Fluid transfer articulated arm with improved emergency release
Patent Information
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- T EN LOADING SYST
- Filing Date
- 2025-12-18
- Publication Date
- 2026-06-25
AI Technical Summary
Conventional fluid transfer articulated arms require high-torque electric actuators to maneuver after emergency releases due to imbalance situations, leading to increased costs, especially for electric actuators.
Incorporating a stringing system with a braking mechanism, such as a centrifugal brake, to limit the unwinding speed during emergency releases, allowing actuators to be dimensioned for normal conditions, and using a piping balancing system like counterweights to stabilize the arm.
Reduces the need for high-torque actuators by controlling the arm's movement during imbalances, resulting in significant cost savings while ensuring safe and controlled repositioning after emergency releases.
Smart Images
Figure EP2025087990_25062026_PF_FP_ABST
Abstract
Description
[0001] DESCRIPTION
[0002] TITLE: FLUID TRANSFER ARTICULATED ARM WITH IMPROVED EMERGENCY RELEASE
[0003] Field of the disclosure
[0004]
[0001] The present disclosure relates, in a general manner, to articulated arms for transferring (loading or unloading a vessel for example) fluid products and, more particularly, loading arms of the general type comprising an articulated piping mounted to a support and comprising at one end thereof a coupling device adapted to be connected to a target tubing for transfer of the fluid from a storage tank to the target tubing or from this target tubing to the storage tank, a piping balancing system and a two-part emergency release device, one part of which remains integral with the coupling device connected to the target tubing and the other part of the rest of the tubing detached from the target tubing, once the emergency release is activated.
[0005] State of prior art
[0006]
[0002] By fluid product, it is meant a liquid or gaseous product, such as a petroleum, gas or chemical product. This type of product is to be transferred, for example, between a vessel and a wharf or pier or between two vessels. In practice, the transfer arm is therefore fastened to the ground, a vehicle or a craft.
[0007]
[0003] For marine loading arms, these may be:
[0008] - conventional marine loading arms as defined for example in patent applications FR2813872, FR2854156, FR2931451 or FR3064620;
[0009] - baseless marine loading arms allow reaching low connection points as defined for example in patent application FR2964093;
[0010] - bunkering or hybrid arms (a rigid part and a flexible part) as defined for example in patent application FR3003855.
[0011]
[0004] These transfer arms can be operated with electric actuators.
[0012]
[0005] The use of such actuators has already been provided in the aforementioned patent applications FR2931451 or FR3064620.
[0013]
[0006] These should be dimensioned so that the arm can be maneuvered after an emergency release, where the arm is generally in an imbalance situation (underbalance or overbalance depending on whether the piping is loaded with fluid or not and depending on the "dropped weight", i.e. the weight of the part separated from the arm after the emergency release.
[0014]
[0007] This is a situation that rarely occurs but requires a high torque. However, the cost of actuators, especially if they are electric, is directly related to the value of the output torque.
[0015]
[0008] The present disclosure seeks to provide a solution that overcomes this drawback and further leads to other advantages. Description of the disclosure
[0016]
[0009] To do so, the present disclosure relates to a fluid transfer articulated arm comprising an articulated piping mounted to a support, having at least one rotational degree of freedom relative to the support and comprising at one end thereof a coupling device adapted to be connected to a target tubing for transfer of the fluid from a storage tank to the target tubing or from this target tubing to the storage tank and an emergency release device for releasing the piping from the target tubing, configured to be able to be separated into a first and a second parts during an emergency release procedure, the first part remaining integral with the coupling device connected to the target tubing and the second part remaining integral with the rest of the piping detached from the coupling device; one or more electrical actuators for each controlling a movement of the piping by degree of freedom via an actuating shaft; and a piping balancing system, characterized in that the fluid transfer articulated arm comprises a stringing connected by one end thereof to one of the first and second parts and wound from its other end on a device for winding and unwinding the stringing and mounted to the other of the first and second parts, the stringing unwinding device being operationally connected to a braking mechanism configured to act on the unwinding device so as to limit the travel speed of the piping after an emergency release procedure.
[0017]
[0010] Thus, the solution provided allows the stringing to unwind at a limited speed due to the action of the braking mechanism.
[0018]
[0011] The electric actuators can then only be dimensioned to maneuver the transfer arm under normal / balanced conditions. Therefore, only low torques are required, enabling significant cost reductions compared to conventional solutions.
[0019]
[0012] The stringing unwinding device can be configured to be rotatably actuated by a motor or a manual actuator to ensure rewinding of the stringing.
[0020]
[0013] In one embodiment, for reconnecting the two parts of the emergency release device, the winding and unwinding device is turned on to wind the two parts of the stringing back against each other for reassembly, where appropriate after the stringing has been reattached to the winding and unwinding device.
[0021]
[0014] The fluid transfer articulated arm according to the present disclosure may also comprise one or more of the following characteristics, taken alone or according to any technically possible combination(s):
[0022] - the unwinding device comprises a winch mounted to the first part and the braking mechanism comprising a centrifugal brake configured to act on the axis of rotation of a winch cylinder about which the stringing winds;
[0023] - the winch comprises a hydraulic or pneumatic electric motor whose shaft is connected to the cylinder axis by means of a speed reducer rotatably coupled to the winch motor shaft; - the speed reducer is a reversible speed reducer and the centrifugal brake is interposed between the electric motor and the reversible speed reducer or rotatably coupled to the shaft of the electric motor on the side of the shaft opposite to that of rotatable coupling to the speed reducer;
[0024] - the unwinding device comprises a hydraulic or electric speed limiting motor-driven winch, mounted to the second part and the motor of which is equipped with the braking mechanism;
[0025] - (i) the winch motor is a hydraulic motor and the braking means thereof comprise at least one hydraulic braking valve connected to the hydraulic motor which is configured to operate as a pump in its brake quadrant, or (ii) the winch motor is an electric motor and the braking means thereof comprise an electrical resistor connected to the motor which is configured to operate as a generator returning energy generated by the braking into the resistor;
[0026] - the stringing is a rope or cable;
[0027] - the stringing is removably fastened to the unwinding device;
[0028] - the emergency release device is a system comprising two valves adjoined using a collar with opening controlled by at least one electrical, hydraulic, pneumatic, or mechanical actuator;
[0029] - the centrifugal brake is housed in an explosion-proof enclosure, or
[0030] - the interior of the brake is flushed or pressurized with dry air or nitrogen, or
[0031] - the centrifugal brake linings are made of a non-sparking material;
[0032] - the centrifugal brake is dimensioned to absorb braking energy without the temperature of its external surface exceeding a predefined maximum permissible temperature, or without the temperature of its external surface and the temperature of its internal surface exceeding the predefined maximum permissible temperature;
[0033] - the arm comprises an inner tube and an outer tube articulated together, the inner tube pivoting on the support and the outer tube carrying the emergency release device and the coupling device;
[0034] - the or each of the actuators comprises an electric motor with a shaft and a speed reducer, the actuating shaft being rotatably driven 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;
[0035] - the electric motor of each actuator is a vector controlled motor with position return by encoder, configured to keep the electric actuator comprising it in position;
[0036] - said piping balancing system is a counterweight balancing system;
[0037] - the arm further comprises a reconnection stringing connected by one end thereof to the piping part to be detached from the coupling device, for returning the first and second parts of the emergency connection device to a position for connection to each other, after an emergency release procedure.
[0038]
[0015] According to the present disclosure, there is also provided a method for emergency release of a fluid transfer articulated arm as defined above, wherein, during the emergency release sequence, the movement of the fluid transfer arm to a parking position is partially or fully controlled by the electric actuators with the help of the braking mechanism.
[0039]
[0016] The present disclosure further provides a method for reconnecting an emergency release device of a fluid transfer arm as defined above, wherein (i) the stringing unwinding device is rotatably actuated or (ii) a reconnection stringing connected by one end thereof to the piping part to be detached from the coupling device is subjected by its other end to pulling by means of a pulling apparatus external to the fluid transfer arm, to return the first and second parts of the emergency release device into a position for connection to each other.
[0040] Description of the figures
[0041]
[0017] The present disclosure, as well as the various advantages thereof, will be more easily understood in the light of the following description of an illustrative and non-limiting embodiment thereof, and the appended drawings in which:
[0042]
[0018] [Fig. 1] is a schematic view of a fluid transfer articulated arm according to one embodiment of the disclosure, arranged on a pier and connected to a vessel;
[0043]
[0019] [Fig. 2] is a schematic view of the fluid transfer articulated arm of Figure 1 being maneuvered following an emergency release procedure;
[0044]
[0020] [Fig. 3] is a partial cross-section side view illustrating the centrifugal brake implemented between the speed reducer and the winch motor of Figure 2;
[0045]
[0021] [Fig. 4] is a partial cross-section side view of the centrifugal brake of Figure 3;
[0046]
[0022] [Fig. 5] is a cross-section view of the part of the centrifugal brake referenced A in Figure 4;
[0047]
[0023] [Fig. 6] is a schematic view of the fluid transfer articulated arm in the parking position following an emergency release procedure;
[0048]
[0024] [Fig. 7] is a schematic view of the fluid transfer articulated arm being maneuvered under unbalanced lowering conditions following an emergency release procedure;
[0049]
[0025] [Fig. 8] is a schematic view of the fluid transfer articulated arm in the parking position after detaching the cable from its winch;
[0050]
[0026] [Fig. 9] is a schematic view of the fluid transfer articulated arm during a reconnection procedure;
[0051]
[0027] [Fig. 10] and [Fig. 11] are schematic views of a fluid transfer articulated arm according to one embodiment with a winch on the upper part of the emergency release device.
[0052] Detailed description of one embodiment of the disclosure
[0053]
[0028] With reference to Figure 1, there is described an example of a fluid transfer articulated arm 10 from a storage position (such as a tank, not represented in the figures) to a target tubing 33 located on a vessel 3 and from this target tubing 33 to the storage position, the fluid transfer articulated arm 10 comprising a fluid transfer line or piping 20 comprising at one end thereof a coupler 31, here of the "QCDC" (Quick Connect Disconnect Coupling) type, adapted to be connected to the target tubing 33 for transfer of the fluid, and electrical actuators 11, 12, 13 for controlling movement of the transfer line in space, each via an actuating shaft.
[0054]
[0029] This is therefore a marine loading arm, serving for example to transfer liquefied natural gas.
[0030] The fluid transfer articulated arm 10 additionally comprises a support for the piping 20 and the means for maneuvering it, herein in the form of a base 21. This base 21 is fastened to a pier 4. The base 21 could also have been fastened to a vehicle or craft.
[0055]
[0031] The piping 20 is articulated and more precisely comprises an internal tube 22, an external tube 23 and an end assembly with three swing joints 32 terminating in the coupler 31.
[0056]
[0032] The internal tube 22 is connected by a first end to a tube housed in the base 21 and by a second end to a first end of the external tube 23 via a swing joint. The external tube 23 is connected by a second end to a first end of the end assembly 32 with three swing joints, via the first of the three swing joints.
[0057]
[0033] The first two swing joints precede an Emergency Release Device 14 (ERS) for disconnecting the piping 20 from the target tubing 33 and which here is part of the end assembly 32, while the third joint connects this device to the coupler 31. In other embodiments, the emergency release device 14 may be arranged further upstream on the piping.
[0058]
[0034] The coupler 31 is thus articulated at the end of the piping with at least three rotational degrees of freedom, thanks to the swing joints implemented.
[0059]
[0035] The emergency release system 14 of this embodiment comprises in a known manner per se two valves adjoined using a collar with opening controlled by at least one electric actuator 14', said at least one electric actuator 14' also controlling closing of the valves. In practice, this control can for example be achieved by translationally moving a rod, as described for example in patent application WQ2007 / 017559.
[0060]
[0036] In other words, it is an emergency release device 14 configured to be able to be separated into a first and a second part during an emergency release procedure, the first part or lower valve remaining integral with the coupler 31 connected to the target tubing 33 and the second part or upper valve remaining integral with the rest of the piping detached from the coupler 31.
[0061]
[0037] Alternatively, the emergency release system may be devoid of valves.
[0062]
[0038] The fluid transfer articulated arm 10 is furthermore equipped with a piping balancing system, which is here a counterweight balancing system, comprising here two counterweights 16a, 16b, one of which 16a is disposed at one end of the internal tube 22 and the second 16b is disposed on a pantograph 15. Alternatively, balancing can be carried out by means of springs or any other balancing solution.
[0039] The electric maneuvering actuators 11, 12, 13 make it possible to control movement of the articulations of the fluid transfer arm 10. In practice, not all degrees of freedom of the arm are necessarily actuated. Typically, one arm has six degrees of freedom and three are actuated.
[0063]
[0040] Rotation about a vertical axis of the compass formed by the tubes 22 and 23 is controlled by rotation of the electric maneuvering actuator 12.
[0064]
[0041] Actuation of the pantograph 15 is controlled by rotation of the second electric maneuvering actuator 13 and allows deployment of the external tube 23.
[0065]
[0042] Furthermore, rotation of the internal tube 22 about a horizontal axis, parallel to the horizontal axis of rotation of the external tube 23, is ensured here by means of the electric maneuvering actuator 11.
[0066]
[0043] The complete mechanical structure is herein arranged in a zone with an explosive atmosphere, as described for example in application FR3064620. In this zone there is also a junction box 41 establishing connection between a control cabinet 42 on the one hand and the electrical actuators 11, 12, 13, 14 on the other hand.
[0067]
[0044] Each of the electric actuators 11-13 is, in this embodiment, an actuator comprising an electric motor, a speed reducer equipped with an adapter for connecting to the electric motor, the actuation gear of the corresponding tube(s) of the fluid transfer articulated arm 10 being rotatably driven by the motor shaft by means of the speed reducer, which is herein reversible, so as to allow the actuating shaft to rotate when an actuating torque is directly applied thereto.
[0068]
[0045] When a single electric actuator does not have enough power to rotatably drive the actuation gear, two electric actuators can be mounted.
[0069]
[0046] The electric motor employed here is an asynchronous motor.
[0070]
[0047] It can also be a brushless motor.
[0071]
[0048] The speed reducer is here an assembly of two reducers with spur or helical teeth.
[0072]
[0049] This reducer could for example also be a planetary gear reducer.
[0073]
[0050] Such a speed reducer can operate reversibly because little friction occurs and the efficiency of the speed reducer is high, in the order of more than 90%.
[0074]
[0051] In addition, each electric motor is here vector controlled with position return by encoder. This motor control mode enables the motor torque to be controlled at zero speed and therefore the associated piping part to be kept in position.
[0075]
[0052] As can be seen more clearly in particular in Figure 2, where the fluid transfer articulated arm 10 is schematically represented after an emergency release, this arm according to this embodiment of the present disclosure, additionally comprises a stringing 51 wound from one end thereof on a device 50 for winding and unwinding the stringing 51 and mounted to a first part 14a of the emergency release device 14. The other end of the stringing 51 is connected to the second part 14b of the emergency release device 14.
[0076]
[0053] This stringing 51 is removably fastened to the winding and unwinding device 50. This is a cable here. Alternatively, it is possible, for example, to implement a rope.
[0077]
[0054] The device 50 for winding and unwinding the stringing 51 is, in general, configured to be rotatably actuated by a motor and is operationally connected to a braking mechanism configured to act on the winding and unwinding device 50 so as to limit the travel speed of the piping after an emergency release procedure.
[0078]
[0055] More precisely, the device 50 for winding and unwinding the stringing 51 here comprises a winch 52 equipped, for winding the cable 51 during a procedure for reconnecting the two parts 14a, 14b of the emergency release device, with a pneumatic or hydraulic, electric motor 53, the shaft of which is connected to the axis of rotation of the cylinder of the winch 52 about which the stringing 51 winds, via a speed reducer 54 rotatably coupled to the shaft of the electric motor.
[0079]
[0056] The braking mechanism comprises a centrifugal brake 60 configured to act on the axis of rotation of the cylinder of the winch 52.
[0080]
[0057] In the present embodiment (see Figure 3), the speed reducer 54 is a reversible speed reducer, as for that of the actuators 11-13, and the centrifugal brake 60 is interposed between the motor 53 of the winch 52 and the reversible speed reducer associated with this motor. Alternatively, the centrifugal brake 60 may be rotatably coupled to the shaft of the electric motor, on the side of this shaft opposite to that of rotatable coupling to the speed reducer.
[0081]
[0058] The centrifugal brake 60 is more particularly represented in Figures 4 and 5.
[0082]
[0059] The centrifugal brake 60 comprises a rotor 61 rotatably provided about an axis intended to be coincident with the axis of the electric motor and the speed reducer. A shaft 62 configured to facilitate connection with the speed reducer extends form this rotor 61 on one side. Likewise, the rotor 61 comprises a bore on the other side, configured to connect with the output shaft of the electric motor.
[0083]
[0060] The rotor 61 is provided opposite a stator 63. Friction means 64 are positioned opposite weights 65 provided on the outer circumference of the rotor 61 and are integral with these weights 65. The weights 65 are held on the rotor by springs 66.
[0084]
[0061] In this way, at a given centrifugal force, corresponding to a given speed of rotation, the weights 65 and the friction means 64 move radially away from the rotor 61 to come into contact with the stator 63 and exert a contact force on the stator 63 for generating a braking torque.
[0085]
[0062] The weights 65 are in fact pressed on the rotor by the springs 66. Thus, when the centrifugal force is greater than the pressing force exerted by the springs 66 on the weights 65, the weights 65 then move radially away from the rotor 61.
[0063] The centrifugal brake further comprises guides 67 for the weights 65. These guides 67 make it possible to guide the weights 65 radially to ensure that they return to the correct angular position on the rotor 61 when the centrifugal force decreases and that the weights 65 return to press on the rotor 61.
[0086]
[0064] It is this braking force that makes it possible to limit the travel speed of the piping when the latter is in an imbalance situation, which is caused in this embodiment as a result of an emergency release.
[0087]
[0065] More particularly, the weights 65 and the friction means 64 exert this braking force on the stator from a predefined engagement speed. This engagement speed can especially be calculated according to the characteristics of the fluid transfer arm 10 and the characteristics of the entity carrying the target tubing 33 (taking, for example, potential movements and external conditions into consideration), it being understood that it corresponds to the speed at which the centrifugal effect will be sufficient for the weights 65 and the friction means 64 to initiate a braking action by their contact with the stator 63.
[0088]
[0066] It should be noted that, for safety reasons, the friction means 64 of the centrifugal brake in this embodiment are made of a non-sparking material and the assembly is dimensioned so that the temperatures of the inner and outer walls remain below a maximum permissible temperature, here 135°C.
[0089]
[0067] Thus, and as will be seen in more detail below, the centrifugal brake 60 does not block movement of the elements of the fluid transfer articulated arm 10 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.
[0090]
[0068] The centrifugal brake is therefore a passive element which has the advantage of not needing to be controlled for optimal operation.
[0091]
[0069] According to embodiments, it should be noted that the centrifugal brake can be housed in an explosion-proof enclosure. The interior of the brake can also be flushed or pressurized with dry air or nitrogen. In these cases, the dimensioning is such that the temperature of the stator external wall remains below the maximum permissible temperature.
[0092]
[0070] The operating conditions of this centrifugal brake 60 are now detailed according to the situation of the fluid transfer articulated arm 10.
[0093]
[0071] As long as no emergency release procedure takes place, the cable 51 is not unwound and, therefore, the centrifugal brake 60 does not move into action. This is the case in the balanced parking positions (fluid transfer articulated arm 10 undeployed), of maneuvering the fluid transfer articulated arm 10, or connected to the target tubing 33. In this latter position, the actuators 11-13 are disengaged so as to make movements of the fluid transfer articulated arm 10 free to allow the coupler 31 to follow movements of the target tubing 33 ("freewheel" mode).
[0094]
[0072] Following an emergency release procedure, as represented in Figure 1, the fluid transfer articulated arm is in an imbalanced situation, the arm being underbalanced or overbalanced depending on the amount of product remaining in the piping, especially with risks of collisions with the vessel.
[0095]
[0073] However, thanks to the speed limitation provisions described above, the cable 51 connecting the two parts 14a, 14b of the emergency release device 14 to one another, unwinds at a limited speed due to the action of the centrifugal brake 60 and, therefore, limits the travel speed of the piping part devoid of the coupler 31 after the emergency release.
[0096]
[0074] If the arm 10 is overbalanced after the emergency release procedure (no or very little product in the piping), the arm returning to its parking position illustrated in Figure 6 thus takes place without risk of overspeed which could prove to be damaging to the arm at the time of its arrival in the parking position.
[0097]
[0075] Alternatively, the emergency release sequence may also comprise sending an instruction to one or more of the actuators 11-13 for taking control of the fluid transfer arm 10 and moving it to its parking position. In other words, raising of the arm can be partially or fully controlled by the electric actuators 11-13 with the help of the centrifugal brake 60.
[0098]
[0076] If the arm is underbalanced ("dropped weight" being low compared to the weight of product in the full or partially filled piping), the imbalance can cause the arm to collapse (downward movement) and a risk of collision with the vessel 3 because the natural trajectory of the upper part 14b of the emergency release device 14 is generally not completely vertical (see Figure 7). In this situation, unwinding the cable 51 at limited speed slows down the lowering movement, and the actuators 11- 13 are used to control the raise trajectory of the fluid transfer arm to its parking position. In practice, proper control of the emergency retraction trajectory can be achieved by using only the actuator 11 of the inner tube 22.
[0099]
[0077] Regardless of the imbalance situation of the arm, no overspeed occurs thanks to the speed limitation provisions described above and thus dimensioning of the actuators 11-13 to control the arm under normal / balanced conditions is sufficient to also return the arm to its parking position after an emergency release procedure. Therefore, only low torques are required, resulting in a significant cost reduction compared to a solution without these provisions. The lower the weight of the elements dropped during the emergency release procedure, the lower they are.
[0100]
[0078] It will be further observed (see Figure 6) that in the parking position, the external tube 23 opens until reaching a mechanical support limiting its point angle to a maximum, which is generally 150°.
[0079] In this position, the internal tube 22 is mechanically locked when the arm reaches its parking position (vertical).
[0101]
[0080] Alternatively, another parking position of the external tube 23 may be chosen, such as for example a normal parking position with a point angle between 10° and 15°, if the torque of the actuator of the external tube is sufficient.
[0102]
[0081] As can be seen in Figure 8, if the vessel 3 continues to drift, the cable 51 automatically detaches from the cylinder of the winch 52.
[0103]
[0082] For the reconnection of the emergency release device 14 when the vessel 3 returns to a safe working zone, the cable 51 is refastened to the cylinder of the winch 52 and the latter is turned on to pull back the upper part or valve 14b above the lower part or valve 14a and thus be able to reassemble the collar of the emergency release device 14 (see Figure 9).
[0104]
[0083] In this case, the speed reducer increases the torque supplied to the cylinder of the winch 52, when winding the cable 51.
[0105]
[0084] One alternative may be to use an external means for pulling back the part 14b, such as for example a through-cable hand winch or Tirfor.
[0106]
[0085] According to other embodiments (see Figures 10 and 11), the unwinding device 150 may comprise a hydraulic or electric motor-driven speed limiting winch 152, this time mounted to the second part 114b of the emergency release device and the motor of which is equipped with the braking mechanism.
[0107]
[0086] Indeed, when the unwinding device is mounted to the part of the piping remaining integral with the fluid transfer articulated arm 110 (external tube 123), it is possible to have a hydraulic and / or electrical connection 170 with the pier and it is therefore not necessary to implement an autonomous braking mechanism.
[0108]
[0087] According to a first aspect, the motor of the winch 152 is a hydraulic motor and the braking mechanism thereof comprises at least one hydraulic braking valve connected to the hydraulic motor which is configured to operate as a pump in its brake quadrant.
[0109]
[0088] According to another aspect, the motor of the winch 152 is an electric motor and the braking mechanism thereof comprises an electrical resistor connected to the variator which returns energy generated by braking into the resistor.
[0110]
[0089] Thus, the alternative to braking with centrifugal brake is braking with a hydraulic or electric motor thereby used in the brake quadrant.
[0111]
[0090] The motor actually runs in the motor quadrant when the load is driven (as is the case when hoisting a load with a winch, for example).
[0112]
[0091] It operates in the brake quadrant when the load is driving (e.g. lowering a load).
[0092] In the brake quadrant, the hydraulic motor operates as a pump. The energy generated by braking is dissipated in the hydraulic brake valve by heating the oil.
[0113]
[0093] In the brake quadrant, the electric motor operates as a generator and energy generated by braking is returned to a resistor.
[0114]
[0094] In the arrangement set forth in Figures 10 and 11 with the winch 152 fastened to the part 114b, the motor may be attached to the winch only if needed to perform reconnection of the arm 110 after an emergency release.
[0115]
[0095] Alternatively, the arm can be moved toward the vessel target tubing using external tools, such as a through-cable hand winch (Tirfor). In this case, the motor is not required.
[0116]
[0096] This alternative is represented in Figures 10 and 11 with a reconnection cable 180 that is added to the cable 151 of the unwinding device 150. In practice, the latter has detached from the winch 152 at the end of the emergency release procedure, but remains fastened to the part 114b integral with the target tubing 133, while the reconnection cable 180 is fastened to the external tube 123 of the arm 110 by one end thereof. Its opposite end is free and once this cable 180 is unwound at the end of the emergency release procedure, it will serve for reconnection using the through-cable hand winch.
[0117]
[0097] More generally, the following points still deserve to be noted with regard to the embodiments described above and possible alternatives thereof. The fluid transfer system described with reference to the drawings is an articulated arm whose internal and external 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.
[0118]
[0098] In the case of the embodiments described above, the reversible reducer is engaged with a toothed wheel rotatably coupled to the piping or is mated to a drive system thereof. More precisely, it is fastened to a swing joint of a set of bends and swing joint typically connecting two piping conduit segments or to the pantograph system serving to rotatably drive a piping conduit segment. When a support structure is implemented, the toothed wheel can, of course, be mated to this support structure.
[0119]
[0099] Each motor and its reducer may also be in the form of a motor reducer. Furthermore, each electric motor can be synchronous or asynchronous.
[0120]
[0100] The reversible reducer may also be mated to the piping or to a support structure thereof by means of a rack bar in direct or indirect engagement with the piping. Thus, the equivalent of an electric ram is formed with the assembly formed by the electric motor, the speed reducer, the rack bar actuation pinion(s).
[0121]
[0101] The centrifugal brake may be rotatably coupled to the axis of rotation of the cylinder on the side of this axis opposite to that rotatably coupled to the electric motor.
[0102] This motor of the winding and unwinding device may also be in the form of a pneumatic gun acting for example on the axis of the cylinder on which the cable is wound.
[0122]
[0103] This cylinder can be replaced with a cable drum.
[0123]
[0104] Also more generally, the structure of the centrifugal brake is not limited to that described above, but could be any equivalent commercially available structure.
[0124]
[0105] Braking means, other than those described above, may also be contemplated, such as for example an electromagnetic brake with braking torque regulation to control speed.
[0125]
[0106] Instead of the three rotational degrees of freedom obtained with the arm described above (or even 6 by adding rolling, pitch and yaw), an arm according to the invention may also have fewer rotational degrees of freedom than three, such as for example two, or even only one, by implementing piping comprising a rigid conduit segment and a flexible conduit segment, the rigid conduit segment of which has one or two rotational degrees of freedom.
Claims
CLAIMS
1. A fluid transfer articulated arm (10; 110) comprising an articulated piping (20) mounted to a support (21), having at least one rotational degree of freedom relative to the support and comprising at one end thereof a coupling device (21) adapted to be connected to a target tubing (33; 133) for transfer of the fluid from a storage tank to the target tubing (33; 133) or from this target tubing (33; 133) to the storage tank, and an emergency release device (14) for the piping (20) from the target tubing (33; 133), configured to be able to be separated into a first and a second parts (14a, 14b; 114a, 114b) during an emergency release procedure, the first part (14a; 114a) remaining integral with the coupling device (31) connected to the target tubing (33; 133) and the second part (14b; 114b) remaining integral with the rest of the piping (20) detached from the coupling device (31); one or more electrical actuators (11-13) for each controlling a movement of the piping (20) per degree of freedom via an actuating shaft; and a balancing system (16a, 16b) of the piping (20), characterized in that the fluid transfer articulated arm comprises a stringing (51; 151) connected by one end thereof to one of the first and second parts (14a, 14b; 114a, 114b) and wound from its other end on a device (50; 150) for winding and unwinding the stringing (51; 151) and mounted to the other of the first and second parts, the stringing unwinding device (50; 150) being operationally connected to a braking mechanism (60) configured to act on the unwinding device so as to limit the travel speed of the piping after an emergency release procedure.
2. The fluid transfer articulated arm according to claim 1, wherein the stringing unwinding device (50; 150) is configured to be rotatably actuated by a motor (53) or a manual actuator to ensure rewinding of the stringing.
3. The fluid transfer articulated arm according to claim 1 or 2, wherein the unwinding device (50) comprises a winch (52) mounted to the first part, and the braking mechanism (60) comprises a centrifugal brake configured to act on the axis of rotation of a winch cylinder (52) about which the stringing winds.
4. The fluid transfer articulated arm according to claim 3, wherein the winch (52; 152) comprises a hydraulic or pneumatic electric motor whose shaft is connected to the cylinder axis via a speed reducer rotatably coupled to the winch motor shaft.
5. The fluid transfer articulated arm according to claim 4, wherein the speed reducer is a reversible speed reducer and the centrifugal brake (60) is interposed between the electric motor andthe reversible speed reducer or rotatably coupled to the shaft of the electric motor on the side of the shaft opposite to that of rotatable coupling to the speed reducer.
6. The articulated fluid transfer arm according to claim 1, wherein the unwinding device (50; 150) comprises a hydraulic or electric speed limiting motor-driven winch, mounted to the second part and the motor of which is equipped with the braking mechanism.
7. The fluid transfer articulated arm according to claim 6, wherein (i) the winch motor is a hydraulic motor and the braking means thereof comprise at least one hydraulic braking valve connected to the hydraulic motor which is configured to operate as a pump in its brake quadrant, or (ii) the winch motor is an electric motor (53) and the braking means thereof comprise an electrical resistor connected to the motor which is configured to operate as a generator returning energy generated by braking into the resistor.
8. The fluid transfer articulated arm according to any one of claims 1 to 7, wherein the stringing (51; 151) is a rope or cable.
9. The fluid transfer articulated arm according to any one of claims 1 to 8, wherein the stringing is removably fastened to the unwinding device (50; 150).
10. The fluid transfer articulated arm according to any one of claims 1 to 9, wherein the emergency release device (14) is a system comprising two valves adjoined using a collar with opening controlled by at least one electrical, hydraulic, pneumatic, or mechanical actuator (14').
11. The fluid transfer articulated arm according to any one of claims 3 to 5, wherein:- the centrifugal brake (60) is housed in an explosion-proof enclosure; or- the interior of the brake (60) is flushed or pressurized with dry air or nitrogen; or- the linings of the centrifugal brake (60) consist of a non-sparking material.
12. The fluid transfer articulated arm according to any one of claims 3 to 5, wherein the centrifugal brake (60) is dimensioned to absorb braking energy without the temperature of its external surface exceeding a predefined maximum permissible temperature, or without the temperature of its external surface and the temperature of its internal surface exceeding the predefined maximum permissible temperature.
13. The fluid transfer articulated arm according to any one of claims 1 to 12, wherein the arm comprises an inner tube (22) and an outer tube (23) articulated together, the inner tube pivoting on the support and the outer tube carrying the emergency release device and the coupling device.
14. The fluid transfer articulated arm according to any one of claims 1 to 13, wherein the or each of the actuators (11-13) comprises an electric motor with a shaft and a speed reducer, the actuating shaft being rotatably driven by the shaft of the motor 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.
15. The fluid transfer articulated arm according to any one of claims 1 to 14, wherein the electric motor of each actuator (11-13) is a vector controlled motor with position return by encoder, configured to keep the electric actuator comprising it in position.
16. The fluid transfer articulated arm according to any one of claims 1 to 15, characterized in that said balancing system (16a, 16b) of the piping is a counterweight balancing system.
17. The fluid transfer articulated arm according to any one of claims 1 to 16, which further comprises a reconnection stringing (180) connected by one end thereof to the piping part to be detached from the coupling device, for bringing the first and second parts of the emergency connection device back into a position for connection to each other, after an emergency release procedure.
18. An emergency release method for a fluid transfer articulated arm according to any one of claims 1 to 17, wherein, during the emergency release sequence, the movement of the fluid transfer arm (10; 110) to a parking position is partially or fully controlled by the electrical actuators with the help of the braking mechanism.
19. A method for reconnecting an emergency release device of a fluid transfer arm according to any one of claims 1 to 17, wherein (i) the unwinding device (50;150) of the stringing is rotatably actuated or (ii) a reconnection stringing (180) connected by one end thereof to the piping part to be detached from the coupling device is subjected by its other end to pulling by means of a pulling apparatus external to the fluid transfer arm, to bring the first and second parts of the emergency release device (14) back into a position for connection to each other.