KR20140092875A

KR20140092875A - Fluid transfer hose manipulator and method of transferring a fluid

Info

Publication number: KR20140092875A
Application number: KR1020147015115A
Authority: KR
Inventors: 잔파올로 베네데티; 앤드류 마이클 앨더슨
Original assignee: 쉘 인터내셔날 리써취 마트샤피지 비.브이.
Priority date: 2011-11-03
Filing date: 2012-11-01
Publication date: 2014-07-24
Also published as: CN103906681B; AU2012331158B2; CN103906681A; AU2012331158A1; WO2013064601A1; US20140318666A1; EP2773555B1; EP2773555A1

Abstract

A fluid delivery hose manipulator (1) is provided having an articulated arm (100) having a plurality of arm sections (110). The first arm section 110a of the plurality of arm sections 110 and the second arm section 110b of the plurality of arm sections are connected to each other by the first pivot joint 130a. The base 220 supports the first arm section 110a. At least one flexible hose 150 for fluid transfer extends movably along at least the first and second arm sections and is oriented and supported by at least two hose guides 140. At least one hose tensioner 160 is in contact with the flexible hose 150 to regulate the tension on the at least one flexible hose 150.

Description

&Lt; Desc / Clms Page number 1 > FLUID TRANSFER HOSE MANIPULATOR AND METHOD OF TRANSFERRING A FLUID < RTI ID =

The present invention relates to a fluid delivery hose manipulator. In another aspect, the present invention is directed to a method of delivering fluid between first and second structures.

Transferring fluids, such as treated or untreated hydrocarbons or their derivatives, between structures, when at least one of the structures may be mobile and thus not stationary, poses a number of technical problems. This is especially true when at least one or both of the structures are floating structures. For example, such a fluid delivery system may be particularly adapted for use with one or more of the heave, yaw, sway, pitch, surge and roll surfaces experienced by the floating structure , It should be able to mitigate relative motion between structures.

In particular, a system for transferring fluids from or to a floating structure must also compensate for height differences between the origin and destination, as well as the heave created by wave motion or tidal motion. These height differences may be caused, for example, by differences in the vertical position of the fluid delivery system on one structure relative to the fluid manifold on another structure to which the delivery system is to be connected. One example of where this fluid delivery system would be required is a floating production, storage and offloading (FPSO) facility. The FPSO is a floating structure that houses hydrocarbons from nearby platforms or from submarine hydrocarbon reservoirs, processes the hydrocarbons, and stores the treated hydrocarbons until the treated hydrocarbons can be unloaded onto the carrier.

Similarly, a Floating Liquefaction Storage Offshore (FLSO) facility combines natural gas liquefaction processes, storage tanks, loading systems and other infrastructure into a single floating structure. This structure is beneficial because it provides a marine alternative to land liquefaction plants. The FLSO structure can be moored offshore, close to a gas field, or moored in a gas field, deep enough to allow unloading of the LNG product onto the carrier. It also represents a movable asset that can be relocated to a new location when the gas field is nearing the end of its production life, or when required by economic, environmental or political conditions.

These floatable structures include a floating structure on which hydrocarbons are treated, such as a floating structure in which natural gas is selectively purified, then liquefied and temporarily stored, and a treated hydrocarbon carrier, for example, Between the LNG carriers, of hydrocarbons, such as fluids, typically LNG. Similarly, treated hydrocarbons such as LNG should therefore be transferred from the carrier to land import or processing facilities.

US Patent Publication No. US 2010/0263389 discloses methods for dockside regasification of LNG. In one embodiment disclosed in Figure 2, a high pressure arm for delivering high pressure gas is mounted on the dock or regasification vessel. An LNG rigid arm similar to a high pressure arm for delivering LNG from a ship-to-dock or a dock-to-ship is also disclosed. The arm includes a delivery conduit and may include a plurality of joints, shock absorbers and counterweights to allow movement or articulation of the arm sections. One problem associated with the rigid arms of US 2010/0263389 is that the rigid arms have a range of heights that the ends of the rigid arms can reach when in the limited vertical range, i.e., the fluid manifold. Additionally, a base, such as a deck, to which the rigid arm and the rigid arm are connected, should be designed to bear the weight of the rigid arm including counterweights and dampers. Also, the large mass of the upper arm section also increases the inertia of the arm movement, which makes it more difficult to control arm movement in response to wind and wave motion.

In a separate embodiment, US 2010/0263389 discloses in Figure 8 the delivery of LNG from a storage tank on an LNG carrier via a manifold system having liquid conduits coupled to liquid hoses. It is clear from the figure that the deck supports a portion of the liquid hoses, but that the liquid hoses are suspended in U-shape on the water to separate the two fluid manifolds. One problem associated with the manifold and hose system of US 2010/0263389 is that the liquid may accumulate in the lowermost section of the U-shaped hose and it is difficult to drain such liquid after fluid delivery. In addition, the free-hanging liquid hoses are not controlled, which can result in an impact between adjacent hoses as a result of relative movement between the manifolds, or between the hose and the side of the vessel.

In a first aspect, the present invention provides a fluid delivery hose actuator,

- an articulated arm comprising a plurality of arm sections, each arm section having a longitudinal axis, said plurality of arm sections including at least a first arm section and a second arm section, 1 < / RTI > to the second arm section by a pivot joint,

A base for supporting said first arm section,

At least two hose guides,

At least one flexible hose for fluid delivery, said flexible hose being movable at least along said first and second arm sections and being oriented and supported by said at least two hose guides, One flexible hose,

- at least one hose tensioner in contact with said flexible hose for adjusting the tension on said at least one flexible hose.

In a second aspect, a method of fluid transfer between a first and a second structure, wherein at least one of the first and second structures is a movable structure, typically a floating structure, A fluid delivery method is provided,

The method comprises, at least,

Providing a first structure comprising a fluid delivery hose actuator as described herein, wherein at least one flexible hose of the fluid delivery hose actuator has a proximal end connected to the fluid first manifold and a distal end Providing a first structure,

Providing a second structure comprising a fluid second manifold,

Aligning the fluid second manifold of the second structure with the fluid delivery hose actuator of the first structure;

- adjusting the configuration of said fluid delivery hose actuator to allow said distal end of said at least one flexible hose to be connected to said fluid second manifold,

- connecting said distal end of said at least one flexible hose to said fluid second manifold,

- purging said at least one flexible hose,

Passing the fluid through the at least one flexible hose,

Purging said at least one flexible hose,

Disconnecting the distal end of the at least one flexible hose from the fluid second manifold,

- adjusting the configuration of the fluid delivery hose actuator to retract the distal end of the at least one flexible hose from the fluid second manifold and the second structure.

In one embodiment of the second aspect, the fluid first manifold may be in fluid communication with the at least one fluid first storage tank, and the fluid second manifold may be fluidly connected with the at least one fluid second storage tank have.

1 is a schematic illustration of one embodiment of a fluid delivery hose manipulator described herein.
2 is a schematic diagram of another embodiment of the fluid delivery hose manipulator described herein.
3 is a schematic illustration of a further embodiment of the fluid delivery hose manipulator described herein.
4 (parts a to c) schematically illustrate various storage and fluid delivery arrangements of the fluid delivery hose manipulator described herein.

Embodiments of the invention will now be described, by way of example only, and with reference to the accompanying non-limiting drawings.

For purposes of this description, a single reference number will be assigned to the line and the stream carried in that line. Like reference numerals refer to like parts. Skilled artisans will appreciate that the invention has been illustrated with reference to one or more specific combinations of features and means, but many of those features and means are functionally independent of other features and means, It will be readily understood that the same may be applied independently or similarly.

The fluid delivery hose manipulator described below is particularly suitably applicable for delivery of fluids to, or from, a floating structure, especially in a marine environment. Fluid delivery hose actuators are particularly suitable for the delivery of cryogenic fluids, especially liquefied natural gas (LNG). A fluid delivery method using such a hose manipulator is also disclosed.

The currently proposed fluid delivery hose manipulator has an articulated arm including a plurality of arm sections interconnected by pivot joints and at least one flexible hose for fluid delivery. The flexible hose extends movably along the arm sections and is oriented and supported by at least two source guides. The at least one hose tensioner is provided to contact the flexible hose to control the tension on the at least one flexible hose.

The hose tensioner may also operate to maintain a constant tension on the flexible hose. Maintaining a constant tension may prevent (or at least prevent the flexible hose from being excessively tensioned) the flexible hose from being stretched or broken during delivery of the fluid through the flexible hose.

With the presently disclosed fluid delivery hose actuator, it is possible to replace the prior art rigid arm or manifold system and, together therewith, address various problems associated with prior art rigid arms or manifold systems.

The first arm section of the arm sections may be supported on the base. The tensioner may be supported directly by one of the arm sections or by the base.

By way of example, the fluid delivery hose manipulator may be located on a floating structure such as a carrier, on a floating production platform or on a floating processing platform, and may be operable to deliver fluid to another floating structure or non- have. Alternatively, the fluid delivery system may be located onshore, such as on a non-floating structure, such as a stationary production or processing platform, or on a pier of an import or export terminal, or on the pier of a treatment facility, Or may be operable to transfer fluid to or from the floating structure.

The fluid to be conveyed by the hose manipulator may be untreated hydrocarbons, for example, extracted from a seabed repository, or treated hydrocarbons such as LNG or hydrocarbon derivatives.

The hose manipulator described herein has a number of advantages. The hose manipulator may transfer fluid from or to a fluid manifold for feeding or receiving fluids, located at a wide range of heights relative to the base to which the hose manipulator is attached. In particular, the hose manipulator described herein has a wider vertical range of motion than the rigid arms of US 2010/0263389. Additionally, the hose manipulator does not require the presence of a counterweight, so that the articulated arm and the base to which the articulated arm is attached need only support the loads of the arm sections and the flexible hose. The hose manipulator may also be located on a manifold platform that does not need to be reinforced to support its weight due to the reduced mass of the hose manipulator relative to the rigid arms provided with additional balancing.

Additionally, in contrast to the shock absorber of US 2010/0263389 attached to and operating on the entire upper articulated section of the rigid arm, the tensioner of the hose manipulator disclosed herein operates just above the flexible hose, not over the arm section.

Also, by using flexible hoses instead of rigid tubing, it is not necessary to provide swivel joints connecting the pipes in different sections of the articulated arm.

The hose manipulator is also beneficial because it keeps the flexible hose in a substantially vertical or "n-shaped" configuration to remove fluid congestion. In contrast, flexible hoses that are not supported in this manner, such as the manifold and hose systems of US 2010/0263389, can adopt a "u-shaped" configuration in which fluid can accumulate at the base of "u ".

In one embodiment, one of the at least two hose guides may be located at or near the end of the longitudinal axis of each arm section. As used herein, the longitudinal axis is the longest dimension of the arm section.

In another embodiment, the at least one flexible hose may further comprise a proximal end and a distal end. The proximal end may be connected to the base. The proximal end may be configured to be in fluid connection with the fluid first storage tank. The distal end may suitably comprise a constraining cone and a fluid connector. For example, the proximal end may be connected to a fluid first storage tank, typically a fluid first manifold in fluid communication with a plurality of fluid first storage tanks. The fluid first storage tank preferably has a fixed position relative to the base.

In another embodiment, the hose tensioner maintains at least one flexible hose below a constant tension. This tension in which the at least one flexible hose is maintained at less than this may vary and may be selected according to one or more of the following criteria: whether the distal end of the flexible hose is attached to the fluid manifold, The relative distance between the hose manipulator and the fluid manifold to which the hose manipulator is attached, in particular, the vertical distance between the base of the hose manipulator and the fluid manifold to which the hose manipulator is attached, the fluid is passed through the at least one flexible hose And / or the properties of any fluid being conveyed, such as fluid temperature or density.

In one embodiment, the at least one hose tensioner may be connected to the base of the hose manipulator. The base may be, for example, a deck of a carrier or PFSP, in particular a manifold deck, or a surface of a quay. This is beneficial because it provides a stable placement of the hose connector to which the hose tensioner is attached to the base instead of one of the arm sections.

In alternative embodiments, the at least one hose tensioner may be connected to an arm section of the hose manipulator, particularly an arm section other than the first arm section, preferably a second or any third arm section. Supporting at least one hose tensioner by one of the arm segments, preferably a second or any third arm segment, is advantageous in that it allows for a greater deflection of the flexible hose from the longitudinal axis of the arm section to which the hose tensioner is connected So as to allow a greater operating performance envelope in terms of the relative positions of the manifold and hose manipulator to which the flexible hose can be attached.

In a further embodiment, the hose tensioner may include a tensioner hose guide for directing and selectively supporting at least one flexible hose. This tensioner hose guide may direct at least one flexible hose along a path that is deflected from the nominal path. The nominal path may be any suitable reference path depending on the circumstances of the particular embodiment. For example, when a tensioner hose guide interacts with a flexible hose in a section of a flexible hose extending between two adjacent hose guides, the nominal path is defined by a line connecting two adjacent hose guides in a normal direction . &Lt; / RTI > Alternatively, for example, if the tensioner hose guide interacts with the flexible hose in the section of the flexible hose extending between the first hose guide of the hose guides and the proximal end, May be defined by the line connecting the proximal end of the flexible hose in the normal direction, or by the line. The proximal end may be connected at a fixed point relative to the base.

The tensioner hose guide may be movable in a direction having a transverse directional component with respect to the nominal path. Along with this, the amount of deflection of the hose from the nominal path can be varied variably.

The hose tensioner may be suitably connected to one of the arm sections and the tensioner hose guide may move along the path at a non-zero path angle a with respect to the longitudinal axis of the arm section to which the tensioner hose guide is connected , The amount of deflection of the hose can be varied from its nominal path.

In another embodiment, when the hose tensioner is connected to one of the arm sections, deflection of the path of the hose by movement of the tensioner hose guide may occur on either side of the longitudinal axis of the arm section to which the tensioner is connected. The longitudinal axes of the two connected arm sections can define the arm section angle beta in the pivot joint connecting them. When the arm section angle [beta] is different from 180 [deg.], The longitudinal axes of the two connected arm sections may define an arm pivot plane through both longitudinal axes. The non-zero path angle? May be a positive or negative angle measured with respect to the longitudinal axis of the arm section connected in the arm pivot plane or in a plane parallel thereto.

The hose guides for a particular flexible hose may be positioned parallel to the arm pivot plane. For example, when a plurality of flexible hoses are present on the hose manipulator, equivalent hose guides for the different flexible hoses may be symmetrically disposed about the arm pivot plane.

In a further embodiment, a hose tensioner may be connected at or near the center of the longitudinal axis of the arm section, and such a path through which the tensioner hose guide can move along the path is such that the tension of the arm section Is an angle alpha of about 90 degrees to the longitudinal axis.

In yet another further embodiment, the tensioner hose guide may be moved by one or more of the group comprising a tensioner cylinder, an electric motor and a wire sheave.

In a further embodiment, one or more, and preferably all, of the hose guides may be sheaves. This embodiment may also include a tensioner hose guide and hose guides connected to arm sections that do not form part of the hose tensioner.

The first arm section is suitably connected to the second arm section by a first pivot joint. In another embodiment, the hose manipulator may further comprise a third arm section and an additional hose guide, the third arm section being connected to the second arm section by a second pivot joint, and the third arm section And has an additional hose guide positioned thereon. The flexible hose may extend movably along the longitudinal axis of the third arm section. The second pivot joint may be connected to the second arm at the opposite end of the longitudinal axis with respect to the end connected to the first pivot joint.

In another embodiment, the distal end of the at least one flexible hose may optionally include an emergency release coupling, in addition to the containment cone and fluid connector. If, for example, conditions are encountered that the hose manipulator is connected to the fluid manifold during fluid delivery and extended beyond its safe operating performance limits, then the emergency release coupling will allow the at least one flexible hose, and in particular the distal end, And is configured to quickly separate from the connected fluid manifold.

In a further embodiment, the hose manipulator may further comprise a position monitoring system for monitoring the position of the distal end of the flexible hose. The position of the distal end may be monitored for absolute position, i.e., for the location of the distal end on the earth, or, in a relative aspect, the position of the distal end, for example, May be monitored for relative position on the surface.

In another further embodiment, the position monitoring system may include a position sensor for measuring the position of the distal end of the flexible hose. For example, the positioning sensor may be connected to the end of the arm section, preferably the second or third arm section. The position determination sensor may be operated by a laser, a radar, a lidar, an echolocation, or a taught wire. For example, the tote wire sensing system may include a tie bar on the distal or distal end of the flexible hose, such as a restraining cone positioned on the distal end, and a tie bar on the second or any third arm section And a wire connected between the gimbal head and the gimbal head. A gimbal head sensor such as a laser can measure the angle of the gimbals head to calculate the position of the distal end from the length and angle of the tote wire.

In an alternative embodiment, the distal end of the at least one flexible hose may further comprise a position reference sensor, in particular a vertical position reference sensor, such as GPS. In this case, it is not necessary to determine the position of the distal end of the flexible hose relative to the position on the hose manipulator. Instead, the absolute position of the distal end of the at least one flexible hose may be determined.

In a further embodiment, the hose manipulator may comprise at least two flexible hoses, typically two flexible hoses, for fluid delivery, and each of the flexible hoses may have hose guides and hose tensioners . Preferably, the flexible hoses are disposed in planes symmetrically located on either side of the arm pivot plane. Hose guides, and, more importantly, a hose tensioner dedicated to a particular flexible hose means that each flexible hose is operated independently of the tension of each flexible hose controlled by the respective hose tensioner . Thus, the magnitude of the path deflection of a particular flexible hose produced by the hose tensioner can be controlled regardless of any other hoses on the hose manipulator. For example, when one flexible hose carries an LNG and another flexible hose carries a boil off gas, the different flexible hoses may have different densities and / or temperatures, May carry different fluids which may have properties so that the deflection of the paths of the two flexible hoses even on the same hose manipulator may be required to be different, for example, to provide a given tension.

In another embodiment, the fluid to be delivered in the hose manipulator may be a cryogenic fluid such as LNG.

In a further embodiment, the hose manipulator may further comprise a storage spool for the flexible hose. The storage spool allows the length of the flexible hose connecting to the manifold for the fluid to be adjusted. However, this embodiment is not preferred. Instead, the hose manipulator will typically not include a storage spool for the flexible hose, so that a fixed length flexible hose extends beyond the end of the last arm section, e.g., the second or third arm section Is determined only by the magnitude of the deflection of the path of the flexible hose by the hose tensioner.

In yet another further embodiment, the arm sections of the hose manipulator may be articulated in a pivot joint by one or more hydraulic cylinders, electric motors or wire sheaves.

The following discussion relates to the operation of a fluid delivery hose manipulator in the context of the transfer of LNG from an FLSO unit to an LNG carrier. However, the hose manipulator is not limited to the delivery of LNG, but may be connected to other hydrocarbon liquids or hydrocarbons, such as hydrocarbons, via a wide range of temperatures and pressures, typically temperatures in the range of -200 to 200 占 폚 and / For example, any fluid or fluid, such as liquids or fluids.

Similarly, the hose manipulator is located on the FPSO unit in the following embodiments, but may be any floating structure, such as an LNG carrier, or any non-floating structure, such as a floating platform or land platform have. Many of the advantages of a hose manipulator are that when the hose manipulator is used to deliver fluid when at least one of the fluid source and the fluid destination, typically both, are moveable structures, particularly floating structures, The hose manipulator can also be used for fluid transfer between two non-floating structures.

Fig. 1 shows a first embodiment of the fluid delivery hose manipulator 1 described herein. The hose manipulator includes an articulated arm 100 secured to a base 220. The articulated arm 100 includes a plurality of arm sections 110. The base 220 may be, for example, a manifold deck of FLSO or may be attached to such a deck. The base 200 may serve as a reference point at which the positions of the arm sections 110 and the distal end 180 of the at least one flexible hose 150, particularly the flexible hose 150, can be determined from a reference point. The hose manipulator 1 may be located on the outboard of a fluid (e.g., LNG) manifold.

Each arm section 110 has a longitudinal axis 120 that defines the longest dimension of the arm section. The embodiment of FIG. 1 illustrates an articulated arm 100 that includes a first arm section 110a and a second arm section 110b. The first arm section 110a has a first section longitudinal axis 120a and the second arm section 110b has a second section longitudinal axis 120b.

The base 220 supports the first arm section 110a. The first arm section 110a is connected to the base 220 and is immovably fixed to the base 220 so that its longitudinal axis 120a is preferably vertical. The first arm section 110a is connected to the second arm section 110b by a first pivot joint 130a, such as any type of joint or hinge that allows the relative rotational movement of the first arm section relative to the second arm section. . The first pivot joint 130a allows rotation of the second arm section 110b around the first joint axis 135a. The rotation of the second arm section 110b may be in a plane defined by the first and second longitudinal axes 120a, 120b (arm pivot plane).

The jointing of the second arm section 110b may be accomplished by a hydraulic cylinder (not shown) or other suitable means. The hydraulic cylinder may be part of a hydraulic system and may be connected to a hydraulic power unit having associated directional valves and pumps. This is preferably a duplex system with dual hydraulic pumps and associated controls. In a further preferred embodiment, the hydraulic system may be fitted with hose burst valves such that the arm sections may remain in place in the event of a failure of the hydraulic system. The hydraulic system may include a low-pressure circuit for normal operation and a high-pressure circuit for activation of the emergency release, which is discussed below.

The fluid delivery hose manipulator (1) further comprises at least one flexible hose (150). The type of flexible hose 150 will be determined by the fluid to be conveyed therein. The flexible hose 150 should be selected to maintain its flexibility during fluid transfer, i.e., the temperature and pressure of the fluid must be transferred. The flexible hose 150 may comprise a thermoplastic or composite material.

For example, when the fluid to be delivered is a cryogenic fluid such as LNG, the flexible hose 150 is typically a composite flexible hose that includes a polyester lining with a polyamide outer cover reinforced with stainless steel wire have. Typically, the flexible hose 150 meets the requirements of BS EN 13766: 2003 for thermoplastic multilayer (non-vulcanised) hoses and hose assemblies for delivery of liquid petroleum gas and liquefied natural gas . &Lt; / RTI >

When the fluid to be delivered is a gas such as a pressurized hydrocarbon gas, the flexible hose 150 may be a composite flexible hose. For example, for operating pressures up to 5 bar, the flexible hose is typically made of polypropylene with a polyester outer cover optionally coated with polyvinyl chloride and reinforced with stainless steel wire, And / or polytetrafluoroethylene. &Lt; / RTI >

At least one flexible hose 150 may include a proximal end 170 and a distal end 180. The proximal end 170 may be connected to a fluid first manifold 310 that may be seated on the manifold deck of the FLSO. The at least one flexible hose has a length of about 30 m. In a preferred embodiment, the flexible hose 150 is not wrapped around the storage spool.

Fluid The first manifold 310 may include a fluid manifold restriction collar 320. The fluid manifold confinement collar 320 may be configured as an open cone and operates to prevent the flexible hose 150 from adopting a configuration having a bend radius that is less than its minimum. The distal end 180 of the flexible hose 150 is configured to be attached, for example, to a fluid second manifold on the LNG carrier to which the LNG fluid is to be delivered. The distal end 180 of the flexible hose 150 is discussed in greater detail in the embodiment of FIG.

At least one flexible hose 150 is movably extended along the first and second arm sections 110a, 110b of the articulated arm 100. [ In particular, when not deflected by the hose tensioner 160 discussed below, the flexible hose must extend along a longitudinal axis (or an axis parallel thereto) of the arm sections 110a, 110b.

The flexible hose 150 is oriented and supported by at least two hose guides 140. The hose guides 140 allow free movement of the flexible hose 150 along the guides and allow the weight of the flexible hose 150 and any fluid therein to flow through the hose manipulator 1, To arms sections 110 that may be attached. The hose guides 140 may operate to change the direction of the flexible hose 150 and ensure that any flexure of the hose is at least its minimum bending radius.

When the proximal end 170 of the flexible hose 150 is secured to the fluid first manifold 310 and the flexible hose 150 is of a fixed length, Rotation of the section 110b may control the vertical height of the distal end 180 relative to the base 220 of the hose manipulator 1.

The embodiment of FIG. 1 illustrates these arcuate hose guides 140 such that the flexible hose 150 is directed through the arcuate hose guides 140. The flexible hose 150 may extend along the grooves and channels on these hose guides 140. The grooves or channels on each hose guide 140 may be aligned in the same plane, such as a plane parallel to the arm pivot plane, to direct the single flexible hose 150 along a root in a single plane. The hose guides 140 may be formed of a composite material, such as a polymer, a metal such as aluminum, an alloy such as steel, typically nickel steel, or a composite material comprising a polymer, particularly a composite material comprising polymers and alloys such as metals or alloys . Hose guides 140 may include 9 wt% nickel steel when the flexible hose 150 is to be transported with a cryogenic fluid. The hose guide 140 may include a material that allows freedom of movement by reducing frictional contact with the flexible hose 150. For example, grooves or channels on hose guides 140 may be lined with TEFLON ™.

At least two hose guides 140 may be secured to the articulated arm 100. 1 shows a first hose guide 140a fixed to the first arm section 110a and a second hose guide 140b fixed to the second arm section 110b. The hose guide 140 is attached at or near the end of the arm section 110 and the ends are located at either end of the longitudinal axis 120 of the arm section 110. [

The articulating arm (100) further comprises at least one hose tensioner (160). The hose tensioner 160 is operative to adjust the tension on the at least one flexible hose 150 and thus is in contact with the flexible hose 150. The hose tensioner 160 is connected to one of the arm sections 110 of the hose manipulator 1 or to the base 220. In particular, when both the proximal and distal ends 170, 180 are connected to the fluid manifolds, the hose tensioner 160 operates to maintain a constant tension on the flexible hose 150.

Hose tensioner 160 includes a tensioner hose guide 165 such as an arcuate tensioner hose guide to direct flexible hose 150 along a path that is deflected from nominal path 155. In this embodiment, And a tensioner arm 175, for example, a telescopic tensioner arm. In the embodiment of FIG. 1, the nominal path 155 is taken to be a line connecting the first hose guide 140a in the normal direction with the proximal end 170 of the flexible hose 150. The tensioner hose guide 165 is movable in a direction having a transverse directional component with respect to the nominal path 155. Movement in this direction allows varying the degree of deflection of the hose from the nominal path 155.

The tensioner hose guide 165 may be connected to one of the arm sections 110 of the articulated arm 100 via a tensioner arm 175, such as the first arm section 110a. Hose tensioner 160 is illustrated as being attached to the first arm section 110a of Figure 1 for simplicity, but in order to provide greater range of travel by spacing from base 220 and any adjacent deck, It is preferably attached to the second or further arm section 110b.

The tensioner hose guide 165 serves to block and guide the flexible hose 150 to ensure that any flexure of the hose is at least equal to its minimum bending radius in a manner similar to the hose guides 140.

In addition, the tensioner hose guide 165 may move along the path at a non-zero path angle? Measured from the longitudinal axis of the arm section to which it is attached. Moving the tensioner hose guide 165 along a non-zero path angle a when both the distal and proximal ends 170,180 of the flexible hose 150 are connected to the fluid manifolds, Will change the deflection and thus change the tension of the hose. The non-zero path angle a measured relative to the longitudinal axis 120a of the first arm section 110a to which the hose tensioner 160 is connected is typically about 90 degrees, more typically about 90 degrees. The movement of the tensioner hose guide 165 can be accomplished by increasing or decreasing the length of the telescopic tensioner arm 175.

The deflection of the path of the flexible hose 150 may be achieved, for example, between the proximal end 170 and the first hose guide 140a by moving the tensioner hose guide 165 away from the first arm section 110a. Lt; RTI ID = 0.0 > of the < / RTI > FIG. 1 illustrates a second configuration 160 'of a hose tensioner including a tensioner hose guide 165' with increased deflection of the path of the flexible hose 150.

A non-zero path is provided to the fixed length of the flexible hose 150 attached to the fluid first manifold 310 such that, for example, the tensioner hose guide 165 is moved away from the first arm section 110a, Increasing the deflection of the path of the flexible hose 150 by moving along the angle a will cause the distal end 180 to be pulled toward the second hose guide 140b at the end of the second arm section 110b . If the distal end 180 is attached to the fluid second manifold, this will increase the tension of the flexible hose 150. However, due to the effect of the upward wave heave on the floating structure with the distal end 180 attached, for example, the position of the distal end 180 of the flexible hose 150 attached to the fluid second manifold may be reduced Increasing the deflection of the path of the flexible hose 150 by the hose tensioner 160 when approaching the position of the second hose guide 140b results in a reduction of the deflection of the flexible hose 150b beyond the second hose guide 140b The length can be reduced. Thus, maintaining the flexible hose 150 below a constant tension through the hose tensioner 160 may prevent the flexible hose from stretching during upward hive operation.

Similarly, reducing the deflection of the path of the flexible hose 150 by, for example, moving the tensioner hose guide 165 along a non-zero path angle a, which is closer to the first arm section 110a, To be lowered away from the second hose guide 140b at the end of the second arm section 110b to compensate for the downward hive wave motion. Thus, maintaining the flexible hose 150 below a constant tension through the hose tensioner 160 can prevent the flexible hose from being excessively tensioned during the downward hive operation. The hose tensioner 160 may also compensate for other wave actions such as swings and surges which will also result in changes in the distance between the distal end 180 of the flexible hose and the second hose guide 140b.

In operation, once the configuration of the arm sections 110 of the articulated arm 100 is fixed, i. E., The arm section angle at the first pivot joint is fixed, the relative movement of the fluid second manifold, In particular the second hose guide 140b, of the first arm 1, and in particular the base 220, or the end arm of the second arm 110b in this embodiment, for example.

The tensioner hose guide 160 may be moved along a non-zero path angle? By, for example, a hydraulic cylinder (not shown). The hydraulic cylinder may be connected to the first arm section 110a or the base 220. [ The hydraulic cylinder may be part of a hydraulic system.

Fig. 2 shows a second embodiment of the fluid delivery hose manipulator 1 described herein. Where the same reference numerals as in FIG. 1 are used, equivalent parts are referred to. In this embodiment, hose guides 140a, 140b and 165 are present as sheaves. The sheaves may be provided to the arm sections 110 at the ends of the longitudinal axis 120 of the arm section 110 and / or at the pivot joints 130 that typically share the same axis of rotation of the pivot joint, for example. Lt; / RTI >

In this embodiment, the hose tensioner 160 is connected to the base 220 of the hose manipulator 1. The hose tensioner 160 includes a sheave tensioner hose guide 165 and a tensioner arm 175. In this embodiment, the tensioner arm may be of a fixed length. In contrast to the embodiment of Figure 1, the path of the flexible hose 150 is provided by a tensioner arm 175 rotating about a tensioner pivot joint 225 on the base 220, . The deflection of the path of the hose can be accounted for by measuring a non-zero angle beta between the base 220 and the tensioner arm 175.

2 shows a second configuration of a hose tensioner including a tensioner hose guide 165 'having a reduced deflection of the path of the flexible hose 150 between the proximal end 170 and the first hose guide 140a. (160 '). The reduced deflection is achieved by increasing the non-zero angle beta to beta '. The hose tensioner 160 may be coupled to the hose tensioner 160 along its arcuate path by, for example, connecting the arm and thus the tensioner arm 175 to a hydraulic cylinder (not shown) Can be moved. The hydraulic cylinder may also be secured to the base 220 or the first arm section 110a. The hydraulic cylinder may be connected to the discussed hydraulic system.

The first pivot joint 130a is set to a fixed arm section angle between the first and second arm sections 110a and 110b and the flexible hose The second configuration 160'of the hose tensioner is moved to a lower vertical position 180'of the distal end relative to the base 220 when the distal end 180 of the hose tensioner 150 is disconnected from the fluid second manifold Will result. Thus, the distal end 180 of the flexible hose 150 is connected to the fluid second manifold, and the vertical position of the fluid second manifold relative to the base 220, for example, When the hose tensioner is moved from the position 180 to the position 180 'of the distal end as a result of the downward hive wave action of the hose tensioner (i.e., the floating structure to which it is attached) And the tension on the flexible hose 150 can be maintained.

Figure 3 shows a preferred embodiment of a fluid delivery hose manipulator 1 as described herein. The same reference numerals as in Fig. 1 or 2 correspond to equivalent parts. In this embodiment, the hose manipulator includes first and second flexible hoses 150a and 150b, respectively, each having independent first and second hose tensioners 160a and 160b, respectively. The first and second flexible hoses 150a, 150b may be 8 inches (20.32 cm) internal perforation diameter and 30 m long.

To facilitate inspection of the hose manipulator and particularly the connection of the fluid first manifold 310 to the proximal ends of the first and second hoses 150a and 150b, Lt; RTI ID = 0.0 > 110a. &Lt; / RTI >

The articulated arm 100 includes first, second, and third arm sections 110a, 110b, and 110c. The first arm section 110a may be secured to the base 220 at one longitudinal end. The first arm section 110a is connected to the second arm section 110b at its other longitudinal end by a first pivot joint (not shown). The movement of the first pivot joint can be achieved by the first arm section hydraulic cylinder 230a. The first hose guide 140a existing as a sheave can share the same rotary shaft as the first pivot joint.

The second and third arm sections 110b, 110c are connected by a second pivot joint (not shown). The movement of the second pivot joint can be achieved by the second arm section hydraulic cylinder 230b. The second hose guide 140b existing as a sheave can share the same rotational axis as the second pivot joint. The third hose guide 140c, which is present as a sheave, is located at the opposite end of the longitudinal axis of the third arm section 110c from the second pivot joint. The first, second, and third sheave hose guides 140a, 140b, and 140c may have similar configurations to those of the second embodiment.

The third arm section 110c may include a guide-way for supporting and / or directing the respective flexible hose 150a, 150b between each of the second and third hose guides 140b, 140c have. The guide-way may consist of a metal or alloy such as aluminum or 9 wt% nickel steel, and optionally may be lined with a friction reducing material such as TEFLON ™.

In this embodiment, the first, second and third hose guides 140a, 140b, 140c are in pairs, and each of the first and second flexible hoses 150a, , And second and third hose guides. First and second hose tensioners 160a, 160b are provided, one for each of the first and second flexible hoses 150a, 150b. The hose tensioners 160a, 160b are present on the second arm section 110b. Correspondingly, the nominal path 155a (for the first flexible hose 150a) includes first hose guides 140a and second hose guides 140b (the first and second hose guides are adjacent to each other Is defined by the line connecting the tangential lines. This is a beneficial configuration because it provides a greater range of movement for each hose tensioner, allowing an increase in the maximum deflection of the flexible hoses 150a, 150b. The hose tensioners 160a and 160b preferably operate independently. As a result, the first and second flexible hoses 150a, 150b can carry fluids such as different densities, temperatures and / or pressures while still retaining the flexible hoses below a certain tension.

Each hose tensioner 160a, 160b includes a tensioner hose guide and tensioner hydraulic cylinders 240a, 240b that are present as sheaves. The tensioner hydraulic cylinders 240a and 240b are connected to the second arm section 110b of the second arm section 110b parallel to the plane defined by any two of the longitudinal axes of the three arm sections 110a, 110b, Each of the tensioner hose guides can be moved along the path at 90 degrees to the directional axis. In this manner, the path of each of the flexible hoses 150a, 150b can be deflected from respective nominal paths between the first and second hose guides 140a, 140b.

Each flexible hose 150a, 150b is connected to the fluid first manifold 310 at its proximal end by a connector. In the embodiment of Figure 3, both of the flexible hoses are connected to the same fluid manifold by a first Y-connection. The first Y-connection may have lines for purging, draining and / or drying the flexible hoses. The first Y-connection may further comprise orifice plates for reducing the effects of fluid surges. However, in an alternative embodiment (not shown), the first and second hoses 150a, 150b carrying the same or different fluids may be connected to different fluid manifolds.

The distal ends of each flexible hose 150a, 150b may include restraint cone bodies 190a, 190b and optional emergency release couplings 210a, 210b. Emergency release couplings 210a and 210b of each flexible hose are configured to provide fluid communication between the fluid connector < RTI ID = 0.0 >Lt; / RTI > The second Y-connector 200 may have lines for purging, draining and / or drying the flexible hoses 150a, 150b. The second Y-connector may further include orifice plates to reduce effects of fluid surge.

The emergency release couplings 210a and 210b may be positioned between the flexible hose 150a and 150b and the connection between the second Y-connector 200 and the second Y-connector 200 if the time to achieve disconnection through the second Y- To release the flexible hoses 150a, 150b from their attachment to the fluid second manifold. Emergency release couplings 210a and 210b may each include double valves to minimize any outflow from flexible hoses 150a and 150b and fluid second manifold upon emergency release.

The first and second arm section hydraulic cylinders 230a and 230b, the tensioner hydraulic cylinders 240b and the emergency release couplings 240a and 240b may constitute part of the hydraulic system. The hydraulic system may be operated by a programmable logic controller. To determine the arm section angles, and the tension of the flexible hose, the programmable logic controller may be provided with the positions of the hydraulic cylinders.

The addition of an accumulator to the high voltage circuit in the hydraulic system can also reduce the likelihood of electric or hydraulic power loss and particularly the loss of power between the first and second flexible hoses 150a, 150b and the second Y- And for the contraction of the articulated arm 100 and the flexible hoses 150a, 150b, an emergency release is possible. Hydraulic lines to emergency release couplings 210a and 210b may be provided by an umbilical line (not shown) to a distribution block on tie bar 250. [ The tie bar 250 typically includes first and second flexible hoses 150a and 150b below the restraining cone bodies 190a and 190b (which may be provided in the form of restraining collars 190a and 190b) ). The umbilical line may be supported by a guide wire (not shown).

The fluid delivery hose actuator 1 may further comprise a position monitoring system for monitoring the position of the distal ends of the flexible hoses 150a, 150b. This position is preferably monitored for position on the hose manipulator, such as over the arm sections 110a, 110b, 110c or the base 220. [ By monitoring the position of the distal ends of the flexible hoses 150a, 150b, it can be determined whether the hose manipulator is operating within an acceptable operational performance limit. For example, a narrow connection limit operation performance limit may be defined, the alert limit performance limit is broader, and the disconnect limit performance limit is much wider. If the distal ends of the flexible hoses 150a, 150b exceed the disconnect limit performance limit, the emergency release coupling may be activated via a hydraulic system, for example, via an umbilical line.

The position monitoring system is configured to control the configuration of the arm sections 110 of the articulated arm 100 via the hydraulic system and the tension of the flexible hose 150 through the hose tensioner 160 and the tension of the emergency release coupling 210 And may be coupled to a programmable logic controller that controls one or more, preferably all.

The position monitoring system may be, for example, a guide wire and a gimbals system. The guide wire is connected to the tie bar 250 on the distal ends of the flexible hoses 150a and 150b and to the gimbal head positioned on the end of the third arm section 220c with the third hose guide 140c As shown in FIG. Sensors such as lasers can measure the angle of the guide wire at the gimbals head. Thus, the position of the distal end of the flexible hose 150a, 150b can be determined from the gimbal head angle and the length of the guide wire relative to a given hose tensioner 160a, 160b position.

For example, in the embodiment of FIG. 3, which has a flexible hose length of approximately 30 m and a minimum mooring distance of 3.7 m between the FLSO and LNG carrier carrying the fluid delivery hose manipulator, the hose manipulator may be a hive, Lt; RTI ID = 0.0 > +/- 0.75 m < / RTI >

A number of hose manipulators may be provided on the FLSO, for example four or five hose manipulators, each containing two flexible hoses, may be located on the manifold platform.

Figures 4a, 4b and 4c illustrate three configurations 1a, 1b and 1c of the fluid delivery hose manipulator 1 according to the embodiment of Figure 3 on the FLSO 300.

4A shows a hose manipulator 1 which is a storage configuration 1a when not used for fluid delivery. The first arm section is immovably fixed to the base 220 such that its longitudinal axis is vertical while the second and third arm sections are fixed to the first and second pivot joints and the first and second arm section hydraulic pressure And is substantially perpendicular to the longitudinal axes thereof by the cylinders. It will be clear that this configuration is beneficial for storage as it minimizes the occupied space of the hose manipulator 1.

Figure 4b shows the hose manipulator 1, which is the operational configuration 1b, when delivering the LNG to the LNG carrier 400. [ This operational configuration may be employed when the fluid second manifold 410 on the carrier 400 is at substantially the same height as the base 220 of the hose manipulator 1. [ This may occur, for example, when the LNG carrier 400 is 145,000 m ³ carrier. The first arm section can be immovably fixed to the base 220 such that its longitudinal axis is vertical and the second arm section can be fixed by the first pivot joint and the first arm section hydraulic cylinder, While the third arm section may be maintained at -20 to +20 degrees, typically from horizontal, as measured from the axis of the second pivot joint, more typically -15 to +15 degrees from horizontal Section by the second arm section hydraulic cylinder and the second pivot joint. As used herein, the term "substantially vertical" is intended to mean within +/- 10 degrees of vertical.

Figure 4c shows the hose manipulator 1, which is operational configuration 1c, when delivering fluid to the LNG carrier 400. [ This operating configuration may be employed when the fluid second manifold 410 on the LNG carrier 400 is at a substantially lower height than the base 220 of the hose manipulator 1. [ This may occur, for example, when the LNG carrier 400 is 10,000 m ³ carrier. The first arm section may be immovably fixed to the base 220 such that its longitudinal axis is vertical and the second arm section may be configured such that its longitudinal axis is displaced from -10 to -30 from the horizontal measured from the first pivot joint The third arm section can be held substantially vertically by the second arm section hydraulic cylinder and the second pivot joint, while the third arm section can be maintained by the second pivot joint and the second pivot joint have.

In a further embodiment, a method of transferring a fluid such as a cryogenic fluid, e.g., LNG, between the first and second structures using the hose manipulator described herein is also disclosed. The method is particularly beneficial when at least one, and typically both, of the first and second structures are movable structures, preferably floating structures.

The method may include providing a fluid delivery hose manipulator as described herein on the first structure. The first structure may be a first non-floating structure, such as a marine platform or quay, or the first structure may be a first floating structure, typically FSO, FPSO, FLSO or carrier. The hose manipulator may be a storage configuration, as described above and as shown as 1a in Figure 4a. The hose manipulator may be connected to a fluid first manifold in fluid communication with one or more fluid first storage tanks 340. The one or more fluid first storage tanks 340 may be one or more of the first fluid storage tanks that are insulated, cooled, and pressurized, particularly where the fluid to be delivered is a cryogenic fluid such as LNG. The one or more fluid primary storage tanks may be empty or partially filled if the fluid is to be delivered from these tanks when it is to be delivered to these tanks that are filled or partially filled.

A second structure may be provided. The second structure may be a first non-floating structure such as a marine fixed platform or a quay, or the second structure may be a first floating structure, typically FSO, FPSO, FLSO or a carrier. The second structure may include a fluid second manifold in fluid communication with the one or more fluid second storage tanks 440. The one or more fluid secondary storage tanks may be similar to the fluid primary storage tanks already discussed.

The fluid second manifold of the second structure may include a hose manipulator, typically a flexible hose of the hose manipulator, more typically a distal end of the flexible hose, and more typically a second end, such as a Y- Lt; / RTI > This alignment may be achieved by moving one or both of the first and second structures. For example, when one or both of the first and second structures are floating structures, they may be located at a minimum distance of 3.7 m. When both the first and second structures are floating vessels, the alignment may be accomplished by a side-to-side arrangement, e.g., a starboard versus a port, or a port versus port, or a port versus a star It is possible.

In one embodiment, the maximum vertical distance between the first and second fluid manifolds ranges from -19.2 m to +3.7 m. The maximum horizontal distance between the first and second manifolds ranges from 9.6 m to 13.6 m. The maximum lateral misalignment between the first and second manifolds ranges from -1.05 m to +1.05 m.

In one embodiment, the first and second structures are floating structures. For example, as shown in FIGS. 4B and 4C, the first structure is the FLSO 300 and the second structure is the LNG carrier 400. In another embodiment, one of the first and second structures is a floating structure and the other is a non-floatable structure, for example, the first structure may be a quay, while the second structure may be a LNG carrier Lt; / RTI > Typically, the first structure may be the dock of an LNG import or export terminal, and the second structure may be an LNG carrier.

Once the fluid second manifold is aligned, the hose manipulator can be moved from the storage position 1a to the operative position. The configuration of the operating system will depend on the height of the fluid second manifold 410 versus the height of the base 220. Figures 4b and 4c show two potential operating configurations 1b and 1c.

Once a correct operating position, such as 1b, 1c, has been adopted, a connector, such as a Y-connector at the distal end of the flexible hose, may be connected to the fluid second manifold 410 of the second floating structure, such as the LNG carrier 400 Lt; / RTI > This can be accomplished by bolting the connector to the fluid second manifold 410.

Next, the flexible hose can be purged. For example, when the fluid to be delivered is LNG, the purge fluid may be nitrogen.

Next, a fluid, such as LNG, may be delivered between the first and second structures, such as the FLSO 300 and the LNG carrier 400. Once the fluid transfer is complete, the flexible hoses can then be purged with a purge fluid such as nitrogen. Next, the connector at the distal end of the flexible hose may be disconnected from the fluid second manifold 410. Next, the hose manipulator may be returned to the storage configuration 1a. Next, the first and second structures may be moved away from each other.

Those skilled in the art will appreciate that the invention may be practiced in a variety of different ways without departing from the scope of the appended claims.

For example, one or more of the arm sections, typically the first arm section connected to the base, may be a telescopic section that is furthest along the articulating arm. In particular, such a telescopic arm section can be configured to vary the length of the arm section along its longitudinal axis. The length may be varied by a hydraulic cylinder that can be connected to the hydraulic system of the articulated arm.

Claims

A fluid delivery hose actuator comprising:
The hose manipulator includes, at least,
- an articulated arm comprising a plurality of arm sections, each arm section having a longitudinal axis, said plurality of arm sections including at least a first arm section and a second arm section, 1 < / RTI > to the second arm section by a pivot joint,
A base for supporting said first arm section,
At least two hose guides,
At least one flexible hose for fluid delivery, said flexible hose being movable at least along said first and second arm sections and being oriented and supported by said at least two hose guides, One flexible hose, and
- at least one hose tensioner in contact with said flexible hose for adjusting the tension on said at least one flexible hose
And a fluid delivery hose actuator.

The method according to claim 1,
Wherein the hose tensioner is supported by or supported on one of the arm sections.

3. The method according to claim 1 or 2,
Wherein the hose tensioner comprises a tensioner hose guide for directing the at least one flexible hose along a path that is deflected by an amount from the nominal path, the tensioner hose guide having a transverse orientation component So that the amount of deflection of said flexible hose from said nominal path is variable.

4. The method according to any one of claims 1 to 3,
Wherein the at least one hose tensioner is connected to the base.

5. The method according to any one of claims 1 to 4,
Wherein the at least one hose tensioner is connected to the second arm section.

6. The method according to any one of claims 1 to 5,
Wherein one or more, preferably all, of the hose guides are sheaves.

7. The method according to any one of claims 1 to 6,
Further comprising a third arm section and an additional hose guide, said third arm section being connected to said second arm section by a second pivot joint with said additional hose guide positioned thereon, Extends transversely along a longitudinal axis of said third arm section.

8. The method according to any one of claims 1 to 7,
Wherein the at least one flexible hose further comprises a proximal end and a distal end, the proximal end in fluid communication with the fluid first reservoir tank, the distal end comprising a constraining cone and a fluid connector, Actuator.

9. The method of claim 8,
Wherein the distal end further comprises an emergency release coupling.

10. The method according to claim 8 or 9,
Further comprising a position monitoring system for monitoring the position of the distal end of the flexible hose, preferably with respect to a reference position on one of the arm sections.

11. The method of claim 10,
Wherein the position monitoring system comprises a positioning sensor coupled to one end of the arm sections, preferably to an end of the third arm section, for measuring the position of the distal end of the flexible hose, Delivery hose actuator.

12. The method according to any one of claims 1 to 11,
And two flexible hoses for fluid delivery, each flexible hose having dedicated hose guides and a tensioner.

13. The method according to any one of claims 1 to 12,
The fluid is a cryogenic fluid, for example, LNG.

A fluid delivery method between first and second structures,
At least one of the first and second structures is a movable structure, typically a floating structure,
The method comprises, at least,
- providing a first structure comprising a fluid delivery hose actuator according to any one of claims 1 to 13, wherein at least one flexible hose of the fluid delivery hose actuator is connected to the fluid first manifold Providing the first structure having a proximal end and a distal end,
Providing a second structure comprising a fluid second manifold,
Aligning the fluid second manifold of the second structure with the fluid delivery hose actuator of the first structure;
- adjusting the configuration of said fluid delivery hose actuator to allow said distal end of said at least one flexible hose to be connected to said fluid second manifold,
- connecting said distal end of said at least one flexible hose to said fluid second manifold,
Purging said at least one flexible hose,
Passing the fluid through the at least one flexible hose,
Purging said at least one flexible hose,
Disconnecting the distal end of the at least one flexible hose from the fluid second manifold, and
- adjusting the configuration of said fluid delivery hose actuator to retract said distal end of said at least one flexible hose from said fluid second manifold and said second structure
/ RTI >

15. The method of claim 14,
Wherein the fluid first manifold is in fluid communication with at least one fluid first storage tank and the fluid second manifold is in fluid communication with at least one fluid second storage tank.