System for handling riser pipe

Abstract

Method and system for handling riser pipe on an offshore vessel, comprising taking the pipe from the stack of riser pipes using two trolleys placed on opposite sides of the stack, each trolly having means to engage with a respective end of the pipe, and loading the pipe into the cradle of a lifting device for lifting the riser pipe from the storage zone onto the deck of the vessel.

1 . Movement method for tubular elements on a vessel at least in correspondence with a storage zone of said vessel or from said storage zone to a feeding zone or vice versa in which said method includes movement phases of said tubular elements operated by means of at least one pair of devices of a handling system for said tubular elements and transfer phases of said tubular element from a first device of said handling system to a second device of said handling system, the transfer of said tubular element from said first device to said second device of said handling system occurring by means of the alternation of different types of grasp and transfer means for said tubular element, where said transfer phases from said first device to said second device can comprise at least of transfer phases A) and B), in which:
 A) first transfer phases including:
 a 1 ) a grasp phase of said tubular element by said first device by means of engagement means in the form of pins which are inserted within said tubular element in correspondence with opposite ends of said tubular element; 
 a 2 ) a movement phase of said tubular element by said first device towards a transfer position towards said second device; 
 a 3 ) a deposition phase onto supporting means of said tubular element which are present on said second device and which are preferably made in the form of cradles provided with deposition seats for said tubular element; 
 a 4 ) a release phase of said tubular element by said pins; 
   B) second transfer phases including:
 b 1 ) a grasp phase of said tubular element by said second device by means of said supporting means of said tubular element ( 6 ) which are present on said second device and which are preferably made in the form of cradles provided with said deposition seats for said tubular element; 
 b 2 ) a movement phase of said tubular element by said second device towards a transfer position towards said first device; 
 b 3 ) a grasp phase of said tubular element by said first device by means of said engagement means in the form of pins which are inserted within said tubular element ( 6 ) in correspondence with opposite ends of said tubular element; 
   characterised in that said movement occurs at least by means of a movement device comprising a first trolley and a second trolley, said movement occurring according to the following steps:
 a) moving said first trolley according to at least one first movement direction which horizontally develops in a parallel way with respect to at least one stack of said tubular elements in correspondence with a first movement path which is defined by at least one corresponding first guide; 
 b) moving said second trolley according to at least said first movement direction in correspondence with a second movement path defined by at least one corresponding first guide, said second movement path developing in a parallel way with respect to said first movement path of said first trolley and said second movement path being spaced with respect to said first movement path by a distance which is greater than the extension in length of said tubular elements; 
 c) coordinating the movement of said first trolley and of said second trolley, said coordination being strucutured to move said first trolley to a first position along said first movement path which corresponds to a first position along said first path which is a first position according to horizontal coordinates in which a specific tubular element of said tubular elements to be taken out from said stack is present or which is a first position according to horizontal coordinates in which said specific tubular element of said tubular elements must be stored and said coordination being strucutured to move said second trolley to a first position along said second movement path which corresponds to a first position along said second path which is a first position according to horizontal coordinates in correspondence with which said second trolley is in a condition of reciprocal alignment with said first trolley according to an alignment direction corresponding to the direction of the development in length of said specific tubular element; 
   k) activating engagement means of said first trolley in such a way that the engagement means engage with a corresponding first end of said specific tubular element to be taken out from said stack;   m) activating engagement means of said second trolley in such a way that the engagement means engage with a corresponding second end of said specific tubular element to be taken out from said stack, said second end being an opposite end with respect to said first end with respect to the development in length of said specific tubular element to be taken out from said stack;   p) moving in a reciprocally coordinated and synchronized way said first trolley and said second trolley in an engagement condition of said engagement means with said first end and second end of said specific tubular element to be taken out from said stack.   
     
     
         2 . Movement method for tubular elements according to  claim 1 , characterised in that it further includes the following steps which are following or contemporary or antecedent phases with respect to said phase c):
 d) moving a first cursor of said first trolley according to at least one second movement direction which vertically develops in a parallel way with respect to said at least one stack of said tubular elements in correspondence with a third movement path defined by at least one first frame of said first trolley, said first frame driving the movement of said first cursor according to said second movement direction;   e) moving a second cursor of said second trolley according to at least said second movement direction in correspondence with a fourth movement path defined by at least one corresponding second frame of said second trolley, said second frame driving the movement of said second cursor according to said second movement direction;   f) coordinating the movement of said first cursor of said first trolley and of said second cursor of said second trolley, said coordination being structured to move said first cursor of said first trolley to a second position along said third movement path which corresponds to a second position along said third path which is a second position according to vertical coordinates in which said specific tubular element is present and said coordination being structured to move said second cursor of said second trolley to a second position along said fourth movement path which corresponds to a second position along said fourth path which is a second position in which said specific tubular element is present according to a reciprocally coordinated movement of said cursors.   
     
     
         3 . Movement method for tubular elements according to  claim 2 , characterised in that it further includes the following steps following said phase f):
 g) moving a first elevation element which is placed on said first cursor of said first trolley according to at least said second movement direction;   h) moving a second elevation element which is placed on said second cursor of said second trolley according to at least said second movement direction;   i) coordinating the movement of said first elevation element of said first trolley and of said second elevation element of said second trolley, said coordination being structured to move said first elevation element of said first trolley and said second elevation element of said second trolley according to a reciprocally coordinated movement to a position according to vertical coordinates in correspondence with which a lifting device is present which s interfaced with said movement device to transfer said specific tubular element from said movement device to said lifting device or vice versa.   
     
     
         4 . Handling system for tubular elements on a vessel in correspondence with a storage zone of said vessel or from said storage zone to a feeding zone or vice versa, operating according to a method according to  claim 1 , characterised in that said handling system includes said movement device ( 5 ) for moving said tubular elements in correspondence with said storage zone, said movement device comprising at least said two trolleys which are movable according to at least one first movement direction and which are reciprocally spaced by a distance, each of said trolleys being provided with at least one engagement means, engaging with respective ends of said tubular element, said engagement of said ends corresponding to a taking out of said tubular element by means of said movement device for the movement of at least one of said tubular elements in correspondence with said storage zone, each of said trolleys being provided with at least one of said engagement means, the at least one engagement means of said first trolley being engageable with a first end of said ends of said tubular element and the at least one engagement means of said second trolley being engageable with a second end of said ends of said tubular element which is an opposite end of said tubular element with respect to said first end. 
     
     
         5 . Handling system for tubular elements on a vessel according to  claim 4 , characterised in that said movement device includes at least two of said trolleys of which:
 a first trolley is movable at least according to said first movement direction in correspondence with a first supporting structure which develops in a parallel way with respect to said first movement direction;   a second trolley is movable at least according to said first movement direction in correspondence with a second supporting structure which develops in a parallel way with respect to said first movement direction, said second supporting structure being spaced by said distance (d) with respect to said first supporting structure.   
     
     
         6 . Handling system for tubular elements on a vessel according to  claim 4 , characterised in that it includes one or more control and command means selected from:
 at least one control unit which is controls at least said movement device, said control unit controlling the movement of said two trolleys in a reciprocally coordinated and synchronized way with respect to each other according to a first control mode in which each of said two trolleys is controlled to carry out the same movement as the other one of said two trolleys;   at least one command unit which commands at least one of said two trolleys, said command unit controlling the movement of at least one of said two trolleys in an independent way with respect to the other trolley of said two trolleys according to a second control mode in which each of said two trolleys is controlled in an independent way with respect to the other one of said two trolleys to carry out maintenance or inspection operations of said tubular elements within said storage zone.   
     
     
         7 . Handling system for tubular elements on a vessel according to  claim 5 , characterised in that said first supporting structure and said second supporting structure are selected from:
 frame structures which are reciprocally opposite and parallel structures and which are placed on the upper part of a deck of said vessel, said deck of said vessel constituting said storage zone of said tubular elements;   first supporting structure and second supporting structure in the form of reciprocally opposite and parallel walls of a hold of said vessel, said hold of said vessel constituting said storage zone of said tubular elements.   
     
     
         8 . Handling system for tubular elements on a vessel according to  claim 7 , characterised in that each of said trolleys includes a frame which develops according to a second direction which is an essentially vertical and essentially orthogonal direction with respect to said first direction, said frame driving the movement of a cursor, said cursor being vertically movable along said frame and being provided with said at least one engagement means, said at least one engagement means being movable according to said first direction by means of the movement of said trolley, said at least one engagement means being movable according to said second direction by means of the movement of said cursor, said movements of said engagement means constituting a two-axled movement system for the movement of at least one of said tubular elements in correspondence with said storage zone, each of said trolleys including cursor driving means, said cursor driving means being structured to carry out the movement of said cursor according to said second direction along said frame, said cursor driving means including a first motor which transmits its rotational motion to at least one winch which is structured to wind and unwind a cable for the movement of said cursor according to said second direction along said frame, even more preferably said cursor driving means including two of said winches and two of said cables both controlled by said first motor with the interposition of a first gear-reducing device, said two winches being controlled in a reciprocally synchronized way by means of a single drive shaft which is connected to said first gear-reducing device, each of said two winches being structured to wind one of said two cables, each of said two cables having mechanical resistance characteristics corresponding to the mechanical characteristics which are necessary to support alone the weight of said cursor and of the possible load of said tubular element. 
     
     
         9 . Handling system for tubular elements on a vessel according to  claim 8 , characterised in that said first motor is provided with a braking disc which is provided with corresponding brakes or said first motor is provided with a pack of braking discs which is placed in correspondence with an output shaft of said first motor towards said at least one winch or in correspondence with an input shaft of said at least one winch. 
     
     
         10 . Handling system for tubular elements on a vessel according to  claim 8 , characterised in that said cursor driving means include said two winches and said two cables each of which is structured to wind on one of said two winches, said cursor being provided with a compensator device which is structured for the passage of said two cables, said compensator device being structured to alternatively incline towards one side or towards the opposite side under the action of the difference in the traction force which is present between said two cables, said inclination of said compensator device compensating for said difference in the traction force between said two cables. 
     
     
         11 . Handling system for tubular elements on a vessel according to  claim 10 , characterised in that said compensator device includes rabbet elements preventing inclinations of said compensator device ( 86 ) beyond mechanically set limit values, said rabbet elements preferably limiting the inclination of said compensator device to angles between +/− 15 degrees with respect to the balance position in which said two cables apply the same traction force, even more preferably limiting the inclination of said compensator device to angles between +/− 10 degrees. 
     
     
         12 . Handling system for tubular elements on a vessel according to  claim 8 , characterised in that each of said trolleys includes an elevation element which is vertically movable between at least two positions, said at least one engagement means being integral with said elevation element. 
     
     
         13 . Handling system for tubular elements on a vessel according to  claim 12 , characterised in that said elevation element is vertically movable at least between said two positions by means of an endless screw movement system, a second motor acting on said endless screw system, said second motor being structured to control the movement of said elevation element for the lifting movement and the lowering movement along screws. 
     
     
         14 . Handling system for tubular elements on a vessel according to  claim 12 , characterised in that said elevation element is installed on said cursor, said at least one engagement means being vertically movable according to said second direction by means of the movement of said cursor and being further vertically movable according to said second direction between at least two positions along the body of said cursor by means of the movement of said elevation element. 
     
     
         15 . Handling system for tubular elements on a vessel according to  claim 8 , characterised in that each of said trolleys includes wheels selected from:
 first wheels ( 20 ) which rest on a first guide which develops in a parallel way with respect to said first direction, said first wheels ( 20 ) driving the sliding of said trolley ( 17 , 18 ) along said first direction and discharging on said first guide the weight of the respective trolley and of said tubular element handled by means of said trolleys;   opposite pairs of second wheels whose rotational plane is placed on an essentially horizontal plane, said second wheels being intended to couple in correspondence with opposite sides of a second guide in the form of a rail which is tightened in an intermediate position between said pair of second wheels ( 37 );   opposite pairs of third wheels whose rotational plane is placed on an essentially horizontal plane, said third wheels being intended to couple in correspondence with opposite sides of a third guide in the form of a rail which is tightened in an intermediate position between said pair of third wheels.   
     
     
         16 . Handling system for tubular elements on a vessel according to  claim 15 , characterised in that said second wheels are placed along said frame in correspondence with a first position along said frame which is a lowered and spaced position with respect to a second position along said frame which is an upper position with respect to said first position, said third wheels being placed along said frame in correspondence with said second position. 
     
     
         17 . Handling system for tubular elements on a vessel according to  claim 4 , characterised in that each of said trolleys includes trolley driving means, said trolley driving means being intended to carry out the movement of said trolley according to said first direction, said trolley driving means comprising a third motor ( 38 ) which, by means of a second gear-reducing device, is coupled with two transmissions which respectively put in rotation fourth wheels of which:
 an upper fourth wheel which is supported by means of a respective bearing element by means of bearings, the upper fourth wheel being placed on the upper part with respect to the development of said frame according to said second direction, said upper fourth wheel being a gear-wheel which couples with an upper fourth guide in the form of a rack;   a lower fourth wheel which is supported by means of a respective bearing element by means of bearings, the lower fourth wheel being placed on the lower part with respect to the development of said frame according to said second direction, said lower fourth wheel being a gear-wheel which couples with a lower fourth guide in the form of a rack;   the terms “upper” and “lower” being referred to said frame having a substantially vertical development according to a direction corresponding to the direction of the force of gravity according to the usual meanings conventionally assigned to the terms “upper” and “lower”.   
     
     
         18 . Handling system for tubular elements on a vessel according to  claim 17 , characterised in that said transmissions are cardan shafts which by means of said second gear-reducing device receive the motion from said third motor ( 38 ) being therefore reciprocally synchronized in order to control the movement of said trolley by means of said fourth guides in the form of a rack. 
     
     
         19 . Handling system for tubular elements on a vessel according to  claim 4 , characterised in that said at least one engagement means is an at least one retractable pin which is intended to be moved between at least two positions a first position of which is a withdrawn position which is a non-engagement position with said tubular element and a second position is an extracted position which is an engagement position in which said pin is inserted within a hole ( 10 ) of said tubular element. 
     
     
         20 . Handling system for tubular elements on a vessel according to  claim 19 , characterised in that said at least one engagement means is a pair of said retractable pins, said retractable pins being retractable and extractable between said first non-engagement withdrawn position and said engagement extracted position in an independent way with respect to each other. 
     
     
         21 . Handling system for tubular elements on a vessel according to  claim 20 , characterised in that said pair of retractable pins comprises a first pin and of a second pin which are reciprocally spaced by a distance greater than the encumbrance in section of said tubular element. 
     
     
         22 . Handling system for tubular elements on a vessel according to  claim 8 , characterised in that said handling system includes a lifting device which is intended to lift or lower said tubular elements between at least two positions a first position of which is an interface position with said movement device and a second position is an interface position with another device of said handling system, said first interface position with said movement device being a position which is intended to transfer at least one of said tubular elements from said movement device to said lifting device within a deposition seat or, vice versa, being a position which is intended to transfer at least one of said tubular elements from said deposition seat of said lifting device towards said movement device, said lifting device comprising a pair of cradles which form said deposition seat on which said movement device deposits said tubular element or from which said movement device takes out said tubular element. 
     
     
         23 . Handling system for tubular elements on a vessel according to  claim 22 , characterised in that said cradle is provided with a retractable tooth which is intended to be moved between a first position in which said tooth is retracted leaving a completely free access to said deposition seat to move within it said tubular element and a second position in which said tooth is turned towards said cradle operating as a retaining means for said tubular element within said deposition seat during the lifting and lowering phases of said cradle, the movement of said tooth occurring by means of an electric or hydraulic driving device preferably a driving device in the form of a piston which applies a pushing or traction force on said tooth with respect to said cradle on which said tooth is hinged. 
     
     
         24 . Handling system for tubular elements on a vessel according to  claim 22 , characterised in that each of said cradles is mounted on a respective first body which can vertically slide in a lifting movement and in a lowering movement along a stanchion which drives the movement of said first body, said stanchion being provided with driving means of said first body bearing one of said cradles. 
     
     
         25 . Handling system for tubular elements on a vessel according to  claim 24 , characterised in that each of said cradles is mounted on said respective first body with the interposition of a second body ( 84 ), each of said cradles being mounted on said second body which is in turn vertically sliding on said first body, said first body being intended to slide in a lifting movement and in a lowering movement along said stanchion, said second body being intended to slide in a lifting movement and in a lowering movement along said first body, the movement of said second body constituting a prolongation of the movement of the cradles by means of said first body. 
     
     
         26 . Handling system for tubular elements on a vessel according to  claim 22 , characterised in that said movement device is intended for the movement of said tubular elements within said storage zone in the form of said hold of said vessel and further characterised in that said movement device is interfaced and coordinated with said lifting device, which is intended for the movement of said tubular elements between said storage zone and said deck of said vessel, said lifting device operating the lifting or the lowering of at least one of said tubular elements between:
 a first interface and transfer position for said tubular elements between said movement device and said lifting device, said first interface and transfer position being located internally with respect to said storage zone ( 14 ) in the form of said hold of said vessel;   a second interface and transfer position for said tubular elements between said lifting device and another device of said handling system, said second interface and transfer position being located outside with respect to said storage zone in the form of said hold of said vessel.   
     
     
         27 . Handling system for tubular elements on a vessel according to  claim 22 , characterised in that said handling system includes a tilter device which is intended to interface and coordinate with said lifting device, said tilter device being provided with arms which are intended to perform a tilting of at least one of said tubular elements between a support position within said deposition seat and a support position on a transfer device which is intended to transfer said tubular element towards a laying zone or from a loading zone of said tubular elements on said vessel. 
     
     
         28 . Handling system for tubular elements on a vessel according to  claim 27 , characterised in that said tilter device comprises a pair of components, a first component and a second component of which are reciprocally aligned according to a direction corresponding to the width of said tubular element and are reciprocally spaced by a distance greater than the width of said tubular element, each of said first component and said second component comprising a pair of supporting elements which bear said arm which can rotate by means of hinging means, the centre of rotation of the arm of the first component being aligned with the centre of rotation of the arm of the second component, said arms carrying out a rotation along planes which are reciprocally parallel planes. 
     
     
         29 . Handling system for tubular elements on a vessel according to  claim 28 , characterised in that said arm is controlled in rotation by means of a pair of gears which are placed on a same operating shaft, each gear acting on a corresponding toothed portion which is present on operating wings of said arm which are integral with the arm itself. 
     
     
         30 . Handling system for tubular elements on a vessel according to  claim 28 , characterised in that the grasp action of said tubular element by means of said tilter device occurs by means of engagement means in the form of a third retractable pin which is placed in correspondence with said arm, the third pin of the arm of the first component being movable in a coordinated way with the third pin of the arm of the second component according to engagement directions with said tubular element which correspond to reciprocal approaching directions of said third pins and according to disengagement directions from said tubular element which correspond to reciprocal moving apart directions of said third pins, the reciprocal approach of said third pins involving the insertion of said third pins within said tubular element from directions which are reciprocally opposite directions with respect to each other. 
     
     
         31 . Handling system for tubular elements on a vessel according to  claim 19 , characterised in that said pin has an essentially quadrangular shaped section with connection radiuses which essentially correspond to the internal radius of said tubular element, at least one contact portion of said essentially quadrangular shaped section being possibly covered by a soft or friction material. 
     
     
         32 . Handling system for tubular elements on a vessel according to  claim 19 , characterised in that said pin is intended to slide between a position in which the pin is at least partially retracted within a holder and an extracted position from said holder in which said pin is intended to engage with said tubular element, said pin being movable by means of a pin actuator which operates in extension and in traction between the pin itself and the holder, said pin actuator preferably being an electrical actuator or a hydraulic cylinder. 
     
     
         33 . Handling system for tubular elements on a vessel according to  claim 19 , any of the previous  claims 19  to  32  characterised in that said pin is provided with an interchangeable head which is intended to constitute the engagement element of said pin with said tubular element. 
     
     
         34 . Handling system for tubular elements on a vessel according to  claim 4 , characterised in that said handling system is a handling system for tubular elements in the form of risers of drilling plants. 
     
     
         35 . Handling system for tubular elements on a vessel according to  claim 1 , characterised in that said handling system is a handling system for tubular elements in the form of pipes which are intended to be laid on a sea or ocean bed for reciprocal connection and which are intended to constitute an underwater duct. 
     
     
         36 . Vessel which is intended to transport and/or to lay said tubular elements characterised in that it includes said handling system for said tubular elements, said handling system being a system for handling tubular elements on a vessel made according to  claim 1 . 
     
     
         37 . Vessel which is intended to transport and/or to lay said tubular elements characterised in that said vessel is selected from the group consisting of drillship, semisubmersible drilling rig and further characterised in that it includes said handling system for said tubular elements, said handling system being a system for handling tubular elements on a vessel made according to  claim 1 . 
     
     
         38 . Vessel which is intended to transport and/or to lay said tubular elements characterised in that said vessel is a pipe-laying ship and further characterised in that t includes said handling system for said tubular elements in the form of pipes, said handling system being a system for handling tubular elements on said vessel according to  claim 1 .