CN105283627A

CN105283627A - System and method for handling riser pipe

Info

Publication number: CN105283627A
Application number: CN201480029120.2A
Authority: CN
Inventors: 安吉洛·米松; 卢卡·安布罗西奥
Original assignee: NAVALIMPIANTI SpA; Fincantieri SpA
Current assignee: NAVALIMPIANTI SpA; Fincantieri SpA
Priority date: 2013-03-20
Filing date: 2014-03-11
Publication date: 2016-01-27
Also published as: ITUD20130037A1; WO2014146760A2; US20160160587A1; WO2014146760A3; EP2976488A2; KR20150143516A; EP2976488B1

Abstract

Systems and methods for handling riser pipes (6) on an offshore vessel comprise two reciprocally spaced trolleys (17, 18) provided with engagement means able to engage with respective ends of the riser pipes.

Description

The mobile system of tubular element and method

Technical field

The present invention relates to the mobile system of tubular element on mobile ship according to claim 1 preamble feature.

The invention still further relates to the ship of the feature according to claim 40-42.

The present invention also relates to the method for the moving tubular members according to claim 43 preamble feature simultaneously.

Definition:

In the specification and the appended claims, following term must be understood according to definition given below.

In the specification and the appended claims, generic term " boats and ships (vessel) " should refer to ship, ship, drilling rig, refers generally to floating construction and specifically refer to drillship, semi-submersible rig.

In the specification and the appended claims, generic term " tubular element " means the actual pipeline being applicable to being laid on by pipeline laying ship (pipe-layingvessels) on seabed, or so-called " standpipe ", these standpipes refer to the tubular element being applicable to interfixing successively, to be formed between ship and seabed and the wellbore tubular of drilling well under water.

Prior art

In the Ship production field being suitable for oil drilling, according to drilling well requirement, the vertical pipe that boats and ships are connected with seabed is played Main Function.Described vertical pipe is made up of the component being referred to as " standpipe " (riser), these standpipes are all tubular elements, define vertical or catenary (catenary) pipeline connected between seabed control valve and boats and ships, described control valve is referred to as BOP (preventer (blowoutpreventer)) usually.Standpipe is generally the tubular element of Flange joint, and it is made up of main aperture and multiple auxiliary line, except promoting to be inserted into except the floating member of the structure periphery of standpipe own, also can be used to for controlling fluid flowing.Such as, auxiliary line can comprise mud intake pipeline (kill line (killline)), recover pipeline (choke line (chokeline)), two pipeline, pumping lines (supercharging pipeline (boosterline)) relevant to the control of control valve.

The present invention relates generally to that on ship, storage area tubular element moves the manipulation device with tubular element.Particularly, the present invention relates to standpipe from storage area ship to the movement of derrick.But obviously, the present invention is not limited to the single special-purpose of standpipe, and, be generally suitable for the movement of the general tubular element on such as pipeline laying ship (pipe-layingships).

The length range of standpipe or tubular element can between 22-27m, and the diameter range of main aperture is between 530-540mm, but obviously, according to this manual, the present invention is adapted to general tubular element, is not limited to described size.Except standpipe, also have other components, be referred to as " propulsion die (pushingmodules) ", its function reduces the weight of single standpipe in water.The weight of standpipe is between 20-40 ton.Standpipe is connected to each other by various connecting mode, and these connecting modes are well known in the present invention.

Each " standpipe " is delicate elements, must carry out appropriate movement.From storage area, when particularly taking out in deck on the ship storage area or freight house, must SC.In addition, in order to standpipe is delivered to derrick place, to be connected on the vertical pipe of the standpipe of having had good positioning, aboard ship deck is also very careful the mobile phase of standpipe.Standpipe is once after being connected to each other and forming vertical pipe, then the connection that can form vessel detection plane and be placed between the control valve of seabed, the latter is referred to as usually " preventer ".During drilling operation, drilling rod can fall and enter in standpipe.In order to drill, can use some drilling fluids, drilling fluid is pressurized pumping in hollow drilling rod.Usually, boring liquid is be made up of drilling mud (drillingsludge), particularly through adding various additive to change the drilling mud after the preparation of its physical characteristic.Drilling mud is via drilling rod, and from drill bit, place pumps to the water surface, upwards gets back to the water surface, carries out herein processing to circulate and again to pump in well.Between the rising stage, once arrive the control valve place being placed in seabed, mud will flow through standpipe main aperture and the cavity fallen between the drilling rod in column turns back to drilling rig.In fact, this is the major function of standpipe, that is, form one is raised to drilling rig from seabed " airtight " passage for drilling mud.

Tubular element or standpipe are deposited on closed freight house aboard ship or deck usually.

In prior art solutions, tubular element or standpipe leave in closed freight house, what tubular element mobile relied on is bridge crane, and bridge crane takes out tubular element from depositing pipe buttress and delivers to mobile device place, and they are then sent to deck on the ship by the latter.

In the solution of prior art, when tubular element or standpipe leave on deck on the ship, the first mobile phase is undertaken by bridge crane or mobile job crane.

Once the standpipe stage of taking out completes, necessary mobile standpipe, so that be routed to usually be referred to as " cat road (catwalk) " transloading equipment on, this is a kind of transfer car(buggy) (trolley), can standpipe be sent in derrick, each tubular element or standpipe are become basic vertically state from basic horizontal state here, thus be connected to before this on mounted serial standpipe, form vertical pipe, stretch to seabed always, in seabed, the drilling well closed by each control valve is excavated.

Such as, oil drilling boats and ships are all necessary can at very dark seabed operation, and " very dark " refers to that ocean depth is at 3000-4000 rice, but the present invention is not limited to this degree of depth.Such as, for the degree of depth of about 3700 meters, when riser length used is 27.5 meters, in the laying stage to standpipe itself with standpipe must be moved about 135 standpipes from drilling well to the recovery phase of storage area movement.

Such as, the scheme of some prior aries, the scheme such as, introduced in WO2010/000745, provide according to depositing the method that layout deposits tubular element, wherein, tubular element vertically leaves in cargo hold, and namely the longitudinal extending axis of tubular element is vertically positioned at cargo compartment.This scheme, except necessarily requiring to use hoisting crane (it exists the above-mentioned risk about manipulation suspended cargo (suspendedloads) and dangerous problem), also require that tank top is reequiped to install riser bottom support, and these bottom brackets are when also such as operating different standpipe, also must change.In addition, in these schemes, because standpipe is vertically deposited, when taking out standpipe from cargo hold, need to be mentioned to make it wholely to extend longitudinally across boat deck, so that the lower end of standpipe comes out completely from cargo hold.If consider the length (even almost reaching 30 meters) of standpipe and its weight (within the scope of 20-40 ton), in addition, standpipe also must be put on the ship that is in deep-sea by deck crane lifting, and this operation is quite dangerous.

Other prior art additionally provides the deposit method according to a kind of layout, standpipe being left in cargo compartment on ship, and in this kind of layout, the longitudinal extending axis of standpipe or tubular element is horizontal positioned substantially.But in these schemes, moving from cargo compartment to deck is undertaken by the bridge crane in cargo hold, and this can take the sizable free space of cargo compartment, and these spaces can be used for depositing other standpipe.In fact, built-in bridge crane in height and in length and width can take very large space, because they must move along the whole volume of cargo hold.In addition, also there is the foregoing risk about handling suspended cargo and dangerous problem.In other scheme of the type, cargo hold does not use bridge crane substantially, and bridge crane is arranged on freight house top and outside, that is, is arranged on the deck of ship.But in these schemes, cargo hold must with quite wide aperture, to guarantee that outside overhead traveling crane function enters cargo hold regional to take out and mobile standpipe.This scheme also can run into the risk about manipulation suspended cargo noted earlier and dangerous problem except needing huge cargo hold aperture.In addition, because need the huge aperture of cargo hold to supply the turnover of portion's bridge crane out of my cabin, the goods in cargo hold and operator all can be placed in outdoor under.

Prior art Problems existing

There is various problem in prior art, these schemes relate to and to be moved from storage area by tubular element and to be transported to transloading equipment, are sent to derrick again by transloading equipment.

First, in the prior art scheme, tubular element or standpipe leave in closed cargo hold, and the movement of tubular element is by bridge crane, and this exists effective Utilizing question of free space in the safety problem of the goods movement be suspended on above ship and cargo hold.In fact, the bridge crane be arranged in cargo hold occupies the very large space in the whole length of cargo hold, and this space was planned to be used for for bridge crane movement above the tubular element buttress originally, was the non-usage space in fact for depositing.

In addition, tubular element is because very heavy, and adopt the bridge crane with hanging wirerope or stiffening member time mobile, this makes tubular element to be clashed into, and this can damaged member sealing or switching performance.

In addition, moving process by the operator manual control controlling bridge crane or transshipment crane, and does not adopt automated procedures.In addition, himself is also exposed among possible danger by the operator be in control zone.

In addition, the automaticity of this method is low is also usually the serious problems occurred when operator is changed shifts.In fact, after about 6 months, operator can be substituted by new person, and the decline of new person's operational capacity also can make the operation of laying tubular element slow down thereupon.

In addition, prior art also makes tubular element examination phase before it is removed be difficult to implement.

In addition, prior art, owing to being assemble bridge crane in the cargo hold of ship, thus necessarily requires to install bridge crane in shipbuilding process.This is because must at cargo hold originally before closing its top with respective closed dome, bridge crane is arranged on cargo compartment, and this closed dome be for forming boat deck.Before cargo hold is finally closed, before launching a ship, bridge crane be in all the time outdoor under can be damaged, this can affect its performance.

In a word, with regard to standpipe, also must consider in storage area, use the degree of depth according to each standpipe and deposit dissimilar standpipe.Therefore, in the operating process installing on ship by standpipe and unloaded, operator is followed correct loading and unloaded order is very important, and the standpipe being adapted at shallow water depth operation so just can be prevented to be removed to be arranged on and to spend more deeply.At present, select to need the standpipe of taking-up and loading operation thereof all manually to be carried out by operator, from external environment condition, all likely there is maloperation thus have serious consequences in these processes.Or, take out or loading operation speed in any case standpipe also can be slowed down.

The further defect of prior art is, from the Ship Design stage, and in the ship ' s equipment stage, and even in the operational phase of each equipment itself, all devices involved in the movement of tubular element is all considered to independently to carry out usually.Be actually and lack a kind of single mobile system various system combination being become, also be, no matter with regard to the tubular element of drilling well riser forms, or for by the tubular element of pipeline laying ship in the tube shaped of submarine laying, tubular element all can be made along its mobile route from storage area for this system until the machine carrying out laying realizes guiding, safety and reliable mobile.

Tubular element; the particularly movement of standpipe; usually can because of multiple must operation and the multiple machine that relates to and very complicated; these machines can not be coordinated with each other or integrated; and must by an operator Non-follow control, exist drop with mobile mistake, suspended cargo, clash into, that damage etc. is relevant is risky.

As previously mentioned, the degree of depth that standpipe is suitable for operating according to it is not be all similar, and different from each other.As a result, the defect of prior art systems is, loading and the taking-up of standpipe are usually manually carried out by operator, by operator determination loading sequence.The error of the responsible operator loaded may cause the delay in the laying stage subsequently.Such as, the standpipe (must be removed early than other standpipe) being adapted at comparatively deep degree use has been loaded onto on bottom bracket, and is positioned under a series of standpipe (must finally take out) being adapted at the use of the more shallow degree of depth.In addition, if be responsible for the operator laid and not to be noted this mistake, they may lay the standpipe being not suitable for using in this degree of depth in the darker degree of depth, and the risk of breakage occurred can cause the environmental disruption the safety of entail dangers to operator that cannot make up.

Goal of the invention

The object of this invention is to provide a kind of improvement for tubular element is moved to mobile device boat deck and method from the cargo hold of ship.

Another object of the present invention is to provide a kind of jacking equipment for moving tubular members on a ship 's and method of improvement, to move on transloading equipment by tubular element, tubular element is delivered on derrick by the latter again.

Inventive concept

This goal of the invention is realized by the feature of independent claims.Dependent claims represents favourable solution.

Advantageous effects of the present invention

According to the solution of the present invention, by significant creative contribution, the effect of this creative contribution forms directly important technological progress, therefore has various advantage.

Advantageously, cargo compartment can be used most effectively to deposit the free space of tubular element according to the solution of the present invention, compared with prior art, more favourable cargo hold can be obtained undoubtedly and deposit coefficient.Like this, both at same a large amount of tubular element of loading vessel, also can be designed to comparatively craft, but the tubular element of equivalent amount can be loaded, finally can obtain economic benefit between shipbuilding stage and boats and ships operating period.

In general, traditional lifting member can be saved according to solution of the present invention, these lifting members are generally made up of bridge crane, cargo hold hoist and deck crane, the substitute is more effective and safer device, can guarantee that tubular element or standpipe move under maximum security situation.In addition, the increasingly automated of tubular element moving process can be realized.In addition, the transhipment quantity of tubular element or standpipe between various different machines is decreased to greatest extent.

About mobile device of the present invention, the tubular element of the removable cargo hold inside of this equipment or standpipe, the safety problem about suspended cargo can be solved according to the solution of the present invention, because tubular element can be made to move in the locked condition on transmission device according to the solution of the present invention, eliminate all situations that suspended cargo occurs.This is another favourable part, because prevent collision, the latter can damage tubular element.Another is at favourable part, transhipment stage and cargo hold can also be made to load stage full automation according to the solution of the present invention, like this, operator no longer must manual control transmission device, reduces the possibility of error and decreases under operator is exposed to hazardous environment.In addition, when operator is changed shifts, high-level operation usefulness can also be kept according to the solution of the present invention.In addition, facilitating tubular element piling up neatly the inspection before taking out from depositing pipe according to the solution of the present invention, meanwhile, also very accurately and automatically can understand the position of depositing all kinds tubular element or standpipe in pipe buttress.In addition, can to the assembling of tubular element mobile device on existing ship according to the solution of the present invention, in addition, after launching a ship, under preventing mobile device to be in open-air atmosphere for a long time.

About jacking equipment of the present invention, this jacking equipment can moving tubular members or standpipe on a ship 's, the movement of tubular element or standpipe can be carried out above deck according to the solution of the present invention, without the need to using ship's crane, therefore, completely eliminate suspended cargo, be conducive to personal security and can prevent standpipe from suffering any possible damage.Another favourable part prevents collision, and this collision can damage tubular element.In addition, advantageously, under tubular element or standpipe continue lock condition, the extracting position on cargo compartment or deck and to transloading equipment unloading position between, once-through operation just can realize effectively transporting tubular element or standpipe.

Advantageously, can obtain a kind of mobile system being applicable to tubular element according to the solution of the present invention, in the storage area inner tubular member loading stage with during tubular element is laid, this system can handle the whole movement of tubular element itself automatically.Also can only have a purposes according to system of the present invention, provide the entirety of tubular element to handle and mobile chain, be conducive to the mutual integration of system various piece and be conducive to the tubular element effectively movement of safety itself.

Advantageously, once shipbuilding is close to complete man-hour, can install aboard ship according to the solution of the present invention, like this, avoid each equipment of mobile system and device in the installation in shipbuilding stage, under avoiding equipment and device to be exposed to outdoor and adverse circumstances, because these can affect equipment effectiveness and function.In addition, the height that can realize the Ship Design stage is integrated, boats and ships have been arranged to install system of the present invention in the design stage in advance, when tubular element carrying capacity is equal, optimize and therefore reduce the size of storage area, and and then reduce the size of boats and ships itself, or in the equal situation of dimension of ship, increase storage area.

Another favourable part is that system according to the present invention also can carry out fast and easy inspection to it when tubular element is deposited in storage area, and this is convenient to the inspection carrying out tubular element at term of voyage.Therefore, during the installation exercise of tubular element own, or in the early stage and in advance, can save time, find any possible problem, like this, just can take corresponding measure in advance, revise the program of taking out tubular element from storage area, with any possible abnormal conditions reflecting that verification preliminary phase manifests.

Accompanying drawing explanation

, introduce technical scheme by reference to the accompanying drawings below, these accompanying drawings are only as illustrated examples of the present invention, and accompanying drawing is as follows:

Fig. 1 is the side schematic view of the drill ship made according to the present invention.

Fig. 2 is the floor map of the tubular element of riser forms.

Fig. 3 is the standpipe schematic diagram from " D " direction shown in Fig. 2.

Fig. 4 is the generalized section of boats and ships manufactured according to the present invention.

Fig. 5 is the lateral view of tubular element mobile device manufactured according to the present invention.

Fig. 6 is the elevation of tubular element mobile device manufactured according to the present invention.

Fig. 7, relative to the mobile device of tubular element manufactured according to the present invention, shows the details enlarged drawing in " A " portion shown in Fig. 6.

Fig. 8 shows the elevation of tubular element mobile device manufactured according to the present invention, is depicted as the first mobile status.

Fig. 9 is the elevation of mobile device shown in Fig. 8, is depicted as the second mobile status.

Figure 10 is the top view of mobile device manufactured according to the present invention, is depicted as the 3rd mobile status.

Figure 11 is the top view of mobile device manufactured according to the present invention, is depicted as the 4th mobile status.

Figure 12 is the lateral view of tubular element mobile device manufactured according to the present invention, is depicted as two kinds of different bond-allocatings of moving slider.

Figure 13 is the top view of the supporting base of tubular element mobile device manufactured according to the present invention.

Figure 14 is the lateral view of tubular element mobile device supporting base manufactured according to the present invention.

Figure 15 is the lateral view of the slide block that tubular element mobile device manufactured according to the present invention is only shown, is depicted as the first mobile status of jacking equipment.

Figure 16, for only illustrating the lateral view of the slide block of the tubular element mobile device according to Figure 15, is depicted as the second mobile status of jacking equipment.

Figure 17 is the schematic diagram of the supporting base transmission device of tubular element mobile device manufactured according to the present invention.

Figure 18 is the details enlarged drawing in " B " portion shown in Figure 17.

Figure 19 is the detailed schematic of the supporting base transmission device of tubular element mobile device manufactured according to the present invention.

Figure 20, Figure 21, Figure 22, Figure 23, Figure 24 show the transhipment stage subsequently of the tubular element between each equipment of tubular element mobile system manufactured according to the present invention at cargo compartment.

Figure 25, Figure 26, Figure 27, Figure 28, Figure 29, Figure 30 show the transhipment stage subsequently of the tubular element between each equipment of tubular element mobile system manufactured according to the present invention in cargo hold outside.

Figure 31 is the side schematic view of first embodiment of jacking equipment manufactured according to the present invention.

Figure 32 is the schematic side view of the guide rail of jacking equipment shown in Figure 31.

Figure 33 is for being arranged on the schematic side view of jacking equipment shown in the Figure 31 on guide rail shown in Figure 32.

Figure 34 is boats and ships sectional drawing, and wherein, tubular element is deposited above deck, and shows the usability according to technical solution of the present invention, be depicted as tubular element above deck deposit situation.

Figure 35 shows the details enlarged drawing in " C " portion shown in Figure 34.

Figure 36 is phantom drawing, shows jacking equipment and the mutual alignment of tipping arrangement when handling tubular element manufactured according to the present invention of system.

Figure 37 is phantom drawing, shows the mutual alignment when jacking equipment shown in Figure 36 and tipping arrangement move after loading tubular element.

Figure 38 shows the phantom drawing of second embodiment of the jacking equipment of system, is used for handling tubular element manufactured according to the present invention.

Figure 39 is for Figure 38 is from the phantom drawing of the jacking equipment shown in another angle.

Figure 40 is phantom drawing, shows the controlling organization of the movement of the tooth of the jacking equipment shown in Figure 38.

Figure 41 is the phantom drawing of the embodiment of the tipping arrangement of system, is used for handling tubular element manufactured according to the present invention.

Figure 42 is for Figure 41 is from the phantom drawing of the tipping arrangement shown in another angle.

Figure 43 is the phantom drawing of the different embodiments of the transfer car(buggy) of mobile device, and this transiting vehicle is used for tubular element manufactured according to the present invention.

The phantom drawing of the details that Figure 44 is transfer car(buggy) shown in Figure 43.

Figure 45 is the elevation of the different embodiments of the transfer car(buggy) of tubular element mobile device manufactured according to the present invention.

Figure 46 is the top view of transfer car(buggy) shown in Figure 45.

Figure 47 is phantom drawing, shows the final stage be routed to by tubular element on transloading equipment.

Figure 48 is the embodiment of retractable latch, and wherein, shown latch is retracted mode.

Figure 49 is the embodiment of retractable latch, and wherein, shown latch is withdrawing device.

Figure 50 and Figure 51 shows the embodiment of the balance sysmte of traction enhancement wirerope.

With reference to the identiflication number shown in accompanying drawing, employ following term:

1. boats and ships

2. derrick or laying district

3. transloading equipment

4. jacking equipment

5. mobile device

6. tubular element

7. vertical pipe

8. valve

9. seabed

10. main aperture

11. first ends

12. second ends

13. auxiliary lines

14. storage areas

15. columns

16. decks

17. first transfer car(buggy)s

18. second transfer car(buggy)s

19. first guide rails

20. first round

21. second guide rails

22. second take turns

23. the 3rd guide rails

24. third rounds

25. first walls or the first braced structures

26. frameworks (frame)

27. slide blocks

28. lift components

29. first pins

30. second pins

31. block driving devices

32. winches (winch)

33. cable wires

34. first pulleys (pulley)

35. first motor

36. teeth

37. transfer car(buggy) transmission devices

38. three-motors

39. transmission mechanisms

40. the 4th guide rails

41. fourth rounds

42. brake pucks

43. brakes

44. bases

45. tooth bars connect (rackcoupling)

46. casings

47. bearings

48. first retarding devices

49. first directions

50. second directions

51. spaces

52. pipe buttress

53. retaining members

54. first sides

55. second sides

56. second retarding devices

57. brackets (cradle)

58. the first noumenons

59. pillars (stanchion)

60. Storage tray

61. baskets

62. second walls or the second braced structures

63. control device

64. command devices

65. tipping arrangements (tilterdevice)

66. the 3rd pins

67. heads

68. first components

69. second components

70. first hoists

71. second hoists

72. screw rods

73. brakes

74. drive apparatus

75. axles

76. second pulleys

77. supporting members

78. arms

79. wings

80. tooth traces

81. gears

82. the 3rd retarding devices

83. the 4th motor

84. second bodies

85. second motor

86. compensation equipments

87. tracks

88. pin brakes

89. first sensors

90. second sensors

91. the 3rd sensors

92. key seats

D. distance

Detailed description of the invention

With reference to accompanying drawing (Fig. 1), the present invention can be used at least one laying or the use district 2 that the tubular element 6 of the storage area 14 of ship 1 are moved to tubular element 6.For example (the intent of the present invention is not limited to this), for drill ship or semisubmersible drilling platform, tubular element will be the standpipe taken out from storage area 14, and described storage area can be the storage area on cargo hold or deck.Standpipe 6 is generally tubular element (Fig. 2, Fig. 3), at corresponding first end 11 and the second end 12 place, flange is housed, and relative to the longitudinal extension direction of the tubular element of riser forms, first end and the second end are two relative ends.Standpipe (Fig. 3) comprises main aperture 10 and several are for controlling the auxiliary line 13 of liquid circulation, and the floating be inserted into around the structure of standpipe own promotes component.Once one of them standpipe takes out, must mobile standpipe in case be routed to usually be referred to as " cat road (catwalk) " transloading equipment 3 on, this is a kind of transfer car(buggy), standpipe can be sent to derrick 2 inside (Fig. 1), here, each tubular element or standpipe change into basic vertically state from basic horizontal state, thus be connected to before this on already installed serial standpipe, to form vertical pipe 7, stretch to seabed 9 always, in seabed, the drilling well closed by each control valve 8 is excavated.

Although at manual of the present invention hereinafter, technical scheme about the present invention being applied to drill ship or semisubmersible drilling platform will be referred explicitly to, and also refer explicitly to mobile standpipe thus, but obviously the present invention is generally applicable to the field of such boats and ships 1, namely, on this ship, tubular element 6 must be moved to from storage area 14 and lay district or use district 2.

As mentioned above, tubular element 6 or standpipe can leave in internal storage district 14, such as the cargo hold of ship 1, or correspondingly, external storage district 14, on the deck as ship 1.Although technical scheme according to the present invention is applied in internal storage district 14, advantageous particularly in the situation of the such as cargo hold of ship 1, it is applied in external storage district 14, also highly beneficial in the situation on such as ship 1 deck.In fact, by following explanation, obviously, also the support used when tubular element is deposited above deck is applicable to according to system of the present invention, and easily, because eliminate bridge crane or mobile job crane, there is the previously described risk relevant to mobile suspended cargo situation and danger in these cranes.

Particularly, the present invention can effectively utilize the distinct device cooperatively interacted by least two when moving tubular members 6 and operates brought combination and mutually coordinate, thus guide tubular element move on to the laying district of tubular element from storage area 14 (preferred ship 1 cargo hold) or use district 2, such as, the derrick 2 on oil rig (Fig. 1).

First invention equipment is (Fig. 4, Fig. 5, Fig. 6, Fig. 8, Fig. 9, Figure 10, Figure 11, Figure 12) a kind of mobile device 5, and this equipment can handle the movement of the tubular element in storage area 14:

-in the loading stage of ship 1, for tubular element 6 being left in the operation in storage area 14;

-in the operational phase of tubular element, for taking out tubular element 6 from storage area, to move on to the laying district of tubular element from the storage area 14 of ship 1 to handle tubular element 6 or using the operation in district 2;

-at the recovery phase of tubular element, for the operation of moving tubular members 6, to handle tubular element 6 to move to ship storage area 14 from transhipment machine 3.

Mobile device 5 is connected with jacking equipment 4 and coordinates (Figure 20, Figure 21, Figure 22, Figure 23, Figure 24), thus can handle tubular element and move between the storage area 14 and deck 16 of ship 1:

In addition, jacking equipment 4 can with crane or transmission device, such as tipping arrangement is connected, thus in the laying district of deck 16 and tubular element or can use moving tubular members 6 or standpipe between district 2.Such as, for oil rig, jacking equipment 4 can be connected with crane or another standpipe commanding apparatus, is transported to transloading equipment from jacking equipment 4, and this transloading equipment can be the transloading equipment 3 leading to derrick 2.Such as, transloading equipment 3 can be the transloading equipment being usually referred to as " cat road " type, and for the present invention, this device has been considered to well-known.

In the prior art scheme, because tubular element is not guided completely during movement, but operated with the state of suspended cargo, in addition, various mobile system is usually with incoherent independently supplying and is designed to object, and storage area 14 and deck 16 or all described mobile operating laid between district 2 are all by operator Non-follow control, so, operator is directly among danger during tubular element moves, and operator also can cause damage to tubular element itself.

On the other hand, the critical piece of the Innovation System developed can be interconnected coordinated with each other, automatically handles moving integrally of tubular element.

Particularly, handle the mobile device 5 of the tubular element movement of storage area 14 by a pair transfer car(buggy) 17,18 compositions (Fig. 4, Fig. 8, Fig. 9), this can along first direction 49 translation (Fig. 4, Fig. 5, Figure 10, Figure 11, Figure 12, Figure 14) in space 51 to transfer car(buggy), space 51 is then positioned at the pipe buttress 52 of standpipe or tubular element 6 or column 15 and wall or braced structures 25, between 62, the function of this braced structures is by hereinafter introducing in detail at this manual.First transfer car(buggy) 17 of mobile device 5 and the second transfer car(buggy) 18 are correspondingly arranged on the opposite end of storage area 14, that is, they are placed in relative both sides relative at least one pipe buttress 52 of tubular element, particularly, they are seated in the relative both sides of at least one pipe buttress 52, and these relative both sides are the first end 11 and the second end 12 that correspond to tubular element 6, that is, the main aperture 10 of standpipe or tubular element 6 and any hole of auxiliary line 13 is provided with in the end 11,12 of tubular element.First transfer car(buggy) 17 of mobile device 5 and the second transfer car(buggy) 18 are equipped with base 44, this base slides (Fig. 5, Fig. 6, Fig. 7, Figure 10, Figure 11) by the first round 20 along first direction 49, the first round is supported on the first guide rail 19, two functions of this guide rail are guide base 44 to slide and each transfer car(buggy) 17,18 and the weight of tubular element that supported by it are discharged into ground respectively.First transfer car(buggy) 17 of mobile device 5 and the second transfer car(buggy) 18 are equipped with substantially vertically extending framework 26, and this framework forms entirety and integral translation together with base with base 44.The framework 26 extended substantially vertically extends corresponding height, but lower than cargo hold or storage area 14 height.Slide block 27 vertical sliding motion on the frame 26.Slide block 26 is provided with at least one coupling device 29,30, and corresponding one end of itself and tubular element 6 end 11,12 engages.Because mobile device 5 is by a pair transfer car(buggy) 17,18 compositions (Fig. 4, Fig. 8, Fig. 9), each transfer car(buggy) is provided with the base 44 slided along first direction 49, and because be provided with corresponding framework 26 on each base 44, this framework can form support and the ways of tubular element movement according to the basic vertical second direction 50 of corresponding slide block 27, slide block is provided with the end 11 with tubular element 6, the coupling device 29 that corresponding one end of 12 engages, 30, by coordinating two transfer car(buggy)s 17, the movement of 18, can realize:

-mobile first transfer car(buggy) 17 in such a way, namely, its respective seat 44 is slided on the first guide rail 19 the location place of base 44 along first direction 49, this location place and the position corresponding (Fig. 4, Fig. 8, Figure 10, Figure 11) of piling up neatly the first direction 49 of 52 along the pipe corresponding to tubular element 6, specific tubular element 6 can take out (Figure 20) by this pipe buttress;

-mobile second transfer car(buggy) 18 in such a way, namely, its respective seat 44 is slided on the first guide rail 19 the location place of base 44 along first direction 49, this location place and the position corresponding (Fig. 4, Fig. 8, Figure 10, Figure 11) of piling up neatly the first direction 49 of 52 along the pipe corresponding to tubular element 6, specific tubular element 6 can take out (Figure 20) by this pipe buttress;

The slide block 27 of-mobile first transfer car(buggy) 17 in such a way, namely, this slide block is slided on the framework 26 of the first transfer car(buggy) 17 the location place of slide block 27 along second direction 50, this location place and the position consistent (Fig. 4, Fig. 8, Figure 10, Figure 11) along second direction 50, and this position along second direction corresponds to the height and position on the pipe buttress 52 of specific tubular element 6, this specific tubular element 6 can be removed from the pipe buttress 52 of tubular element 6;

The slide block 27 of-mobile second transfer car(buggy) 18 in such a way, namely, this slide block is slided on the framework 26 of the second transfer car(buggy) 18 the location place of slide block 27 along second direction 50, this location place and the position consistent (Fig. 4, Fig. 8, Figure 10, Figure 11) along second direction 50, and this position along second direction corresponds to the height and position on the pipe buttress 52 of specific tubular element 6, this specific tubular element 6 can be removed from the pipe buttress 52 of tubular element 6;

-start (Fig. 8, Figure 10) first coupling device 29 of slide block 27 of transfer car(buggy) 17 in such a way, 30, that is, coupling device 29,30 engage to the corresponding first end 11 of specific tubular element 6, and described specific tubular element 6 can be removed from the pipe buttress 52 of tubular element 6;

-start the coupling device 29,30 of the slide block 27 of the second transfer car(buggy) 18, that is, coupling device 29 in such a way, 30 engage to corresponding second end 12 of specific tubular element 6, and described specific tubular element 6 can be removed from the pipe buttress 52 of tubular element 6;

-move Fig. 9 in mutual coordinate synchronization mode, the slide block 27 of Figure 12 first transfer car(buggy) 17 and the second transfer car(buggy) 18 slide block 27, make it along second direction (50) coordinate synchronization slip mutually, lifting can pile up neatly from pipe the specific tubular element 6 taken out 52, this lifting at least will reach so a kind of condition and could operate, can pile up neatly from pipe the specific tubular element 6 taken out 52 can not impact the height of the pipe of other tubular element any in same storage area 14 buttress 52, and can pile up neatly from pipe this specific tubular element 6 taken out 52 and just leave in described storage area.Preferably, this lifting at least will reach so a kind of condition and could operate, can pile up neatly from pipe the specific tubular element 6 that takes out 52 in height transports to the transhipment position of jacking equipment 4 from mobile device 5 height with tubular element to align, this jacking equipment carries out the operation of tubular element subsequently;

-move (Figure 21 in mutual coordinate synchronization mode, Figure 22) the first transfer car(buggy) 17 and the second transfer car(buggy) 18, make the respective seat 44 of the first transfer car(buggy) 17 and the respective seat 44 of the second transfer car(buggy) 18 on the first respective guide rail 19, mutually slide into coordinate synchronization the location place of base 44 along first direction 49, this location place is consistent with the position along first direction 49, and this position is then longitudinally aimed at from mobile device 5 to the transhipment position of jacking equipment 4 with tubular element.

Now, tubular element can be transported to jacking equipment 4 from mobile device 5, jacking equipment carries out the operation of tubular element subsequently, and these are by the hereinafter introduction at this manual.Advantageously, obviously, described system also can work in reverse order, and the pipe that tubular element or standpipe 6 are loaded in parking space from jacking equipment 4 is piled up neatly 52.Although and undeclared, but obviously, described pipe piles up neatly 52 all with retaining member, to hold a row or multi-row tubular element or standpipe 6, arrange by row, be quite analogous to the arrangement with reference to the retaining member 53 described in scheme of depositing (Figure 34) on deck.

Preferably, the coupling device 29,30 of slide block 27 makes the form of pin, and this pin enters in the main aperture 10 of tubular element.But obviously, also can use coupling device 29, the different embodiments of 30, these are all considered to have equivalent effect, and, also all fall within scope of the present invention.Use the scheme of pin to imagine like this, namely each slide block 27 be provided with at least one separately can indentation pin 29,30, be applicable to the main aperture 10 relative to tubular element and insert or extract out.Following actions:

-one of them pin 29,30 of the slide block 27 of the first transfer car(buggy) 17 is inserted in the main aperture 10 corresponding to the tubular element of tubular element first end 11;

-one of them pin 29,30 of the slide block 27 of the second transfer car(buggy) 18 is inserted in the main aperture 10 corresponding to the tubular element of tubular element second end 12;

Perform the grasp motion of tubular element 6, like this, by the described coupling device 29 of the first transfer car(buggy) 17 and the second transfer car(buggy) 18,30 thus at relative two ends 11, the 12 fastening tubular elements in place, namely described coupling device is formed and mutually coordinates transmission device from now, thus forms mobile device 5 on the whole.

The translation column that in fact described mobile device 5 is coordinated mutually by a pair is formed, and it is positioned at the two ends of storage area 14.Described mobile device 5 can be mobile with vertical in storage area inner transverse for tubular element, namely laterally refers to along first direction 49 and move, vertically refer to along second direction 50 and move.In addition, described mobile device 5 can arrive any position of storage area 14.Two translation columns of mobile device 5 do not restrict physically mutually, unlike bridge crane usually, and the automated system of machine in turn ensure that aligning and the cooperation of two columns.This advantage brought is, in identical function situation, this system is lighter, and volume is less, can also reduce height of hold, or, can also effectively utilize cargo hold present level.In addition, compared with normally used bridge crane, this equipment is compacter, thus can be arranged on ship 1 after ship 1 construction terminates, and such mobile device 5 would not be exposed to outdoor time in the shipbuilding stage or be collided.

If storage area 14 is positioned at ship 1 cargo hold (Fig. 1, Fig. 4, Figure 20, Figure 21, Figure 22, Figure 23, Figure 24), if and storage area is positioned at (Figure 34 on ship deck 16, Figure 35), mobile device 5 give also more favourable scheme, effectively to utilize storage area 14.

(Figure 34 is positioned in storage area 14, in scheme on ship 1 deck 16 Figure 35), this system is all under any circumstance favourable, because in this example, also can prevent from employing bridge crane or crane, otherwise, when thing followed problem will relate to mobile suspended cargo, and be placed under dangerous situation by operator, and tubular element 6 can be made to be collided and to damage.In addition, when applying system of the present invention, if storage area 14 be positioned at ship 1 deck 16 on (Figure 34, Figure 35), can move tubular element 6 and guide completely, to avoid the situation occurring suspended cargo, and it is increasingly automated to realize program.

First particularly advantageous solution is, slide block 27 is along second direction 50 vertically movement voluntarily on the frame 26, and this slide block is provided with lift component 28 (Figure 15, Figure 16) further, and the latter presses second direction 50 along the vertically movement voluntarily of slide block 27 body.Advantageously, lift component 28 vertical movement on slider body can be optimized cargo hold and utilize, because need to check coupling device 29,30 height that must be positioned at, can deposit and take out corresponding to the tubular element (Figure 12) on tank top or deck floor.In addition, coupling device 29, the rational height of 30 must be able to make tubular element 6 be transported to jacking equipment 4 place (Figure 21, Figure 22, Figure 23).Coupling device 29, these two requirements of 30 are completely different each other, be because:

-in order to deposit and take out (Figure 12) tubular element from tank top or deck floor, coupling device must be positioned at lowest part as much as possible on slide block 27;

-in order to tubular element 6 being transferred to (Figure 21, Figure 22, Figure 23) on jacking equipment 4, coupling device 29,30 must highest point as far as possible on slide block 27, in order that in height fill cargo hold as much as possible.

This by the setting of lift component 28 by second direction 50 vertical movement voluntarily on slide block 27 body, coupling device 29 can be allowed, 30 vertically movements, and then it is also mobile by its fixing tubular element, tubular element is shelved on the ground, also allow the maximum height being risen to pipe buttress 52 permission, so that tubular element is transported to jacking equipment 4 from mobile device 5 simultaneously.

Further advantageously, slide block 27 is provided with two different coupling devices 29,30, spaced along first direction 49, and relative to slide block 27 axis of symmetry almost symmetry.Like this, just can use:

-the first pin 29, is used for taking out or deposit the tubular element (Figure 10) of the first side 54 corresponding to storage area 14;

-the second pin 30, is used for taking out or deposit the tubular element (Figure 11) of the second side 55 corresponding to storage area 14.

In fact, when adopting this scheme, storage area 14 can be loaded from first one end, side 54 to second side 55 other end in order to try, also almost all to fill storage area 14 close to end itself as much as possible.

But in different embodiments, can employ the transfer car(buggy) 17,18 (Figure 45, Figure 46) that slide block 27 is housed completely, slide block is provided with lift component 28, only has a coupling device 29 to be positioned at centre position relative to the width range of transfer car(buggy).In this scheme, cargo hold side degree of filling is on the low side relative to the previously described scheme being provided with two coupling devices 29,30.But if demand of depositing is not very urgent, that is, the existing space on ship is not a problem for depositing tubular element 6, and the scheme being provided with a coupling device 29 will be very favourable.In such cases, transfer car(buggy) 17, the loading on 18 can more balance, and the cost of transfer car(buggy) also can be lower, because do not re-use two coupling device and carry out the movement of being correlated with.

Advantageously, coupling device or pin 29,30 can be the shape (Figure 44) of quadrangle substantially with rounded edges, cross section.This rounded edges matches with the connection radius corresponding essentially to riser interiors radius.Coupling device or pin 29,30 are provided with at least one position covered with soft or friction material, such as adhesive backers or plastic material.Quadrangle is particularly advantageous because like this can inside head 67 and tubular element between by spaced for two contact areas.Compared with the scheme of band round end, it has larger stability.Although the scheme of round end is also under any circumstance an adoptable scheme, it is compared with the scheme of quadrangle head, and the latter is the scheme be more preferably.In addition, in order to limit possible damage risk, the external surface (at least at the contact area place with tubular element 6) of coupling device or pin 29,30 employs cladding material.Each pin 29,30 is all retractable (Figure 10, Figure 11):

-according to the tubular element that will move the first side 54 (Figure 10) leaving storage area 14 in, still to move the situation of the tubular element of the second side 55 (Figure 11) leaving storage area 14 in, allow use one pin or another pin;

-and allow (when also can be used on the scheme only using a pin) before being extracted out by pin, when aiming between pin and main aperture 10, determine slide block 27 position of first end 11 relative to tubular element or the second end 12, to be inserted into main aperture 10, in order that the tubular element between fastening first transfer car(buggy) 17 and two relative pins of the second transfer car(buggy) 18, thus tubular element itself is taken out (Fig. 8, Fig. 9).

First pin 29 of above-mentioned lift component 28 and the 3rd pin 66 of the second pin 30 and tipping arrangement 65 are all by the hereinafter introduction at this manual.These pins all can have above-mentioned quadrilateral structure (Figure 43, Figure 44, Figure 48, Figure 49).Pin 29,30,66 can at key seat 92 (holder) internal slide (Figure 48, Figure 49), but head 67 is but in outside all the time relative to key seat 92, be also in pin 29,30 simultaneously, the retracted position of 66, described head 67 is the parts being applicable to contacting with tubular element 6.This technical scheme can adopt interchangeable head 67, without the need to improving all the other mechanisms of pin, such as, need due to wearing and tearing to change, or owing to handling the very different tubular element of form from one another with blanket same equipment, this scheme only needs to change head 67, and the remainder of the mobile device of pin 29,30,66 and pin itself remains unchanged, just different demand can be applicable to, to realize the movement between withdrawn position and retracted position.

Pin 29,30, the whole assembly of 66, namely the combine component of pin itself, its relevant key seat 92 and relevant pin brake (pinactuator) 88 has been designed to be able to removably install all, is convenient to any possible replacing and fastening.Pin 29,30,66 guide pads (guideshoes) in key seat 92 inside are upper to slide, and provides proper lubrication system, to reduce friction and keeping system usefulness.

Pin 29,30,66 can be moved by pin brake 88 between withdrawn position (extractedposition) and retracted position (withdrawnposition), and pin brake carries out extending and drawing-in motion between pin itself and key seat 92.Pin brake 88 can be a kind of electric brake or hydraulic cylinder; hydraulic cylinder to be positioned at below composite member and very easily in the outside of pin and key seat; improve the operability of maintenance or replacing parts; moving and taking out between tubular element operational period simultaneously; shielded position can be remained on again, and can not tubular element be affected.

The location being positioned at the pin 29,30,66 on tubular element 6 opposite can realize in different ways according to the automaticity expected.The simple especially and scheme (Figure 48, Figure 49) of economy proposes a definition for the Cartesian plane (CartesianPlane) of moving coordinate, in Cartesian plane, is previously determined the position of tubular element in retaining member 53 inside.By the signal of each motor mobile encoder, can very accurately determine pin 29,30, the position of 66, this pin corresponds to the tubular element 6 will piling up neatly 52 taking-ups from pipe.Or also can provide a kind of visual identifying system based on video camera, this system also by operator remote control, if necessary, also can carry out Inspection, automatically identify the situations such as any problem, fault, damage.Another kind of scheme provides optical pointing system, can detect the situation of tubulose component head flange or its end edge, like this, can control the positioning scenarios of pin relative to patchhole more accurately.

No matter pin 29,30, the regioselective of 66 how, for the sake of security, suitably can provide mechanical locating verification device.For this reason, have employed three sensors, these sensors are all by by contacting with tubular element 6, the body of movement forms, and this mobile body after contact can close to a kind of inductive pick-up, and this sensor anyly detects its position with may contacting of tubular element by identifying:

-first sensor 89, when being activated when contacting with tubular element 6, it can stop the decline of lift component 28 or slide block 27, this slide block can the first transfer car(buggy) 17 or in the second transfer car(buggy) 18 vertical moving pin 29,30; This assures pin 29,30 front portions being in fact positioned at the patchhole of tubular element, and only have under this condition, the extraction action of pin is actually to be inserted in main aperture 10 by tubular element 6 (such as, riser forms) and is activated;

-the second sensor 90, when activated, can stop pin to exit to withdrawn position, guarantee pin 29, in the hole 10 of the complete tubular component of entirety of 30, only has under this condition, and the lifting of tubular element controls to be started thereupon.Under this condition, the opposite end of tubular element is appropriately fastening by the pin of a pair retractable, namely, by the pin 29 of the first transfer car(buggy) 17 of the side at tubular element 6,30, with the pin 29 of the second transfer car(buggy) 18 in the relative side of tubular element 6,30 is fastening, this relative side is the relative side of that side of insertion of the pin 29,30 corresponding to the first transfer car(buggy) 17;

-three sensor 91, when activated, it confirms that tubular element 6 is in suspension status on respective pin, and can carry out the movement of tubular element, without the need to paying special attention to because the taking-up stage terminate smoothly.

Can find out, sensor 89,90,91 not only can determine positioning scenarios, and ensure that pin 29,30 and make subsequently tubular element 6 move between occur there will not be conflict.Obviously, automated system especially control device 63 are control two transfer car(buggy)s 17,18, each lift component 28 and correspond to the slide block 27 of tubular element 6 opposite end.Only when two systems all provide positive result, that is, the sensor 89 of the pin 29,30 when the first transfer car(buggy) 17 is only had, the sensor 89 of the pin 29,30 of 90,91 and the second transfer car(buggy)s 18,90,91 when all confirming that tubular element 6 takes out smoothly, and control device 63 just performs mobile process.

Only have shape or the type change of tubular element 6, the mechanical brake of activated sensors just can change its shape and size, but control logic still remains unchanged.Be induction type by the real sensor handled by mechanical brake shown in Figure 48, Figure 49.

By above-mentioned two schemes about the lift component 28 utilizing the first pin 29, second pin 30 and vertical movement are combined, along first direction 49, i.e. horizontal direction, with along second direction 50, i.e. vertical direction, what just can obtain parking space 14 is effectively close to space utilization completely.

Slide block 27 is controlled (Fig. 6, Fig. 7, Figure 12, Figure 13, Figure 14) along the movement of second direction 50 by slide-driving device 31, this slide-driving device is preferably mounted on transfer car(buggy) base 44, and be preferably made up of the first motor 35, this first motor drives winch 32 (being preferably a pair winch 32) by the first retarding device 48, these winches promote or fall slide block 27 by the one or more cable wires 33 slided on the first take-up pulley 34, carry out control and guidance slide block vertically movement easily by framework 26.In shown scheme, slide block 27 is controlled (Figure 43) by the first motor 35 by the movement of second direction 50, first motor then drives a pair winch 32 by the first retarding device 48, and this is adopt intersync mode to be controlled by a single transmission axle to winch.Have two cable wires 33, each cable wire slides on the first respective take-up pulley 34.Each root of two cable wires 33 is all wrapped in this on the respective winch in winch 32, and every root cable wire 33 preferably carries out round trip and moves back and forth between winch and the first take-up pulley (snubpulleys) 34.Advantageously, each root of two cable wires 33 can both support whole slide block 27, and does not rely on another in two cable wires 33, and like this, when one of them of two cable wires lost efficacy, another still can the whole weight of support slipper 27 and any load alone.In fact, two sections of winches realize by two symmetrical wireropes, and have 100% redundancy.Advantageously, a kind of brakes can be provided, be made up of disk 42 and corresponding brake 43, or be made up of one group of brake(-holder) block, brake(-holder) block is placed in and corresponds to from the first motor 35 to the output shaft of at least one winch, or corresponds on the power shaft of at least one winch 32.

This brake mainly has safety function, because it can stop Hoisting System when breaking down.In fact, this brake belongs to and normally compresses type when braking, and for the purpose of system normally uses, brake must keep frequent off-state by special control.Like this, during if there is trouble or failure, keep the controller of brake-released state just can action, thus intervene and stop system immediately.In addition, during transport tubular element, when the weight of slider support tubular element 6, the decline that this brake also can be used to brake silpper is moved.In addition, by combine to brake puck 42 or another kind as the corresponding brake 43 be directly installed on the output shaft of the first motor 35 is selected, also can provide a kind of scheme, be arranged between winch 32 and the first retarding device 48 by one group of brake puck.

If the first transfer car(buggy) 17 and the second transfer car(buggy) 18 one of them break down, such as, if a wherein motor of the second transfer car(buggy) 18 breaks down, described brakes can be intervened corresponding out of order transfer car(buggy), and the brakes starting another transfer car(buggy) do not broken down can be controlled, prevent because two transfer car(buggy)s wherein one occur stopping and another still continue its stroke or mobile time, therefore any tubular element transported causes bending.

Adopt above-mentioned not tool, if slide block 27 slide on the wheel along framework 26 and the difference controlled by two methods of synchronization and independently cable wire control, a problem can be produced.When this is owing to adopting such layout, only have under wherein in fact a cable wire is in traction state in two cable wires, such as, a cable wire is than another root cable wire pine, or load is asymmetric etc.For this reason, employ a kind of compensation equipment system 86 (Figure 50, Figure 51), this system can balance any traction difference between two cable wires.Compensation equipment 86 compensates any different tractive force of two cable wires by swinging.Such as, compensation equipment 86 can the different length of compensating rope, and this is that progressive elongation appears in the cable wire caused owing to such as wearing and tearing.Compensation equipment 86 preferably swings between center and two maximum inclining positions, preferably relative to center inclination +/-15 °, even preferred relative to center inclination +/-10 °.Maximum inclining position limits by tongue and groove engagement member, to prevent the limit value being tilted beyond machinery setting.Additionally provide the sensor that can produce and arrive maximum inclination limit value corresponding signal in scheme, in this scenario, system again can further difference between compensating rope, and must carry out maintenance project.Therefore, slide block 27 will be provided with compensation equipment 86, be used for passing for two cable wires 33, under the effect of the traction difference between two cable wires 33, compensation equipment 86 is suitable for tilting to side or opposite side, the traction difference existed between this slope compensation of compensation equipment 86 two cable wires 33, thus make it be in the state of traction equality, prevent only having a cable wire to bear all stress.Compensation equipment 86 comprises tongue and groove engagement member, what prevent compensation equipment 86 is tilted beyond machinery setting limit value, the angle of inclination that described tongue and groove engagement member preferably limits compensation equipment 86 is relative to equilbrium position between +/-15 °, and in this equilbrium position, two cable wires 33 apply equal force pulling; Even more preferably limit the angle of inclination of compensation equipment 86 between +/-10 °.

Therefore, in the illustrated embodiment (Figure 15, Figure 16, Figure 50, Figure 51), in order to promote slide block 27 (Fig. 5, Fig. 6, Fig. 7) along framework 26, some cable wires 33 are employed.On slide block 27, the connection of cable wire 33 is undertaken by compensation equipment 86, in order that continue to keep both sides tension uniform, and offsets the impact of possible different tensile force in future of existing between two cable wires 33.As above-mentioned, the maximum inclination of compensation equipment 86 can be limited to the angle of strong mechanical pawl instruction.Like this, if for the root fracture in two cable wires 33 promoting, another root cable wire still can support whole load, and in this case, control device can make load and slide block 27 be in home.In other words, the mobile security coefficient of load is 100%, because in one of them situation that fractures of two cable wires, another root cable wire 33 can support any load of whole system and existence, and system overall safety is sent to latched position.Cable wire 33 is connected on compensation equipment by the threaded fastener of band eyelet or jaw, and fixes with grommet nut and locking nut.Equally, the end of cable wire is provided with the cable connector of band eyelet or jaw.Between two cable wires, roughly adjusting of difference is undertaken by the thrust ring of one of them adjusted in two reels.The connecting rod (tie-rods) of compensation equipment 86 carries out intense adjustment and correction subsequently.Compensation equipment 86 is positioned at the bottom of hoist, so that it can touch the whole height of guide strip, and can not affect wheel or take-up pulley.Therefore all connection is achieved in the both sides of transfer car(buggy).The position of compensation equipment 86 is controlled by three limited blocks, and middle limited block represents that compensation equipment 86 is for level, and the signal that two other limited block provides represents that compensation equipment 86 is in side or opposite side surface thereof.

In addition, at transfer car(buggy) 17, in the stroke of the slide block 27 of 18, some safe spacing blocks are also provided with.

Guide transfer car(buggy) 17 by the second guide rail 21 and the 3rd guide rail 23,18 move (Fig. 6, Fig. 7) along first direction 49, and this second guide rail is positioned at below according to the extended height of framework 26, and the 3rd guide rail is positioned at top according to the extended height of framework 26.Second guide rail 21, in orbital fashion, is bonded to relative two couple second in the relative both sides of track and takes turns 22, and this second is taken turns and be arranged in the plane substantially orthogonal thereto with the plane at framework 26 place of slide block 27 movement.3rd guide rail 23 is in orbital fashion, and be bonded to two pairs of relative third rounds 24 in the relative both sides of track, this third round is arranged in the plane substantially orthogonal thereto with the plane at framework 26 place of slide block 27 movement.This project plan comparison is favourable, because framework 26 can also in height do sizable extension, and must the weight of support slipper 27 and entrained tubular element 6.In shown scheme, take turns 22 by relative two couple second to engage with respective track with relative two pairs of third rounds 24, its favourable part is exactly, under the effect of tubular element 6, without the need in order to the mobile transfer car(buggy) along first direction 49 translation, also without the need to the weight of release action on transfer car(buggy), and in fact described tubular element is supported with hang in side direction relative to transfer car(buggy).Like this, the power applied by tubular element under gravity can be tending towards transfer car(buggy) to throw, but this applying power is counteracted effectively by second and third round and respective track, also can not be applied on the transmission device 37 of transfer car(buggy) meanwhile.Transfer car(buggy) 17, the movement of 18 is subject to the control (Figure 12, Figure 17, Figure 18, Figure 19) of transfer car(buggy) transmission device 37, this transmission device is preferably made up of three-motor 38, this three-motor is connected with two transmission mechanisms 39 by the second retarding device 56, the latter drives fourth round 41 to rotate respectively, and this fourth round comprises:

-top fourth round 41, it is supported by casing 46 and bearing 47, and this top fourth round 41 is positioned at top along second direction 50 according to the bearing of trend of framework 26, and it is the joining gear of the 4th guide rail 40 with tooth bar 45 form;

-bottom fourth round 41, it is supported by casing 46 and bearing 47, and this bottom fourth round 41 is positioned at bottom along second direction 50 according to the bearing of trend of framework 26, and it is the joining gear of the 4th guide rail 40 with rack form.

Transmission mechanism 39 is preferably universal drive shaft (cardanshaft), and it receives the action from three-motor 38 by the second retarding device 56, thus forms phase mutually synchronization, to control transfer car(buggy) 17 by above-mentioned rack system, and the movement of 18.

As above-mentioned, slide block 27 has been provided with lift component 28, and himself presses second direction 50 vertically movement along slide block 27 body.Advantageously, the movement of lift component 28 carries out (Figure 43, Figure 44) by worm screw system.Second motor 85 drives worm screw system, and like this, lift component 28 can be undertaken rising and landing by control along screw rod 72.

All power supply units all pass through central control system, are particularly communicated with one another by control device 63.Control device 63 controls the motor inverter Received signal strength of various equipment certainly, to control these equipment and to realize synchronization.Such as, " electric axis (electricalaxis) " that obtain between first transfer car(buggy) 17 and the second transfer car(buggy) 18 of mobile device 5 can guarantee the synchronism of movement.Transfer car(buggy) 17,18 are also provided with the sensor be connected with control device 63, for carrying out coordinations and synchronous to mobile, thus the communication between simplification distinct device, even if one or more device breaks down, control system still safety on the whole.This instruction and control logic program are assisted by other control system, such as rely on video camera, other management mode is carried out under not operation situation, all if any operator at transfer car(buggy) 17, manually carry out safeguarding and control operation on 18, or straighforward operation is carried out by viewing camera video signal on remote monitor, or control one or more transfer car(buggy) 17 by video camera by diagnosis and automatic checkout system, 18 move, thus before its actual use, carry out automatic inspection to the tubular element 6 deposited by video camera.

As above-mentioned Fig. 5, each transfer car(buggy) 17,18 all move along the first guide rail 19 and are provided with vertically extending framework 26, slide block 27 slides along framework bearing of trend, slide block is also provided with one or more grasping pin 29,30, if necessary, this grasping pin is arranged on lift component 28, to increase the vertical stroke realizing slide block 27.Slide block 27 is vertically movement on the frame 26, and is promoted by cable wire 33, and this cable wire is handled by Hoisting System, and the latter comprises two winches 32 controlled by the first motor 35.These two winches are positioned at transfer car(buggy) 17, on 18, the below of framework 26 and near, slide block 27 slides along the vertical bearing of trend of framework.When slide block does not slide along framework 27, the supporting seat of its side direction can support slipper 27.Winch 32 is preferably controlled by a single common axis, and the control of winch is that the position coder by communicating with control device 63 realizes.Such as, encoder can be controlled by the mechanical system of band chain.Each transfer car(buggy) 17, the electrical system of 18 preferably includes three sensors, as previously mentioned, these sensors are used for detecting the inclination conditions of compensation equipment 86, two proximity transducers (proximitysensors) are used for stoping transfer car(buggy) 17 at the spacing place of the function end of the first guide rail 19,18 move, the signal that the chain that alarm sensor provides encoder excessively elongates, and during slide block itself or sensor vertically move along the respective upper and lower bound of framework, the signal of the possible position sensor of slide block 27.In the upper end of framework 26, in fact it form the slip column of slide block 27, and preferably a strong mechanical brake, slips over the stroke upper limit for anti-limited slip block 27, also can according to transfer car(buggy) 17,18 arrange machine locking apparatus along the end position of the first guide rail 19 of its movement.

Slide block 27 is guided (Figure 43) along framework by main wheel after two and two front main wheels, and this rear main wheel is positioned at the upper end of slide block 27 body, and this front main wheel is positioned at the lower end of slide block 27 body.Transfer car(buggy) is guided by the longitudinal direction of four rolling relative to ship, and wherein two rollers are positioned at top, and two other is positioned at bottom, and fixing with anti-canting by other four auxiliary wheels at main roller evil relative position.Four main rollers support loads on the ground, and side wheel can discharge and moves brought side direction or longitudinal loading by tubular element weight or ship.During normal operation, auxiliary wheel does not contact respective guide rail, except occurring that longitudinal acceleration peak value or ship move, collision etc.

Hoisting System or block driving device 31 are made up of two cable wires 33, and cable wire is wrapped on two winches 32, under the maximum release conditions of cable wire, for safety, also still can retain at least five circles.From winch place, cable wire 33 is walked along the first fixed block, and this fixed block is the fixed support structure of bulkhead for ship or whole system.Then, cable wire 33 arrives pulley 34 place, the top first (Figure 43) being positioned at framework 26 top, and slide block 27 moves along this framework.At this some place, cable wire transmits downwards, and the side roller through slide block itself also upwards transmits again, so that again by top first pulley 34, the latter is positioned at framework 26 top, and slide block 27 moves along this framework, and finally gets back to slide block 27 to arrive compensation equipment 86 place.The preferred diameter 26mm of cable wire, is fixed on compensation equipment 86 by eyelet or jaw system (Figure 50).Nut and locking nut system can adjust the pulling force of cable wire 33, to set the relative tension of a cable wire relative to another root cable wire, thus keep compensation equipment 86 to be in level of approximation position.If the difference that stretches between cable wire 33 is excessive, that is, described system can not be adjusted, so, then must adjust the winding number of turns of cable wire 33 on the reel of winch 32, or the angle position of adjustment winch 32.

Encoder system comprises the coding box at framework 26 top be arranged near the first pulley 34.Coding box protection encoder and each electric contact.Encoder is axially coupled on the axle of end with outer pinion, and described outside pinion is then connected on chain.Chain is strained by idle pulley in lower end.Described idle pulley is arranged on hinged support, and the latter passes through spring straining.The two ends of chain are connected on compact linking arm, and the latter is fixed by screw on slide block 27.Between chain upper end and linking arm, take-up device is installed, for the automatic adjustment of chain pull.When slide block 27 is vertically mobile along framework 26, slide block also can move chain, thus the cogging of further mobile controlled encoder.Like this, automatic system and control device just can understand the upright position of slide block 27 along framework 26 at any time, and carry out coordination with synchronous to the first transfer car(buggy) 17 and the vertical movement of two slide blocks 27 of the second transfer car(buggy) 18.

Because chain stroke also can 17 meters long, for limiting any possible swing, have employed the guiding pipeline of the chain along framework 26.

The sensor of the position of metrophia compensation equipment 86 comprises:

-middle proximity transducer, is used for detecting compensation equipment 86 and when arrives basic horizontal position corresponding to normal operating state;

-upper proximity sensor and lower proximity sensor, be used for sending alarm signal when compensation equipment 86 is tilted beyond and sets to greatest extent to control device, and warning must carry out the pulling force keeping in repair to adjust cable wire 33.

Hoisting System comprises two winches 32 controlled by the first motor 35.Select as the another kind arranging motor and two winches in end and share the scheme of an axle, also can adopt the scheme with twin shaft central authorities' Motor Control two winches.In shown scheme, the first motor 35 controlling winch 32 is connected on first planet retarding device 48, and one of them of the latter and two winches 32 forms entirety.Winch to be directly welded on rotating drive shaft and to be supported on the end bearing of both sides.

Winch and mobile member are preferably protected by protection casing.

Mobile device 5 matches (Figure 20, Figure 21, Figure 22, Figure 23, Figure 24) with jacking equipment 4, to carry out the manipulation subsequently of tubular element, moved on to tipping arrangement place, the latter is loaded on transloading equipment 3, tubular element 6 for riser forms is, transloading equipment can be the device being usually referred to as " cat road ", and standpipe is delivered to derrick 2 by the latter, and carries out vertical operation to it.

Advantageously, jacking equipment 4 is preferably mounted on the existing bulkhead of boats and ships, and be positioned at turnover storage area 14 hatch near.Jacking equipment is made up of (Figure 36) the first hoist 70 and the second hoist 71, and the mutual coordinate synchronization of hoist moves, to carry out rise and the landing operation of two brackets 57.Bracket 57 forms Storage tray 60, if take out tubular element 6 from storage area 14, tubular element is laid in this Storage tray (Figure 22, Figure 23) by mobile device 5, or if tubular element 6 is loaded into storage area 14, mobile device 5 takes out tubular element 6 from this Storage tray.

Bracket 57 is preferably provided with can retrac teeth 36, and this tooth can move between primary importance (Figure 21) and the second place (Figure 23, Figure 31).When primary importance, can bend downwards by retrac teeth 36, thus can completely freely pass in and out Storage tray 60, so that tubular element 6 moves therein; When the second place, upwards can bend by retrac teeth 36, to rise or between decrement phase at bracket 57, inner in Storage tray 60, as the restraint device of tubular element 6.Each bracket 57 is arranged on respective the first noumenon 58, and the first noumenon is vertical sliding motion (Figure 32, Figure 33) when rising along pillar 59 and decline, and pillar guides it to move, and on pillar, is provided with the transmission device of the first noumenon 58 of Support bracket 57.

It is even furthermore preferable that (Figure 38, Figure 39, Figure 40), each bracket 57 is arranged on the second respective body 84, the latter and then vertical sliding motion on described the first noumenon 58.The first noumenon 58 can along pillar 59 at rise and vertical sliding motion when falling, and pillar guides it to move, and on pillar, is provided with the transmission device of the first noumenon 58 of Support bracket 57.Such as, the transmission device of the first noumenon 58 can be motor (not shown) form, and motor is risen and the first noumenon 58 that lands along pillar 59 by cable (not shown) and the second pulley 76.Second body 84 moves with vertical in form, identical with the move mode of the first noumenon 58, and the mobile of bracket 57 can be made like this to extend, and its shift motion is greater than a stroke that employing pillar 59 obtains.Such as, the second body 58 vertically can be moved (Figure 38) by worm screw system, and in worm screw system, transmission device 73 controls the vertical stroke of the second body 58 along screw rod 72 by a pair axle 75.Like this, advantageously, the decline of bracket 57 and lifting mobile can be undertaken by jacking equipment 4 and the mutual action as lower device:

-mobile device 5, it is positioned at the down position (Figure 22) of the second body 84, and handle tubular element and be transported to jacking equipment 4 from mobile device 5, vice versa;

-tipping arrangement 65, it is positioned at the raised position (Figure 29) of the second body 84, and handle tubular element and be transported to tipping arrangement 65 from jacking equipment 4, vice versa.

The movement of tooth 36 is undertaken (Figure 40) by electric or hydraulic transmission 74, preferably adopts movement, this piston relative to bracket 57 to tooth 36 applied thrust or tractive force, wherein, tooth 36 itself and bracket 57 chain connection.

Finally, system connects with tipping arrangement 65, and the latter is made up of two turning arms 78 with lift pin, and lift pin is used in tubular component 6 main aperture 10, mode used with reference to mobile device 5 coupling device 29, described in 30, mode is identical.

In fact, tipping arrangement 65 is made up of a pair parts, and namely first component 68 and second component 69, two parts are aimed at (Figure 36, Figure 37) mutually along the direction relative to the width needing the tubular element of movement.First component 68 and second component 69 spaced, separate the width that spacing is greater than tubular element 6.First component 68 and second component 69 respectively comprise pair of supporting members 77 (Figure 41, Figure 42), and this supporting member is connected through the hinge to support turning arm 78.Two arms 78 are around the mutual aligning (Figure 36, Figure 37) of its center of rotation rotated along the direction of the width of the tubular element 6 relative to needs movement.That is, the center of rotation of the support arm 78 of first component is aimed in such a way with the center of rotation of the support arm 78 of second component, and namely support arm 78 rotates along the plane be parallel to each other.The 4th motor 83 that rotates through of support arm 78 controls, and the 4th motor then drives the gear 81 be arranged in for a pair on same motor reel to rotate by the 3rd retarding device 82.The corresponding tooth trace (toothedportion) 80 of each gearing on the operation wing plate 79 of support arm 78, this operation wing plate and support arm itself form entirety.In fact, people achieve the tooth with deceleration and connect, and namely relative to the size of operation wing plate 79, provide described deceleration by the different-diameter of gear 81.Advantageously, operation wing plate 79 adopts the localized forms of disk to make, because the rotation that tipping arrangement 65 must carry out not is carry out on the arc of 360 degree, and just must rotate (Figure 28, Figure 29, Figure 30) by the scope of about 180 degree, tubular element 6 is delivered to transloading equipment 3 subsequently from jacking equipment 4, or under cargo hold loading condition, vice versa.In fact, tubular element 6 is by jacking equipment 4 (Figure 25, Figure 26) mention from cargo hold 14, the first noumenon 58 vertical sliding motion on pillar 59 of jacking equipment, and in jacking equipment, the second possible body 84 slides (Figure 27, Figure 28) on worm screw device, moves with the lifting of extension bracket 57 and decline.Now (Figure 28, Figure 29), tipping arrangement 65 works, and support arm 78 rotates, to correspond to the grasping section (Figure 29, Figure 37) of tubular element on jacking equipment 4, engages with each coupling device or the 3rd pin 66.Once the coupling device of support arm 78 or the 3rd pin 66 are all in exit position, that is, they are all inserted in the hole 10 of tubular element 6, support arm 78 will rotate (Figure 30), tubular element 6 is mentioned from jacking equipment 4, so this jacking equipment freely can enter cargo hold downwards again, take out another tubular element, tubular element is then placed on transloading equipment 3 (Figure 47) by tipping arrangement 65.

The crawl of tipping arrangement 65 pairs of tubular elements 6 is undertaken by coupling device, the latter is the form (Figure 41, Figure 42, Figure 37) of retractable 3rd pin, 3rd pin corresponds to support arm 78 and arranges, and the 3rd pin 66 of the support arm 78 of first component 68 is collaborative mobile with the 3rd pin 66 of the support arm 78 of second component 69:

-according to the direction of engagement with tubular element 6, this direction corresponds to the direction close to each other with the 3rd pin 66, and

-according to the detaching direction with described tubular element 6, this direction corresponds to the direction mutually deviated from the 3rd pin 66.

Mean the 3rd pin 66 with the close to each other of the 3rd pin 66 with in direction respect to one another tubular component 6, tubular element is locked on tipping arrangement 65, then the latter drives support arm 78 to rotate, tubular element 6 is placed in (Figure 47) on transloading equipment 3, such as, it is transferred to another district of ship 1 by track 87.Such as, transloading equipment 3 can be the standpipe transloading equipment being usually referred to as " cat road ", standpipe is delivered to derrick 2 place (Fig. 1).

Advantageously, the Main Stage of tubular element 6 mobile operating can be handled according to Innovation System of the present invention full automation, namely from storage area 14 to laying district 2, vice versa, from loading area or lay district 2 to storage area 14.Contrary with the prior art systems of the necessary manual control of operator, according to the situation that system of the present invention can prevent goods from suspending in midair, the movement of tubular element can be made to lead completely and carry out under retraining, therefore automatically tubular element can be transported to another device from a device, such as, from mobile device 5 to jacking equipment 4 or from jacking equipment 4 to tipping arrangement, vice versa.

Advantageously, mobile device 5 is made up of two transfer car(buggy)s, and namely the first transfer car(buggy) 17 and the second transfer car(buggy) 18, two transfer car(buggy)s to cooperatively interact synchronizing moving at the mobile phase of tubular element.But, if two transfer car(buggy)s is synchronously realized by electrical control, and completely without Mechanical course, so separate control is carried out to the first transfer car(buggy) 17 and the second transfer car(buggy) 18.At examination phase, this mode of operation is particularly useful.In the prior art scheme, also must provide the complication systems such as a kind of ladder and springboard, such as, to enter tubular element pipe buttress, in order that can check these tubular elements, at term of voyage or before taking-up tubular element.Adopt the solution of the present invention, can not need ladder and springboard completely, because the first transfer car(buggy) 17 and the second transfer car(buggy) 18 are all with at least one operator protection basket 61 (Figure 15, Figure 16), operator can check by controlling respective transfer car(buggy) the tubular element arriving any position in storage area quickly and easily, without the need in person going in storage area, only need treat all the time at transfer car(buggy) 17, in the basket 61 on 18 slide blocks 27.In addition, because can use two transfer car(buggy)s independently, two operators can check from the both sides of buttress simultaneously, and the first operator is on the first transfer car(buggy) 17, and the second operator is on the second transfer car(buggy) 18.

In addition, a kind of automatic inspection system can also be provided, in this system, control device controls to be placed in transfer car(buggy) 17, the movement of the basket 61 on 18 slide blocks, to guide operator to carry out Inspection, like this, operator checks tubular element 6 according to checks sequence under to the control action of control device, and checks sequence corresponds to the laying order of tubular element, thus finds the laying program that any problem also takes possible solution or adjustment tubular element 6 in advance in time.

In addition, also can completely automatically check according to system of the present invention, advantageously, because transfer car(buggy) 17,18 slide block 27 is provided with vision-based detection or measurement mechanism is monitored automatically to deposited tubular element 6.Such as, video camera or sensor device can be used automatically to identify and detect any abnormal conditions, instruction operator needs to carry out intervening or need more accurately to control.Such as, after abnormal conditions being detected, system can show the image of the tubular element 6 abnormal conditions being detected on a monitor, so that operator determines whether this signal is classified as false-alarm signal or true abnormal conditions, or determine to send the operator being responsible for deeply controlling to scene, determine whether tubular element 6 has in fact damaged or available with find problem reason.Advantageously, people will it is clear that in this case, and the operator that must carry out controlling operation will not need the tubular element found out in buttress, because operator can be taken to the position at the tubular element place that will check by transfer car(buggy) 17,18 itself.

As previously mentioned, the feature of jacking equipment 4 is, the hypomere of device bracket 57 is arranged to telescopic shape.Like this, the size of bracket 57 should be able to promote tubular element 6, enters into cargo hold downwards or enters in storage area 14.Particularly, so no longer need another cargo hold hoist to be taken out from cargo hold by tubular element, this process is then that some prior art are necessary.Like this, because eliminate again an equipment in cargo hold, the height space of cargo compartment can be saved further, the tubular element 6 of storing greater number can be conveniently used for or reduce ship 1 size, obviously, in both cases, all there is very large benefit.The particularity of the mating system that associated tubular component is different, for mobile device 5, this system is by pin 29, and 30 form, and for jacking equipment 4, this system is made up of bracket 57, like this, the transhipment of tubular element can be carried out between two, and tubular element 6 will never be in without restrained condition, realize sufficient job safety, the movement of tubular element 6 is in all the time and is directed to under in check state.For this reason, tubular element 6 can take out from cargo hold by jacking equipment 4, and is sent to tipping arrangement.Then, tipping arrangement takes out tubular element 6 by the mating system with retractable pin, and this mating system is similar to the mating system with pin of above-mentioned mobile device 5.Tubular element 6 is put on conveyer 3 by tipping arrangement, and when drill ship upper riser special-purpose, this transloading equipment is made up of the device being usually referred to as " cat road ".According to that method being definitely similar to by the agency of, relate to two kinds of different hooking systems of the tubular element 6 used by two kinds of devices, the i.e. use of jacking equipment 4 and tipping arrangement, under operator and tubular element are maximum control and security situation, make the transhipment of tubular element be in completely guiding and constrained state under.

For the standpipe (Figure 34, Figure 35) leaving outside in, the method is extremely simple, because be usually directed to a machine, this machine is made up of bridge crane, after being taken out from its deposit position by standpipe, it is directly discharged on " cat road ".But this structure needing bridge crane is enough large, extended height can arrive wholely deposits reserved area, and standpipe is risen to the height in " cat road ".But, obviously, the purposes according to all devices of the present invention also all can be expanded, in this case, as previously mentioned, there is the advantage being derived from these devices, or be only the combining form of some of them advantage, in order to close cargo hold upper cover, to some restriction requirements on deck, or just to using mobile device 5, and minimized by machine quantity involved in operation, these all no longer exist.

In a word, the present invention is applicable to the movement of tubular element 6 on off-shore operation ship 1.In drill ship situation, described tubular element can be standpipe, or in pipe laying barge situation, described tubular element can be pipe.Such as, pipe laying offshore unit is used to the device building and lay submarine pipeline in seabed.These devices need mobile a large amount of pipe between operational period, and these pipes constitute the pipeline being layed in seabed.In this case, need mobile member to be no longer composite material pipe as standpipe, and they are real pipes, diameter and length can be widely different.Obviously, in this case, mobile also needs changes: object is no longer moved on in " cat road " from cargo hold by pipe, but in all fours mode, provide the supporting vessel of new pipe from special to offshore unit, pipe is loaded in cargo hold, or, take out pipe from cargo hold, be placed on welded pipeline, carry out pre-assembled, then pull deliver to splash line,, then pipe is connected to the pipe parts descending water here, puts into seabed.In this case, it is also apparent for applying advantage of the present invention.

In addition, be worth being appreciated that, the invention provides the moving method of tubular element 6 on ship 1, at least in the storage area 14 of ship 1 itself or from storage area 14 to drainage area 2, vice versa, wherein, tubular element 6 can always move easily under the condition that is substantially tied, and prevents suspended cargo situation from occurring.Particularly, moving method comprises the control system 3,4,5 by tubular element 6, at least one pair of device of 65 carries out the movement of tubular element, and by tubular element 6 from described control system 3,4,5, first equipment of 65 is transferred to the second equipment place of described control system 3,4,5,65.Tubular element 6 is from described control system 3,4,5, and 65 first equipment transfer to the second equipment to be undertaken by the dissimilar grasping of tubular element 6 and transmitting device.Particularly, comprise from the first equipment to the transhipment stage of the second equipment:

A) in the first transhipment stage, comprising:

A1) by the first equipment 5,65 by pin 29,30, in the grasping stage of the tubular element 6 that the coupling device of 66 forms carries out, described pin enters tubular element 6 from tubular element 6 opposite end 11,12;

The mobile phase of the tubular element 6 a2) undertaken by the first equipment 5,65, moves to transhipment position and turns to the second equipment 4,3 by tubular element;

A3) tubular element 6 is put into the bracing or strutting arrangement stage, described bracing or strutting arrangement is located at the second equipment 4, and on 3, and preferably adopt bracket 57 form to make, bracket is provided with the Storage tray 60 for tubular element 6;

A4) by pin 29, the release stage of 30,66 release tubular elements 6;

B) in the second transhipment stage, comprising:

In the grasping stage of the tubular element 6 b1) undertaken by tubular element 6 bracing or strutting arrangement by the second equipment 5,65, described bracing or strutting arrangement is located at the second equipment 4, and on 3, and preferably adopt bracket 57 form to make, bracket is provided with the Storage tray 60 for tubular element 6;

B2) mobile phase undertaken by the second equipment 4,3 pairs of tubular elements 6, shifts to the transhipment position of the first equipment 5,65 by tubular element;

B3) by the first equipment 5,65 by pin 29,30, in the grasping stage that the coupling device of 66 forms carries out tubular element 6, described pin enters in tubular element 6 relative to the opposite end 11,12 of tubular element 6.

Describe the present invention above with reference to accompanying drawing with preferred embodiment, but obviously, for one of ordinary skill in the art, content noted earlier still can carry out multiple possible change, change and variation.Therefore, it is emphasized that the present invention is not limited to explanation noted earlier, but, according to claims, that includes all changes, change and variation.

Claims

1. the control system (3 of the upper tubular element (6) of management of a ship (1), 4,5,65), for the tubular element in the upper storage area (14) of management of a ship (1), or tubular element is moved on to drainage area (2) from described storage area (14), otherwise or, move on to storage area (14) from drainage area (2), it is characterized in that, described control system (3, 4, 5, 65) the described mobile device (5) for described tubular element mobile in described storage area (14) is comprised, described mobile device (5) comprises at least two transfer car(buggy)s (17, 18), described transfer car(buggy) moves along at least one first moving direction (49) and is spaced from each other certain distance (d), each described transfer car(buggy) (17, 18) be all provided with at least one to be used for and the respective end (11 of described tubular element (6), 12) coupling device (29 engaged, 30), described end (11, 12) described joint is equivalent to take out described tubular element (6) by described mobile device (5), to move tubular element (6) described at least one in corresponding described storage area (14).

2. the control system (3,4,5 of the upper tubular element (6) of management of a ship according to claim 1 (1), 65), it is characterized in that, described mobile device (5) comprises at least two described transfer car(buggy)s (17,18), wherein:

-the first transfer car(buggy) (17) is at least mobile along described first moving direction (49) corresponding to the first braced structures (25), and described first braced structures extends in parallel relative to described first moving direction (49);

-the second transfer car(buggy) (18) is at least mobile along described first moving direction (49) corresponding to the second braced structures (62), and described second braced structures extends in parallel relative to described first moving direction (49); Described second braced structures (62) separates with described distance (d) relative to described first braced structures (25).

3. the control system (3 of the upper tubular element (6) of the management of a ship (1) according to any one of above claim 1 to 2,4,5,65), it is characterized in that, each described transfer car(buggy) (17,18) coupling device (29 described at least one is all provided with, 30), at least one coupling device (29 of described first transfer car(buggy) (17), 30) be used for engaging with the first end (11) of the described end (11,12) of described tubular element (6); At least one coupling device (29 of described second transfer car(buggy) (18), 30) be used for and the described end (11 of described tubular element (6), 12) the second end (12) engages, the opposite side that described second end (12) is described tubular element (6) relative to described first end (11).

4. the control system (3 of the upper tubular element (6) of the management of a ship (1) according to any one of above claims 1 to 3, 4, 5, 65), it is characterized in that, comprise at least one control device (63) for controlling at least described mobile device (5), described control device (63) is used for working in coordination with each other and synchronously control described two transfer car(buggy)s (17 according to the first control model, 18) movement, under described first control model, described two transfer car(buggy)s (17, 18) all performed and described two transfer car(buggy)s (17 by control, 18) another identical movement.

5. the control system (3 of the upper tubular element (6) of the management of a ship (1) according to any one of above Claims 1-4,4,5,65), it is characterized in that, comprise for described two transfer car(buggy)s (17 of commander, 18) at least one at least one command device (64) in, described command device (64) is used for controlling in the mode be mutually independent according to the second control model the movement of at least one of described two transfer car(buggy)s (17,18); Under described second control model, described two transfer car(buggy)s (17,18) are all controlled in the mode be mutually independent, to maintain or Inspection described tubular element (6) in described storage area (14).

6. the control system (3 of the upper tubular element (6) of the management of a ship (1) according to any one of above claim 2 to 5,4,5,65), it is characterized in that, described first braced structures (25) and described second braced structures (62) are frame constructions, it is parallel structural member toward each other, and being positioned at the top on described ship (1) deck (16), the described deck (16) of described ship is used for forming the described storage area (14) of described tubular element (6).

7. the control system (3 of the upper tubular element (6) of the management of a ship (1) according to any one of above claim 2 to 5,4,5,65), it is characterized in that, described first braced structures (25) and described second braced structures (62) be the cargo hold of described ship (1) toward each other with parallel wall, the described cargo hold of described ship is used for forming the described storage area (14) of described tubular element (6).

8. the control system (3 of the upper tubular element (6) of the management of a ship (1) according to any one of above claim 1 to 7,4,5,65), it is characterized in that, each described transfer car(buggy) (17,18) comprises the framework (26) extended by second direction (50), and this second direction is substantially vertical and basic orthogonal direction relative to described first direction (49); Described framework (26) be used for drive slide block (27) movement, described slide block (27) vertically moves along described framework (26) and is provided with at least one coupling device (29 described, 30), at least one coupling device (29 described, 30) moved along described first direction by the movement of described transfer car(buggy) (17,18); At least one coupling device described (29,30) is mobile along described second direction (50) by the movement of described slide block (27); The described movement of described coupling device (29,30) constitutes twin shaft mobile system, to move tubular element (6) described at least one in corresponding described storage area (14).

9. the control system (3 of the upper tubular element (6) of management of a ship according to claim 8 (1), 4,5,65), it is characterized in that, transfer car(buggy) described in each (17,18) all comprises block driving device (31), and described block driving device (31) is used for along described framework (26) by the mobile described slide block (27) of described second direction (50); Described block driving device (31) comprises the first motor (35), the rotational motion of self is passed at least one winch (32) by it, this winch is used for being wound around and untiing cable wire (33), and this cable wire is used for along described framework (26) by the mobile described slide block (27) of described second direction (50).

10. the control system (3 of the upper tubular element (6) of management of a ship according to claim 9 (1), 4,5,65), it is characterized in that, described first motor (35) is provided with brake puck (42), and this disk is provided with corresponding brake (43); Or described first motor (35) is provided with one group of brake puck, this group brake puck be positioned at corresponding to described first motor (35) towards on the output shaft of described at least one winch (32), or to be positioned on the power shaft corresponding to described at least one winch (32).

The control system (3 of the upper tubular element (6) of 11. managements of a ship (1) according to any one of above claim 9 to 10,4,5,65), it is characterized in that, described block driving device (31) comprises two described winches (32) and two described cable wires (33), and all by plug-in mounting, described first motor (35) of the first retarding device (48) controls for the two; Described two winches (32) are controlled in the mode of phase mutually synchronization by the single transmission axle be connected on described first retarding device (48); Each in described two winches (32) is used for being wound around wherein in described two cable wires (33); The mechanical resistance properties of each root in described two cable wires (33) is equivalent to the mechanical property of the weight of slide block (27) and the possible load of described tubular element (6) described in necessary independent support.

The control system (3 of the upper tubular element (6) of 12. managements of a ship according to claim 11 (1), 4,5,65), it is characterized in that, described slide block (27) is provided with compensation equipment (86), and this compensation equipment is used for passing through for described two cable wires (33); Described compensation equipment (86) be used for the tractive force between described two cable wires (33) difference effect under select to tilt to side or to opposite side; The difference of the described tractive force between described two cable wires (33) of the described slope compensation of described compensation equipment (86).

The control system (3 of the upper tubular element (6) of 13. managements of a ship according to claim 12 (1), 4,5,65), it is characterized in that, described compensation equipment (86) comprises tongue and groove engagement member, prevents the limit value being tilted beyond machinery setting of described compensation equipment (86); The angle of inclination of described compensation equipment (86) is preferably limited between the +/-15 degree relative to equilbrium position by described tongue and groove engagement member; On this equilbrium position, described two cable wires (33) apply identical tractive force, it is further preferred that be limited between +/-10 degree at the angle of inclination of described compensation equipment (86).

The control system (3 of the upper tubular element (6) of 14. managements of a ship (1) according to any one of above claim 1 to 13,4,5,65), it is characterized in that, each described transfer car(buggy) (17,18) is all included in the lift component (28) of vertical movement between at least two positions, at least one coupling device described (29,30) and described lift component (28) combine and form entirety.

The control system (3 of the upper tubular element (6) of 15. managements of a ship according to claim 14 (1), 4,5,65), it is characterized in that, described lift component (28) is by the vertically movement at least between the two positions of worm screw mobile system, second motor (85) drives described endless screw system, and described second motor (85) is used for controlling described lift component (28) and carries out rising and falling movement along screw rod (72).

The control system (3 of the upper tubular element (6) of 16. managements of a ship (1) any one of above claim 14 to 15 and according to any one of above claim 8 to 11, 4, 5, 65), it is characterized in that, described lift component (28) is arranged on described slide block (27), at least one coupling device (29 described, 30) by the movement of described slide block (27) along described second direction (50) vertically movement, and it is vertical mobile further along described second direction (50) between at least two positions along described slide block (27) body by the movement of described lift component (28).

The control system (3,4,5 of the upper tubular element (6) of 17. managements of a ship (1) according to any one of above claim 1 to 16,65), it is characterized in that, each described transfer car(buggy) (17,18) all comprises the wheel selected from following wheel:

-the first round (20), it is positioned on the first guide rail (19), extends in parallel relative to described first direction (49); The described first round (20) drives described transfer car(buggy) (17 along described first direction (49), 18) slide, and at each transfer car(buggy) (17 of the upper release of described first guide rail (19), 18) weight and the weight of described tubular element handled by described transfer car(buggy) (17,18);

-relative paired second takes turns (22), its Plane of rotation is positioned in the plane of basic horizontal, described second takes turns (22) is used for being connected with the relative both sides of the second guide rail (21) corresponding to orbital fashion, and this track is fastened to described a pair second and takes turns on the centre position between (22);

-relative paired third round (24), its Plane of rotation is positioned in the plane of basic horizontal, described third round (24) is used for being connected with the relative both sides of the 3rd guide rail (23) corresponding to orbital fashion, and this track is fastened on the centre position between described a pair third round (24).

The control system (3 of 18. tubular elements (6) any one of above claim 8 to 16 and on management of a ship according to claim 20 (1), 4,5,65), it is characterized in that, described second takes turns (22) corresponding to putting along the primary importance of framework described in this (26) along described framework (26), described primary importance is equipped with certain distance and the position lower than this second place with relative to the second along described framework (26), and the described second place is the higher position relative to described primary importance; Described third round (24) is put along described framework (26) corresponding to the described second place.

The control system (3 of the upper tubular element (6) of 19. managements of a ship (1) according to any one of above claim 1 to 18,4,5,65), it is characterized in that, each described transfer car(buggy) (17,18) comprises transfer car(buggy) transmission device (37), described transfer car(buggy) transmission device (37) is used for along the mobile described transfer car(buggy) (17,18) of described first direction (49).

20. go up the control system (3 of tubular element (6) according to claim 19 and the management of a ship (1) according to any one of above claim 8 to 18,4,5,65), it is characterized in that, described transfer car(buggy) transmission device (37) comprises three-motor (38), this three-motor is connected by the second retarding device (56) and two transmission mechanisms (39), and described transmission mechanism drives rotating with lower whorl in fourth round (41) respectively:

-top fourth round (41), it is supported by the respective bearing components by means of bearing (47) (46), this top fourth round (41) is arranged at the top relative to described framework (26) bearing of trend along described second direction (50), described top fourth round (41) is gear, and the top the 4th guide rail (40) of itself and rack form is connected;

-bottom fourth round (41), it is supported by the respective bearing components by means of bearing (47) (46), this bottom fourth round (41) is arranged at the bottom of the bearing of trend relative to described framework (26) along described second direction (50), described bottom fourth round (41) is gear, and the bottom the 4th guide rail (40) of itself and rack form is connected;

Term " top " and " bottom " are for described framework (26), and this framework has on " top " that is usually referred to as and " bottom " that extends substantially vertically direction along corresponding to gravity direction.

The control system (3 of the upper tubular element (6) of 21. managements of a ship according to claim 20 (1), 4,5,65), it is characterized in that, described transmission mechanism (39) is universal drive shaft, this universal drive shaft receives the action from described three-motor (38) by described second retarding device (56) thus forms phase mutually synchronization, to be controlled the movement of described transfer car(buggy) (17,18) by described 4th guide rail (40) of rack form.

The control system (3 of the upper tubular element (6) of 22. managements of a ship (1) according to any one of above claim 1 to 21,4,5,65), it is characterized in that, at least one coupling device (29 described, 30) be that at least one can indentation pin, this pin is used for moving between at least two positions, primary importance is wherein the retracted position disengaged with described tubular element (6), the second place is wherein withdrawn position, and this withdrawn position is the bonding station that described pin inserts in the hole (10) of described tubular element (6).

The control system (3 of the upper tubular element (6) of 23. managements of a ship according to claim 22 (1), 4,5,65), it is characterized in that, at least one coupling device described (29,30) is can indentation pin described in a pair, described can indentation pin with mode independent of each other regracting and extraction between described first disengaged retracted position and described joint withdrawn position.

The control system (3 of the upper tubular element (6) of 24. managements of a ship according to claim 23 (1), 4,5,65), it is characterized in that, can comprise the first pin (29) and the second pin (30) that are spaced from each other certain distance by indentation pin described a pair, this distance is greater than described tubular element (6) obstacle on cross section (encumbrance) width.

The control system (3 of the upper tubular element (6) of 25. managements of a ship (1) according to any one of above claim 1 to 24,4,5,65), it is characterized in that, described control system (3,4,5,65) comprise the lifting means (4) for promoting or fall described tubular element (6) between at least two positions, wherein primary importance is the position be connected with described mobile device (5), the second place is and described control system (3,4,5,65) another arranges the position be connected; Described first link position be connected with described mobile device (5) is used to the position of the described lifting means (4) tubular element described at least one (6) being transported to (60) in Storage tray from described mobile device (5); Conversely, described first link position is used to the position that is transported to from the described Storage tray (60) of described lifting means (4) by tubular element described at least one (6) described mobile device (5).

The control system (3 of the upper tubular element (6) of 26. managements of a ship according to claim 25 (1), 4,5,65), it is characterized in that, described lifting means (4) comprises a pair bracket (57), this bracket forms described Storage tray (60), described tubular element (6) leaves in described Storage tray (60) by described mobile device (5), or is taken away by described tubular element (6) from this seat.

The control system (3 of the upper tubular element (6) of 27. managements of a ship according to claim 26 (1), 4,5,65), it is characterized in that, described bracket (57) is provided with can retrac teeth (36), and this can be used for moving between the first position and the second position by retrac teeth; In primary importance, described tooth (36) is retracted, and described Storage tray (60) is soared completely and to move in order to described tubular element (6); In the second place, described tooth (36) turns to described bracket (57), described bracket (57) promotes at it and plays the holding device of described tubular element (6) between decrement phase in described Storage tray (60) inside, the movement of described tooth (36) is undertaken by electric or hydraulic transmission equipment (74), the drive apparatus (74) of preferred movement, this piston to described tooth (36) applied thrust or tractive force, described bracket (57) has described tooth (36) and its chain connection relative to described bracket (57).

The control system (3 of the upper tubular element (6) of 28. managements of a ship (1) according to any one of above claim 26 to 27,4,5,65), it is characterized in that, each described bracket (57) is arranged on respective the first noumenon (58), this the first noumenon is at lifting mobile with when declining mobile along pillar (59) vertical sliding motion, described column (59) drives described the first noumenon (58) mobile, and described pillar (59) is provided with the transmission device of the described the first noumenon (58) of a support described bracket (57).

The control system (3 of the upper tubular element (6) of 29. managements of a ship according to claim 28 (1), 4, 5, 65), it is characterized in that, each described bracket (57) is arranged on and is fitted with on the described respective the first noumenon (58) of the second body (84), each described bracket (57) is arranged on described second body (84), the latter and then at the upper vertical sliding motion of described the first noumenon (58), described the first noumenon (58) is for sliding at lifting mobile with when declining mobile along described pillar (59), described second body (84) is for sliding at lifting mobile with when declining mobile along described the first noumenon (58), the movement of described second body (84) forms the extension of bracket (57) movement by described the first noumenon (58).

30. according to above any one of claim 25 to 29 and the control system (3 according to the upper tubular element (6) of claim 7 and the management of a ship (1) according to any one of according to Claim 8 to 24,4,5,65), it is characterized in that, described mobile device (5) is used for moving the described tubular element (6) of the described storage area (14) being positioned at the upper described cargo hold form of described ship (1); Further, described mobile device (5) is connected with described lifting means (4) and coordinates, this lifting means (4) to be used between the described storage area (14) and the described deck (16) of described ship (1) of described ship (1) mobile described tubular element (6), and described lifting means (4) promotes between as upper/lower positions or falls tubular element as described at least one:

First of-described tubular element between described mobile device (5) and described lifting means (4) connects and transhipment position, described first connect and transhipment position relative to the described cargo hold form of described ship (1) described storage area (14) and be positioned at inside;

-in described lifting means (4) and described control system (3,4,5,65) the described tubular element between another equipment second connect and transhipment position, described second connect and transhipment position relative to the described cargo hold form of described ship (1) described storage area (14) and be positioned at outside.

The control system (3 of the upper tubular element (6) of 31. managements of a ship (1) according to any one of above claim 25 to 30, 4, 5, 65), it is characterized in that, described control system (3, 4, 5, 65) tipping arrangement (65) is comprised, it is used for being connected with described lifting means (4) and coordinating with it, described tipping arrangement (65) is provided with arm (78), this arm is used for tilting to tubular element described at least one (6) between the Support Position in described Storage tray (60) and the Support Position on transporter (3), this transporter (3) is used for described tubular element (6) to be transported to lays district (2), or described tubular element (6) is taken away from the loading area described ship (1).

The control system (3 of the upper tubular element (6) of 32. managements of a ship according to claim 31 (1), 4, 5, 65), it is characterized in that, described tipping arrangement (65) comprises a pair parts, i.e. first component (68) and second component (69), these a pair parts is mutually aimed at by the direction corresponding to described tubular element width and is spaced from each other certain distance, this distance is greater than the width of tubular element (6), described first component (68) and described second component (69) include pair of supporting members (77), this supporting member is connected through the hinge device to support rotatable described arm (78), the center of rotation of the arm (78) of first component (68) is aimed at the center of rotation of the arm (78) of second component (69), described arm (78) rotates along the plane be parallel to each other.

The control system (3 of the upper tubular element (6) of 33. managements of a ship according to claim 32 (1), 4,5,65), it is characterized in that, described arm (78) is rotated by a pair gear (81) control, and described gear is positioned on same operating axis, corresponding tooth trace (80) on the operation wing plate (79) of arm (78) described in each gear driven, this operation wing plate and arm itself form entirety.

The control system (3 of the upper tubular element (6) of 34. managements of a ship (1) according to any one of above claim 32 to 33, 4, 5, 65), it is characterized in that, can the coupling device of indentation pin form carry out by the 3rd by means of the grasp motion of described tipping arrangement (65) to described tubular element (6), 3rd can be located on described arm (78) by indentation pin (66), 3rd pin (66) of the arm (78) of this first component (68), according to the direction of engagement of described tubular element and the off-direction with described tubular element (6), selling (66) with the 3rd of the arm (78) of second component (69) coordinates mobile, described direction of engagement corresponds to the direction close to each other of described 3rd pin (66), described off-direction corresponds to the direction be separated from each other of described 3rd pin (66), described 3rd pin (66) is inserted in described tubular element (6) by close to each other the relating to of described 3rd pin (66), direction of insertion relative to the two in direction toward each other.

The control system (3 of the upper tubular element (6) of 35. managements of a ship (1) according to any one of above claim 22 to 34,4,5,65), it is characterized in that, described pin (29,30,66) substantially quadrangular section, it connects the inside radius that radius is equivalent to described tubular element (6) substantially, and at least one contact site of described basic quadrangular section can be covered by soft or friction material.

The control system (3 of the upper tubular element (6) of 36. managements of a ship (1) according to any one of above claim 22 to 35,4,5,65), it is characterized in that, described pin (29,30,66) be used for being positioned at the position of at least part of indentation key seat (92) at pin and sliding between the position that described key seat (92) is extracted out, on withdrawn position, described pin is used for engaging with described tubular element (6); Described pin (29,30,66) moved by pin driver (88), this pin driver carries out extending and drawing-in motion between pin itself and key seat (92), and described pin driver (88) is preferably electrical driver or hydraulic cylinder.

The control system (3 of the upper tubular element (6) of 37. managements of a ship (1) according to any one of above claim 22 to 36,4,5,65), it is characterized in that, described pin (29,30,66) be provided with replaceable head (67), it is used for forming with described tubular element (6) engagement member of described pin.

The control system (3 of the upper tubular element (6) of 38. managements of a ship (1) according to any one of above claims 1 to 37,4,5,65), it is characterized in that, described control system (3,4,5,65) be the control system of tubular element (6) of the riser forms handling drilling equipment.

The control system (3 of the upper tubular element (6) of 39. managements of a ship (1) according to any one of above claims 1 to 37,4,5,65), it is characterized in that, described control system (3,4,5,65) be the control system of tubular element (6) of for handling tubulars form, described pipe is used for being laid on seabed to be interconnected and to be used for being formed submarine pipeline.

40. are used for transporting and/or lay the ship (1) of described tubular element (6), it is characterized in that, that includes the described control system (3 of described tubular element (6), 4,5,65), described control system (3,4,5,65) be the control system (3,4 of the upper tubular element (6) of management of a ship (1) according to any one of above claims 1 to 39,5,65).

41. are used for transporting and/or lay the ship (1) of described tubular element (6), it is characterized in that, described ship is selected from the group comprising drill ship, semisubmersible drilling platform type, further, it comprises the described control system (3 for handling tubular element (6), 4,5,65), described control system (3,4,5,65) be the control system (3,4 for the upper tubular element (6) of management of a ship (1) according to any one of above claims 1 to 38,5,65).

42. are used for transporting and/or lay the ship (1) of described tubular element (6), it is characterized in that, described ship is pipe laying barge, further, it comprises the described control system (3 of the tubular element (6) for for handling tubulars form, 4,5,65), described control system (3,4,5,65) be the control system (3,4 for the upper tubular element (6) of management of a ship (1) according to any one of above claims 1 to 37,5,65).

The method of 43. 1 kinds of upper tubular elements (6) of mobile ship (1), for the mobile tubular element at least corresponded in the upper storage area (14) of ship (1), or tubular element is moved on to drainage area (2) from described storage area (14), otherwise or, move on to storage area (14) from drainage area (2); It is characterized in that, described movement is at least undertaken by the mobile device (5) comprising the first transfer car(buggy) (17) and the second transfer car(buggy) (18), and described movement is carried out as follows:

A) according to mobile described first transfer car(buggy) (17) of at least one first moving direction (49), this first moving direction is relative at least one pipe buttress (52) horizontal-extending in parallel of described tubular element (6), and this first moving direction corresponds to the first mobile route limited by least one corresponding first guide rail (19);

B) according to mobile described second transfer car(buggy) (17) of at least described first moving direction (49), this first moving direction corresponds to the second mobile route limited by least one corresponding first guide rail (19); Described second mobile route extends in parallel relative to described first mobile route of described first transfer car(buggy) (17), and described second mobile route and described first mobile route separated by a distance, this distance is greater than the development length of described tubular element (6);

C) coordinate the movement of described first transfer car(buggy) (17) and described second transfer car(buggy) (18), described coordination is used to, along described first mobile route, described first transfer car(buggy) (17) is moved to primary importance; Described primary importance is equivalent to the primary importance along described first path, this position is the primary importance along horizontal coordinate, under this coordinate, there is the specific tubular element (6) of the described tubular element (6) taken out from described pipe buttress (52); Or this position is the primary importance along horizontal coordinate, under this coordinate, the described specific tubular element (6) of described tubular element (6) must be deposited; Described coordination is also used for, along described second mobile route, described second transfer car(buggy) (18) is moved to primary importance; Described primary importance is equivalent to the primary importance along described second path, this position is the primary importance along horizontal coordinate, under this coordinate, according to the aligning direction in the development length direction corresponding to described specific tubular element (6), described second transfer car(buggy) (18) is in the state of mutually aiming at described first transfer car(buggy) (17);

K) coupling device (29 of described first transfer car(buggy) (17) is started by this way, 30), engage to the corresponding first end (11) piling up neatly the described specific tubular element (6) taken out in (52) from described pipe by coupling device (29,30);

M) coupling device (29 of described second transfer car(buggy) (18) is started by this way, 30), engage to corresponding second end (12) of piling up neatly the described specific tubular element (6) taken out in (52) from described pipe by coupling device (29,30); Described second end (12), relative to the bearing of trend of the described specific tubular element (6) taken out from described pipe buttress (52), is the opposite side of described first end (11);

P) at described coupling device (29,30), under the state engaged with the described first end (11) and the second end (12) of piling up neatly the described specific tubular element (6) taken out in (52) from described pipe, mutually coordinate and synchronously move described first transfer car(buggy) (17) and described second transfer car(buggy) (18).

The method of 44. moving tubular members according to claim 43 (6), it is characterized in that, it comprises the steps further, and these steps are relative to described stage c) be subsequently or simultaneously or stage formerly:

D) according to first slide block (27) of mobile described first transfer car(buggy) (17) of at least one second moving direction (50); Correspond to the 3rd mobile route limited by least one first framework (26) of described first transfer car(buggy) (17), this second moving direction vertically extends in parallel relative to described at least one pipe buttress (52) of described tubular element (6); Described first framework (26) is used for driving described first slide block (27) mobile according to described second moving direction (50);

E) according to second slide block (27) of mobile described second transfer car(buggy) (17) of at least described second moving direction (50); This second moving direction corresponds to the 4th mobile route limited by corresponding second framework (26) of described second transfer car(buggy) (17); Described second framework (26) is used for driving described second slide block (27) mobile according to described second moving direction (50);

F) movement of described first slide block (27) of described first transfer car(buggy) (17) and described second slide block (27) of described second transfer car(buggy) (18) is coordinated; Described coordination is used to described first slide block (27) of described first transfer car(buggy) (17) to move to the second place along described 3rd mobile route, the described second place corresponds to the second place along described 3rd path, the described second place is the second place along vertical coordinate, under this coordinate, there is described specific tubular element (6); Described coordination is also used for, along described 4th mobile route, described second slide block (27) of described second transfer car(buggy) (18) is moved to the second place, the described second place corresponds to the second place along described 4th path, the described second place is the second place of the mutual coordination movement according to described slide block (27), has described specific tubular element 6 in the described second place).

The method of 45. moving tubular members according to claim 44 (6), is characterized in that, it is included in described stage f further) after following steps:

G) according at least described second moving direction (50), mobile the first lift component (28) be arranged on described first slide block (27) of described first transfer car(buggy) (17);

H) according at least described second moving direction (50), mobile the second lift component (28) be arranged on described second slide block (27) of described second transfer car(buggy) (17);

I) described first lift component (28) of described first transfer car(buggy) (17) and described second lift component (28) of described second transfer car(buggy) (18) is coordinated, described coordination is used to according to mutually coordinating mobile, described first lift component (28) of described first transfer car(buggy) (17) and described second lift component (28) of described second transfer car(buggy) (18) are moved to the position along vertical coordinate, corresponding to this position having lifting means (4), this lifting means (4) is used for being connected with described mobile device (5), described specific tubular element (6) is transported to described lifting means (4) from described mobile device (5), otherwise or, be transported to described mobile device (5) from described lifting means (4).