Articulated fluid-transfer arm

Abstract

The invention relates to an articulated arm for transferring fluid, comprising articulated piping mounted on a support, having at least one degree of freedom in rotation in space with respect to the support and comprising at one of its ends a coupling system designed 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 for each controlling a movement of the following piping per degree of freedom via an actuating shaft, each of the actuators comprising an electric motor (201) with a shaft and a speed reducer (202), the actuating shaft being rotated 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 applied directly thereto, and a system for balancing the piping, 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 at which the piping moves when this piping is in an unbalanced situation.

Description

[0001] DESCRIPTION

[0002] TITLE: ARTICULATED FLUID TRANSFER ARM

[0003] Scope of the invention

[0004] 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).

[0005] Prior art

[0006] A fluid is defined as a liquid or gaseous product, such as a petroleum, gas, or chemical product. This type of product is intended to be transferred, for example, between a ship and a dock or jetty, or between two ships. In practice, the transfer system is therefore fixed to the ground, a vehicle, or a boat.

[0007] For marine loading systems, this could include:

[0008] - of conventional marine loading arms as defined for example in patent applications FR2813872, FR2854156, FR2931451;

[0009] - marine loading arms without a base allow access to low connection points as defined for example in patent application FR2964093;

[0010] - bunkering or hybrid arms (one rigid part and one flexible part) as defined for example in patent application FR3003855.

[0011] These marine loading systems can operate with electric actuators.

[0012] The use of such actuators has already been proposed in the aforementioned patent application FR2931451.

[0013] When the load arm coupler described in this patent application FR2931451 is connected to a target pipe, a computer sends a disengagement instruction to all actuators so as to make the system movements free to allow the coupler to follow the movements of the target pipe (freewheeling mode).

[0014] This has the advantage of eliminating the need to actively control the arm to follow the movements of the structures supporting the arm and the target tubing, and therefore, eliminating electricity consumption during the transfer phase. When using an electric actuator, disengagement necessitates the implementation of a clutch between the gearbox and the actuator's drive pinion, compromising the actuator's compactness and simplicity.

[0015] To resolve this drawback, it was proposed in patent FR3064620 to implement a reversible reducer to replace the clutch, and to implement braking means between the actuator and the actuator's drive pinion to hold the actuator in position when a movement command is in progress and this actuator is not activated for that command.

[0016] The invention aims to provide an alternative for better securing marine loading systems, particularly articulated fluid transfer arms, and also leading to other advantages.

[0017] Description of the invention

[0018] 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 rotational freedom 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 the transfer of fluid from a storage tank to the target pipe or from this target pipe to the storage tank, one or more electric actuators for each controlling a movement of the pipe per degree of freedom via an actuating shaft, the actuator(s) 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 includes a centrifugal brake for the electric actuator or at least electric actuators to limit the speed of movement of the piping when the latter is in a state of imbalance.

[0019] Such an imbalance of the arm can be caused in particular by an emergency disconnection of the piping coupling system, external environmental conditions (wind...), the presence of product residue in the arm or ice on the arm.

[0020] Thus, the proposed solution enables the implementation of fail-safe braking systems for an articulated fluid transfer arm, also known as fail-safe systems, in all states of the articulated fluid transfer arm. Furthermore, such a centrifugal brake systematically limits the speed of the loading arm below a safe operating speed. In addition, the invention simplifies the emergency release sequence of the articulated fluid transfer arm.

[0021] According to a particular aspect of at least one embodiment of the invention, the centrifugal brake is interposed between the electric motor and the reversible speed reducer, which is rotationally coupled to the shaft of the electric motor on the side of the shaft opposite to that of rotational coupling to the speed reducer or rotationally coupled to the input of an additional speed reducer which is rotationally coupled to the piping.

[0022] 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 permissible freewheeling speed for the actuating shaft.

[0023] According to a particular aspect of at least one embodiment of the invention, the engagement speed is fixed to be approximately 300 rpm higher than said maximum speed.

[0024] 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 brake rotation speed of approximately 500 rpm above the engagement speed.

[0025] According to a particular aspect of at least one embodiment of the invention, the centrifugal brake is housed in an explosion-proof casing, or the interior of the brake is under sweep or pressurized with dry air or nitrogen, or the linings of the centrifugal brake are made of a non-sparking material.

[0026] 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 permissible temperature, or without the temperature of its outer surface and the temperature of its inner surface exceeding the predefined maximum permissible temperature.

[0027] According to a particular aspect of at least one embodiment of the invention, said piping balancing system is a counterweight balancing system.

[0028] According to a particular aspect of at least one embodiment of the invention, the arm includes a piping support structure, also balanced by the counterweight balancing system.

[0029] According to a particular aspect of at least one embodiment of the invention, the reversible reducer is an assembly of two spur or helical gear reducers, an epicyclic gear reducer, a parallel shaft reducer, a coaxial shaft reducer, or a perpendicular shaft reducer. According to a particular aspect of at least one embodiment of the invention, the reversible reducer meshes with a gear driven for rotation by the piping or is coupled to a support structure for the piping or to a drive system for the piping.

[0030] According to a particular aspect of at least one embodiment of the invention, the toothed wheel is fixed to a rotating joint of an assembly of elbows and rotating joints connecting two sections of piping or to a pantograph system used to drive a section of piping in rotation.

[0031] 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(s) and at least one reversible linear actuator connected to the cable and meshed with one of the reversible reducer actuators, or by means of a rack bar in direct or indirect contact with the piping.

[0032] 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 piping coupling system, said emergency disconnection system preferably being a system comprising two valves joined together by means of a collar with opening controlled by at least one electrical, hydraulic, pneumatic, or mechanical actuator.

[0033] 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 in position the electric actuator comprising it.

[0034] Presentation of the figures

[0035] The invention, and its various advantages, will be more easily understood in light of the following description of an illustrative and non-limiting embodiment thereof, and the accompanying drawings, among which:

[0036] [Fig. 1] is a schematic diagram of an articulated fluid transfer arm on a dock with the electrical part installed according to an embodiment of the invention;

[0037] [Fig. 2] is a perspective view of two electric actuators driving a toothed wheel according to the embodiment shown;

[0038] [Fig. 3] is a side perspective view illustrating the centrifugal brake implemented between the speed reducer and the motor;

[0039] [Fig. 4] is a cross-sectional view of the centrifugal brake according to the embodiment shown;

[0040] [Fig. 5] is another cross-sectional view of the centrifugal brake according to the embodiment shown; [Fig. 6] is a schematic view of an articulated fluid transfer arm in the parking position;

[0041] [Fig. 7] is a schematic view of an articulated fluid transfer arm being maneuvered under balanced conditions;

[0042] [Fig. 8] is a schematic view of an articulated fluid transfer arm in the engaged position;

[0043] [Fig. 9] is another schematic view of a fluid transfer articulated arm in the engaged position; [Fig. 10] is a schematic view of a fluid transfer articulated arm being maneuvered under unbalanced conditions.

[0044] Detailed description of an embodiment of the invention

[0045] With reference to Figure 1, 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 back to the storage position is described, the system for transferring fluid 10 comprising a fluid transfer line or piping having at one of its ends a coupler here of the type "QCDC" 31 for "Quick Connect Disconnect Coupling" adapted to be connected to the target pipe 33 for the transfer of fluid, and electric actuators 11, 12, 13 to control the movement of the transfer line in space, each by means of an actuating shaft.

[0046] Here, and as foreseen in the invention, the system for fluid transfer 10 is an articulated fluid transfer arm.

[0047] Furthermore, the fluid transfer system 10 is connected to a fluid reservoir, not shown in the various figures.

[0048] As a result, the fluid transfer system 10 comprises an electrical structure and a mechanical structure.

[0049] The mechanical structure includes a fluid circulation system and a handling system. The electrical structure will be described later.

[0050] The manipulation structure comprises a base 21, an inner tube 22, an outer tube 23 and a coupling system 32, together forming the articulated arm 2.

[0051] 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, comprising here two counterweights, in particular by means of a counterweight disposed at one end of the inner tube 22 and another counterweight disposed on the pantograph 15. Alternatively, the balancing can be achieved by means of springs or any other balancing solution.

[0052] The base 21 is fixed to the pier 5. The base 21 could also have been fixed to a vehicle or a boat. The inner tube 22 is connected at one end to the base 21 and at the other end to one end of the outer tube 23 via a swivel joint. The outer tube 23 is connected at the other end to one end of the coupling system 32 via a swivel joint.

[0053] The electric operating actuators 11, 12, 13 allow control of the movement of the system joints for fluid transfer.

[0054] Indeed, the fluid transfer system is operated in particular by a pantograph system 15. The pantograph system 15 is typically located above the base 21, on the inner tube 22.

[0055] The rotation around a vertical axis of the compass formed by the tubes 22 and 23 is controlled by the rotation of the electric operating actuator 12.

[0056] 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.

[0057] 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.

[0058] Furthermore, the coupling system 32 here includes an electric actuator 14 for an emergency release system 14' (ERS). The emergency release system 14' of this embodiment comprises, in a manner known per se, two valves joined by means of a collar, the opening of which is controlled by at least the electric actuator 14.

[0059] Such a coupling system can be implemented in the same way as in application FR3064620.

[0060] Alternatively, the emergency disconnection system can be without valves.

[0061] The complete mechanical structure is located here 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 is an electrical cabinet 43 establishing the link between on the one hand a control cabinet 42 and on the other hand the electric actuators 11, 12, 13, 14.

[0062] A junction box 43 is implemented here in the form of an explosion-proof cabinet containing connection terminals. It has an enclosure designated "Ex d". This means that the enclosure withstands the pressure developed during an internal explosion of an explosive mixture and thus prevents the explosion from spreading to the atmosphere surrounding the enclosure. Alternatively, the electrical cabinet 43 is a cabinet with an enclosure designated "Ex e". This means that the enclosure has enhanced safety features.

[0063] In the ATEX zone, there is also a control cabinet 42. Control cabinet 42 includes a controller for each electric actuator (in practice, a variable frequency drive). Control cabinet 42 can be powered via an isolation transformer 46. It communicates with the control panel 41. Furthermore, control cabinet 42 sends information to the electric actuators 11, 12, 13, and 14 via the electrical cabinet 43.

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

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

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

[0067] We will now describe, with reference to Figure 2, an actuator, which in this embodiment is an electric actuator 200 comprising an electric motor 201 with a shaft not shown, a speed reducer 202 equipped with a connection adapter for 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 Figure 2 but described subsequently in relation to Figures 3 to 5.

[0068] Furthermore, Figure 2 more precisely represents two electric actuators 200 each driving a segmented gear 204 via a pinion 203 fixed to the drive shaft 205. Generally, a single electric actuator 200 can drive a gear 204. However, when a single electric actuator 200 does not have enough power to drive a gear 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 not limiting values. The ratio between the gear 204 and the pinion 203, which can vary between 2 and 20, must be added.

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

[0071] It can also be a brushless motor. The 202 speed reducer here is an assembly of two spur or helical gear reducers.

[0072] This reducer could also be an epicyclic gear reducer.

[0073] Such a speed reducer 202 can operate reversibly because little friction is achieved and the efficiency of the speed reducer 202 is high, on the order of more than 90%.

[0074] Such an assembly consisting of the two actuators 200 and the toothed wheel 204 can be implemented at the level of the articulated transfer arm of figure 1 at the location of each of the assemblies consisting of the electric actuators 11, 12, 13 in contact with a toothed wheel.

[0075] 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.

[0076] It should also be noted that the centrifugal brake could also be rotationally coupled to the electric motor shaft on the side of the shaft opposite to the rotationally coupled to the speed reducer or rotationally coupled to the input of an additional speed reducer rotationally coupled to the piping.

[0077] As can be seen in Figure 4, the centrifugal brake 9 comprises a rotor 90 designed to rotate about an axis intended to coincide 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 includes a bore on the other side configured to connect with the output shaft of the electric motor 201.

[0078] The rotor 90 is arranged opposite a stator 91. Friction means 92 are positioned opposite weights 95 arranged on the outer circumference of the rotor 90 and are fixed to these weights 95. The weights 95 are held on the rotor by springs 94.

[0079] In this way, at a given centrifugal force, corresponding to a given rotational speed, the weights 95 and the friction means 92 move radially away from the rotor 90 to come into contact with the stator 91 and exert on the stator 91 a contact force enabling the generation of a braking torque.

[0080] 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.

[0081] More specifically, the weights 95 and the friction means exert this braking force on the stator from a predefined engagement speed.

[0082] It should be noted that, for safety reasons, the friction means 92 of the centrifugal brake in this embodiment are made of a material which does not generate sparks and the assembly is dimensioned so that the temperatures of the internal and external walls remain below a maximum permissible temperature, here of 135°C.

[0083] In the embodiment presented, the centrifugal brake is configured to have an engagement speed greater than a maximum permissible freewheeling speed for the actuating shaft.

[0084] This freewheeling 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 potential movements and external conditions), it being understood that it corresponds to the speed at which the centrifugal effect will be sufficient for the weights 95 and the friction means 92 to begin a braking action by their contact on the stator 91.

[0085] In this embodiment, the engagement speed is set to be approximately 300 rpm higher than said maximum speed.

[0086] Furthermore, in this embodiment, the centrifugal brake is configured to have maximum braking torque for a brake rotation speed approximately 500 rpm above the engagement speed.

[0087] 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 away radially from the rotor 90.

[0088] The centrifugal brake further includes guides 93 for the weights 95. These guides 93 allow the weights 95 to be guided 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 press against the rotor 90.

[0089] Thus, the centrifugal brake does not block the movement of the articulated arm's components but slows it down so that the articulated arm can regain its equilibrium. In other words, this centrifugal brake cancels the acceleration to reach a constant speed and maintain that speed.

[0090] The centrifugal brake is therefore a passive element which has the advantage of not needing to be controlled to have optimal operation.

[0091] Depending on the embodiment, the centrifugal brake can be housed in an explosion-proof enclosure. The brake's interior can also be purged or pressurized with dry air or nitrogen. In these cases, the dimensions are such that the temperature of the stator's outer wall remains below the maximum permissible temperature.

[0092] We now detail the operating conditions of this centrifugal brake depending on the situation of the articulated fluid transfer arm 2.

[0093] In parking conditions, also known as rest conditions, the articulated fluid transfer arm is not deployed and is not in contact with a target pipe carried by a vessel 3. Since the engine speed is zero, it is obviously lower than the centrifugal brake engagement speed. Therefore, the centrifugal brake does not apply any braking torque and is inert in this position. Such a parking position is illustrated in Figure 6.

[0094] Under balanced operating conditions of the articulated fluid transfer arm 2, as shown for example in Figure 7, the motor speed is lower than the centrifugal brake engagement speed. The centrifugal brake does not apply any braking torque.

[0095] Each electric motor here is vector-controlled with position feedback via an encoder. This motor control method allows for torque control at zero speed, thus maintaining the position of the associated section of piping.

[0096] 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 Figure 10, the speed increases and reaches the speed of engagement of the centrifugal brake.

[0097] In other words, and in this embodiment, the maximum permissible freewheeling speed of the drive shaft is exceeded by at least 300 rpm, and the speed thus reaches the centrifugal brake engagement speed. 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.

[0098] Overhauling load refers to an effect where the load causes the motor to rotate faster than the motor is supposed to rotate, i.e., when the forces exerted on the motor shaft attempt to make it rotate faster than the commanded speed.

[0099] Therefore, the centrifugal brake does not block the movement of the elements of the articulated arm but will limit the rotation speed so that the arm reaches an equilibrium position or a mechanical stop without risk of overspeed.

[0100] In the connected position, as illustrated in Figures 8 and 9, the motor is de-energized. The freewheeling speed is lower than the centrifugal brake engagement speed, and therefore the centrifugal brake does not apply braking torque that could impede the freewheeling phase.

[0101] In all states of the loading arm, the motor / centrifugal brake combination is fail safe.

[0102] According to one aspect of the invention, the emergency disconnection sequence may also include sending a command to the motor to take control of the loading arm and move it to its parking position. In other words, the arm's retraction can be partially or fully controlled by centrifugal brakes coupled to electric actuators. Such provisions are also applicable in cases where the emergency disconnection would cause an imbalance resulting in the arm sagging (downward movement).

[0103] More generally, the following points should also be noted regarding the embodiments described above and any possible variations thereof. The fluid transfer system described with reference to the drawings is an articulated arm with self-supporting inner and outer tubes. Alternatively, these tubes may be supported by a support structure. More generally, it may be a type of fluid transfer system similar to those described in the patent applications mentioned above.

[0104] In the embodiments described above, the reversible gearbox meshes with a gear that is either rotationally coupled to the transfer line or coupled to a drive system for the transfer line. More precisely, it is attached to a rotary joint of a set of bends and rotary joints typically connecting two sections of the transfer line, or to the pantograph system used to rotate a section of the transfer line. When a support structure is used, the gear can, of course, be coupled to this support structure.

[0105] The reversible reducer described above with reference to the figures is an assembly of two reducers with straight or helical teeth.

[0106] Alternatively, it may be a planetary gear reducer, a parallel shaft reducer, or a perpendicular shaft reducer, provided they are reversible. Alternatively, the reversible reducer may also be coupled to the transfer line or its support structure via a chain, a toothed belt, or a motion transmission system comprising at least one pulley, a cable wound around it, and at least one reversible linear actuator connected to the cable and meshing with one of the reversible gear actuators. The pulley may, for example, be a pulley from the pantograph pulley-and-cable system described with reference to the drawings, in which case the gear coupled to the pulley would be replaced by such a transmission system.The reversible gearbox can also be coupled to the piping or its support structure via a rack and pinion, either directly or indirectly connected to the piping. This creates the equivalent of an electric actuator, comprising the electric motor, centrifugal brake, speed reducer, drive shaft pinion, and rack and pinion.

[0107] The motor and gearbox can also be configured as a geared motor. Furthermore, the electric motor can be synchronous or asynchronous. The coupling system described above includes a coupler articulated at the end of the transfer line with at least three rotational degrees of freedom, thanks to the rotary joints used. Optionally, at least one of the three rotations can be controlled by an electric actuator. In practice, this is the second of the three rotations, starting from the transfer line.

[0108] Generally, the coupling system can be equipped with an emergency disconnection system comprising two valves joined by a collar, the opening of which is controlled by at least one electrical actuator, said at least one electrical actuator also controlling at least the closing of the valves. In practice, this control can, for example, be achieved by the translational movement of a rod, as described, for example, in patent application W02007 / 017559.

[0109] More generally, the structure of the centrifugal brake is not limited to that described above, but could be any equivalent structure available commercially.

[0110] It may also be possible to implement one or more multi-output gear speed reducers.

[0111] Instead of the three rotational degrees of freedom 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 rotational degrees of freedom than three, such as for example two, or even only one, by implementing a piping comprising a rigid pipe section and a flexible pipe section, of which the rigid pipe section has one or two rotational degrees of freedom.

[0112] 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 rotational freedom 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 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) for each controlling a movement of the pipe per degree of freedom via an actuating shaft (205), the actuator 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 includes 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 a state of imbalance.

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 to 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 permissible freewheeling speed for the actuating shaft.

4. Articulated fluid transfer arm according to claim 3, characterized in that the engagement speed is fixed 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 casing; or -the inside of the brake is either purged or pressurized with dry air or nitrogen; or -the linings of the centrifugal brake are made of a material that 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 maximum predefined permissible temperature, or without the temperature of its outer surface and the temperature of its inner surface exceeding the maximum predefined permissible 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 piping 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 straight or helical gear reducers, an epicyclic gear reducer, a coaxial shaft reducer, a parallel shaft reducer or a perpendicular shaft reducer.

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 rotationally coupled to the piping or is coupled to a support structure for the piping or to a drive system for the piping.

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

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(s) and at least one reversible linear actuator connected to the cable and in contact with one of the reversible reducer actuators, or by means of a rack bar in direct or indirect contact 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') for the piping coupling system, said emergency disconnection system preferably being a system comprising two valves joined together by means of a collar with an opening controlled by at least one electrical, 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 in position the electric actuator comprising it.

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