ARTICULATED FLUID TRANSFER ARM

Abstract

The invention relates to an articulated fluid transfer arm comprising an articulated pipe mounted on a support, having at least one degree of freedom in rotation in space relative to the support and comprising at one of its ends a coupling system adapted to be connected to the target pipe for transferring the fluid from a storage tank to the target pipe or from this target pipe to the storage tank, one or more electric actuators each for controlling a movement of the pipe following by degree of freedom by means of an actuating shaft, each of the actuators comprising an electric motor (201) with a shaft and a speed reducer (202), the actuating shaft being driven in rotation by the motor shaft by means of the speed reducer, which is reversible, so as to allow the actuating shaft to rotate when an actuating torque is directly applied thereto,and a piping balancing system, characterized in that the arm comprises a centrifugal brake (9) for the actuator or at least one of the electric actuators and for limiting the speed of movement of the piping when the latter is in an unbalanced situation. Figure for the abstract: figure 3,

Description

Title of the invention: ARTICULATED FLUID TRANSFER ARM Field of invention

[0001] The present invention relates, in general, to fluid transfer systems and, more particularly, to marine loading systems, such as in particular articulated arms for transferring a fluid from one location to another (loading and / or unloading). State of the prior art

[0002] Fluid means a liquid or gaseous product, such as an oil, gas or chemical product. This type of product is intended to be transferred, for example, between a ship and a quay or jetty or between two ships. In practice, the transfer system is therefore fixed to the ground, on a vehicle or a boat.

[0003] For marine loading systems, this may include:

[0004] - of conventional marine loading arms as defined for example in the patent applications FR2813872, FR2854156, FR2931451;

[0005] - baseless marine loading arms allow reaching points of low connection as defined for example in patent application FR2964093;

[0006] - bunkering or hybrid arms (one rigid part and one flexible part) such as defined for example in patent application FR3003855.

[0007] These marine loading systems can operate with electric actuators.

[0008] The use of such actuators has already been proposed in the aforementioned patent application FR2931451.

[0009] When the loading arm coupler described in this patent application FR2931451 is connected to a target tube, a computer sends a disengagement instruction to all the actuators so as to free the movements of the system to allow the coupler to follow the movements of the target tube (“freewheel” mode).

[0010] This has the advantage of not having to actively control the arm so as to make it follow the movements of the structures carrying the arm and the target tubing and, therefore, of not consuming electricity during the transfer phase.

[0011] When it comes to an electric actuator, the disengagement results in the need to implement a clutch between the reducer and the actuator actuating pinion, to the detriment of the compactness and simplicity of this actuator.

[0012] To resolve this drawback, it was proposed in patent FR3064620 to implement a reversible reducer so as to replace the clutch, and to implement braking means between the actuator and the actuator actuating pinion to hold the actuator in position when a movement command is in progress and this actuator is not activated for this command.

[0013] The invention aims to propose an alternative making it possible to better secure marine loading systems, and in particular articulated fluid transfer arms, and also leading to other advantages. Statement of the invention

[0014] To this end, the invention relates to an articulated fluid transfer arm comprising an articulated pipe mounted on a support, having at least one degree of freedom in rotation in space relative to the support and comprising at one of its ends a coupling system adapted to be connected to the target pipe for transferring fluid from a storage tank to the target pipe or from this target pipe to the storage tank, one or more electric actuators each for controlling a movement of the pipe per degree of freedom by means of an actuating shaft, the or each of the actuators comprising an electric motor with a shaft and a speed reducer, the actuating shaft being driven in rotation by the motor shaft by means of the speed reducer, which is reversible, so as to allow the actuating shaft to rotate when an actuating torque is directly applied to it,and a piping balancing system, characterized in that the arm comprises a centrifugal brake for the electric actuator or at least electric actuators and for limiting the speed of movement of the piping when the latter is in an unbalanced situation.

[0015] Such an arm imbalance situation may in particular be caused by an emergency disconnection of the piping coupling system, external environmental conditions (wind, etc.), the presence of product residue in the arm or ice on the arm.

[0016] Thus, the proposed solution makes it possible to implement braking means for an articulated fluid transfer arm which are fail safe, otherwise called positive safety, in all states of the articulated fluid transfer arm. In addition, such a centrifugal brake makes it possible to systematically limit the speed of the loading arm below a safe operating speed. In addition, the invention makes it possible to simplify the emergency triggering sequence of the articulated fluid transfer arm.

[0017] According to a particular aspect of at least one embodiment of the invention, the centrifugal brake is interposed between the electric motor and the speed reducer. reversible, rotationally coupled to the electric motor shaft on the side of the shaft opposite that of rotationally coupled to the speed reducer or rotationally coupled to the input of an additional speed reducer rotationally coupled to the piping.

[0018] According to a particular aspect of at least one embodiment of the invention, the centrifugal brake is configured to have an engagement speed greater than a maximum freewheel speed permitted for the actuating shaft.

[0019] According to a particular aspect of at least one embodiment of the invention, the engagement speed is set to be approximately 300 rpm higher than said maximum speed.

[0020] According to a particular aspect of at least one embodiment of the invention, the centrifugal brake is configured to have a maximum braking torque for a rotation speed of the brake approximately 500 rpm above the engagement speed.

[0021] According to a particular aspect of at least one embodiment of the invention, the centrifugal brake is housed in an explosion-proof enclosure, or the interior of the brake is flushed or pressurized with dry air or nitrogen, or the linings of the centrifugal brake are made of a material that does not generate sparks.

[0022] According to a particular aspect of at least one embodiment of the invention, the centrifugal brake is dimensioned to absorb the braking energy without the temperature of its outer surface exceeding a predefined maximum admissible temperature, or without the temperature of its outer surface and the temperature of its inner surface exceeding the predefined maximum admissible temperature.

[0023] According to a particular aspect of at least one embodiment of the invention, said piping balancing system is a counterweight balancing system.

[0024] According to a particular aspect of at least one embodiment of the invention, the arm comprises a structure for supporting the piping, also balanced by the counterweight balancing system.

[0025] According to a particular aspect of at least one embodiment of the invention, the reversible reducer is an assembly of two reducers with straight or helical teeth, a reducer with epicyclic gear train, a reducer with parallel shafts, or a reducer with coaxial shafts or a reducer with perpendicular shafts.

[0026] According to a particular aspect of at least one embodiment of the invention, the reversible reducer is engaged with a toothed wheel coupled in rotation to the piping or is coupled to a support structure thereof or to a drive system thereof.

[0027] According to a particular aspect of at least one embodiment of the invention, the toothed wheel is fixed to a rotating joint of a set of elbows and rotating joint connecting two sections of pipe or to a pantograph system used for rotating a section of pipe.

[0028] According to a particular aspect of at least one embodiment of the invention, the reversible reducer is coupled to the piping or to a support structure thereof, by means of a chain, a toothed belt or a motion transmission system comprising at least one pulley, a cable wound on it(them) and at least one reversible linear actuator connected to the cable and engaged with one of the reversible reducer actuators, or by means of a rack bar engaged directly or indirectly with the piping.

[0029] According to a particular aspect of at least one embodiment of the invention, the coupling system is equipped with an emergency disconnection system for the coupling system of the piping, said emergency disconnection system preferably being a system comprising two valves joined together using a collar with opening controlled by at least one electric, hydraulic, pneumatic, or mechanical actuator.

[0030] According to a particular aspect of at least one embodiment of the invention, the electric motor is a vector-controlled motor with position feedback by encoder, configured to lock the electric actuator comprising it in position. Presentation of the figures

[0031] The invention, as well as the various advantages that it presents, will be more easily understood in the light of the following description of an illustrative and non-limiting embodiment thereof, and of the appended drawings among which:

[0032] [Fig. 1] is a schematic diagram of an articulated arm for transferring fluid on a dock with an installation of the electrical part according to one embodiment of the invention;

[0033] [Fig.2] is a perspective view of two electric actuators driving a wheel toothed according to the embodiment presented;

[0034] [Fig.3] is a side perspective view illustrating the centrifugal brake implemented between the speed reducer and the motor;

[0035] [Fig.4] is a sectional view of the centrifugal brake according to the embodiment presented;

[0036] [Fig.5] is another sectional view of the centrifugal brake according to the embodiment presented;

[0037] [Fig.6] is a schematic view of an articulated fluid transfer arm in position parking;

[0038] [Fig.7] is a schematic view of an articulated fluid transfer arm in the process of maneuver in balanced conditions;

[0039] [Fig.8] is a schematic view of an articulated fluid transfer arm in position engaged;

[0040] [Fig.9] is another schematic view of an articulated fluid transfer arm in the engaged position;

[0041] [Fig. 10] is a schematic view of an articulated fluid transfer arm being operated under unbalanced conditions.

[0042] Detailed description of an embodiment of the invention

[0043] An example of a system for transferring fluid 10 from a storage position to a target pipe 33 located on a ship 3 and from this target pipe 33 to the storage position is described with reference to [Fig. 1], the system for transferring fluid 10 comprising a fluid transfer line or piping comprising at one of its ends a coupler here of the “QCDC” type 31 for “Quick Connect Disconnect Coupling” for “quick connection / disconnection coupler” adapted to be connected to the target pipe 33 for transferring fluid, and electric actuators 11, 12, 13 for controlling the movement of the transfer line in space, each via an actuating shaft.

[0044] Here, and as provided in the invention, the system for fluid transfer 10 is an articulated fluid transfer arm.

[0045] Furthermore, the fluid transfer system 10 is connected to a reservoir for the fluid, not shown in the various figures.

[0046] As a result, the system for transferring fluid 10 comprises an electrical structure and a mechanical structure.

[0047] The mechanical structure comprises a fluid circulation structure and a handling structure. The electrical structure will be described later in the description.

[0048] The handling structure comprises a base 21, an inner tube 22, an outer tube 23 and a coupling system 32, together forming the articulated arm 2.

[0049] The articulated arm 2 is here an articulated arm balanced by means of a piping balancing system, which is here a piping counterweight balancing system, here comprising two counterweights, in particular by means of a counterweight arranged at one end of the inner tube 22 and another counterweight arranged on the pantograph 15. As a variant, the balancing can be achieved by means of springs or any other balancing solution.

[0050] The base 21 is fixed to the jetty 5. The base 21 could also have been fixed to a vehicle or a boat.

[0051] The inner tube 22 is connected by a first end to the base 21 and by a second end to a first end of the outer tube 23 by means of a rotating joint. The outer tube 23 is connected by a second end to a first end of the coupling system 32 by means of a rotating joint.

[0052] The electric maneuvering actuators 11, 12, 13 make it possible to control the movement of the joints of the system for the transfer of fluid.

[0053] Indeed, the system for transferring fluid is actuated in particular by a pantograph system 15. The pantograph system 15 is typically located above the base 21, on the inner tube 22.

[0054] The rotation around a vertical axis of the compass formed by the tubes 22 and 23 is controlled by the rotation of the electric maneuvering actuator 12.

[0055] The actuation of the pantograph 15 is controlled by the rotation of the second electric maneuvering actuator 13 and allows the deployment of the outer tube 23.

[0056] Furthermore, the rotation of the inner tube 22 around a horizontal axis, parallel to the horizontal axis of rotation of the outer tube 23, is ensured here by means of the electric operating actuator 11.

[0057] Furthermore, the coupling system 32 here comprises an electric actuator 14 for an emergency disconnection system 14' (in English "ERS" for "Emergency Release System"). The emergency disconnection system 14' of this embodiment comprises, in a manner known per se, two valves joined together using a collar with opening controlled by at least the electric actuator 14.

[0058] Such a coupling system can be implemented in the same way as in application FR3064620.

[0059] Alternatively, the emergency disconnection system may be without valves.

[0060] The complete mechanical structure is here arranged in an ATEX zone, also described in application FR3064620. In the ATEX zone are the mechanical structure equipped with the electric actuators 11, 12, 13, 14. Also in the ATEX zone are an electrical cabinet 43 establishing the connection between, on the one hand, a control cabinet 42 and, on the other hand, the electric actuators 11, 12, 13, 14.

[0061] A junction box 43 is implemented here in the form of an explosion-proof cabinet containing connection terminals. It has a so-called “Ex d” enclosure. This means that the enclosure withstands the pressure developed during an internal explosion of an explosive mixture and thus prevents the transmission of the explosion to the atmosphere surrounding the enclosure.

[0062] Alternatively, the electrical cabinet 43 is a cabinet having a so-called “Ex e” enclosure. This means that the enclosure has increased safety.

[0063] In the ATEX zone there is also a control cabinet 42. The control cabinet 42 comprises a controller by electric actuator (in practice a variator). The control cabinet 42 can be powered via an isolation transformer 46. It communicates with the control desk 41. On the other hand, the control cabinet 42 sends information to the electric actuators 11, 12, 13, 14 via the electric cabinet 43.

[0064] The control cabinet 42 has in the ATEX zone an envelope called “Ex p”. This means that the surrounding atmosphere is prevented from penetrating inside the envelope of the control cabin 42 by maintaining inside the envelope a protective gas at a pressure higher than that of the surrounding atmosphere.

[0065] In the ATEX zone there is also the LCP 41 control panel, through which the operator can send instructions to the electric actuators 11, 12, 13, 14. The LCP 41 control panel is also protected.

[0066] In the healthy zone there is an industrial programmable logic controller (PLC) 44 and a backup power supply 45.

[0067] An actuator will now be described with reference to [Fig. 2], which is in this embodiment an electric actuator 200 comprising an electric motor 201 with a shaft not shown, a speed reducer 202 equipped with an adapter for connecting the electric motor 201, the actuating shaft 205 being driven in rotation by the motor shaft by means of the speed reducer 202, which is reversible, so as to allow the actuating shaft 205 to rotate when an actuating torque is directly applied to it, and a centrifugal brake not shown in this [Fig. 2] but described subsequently in relation to Figures 3 to 5.

[0068] Furthermore, [Fig.2] more precisely represents two electric actuators 200 each driving a segmented toothed wheel 204 via a pinion 203 secured to the actuating shaft 205. Generally speaking, a single electric actuator 200 can drive a toothed wheel 204. However, when a single electric actuator 200 does not have enough power to drive a toothed wheel 204 in rotation, two electric actuators 200 can be mounted.

[0069] In practice, the reduction ratio obtained with the speed reducer 202 is between 25 and 1400 for the electric actuator 200. These are non-limiting values. It is necessary to add the ratio between the toothed wheel 204 and the pinion 203 which can vary between 2 and 20.

[0070] The electric motor 201 used here is an asynchronous motor.

[0071] It can also be a brushless motor.

[0072] The speed reducer 202 is here an assembly of two reducers with straight or helical teeth.

[0073] This reducer could also be an epicyclic gear reducer.

[0074] Such a speed reducer 202 can operate reversibly because little friction is produced and the efficiency of the speed reducer 202 is high, of the order of more than 90%.

[0075] Such an assembly formed of the two actuators 200 and the toothed wheel 204 can be implemented at the level of the articulated transfer arm of [Fig.l] at the location of each of the assemblies consisting of the electric actuators 11, 12, 13 engaged with a toothed wheel.

[0076] The centrifugal brake 9 mentioned above is here interposed between the electric motor 201 and the speed reducer 202 and is more particularly represented in figures 3 to 5.

[0077] It should also be noted that the centrifugal brake could also be rotationally coupled to the shaft of the electric motor on the side of the shaft opposite that of rotational coupling to the speed reducer or rotationally coupled to the input of an additional speed reducer rotationally coupled to the piping.

[0078] As visible in [Fig.4], the centrifugal brake 9 comprises a rotor 90 arranged to rotate along an axis intended to be merged with the axis of the electric motor 201 and the speed reducer 202. This rotor 90 is extended on one side by a shaft 96 configured to facilitate connection with the speed reducer 202. Similarly, the rotor 90 comprises a bore on the other side configured to connect with the output shaft of the electric motor 201.

[0079] The rotor 90 is arranged opposite a stator 91. Friction means 92 are positioned opposite weights 95 arranged on the external circumference of the rotor 90 and are integral with these weights 95. The weights 95 are held on the rotor by springs 94.

[0080] In this way, at a given centrifugal force, corresponding to a given rotational speed, the flyweights 95 and the friction means 92 move away radially from the rotor 90 to come into contact with the stator 91 and exert on the stator 91 a contact force making it possible to generate a braking torque.

[0081] It is this braking force which makes it possible to limit the speed of movement of the piping when the latter is in a situation of imbalance, which is generated in this embodiment following an emergency disconnection.

[0082] More particularly, the weights 95 and the friction means exert this braking force on the stator from a predefined engagement speed.

[0083] It should be noted that, for safety reasons, the friction means 92 of the centrifugal brake in this embodiment are made of a material that does not generate sparks and the assembly is dimensioned so that the temperatures of the internal and external walls remain below a maximum admissible temperature, here 135°C.

[0084] In the embodiment presented, the centrifugal brake is configured to have an engagement speed greater than a maximum freewheel speed allowed for the actuating shaft.

[0085] This freewheel speed can in particular be calculated as a function of the motor, its characteristics, and the characteristics of the entity carrying the target tubing (taking into consideration, for example, the potential movements and the external conditions), it being understood that it corresponds to the speed at which the centrifugal effect will be sufficient for the flyweights 95 and the friction means 92 to initiate a braking action by their contact with the stator 91.

[0086] In this embodiment, the engagement speed is set to be approximately 300 rpm higher than said maximum speed.

[0087] Furthermore, in this embodiment, the centrifugal brake is configured to have a maximum braking torque for a brake rotation speed approximately 500 rpm above the engagement speed.

[0088] The weights 95 are pressed against the rotor by springs 94. Thus, when the centrifugal force is greater than the pressing force exerted by the springs 94 on the weights 95, the weights 95 then move radially away from the rotor 90.

[0089] The centrifugal brake further comprises guides 93 for the weights 95. These guides 93 make it possible to guide the weights 95 radially to ensure that they return to the correct angular position on the rotor 90 when the centrifugal force decreases and the weights 95 return to rest on the rotor 90.

[0090] Thus, the centrifugal brake does not block the movement of the elements of the articulated arm but slows it down so that the articulated arm can regain balance. In other words, this centrifugal brake cancels the acceleration to reach a constant speed and continue at a constant speed.

[0091] The centrifugal brake is therefore a passive element which has the advantage of not needing to be controlled for optimal operation.

[0092] Depending on the embodiments, it should be noted that the centrifugal brake may be housed in an explosion-proof enclosure. The interior of the brake may also be flushed or pressurized with dry air or nitrogen. In these cases, the sizing is such that the temperature of the outer wall of the stator remains below the maximum permissible temperature.

[0093] We now detail the operating conditions of this centrifugal brake as a function of the situation of the articulated fluid transfer arm 2.

[0094] In parking conditions, otherwise called rest conditions, the articulated fluid transfer arm is not deployed and is not in contact with a target pipe carried by a ship 3. The engine speed being zero, it is therefore obviously lower than the engagement speed of the centrifugal brake. The centrifugal brake therefore does not apply any braking torque and is, in this position, inert. Such a parking position is more particularly illustrated in [Fig.6].

[0095] Under balanced operating conditions of the articulated fluid transfer arm 2, as for example shown in [Fig.7], the speed of the motor is lower than the engagement speed of the centrifugal brake. The centrifugal brake does not apply any braking torque.

[0096] Each electric motor is here in vector control with position feedback by encoder. This motor control mode makes it possible to control the motor torque at zero speed and therefore to maintain the associated piping section in position.

[0097] However, in the event of a power failure, in the event of an overhauling load, or more generally in conditions of imbalance as illustrated in [Fig.10], the speed increases and reaches the speed of engagement of the centrifugal brake.

[0098] In other words, and in this embodiment, said maximum freewheel speed allowed for the actuating shaft is exceeded by at least 300 rpm and the speed therefore reaches the engagement speed of the centrifugal brake. The centrifugal brake begins to apply a braking torque. The speed increases until it reaches a value where the braking torque of the centrifugal brake compensates for the overhauling load torque.

[0099] Overhauling load is an effect where the load causes the motor to rotate faster than the motor is intended to rotate, i.e., when the forces exerted on the motor shaft attempt to rotate it faster than the commanded speed.

[0100] As a result, the centrifugal brake does not block the movement of the elements of the articulated arm but will limit the speed of rotation so that the arm reaches an equilibrium position or a mechanical stop without risk of overspeed.

[0101] In the connected position, as illustrated in Figures 8 and 9, the motor is powered off. The freewheeling speed is lower than the engagement speed of the centrifugal brake and therefore the centrifugal brake does not apply any braking torque that could hinder the freewheeling phase.

[0102] In all states of the loading arm, the motor / centrifugal brake combination is fail-safe.

[0103] According to one aspect of the invention, the emergency disconnection sequence may also include sending an instruction to the motor to take control of the loading arm and move it to its parking position. In other words, the raising of the arm may be partially or entirely controlled with the centrifugal brakes coupled to the electric actuators.

[0104] Such provisions are also applicable in the event that the emergency disconnection causes an imbalance causing the arm to collapse (downward movement).

[0105] More generally, the following points are also worth noting regarding the embodiments described above and possible variants thereof. The fluid transfer system described with reference to the drawings is an articulated arm whose inner and outer tubes are self-supporting. Alternatively, these may be carried by a support structure. More generally, it may be a type of fluid transfer system of the kind described in the patent applications mentioned above.

[0106] In the case of the embodiments described above, the reversible reducer is engaged with a toothed wheel coupled in rotation to the transfer line or is coupled to a drive system thereof. It is more precisely fixed to a rotating joint of a set of elbows and rotating joints connecting, typically, two sections of pipe of the transfer line or to the pantograph system used for driving in rotation a section of pipe of the transfer line. When a support structure is implemented, the toothed wheel can, of course, be coupled to this support structure.

[0107] The reversible reducer described above with reference to the figures is an assembly of two reducers with straight or helical teeth.

[0108] Alternatively, it may be an epicyclic gear reducer, a parallel shaft reducer or a perpendicular shaft reducer, provided that they are reversible. Alternatively, the reversible reducer may also be coupled to the transfer line or to a support structure thereof, by means of a chain, a toothed belt, or a motion transmission system comprising at least one pulley, a cable wound thereon, and at least one reversible linear actuator connected to the cable and engaged with one of the reversible gear actuators. The pulley may, for example, be a pulley of the pulley and cable pantograph system described with reference to the drawings, in which case the toothed wheel coupled to the pulley would be replaced by such a transmission system.The reversible reducer can also be coupled to the piping or to a support structure for the latter, by means of a rack bar in direct or indirect engagement with the piping. This forms the equivalent of an electric jack with the assembly formed by the electric motor, the centrifugal brake, the speed reducer, the pinion of the actuating shaft and the rack bar.

[0109] The motor and the reducer can also be in the form of a geared motor. Furthermore, the electric motor can be synchronous or asynchronous.

[0110] The coupling system described above comprises an articulated coupler at the end of the transfer line with at least three degrees of freedom in rotation, thanks to the rotating joints implemented. Optionally, at least one of the at least three rotations can be controlled by an electric actuator. In practice, starting from the transfer line, this is the second of at least three rotations.

[0111] Generally speaking, the coupling system may be equipped with an emergency disconnection system comprising two valves joined together using a collar with opening controlled by at least one electric actuator, said at least one electric actuator also controlling at least the closing of the valves. In practice, this control may for example be obtained by the translational movement of a rod, as described for example in patent application WO2007 / 017559.

[0112] Also more generally, the structure of the centrifugal brake is not limited to that described above, but could be any equivalent structure available commercially.

[0113] It may also be provided to implement one or more speed reducers with several output pinions.

[0114] Instead of the three degrees of freedom in rotation obtained with the arm described above (or even 6 by adding roll, pitch and yaw), an arm according to the invention can also have fewer degrees of freedom in rotation than three, such as for example two, or even only one, by implementing piping comprising a rigid pipe section and a flexible pipe section, of which the rigid pipe section has one or two degrees of freedom in rotation.

[0115] Finally, it is possible not to implement a centrifugal brake for each of the actuators but only for one or part of these actuators depending on the needs.

Claims

Claims

1. Articulated fluid transfer arm (2) comprising an articulated pipe mounted on a support, having at least one degree of freedom in rotation in space relative to the support and comprising at one of its ends a coupling system (32) adapted to be connected to the target pipe for the transfer of the fluid from a storage tank to the target pipe or from this target pipe to the storage tank, one or more electric actuators (11, 12, 13, 200) each for controlling a movement of the pipe per degree of freedom by means of an actuating shaft (205), the or each of the actuators comprising an electric motor (201) with a shaft and a speed reducer (202), the actuating shaft being driven in rotation by the motor shaft by means of the speed reducer, which is reversible, so as to allow the actuating shaft to rotate when an actuating torque is directly applied to it,and a piping balancing system, characterized in that the arm comprises a centrifugal brake (9) for the actuator or at least one of the electric actuators and for limiting the speed of movement of the piping when the latter is in an unbalanced situation.,

2. Articulated fluid transfer arm according to claim 1, characterized in that the centrifugal brake (9) is interposed between the electric motor (201) and the reversible speed reducer (202), rotationally coupled to the shaft of the electric motor on the side of the shaft opposite that of rotational coupling to the speed reducer or rotationally coupled to the input of an additional speed reducer rotationally coupled to the piping.

3. Articulated fluid transfer arm according to claim 1, characterized in that the centrifugal brake (9) is configured to have an engagement speed greater than a maximum freewheel speed permitted for the actuating shaft.

4. Articulated fluid transfer arm according to claim 3, characterized in that the engagement speed is set to be approximately 300 rpm higher than said maximum speed.

5. Articulated fluid transfer arm according to claim 4, characterized in that the centrifugal brake (9) is configured to have maximum braking torque for a brake rotation speed approximately 500 rpm above the engagement speed.

6. Articulated fluid transfer arm according to any one of the preceding claims, characterized in that: -the centrifugal brake is housed in an explosion-proof enclosure; or -the interior of the brake is flushed or pressurized with dry air or nitrogen; or -the linings of the centrifugal brake are made of a material which does not generate sparks.

7. Articulated fluid transfer arm according to any one of the preceding claims, characterized in that the centrifugal brake (9) is dimensioned to absorb the braking energy without the temperature of its outer surface exceeding a predefined maximum admissible temperature, or without the temperature of its outer surface and the temperature of its inner surface exceeding the predefined maximum admissible temperature.

8. Articulated fluid transfer arm according to any one of the preceding claims, characterized in that said piping balancing system is a counterweight balancing system.

9. Articulated fluid transfer arm according to claim 8, characterized in that it comprises a pipe support structure, also balanced by the counterweight balancing system.

10. Articulated fluid transfer arm according to any one of the preceding claims, characterized in that the reversible reducer (202) is an assembly of two reducers with straight or helical teeth, a reducer with epicyclic gear, a reducer with coaxial shafts, a reducer with parallel shafts or a reducer with perpendicular shafts.

11. Articulated fluid transfer arm according to any one of the preceding claims, characterized in that the reversible reducer (202) is engaged with a toothed wheel coupled in rotation to the piping or is coupled to a support structure thereof or to a drive system thereof.

12. Articulated fluid transfer arm according to the preceding claim, characterized in that the toothed wheel is fixed to a rotating joint of a set of elbows and rotating joint connecting two sections of the pipeline or to a pantograph system used to drive a section of the pipeline in rotation.

13. Articulated fluid transfer arm according to any one of the preceding claims, characterized in that the reversible reducer (202) is coupled to the piping or to a support structure thereof, by means of a chain, a toothed belt or a motion transmission system comprising at least one pulley, a cable wound on it(them) and at least one reversible linear actuator connected to the cable and engaged with one of the reversible reducer actuators, or by means of a rack bar engaged directly or indirectly with the piping.

14. Articulated fluid transfer arm according to any one of the preceding claims, characterized in that the coupling system (32) is equipped with an emergency disconnection system (14') of the pipe coupling system, said emergency disconnection system preferably being a system comprising two valves joined together using a collar with opening controlled by at least one electric, hydraulic, pneumatic, or mechanical actuator.;

15. Articulated fluid transfer arm according to any one of the preceding claims, characterized in that the electric motor is a vector-controlled motor with position feedback by encoder, configured to hold the electric actuator comprising it in position.

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