EP4504641B1 - Système de transfert de joint de tuyau d'un support de tuyau à un navire de pose de tuyaux ou à une structure en haute mer - Google Patents

Système de transfert de joint de tuyau d'un support de tuyau à un navire de pose de tuyaux ou à une structure en haute mer

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Publication number
EP4504641B1
EP4504641B1 EP23711794.0A EP23711794A EP4504641B1 EP 4504641 B1 EP4504641 B1 EP 4504641B1 EP 23711794 A EP23711794 A EP 23711794A EP 4504641 B1 EP4504641 B1 EP 4504641B1
Authority
EP
European Patent Office
Prior art keywords
pipe
spreader bar
crane
instant
lifting
Prior art date
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Active
Application number
EP23711794.0A
Other languages
German (de)
English (en)
Other versions
EP4504641A1 (fr
Inventor
Fabio Cordasco
Salvatore TORCIVIA
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Saipem SpA
Original Assignee
Saipem SpA
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Application filed by Saipem SpA filed Critical Saipem SpA
Publication of EP4504641A1 publication Critical patent/EP4504641A1/fr
Application granted granted Critical
Publication of EP4504641B1 publication Critical patent/EP4504641B1/fr
Active legal-status Critical Current
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
    • B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
    • B66C23/52—Floating cranes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B35/03—Pipe-laying vessels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads

Definitions

  • the present invention concerns the technical field of loading or unloading of equipment, especially pipe joints, at sea between two ships or between ships and off-shore structures.
  • the present invention further relates to an improved system and method for the offshore trans-shipping of pipe joints or pipe sections from a pipe carrier vessel to a pipelay vessel.
  • pipe joint refers to a portion of conventional length, e.g. 12 meters long, of a pipeline that is intended to be assembled to form greater lengths of pipeline that are subsequently laid by means of different methodologies, such as for example so-called S- lay and J-lay methods in which:
  • each welding phase is followed by a movement of the vessel, so that at each movement of the laying vessel a new length of pipe is laid to the seabed.
  • the problem of pipe joints trans-shipping is similar to the problem of containers trans-shipping: the payload is within the range of 10-50 tons, the payload shall not be effected by wind that disturbs motion, the payload transfer operation shall be robust and fast; cranes shall reach each loading point with a single mooring.
  • a typical onshore payload logistic system uses quay movable gantry cranes with a special rigging for connecting containers and for repetitive payload movements with a high degree of automation. Similar to the offshore trans-shipping of pipe-joints, also the on-shore movements of the payload shall not be effected by wind that disturbs motion and, for this purpose, the crane hook and wire robe are configured to improve stability; the payload transfer cycle shall be robust and fast; the cranes shall reach each loading point with a single mooring.
  • the main difference between the off-shore pipe-joints trans-shipping and the on-shore payload transfer through cranes is the presence of waves in the off-shore operation, which move the involved vessels relative to one another in multiple directions.
  • pipe joints are transported from a logistics base to the offshore field by means of cargo barges or so-called pipe carriers.
  • the selection of the pipe carrier characteristics is determined by either cost or time. If the pipe laying time is to be minimized, typically high value pipe laying vessels are used and the cost of the supply logistic becomes secondary. In this scenario the supply logistic is required to supply pipe joints to the pipe laying vessel to assure continuous laying without interruptions. This means that, generally, the mooring and transfer speed of the supply system shall be higher than the pipe laying speed of the pipe laying vessel.
  • the pipe carrier vessel is selected on the basis of a set of primary features, i.e.
  • a recent evolution of pipe carriers is the so-called DP2 B-type Spliethoff multy deck carrier vessel with remotely operated gantry cranes, transfer station and heavy lift crane.
  • a known pipe lay vessel the Allseas Solitaire PLV, is equipped with two 35tons articulated flag cranes. Each crane has two arms with a rotating beam at the end of the second arm. Each crane has winches and wires to lift and lower a hook - spreader bar close to the pipe joint. Pipe lifting wires are extended through the hook - spreader bar so that the spreader bar acts as a longitudinal spacer for the pipe lift wires.
  • the known crane also has an anti-yaw function.
  • the rotating beam of the crane can pivot around a vertical axis to produce a controlled rotation of the pipe joint relative to the crane arm.
  • the rotating beam and the hook - spreader bar have mainly anti-yaw functions.
  • the known hook - spreader bar is adapted to engage or disengage from the rotating beam of the crane arm and, when disengaged, the hook - spreader bar can move to a height close to the pipe joints and two transfer wires can be lowered through the hook - spreader bar, and their ends can be connected to the pipe joint by riggers.
  • the connected pipe joint can be lifted to the hook - spreader bar, and a set of guides at a bottom side of the hook - spreader bar allows a temporary connection of the lifted pipe joint to the spreader bar. Then the hook - spreader bar can be lifted and rotated together with the attached pipe joint in order to transfer, align and lower the joint to a pipe storage at the pipe lay vessel.
  • the main method steps of a pipe joint transfer operation are:
  • WO2012038776 (of which US9387998B2 , cited in the search report, is a family member) (Saipem) and US9315244B2 (Spliethoff ) describe systems for improving the operational limit of a cargo barge during these pipe joint handling phases.
  • WO2012038776 describes a system comprising a pipe layer vessel, on which a boom crane suspending a crane spreader with a plurality of pipe connectors configured to engage opposite end portions of the pipe joint to connect the pipe joint to the spreader bar is disposed.
  • EP1679462 (Liebherr ) describes a quick-release coupling system with a rotary drive and with a pendulum brake system.
  • GB2031842A (Peiner ) describes a load rotating device for controlling the rotation of a payload and torque-prestressed rigging cables which tend to rotate to the opposite direction of the rotation of the payload.
  • tugger lines are pulling cables extending from the crane hook or from the spreader bar in a non vertical direction (preferably horizontal direction) to an external reference body, e.g. to a tugger line winch at the pipe lay vessel, and by applying pulling forces to multiple tugger lines it is possible to influence the rotational position of the crane hook or of the spreader bar.
  • the tugger lines are cables pulling towards the crane, mainly in the horizontal plane and acting on the hook or on the spreader bar or on the suspended load, often in pairs with parallel or crossed directions.
  • the tugger lines are held in a substantial constant tension mode, taking the suspended load slightly off the vertical so as to limit its pendulum movement.
  • hooks that are not actively mechanically rotating may have bushings or bearings that allow a yaw rotation of the hook which is controlled by the tugger lines connected to the suspended load.
  • connection and lifting off of the payload from the pipe carrier vessel shall be as fast as possible to avoid that the payload stacks.
  • the rigging arrangement includes two inclined slings with a hook at each lower end and which, together with the pipe joint, form a stable lifting connection. In this way the necessarily manual connection of the rigging arrangement to the pipe joint was fast and the subsequent lifting off operation was immediately obtained by tensioning the rope systems. Due to the vessel movements caused by wave movement, the vessel heave oscillates between a maximum heave and a minimum heave, the crane lifting operation and speed must be adapted thereto. Typically, the detachment of the pipe joint from the pipe carrier vessel should take place when the pipe carrier vessel is in a maximum heave position.
  • US9556006 B2 (Liebherr ) describes a method for controlling the orientation of a crane load and a boom crane, in which a manipulator is connected to a rotation unit attached to a crane hook suspended on ropes.
  • the pipe joint transfer involves risks for the health of the operators. Riggers must climb to the pipe joint stack, manually grasp and pull pilot lines hanging from the rigging arrangement (spreader bar or hook) to it in the desired landing position, and connect the pipe joints to the rigging arrangement, running the risk of falling from considerable heights and colliding with pipe joints, wherein all movements are amplified by the movement of the pipe carrier vessel, especially by the most significant vertical heave movement component.
  • the pipe joint transfer also involves operational risks of collisions and damages of pipe joints and/or vessel parts caused by wind, waves, loss of dynamic positioning, e.g. as a consequence of an unstable mooring, that is the temporary loss of a substantially fixed relative position with minimal relative movements between the involved vessels, especially under bad weather conditions. Also in this respect, the most significant movement component is the vertical heave movement component.
  • the pipe joint transfer also still involves operational delays and drawbacks due to undesirably poor control and influence of the yaw rotation, i.e. the target orientation in a horizontal plane (or rotational position about a vertical rotation axis) of the pipe joints landing on the deck of the pipe lay vessel.
  • the aim of the present invention is to provide an improved system and method for the offshore crane transfer of pipe joints from a pipe carrier vessel to a pipe laying vessel having features such as to:
  • a system 1 for the offshore crane transfer of pipe joints 2 from a pipe carrier vessel 3 to a pipe laying vessel 4 comprises:
  • the system 1 achieves a significantly increased torsional stiffness of the entire upper part of the rigging arrangement due to the large minimum lifting rope distance, thereby avoiding that an activation of the yaw adjusting motor 18 rotates the upper rigging arrangement instead of the spreader bar 13 and pipe joints 2 (due to the high mass inertial moment of the spreader bar 13 and attached pipe joints 2, having a weight of tenths of tons).
  • the system 1 also achieves a significantly increased torsional stiffness of the lower part of the rigging arrangement due to the flat rigging rope angle 30, thereby assuring that the activation of the yaw adjusting motor 18 rotates the spreader bar 13 rather than only twisting the rigging ropes 14.
  • Both achieved torsional stiffening effects are increased with an increase of the weight of the pay load which increases the tension in both the lifting ropes 10 and the rigging ropes 14, thereby individually increasing the resistance against torsional twisting of the upper rigging region and of the lower rigging region and assuring that the yaw adjusting motor 18 efficiently rotates the payload about the vertical yaw rotation axis 17.
  • the crane control system 25 automatically controls not only the yaw adjusting motor 18, but also the lifting winches 12, the crane boom rotation (by means of a crane rotation motor 31), and possibly the tugger winches 19, depending on the instantaneous relative position of the spreader bar 13 with respect to the pipe transfer station 5 and an instantaneous relative position of the spreader bar 13 with respect to the pipe landing station 6, i.e.
  • the described pipe transfer system 1 is particularly intended for high productivity pipe lay vessels.
  • the spreader bar 13 comprises one or more motor driven flywheels 32, each rotating about a dedicated flywheel axis 33, and an electrically controlled flywheel adjusting system 34 for adjusting an orientation of the flywheel axis 33 with respect to the spreader bar 13 to generate (due to the obtained gyroscopic effect) and apply a yaw rotation moment (about the vertical yaw rotation axis 17) to the spreader bar 13.
  • the flywheel adjusting system 34 is connected with and controlled by the crane control system 25 to rotate the spreader bar 13 about the vertical yaw rotation axis 17.
  • the flywheel adjusting system 34 is automatically controlled by the crane control system 25 to rotate the spreader bar 13 about the vertical yaw rotation axis 17 in dependency of the instantaneous relative position of the spreader bar 13 with respect to the pipe transfer station 5 and in dependency of the instantaneous relative position of the spreader bar 13 with respect to the pipe landing station 6 and according to a target transfer trajectory of the spreader bar 13 at the pipe transfer station 5 and at the pipe landing station 6.
  • the system 1 achieves a significantly improved control on the yaw position and yaw rotation of the spreader bar 13.
  • a system 1 for the offshore crane transfer of pipe joints 2 from a pipe carrier vessel 3 to a pipe laying vessel 4 comprises:
  • the flywheel adjusting system 34 is connected with and controlled by the crane control system 25 to rotate the spreader bar 13 about the vertical yaw rotation axis 17.
  • the flywheel adjusting system 34 is automatically controlled by the crane control system 25 to rotate the spreader bar 13 about the vertical yaw rotation axis 17 in dependency of the instantaneous relative position of the spreader bar 13 with respect to the pipe transfer station 5 and in dependency of the instantaneous relative position of the spreader bar 13 with respect to the pipe landing station 6 and according to a target transfer trajectory of the spreader bar 13 at the pipe transfer station 5 and at the pipe landing station 6.
  • the system 1 achieves a significantly improved control on the yaw position and yaw rotation of the spreader bar 13.
  • the crane control system 25 automatically controls also the lifting winches 12, the crane boom rotation (by means of a crane rotation motor 31), and possibly the tugger winches 19, in dependency from the instantaneous relative position of the spreader bar 13 with respect to the pipe transfer station 5 and an instantaneous relative position of the spreader bar 13 with respect to the pipe landing station 6, i.e.
  • the described system can be advantageously applied to medium productivity pipelay vessels and to rigging arrangements with standard hooks.
  • the combined action of the yaw adjusting motor 18 and the flywheel adjusting system 34 further improve the control of the yaw orientation of the spreader bar 13.
  • the base portion 15 of the crane hook 11 forms at least two lifting rope attachment seats 28 which transmit a lifting force from the lifting ropes 10 to the crane hook 11, the lifting rope attachment seats 28 being horizontally spaced apart by a minimum horizontal lifting rope distance 29 of more than 2 meters, e.g. 2352mm, or more than 2,5 meters, or more than 3 meters,
  • This configuration increases the torsional stiffness of the entire upper part of the rigging arrangement due to the large minimum lifting rope distance 29, thereby avoiding that activation of the yaw adjusting motor 18 rotates the upper rigging arrangement instead of the spreader bar 13 and pipe joints 2 (due to the high mass inertial moment of the spreader bar 13 and attached pipe joints 2, having a weight of tenths of tons).
  • the system 1 also achieves a significantly increased torsional stiffness of the lower part of the rigging arrangement due to the flat rigging rope angle 30, thereby assuring that the activation of the yaw adjusting motor 18 actually rotates the spreader bar 13 rather than only twisting the rigging ropes14.
  • Both achieved torsional stiffening effects are increased with an increase of the weight of the pay load which increases the tension in both the lifting ropes 10 and the rigging ropes 14, thereby individually increasing the resistance against torsional twisting of the upper rigging region and of the lower rigging region and assuring that the yaw adjusting motor 18 can effectively rotate the payload about the vertical yaw rotation axis 17.
  • the position control system (23, 24, 35, 36) can be signal-connected to the crane control system 25 or at least partially integrated in the crane control system 25.
  • the position control system (23, 24, 35, 36) is configured to determine an instant relative position and/or distance (in a 3D reference system) between the spreader bar 13 and the pipe transfer station 5 on the basis of distance signals provided by positioning sensors 35 (e.g. one or more of optical sensors, laser optical sensors, digital cameras, ultrasound sensors, etc.) positioned and configured to detect the distance (in a 3D reference system) between the spreader bar 13 and the pipe transfer station 5.
  • positioning sensors 35 e.g. one or more of optical sensors, laser optical sensors, digital cameras, ultrasound sensors, etc.
  • the position control system (23, 24, 35, 36) is configured to determine an instant relative position and/or distance (in a 3D reference system) between the spreader bar 13 and the pipe landing station 6 on the basis of distance signals provided by positioning sensors 35 (e.g. one or more of optical sensors, laser optical sensors, digital cameras, ultrasound sensors, etc.) positioned and configured to detect the distance (in a 3D reference system) between the spreader bar 13 and the pipe landing station 6,
  • positioning sensors 35 e.g. one or more of optical sensors, laser optical sensors, digital cameras, ultrasound sensors, etc.
  • the distance sensor 35 or sensors 35 are arranged on the spreader bar 13, so that the same distance sensors 35 can be used both when approaching and leaving the pipe transfer station 5 and when approaching and leaving the pipe landing station 6.
  • the position control system (23, 24, 35, 36) comprises:
  • the crane control system 25 is configured to:
  • the crane control system 25 may be configured to:
  • This sensor based local distance verification further increases the safety of the pipe transfer operation and increases the reliability of a fully automatic crane operation, which in turn increases pipe transfer speed, also in adverse weather conditions.
  • the crane control system 25 may be configured to:
  • This sensor based local distance verification further increases the safety of the pipe transfer operation and increases the reliability of a fully automatic crane operation, which in turn increases pipe transfer speed, also in adverse weather conditions.
  • the distance sensor 35 or sensors 35 are arranged on the spreader bar 13, so that the same distance sensors 35 can be used both when approaching and leaving the pipe transfer station 5 and when approaching and leaving the pipe landing station 6.
  • the first position control system 23 comprises a global positioning system (GPS) and a plurality of accelerometers arranged on the pipe carrier vessel 3 to monitor the position and displacement of the pipe carrier vessel 3 in a global (earth) reference system (3D, six degrees of freedom, three translations, three rotations) and, possibly, to provide in addition local pipe joint position data of the local position of the individual pipe joint/s 2 within the pipe transfer station 5.
  • GPS global positioning system
  • accelerometers arranged on the pipe carrier vessel 3 to monitor the position and displacement of the pipe carrier vessel 3 in a global (earth) reference system (3D, six degrees of freedom, three translations, three rotations) and, possibly, to provide in addition local pipe joint position data of the local position of the individual pipe joint/s 2 within the pipe transfer station 5.
  • the local pipe joint position data may contain predetermined pipe joint positions and/or sensor detected (e.g. optical sensor, digital camera, ecc.) pipe joint positions within the pipe transfer station 5.
  • sensor detected e.g. optical sensor, digital camera, ecc.
  • the first position control system 23 can be connected wireless or wired with the crane control system 25.
  • the second position control system 24 comprises a global positioning system (GPS) and a plurality of accelerometers arranged on the pipe lay vessel 4 to monitor the position and displacement of the pipe lay vessel 4 in a global (earth) reference system (3D, six degrees of freedom, three translations, three rotations) and, possibly, to provide in addition target pipe joint position data of the target position of the individual pipe joint/s 2 within the pipe landing station 6.
  • GPS global positioning system
  • accelerometers arranged on the pipe lay vessel 4 to monitor the position and displacement of the pipe lay vessel 4 in a global (earth) reference system (3D, six degrees of freedom, three translations, three rotations) and, possibly, to provide in addition target pipe joint position data of the target position of the individual pipe joint/s 2 within the pipe landing station 6.
  • the target pipe joint position data may contain predetermined target positions and/or sensor detected (e.g. optical sensor, digital camera, ecc.) target (e.g. not yet occupied) positions within the pipe landing station 6.
  • sensor detected e.g. optical sensor, digital camera, ecc.
  • target e.g. not yet occupied
  • the second position control system 24 can be connected wireless or wired with the crane control system 25.
  • the crane control system 25 may comprise a third position control system 36 comprising a plurality of accelerometers, and possibly global positioning system (GPS), and arranged on the spreader bar 13 to monitor the position and displacement of the spreader bar 13 in a global (earth) reference system (3D, six degrees of freedom, three translations, three rotations) or in the reference system of the pipe laying vessel 4.
  • a global (earth) reference system (3D, six degrees of freedom, three translations, three rotations) or in the reference system of the pipe laying vessel 4.
  • the crane control system 25 can have an onboard user interface 37 onboard the boom crane 7, e.g. in a crane operator cabin, and/or a remote user interface 38 remote from the boom crane 7.
  • the crane control system 25 can allow a user-selection and execution of a fully automatic control mode, a semi - automatic control mode with user involvement only during approaching and leaving the pipe transfer station and the pipe landing station, and a user-controlled mode.
  • the crane control system 25 is configured to automatically maintain a fixed orientation of the pipe joints 2 during their transfer movement along the target transfer trajectory from the pipe transfer station 5 to the pipe landing station 6, e.g. an orientation parallel to both a longitudinal orientation of the pipe carrier vessel 3 and a longitudinal orientation of the pipe lay vessel 4.
  • the target transfer trajectory can be programmable and/or preset and memorized in a memory of the crane control system 25 and, possibly, additionally adapted by the crane control system 25 in dependency of the motion of the pipe carrier vessel 3 and the pipe laying vessel 4 and, optionally, the spreader bar 13.
  • the target transfer trajectory can be user-inputted in the crane control system 25 and adjusted by a crane operator by means of a user interface of the crane control system 25.
  • the target transfer trajectory comprises a set of one or more minimum (safety) distance conditions and/or one or more maximum relative angular offset conditions (alignment criteria) that must be met during the spreader bar's approximation to and detachment from the pipe transfer station 5 and the pipe landing station 6.
  • the crane hook 11, e.g. the hook portion 16 or the base portion 15, forms two tugger line attachment seats 39 in said tugger points 22 for connecting the tugger lines 20 and transmitting a pulling force from the tugger lines 20 to the crane hook 11.
  • the tugger line attachment seats 39 are horizontally spaced apart by a horizontal tugger attachment distance 40 of more than 6 meters, or more than 8 meters, or more than 10 meters, wherein the horizontal tugger line distance 21 of the two tugger lines 20 attached to the tugger line attachment seats 39 is greater than 2 meters, or greater than 4 meters, or greater than 6 meters. It is to be noted that the tugger lines 20 need not be parallel but can also extend along paths crossing at a close distance.
  • the two tugger line attachment seats 39 are alingned with each other along a direction substantially parallel to a direction of alignment of the two spaced apart lifting rope attachment seats 28.
  • the lifting ropes 10 can comprise individual sections of one single continuous lifting rope line or separate pieces of lifting rope line.
  • the lifting ropes can comprise two or more, e.g. four lifting ropes 10, i.e. sections of lifting rope individually extending upward from the crane hook 11 to the crane boom 8.
  • the spreader bar 13 is an elongate beam shaped or plate shaped steel structure connected by the rigging ropes 14 to the crane hook 11, particularly to the lower hook portion 16 of the crane hook 11, so that a spreader bar longitudinal axis 41 (in case of an elongate beam shape) or a spreader bar plane 42 (in case of a plate shape) is substantially horizontal.
  • the rigging ropes 14 connecting the spreader bar 13 to the crane hook 11 are at least two or more, e.g. four, and can be embodied by different rigging rope sections of one and the same continuous rigging line or by separate rigging rope sections.
  • a lower hook portion 16 of the crane hook 11 forms one or more upper rigging attachment points/seats 43 which can be relatively close to each other, e.g. formed in a common hook seat, for the connection and force transmission between the crane hook 11 and the rigging ropes 14.
  • the spreader bar 13 forms, preferably on an upper side thereof, at least two or more, e.g. four, lower rigging attachment seats 44 for the connection and force transmission between the rigging ropes 14 have a length such that the rigging rope angle 30 defined between the tensioned rigging rope 14 and the horizontal, i.e. the spreader bar plane 42, meets the earlier described range of less than 70°, or less than 60° or from 40° and 55°.
  • the lower rigging attachment seats 44 can be arranged at four corner regions of the spreader bar 13 when the spreader bar 13 is substantially rectangular in top view, or at to opposite end regions of the spreader bar 13 when the spreader bar 13 is substantially linear beam shaped in top view.
  • the one or more pipe connectors 26 are arranged on a downward facing lower side of the spreader beam 13 and may comprise pairs of oppositely arranged engagement pins 45 that are displaceable toward each other and away from each other to enter the opposite ends of the pipe joint 2 for connecting the pipe joint 2 to the spreader bar 13 and to release the ends of the pipe joint 2 for disconnecting the pipe joint 2 from the spreader bar 13.
  • the engagement pins 45 are connected to a hydraulic cylinder 46 selectively actuated by an electro-hydraulic pump and valve system 47.
  • the spreader bar 13 can have a single pair of pipe connectors 26 for connecting only one pipe joint 2 or, preferably, a plurality of pairs of pipe connectors 26 for connecting a plurality of pipe joints 2 to the same spreader bar 13 and for contemporaneously transferring the plurality of pipe joints 2 together (see Figures 2D , 12 ).
  • the spreader bar 13 defines a plurality of connector positions 48 ( Figure 12 ) in which the pipe connectors 26 can be removably connected to the spreader bar 13, allowing adjustment of the position of the pipe connectors 26 and, hence, adaption of the system 1 to different pipe joint diameters and/or lengths.
  • the one or more flywheels 32 are each rotatably supported in a flywheel holder 49 and rotatable with respect to the flywheel holder about the flywheel axis 33.
  • the flywheel holder 49 is rotatably supported in a mounting portion 50 of/at the spreader bar 13 and rotatable with respect to the mounting portion 50 (and hence with respect to the spreader bar 13) about a swivel axis 51 which is orthogonal to the flywheel axis 33 and, possibly, transversal (preferably perpendicular) to a spreader bar longitudinal direction.
  • the flywheel 32 is driven to rotate about the flywheel axis 33 by an electric drive motor 52 connected to the flywheel 32 by means of a transmission 53, e.g. a friction wheel.
  • the drive motor 52 and the friction wheel are supported by a support lever 55 which is elastically biased, by a spring member 56, in a transmission position in which the friction wheel is elastically pressed against an external circumferential surface of the flywheel 32.
  • the flywheel adjusting system 34 comprises an electrical or electro-hydraulic swivel actuator 57 which adjusts the orientation of the flywheel holder 49 about the swivel axis 51.
  • the application of the torque to orient the flywheel holder 49 together with the rotating flywheel 32 about the swivel axis 51 cause a change in the angular momentum in the same direction of the swivel axis 51 and generates a force in the direction of the swivel axis 51.
  • the spreader bar 13 comprises one or more pairs 58 of said flywheels 32, wherein the two swivel axes 51 of each pair 58 are parallel to each other, horizontal and horizontally spaced apart from each other in a direction orthogonal to the swivel axes 51, and wherein the flywheel adjusting system 34 swivels the two rotating flywheels 32 of the pair 51 in opposite directions (as seen in figure 6 ), thereby generating a pair of opposite and spaced apart horizontal forces 59, 59' acting on the spreader bar 13 and constituting the yaw rotating moment.
  • the flywheel adjusting system 34 may be activated contemporaneously with an activation of the yaw adjusting motor 18 of the crane hook 11 for a synergistic improvement of the spreader bar 13 position control.
  • the orientation of the pipe joints 2 is maintained fixed during the entire transfer from the pipe transfer station 5 to the pipe landing station 6.
  • the orientation of the pipe joints 2 is maintained fixed only during an initial phase and during a final phase of the transfer from the pipe transfer station 5 to the pipe landing station 6, and the orientation of the pipe joints 2 is changed, e.g. in a range of 35° to 40° of yaw angle, in an intermediate phase of f the transfer from the pipe transfer station 5 to the pipe landing station 6.
  • the initial phase and end phase are the takeoff of the pipe joints 2 from the pipe transfer station 5 and the landing of the pipe joints 2 on the pipe landing station 6, and the intermediate phase is a flight phase, free from obstacles.
  • the system 1 is configured to transport one or more than one pipe joint 2 at a time.
  • Power (electric and or hydraulic) and signals can be transmitted from the pipe lay vessel 4 or boom crane 7 to the crane hook 11 and to the spreader bar 13 by an umbilical 60.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Control And Safety Of Cranes (AREA)

Claims (13)

  1. Système (1) pour le transfert par grue offshore de joints de tuyaux (2) d'un navire porteur de tuyaux (3) à un navire de pose de tuyaux (4) comprenant :
    - un récipient porte-tuyaux (3) ayant une station de transfert de tuyaux (5) pour maintenir une pluralité de joints de tuyaux (2) ayant tous une même orientation de transfert prédéterminée par rapport au récipient porteur de tuyaux (3),
    - un navire de pose de conduites (4) ayant une station d'atterrissage de tuyaux (6) pour l'atterrissage des joints de tuyaux (2),
    - une grue à flèche (7) positionnée sur le navire de pose de canalisations (4) et comportant une flèche de grue (8) pouvant tourner autour d'un axe de rotation vertical de la grue (9), une pluralité de câbles de levage (10) s'étendant de la flèche de la grue (8) vers le bas, un crochet de grue (11) relié aux câbles de levage (10) pour être suspendu sous la flèche de la grue (8), un ou plusieurs treuils de levage motorisés (12) pour enrouler et dérouler les câbles de levage (10) et ainsi soulever et abaisser le crochet de grue (11), et une barre d'écartement (13) reliée de manière suspendue au crochet de grue (11) par une pluralité de câbles de gréement (14), dans lequel le crochet de grue (11) comprend une partie de base (15) à laquelle les câbles de levage (10) sont reliés et une partie de crochet (16) à laquelle les câbles de gréement (14) sont connectés, dans laquelle la partie de crochet (16) est couplée à la partie de base (15) et rotative par rapport à la partie de base (15) autour d'un axe de rotation de lacet vertical (17) par un moteur de réglage de lacet (18) relié au crochet de grue (11),
    - deux ou plusieurs treuils de remorquage motorisés (19) positionnés sur le navire de pose de tuyaux (4) pour l'enroulement et le déroulement de deux ou plusieurs lignes de remorquage (20) connectables à l'un des crochets de grue (11) et à la barre d'écartement (13) en deux points de remorquage (22) espacés horizontalement,
    - un système de contrôle de position (23, 24, 35, 36) configuré pour déterminer une position relative instantanée de la barre d'écartement (13) par rapport à la station de transfert de tuyau (5) et une position relative instantanée de la barre d'écartement (13) par rapport à la station d'atterrissage de tuyau (6),
    - un système de commande de grue (25) en liaison de données avec le système de commande de position (23, 24, 35, 36), le système de commande de grue (25) permettant à l'utilisateur de sélectionner un mode de commande automatique de la grue et, si le mode de commande automatique de la grue est sélectionné, commande automatiquement :
    - le moteur de réglage du lacet (18) pour faire tourner la partie du crochet (16) avec la barre d'écartement (13) autour de l'axe de rotation vertical du lacet (17),
    en fonction de la position relative instantanée de la barre d'écartement (13) par rapport à la station de transfert de tuyau (5) et en dépendance de la position relative instantanée de la barre d'écartement (13) par rapport à la station d'atterrissage de tuyau (6) et selon une trajectoire de transfert cible de la barre d'écartement (13) à la station de transfert de tuyau (5) et à la station d'atterrissage de tuyau (6),
    dans lequel la barre d'écartement (13) comprend une pluralité de connecteurs de tuyauterie (26) commandés électriquement et configurés pour s'engager dans les parties d'extrémité opposées du joint de tuyau (2) pour relier le joint de tuyau (2) à la barre d'écartement (13), lesdits connecteurs de tuyauterie (26) étant commandés à distance par un système de commande de raccordement de tuyauterie (27) dudit système de commande de grue (25),
    dans lequel la partie de base (15) du crochet de grue (11) forme au moins deux sièges de fixation de câble de levage (28) qui transmettent une force de levage des câbles de levage (10) au crochet de grue (11), les sièges de fixation de câble de levage (28) étant espacés horizontalement d'au moins une distance horizontale minimale de câble de levage (29) de plus de 2 mètres, ou 2352mm, ou plus de 2,5 mètres, ou plus de 3 mètres,
    dans lequel les câbles de levage (10) comprennent au moins deux câbles de levage engageant les deux sièges de fixation du câble de levage (28) et s'étendant des sièges de fixation du câble de levage (28) vers le haut jusqu'à la flèche de la grue (8) avec au moins ladite distance horizontale minimale entre le câble de levage (29),
    dans lequel les câbles de gréement (14) s'étendent entre le crochet de grue (11) et la barre d'écartement (13) à un angle de câble de gréement (30) par rapport à l'horizontale de moins de 70°, ou inférieur à 60° ou dans la plage de 40° et 55°.
  2. Système (1) selon la revendication 1, dans lequel, dans ledit mode de commande automatique de la grue, le système de commande de la grue (25) commande automatiquement :
    - le ou plusieurs treuils de levage (12) pour déplacer verticalement la barre d'écartement (13),
    - la rotation de la flèche de la grue (8) pour déplacer horizontalement la barre d'écartement (13),
    - en option, les deux ou plusieurs treuils de remorquage (19) pour tirer sélectivement les deux ou plusieurs lignes de remorquage (20) avec des forces de traction différentes pour le lacet en faisant tourner la barre d'écartement (13) par rapport à la flèche de la grue (8),
    en fonction de la position relative instantanée de la barre d'écartement (13) par rapport à la station de transfert de tuyau (5) et en dépendance de la position relative instantanée de la barre d'écartement (13) par rapport à la station d'atterrissage de tuyau (6) et selon une trajectoire de transfert cible de la barre d'écartement (13) à la station de transfert de tuyau (5) et à la station d'atterrissage de tuyau (6).
  3. Système (1) selon la revendication 1 o 2, dans lequel la barre d'écartement (13) comprend un ou plusieurs volants d'inertie entraînés par moteur (32), chacun tournant autour d'un axe de volant d'inertie dédié (33), et un système de réglage de volant d'inertie à commande électrique (34) pour ajuster une orientation de l'axe du volant d'inertie (33) par rapport à la barre d'écartement (13) afin de générer et d'appliquer un moment de rotation en lacet autour de l'axe de rotation en lacet vertical (17) à la barre d'écartement (13).
  4. Système (1) selon la revendication 3, dans lequel le système de réglage du volant d'inertie (34) est relié et commandé par le système de commande de grue (25) pour contrôler la rotation de la barre d'écartement (13) autour de l'axe de rotation vertical en lacet (17).
  5. Système (1) selon la revendication 4, dans lequel, en mode de commande automatique de la grue, le système de réglage du volant d'inertie (34) est automatiquement commandé par le système de commande de la grue (25) pour contrôler la rotation de la barre d'écartement (13) autour de l'axe de rotation vertical en lacet (17).
  6. Système (1) selon l'une quelconque des revendications précédentes, dans lequel le système de commande de position (23, 24, 35, 36) comprend :
    - un système de commande de première position (23) configuré pour surveiller la position et le mouvement de la station de transfert de tuyauterie (5) par rapport à un système de référence et pour fournir des données de position du navire porteur contenant une position instantanée de la station de transfert de tuyauterie par rapport au système de référence,
    - un système de commande de deuxième position (24) configuré pour surveiller la position et le mouvement de la station d'atterrissage de la tuyauterie (6) par rapport au système de référence de position et pour fournir des données de position du navire contenant une position instantanée de la station d'atterrissage de la tuyauterie par rapport au système de référence, dans lequel le système de commande de grue (25) est en connexion de données avec le système de commande de première position (23) et le système de commande de deuxième position (24).
  7. Système selon l'une quelconque des revendications 3 et 6, dans lequel le système de commande de grue (25) est configuré pour :
    - surveiller une position instantanée de la barre d'écartement (13) par rapport au système de référence,
    - commander le ou plusieurs treuils de levage (12) pour déplacer verticalement la barre d'écartement (13) en fonction de la position instantanée de la barre d'écartement (13), de la position de la station d'atterrissage instantanée des tuyaux et de la position de la station de transfert instantané des tuyaux,
    - commander le moteur de réglage du lacet (18) pour faire tourner la partie du crochet (16) avec la barre d'écartement (13) autour de l'axe de rotation vertical du lacet (17) en fonction de la position instantanée de la barre d'écartement (13), de la position de la station d'atterrissage instantanée du tuyau et de la position de la station de transfert instantané du tuyau,
    - commander le système de réglage du volant d'inertie (34) pour appliquer un moment de rotation en lacet à la barre d'écartement (13) en fonction de la position instantanée de la barre d'écartement (13), de la position de la station d'atterrissage instantanée du tuyau et de la position de la station de transfert instantané du tuyau,
    - contrôler la rotation de la flèche de la grue (8) pour déplacer horizontalement la barre d'écartement (13) en fonction de la position de la station d'atterrissage instantanée des tuyaux et de la position de la station de transfert instantané des tuyaux,
    - en option, commander les deux ou plusieurs treuils de remorquage (19) pour tirer sélectivement les deux ou plusieurs lignes de remorquage (20) avec des forces de traction différentes pour le lacet en faisant pivoter la barre d'écartement (13) par rapport à la flèche de la grue (8) en fonction de la position instantanée de la barre d'écartement (13).
  8. Système selon l'une quelconque des revendications précédentes, tel que dépendant de la revendication 3, dans lequel le système de commande de grue (25) est configuré pour :
    - déterminer une distance instantanée entre la barre d'écartement (13) et la station de transfert de tuyaux (5),
    - commander le ou plusieurs treuils de levage (12) pour déplacer verticalement la barre d'écartement (13) en fonction de la distance instantanée entre la barre d'écartement (13) et la station de transfert de tuyaux (5), et
    - commander le moteur de réglage du lacet (18) pour faire tourner la partie du crochet (16) avec la barre d'écartement (13) autour de l'axe de rotation vertical du lacet (17) en fonction de la distance instantanée entre la barre d'écartement et la station de transfert de tuyau (5), et
    - commander le système de réglage du volant d'inertie (34) pour appliquer un moment de rotation en lacet à la barre d'écartement (13) en fonction de la distance instantanée entre la barre d'écartement (13) et la station de transfert de tuyau (5),
    lors d'une opération d'atterrissage et lors d'une opération de décollage de la barre d'écartement (13) vers et à l'opposé de la station de transfert de tuyauterie (5).
  9. Système selon l'une quelconque des revendications précédentes, tel que dépendant de la revendication 3, dans lequel le système de commande de grue (25) est configuré pour :
    - déterminer une distance instantanée entre la barre d'écartement (13) et la station d'atterrissage du tuyau (6),
    - commander le ou les treuils de levage (12) pour déplacer verticalement la barre d'écartement (13) en fonction de la distance instantanée entre la barre d'écartement (13) et la station d'atterrissage du tuyau (6), et
    - commander le moteur de réglage du lacet (18) pour faire tourner la partie du crochet (16) avec la barre d'écartement (13) autour de l'axe de rotation vertical en lacet (17) en fonction de la distance instantanée entre la barre d'écartement (13) et la station d'atterrissage du tuyau (6), et
    - commander le système de réglage du volant d'inertie (34) pour appliquer un moment de rotation en lacet à la barre d'écartement (13) en fonction de la distance instantanée entre la barre d'écartement (13) et la station d'atterrissage du tuyau (6),
    au cours d'une opération d'atterrissage et/ou de décollage, d'une opération de la barre d'écartement (13) vers et loin de la station d'atterrissage du tuyau (6).
  10. Système selon l'une quelconque des revendications précédentes, dans lequel le système de commande de grue (25) comprend un système de commande de troisième position (36) comprenant une pluralité d'accéléromètres et un système de positionnement global GPS, et disposé sur la barre d'écartement (13) pour surveiller la position et le déplacement de la barre d'écartement (13) dans un système de référence global ou dans le système de référence du navire de pose de conduites (4).
  11. Système selon l'une quelconque des revendications précédentes, dans lequel :
    - le ou les raccords de tuyau (26) sont disposés sur un côté inférieur de la poutre d'écartement (13) orienté vers le bas et comprennent des paires de goupilles d'engagement (45) disposées de manière opposée qui sont déplaçables l'une vers l'autre et éloignées l'une de l'autre pour pénétrer dans les extrémités opposées du joint de tuyau (2) pour connecter le joint de tuyau (2) à la barre d'écartement (13) et pour libérer les extrémités du joint de tuyau (2) pour déconnecter le tuyau joint (2) de la barre d'écartement (13),
    - les goupilles d'engagement (45) sont reliées à un vérin hydraulique (46) actionné sélectivement par une pompe électrohydraulique et un système de soupape (47) relié au système de commande de grue (25),
    - la barre d'écartement (13) forme une pluralité de positions d'accouplement de connecteur (48) dans lesquelles les connecteurs de tuyau (26) peuvent être reliés de manière amovible à la barre d'écartement (13), permettant le réglage de la position des connecteurs de tuyau (26) et la connexion amovible d'une pluralité de paires de connecteurs de tuyau (26) pour connecter une pluralité de joints de tuyau (2) à la même barre d'écartement (13) et pour transférer simultanément ladite pluralité de joints de tuyau (2) ensemble.
  12. Système selon l'une quelconque des revendications précédentes, dans lequel le système de commande de position (23, 24, 35, 36) est configuré pour :
    - déterminer une position relative instantanée et/ou une distance dans un système de référence 3D entre la barre d'écartement (13) et la station de transfert de tuyaux (5) sur la base de signaux de distance fournis par des capteurs de positionnement (35),
    - déterminer une position relative instantanée et/ou une distance dans un système de référence 3D entre la barre d'écartement (13) et la station d'atterrissage du tuyau (6) sur la base de signaux de distance fournis par des capteurs de positionnement (35),
    dans lequel lesdits capteurs de positionnement (35) sont :
    - sélectionné dans le groupe composé d'un capteur optique, d'un capteur optique laser, d'un appareil photo numérique, d'un capteur à ultrasons,
    - positionné et configuré pour détecter la distance entre la barre d'écartement (13) et la station de transfert de tuyaux (5).
  13. Système selon la revendication 12, dans lequel le ou les capteurs de distance (35) sont disposés sur la barre d'écartement (13), de sorte que les mêmes capteurs de distance (35) sont utilisés à la fois lors de l'approche et/ou de la sortie de la station de transfert de tuyaux (5) et lors de l'approche et/ou de la sortie de la station d'atterrissage de tuyaux (6).
EP23711794.0A 2022-04-06 2023-03-07 Système de transfert de joint de tuyau d'un support de tuyau à un navire de pose de tuyaux ou à une structure en haute mer Active EP4504641B1 (fr)

Applications Claiming Priority (2)

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IT102022000006827A IT202200006827A1 (it) 2022-04-06 2022-04-06 Sistema e metodo di trasferimento di tubi di pipeline, in particolare da una nave porta-tubi a una nave posa-pipeline o a una struttura offshore
PCT/IB2023/052126 WO2023194818A1 (fr) 2022-04-06 2023-03-07 Système et procédé de transfert de joint de tuyau d'un support de tuyau à un navire de pose de tuyaux ou à une structure en haute mer

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DE2839723C2 (de) 1978-09-13 1983-11-03 Peiner Maschinen- Und Schraubenwerke Ag, 3150 Peine Lastdrehvorrichtung
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SG147339A1 (en) 2007-05-03 2008-11-28 Nsl Engineering Pte Ltd Apparatus and method for the engagement of intermodal units
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EP2551231B1 (fr) 2011-07-26 2014-06-25 Spielthoff's Bevrachtingskantoor B.V. Grue de compartiment de chargement et récipient d'alimentation en tuyaux dotée de ladite grue de maintien
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