148 and 158 on one of the parts with relative angular rotation or relative displacement or by sensors with built-in graduation.
  • control unit 160 of the robotic loading device 100 executes an algorithm that senses the working position and rotation angles of the first section 112, the second section 114, and a third section 116 and calculates rotation angles to be commanded to the closed loop actuators (130-136, 140-146, 150-156) to rotate the corresponding rotary joints 122, 124, 126 such that the output portion 118 of the third section 116 smoothly enters the access opening of the second zone.
  • the algorithm is implemented in software that executes a command given by an operator locally or remotely, for example, by actuating the HID 166, a touch panel, or other peripheral, as captured by the second zone sensor 162.
  • the algorithm can implement the calculation of the operation of the entire loading arm meeting different conditions, avoiding collisions, minimizing time, minimizing rotation angles, etc.
  • FIGS. 2A-C illustrate the outlet portion of the third section of the device of FIG. 1 moving horizontally and vertically in the access opening of the second zone in accordance with various embodiments of the present invention.
  • the outlet portion 118 of the device of FIG. 1 is movable horizontally and vertically in the access opening of the second zone in accordance with various embodiments of the present invention.
  • the third section 116 moves vertically within the access opening 271 of the second zone 270.
  • the outlet portion 118 of the third section 116 moves vertically into the access opening 273 of the second zone 272.
  • FIG. 2C the outlet portion 118 of the third section 116 moves vertically into the access opening 275 of the second zone 274.
  • the sensor unit comprises a second sensor 278 for detecting an environmental boundary of the second zone access opening 270, 272, 274.
  • the second sensor comprises a proximity sensor, proximity switches, an ultrasonic and/or laser type sensor.
  • the control unit 160 shown in Fig. 1 is configured to stop the movement of the outlet portion 118 of the third vertical section 116 into the second zone access opening based on the signal 279 provided by the second sensor 278.
  • FIG. 3 illustrates the top view of the robotic loading device of FIG. 1 for transferring fluids between the first zone and the second zone, in accordance with various embodiments of the present invention.
  • the top view of the device 100 shows the support post 106 securing the fixed inlet portion 110 of the first section 112, the second section 114, and the third section 116 of the loading arm.
  • the outlet portion 118 of the third section 116 moves vertically into the access opening 375 of the second zone 374 (i.e.) a tank vehicle.
  • FIG. 4 illustrates a robotic loading device for transferring fluids between a first zone and a second zone with two pneumatic cylinders, in accordance with various embodiments of the present invention.
  • the device 400 includes a loading arm comprising the first section 412 configured to rotate about a fixed inlet portion 410 in a first rotation, a second section 414 configured to rotate about the first section 412 in a second rotation, and a third section 416 configured to rotate about the second section 414 in a third rotation.
  • the first section 412, the second section 414, and the third section 416 are joined by rotating joints 422, 424, and 426 (not shown in FIG. 4) and configured to rotate relative to each other.
  • the first section 412 comprises a fixed inlet portion 410 connectable to the first zone and the third section 416 comprises an outlet portion 418 accessing the second zone.
  • the outlet portion 418 of the third section 416 is movable relative to the fixed inlet portion 410 of the first section 412 in a working position for transferring fluid through an access opening of the second zone.
  • Closed loop actuators 450-456, 450A-456A (not shown in FIG. 4) (not shown in FIG. 4) are used to perform and control the angle of rotation of the first section 412, the second section 414 and the third section 418 of the loading arm to position the outlet portion 418 of the third section 416 in the working position for transferring fluid.
  • a sensor unit is used to detect the working position of the access opening of the second zone.
  • the sensor unit comprises a first sensor for capturing the image of the second zone.
  • a control unit is used to control the closed loop actuators based on signals provided by a human interface device (HID) through an intervention of a person based on the capture of images of the second zone by the first sensor.
  • the first rotation is promoted by the first servo motor with built-in sensor 430, the second rotation is performed and controlled by the second pneumatic cylinder 450A provided with the sensor, and the third rotation is performed and controlled by a first pneumatic cylinder 450 provided with the sensor.
  • the first pneumatic cylinder 450 acts on a push lever 459 fixed to the rotary joint to promote the rotation angle of the rotary joint.
  • the second pneumatic cylinder 450A acts on a push lever 459A fixed to the rotary joint to promote the rotation angle of the rotary joint.
  • FIG. 5A-D illustrates operating positions, some of many possible, of the robotic loading device of FIG. 1 for transferring fluids between the first zone and the second zone, in accordance with various embodiments of the present invention.
  • FIG. 5A shows the initial folded position of the loading arm comprising the first section 112, the second section 114, and the third section 116.
  • FIG. 5B shows the first section 112 rotated 90° vertically about the fixed inlet portion 110 counterclockwise, the third section 116 partially rotated upward on a horizontal axis about the second section 114, and the outlet portion 118 partially upward, the outlet portion 118 of the third section 116 advancing vertically.
  • FIG. 5A shows the initial folded position of the loading arm comprising the first section 112, the second section 114, and the third section 116.
  • FIG. 5B shows the first section 112 rotated 90° vertically about the fixed inlet portion 110 counterclockwise, the third section 116 partially rotated upward on a horizontal axis about the second section 114, and the outlet portion
  • FIG. 5C shows the first section 112 rotated 90° vertically around the fixed inlet portion 110 counterclockwise, the third section 116 partially rotated downward on a horizontal axis around the second section 114 and the outlet portion 118 partially downward, the outlet portion 118 of the third section 116 advances vertically.
  • FIG. 5D shows the first section 112 rotated 90° vertically around the fixed inlet portion 110 counterclockwise, the second section 114 rotated on a vertical axis around the first section 112, the third section 116 partially rotated downward on a horizontal axis around the second section 114 and the outlet portion 118 partially downward, the outlet portion 118 of the third section 116 advances vertically.
  • horizontally around the second section 114 and the Outlet Portion 118 partially downwards, the Outlet Portion 118 of the third section 116 advances vertically.
  • FIGS. 6A-B illustrate a flow chart of a method of transferring fluid between the first zone and the second zone using a robotic loading device of FIG. 1, in accordance with various embodiments of the present invention.
  • the method includes at step 602, providing the loading arm comprising the first section configured to rotate about the fixed inlet portion in accordance with the first rotation, the second section configured to rotate about the first section in the second rotation, and the third section configured to rotate about the second section in the third rotation for fluid transfer.
  • the first section, the second section, and the third section are joined by rotary joints and configured to rotate about each other.
  • the method includes at step 604, connecting the first section comprising the fixed inlet portion to the first zone and the third section comprising the outlet portion to the second zone.
  • the outlet portion of the third section is movable relative to the stationary inlet portion of the first section in the working position to transfer fluid through the access opening of the second zone.
  • the method includes at step 606, detecting the access opening by a sensor unit comprising the first sensor to capture the image of the second zone.
  • the method includes at step 608, configuring position data of the access opening of the second zone based on signals provided by the first sensor processed by human intervention by means of a human interface device (HID).
  • HID human interface device
  • the method includes at step 610, moving the outlet portion of the third section unit to the working position to transfer fluid through the access opening of the second zone based on the position data of the access opening of the second zone.
  • the following steps of the method are carried out.
  • the truck is positioned under a metal grate type platform.
  • the truck does not need to be kept positioned in an exactly specific position.
  • the truck driver raises the tilting grates of the platform that coincide with the top mouths of the tanker.
  • the truck driver opens the gates of the top mouths of the tank to load fluids such as gasoline, diesel, sulfuric acid, etc.
  • the camera is located above the platform focusing on the access opening of the second zone (i.e.) the second zone. The operator sees the image detected by the camera on a screen.
  • the operator sees through HID and the second zone access opening, where the open mouths are positioned since they are more visible since they are not covered by the cover placed by the truck driver and are like black dots when they are open.
  • the operator selects the second zone access opening through HID by establishing its coordinates at least XF and YF, in the horizontal plane, where "F” refers to the final position that is calculated and entered into the control unit.
  • the operator enters the data of the liquid product to be loaded (gasoline, diesel, etc.) in each access opening of the second zone and the corresponding volume (in liters, gallons, etc.), and the operator confirms the operation for fluid transfer.
  • the loading arm is operated in a manner known to those skilled in robotic technology, to move the Outlet Portion of the third section, which goes vertically, in each access opening of each second zone (i.e.) the loading mouth of the tank, regulating the position X, Y of the Outlet Portion of the third section, until the Outlet Portion of the third section reaches the coordinates XF and YF, which were detected by the camera and set by the operator by means of a HID.
  • FIG. 7 illustrates a general computer or PLC architecture 700 that may be appropriately configured to implement described components in accordance with various embodiments.
  • the general computer or PLC architecture 700 may include various common computing elements, such as a computer or PLC 701, a network 714, and one or more remote computers 716.
  • the computer or PLC 701 may be a server, a desktop computer, a laptop computer, a tablet computer, a PLC, or a mobile computing device.
  • the computer or PLC 701 may include a processor 702, a main memory 704, and a system bus.
  • the processor 702 may include one or more processing units that can operate independently of each other.
  • the main memory 704 may include volatile devices, nonvolatile devices, or other random access memory devices.
  • the computer or PLC 701 may include secondary storage 710 that may include one or more removable and/or nonremovable storage drives that store an operating system for managing the operating system. various applications on the computer or PLC 701.
  • the secondary storage 710 may also be used to store software configured to implement the components of the embodiments described in this application and that may be executed as one or more applications on the operating system.
  • the computer or PLC 701 may also include communication device(s) 712 through which the computer communicates with other devices, such as one or more remote computers 716, over wired and/or wireless computer networks 714.
  • the communication device(s) 712 may communicate over Wi-Fi, Bluetooth, and/or cellular networks.
  • the computer or PLC 701 may also access the network storage 718 over the computer network 714.
  • the network storage 718 may include a network-attached storage device or cloud-based storage. Alternatively, the operating system and/or software may be stored on network storage 718.
  • the computer or PLC 701 may have various input devices 706, e.g., a keyboard, mouse, touch screen, camera, microphone, or a sensor.
  • the storage devices 710, communication device(s) 712, input devices 706, and output devices 708 may be integrated within a computer system or may be connected through various input/output interface devices on the computer.

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Abstract

La présente invention concerne un dispositif de charge robotique (100, 400) pour transférer des fluides entre une première zone et une deuxième zone (270, 272, 274, 374). Le dispositif (100, 400) comprend un bras de charge qui comprend une première section (112, 412) conçue pour tourner sur une partie d'entrée fixe (110, 410) selon une première rotation, une deuxième section (114, 414) conçue pour tourner sur la première section (112, 412) en une deuxième rotation, et une troisième section (116, 416) conçue pour tourner sur la deuxième section (114, 414) en une troisième rotation. Le dispositif (100, 400) comprend un actionneur à boucle fermée (130-136,140-146, 150-156, 450-456, 450A-456A) pour effectuer et ajuster l'angle de rotation de la première section (112, 412), de la deuxième section (114, 414) et de la troisième section (116, 416) afin de placer une partie de sortie (118, 418) de la troisième section (116, 416) en position de travail pour transférer le fluide
PCT/ES2023/070342 2023-05-26 2023-05-26 Dispositif de charge pour transfert de fluides Ceased WO2024246372A1 (fr)

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PCT/ES2023/070342 WO2024246372A1 (fr) 2023-05-26 2023-05-26 Dispositif de charge pour transfert de fluides

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PCT/ES2023/070342 WO2024246372A1 (fr) 2023-05-26 2023-05-26 Dispositif de charge pour transfert de fluides

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3533755A1 (fr) * 2018-03-02 2019-09-04 Zipfluid S.R.L. Dispositif de transfert de fluides
CN218972012U (zh) * 2022-12-19 2023-05-05 烟台掌控智能科技有限公司 一种基于3d视觉的机械臂式自动鹤管装置

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3533755A1 (fr) * 2018-03-02 2019-09-04 Zipfluid S.R.L. Dispositif de transfert de fluides
CN218972012U (zh) * 2022-12-19 2023-05-05 烟台掌控智能科技有限公司 一种基于3d视觉的机械臂式自动鹤管装置

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