A lifting system (10) for a subsea pipeline (18) comprises paired subsea foundations (20) that are spaced apart from each other to define a gap between them through which the pipeline extends. A removable lifting frame (12) is mounted on the foundations to bridge over the pipeline disposed in the gap. The lifting frame comprises a pair of feet (32) that are cooperable with respective support formations (34, 36) on the foundations. One support formation defines a hinge component to restrain one of the feet for pivotal movement. The other support formation defines a platform on which the other foot can rest in any of various positions within a support area. This compensates for differences in level, spacing or alignment between the foundations. The lifting frame (12) can be transferred to another location by dismounting it from a first pair of foundations and then mounting it onto a second pair of like foundations in a corresponding manner.

A lifting system (10) for a subsea pipeline (18) comprises paired subsea foundations (20) that are spaced apart from each other to define a gap between them through which the pipeline extends. A removable lifting frame (12) is mounted on the foundations to bridge over the pipeline disposed in the gap. The lifting frame comprises a pair of feet (32) that are cooperable with respective support formations (34, 36) on the foundations. One support formation defines a hinge component to restrain one of the feet for pivotal movement. The other support formation defines a platform on which the other foot can rest in any of various positions within a support area. This compensates for differences in level, spacing or alignment between the foundations. The lifting frame (12) can be transferred to another location by dismounting it from a first pair of foundations and then mounting it onto a second pair of like foundations in a corresponding manner.

The present application discloses a control method, a control system, and a device for a grab of a portal crane. The control method for a grab of a portal crane includes: acquiring a height information of the grab; acquiring an amplitude variation information of a luffing mechanism; acquiring a slewing angle information of a rotation of a slewing mechanism; determining a horizontal relative position information of the grab relative to a center point of the slewing mechanism according to the amplitude variation information and the slewing angle information; determining an actual position information of the grab relative to the center point of the slewing mechanism according to the horizontal relative position information and the height information; acquiring a scanning information of a hull, and determining a position information of a material; and planning an operation route of the grab.

The present application discloses a control method, a control system, and a device for a grab of a portal crane. The control method for a grab of a portal crane includes: acquiring a height information of the grab; acquiring an amplitude variation information of a luffing mechanism; acquiring a slewing angle information of a rotation of a slewing mechanism; determining a horizontal relative position information of the grab relative to a center point of the slewing mechanism according to the amplitude variation information and the slewing angle information; determining an actual position information of the grab relative to the center point of the slewing mechanism according to the horizontal relative position information and the height information; acquiring a scanning information of a hull, and determining a position information of a material; and planning an operation route of the grab.

The present application discloses a control method, a control system, and a device for a grab of a portal crane. The control method for a grab of a portal crane includes: acquiring a height information of the grab; acquiring an amplitude variation information of a luffing mechanism; acquiring a slewing angle information of a rotation of a slewing mechanism; determining a horizontal relative position information of the grab relative to a center point of the slewing mechanism according to the amplitude variation information and the slewing angle information; determining an actual position information of the grab relative to the center point of the slewing mechanism according to the horizontal relative position information and the height information; acquiring a scanning information of a hull, and determining a position information of a material; and planning an operation route of the grab.

The present application discloses a control method, a control system, and a device for a grab of a portal crane. The control method for a grab of a portal crane includes: acquiring a height information of the grab; acquiring an amplitude variation information of a luffing mechanism; acquiring a slewing angle information of a rotation of a slewing mechanism; determining a horizontal relative position information of the grab relative to a center point of the slewing mechanism according to the amplitude variation information and the slewing angle information; determining an actual position information of the grab relative to the center point of the slewing mechanism according to the horizontal relative position information and the height information; acquiring a scanning information of a hull, and determining a position information of a material; and planning an operation route of the grab.

A lifting system includes elevator towers constructed on a deck of a floating vessel, tracks constructed above the deck of the floating vessel, a traveling cradle beam, and one or more cranes supported by the traveling cradle beam. The traveling cradle beam can be in a first configuration in which the traveling cradle beam is coupled to the elevator towers and can move along the elevator towers past the tracks, and in a second configuration in which the traveling cradle beam is decoupled from the elevator towers and can skid over the tracks. The lifting system can be constructed in stages, and the portion of the lifting system constructed in the initial stages can be used to continue constructing the lifting system in the remaining stages. The lifting system can be used for transporting equipment on the floating vessel.

A method and apparatus for lifting a process station from a processing module is described herein. The apparatus includes a lift assembly disposed on the processing module, a lift cage, and one or more guide pins. The lift assembly is disposed to be capable of reaching each of the process stations disposed within the processing module. The lift assembly is used for replacement and maintenance of the process stations and further enables the automated removal and placement of the process stations within the processing module. Maintenance methods enabled by the lift assembly are additionally disclosed herein.

A lifting system includes elevator towers constructed on a deck of a floating vessel, tracks constructed above the deck of the floating vessel, a traveling cradle beam, and one or more cranes supported by the traveling cradle beam. The traveling cradle beam can be in a first configuration in which the traveling cradle beam is coupled to the elevator towers and can move along the elevator towers past the tracks, and in a second configuration in which the traveling cradle beam is decoupled from the elevator towers and can skid over the tracks. The lifting system can be constructed in stages, and the portion of the lifting system constructed in the initial stages can be used to continue constructing the lifting system in the remaining stages. The lifting system can be used for transporting equipment on the floating vessel.

An assembly for separating a coupling hub from a shaft of a rotating machine includes a support frame sub-assembly that structurally supports the assembly and the coupling hub. A vertical adjustment sub-assembly is structurally supported by the support frame sub-assembly. The vertical adjustment sub-assembly adjusts the elevation of a puller sub-assembly from the surface of the Earth. The puller sub-assembly couples to the coupling hub and separates the coupling hub from the shaft.