Gripping assembly for gripping a tubular body, transfer system comprising said gripping assembly and method for transferring tubular bodies

Abstract

A gripping assembly for gripping a tubular body; the gripping assembly (3) is liftable by a lifting crane (5) and has an elongated frame (13), which extends along a first longitudinal axis (A1); a pair of gripping devices (15), each of which is disposed at a respective end of the elongated frame (13) and is configured to grip the tubular body (2); and a positioning system (16) configured to align the gripping assembly (3) with the tubular body (2) to be gripped so as to arrange the two gripping devices (15) at opposite ends of said tubular body (2).

Description

Cross-Reference to Related Applications

[0001] This patent application is related to the Italian Patent Aplication No. 102021000030002 filed on November 26, 2021.Technical Sector

[0002] The present invention concerns a gripping assembly for gripping a tubular body, a transfer system for transferring tubular bodies, and a method for transferring tubular bodies.

[0003] In particular, the present invention finds application in the transfer of tubular bodies into a body of water from a first vessel to a second vessel, without limiting the wide range of possible uses.State of the Art

[0004] As is known, offshore operations in a body of water require the transfer of tubular bodies disposed in stacks from a first vessel to a second vessel subject to undesirable relative movement.

[0005] By way of example, the first vessel may be a transport barge on which a stack of pipe segments is disposed and the second vessel may be a pipe laying vessel used for the assembly and launch of pipes for the transport of hydrocarbons.

[0006] Generally, the transfer of the tubular bodies is made with the aid of a hooking frame, which is configured to hook a tubular body so as to be lifted together with the tubular body by a crane disposed on the second vessel.

[0007] Typically, the connection between the hooking frame and the respective tubular body is made by operators using hooks or clamps. Said connection methods entail considerable risks for the operators, who work on the stacks of tubular bodies, which can be several metres high, and are exposed to the dangers associated with lifting heavy loads and falling from height.

[0008] Because of these critical issues, it is only possible to carry out transfer operations under conditions that guarantee safety of the operators.

[0009] In order to overcome the above-mentioned drawbacks, documents GB 2,327,930 and US 3,529,731 teach how to transfer pipe segments through transfer systems comprising respective hooking frames which can be connected automatically to the pipe segment to be transferred, without the need for operators. Further examples of systems configured to grip and transfer pipes are disclosed in documents EP 0,141,518, DE102009023791 and US 2013 / 0272821.

[0010] However, the relative movement between the first and second vessel in the body of water makes the connection between the pipe segment and the hooking frame of the transfer systems described in GB 2,327,930 and US 3,529,731 complex, which require a precise relative positioning between the hooking frame and the pipe segment to be transferred.Object of the Invention

[0011] Aim of the present invention is to provide a gripping assembly for gripping a tubular body that is free from the drawbacks of the prior art.

[0012] In accordance with the present invention there is provided a gripping assembly for gripping a tubular body; the gripping assembly being liftable by a lifting crane and comprising: an elongated frame, which extends along a first longitudinal axis; a pair of gripping devices, each of which is disposed at a respective end of the elongated frame and is configured to grip the tubular body; and a positioning system configured to align the gripping assembly to the tubular body to be gripped so as to arrange the two gripping devices at opposite ends of said tubular body; wherein each gripping device comprises a gripping arm, which is movable between a gripping position, in which, in use, the gripping assembly grips the tubular body, and a release position, in which, in use, the gripping assembly is disengaged from the tubular body; wherein each gripping device comprises a respective actuation assembly configured to control a relative rotation of the gripping arm about the first longitudinal axis with respect to the elongated frame.

[0013] Thanks to the present invention, it is possible to ensure a correct alignment between the gripping assembly and the tubular body to be gripped in a simple and reliable manner.

[0014] In practice, it is possible to compensate for a misalignment between the gripping assembly and the tubular body to be gripped due, for example, to the action of the wind on the gripping assembly or to the relative movement between a first vessel, on which the tubular bodies to be gripped are disposed, and a second vessel, on which the lifting crane is disposed.

[0015] In this way, it is possible to transfer a tubular body by connecting automatically the tubular body to the gripping assembly, without the need for operators.

[0016] The relative rotation of the gripping arm with respect to the elongated frame allows the gripping assembly to grip a tubular body without requiring a precise initial positioning between the gripping assembly and the predetermined tubular body.

[0017] In practice, it is possible to orient the gripping arm so as to select a certain tubular body to be gripped from a plurality of aligned tubular bodies.

[0018] In particular, the positioning system is configured to advance the gripping assembly onto the tubular body and / or onto the support surface of the tubular body, in particular the support surface is defined by tubular bodies adjacent to said tubular body.

[0019] In this way, it is possible to move the gripping assembly directly onto the tubular body to be gripped or onto the support surface of the tubular body.

[0020] In particular, the positioning system comprises a first and a second motorized slider, in particular tracked, which are coupled to the elongated frame and are configured to be independently actuated so as to advance the gripping assembly onto said tubular body and / or onto the support surface of said tubular body and align the gripping assembly to said tubular body.

[0021] In this way, it is possible to control the orientation and the position of the gripping assembly with respect to the tubular body to be gripped in a simple and precise way.

[0022] In particular, each actuation assembly is configured to selectively allow free relative rotation of the gripping arm about the first longitudinal axis with respect to the elongated frame.

[0023] In this way, when each gripping arm grips the tubular body and the gripping assembly is lifted by a lifting crane, each gripping arm can rotate about the elongated frame by effect of the weight force of the tubular body, until it reaches a substantially vertical lifting position.

[0024] In particular, each gripping device comprises a fixed body, which is fixed to one end of the elongated frame, and a movable body, which is rotatably coupled to the fixed body.

[0025] In more detail, the fixed body and the movable body are connected by a mechanical transmission, in particular a pinion and a gear wheel; each actuation assembly comprising a drive motor of the mechanical transmission to control the relative rotation of the movable body about the first longitudinal axis with respect to the fixed body, in particular each motor being of an electric type.

[0026] In this way, it is possible to control the rotation of the movable body about the fixed body in a simple way.

[0027] In particular, each gripping arm is hinged to the respective movable body about a rotation axis substantially transverse to the first longitudinal axis; each gripping device comprising an actuator configured to act between the movable body and the gripping arm so as to rotate the gripping arm about the rotation axis between the gripping position and the release position and selectively insert / extract the gripping arm (18) in / from said tubular body (2).

[0028] In this way, it is possible to control the movement of the gripping arm between the gripping position and the release position in a simple and precise way.

[0029] In particular, the elongated frame comprises a beam extending along the first longitudinal axis.

[0030] In this way, it is possible to provide the elongated frame with adequate strength without excessively increasing its weight.

[0031] A further aim of the present invention is to provide a transfer system of tubular bodies that is free from the drawbacks of the prior art.

[0032] In accordance with the present invention, there is provided a transfer system of tubular bodies, in particular for transferring tubular bodies from an ordered stack of tubular bodies, the system comprising: the gripping assembly as described above; and a lifting assembly, which is connectable to a lifting crane, comprises at least one lifting rope connected to the gripping assembly, and is configured to selectively lift / lower the gripping assembly by means of the at least one lifting rope and the lifting assembly comprises a further elongated frame extending along a second longitudinal axis.

[0033] Thanks to this system, it is possible to lift a tubular body in a simple and reliable way, compensating for any misalignment between the tubular body to be lifted and the gripping assembly.

[0034] In addition, the transfer system, since it is particularly light and compact, can be used by a wide range of different vessels.

[0035] In particular, the system comprises a lifting crane provided with a connection interface couplable to the lifting assembly, so as to control the rotation of the lifting assembly about a substantially vertical axis.

[0036] A further aim of the present invention is to provide a method for transferring tubular bodies that is free from the drawbacks of the prior art.

[0037] In accordance with the present invention there is provided a method for transferring tubular bodies by means of a transfer system comprising a gripping assembly extending along a first longitudinal axis, the method comprising the steps of: placing the gripping assembly onto a tubular body to be transferred and / or onto a surface adjacent to said tubular body; aligning the gripping assembly to the tubular body to be transferred so as to arrange two gripping devices at opposite ends of said tubular body; controlling a rotation of a pair of gripping arms of the gripping assembly about the first longitudinal axis so as to arrange said gripping arms at the tubular body to be transferred; moving each gripping arm from a released position, in which the gripping assembly is disengaged from the tubular body, to a gripping position, in which the gripping assembly grips the tubular body; gripping said tubular body with said gripping devices at opposite ends; and lifting the gripping assembly.

[0038] Thanks to this method, it is possible to transfer a tubular body in a totally automatic way, without the intervention of operators and without the need for a precise initial pre-established positioning between the gripping assembly and the tubular body.Brief Description of the Drawings

[0039] Further features and advantages of the present invention will become clear from the following description of a non-limiting embodiment example, with reference to the accompanying Figures, wherein: Figure 1 is a perspective view, with parts removed for clarity's sake and schematized parts, of a transfer system of tubular bodies from a first vessel to a second vessel and made in accordance with the present invention. Figure 2 is a side elevation view, with parts removed for clarity's sake, of the system of Figure 1; Figures 3 and 4 are side elevation views, with parts removed for clarity's sake, of a detail of the system of Figure 2 in respective operating configurations; Figures 5, 6, 7 and 8 are side schematic representations of a gripping assembly of the system of Figure 1 in respective operating configurations; and Figures 9 and 10 are schematic representations from above of the gripping assembly of the system of Figure 1 in respective operating configurations. Detailed Description of the Figures

[0040] With reference to Figure 1, 1 denotes as a whole a transfer system of tubular bodies 2 for transferring tubular bodies 2 from an ordered stack of tubular bodies 2 parallel to one another.

[0041] In practice, the tubular bodies 2 of the stack of tubular bodies 2 extend about respective axes, which are substantially parallel and equally spaced from each other.

[0042] The system 1 comprises a gripping assembly 3 for gripping a tubular body 2 disposed in the stack of tubular bodies 2; and a lifting assembly 4, which is connectable to a lifting crane 5, comprises at least one lifting rope 6 connected to the gripping assembly 3, and is configured to selectively lift / lower the gripping assembly 3 by means of the at least one lifting rope 6.

[0043] In addition, the system 1 comprises a lifting crane 5 provided with a connection interface 7 couplable to the lifting assembly 4.

[0044] In particular, the system 1 is disposed in a body of water, preferably in an offshore site, and is configured to transfer tubular bodies 2 from a vessel 8 to a vessel 9, without limiting the wide range of possible uses.

[0045] In accordance with alternative embodiments, not shown in the accompanying Figures, the system 1 is configured to transfer tubular bodies 2 from a further vessel to a dock on land or vice versa.

[0046] In the case described and shown herein, not limiting the present invention, the vessel 8 corresponds to a transport barge 10 on which an ordered stack of pipe segments 11 is disposed and the vessel 9 corresponds to a pipe laying vessel 12 used for the assembly and launch of pipes for the transport of hydrocarbons. In such a configuration, the lifting crane 5 is disposed on the deck 10 of the pipe laying vessel 12.

[0047] In accordance with an alternative embodiment, not shown in the accompanying Figures, the stack of tubular bodies 2 and the lifting crane 5 are disposed on the same vessel.

[0048] With reference to Figure 2, the gripping assembly 3 comprises an elongated frame 13, which extends along a longitudinal axis A1 and comprises a beam 14; a pair of gripping devices 15, each of which is disposed at a respective end of the elongated frame 13 and is configured to grip the tubular body 2; and a positioning system 16 configured to align the gripping assembly 3 to the tubular body 2 to be gripped so as to arrange the two gripping devices 15 at opposite ends of said tubular body 2.

[0049] In practice, the positioning system 16 is configured to advance the gripping assembly 3 onto the tubular body 2 and / or onto the support surface of the tubular body 2. Said support surface is defined by the tubular bodies 2 adjacent to the tubular body 2 to be gripped.

[0050] In more detail, the positioning system 16 comprises a pair of motorized sliders 17, which are coupled to the elongated frame 13 and are configured to be independently actuated so as to advance the gripping assembly 3 onto the stack of tubular bodies 2 and align the gripping assembly 3 to the tubular body 2 to be gripped.

[0051] In general, the motorized sliders 17 are configured to advance the gripping assembly 3 onto the tubular body 2 to be picked up and / or onto the support surface of the tubular body 2 to be picked up. In fact, the succession of the pickings results in that only one and last tubular body 2 remains.

[0052] In more detail, each slider 17 comprises a respective motor, not shown in the accompanying Figures, preferably of an electrical type. Each motor is configured to independently control the advancement of the respective slider 17.

[0053] Each gripping device 15 comprises a gripping arm 18, which is movable between a gripping position, in which, in use, the gripping assembly 3 grips the tubular body 2, and a release position, in which, in use, the gripping assembly 3 is disengaged from the tubular body 2.

[0054] In particular, each gripping device 15 comprises a respective actuation assembly 19 configured to control a relative rotation of the gripping arm 18 about the longitudinal axis A1 with respect to the elongated frame 13.

[0055] Each actuation assembly 19 is configured to selectively allow free relative rotation of the gripping arm 18 about the longitudinal axis A1 with respect to the elongated frame 13.

[0056] Furthermore, the lifting assembly 4 comprises an elongated frame 20 extending along a longitudinal axis A2; a pair of lifting ropes 6; and a pair of winches 21, each of which is configured to selectively wind / unwind the respective lifting rope 6 so as to lift / lower the gripping assembly 3.

[0057] In accordance with one embodiment not shown in the accompanying Figures, the lifting assembly 4 comprises a single double-drum winch 21, which is configured to selectively wind / unwind the lifting ropes 6.

[0058] In particular, the end of each lifting rope 6, not shown in the accompanying Figures, is connected to the respective gripping device 15.

[0059] The connection interface 7 of the lifting crane 5 comprises a movement device 22 configured to control the rotation of the lifting assembly 4 about a rotation axis A3 substantially perpendicular to the longitudinal axis A2.

[0060] In particular, the movement device 22 comprises a pair of motors 23, preferably of an electric type, provided with respective pinions 24; and a gear wheel 25, which is fixed to the elongated frame 20 of the lifting assembly 4 and is configured to mesh with the pinions 24 so as to allow the rotation of the lifting assembly 4 about the rotation axis A3.

[0061] In addition, the gripping assembly 3 comprises a control unit schematically represented by the block 26 and configured to control the advancement of the slider 17 and the position of the gripping arms 18.

[0062] In more detail, the control unit 26 is configured to independently control each motor of the slider 17 and each actuation assembly 19 of the gripping devices 15.

[0063] In accordance with one embodiment, the control unit 26 receives commands from a communication device, such as a remote control, which is controlled by an operator.

[0064] In accordance with a further embodiment, the control unit 26 comprises a pair of position sensors, such as cameras, for detecting the position of the gripping assembly 3 with respect to the tubular body 2 to be gripped. In such a configuration, the control unit 26 is configured to control each slider 17 as a function of the position detected by each position sensor so as to orientate / position the gripping assembly 3 with respect to the tubular body 2 to be gripped automatically.

[0065] In accordance with a further embodiment, the control unit 26 comprises a pair of gripping sensors, such as cameras, each of which is configured to detect the position of the gripping arm 18 with respect to the tubular body 2. In such a configuration, the control unit 26 is configured to automatically control the position of each gripping arm 18 as a function of the position detected by the respective gripping sensor.

[0066] With reference to Figures 3 and 4, each gripping device 15 comprises a fixed body 27, which is fixed to one end of the elongated frame 13, and a movable body 28, which is rotatably coupled to the fixed body 27.

[0067] Each actuation assembly 19 comprises a respective mechanical transmission 29, which connects the fixed body 27 and the movable body 28; and a drive motor 30 of the mechanical transmission 29 to control the relative rotation of the movable body 28 about the longitudinal axis A1 with respect to the fixed body 27. In particular, each motor 30 is of an electrical type.

[0068] Each mechanical transmission 29 comprises a gear wheel 31 fixed to the movable body 28 and a pinion 32, which is driven by the motor 30 and meshes with the gear wheel 31.

[0069] Each gripping arm 18 is hinged to the respective movable body 28 about a rotation axis A4 substantially transverse to the longitudinal axis A1.

[0070] In particular, each gripping arm 18 comprises a first end 33 hinged to the movable body 28, and a second end 34 provided with a hooking element 35 shaped to interfere with the tubular body 2 when, in use, the gripping arm 18 is in the gripping position.

[0071] In addition, each fixed body 27 comprises a respective coupling portion 36, configured to be connected with the end of a respective lifting rope 6.

[0072] In the case described and shown herein, not limiting the present invention, each gripping device 15 comprises an actuator 37 configured to act between the movable body 28 and the gripping arm 18 so as to rotate the gripping arm 18 about the rotation axis A4 between the gripping position and the release position and selectively insert and extract the gripping arm 18 inside the tubular body 2 to be gripped.

[0073] In particular, each actuator 37 comprises a hydraulic cylinder 38 hinged to the movable body 28 and to the gripping arm 18.

[0074] In use and with reference to Figure 5, the winches 21 of the lifting assembly 4, unwind the respective lifting ropes 6 so as to lower the gripping assembly 3 with respect to the lifting assembly 4 until the gripping assembly 3 is resting on the stack of tubular bodies 2.

[0075] With reference to Figure 6, each slider 17 controls the advancement of the gripping assembly 3 along the stack of tubular bodies 2, so as to bring the gripping assembly 3 closer to the tubular body 2 to be transferred.

[0076] Once in position, the motor 30 controls the rotation of the movable body 28 so as to align the gripping arm 18 to the tubular body 2 to be transferred.

[0077] Referring to Figure 3, the actuator 37 actuates rotation of the gripping arm 18 about the rotation axis A4 bringing the gripping arm 18 from the release position (Figure 4) to the gripping position (Figure 3).

[0078] At this point, with reference to Figure 7, the winches 21 of the lifting assembly 4 wind the respective lifting ropes 6 so as to lift the gripping assembly 3.

[0079] With reference to Figure 8, during the lifting of the gripping assembly 3, each actuation assembly 19 allows free relative rotation of the gripping arm 18 about the longitudinal axis A1 with respect to the elongated frame 13.

[0080] In this way, since each gripping arm 18 grips the tubular body 2, each gripping arm 18 rotates about the elongated frame 13 by effect of the weight force of the tubular body 2, until it reaches a substantially vertical lifting position.

[0081] With reference to Figure 9, there is shown a schematic view from above of the gripping assembly 3 resting on the stack of tubular bodies 2.

[0082] In the case shown, the initial positioning between the gripping assembly 3 and the tubular body 2 to be transferred is not precise. In other words, the longitudinal axis A1 of the elongated frame 13 is misaligned with respect to the tubular body 2 to be transferred.

[0083] With reference to Figure 10, each slider 17 advances independently on the stack of tubular bodies 2 so as to rotate the gripping assembly 3 with respect to the tubular body 2 to be transferred and align the longitudinal axis A1 of the elongated frame 13 with respect to the tubular body 2 to be transferred. In this way, the two gripping devices 15 are disposed at opposite ends of the tubular body 2 to be transferred.

Claims

1. A gripping assembly for gripping a tubular body; the gripping assembly (3) being liftable by a lifting crane (5) and comprising: - an elongated frame (13), which extends along a first longitudinal axis (A1); - a pair of gripping devices (15), each of which is disposed at a respective end of the elongated frame (13) and is configured to grip the tubular body (2); and - a positioning system (16) configured to align the gripping assembly (3) to the tubular body (2) to be gripped so as to arrange the two gripping devices (15) at opposite ends of said tubular body (2); wherein each gripping device (15) comprises a gripping arm (18), which is movable between a gripping position, in which, in use, the gripping assembly (3) grips the tubular body (2), and a release position, in which, in use, the gripping assembly (3) is disengaged from the tubular body (2); characterized in that, each gripping device (15) comprises a respective actuation assembly (19) configured to control a relative rotation of the gripping arm (18) about the first longitudinal axis (A1) with respect to the elongated frame (13).

2. The gripping assembly as claimed in Claim 1, wherein the positioning system (16) is configured to advance the gripping assembly (3) onto the tubular body (2) and / or onto the support surface of the tubular body (2).

3. The gripping assembly as claimed in Claim 1 or 2, wherein the positioning system (16) comprises a first and a second motorized slider (17), in particular tracked, which are coupled to the elongated frame (13) and are configured to be independently actuated so as to advance the gripping assembly (3) onto said tubular body (2) and / or onto the support surface of said tubular body (2) and align the gripping assembly (3) to said tubular body (2).

4. The gripping assembly as claimed in any one of the foregoing Claims, wherein each actuation assembly (19) is configured to selectively allow free relative rotation of the gripping arm (18) about the first longitudinal axis (A1) with respect to the elongated frame (13).

5. The gripping assembly as claimed in any one of the foregoing Claims, wherein each gripping device (15) comprises a fixed body (27), which is fixed to one end of the elongated frame (13), and a movable body (28), which is rotatably coupled to the fixed body (27).

6. The gripping assembly as claimed in Claim 5, wherein the fixed body (27) and the movable body (28) are connected by a mechanical transmission (29), in particular a pinion (32) and a gear wheel (31); each actuation assembly (19) comprising a drive motor (30) of the mechanical transmission (29) to control the relative rotation of the movable body (28) about the first longitudinal axis (A1) with respect to the fixed body (27), in particular each motor (30) being of an electrical type.

7. The gripping assembly as claimed in Claim 5 or 6, wherein each gripping arm (18) is hinged to the respective movable body (28) about a rotation axis (A4) substantially transverse to the first longitudinal axis (A1); each gripping device (15) comprising an actuator (37) configured to act between the movable body (28) and the gripping arm (18) so as to rotate the gripping arm (18) about the rotation axis (A4) between the gripping position and the release position and selectively insert / extract the gripping arm (18) in / from said tubular body (2).

8. The gripping assembly as claimed in any one of the foregoing Claims, wherein the elongated frame (13) comprises a beam (14) extending along the first longitudinal axis (A1).

9. A transfer system of tubular bodies, in particular for transferring tubular bodies from an ordered stack of tubular bodies, the system (1) comprising: - the gripping assembly (3) as claimed in any one of the foregoing Claims; and - a lifting assembly (4), which is connectable to a lifting crane (5), comprises at least one lifting rope (6) connected to the gripping assembly (3), and is configured to selectively lift / lower the gripping assembly (3) by means of the at least one lifting rope (6), the lifting assembly (4) comprises a further elongated frame (20) extending along a second longitudinal axis (A2).

10. The system as claimed in Claim 9, wherein the lifting assembly (4) comprises a pair of lifting ropes (6) and at least one winch (21) having a double drum, which is configured to selectively wind / unwind each lifting rope (6) so as to lift / lower the gripping assembly (3); preferably the lifting assembly (4) comprising a pair of winches (21).

11. The system as claimed in Claim 9 or 10, and comprising a lifting crane (5) provided with a connection interface (7) couplable to the lifting assembly (4).

12. The system as claimed in Claim 11, wherein the stack of tubular bodies (2) is disposed on a first vessel (8); the lifting crane (5) being configured to be disposed on a second vessel (9) in proximity to the first vessel (8).

13. A method for transferring tubular bodies by means of a transfer system (1) comprising a gripping assembly (3) extending along a first longitudinal axis (A1), the method comprising the steps of: - placing the gripping assembly (3) onto a tubular body (2) to be transferred and / or onto a surface adjacent to said tubular body (2); - aligning the gripping assembly (3) to the tubular body (2) to be transferred so as to arrange two gripping devices (15) at opposite ends of said tubular body (2); - controlling a rotation of a pair of gripping arms (18) of the gripping assembly (3) about the first longitudinal axis (A1) so as to arrange said gripping arms (18) at the tubular body (2) to be transferred; - moving each gripping arm (18) from a released position, in which the gripping assembly (3) is disengaged from the tubular body (2), to a gripping position, in which the gripping assembly (3) grips the tubular body (2); - gripping said tubular body (2) with said gripping devices (15) at the opposite ends; and - lifting the gripping assembly (3).

14. The method as claimed in Claim 13, and comprising the step of selectively allowing free rotation of the gripping arm (18) about the first longitudinal axis (A1).

15. The method as claimed in Claim 13 or 14, and comprising the step of advancing the gripping assembly (3) onto the tubular body (2) to be transferred and / or onto the support surface of said tubular body (2) by means of a first and a second motorized slider (17), in particular tracked, so as to align the gripping assembly (3) to the tubular body (2) to be transferred.

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