Fluid transfer hose manipulator and method of transferring a fluid

Abstract

A fluid transfer hose manipulator is presented having an articulated arm having a plurality of arm sections. A first arm section of the plurality of arm sections and a second arm section of the plurality of arm sections are connected to each other by a first pivot joint. A base supports the first arm section. At least one flexible hose for fluid transfer extends movably along at least the first and second arm sections, and is directed and supported by at least two hose guides. At least one hose tensioner is in contact with the flexible hose to adjust the tension on the at least one flexible hose.

1 . A fluid transfer hose manipulator, said hose manipulator comprising at least:
 an articulated arm comprising a plurality of arm sections, each arm section having a longitudinal axis, said plurality of arm sections comprising at least a first arm section and a second arm section, said first arm section connected to said second arm section by a first pivot joint;   a base supporting said first arm section;   at least two hose guides;   at least one flexible hose for fluid transfer, said flexible hose extending movably along at least said first and second arm sections and directed and supported by said at least two hose guides;   at least one hose tensioner in contact with the flexible hose to adjust the tension on the at least one flexible hose.   
     
     
         2 . The hose manipulator of  claim 1 , wherein said hose tensioner is supported off of one of said arm sections or supported on said base. 
     
     
         3 . The hose manipulator of  claim 1 , wherein the hose tensioner comprises a tensioner hose guide to direct the at least one flexible hose along a path being deflected from a nominal path by an amount, wherein said tensioner hose guide is movable in a direction having a transverse directional component relative to the nominal path, whereby the amount of deflection of the flexible hose from the nominal path is variable. 
     
     
         4 . The hose manipulator of  claim 1 , wherein the at least one hose tensioner is connected to the base. 
     
     
         5 . The hose manipulator of  claim 1 , wherein the at least one hose tensioner is connected to the second arm section. 
     
     
         6 . The hose manipulator of  claim 1 , wherein one or more of the hose guides are sheaves. 
     
     
         7 . The hose manipulator of  claim 1 , further comprising a third arm section and a further hose guide, said third arm section connected to said second arm section by a second pivot joint and having the further hose guide positioned thereon, said flexible hose extending movably along the longitudinal axis of the third arm section. 
     
     
         8 . The hose manipulator  claim 1 , wherein said at least one flexible hose further comprises a proximal end and a distal end, said proximal end in fluid communication with a fluid first storage tank and wherein said distal end comprises a restriction cone and a fluid connector. 
     
     
         9 . The hose manipulator of  claim 8 , wherein the distal end further comprises an emergency release coupling. 
     
     
         10 . The hose manipulator of  claim 8 , further comprising a position monitoring system to monitor a position of the distal end of the flexible hose relative to a reference position on one of the arm sections. 
     
     
         11 . The hose manipulator of  claim 10 , wherein the position monitoring system comprises a positioning sensor connected to the end of one of the arm sections to measure the position of the distal end of the flexible hose. 
     
     
         12 . The hose manipulator of  claim 1 , comprising two flexible hoses for fluid transfer, each said flexible hose having dedicated hose guides and tensioner. 
     
     
         13 . The hose manipulator of  claim 1 , wherein the fluid is a cryogenic fluid, for instance LNG. 
     
     
         14 . A method of transferring a fluid between first and second structures, wherein at least one of the first and second structures is a moveable structure, typically a floating structure, comprising at least the steps of:
 providing a first structure comprising a fluid transfer hose manipulator according to  claim 1 , the at least one flexible hose of the fluid transfer hose manipulator having a proximal end connected to a fluid first manifold and having a distal end;   providing a second structure comprising a fluid second manifold;   aligning the fluid second manifold of the second structure with the fluid transfer hose manipulator of the first structure;   adjusting the configuration of the fluid transfer hose manipulator so that the distal end of the at least one flexible hose can be connected to the fluid second manifold;   connecting the distal end of the at least one flexible hose to the fluid second manifold;   purging the at least one flexible hose;   passing a fluid through the at least one flexible hose;   purging the 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 transfer hose manipulator to withdraw the distal end of the at least one flexible hose from the fluid second manifold and second structure.   
     
     
         15 . The method of  claim 14 , wherein the fluid first manifold is in fluid connection with at least one fluid first storage tank and the fluid second manifold is in fluid connection with at least one fluid second storage tank.