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    • 专利摘要:
    tubular handling and marine launching systems, drill rig, and method for handling the present invention relates to a tubular handling system (1) comprising: a tower (10) comprising a lifting device of tubular to lower and / or raise the tubular in an essentially vertical orientation; a support (20) for supporting the tubular launch tower; a tubular supply system, preferably provided in the holder, for supplying tubulars in an essentially horizontal supply position near the tower; a tubular handling apparatus (2) for transporting a tubular between the essentially horizontal supply position and the tubular lifting device in the tower, wherein the tubular handling apparatus comprises: a gripping device (4a, 4b) adapted for securing the tubular, a base (6) and a boom (5) to which one or more gripping devices are attached, whose boom is pivotable with respect to the base on a boom. According to the invention, the tubular handling apparatus further comprises a vertically extending frame (7), wherein said base is guided by said frame and movable in a vertical translational movement with respect to the frame.
    公开号:BR112012002444B1
    申请号:R112012002444-2
    申请日:2010-07-28
    公开日:2019-11-05
    发明作者:Roodenburg Joop；Lambertus Waltherus Nouwens Ronny；Willem August Vehmeijer Terence
    申请人:Itrec Bv；
    IPC主号:
    专利说明:

    [001] The present invention relates to a tubular handling system, comprising:
    - a tower comprising a tubular lifting device for lowering and / or raising a tubular in an essentially vertical orientation;
    - a support to support the tubular launching tower;
    - a tubular supply system, preferably provided in the support, for supplying tubulars in an essentially horizontal supply position in the vicinity of the tower;
    - a tubular handling device for transporting a tubular between the essentially horizontal supply position and the tubular lifting device in the tower, where the tubular handling device comprises:
    - a gripping device adapted to hold the tubular;
    - a base;
    - a boom to which one or more gripping devices are attached, the boom of which is pivotable with respect to the base in a pivot direction of the boom around a pivot axis of the horizontal boom, between a lowered position to hold a tubular in the position of essentially horizontal supply, and an elevated position to deliver a tubular to the tubular lifting device in the tower, and vice versa.
    [002] The present invention further relates to a method for handling tubular between an essentially horizontal supply position and a tubular lifting device to lower and / or raise a tubular in an essentially vertical orientation, in which use is made of a tubular handling system like this.
    Petition 870190044709, of 5/13/2019, p. 5/77 / 22 [003] A tubular handling system like this is generally known and applied in technology. A disadvantage of the known system and method is that the smaller the tube launching tower, the larger the boom size needs to be. This can result in extremely elongated spears, as shown in EP2005050 by the same applicant. An alternative to an extremely elongated boom like this is provided on the Saipem 7000 vessel, in which the tubulars are positioned vertically on the deck, after which they are transferred to the line of fire by a dedicated trolley.
    [004] The purpose of the present invention is to provide an alternative tubular handling system and method. This is achieved according to a first aspect of the invention by providing the tubular handling apparatus with a vertically extending frame, the base of which is guided by said frame and movable in a vertical translational movement with respect to the frame. As a result, the method for handling tubulars according to the invention is characterized by the movement of the base in a vertical translational movement with respect to the vertically extending frame.
    [005] The effect of the vertically extending frame is that the base is movable in a vertical translational movement, as a result of which the raised position of the boom is movable between a lower and a higher position. Thus, a tubular held by the insurer that is attached to the boom is movable to a higher position. This is in particular advantageous when a tubular must be positioned in an elevated position. This, for example, is the case when bulky accessories, such as PLETs, have to be transported and positioned in the tower, below the tubular. The tubular can be connected over the accessory. Alternatively, this is advantageous when the tubular has to be provided above one or more tensioners provided in the tower.
    Petition 870190044709, of 5/13/2019, p. 6/77 / 22 [006] In a preferred embodiment, the tower additionally comprises an accessory lifting device for lowering and / or lifting an accessory, in particular a bulky accessory, such as a PLET. The tubular handling system can, moreover, be provided with an accessory supply system, preferably on the support, to supply an accessory to the tower's accessory lifting device. Above the location where the fitting is positioned on the tower, a welding device can be provided to weld a tubular over the fitting. A tubular lifting device is preferably designed in such a way that a tubular can be lowered over the attachment at the soldering station. In a mode like this, it is not necessary to provide the soldering station with doors.
    [007] Consequently, the tubular handling device according to the invention is in fact a combined tubular loader and tubular lift, resulting in a very compact tubular handling device and tubular handling system. Furthermore, as a result of the combination, the method for handling tubulars can be much more efficient. Another advantage of the device according to the invention is that security is increased, since the device requires less transfers than when using separate devices.
    [008] The tubular handling system according to the tower of the invention can be, for example, a drill rig structure or a tube launching tower. The tube launch tower is preferably suitable for type J tube launch operations. The tower is provided with a tubular lifting device to lower and / or raise a tubular in an essentially vertical direction. A lifting device like this can, for example, be a lifting device comprising a winch and a lifting cable. Alternatively, in J towers, a suspension clamp can be provided for lowering and
    Petition 870190044709, of 5/13/2019, p. 7/77 / 22 controlled elevation of tubulars.
    [009] The tubular to be raised and / or lowered can be a single tubular or multiple connected tubulars, such as a column of interconnected tubulars. In type J tube launch operations, the tubular is a section of tube. It is quite common to handle sections of double, triple or even quadruple length, that is, two, three or four normal lengths of 40 feet (12 meters) of tube welded together (for example, on the vessel, or earlier).
    [0010] An advantage of the tubular handling system and method and comprising the invention is that the system is compact, and occupies only a small volume of the support surface. This is particularly advantageous when the tubular handling system must be provided on a vessel, where the support for supporting the tower, and possibly also the tubular supply system, is formed by the vessel's deck. The vessel may be of a monohull design, but another design (for example, as a semi-submersible vessel, as a converted drill rig, etc.) is also possible. Alternatively, the tower is supported by a rig, a pier or on dry land.
    [0011] The system according to the invention is provided with a tubular supply system to supply tubulars in an essentially horizontal supply position in the vicinity of the tower. A system like this can, for example, transport tubulars from a tubular storage, in which the tubulars can be stored in a horizontal or vertical orientation. The supply system may, for example, include an elevator, a rotation device for turning the tubulars, a trolley for transporting the tubular and possibly also a track or set of tracks for the trolley. The tubular supply system is preferably provided on the support to support the tower, but alternative locations, such as a tubular supply vessel, are also conceivable.
    Petition 870190044709, of 5/13/2019, p. 8/77 / 22 [0012] In general, a tubular handling system is provided with a tubular handling device to transport a tubular between the essentially horizontal supply position and the tubular lifting device in the tower. Known tubular handling devices comprise a gripping device adapted to hold the tubular, a base and a lance.
    [0013] One or more gripping devices can be provided, which are attached to the boom. In a preferred embodiment, the gripper is rotationally attached to the boom about an axis of rotation of the gripper. As such, additional rotation of the secure tubular by the gripping devices is possible. In an alternative embodiment, a gripper assembly may be provided, including a rotary gripper arm structure that can pivot around a pivot axis parallel to the boom structure, for example, by the appropriate hydraulic actuator. At the end of the arm structure of the gripper, multiple tube grippers are preferably arranged, which can hold the tubular.
    [0014] The boom is pivotable with respect to the base in a pivot direction of the boom around a horizontal pivot axis of the boom, between a lowered position to hold a tubular in the essentially horizontal supply position and an raised position to deliver a tubular in the tubular lifting device in the tower, and vice versa. Preferably, a boom rotation device is provided to rotate the boom, which may, for example, comprise one or more hydraulically actuated cylinders.
    [0015] The tubular handling apparatus according to the invention is provided with a vertically extending frame, wherein said base is guided by said frame and movable in a vertical translational movement with respect to the frame. The vertically extending frame can be a construction supported by the support, or, in a modality
    Petition 870190044709, of 5/13/2019, p. 9/77 / 22 alternative, be part of the tower. The vertically extending frame may comprise one or more tracks along which the base is movable. The vertical movement can be enabled by a hydraulic, pneumatic or electric device.
    [0016] In a preferred embodiment, the boom comprises a portion of the non-rotating boom connected via the pivot axis of the horizontal boom at the base and a portion of the rotating boom comprising one or more gripping devices. The portion of the rotating boom is rotatable with respect to the portion of the non-rotating boom about an axis of rotation of the boom, extending substantially parallel to the turret in the raised position of the boom. This mode allows more precise positioning of the tubular secured by the gripping device. In a preferred embodiment, the boom is an elongated boom, and the axis of rotation of the boom is parallel to the longitudinal axis of the elongated boom.
    [0017] The objective of the invention is achieved according to a second aspect of the invention by providing the spear with a non-rotating spear potion connected via the horizontal spear pivot axis at the base and a portion of the rotating spear comprising one or more gripping devices, whose portion of the rotating boom is rotatable with respect to the portion of the non-rotating boom about an axis of rotation of the boom, extending substantially parallel to the turret in the raised position of the boom. Such a handling system is particularly beneficial for pipe launch systems.
    [0018] The invention will now be disclosed in more detail with reference to preferred embodiments shown in the drawings.
    BRIEF DESCRIPTION OF THE DRAWINGS
    Figure 1 shows in perspective an example of a tubular handling system according to the invention in use in a first position;
    Petition 870190044709, of 5/13/2019, p. 10/77 / 22
    Figure 2 shows the system of figure 1 in use in a second position;
    Figure 3 shows the system of figure 1 in use in a third position;
    Figure 4 shows the system of figure 1 in use in a fourth position;
    Figure 5 shows the system of figure 1 in use in a fifth position;
    Figure 6 shows an alternative embodiment of a tubular handling system according to the invention in a first position;
    Figure 7 shows the system of Figure 6 in use in a second position;
    Figure 8 shows a detail of the tubular handling apparatus of figure 6 in an enlarged view in the first position;
    Figure 9 shows a detail of the tubular handling apparatus of figure 6 in an enlarged view in the second position;
    Figures 10a-10e show in perspective an alternative example of a tubular handling system according to the invention in various positions in use;
    Figures 11a-11e show in perspective still an alternative example of a tubular handling system according to the invention in various positions in use.
    [0019] In figure 1, a tubular handling system 1 according to the invention is shown. The tubular handling system 1 comprises a support 20 for supporting a tower 10. Tower 10 is in this embodiment a pipe launching tower 10, which will be described in more detail below. Tower 10 allows you to launch piping (and other objects, as will be explained) through a work well (not shown) or through
    Petition 870190044709, of 5/13/2019, p. 11/77 / 22 side of support 20.
    [0020] Here, the tower is positioned on an end side of the support 20, which can, for example, be the stern side of a vessel. In an alternative scheme, tower 10 could, for example, be arranged on the starboard or port side of the vessel, or in a central part of the vessel.
    [0021] In another mode, not shown, the tower could have the shape of a crane (for example, a truss structure) extending over the working well, in which the line of fire or the path of launching tubulars passes inside the structure of the crane.
    [0022] The tower 10 is supported at its lower end on the support 20 by a pivot structure 21 with a horizontal pivot axis, here at right angles to the center line of the support 20. The tubular handling apparatus according to the invention it is suitable for transporting tubulars between an essentially horizontal supply position and the tubular lifting device in the tower, even in an inclined position of the tower.
    [0023] At least one, here two, telescopic element 22 arranged between the support 20 and the tower 10 allows to adjust the inclination of the tower 10. In this example, the inclination of the tower 10 can be varied in the range of 0 degrees to 20 degrees in to the vertical. When desired, a smaller or greater range of tower tilt (or even a non-tiltable tower) can be considered. When carrying out L launch operation, it is sometimes desirable to arrange the tower 10 on an incline, as is known in the technology.
    [0024] In this example, the tower 10 comprises two main vertical beams separated 13 interconnected by numerous horizontal sleepers 24, 25.
    [0025] In the modality shown, the device according to the invention is provided in a vessel also suitable for launching on a reel. According to the invention, the apparatus is also suitable for
    Petition 870190044709, of 5/13/2019, p. 12/77 / 22 vessels with a tower suitable only for launching J tubes. In the modality shown, suitable for casting on a reel of pipes, at the upper end of the tower 10 a pipe guide is arranged, here conceived as a guide element of the circular pipe 27, on which the pipe to be launched can be guided. Alternatively, a semicircular guide element with rollers can be provided. As such, the guide element 27 diverts a pipe from a spool to an imaginary tubular release path 30, here extending along the side facing the working well of tower 10. Path 30 here is essentially parallel to the tower 10 and remains so even when the tower 10 is tilted.
    [0026] The guide element of the pipe 27 is retractably mounted on the tower, by means of beams 26, which are connected to a pivot in the tower 10. The guide element of the pipe 27 is shown in the retracted position in figure 2. [0027] In a tower modality like a crane over said working well, the trajectory would extend inside said crane.
    [0028] Tower 10 is equipped in this example (as is preferred) with two pipe tensioners, an upper tensioner 40 and a lower tensioner 50. This arrangement of two tensioners 40, 50 allows a large number of operations to be performed (more than two with a single tensioner), whereas a greater number of tensioners (although possible with the present invention) is considered to increase the complexity of the system in an undesirable manner.
    [0029] Tensioners are well known in the technology of launching marine tubes. Typically, such tensioners include a tensioner frame and multiple, for example, four, endless trails movably supported on the frame to allow variation in clearance between the tensioner to accommodate at least several pipe diameters. [0030] Tensioners 40 and 50 are of similar designs here. At the
    Petition 870190044709, of 5/13/2019, p. 13/77 / 22 example shown here, each tensioner includes a tensioner frame 41, 51. The frame of each tensioner 40, 50 is supported by the tower 10 by means of an associated support assembly. In this preferred embodiment, the tensioners 40, 50 are each supported by a joint of parallel bars composed here of two sets of parallel support bars 45, 55, each set on one side of the frame. As is common, bars 45, 55 are pivoted at both ends of the tower 10 and the frame, respectively. A bar 55 is clearly visible in figure 2.
    [0031] As can be seen clearly in both figures 1 and 2, each tensioner frame (and the track units arranged in them) can be moved between an active position (figure 2), in which the pipeline launch path 30 extends through the tensioner frame between the tracks, so that the tracks can fit into a tubular, and a stowed and non-operable position (figure 1), in which the launch path of the pipe 30 extends outwards of the tensioner frame.
    [0032] In the retracted position in this example, each of the tensioners 40, 50 is received between the opening in the tower 10 formed by the vertical beams and the horizontal beams above and below the retracted tensioner. This provides a station for accommodating each tensioner in the stowed position. Tower 10 is preferably provided with one or more probes to access the tensioners in their stowed and possibly active positions by the vessel's crew.
    [0033] In addition to the two tensioners in the tower 10, the pipe launching system may include a stationary or static pipe support device, arranged below tensioners 40, 50 and adapted to support - by themselves - the entire weight of the pipe launched suspended towards the ocean floor. In the drawings, a work station 28 is positioned above the pipe support device. The pipe support device can be a friction clamp
    Petition 870190044709, of 5/13/2019, p. 14/77 / 22 stationary, with one or more clamping elements engaging the piping, said clamping elements being stationary while supporting the piping, and not being part of a track (as in a tensioner) so that the piping cannot move using said stationary pressure clamp towards the pipe axis.
    [0034] Workstation 28, for example, to coat the piping, for example, in the area of a weld or other connection, is provided here below the lower tensioner 50. Station 28 could also be mounted (in a detachable manner) , when desired) in tower 10 at said location.
    [0035] The system could be provided with non-destructive testing equipment, or NDT, in one or more of the mentioned stations, or in a separate station.
    [0036] It could be that the stationary pipe support device does not allow displacement essentially in a plane at right angles to the supported pipe, possibly while supporting the pipe load. In this respect, stationary means stationary solid state in the direction of the pipe.
    [0037] Preferably, the support device is designed as a stationary suspension clamp that can fit into the tubing, for example, with one or more support elements below fitting a collar in the tubing, and support the tubing in a stationary manner. These suspension clamps typically include multiple movable clamp parts that allow the clamp to be opened for piping release and passage and closed for pipe support.
    [0038] Preferably, said stationary or static pipe support device, arranged below tensioners 40, 50, is not supported by the tower 10, but on the vessel's hull, for example, by means of a manhole gate, or otherwise, for example, a
    Petition 870190044709, of 5/13/2019, p. 15/77 / 22 sliding static pipe support device mounted in the case of the vessel (preferably at the level of the support 20). Note that the support device could be supported by the tower, if desired.
    [0039] In a preferred embodiment, the pipe support device is integrated into, or supported by, a gate assembly, and one or more gate panels are adapted to support the weight of the pipe launched when held by the support device of the piping.
    [0040] As is common for marine pipeline launch vessels, system 1 includes an A&R system for abandoning and recovering the pipeline and for lowering accessories, such as PLETs. The A&R system usually includes a main A&R winch for a main A&R cable 81. This cable 81 is guided over a number of pulleys including A&R 82 pulleys, which can be arranged so that the end of the A&R cable is aligned with the path 30 at the top end from the tower
    10. The A&R cable can thus extend along said pipeline launch path 30 below.
    [0041] Preferably, like this embodiment, the pulley 82 is arranged significantly above, preferably at least 4 meters, the upper tensioner 40. It is an option to provide said pulley above the lower tensioner, below the upper tensioner. This would have the disadvantage of reducing the height of the accessories to be handled by the system when the A&R system is used for it.
    [0042] The tubular handling system 1 additionally includes an accessory supply system 70 adapted to take an accessory, here a PLET 71, as an example, to a location aligned with the launch path of the pipe 30 and / or aligned with a tubular released securely by the pipe support device, so that said fitting 71 can be connected to said (launched) pipe.
    [0043] The accessory supply system 70 includes a frame
    Petition 870190044709, of 5/13/2019, p. 16/77 / 22 of rail extending over support 20. In this example, the rail structure comprises a first section of rails 72 and a second section of rails 73 at right angles like it, whose second section 73 extends across from the work well, in this example, to work station 28. Work station 28 is provided with ports 29 to allow entry of PLET 71. A PLET 75 handling device is also provided on rails 73 to move PLET from the storage position to the tower. Workstation 28 can allow welding of tubulars over the PLET.
    [0044] At the height of the upper tensioner 40, here the tower 10, is also provided with launching equipment J 90 that is movable between an active and retracted position.
    [0045] In the stowed position shown in figure 1, this L 90 launch equipment here is arranged on a side side of the tower 10.
    [0046] In the active position shown in figure 2, the launching equipment J 90 is arranged in order to allow the operation (s) in relation to the pipe arranged in the path 30.
    [0047] The J 90 launcher here includes an outer tube section alignment device 91, which can include one or more tube clips 92, as well as associated actuators to perform alignment movements of these clips in order to precisely align the lower end of the new tubular with the upper end of the tubular secured by the lower tensioner 50. In a preferred embodiment, a tube section alignment and device like this 91 can be referred to as an alignment tool.
    [0048] In the mode shown, also an internal alignment clamp (ILUC) 95 is provided, which is used when welding the pipe sections.
    [0049] In this example, equipment 90 additionally includes a
    Petition 870190044709, of 5/13/2019, p. 17/77 / 22 tube section workstation, for example, a welding station 35, provided above the lower tensioner 50, on the same level as the upper tensioner 40. When the upper tensioner 40 is retracted, as shown in figures 1 and 2, the welding device 35 can be positioned on the line of fire 30 above the lower tensioner 50. The welding station 35 preferably includes a welding chamber. The welding equipment can be arranged at said welding station to weld the ends of the tubing together.
    [0050] In the modality shown, tensioners 40, 50, the pipe support device such as a suspension clamp and / or the A&R system can be applied as the tubular lifting device to lower and / or raise a tubular in essentially vertical orientation.
    [0051] A tubular supply system, preferably provided in the support, for supplying tubulars to an essentially horizontal supply position in the vicinity of the tower is not shown in the drawings.
    [0052] The tubular handling system is provided with a tubular handling device 2 to transport a tubular 3 between the essentially horizontal supply position (shown in figure 1) and the tubular lifting device in the tower (shown in the figure 5).
    [0053] The tubular handling apparatus 2 comprises two gripping devices 4a, 4b adapted to hold the tubular 3. Gripping devices 4a, 4b are connected to a portion of the rotating lance 5a. The rotating boom portion 5a is rotatable with respect to the non-rotating boom portion 5b about a longitudinal rotational axis of the boom. This rotation is visible by comparing figures 4 and 5.
    [0054] The portion of the non-rotating boom 5b is connected to a pivot on the base 6 by means of an axis of rotation of the horizontal boom 6 '. As a result,
    Petition 870190044709, of 5/13/2019, p. 18/77 / 22 the boom 5 is pivotable with respect to the base 6 in a pivot direction of the boom B between a lowered position to handle a tubular in the essentially horizontal supply position (shown in figure 1) and a raised position for delivery of a tubular to the tubular lifting device in the tower (shown in figure 4) and vice versa. The boom 5 shown in this modality is rotatable with respect to the base 6 with the help of a hydraulically actuated cylinder 6a.
    [0055] According to the invention, a vertically extending frame 7 is provided along the tower 10, wherein said base 6 is guided by said frame 7 and movable in a vertical translational movement with respect to the frame 7.
    [0056] Following the procedure shown subsequently in figures 1-5, there is shown a method for handling tubular between an essentially horizontal supply position and a tubular lifting device for lowering and / or raising a tubular in an essentially vertical orientation, in that a tubular handling system according to the invention is used.
    [0057] In figure 1, the handle of a tubular 3 is shown by gripping devices 4a, 4b. Both tensioners 40, 50 are positioned in the stowed position. The J 90 launcher is shown in its inactive position. Tower 10 is in a vertical, non-tilted position. The pipe guide element 27 is in an active position to launch flexible pipes.
    [0058] In figure 2, the lower tensioner 50 is no longer retracted and positioned on the line of fire 30. The pipe guide element 27 is retracted, and the J 90 launch equipment, including workstation 35, has moved to the active position.
    [0059] In figure 3, the base 6 of the tubular handling device moved in a vertical translational movement with respect to the frame
    Petition 870190044709, of 5/13/2019, p. 19/77 / 22 vertically extending 7 and the tower 10 to an elevated position, in this mode at the level of the upper tensioner 40.
    [0060] In figure 4, it is visible that the boom 5 rotated with respect to the base 6 from a lowered position in which the tubular 3 was in a horizontal position (shown in figure 3) to an elevated position (shown in figure 4) in which tubular 4 is in a vertical position.
    [0061] Between figures 4 and 5, the step of rotating the portion of the rotating lance 5a with respect to the portion of the non-rotating lance 5b is visible. Through this rotation, the tubular 3 is rotated for the alignment tool 91.
    [0062] In figures 6 and 7, an alternative embodiment of a tubular handling system 100 according to the invention is shown. The tubular handling system 100 comprises a tower 110, supported on a deck 120 of a vessel 121. Tower 110 is pivoted by deck 120 around pivot axes 110a. Tower 110 is provided on the stern side of vessel 130.
    [0063] The tower 110 comprises two elongated vertical beams 111, interconnected by horizontal beams 112. The horizontal beams 112 support clips of the tubular 113, which can support or guide a tubular in the line of fire 130 (in which in figure 6 a tubular 131 is provided). To guide the tubular, the clamps 113 are provided with rollers 113a.
    [0064] The tower 110 is on the upper side provided with an alignment tool 190 comprising clamp 191 for precise positioning of a tubular positioned in the tower 110 on the line of fire 130.
    [0065] The tower 110 is provided with a workstation 135 in an elevated position, below the alignment tool 190. A tubular positioned on the alignment tool 190 and aligned by the alignment tool can be connected to the previously launched tubulars by means of weld on workstation 135.
    [0066] The tower comprises a suspension clamp to lower a
    Petition 870190044709, of 5/13/2019, p. 20/77 / 22 tubular in an essentially vertical orientation. The suspension clamp can be integrated with the floodgates of the luza pool 104, or integrated with them, positioned above the working well 105 through which the fire line 130 extends.
    [0067] The tubular supply system 140 is indicated only schematically. The tubular supply system is provided on deck 120 and supplies tubular 132 to an essentially horizontal supply position in the vicinity of the tower, as shown in figure 6.
    [0068] The tubular handling apparatus 150 according to the present invention is shown in an enlarged view in figures 8 and 9. The tubular handling apparatus 150 is suitable for transporting a tubular 132 between the essentially horizontal supply position, as is shown in figure 6, and the tubular lifting device in the tower, as shown in figure 7.
    [0069] The tubular handling apparatus 150 comprises two gripping devices 154a and 154b adapted to secure the tubular. The gripping devices can be actuated by hydraulic actuators 153.
    [0070] Gripping devices 154a, 154b are mounted on a lance 155, whose lance 155 comprises a rotating portion 155a and a non-rotating portion 155b. The gripping devices are mounted on the rotating portion 155a. The rotating portion 155a is rotatable with respect to the portion of the non-rotating boom 155b about a longitudinal axis of rotation of the boom 155. The portion of the rotating boom 155a is rotatable by means of a married gear and pinion assembly 157a, actuated by the motors 157b. In figures 7 and 9, the portion of the rotating lance 155a rotated with respect to the portion of the non-rotating lance 155b when compared to the situation shown in figures 6 and 8.
    [0071] A tube stop 170 shown in detail in figures 8 and 9 can be provided, which, in the mode shown, is connected to the portion of the
    Petition 870190044709, of 5/13/2019, p. 21/77 / 22 non-rotating boom 155b. This, for example, is beneficial when tubes are supplied towards the tubular handling device, to define the position of the tube in relation to the gripping devices. Furthermore, this is beneficial when the tubular handling device is in the raised position to provide a stop for the raised pipe section.
    [0072] The portion of the non-rotating boom 155b is connected to a base 156 by means of the pivot axis 156a. Hydraulic actuators 167 are provided to allow rotation of the boom 155 with respect to the base 156, until stops 145 provided in the portion of the non-rotating boom 155b and stops 145 provided in the base 156 touch. In figures 7 and 8, boom 155 rotated with respect to base 156 when compared to the situation shown in figures 6 and 8.
    [0073] According to the present invention, the base 156 is movable in a vertical translational movement with respect to the vertical beam 11 of the tower 110. Until then, the vertical beam 111 is provided with rails 160 along which the base 156, in this example provided with trick 161, it can move. To allow vertical translation, the base 156 is provided with a pulley 165 around which pulley cables 166 are guided. The pulley cables are operated by a winch (not shown), which allows movement of the winch cables over the pulleys 165 and 168. In figure 7, the base 156 has been raised in relation to the position of the base 156 shown in figure 6.
    [0074] Figures 10a-10e show quite schematically in perspective view an alternative example of a tubular handling system 200 according to the invention. The tubular handling system 200 comprises a tower 201 with a tubular lifting device (not shown) for lowering and / or raising a tubular 202 in an essentially vertical orientation.
    [0075] Tower 201 is supported on a support not shown to support the tubular launch tower, on whose support also a tubular supply system, also not shown, is provided. O
    Petition 870190044709, of 5/13/2019, p. 22/77 / 22 tubular supply system is suitable for supplying tubulars to an essentially horizontal supply position in the vicinity of tower 201. In figure 10a, tubular 203 has been supplied in the essentially horizontal supply position.
    [0076] A tubular handling device 205 is provided to carry tubular 203 between the essentially horizontal supply position, as shown in figure 10a, and the tubular lifting device (not shown) in tower 201. The tubing handling device tubular 205 comprises two gripping devices 206 adapted to hold the tubular 203, and a base 209. The gripping devices 206 are attached to a boom 208, the boom 208 of which is pivotable with respect to the base 209 in a pivot direction of the boom B in around a pivot axis of the horizontal boom 201. In the mode shown by the help of a cylinder 211. Pivot B is visible in figures 10b and 10c; in figure 10b, the boom 208 is in a horizontal position, and in figure 10c the boom 208, taking the tubular 203, pivoted around the pivot axis 210 to an essentially vertical position.
    [0077] The tubular handling device 205 additionally comprises a frame that extends vertically, here formed by the tower 201, in which said base 209 is guided by said frame and movable in a vertical translational movement with respect to frame 201. This vertical translational movement T is visible in figures 10a and 10b; in figure 10a, the base 209 is positioned at the lower end of the tower 201, while in figure 10b the base is positioned at an upper end of the tower 201.
    [0078] According to a preferred embodiment of the invention, the lance 208 shown in figure 10 comprises a portion of the non-rotating lance 208a connected via the pivot axis of the horizontal lance 210 to the base 209 and a portion of the rotating lance 208b comprising the devices grip 206. The rotating boom portion 208b is rotatable with respect to the non-rotating boom portion 208a about a axis of rotation 215 of the boom 208,
    Petition 870190044709, of 5/13/2019, p. 23/77 / 22 extending substantially parallel to tower 201 in the elevated position of boom 208.
    [0079] This is visible in figures 10c, 10d and 10e, in which the portion of the non-rotating lance 208a remains in the same elevated position, while the portion of the rotating lance 208b rotates in a direction R about the axis of rotation 215, in the direction of the delivery position shown in figure 10e in which the tubular 203 is delivered to the tubular lifting device (not shown) in tower 201, here above the tubular 202 already present in the tower.
    [0080] Although not shown, it is conceivable and within the scope of the present invention, that the tubular handling system, for example, a tubular handling system shown schematically in figure 10, comprises two tubular handling devices according to with the invention. For example, the tubular handling system may comprise a single tower comprising two frames extending vertically parallel along which the bases of the two tubular handling devices are movable. For example, the two tubular handling devices can operate at an alternating frequency.
    [0081] In figures 11a-11e, an alternative example of a tubular handling system 300 according to the invention is shown. The tubular handling system 300 comprises a tower 301 with a tubular lifting device (not shown) for lowering and / or raising a tubular 303 on the tower in an essentially vertical orientation. In this embodiment, the tower 301 is slightly inclined and, consequently, also the lowering / raising of the tubular 303 preferably occurs at the same slight angle.
    [0082] Tower 301 is provided on a support 302 in which also a tubular supply system (not shown) is provided, supplying a 304 tubular to an essentially horizontal supply position in the vicinity of the tower.
    Petition 870190044709, of 5/13/2019, p. 24/77 / 22 [0083] A tubular handling device 310 is provided to transport 304 tubular between the essentially horizontal supply position shown in figure 11a and the tubular lifting device in the tower, the position of which is shown in figure 11d.
    [0084] The tubular handling apparatus 310 comprises gripping devices 311 adapted to secure the tubular 304, and a base 312. The tubular handling apparatus further comprises a vertically extending frame, which, in the embodiment shown, is part of tower 301. The base 312 is guided by tower 301 and movable in a vertical translational movement T with respect to tower 301, as can be seen in figures 11a, 11b and 11c.
    [0085] The tubular handling apparatus 310 additionally comprises a boom 315 to which the gripping devices 311 are attached. The boom 315 is pivotable with respect to the base 312 in a pivot direction of the boom B around the pivot axis of the horizontal boom 313 with the help of cylinders 314. The boom 315 is pivotable from a lowered position to secure the tubular 304 in the position of essentially horizontal supply, shown in figure 11a, and an elevated position to deliver a tubular to the tubular lifting device in the tower, as shown in figure 11c.
    [0086] According to the invention, the boom 315 comprises a portion of the non-rotating boom 315a connected via the pivot axis of the horizontal boom 313 at the base, and a portion of the rotating boom 315b comprising the gripping devices 311. The portion of the rotating boom 315b is rotatable with respect to the portion of the non-rotating boom 315a about an axis of rotation 320 of the boom, extending substantially parallel to tower 301 in the elevated position of boom 315. In figure 11b, the axis of rotation 320 of the boom is shown to extend substantially perpendicular to tower 301, in the lowered boom position.
    [0087] After delivery of the tubular 304 in the lifting device
    Petition 870190044709, of 5/13/2019, p. 25/77 / 22 of tubular (not shown), in a position above the tubular 303 already provided in the tower 301, the tubular handling apparatus 310 can freely move back to the lowered position to attach a tubular bridle to the essentially horizontal supply position. A new tubular like this 330 can be supplied in the supply position at any time when the base 312 of the tubular handling apparatus 310 is in an elevated position. During the backward movement of the tubular handling apparatus 310, the base 312 is guided by the frame, here the tower 301, in a translational lowering movement T 'with respect to the frame. Also, the portion of the rotating boom 315b is rotated backwards in the direction R 'with respect to the portion of the non-rotating boom 315a about the axis of rotation 320 of the boom. Finally, boom 315 in its entirety is pivoted backwards in direction B 'with respect to base 312.
    权利要求:
    Claims (14)
    [1]
    1. Tubular handling system (1; 100; 200), comprising:
    - a tower (10; 110; 201) comprising a tubular lifting device (40, 50; 113) for lowering and / or raising a tubular (3; 132; 202, 203) in an essentially vertical orientation;
    - a support (20; 120) to support the tubular launching tower (10);
    - a tubular supply system (140), preferably provided in the support, for supplying tubulars in an essentially horizontal supply position in the vicinity of the tower;
    - a tubular handling device (2; 150; 205) for transporting a tubular between the essentially horizontal supply position and the tubular lifting device in the tower, where the tubular handling device comprises:
    - a gripping device (4a, 4b; 154a, 154b; 206) adapted to secure the tubular;
    - a base (6; 156; 209);
    - a boom (5a, 5b; 155; 208) to which one or more gripping devices are attached, the boom of which is pivotable with respect to the base in a pivot direction of the boom around a pivot axis of the horizontal boom (6 '; 156; 210), between a lowered position to hold a tubular in the essentially horizontal supply position, and an elevated position to deliver a tubular to the tubular lifting device in the tower, and vice versa, characterized by the fact that the apparatus tubular manipulation additionally comprises a vertically extending frame (7; 111, 160; 201), wherein said base is guided by said frame and movable in a vertical translational movement with respect to the frame.
    Petition 870190044709, of 5/13/2019, p. 27/77
    [2]
    2/4
    2. Tubular handling system, according to claim 1, characterized by the fact that the boom comprises a portion of the non-rotating boom (5b; 155b) connected by means of the pivot axis of the horizontal boom at the base and a portion of the boom rotating (5a; 155a) comprising the one or more gripping devices, whose portion of the rotating boom is rotatable with respect to the portion of the non-rotating boom about an axis of rotation of the boom (155), extending substantially parallel to the tower in the raised position of the boom.
    [3]
    3. Tubular handling system according to any one of the preceding claims, characterized by the fact that the gripper is rotationally attached to the boom around an axis of rotation of the gripper.
    [4]
    4. Tubular handling system, according to any of the previous claims, characterized by the fact that the boom is pivotable with respect to the base by one or more hydraulically actuated cylinders (167).
    [5]
    5. Tubular handling system according to any one of the preceding claims, characterized in that the tower additionally comprises an accessory lifting device (81, 82) for lowering and / or lifting an accessory, in particular an accessory bulky, such as a PLET (71), and in which in addition an accessory supply system (70) is provided, preferably on the support, to supply an accessory to the tower accessory lifting device.
    [6]
    6. Tubular handling system, according to claim 5, characterized by the fact that the tubular supply system and the accessory supply system are located on the same side of the tower.
    [7]
    7. Tubular handling system, according to any of the previous claims, characterized by the fact that the tower is
    Petition 870190044709, of 5/13/2019, p. 28/77
    3/4 tilting and where the tubular handling device is suitable for transporting a tubular between the essentially horizontal supply position and an elevated position for delivering the tubular to the tubular lifting device in the tilted tower.
    [8]
    8. Drill probe comprising a tubular handling system, as defined in any one of claims 1 to 7, characterized in that the tower comprises a drill rig structure, and in which the tubular lifting device comprises a lifting device to raise and lower a column of interconnected tubulars.
    [9]
    9. Marine tube launching system comprising a tubular handling system (1; 100) as defined in any of claims 1 to 7, characterized in that the tower is a tube launching tower.
    [10]
    10. Method for handling tubulars between an essentially horizontal supply position and an elevating position of the tubular to lower and / or raise a tubular in an essentially vertical orientation, using a tubular handling system (1; 100) as defined in any one of claims 1 to 7, the method characterized by the fact that it comprises the steps of:
    - attach the tubular by the gripping device (4a, 4b; 154a, 154b);
    - rotate the boom (5a, 5b; 155) with respect to the base (6; 156) between a lowered position and a raised position around a pivot axis of the horizontal boom (6 '; 156);
    - move the base in a vertical translational movement with respect to the vertically extending frame (7; 111, 160).
    [11]
    11. Method according to claim 10, characterized in that the boom comprises a portion of the non-rotating boom
    Petition 870190044709, of 5/13/2019, p. 29/77
    4/4 connected via the pivot axis of the horizontal boom at the base and a portion of the rotating boom comprising one or more gripping devices, whose portion of the rotating boom is rotatable with respect to the portion of the non-rotating boom about an axis of boom rotation, extending substantially parallel to the turret in the elevated position of the boom, wherein the method further comprises the step of rotating the portion of the rotating boom with respect to the portion of the non-rotating boom.
    [12]
    12. Method according to claim 10 or 11, characterized by the fact that the gripper is rotationally attached to the boom about an axis of rotation of the gripper and in which the method additionally comprises the step of rotating the gripper gripping device.
    [13]
    13. Method according to claim 10, characterized by the fact that it is as part of a drilling operation.
    [14]
    14. Method according to claim 10, characterized by the fact that it is as part of a tube launching operation.
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    同族专利:
    公开号 | 公开日
    BR112012002444A2|2016-03-01|
    US20120195716A1|2012-08-02|
    CN102686925B|2015-11-25|
    EP2462369B1|2013-04-17|
    EP2462369A1|2012-06-13|
    US8992152B2|2015-03-31|
    CN102686925A|2012-09-19|
    WO2011016719A1|2011-02-10|
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    法律状态:
    2019-01-15| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|
    2019-03-19| B06T| Formal requirements before examination [chapter 6.20 patent gazette]|
    2019-11-05| B16A| Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 28/07/2010, OBSERVADAS AS CONDICOES LEGAIS. |
    2021-12-21| B16C| Correction of notification of the grant [chapter 16.3 patent gazette]|Free format text: REFERENTE A RPI 2548 DE 05/11/2019, QUANTO AO ITEM (73) ENDERECO DO TITULAR. |
    优先权:
    申请号 | 申请日 | 专利标题
    US23141309P| true| 2009-08-05|2009-08-05|
    PCT/NL2010/050486|WO2011016719A1|2009-08-05|2010-07-28|Tubular handling system and method for handling tubulars|
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