Pipeline Module Manipulator With Articulated Jaws for Confined Assembly
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Solution Overview
Problem
The application of bulky elements around pipelines during assembly is hindered by reduced coverage and limited accessibility due to the arrangement of bulky module loading stations, necessitating manual labor in confined spaces, which compromises safety and efficiency.
Innovation Solution
A manipulator device with an articulated mechanism and a laying vessel comprising a floating structure and a laying tower hinged to the floating structure and a laying tower configured to assemble and lay a pipeline on the bed of a device comprising a pipeline on the bed of a device comprising two portions configured to apply modules around a pipeline during assembly, and a laying vessel comprising a laying vessel comprising a floating structure and a laying tower hinged to the floating structure and configured to assemble and lay a pipeline on the bed of the body of water.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If workers manually clamp bulky elements around the pipeline in the laying tower, then the application can be completed, but worker safety is compromised and operation efficiency is reduced due to heavy loads and confined spaces
Solution Approach 1:
The system uses automated robotic manipulators with grippers to perform the clamping operation independently, eliminating the need for workers to manually handle heavy bulky elements in confined spaces. The robotic system autonomously positions and secures the elements around the pipeline.
Solution Approach 2:
Manual mechanical operations by workers are replaced with an automated robotic mechanical system. The robotic manipulator with controlled grippers substitutes human labor, providing safer and more precise operation while reducing physical strain and safety risks.
2Device complexity
If the bulky module loading station is arranged above the welding station, then the structure is compact, but the coverage of bulky elements around the pipeline is reduced and maximum element length is limited
Solution Approach 1:
The system employs dynamically positionable robotic manipulators that can move along the pipeline and adjust their positions flexibly. This dynamic capability allows the system to handle elements of various lengths and provide complete coverage around the pipeline, unlike fixed stationary loading stations.
Solution Approach 2:
The robotic manipulators operate in multiple spatial dimensions along the pipeline, enabling them to access and secure bulky elements at any position around the pipeline circumference and length, thereby achieving complete coverage without limiting element length.
3Ease of operation
If manual labor is used to apply modules around the pipeline, then flexibility in handling is maintained, but productivity is reduced and operation time increases
Solution Approach 1:
The robotic system performs the entire module application process autonomously, from positioning to clamping, without requiring manual intervention. This automation maintains handling flexibility through programmable control while dramatically increasing productivity and reducing operation time.
Solution Approach 2:
The system changes the operational parameters by using automated robotic control with programmable motion and force parameters. This allows flexible adaptation to different module types and positions while operating at higher speeds than manual labor, thereby increasing productivity.
Data Source
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AI summary
A manipulator device to apply modules around a pipeline during assembly has two jaws (22) mobile between an open and a closed position and configured to house the respective portions (9) of the module (8), and an articulated mechanism (23) having a plurality of degrees of freedom to place the jaws (22) in a loading position and in a position wherein the jaws are aligned with the pipeline (2) during assembly.