MANIPULATOR DEVICE TO APPLY MODULES AROUND A PIPELINE, LAYING VESSEL COMPRISING SAID DEVICE AND METHOD TO OPERATE SAID LAYING VESSEL

Abstract

A manipulator device to apply modules around a pipeline during assembly has two jaws mobile between an open and a closed position and configured to house the respective portions of the module, and an articulated mechanism having a plurality of degrees of freedom to place the jaws in a loading position and in a position wherein the jaws are aligned with the pipeline during assembly.

Claims

1-20. (canceled)

21. A manipulator device comprising: two jaws moveable to an open position and to a closed position, the two jaws configured to respectively house two respective portions of a module configured to enclose a section of a pipeline during assembly of the pipeline; and an articulated mechanism having a plurality of degrees of freedom to place the two jaws: (i) in a loading position, and (ii) in a position that the two jaws are aligned with the pipeline during assembly of the pipeline.

22. The manipulator device of claim 21, wherein the articulated mechanism comprises: a base body; and an arm hinged to the base body and selectively moveable around a first rotation axis.

23. The manipulator device of claim 22, wherein the articulated mechanism further comprises a slide coupled to the arm and the two jaws, the slide is configured to selectively move the two jaws with respect to the arm in a first direction.

24. The manipulator device of claim 23, wherein the articulated mechanism first comprises a first elongated body extending along a first longitudinal axis substantially parallel to the first direction, the first elongated body is coupled to the slide and moveably supports the two jaws between the open position and the closed position.

25. The manipulator device of claim 24, wherein the articulated mechanism further comprises an adjusting device configured to adjust, when the two jaws are within a distance from the section of the pipeline, an inclination of the two jaws around a second rotation axis substantially parallel to the first rotation axis.

26. The manipulator device of claim 24, wherein each jaw comprises a frame hinged to the first elongated body around a rotation axis substantially parallel to the first longitudinal axis.

27. The manipulator device of claim 26, wherein the frame of each jaw comprises: a second elongated body extending along a second longitudinal axis substantially parallel to the first longitudinal axis; and two transverse elements fixed to the second elongated body at a distance from each other, the two transverse elements configured to accommodate the respective portion of the module.

28. The manipulator device of claim 27, wherein each jaw comprises a preloading cylinder coupled to the second elongated body and configured to push the respective portion of the module against the section of the pipeline when the two jaws are in the closed position around the section of the pipeline.

29. The manipulator device of claim 21, wherein each jaw comprises a gripping belt configured to accommodate and selectively hold the respective portion of the module.

30. The manipulator device of claim 21, wherein each jaw comprises an automatic screwdriver configured to screw together the two respective portions of the module.

31. A laying vessel comprising: a floating structure; a laying tower hinged to the floating structure around a rotation axis, the laying tower defining a laying line and configured to assemble and lay a pipeline on a bed of a body of water; and a manipulator device comprising: two jaws moveable to an open position and to a closed position, the two jaws configured to respectively house two respective portions of a module configured to enclose a section of the pipeline during assembly of the pipeline, and an articulated mechanism having a plurality of degrees of freedom to place the two jaws: (i) in a loading position, and (ii) in a position that the two jaws are aligned with the pipeline during assembly of the pipeline.

32. The laying vessel of claim 31, wherein the laying tower comprises a clamping assembly which is configured to clamp and advance the section of the pipeline and comprises a first clamping unit fixed to the laying tower and a second clamping unit arranged in series with respect to the first clamping unit and moveable along the laying line between a first position at a first distance from the first clamping unit and a second position at a second distance from the first clamping unit, wherein the first distance is greater than the second distance and the manipulator device is configured to apply the two portions of the module around the section of the pipeline between the first clamping unit and the second clamping unit.

33. The laying vessel of claim 31, further comprising: a lifting frame configured to support at least one of the portions of the module; and a crane configured to lift the lifting frame, the crane equipped with an adjustable gripping tool configured to adjust at least one of: (a) a position of the lifting frame with respect to the manipulator device, and (b) an inclination of the lifting frame with respect to the manipulator device, to place each portion of the module in the respective jaw when the two jaws are in the loading position.

34. A method to operate a laying vessel comprising a floating structure and a laying tower hinged to the floating structure around a rotation axis, the laying tower defining a laying line, and configured to assemble and lay a pipeline on a bed of a body of water, the method comprises: placing two jaws in a loading position; accommodating a first portion of a module in a first jaw of the two jaws and a second portion of the module in a second jaw of the two jaws; placing the two jaws in a position that the two jaws are aligned with the pipeline during assembly; and closing the two jaws around a section of the pipeline.

35. The method of claim 34, further comprising rotating the jaws around another rotation axis.

36. The method of claim 34, further comprising adjusting an inclination of the two jaws around another rotation axis when the two jaws are within a distance from the section of pipeline.

37. The method of claim 34, further comprising selectively moving the jaws along the laying line in a first direction when the jaws are aligned with the pipeline during assembly.

38. The method of claim 34, further comprising pushing the respective portions of the module against the section of the pipeline when the two jaws are in the closed position around the section of the pipeline.

39. The method of claim 34, further comprising screwing together two respective portions of the module by an automatic screwdriver when the two jaws are in the closed position around the section of the pipeline.

40. The method of claim 34, further comprising: lifting, by a crane, at least one of the portions of the module supported by a lifting frame; and adjusting, by an adjustable gripping tool coupled to the crane, at least one of a position of each portion of the module with respect to a manipulator device and an inclination of each portion of the module with respect to the manipulator device.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Further characteristics and advantages of the present invention will become clear from the following description of a non-limiting example of an embodiment thereof, with reference to the Figures of the attached drawings, in which:

[0039] FIG. 1 is a side elevation view, with schematic parts and parts removed for clarity's sake, of a laying vessel realized in accordance with the present invention;

[0040] FIG. 2 is a perspective view of a thrust module applicable to a pipeline by means of the laying vessel of FIG. 1;

[0041] FIGS. 3 and 4 are perspective views of a manipulator device of the laying vessel of FIG. 1 in respective operating configurations;

[0042] FIG. 5 is a front view of the manipulator device of the laying vessel of FIG. 1;

[0043] FIG. 6 is a side elevation view of the manipulator device of the laying vessel of FIG. 1; and

[0044] FIGS. 7-10 are side elevation views, with schematic parts and parts removed for clarity's sake, of the manipulator device of the laying vessel of FIG. 1 in respective operating configurations.

BEST MODE FOR CARRYING OUT THE INVENTION

[0045] With reference to FIG. 1, number 1 overall denotes a laying vessel for laying a pipeline 2 on a bed (not shown) of a body of water 3.

[0046] The laying vessel 1 comprises a floating structure 4; a laying tower 5, which defines a laying line 6 and is configured to assemble and lay the pipeline 2 on the bed of the body of water 3; and a manipulator device 7 to apply modules 8 to the pipeline 2 during assembly.

[0047] With reference to FIG. 2, the modules 8 comprise two hollow semi-cylindrical portions 9 that can be coupled together and are configured to determine an upward hydrostatic thrust on the pipeline 2.

[0048] In this regard, each portion 9 may be made by roto-moulding and the hollow volume of each portion 9 may be filled with lightening material, for example syntactic spheres, special resins or foams, adapted to ensure an adequate upward hydrostatic thrust and to withstand the operating pressures in the body of water 3.

[0049] Furthermore, in the case described and shown herein, which is not limiting to the present invention, the modules 8 are configured to prevent wake vortices from detaching from the pipeline 2 when the pipeline 2 is arranged in the body of water 3.

[0050] This vortex detachment phenomenon is caused by a water current incident to the pipeline 2, and can cause oscillations of the pipeline 2 induced by said vortices (Vortex Induced Vibration). When the detachment frequency of the vortexes (Vortex Shedding) that are generated at the rear of the pipeline 2 with respect to the direction of the current is close to a natural frequency of the pipeline 2, the induced oscillations are amplified, stressing the structure of the pipeline 2 with fatigue.

[0051] In order to mitigate these drawbacks, in the case described and shown herein, each module 8 is equipped with hydrodynamic fins 10, which are arranged in a helical profile on the outer cylindrical face of the respective module 8.

[0052] Said hydrodynamic fins 10 reduce the phenomenon of detachment of the alternating vortexes thanks to a vorticity imposed on the water current by appropriate pitch and diameter ratios of the helical profile.

[0053] With reference to FIG. 1, the floating structure 4 has a hull 11, an open deck 12; a stern 13; and a bow, not shown in the attached Figures.

[0054] In the case described and shown herein, the laying tower 5 is mounted at the stern 13 and is hinged around a rotation axis A1 to selectively arrange the laying tower 5 between a plurality of operating positions, having respective inclinations with respect to the open deck 12.

[0055] In this way, the laying tower 5 can assume a certain inclination to implement the J-laying type of the pipeline.

[0056] In the J-laying type, the span of the pipeline 2 assumes a J shape, due to the single curvature of said span, and extends mainly in the vertical direction. J-laying uses a substantially vertical laying line 6, included within the laying tower 5.

[0057] According to a variant not shown, the laying tower 5 is mounted on the bow. According to another variant not shown, the laying tower 5 is mounted on a balcony along one of the sides of the floating structure 4.

[0058] The laying tower 5 has an upper portion 14 equipped with devices (not shown) to assemble pipe segments (not shown) in order to realize the pipeline 2 as the pipeline 2 is laid; a central portion 15 equipped with a clamping assembly 16 configured to clamp and advance the pipeline 2 during assembly; and a lower portion 17 comprising a laying ramp 18.

[0059] The clamping assembly 16 comprises a clamping unit 19 fixed to the laying tower 5 and a clamping unit 20, which is arranged in series with respect to the clamping unit 19 and is mobile along the laying line 6 between a first position, at a first distance from the clamping unit 19, and a second position, at a second distance from the clamping unit 19, wherein the first distance is greater than the second distance.

[0060] In other words, the clamping unit 20 is mobile parallel to the laying line 6 so that by alternately gripping the two clamping units 19 and 20 it is possible to advance the pipeline 2 along the laying tower 5.

[0061] Furthermore, the floating structure 4 comprises two parallel arms 21 (only one of which is shown in FIG. 1) that extend above the open deck 12 and support the laying tower 5 in a rotatable manner. In this way, the rotation axis A1 of the laying tower 5 is arranged above the open deck 12 at the ends of the arms 21.

[0062] In the case described and shown herein, the manipulator device 7 is arranged on the open deck 12 at the laying tower 5, is mobile with respect to the laying tower 5, and is configured to apply the modules 8 around the pipeline 2 section comprised between the clamping units 19 and 20.

[0063] With reference to FIGS. 3-6, the manipulator device 7 comprises two jaws 22, which are mobile between an open and a closed position and are configured to house respective portions 9 of module 8; and an articulated mechanism 23, which has a plurality of degrees of freedom and is configured to place the jaws 22 in a loading position and in a position wherein they are aligned with the pipeline 2 during assembly.

[0064] The mechanism 23 comprises a base body 25, which is fixed to the open deck 12; an arm 26, which is hinged to the base body 25 around a rotation axis A2; two actuators 27, which are configured to actuate the rotation of the arm 26 around the rotation axis A2; and a slide 28, which is coupled to the arm 26 and the jaws 22 and is configured to selectively move the jaws 22 with respect to the arm 26 in a direction Dl.

[0065] The mechanism 23 further comprises an elongated body 29, which extends along a longitudinal axis A3, is coupled to the slide 28 and supports the two jaws 22 in a mobile manner; and an actuator 30, which is coupled to the slide 28 and the elongated body 29 and is configured to actuate the movement of the jaws 22 in the direction Dl.

[0066] In particular, the jaws 22 extend on opposite sides with respect to the elongated body 29 and are coupled to the elongated body 29 in a mobile manner between an open and a closed position.

[0067] Each jaw 22 comprises a frame 31, which is hinged to the elongated body 29 around a rotation axis substantially parallel to the longitudinal axis A3, and respective gripping belts 32, which are supported by the frame 31 and are configured to accommodate and selectively hold respective portions 9 of module 8.

[0068] The frame 31 comprises an elongated body 33, which extends along a respective longitudinal axis A4 substantially parallel to the longitudinal axis A3; two transverse elements 34, which are fixed to the elongated body 33 at a distance from each other and are configured to accommodate respective portions 9 of module 8; and a side bar 35, which is fixed to the ends of the transverse elements 34 so as to delimit together with the transverse elements 34 a housing seat 36 for the portion 9 of module 8.

[0069] Although in the case described and shown herein, which is not limiting to the present invention, each of the housing seats 36 is configured to accommodate two portions 9 of module 8 arranged in series, each jaw 22 may be configured to accommodate a different number of portions 9 of module 8 in the respective housing seat 36. In particular, in accordance with a variation of the embodiment described and shown, each housing seat 36 may be configured to accommodate four portions 9 of module 8.

[0070] Each jaw 22 is equipped with four belts 32 arranged at a distance from each other along the longitudinal axis A4, and with clamping devices 37 (FIG. 6), each of which is actuated by respective actuators 38 (FIG. 5) and is configured to clamp the respective belt 32 around the portion 9 of module 8.

[0071] Each belt 32 is shaped to accommodate and hold a portion 9 of module 8 and in this case it extends along a given arc of circumference.

[0072] Each jaw 22 further comprises at least one preloading cylinder 39 (FIG. 3), which is coupled to the respective elongated body 33 and is configured to push the respective portion 9 of module 8 against the pipeline 2 section when the jaws 22 are in closed position around the pipeline 2 section; and at least one automatic screwdriver 40 (FIGS. 4 and 5), which is carried by the respective transverse element 34 and is configured to screw together two respective portions 9 of module 8 with a set tightening torque.

[0073] With reference to FIG. 6, the mechanism 23 comprises an adjusting device 41, which is configured to adjust the inclination of the jaws 22 around a rotation axis A5 substantially parallel to the second rotation axis A2 when the jaws 22 are in proximity to the said pipeline 2 section.

[0074] In particular, the adjusting device 41 comprises an actuator 42, preferably a hydraulic cylinder, which acts on the elongated body 29, causing the elongated body 29 and the jaws 22 supported by the elongated body 29 to rotate around the rotation axis A5.

[0075] In addition, the mechanism 23 comprises two contact sensors 43 fixed to opposite ends of the elongated body 29. Each contact sensor 43 is configured to emit a contact signal when in contact with the pipeline 2, providing the adjusting device 41 with a feedback to actuate the actuator 42 to precisely align the jaws 22 to the pipeline 2.

[0076] With reference to FIG. 7, a particular embodiment of the present invention is shown, wherein the laying vessel 1 comprises a crane 44 arranged on the open deck 12 and configured to lift the portions 9 of module 8 from the open deck 12 so as to place them on the manipulator device 7.

[0077] The crane 44 is equipped with an adjustable gripping tool 45 configured to lift a lifting frame 46, which supports each portion 9 of module 8.

[0078] In particular, the adjustable gripping tool 45 is configured to adjust the position and/or the inclination of each portion 9 of module 8 with respect to the manipulator device 1 so as to precisely insert each portion 9 of module 8 into the respective jaw 22.

[0079] In use and with reference to FIG. 7, the manipulator device 7 is in the loading position on the open deck 12. In such a configuration, the arm 26 is folded over the base body 25, the jaws 22 are in an open position facing upwards, and the portions 9 of module 8 are loaded into the respective housing seats 36 of the jaws 22.

[0080] The crane 44 picks up the portions 9 of module 8 from the open deck 12 and places them at the jaws 22 of the manipulator device 7. In such circumstances, the lifting frame 46 is supported at the adjustable gripping tool 45 and in turn supports the portions 9 of module 8. When the portions 9 of module 8 are in proximity to the manipulator device 7, the adjustable gripping tool 45 adjusts the position and the inclination of each portion 9 of module 8 with respect to the manipulator device 1 so as to precisely place each portion 9 of module 8 in the respective jaw 22.

[0081] Subsequently, the belts 32 are clamped around the respective portions 9 of module 8 by means of the clamping devices 37 (FIG. 6).

[0082] With reference to FIG. 8, the arm 26 is lifted by means of the actuator 27 to bring the jaws 22 into a vertical position at the pipeline 2 section to which the module 8 is to be applied. The arm 26 is inclined with respect to the open deck 12 so as to align the jaws 22 with the laying line 6, which, in the case described and shown, is substantially vertical.

[0083] In accordance with variants of the present invention, not shown in the appended Figures, the laying tower 5, and consequently the laying line 6 may assume different inclinations with respect to the open deck 12. In such configurations, the inclination of the arm 26 is adapted to the inclination of the laying line 6 so as to align the jaws 22 with the pipeline 2 during assembly.

[0084] With reference to FIG. 9, the slide 28 (FIGS. 4-6) moves the jaws 22 in the direction Dl along the laying line 6 so as to precisely adjust the longitudinal position of the jaws 22 with respect to the pipeline 2 section to which the modules 8 are to be applied.

[0085] The adjusting device 41 actuates the actuator 42 to adjust the inclination of the jaws 22 around the rotation axis A5 so as to follow the oscillations of the floating structure 4 and of the laying tower 5.

[0086] With reference to FIG. 10, the jaws 22 are closed around the pipeline 2 section during assembly. Subsequently, the preloading cylinders 39 (FIG. 4) push the respective portion 9 of module 8 against the pipeline 2 section and the screwdrivers 40 (FIGS. 5 and 6) screw together two respective portions 9 to assemble the module 8 with a set tightening torque. At this point, the preloading cylinders 39 (FIG. 4) release the thrust on the portions 9 and the belts 32 are opened so as to decouple the jaws 22 from the modules 8 to separate the manipulator device 7 from the pipeline 2.

[0087] With reference to FIG. 1, once the module 8 has been applied, the clamping unit 19 releases the grip from the pipeline 2 and the clamping unit 20 is moved from the first position to the second position along the laying line 6 to advance the pipeline 2 and lay the pipeline 2 section to which the module 8 has been applied.

[0088] In accordance with an embodiment, all the steps of applying the modules 8 to the pipeline 2 and of laying the pipeline 2 described above are carried out in an automated manner without the need for the direct intervention of operators.

[0089] Finally, it is evident that variations with respect to the embodiment described can be made to the present invention without however departing from the scope of the following claims.