阅读说明：本技术 具有多个夹持件的管路支承系统 (Pipeline support system with multiple clamps ) 是由 J·D·克鲁克珊克 于 2019-09-27 设计创作，主要内容包括：本发明涉及一种用于在从横摇和俯仰船舶(730)进行管路铺设期间保持高顶部张紧管线(101)的设备和方法。在一个实施方式中,用于将管路支承在船舶上的夹持系统(711、712)包括用于联接到管路的第一夹持件和用于联接到管路的第二夹持件。第二夹持件设置在第一夹持件上方。第一夹持件或第二夹持件中的至少一个相对于第一夹持件或第二夹持件中的另一个可移动。(The present invention relates to an apparatus and method for maintaining a high top tension pipeline (101) during pipelaying from a roll and pitch vessel (730). In one embodiment, a clamp system (711, 712) for supporting a pipeline on a vessel includes a first clamp for coupling to the pipeline and a second clamp for coupling to the pipeline. The second clamping member is disposed above the first clamping member. At least one of the first clamp or the second clamp is movable relative to the other of the first clamp or the second clamp.)

1. A clamping system for supporting a pipeline on a vessel, comprising:

a first clamp for coupling to a pipeline; and

a second clamp for coupling to a pipeline, the second clamp disposed above the first clamp;

wherein at least one of the first clamp or the second clamp is movable relative to the other of the first clamp or the second clamp.

2. The clamping system of claim 1, wherein:

at least one of the first clamp or the second clamp is movable along a longitudinal axis of the pipeline to adjust a distance between the first clamp and the second clamp; and is

At least one of the first or second clamps is rotatable relative to the other of the first or second clamps in at least one plane parallel to the axis.

3. The clamping system of claim 2, wherein each of the first and second clamps is rotatable relative to the other of the first and second clamps in two planes parallel to the axis at the same time.

4. The clamping system of claim 1, further comprising one or more actuators, each of the one or more actuators coupled to the first clamp at a first end and coupled to the second clamp at a second end.

5. The clamping system of claim 4, wherein at least one of the first clamp or the second clamp is movable relative to the other of the first clamp or the second clamp by actuating the one or more actuators.

6. The clamping system of claim 2, further comprising a top structure, wherein the second clamp is translatably coupled to the top structure and the first clamp is rotatably coupled to the top structure.

7. The clamping system of claim 6, wherein:

the second clamp is translatably coupled to the top structure by a plurality of actuators; and is

The first clamp is rotatably coupled to the roof structure by a plurality of links and a plurality of spherical bearings.

8. The clamping system of claim 7, further comprising one or more actuators coupled to the plurality of links, each of the one or more actuators coupled to one of the plurality of links at a first end and coupled to the top structure at a second end.

9. The clamping system of claim 8, wherein each of the one or more actuators comprises a hydraulic cylinder.

10. The clamping system of claim 7, further comprising a platform, the second clamp coupled to the platform below the platform, and the first clamp movable relative to the platform along the longitudinal axis of the pipeline.

11. The clamping system of claim 10 wherein said second clamp is rotatable relative to said platform in at least one plane parallel to said longitudinal axis of said conduit.

12. A method of supporting a pipeline on a vessel, comprising:

coupling a first clamp to a conduit, the conduit including a longitudinal axis;

coupling a second clamp to the pipeline; and

moving at least one of the first clamp or the second clamp relative to the other of the first clamp or the second clamp while clamping the first clamp and the second clamp to the pipeline.

13. The method of claim 12, wherein moving at least one of the first clamp or the second clamp comprises adjusting a distance between the first clamp and the second clamp.

14. The method of claim 12, wherein moving at least one of the first clamp or the second clamp comprises:

rotating at least one of the first clamp or the second clamp relative to the other of the first clamp or the second clamp in at least one plane parallel to the longitudinal axis of the pipeline while clamping the first clamp and the second clamp to the pipeline.

15. The method of claim 12, further comprising:

applying a compressive stress to a portion of the pipeline between the first clamp and the second clamp.

16. The method of claim 12, wherein moving at least one of the first clamp or the second clamp comprises: actuating one or more actuators coupled to the first clamp to move the first clamp relative to a topside structure of the vessel.

17. The method of claim 12, wherein moving at least one of the first clamp or the second clamp comprises: using a rope and a pulley attached to the second clamp to move the second clamp relative to the vessel's topside structure.

18. A clip, comprising:

a plurality of clamping layers comprising one or more lower layers and one or more upper layers disposed above the one or more lower layers, each of the one or more lower layers comprising:

one or more variable squeeze cylinders, and

one or more actuating gripping members; and is

Wherein the pressure within each of the one or more variable squeeze cylinders is maintained at a constant value when the one or more actuating clamp members are in contact with the line.

19. The clip of claim 18, wherein each of the one or more lower layers includes one or more accumulators.

20. The clip of claim 19 wherein each of the one or more upper layers includes one or more actuating clip members to contact the conduit.

Technical Field

Aspects of the present disclosure generally relate to apparatus and methods for maintaining a high top-tensioned pipeline during pipelaying from roll and pitch vessels.

Background

There are many methods of laying deepwater pipelines such as reel laying, J-lay, etc. When using these methods, it is sometimes desirable to retain the tubing in a collar support or tubing clamp to install and weld other lengths of tubing, or to install in-line and second end fittings.

Due to the pipeline's own weight, pipelines laid at deep depths are subjected to high axial loads, which in turn generate high axial stresses in the pipeline wall. Sometimes, the axial stress alone reaches 60-80% of the material yield stress. The axial stress acceptable for installation is set by design specifications.

All vessels roll and pitch due to wave action. When laying a pipeline from a vessel, the pipeline is typically held firmly in pipeline clamps (close to the "Encastre" support condition). The pipe at the base of the clamp is not only subjected to high axial stresses, but also via high bending stresses due to the roll and pitch motions of the vessel. Fig. 1 shows a conventional single friction clamp 100 having a tubing 101 suspended therefrom. Arrows 102 and 103 show axial and bending stresses in the pipeline 101, respectively.

The total stress in the pipeline is the sum of the axial and bending stresses that are applied to the pipeline 101 each time the vessel rolls or pitches, resulting in cyclic stresses. The magnitude of the bending stress is the product of the applied axial load and the roll or pitch angle. Cyclic bending stresses can lead to fatigue failure of the pipeline 101 in the region directly below the clamp 100, which is the region where the pipeline 101 is subjected to high combined axial/bending stresses.

Fig. 2A shows the axial and bending stress distribution along one side of the axial length of a portion of the pipeline 101 below the conventional single friction clamp 100 of fig. 1. Fig. 2B shows the axial and bending stress distribution along the other side of the axial length of the portion of the pipeline 101 below the conventional single friction clamp 100 of fig. 1. Fig. 2A and 2B illustrate stress distribution along opposite sides of a portion of a pipeline 101 below the conventional single friction clamp 100 of fig. 1, where fig. 2A illustrates one side of the pipeline being (at least partially) compressed according to bending stress and fig. 2B illustrates the other side of the pipeline being tensioned according to bending stress. Thus, fig. 2A shows the resulting stresses 203A from positive axial stress 201A (tensioning the pipeline) and negative bending stress 202A (compressing the pipeline), where the resulting stresses 203A on the pipeline are shown as being generally positive and tensioning the pipeline. Thus, fig. 2B shows the resulting stress 203B from positive axial stress 201B (tensioning the pipeline) and positive bending stress 202B (also tensioning the pipeline), where the resulting stress 203B on the pipeline is shown as being generally positive and tensioning the pipeline. The resulting stress 203B for the side of the pipe in fig. 2B is generally greater than the resulting stress 203A for the side of the pipe in fig. 2A. As the vessel rolls and rolls from side to side, each side of the pipeline may cycle between the stress profile shown in fig. 2A and the stress profile shown in fig. 2B, and vice versa. Fig. 2A and 2B also do not show the stresses that may be applied to the axial length of the portion of pipeline 101 in accordance with the heave of the vessel (e.g., up and down motion of the vessel), which may alter the axial stresses distributed to the pipeline. Fig. 2A and 2B focus on the roll and pitch of the vessel.

Conventionally, to reduce fatigue damage to the pipeline 101, the clamping time is shortened. The J-lay technique, in which a pipeline is laid by welding successive portions of the pipeline together, is particularly sensitive to the time that the pipeline 101 can remain in the clamp 100 before the fatigue limit is exceeded. To provide sufficient time for the welding operation, more stable (e.g., larger) vessels are often used, thereby increasing the project cost and daily rate of pipeline installation.

Accordingly, there is a need for an improved apparatus and method for maintaining a high top tension pipeline during pipelaying from roll and pitch vessels.

Disclosure of Invention

Aspects of the present disclosure generally relate to apparatus and methods for maintaining a high top-tensioned pipeline during pipelaying from roll and pitch vessels.

In one embodiment, a clamp system for supporting a pipeline on a vessel includes a first clamp for coupling to the pipeline and a second clamp for coupling to the pipeline. The second clamping member is disposed above the first clamping member. At least one of the first clamp or the second clamp is movable relative to the other of the first clamp or the second clamp.

In one embodiment, a method of supporting a pipeline on a vessel includes connecting a first clamp to the pipeline. The conduit includes a longitudinal axis. The method includes coupling a second clamp to the pipeline. The method further includes moving at least one of the first clamp or the second clamp relative to the other of the first clamp or the second clamp while clamping the first clamp and the second clamp to the pipeline.

In one embodiment, the clamp comprises a plurality of clamping layers including one or more lower layers and one or more upper layers disposed above the one or more lower layers. Each of the one or more lower decks includes one or more variable squeeze cylinders, and one or more actuating clamp members. The pressure within each of the one or more variable squeeze cylinders is maintained at a constant value while the one or more actuating clamp members are in contact with the line.

Drawings

So that the manner in which the above recited features of the present disclosure can be understood in detail, a more particular description of the disclosure, briefly summarized above, may be had by reference to embodiments, some of which are illustrated in the appended drawings. It is to be noted, however, that the appended drawings illustrate only exemplary embodiments and are therefore not to be considered limiting of its scope, for the disclosure may admit to other equally effective embodiments.

FIG. 1 illustrates a conventional single friction clamp having tubing suspended therefrom.

FIG. 2A shows axial and bending stress distributions along one side of the axial length of a portion of a pipeline below the conventional single friction clamp of FIG. 1.

Figure 2B shows the axial and bending stress distribution along the other side of the axial length of the portion of the pipeline below the conventional single friction clamp of figure 1.

Fig. 3 illustrates a dual clamp arrangement in a retracted state according to an aspect of the present disclosure.

Fig. 4A and 4B illustrate the dual clamp arrangement of fig. 3 in an extended position according to an aspect of the present disclosure.

Fig. 5A shows a stress profile for a single clamp and a pipe, and a pipe below the single clamp.

Fig. 5B illustrates a dual clamp arrangement without induced axial compression according to an aspect of the present disclosure.

Fig. 5C illustrates a dual clamp arrangement with induced axial compression according to one aspect of the present disclosure.

Fig. 6 illustrates a clamp according to one aspect of the present disclosure.

Fig. 7A-7E illustrate a clamping system according to one aspect of the present disclosure.

To facilitate understanding, identical reference numerals have been used, where possible, to designate identical elements that are common to the figures. It is contemplated that elements and features of one embodiment may be beneficially incorporated in other embodiments without further recitation.

Detailed Description

Fig. 3 illustrates a clamping system or dual clamp arrangement 210 in a retracted state according to one aspect of the present disclosure. The dual clamp arrangement 210 employs two clamps, including a first clamp 211 and a second clamp 212. First clamp 211 is a lower clamp (or collar) that holds some or all of the axial load of pipeline 101 without moment resistance. First clamp 211 may be, for example, a swinging friction or collar clamp that constrains axial movement of conduit 101 but allows conduit 101 to swing. The second clamp 212 is an upper clamp that secures the upper end of the pipeline 101 above the first clamp 211 and constrains the bending moment to allow welding or other operations to be performed at the upper end of the pipeline 101. The second clamp 212 may be a friction or collar clamp that is rigidly supported and constrains the pipeline 101 from swinging. Using dual clamps 211 and 212, high axial stresses are removed a distance below the second clamp 212 (e.g., a moment restraint clamp) by the lower first clamp 211 being in a position where bending moments and bending stresses are low. The separation of the functions of clamps 211, 212 (e.g., moment restraint of second clamp 212 and axial restraint of first clamp 211) reduces damage and fatigue to pipeline 101. Thus, deepwater pipelaying may be performed with a small (and less costly) vessel.

The second clamp 212 is an upper clamp and the first clamp 211 is a lower clamp. The second clamp 212 and the first clamp 211 are operably coupled by an actuator 213. Each of the actuators 213 includes a cylinder body, such as a hydraulic cylinder or a pneumatic cylinder. Actuator 213 is coupled to base 220 of second clamp 212 and to support 221 of first clamp 211. To facilitate relative movement between actuator 213 and clamps 211, 212, actuator 213 is coupled to support 221 at a first end and to base 220 at a second end by a movable connection 222. The movable connection 222 may be a pivot connection, as shown, or a connection type such as a spherical bearing (e.g., ball bearing) or a ball-and-socket joint to provide increased range of motion. In one example, the movable linkage 222 at the upper end of the actuator 213 pivots at 90 degrees relative to the movable linkage 222 at the lower end of the actuator 213. Although aspects of the present disclosure are described with respect to the hydraulic cylinder of actuator 213, other actuating or extending connecting members are also contemplated and need not be cylindrical.

The first clamp 211 is movable relative to the second clamp 212 and/or the second clamp 212 is movable relative to the first clamp 211. The present disclosure contemplates that moving one of first clamp 211 or second clamp 212 relative to the other of first clamp 211 or second clamp 212 may include moving the other of first clamp 211 or second clamp 212. For example, the present disclosure contemplates that moving second clamp 212 relative to first clamp 211 may include actuating actuator 213 to move first clamp 211 while second clamp 212 remains stationary.

Fig. 4A and 4B illustrate the dual clamp arrangement of fig. 3 in an extended position according to an aspect of the present disclosure. The second clamp 212 and the first clamp 211 may be actuated between an extended position, shown in fig. 4A and 4B, and a retracted position, shown in fig. 3, using an actuator 213. When laying larger diameter pipelines, high bending moments may extend a substantial distance below the second clamp 212. In such a case, the first clamp 211 may be lowered axially along the pipeline 101 to a depth where the bending moment is within acceptable limits and then secured to the pipeline 101. In one example, actuation between clamps 211 and 212 may be facilitated by a plurality of actuators 213 (four shown) having, for example, hydraulic or pneumatic cylinders. To facilitate movement of first clamp 211 relative to pipeline 101, first clamp 211 may include a plurality of rollers 225 at its upper and/or lower ends to engage pipeline 101. After clamping both the first 211 and second 212 clamps to the pipeline 101, the actuating cylinder 213 supporting the first clamp 211 is tensioned, thereby taking up some or all of the catenary top tension.

In the example of fig. 4A and 4B, the first clamp 211 of the dual clamp arrangement 210 is fully extended and maintains the axial load of the pipeline 101 without moment constraints, while the second clamp 212 only constrains the bending moment. The first clamp 211 is suspended from the actuator 213 and the annulus pressure can be set to support a particular load while the pressure on the hydraulic accumulator remains constant.

In one embodiment, which may be combined with other embodiments, it is contemplated that the proportion of line top tension supported by first clamp 211 may be adjusted from zero up to a desired value. In doing so, it is contemplated that the tubing 101 between the clamps 211, 212 may be compressed. By using such compression, axial stresses in the pipeline 101 between the clamps 211, 212 can be controlled. Axial stress between the clamping members 211, 212 may be controlled, for example, using the actuators 213, such as by one or more of the actuators 213 changing the amount and/or direction of force applied between the base 201 and the support 221. In one example, the one or more actuators 213 are at least partially retracted to apply compressive stress axially to the pipeline 101 between the clamps 211, 212. In one example, the actuation force applied to actuate the one or more actuators 213 is reduced to apply a compressive stress axially to the conduit 101 between the clamps 211, 212. One or more actuators 213 may pull upward on first clamp 211 to apply compressive stress axially to conduit 101 between clamps 211, 212. In one example, a compressive stress may be applied such that the compressive stress is greater than a bending stress caused by a moment, resulting in little to no tensile bending stress in the pipeline 101.

Thus, the disclosed dual clamp arrangement 210 facilitates reducing or completely eliminating fatigue damage to the pipeline 101 at least in part by mitigating tensile bending stresses induced thereby. This is illustrated by the axial and bending stress distribution in the pipeline 101 between the second clamp 212 and the first clamp 211, as shown in fig. 5 below. However, the present disclosure is not limited thereto, as lower first clamp 211 may not be tensioned relative to upper second clamp 212, such that first clamp 211 does not cause compression in conduit 101 between clamps 211, 212. For example, after lower clamp 211 has been moved to a desired position relative to second clamp 212, actuator 213 or the cylinder of actuator 213 may be locked (e.g., hydraulically locked) such that actuator 213 functions similar to a fixed link. If used as a fixed link, actuator 213 may prevent fluctuating axial stresses (e.g., from the vessel's heave) that translate through first clamp 211 and reach conduit 101 between clamps 211, 212.

The present disclosure contemplates that a linkage may be used in place of actuator 213. For example, a connecting rod having a spherical bearing at each end thereof may be used in place of each actuator 213 in order to reduce costs.

The present disclosure also contemplates that actuators described throughout, such as actuator 213, may be fully extended and locked in place to function as a rigid link.

Fig. 5A-5C illustrate stress profiles according to different clamping configurations. Fig. 5A shows a stress profile 504 of a single clamp 501 and a pipe 503, and the pipe 503 below the single clamp 501. In fig. 5A, axial stress 505 and bending stress 507 are combined into total stress 509. Fig. 5B illustrates a dual clamp arrangement without induced axial compression according to an aspect of the present disclosure. The dual clamp arrangement includes a first clamp 511, a second clamp 513 above the first clamp 511. First clamp 511 and second clamp 513 clamp to conduit 515. Fig. 5B also shows stress distribution pattern 516 of conduit 515 under second clamp 513. In fig. 5B, axial stress 517 and bending stress 519 are combined into total stress 521. In the dual clamp arrangement of fig. 5B, the dual clamp arrangement is fully axially supported by the first clamp 511.

Fig. 5C illustrates a dual clamp arrangement with induced axial compression according to one aspect of the present disclosure. The dual clamp arrangement includes a first clamp 529 and a second clamp 531 above the first clamp 529. First and second clamps 529 and 531 clamp to conduit 533. Fig. 5C also shows a stress profile 535 of the conduit 533 under the second clamp 531. In fig. 5C, axial stress 523 and bending stress 525 combine into total stress 527. Compressive stress is applied axially to a portion of conduit 515 between first clamping member 529 and second clamping member 531. First clamp 529 is used to apply a compressive stress to this portion of tube 515.

As shown in the dual clamp arrangement of fig. 5C, where axial compression is induced between clamps 529, 531, the bending stresses are significantly reduced. In the dual clamp arrangement of fig. 5C, the total stress 527 of the conduit 533 is reduced in this portion between the first and second clamps 529, 531 as compared to the total stress 521 at the same location in fig. 5B and 509 at the same location in fig. 5A.

Fig. 6 illustrates a clamp 611 according to an aspect of the present disclosure. The clamp 611 may be used as one or both of the clamps 211 or 212.

Conventional friction grip clamps comprise multiple layers, each layer supporting a portion of the top tension load. These layers constrain the axial loads and bending moments of the pipeline, providing a very strong "dead-end" support for the pipeline. While conventional friction grip clamps are capable of supporting a pipeline, as described above, such support results in high pipeline stresses due to the combination of axial and bending stresses (as well as high shear stresses) at the base of the clamp.

In contrast, clamp 611 utilizes one or more upper layers 620a-620d (four shown) to provide support for axial moments and bending moments, and one or more lower layers 621a-621c (three shown) as variable rate springs. Variability in the spring rate of the lower layers 621a-621c is achieved by controlling the hydraulic pressure in a variable "squeeze" cylinder, such as cylinder 636 described below. The hydraulic pressure can be maintained at a constant value by accumulators 622 (six shown). This manner of support results in the lower layers 621a-621c of the clamp 611 being more compliant, thereby "weakening" the support of the tubing 101 at the base of the clamp 611. This in turn reduces the bending stresses induced in the pipeline 101. Each accumulator 622 may include a gas side separate from a hydraulic side to help maintain a certain pressure. Accumulator 622 may act as a gas spring.

The illustrated clamp 611 has four upper layers 620a-620d and three lower layers 621a-621c, however, it is contemplated that the clamp 611 can be extended or retracted with a sufficient number of upper and/or lower layers to provide the desired support stiffness.

Each layer 620 of grippers 611 includes a housing 630, one or more actuating gripper members 631 disposed in housing 630, and an inlet 632 at a radially outward end of housing 630 for receiving a signal or fluid to actuate actuating gripper members 631 into engagement with pipeline 101. In one example, fluid enters the cylinder 636 for each actuating clamp member 631 through the inlet 632. Each layer 621a-621c is similarly constructed, but each actuated clamp member 631 further includes a respective accumulator 622 and a respective pressure gauge 634 (one labeled) for each accumulator 622.

In one example, each housing 630 is a cylindrical member configured to radially receive a plurality of actuating clamp members 631 therearound. In one example, each housing 630 is a discrete component configured to house a separate actuation clamp member 631. The actuating clamping members may be disposed at a predetermined angular distance from each other about the pipeline 101, such as 180 degrees, 120 degrees, or 90 degrees.

The present disclosure contemplates that the clamp 611 may be used in a single clamp configuration rather than a dual clamp configuration. In such an example, due to the variability of the spring rate of the lower layers 621a-621c, the clamp 611 does not require a second clamp to adequately relieve the bending stress.

Fig. 7A-7E illustrate a clamping system 710 according to an aspect of the present disclosure. Clamping system 710 includes a lower clamp 711 and an upper clamp 712 for supporting tubing 101. As with the previous embodiment, the lower clamp 711 may be a swinging friction or collar clamp that constrains axial movement of the pipeline 101 but allows the pipeline 101 to swing. Further, the upper clamp 712 is secured to the pipe 101 above the lower clamp 711 and constrains the bending moment to allow welding or other operations to be performed at the upper end of the pipe 101. The upper clamp 712 may be a friction or collar clamp that is rigidly supported and constrains the pipeline 101 from swinging.

The clamping system 710 as shown includes a housing 730 and a top structure 732, such as a tower, coupled to and supported by the housing 730. Top structure 732 is shown rotatably coupled to housing 730 by pin 734. Lower clamp 711 and upper clamp 712 are supported and coupled to top structure 732, such as by each being separately supported and coupled to top structure 732.

The upper clamp 712 may be translatably coupled to the top structure 732, such as by an actuator or pulley 736. As shown, a pulley 736 is coupled to the upper clamp 712, and a winch or trolley can use a cable or tensioner with the pulley 736 to translate and move the upper clamp 712 relative to the overhead structure 732. A rope or tensioner may be attached at a first end to the pulley 736 and at a second end to the top structure 732. The lower clamp 711 is rotatably coupled to the top structure 732, such as by a movable connector or spherical bearing 738 (e.g., a ball bearing). A linkage 740 is used to couple the lower clamp 711 to the top structure 732, and a spherical bearing 738 may be used at one or both ends of the linkage 740 to rotatably couple the lower clamp 711 to the upper structure 732.

As with the aspect shown in fig. 3, 4A and 4B, the lower clamp 711 and the upper clamp 712 are movable relative to each other, such as when each clamp 711, 712 supports the pipeline 101, or when only one of the clamps 711, 712 supports the pipeline 101. For example, the clamps 711, 712 may be moved relative to each other along the longitudinal axis 190 of the pipeline 101 to adjust the distance 750 between the lower clamp 711 and the upper clamp 712. In the aspect shown in fig. 7A-7E, upper clamp 712 and lower clamp 711 can be moved relative to each other along longitudinal axis 190 of pipeline 101 by moving upper clamp 712 relative to overhead structure 732, such as by pulley 736.

The upper and lower clamps 712, 711 may also be moved relative to each other along the longitudinal axis 190 of the pipeline 101 by actuating one or more actuators of each linkage 740 to move the lower clamp 711 relative to the top structure 732. Each of the one or more actuators includes a hydraulic cylinder and/or a pneumatic cylinder and is connected to an accumulator that supplies pressurized fluid to the hydraulic cylinder or the pneumatic cylinder. In one example, one or more actuators are used as the linkage 740 and are coupled at a first end to the lower clamp 711 by a spherical bearing 738 and at a second end to the top structure 732. In one example, as shown in fig. 7A, 7C, and 7D, the one or more actuators are actuators 790 disposed between each link 740 and the top structure 732. Each actuator 790 is coupled to one of the links 740 by a spherical bearing 738 at a first end and is coupled to the top structure 732 by a spherical bearing 738 at a second end.

The one or more actuators of the linkage 740 facilitate the positioning of the lower clamp 711 while the heave of the vessel changes. In one example, the pipeline 101 is laid at an angle relative to the housing 730 and/or the force of gravity 799. In such an example, by rotating the top structure 732 about the pin 734, the top structure 732 is disposed at an angle relative to the housing 730 and/or the force of gravity 799. In such an example, during heave changes of the vessel, the actuator of the linkage 740 can help to maintain the clamp 711 (such as the housing of the clamp 711) at a gap with the pipeline 101 while performing welding or other operations at the upper end of the pipeline 101. In one embodiment, which may be combined with other embodiments, the actuators 790 are arranged in a horizontal manner when the top structure 732 is arranged vertically and parallel to the gravitational force 799.

In one embodiment, which may be combined with other embodiments, the longitudinal axis 190 extends along the geometric center of the pipeline 101.

Further, the lower clamp 711 and the upper clamp 712 may be rotated relative to each other in one or more planes parallel to the longitudinal axis 190 of the pipeline 101. For example, the upper and lower clamps 712, 711 can be rotated relative to each other simultaneously in two planes parallel to the longitudinal axis of the pipeline 101. The lower clamp 711 can swing in one or more directions relative to the upper clamp 712 via a linkage 740 and a spherical bearing 738. Further, each of the clamps 711, 712 may be used for separate functions (e.g., torque restraint of the upper clamp 712 and axial restraint of the lower clamp 711) to reduce damage and fatigue to the pipeline 101.

FIG. 7A shows the X, Y, and Z axes of a top structure 732 that defines an X-Y plane, an X-Z plane, and a Y-Z plane. The lower clamp 711 and the upper clamp 712 may rotate relative to each other in two planes (e.g., an X-Z plane and a Y-Z plane) parallel to the longitudinal axis 190. The lower clamp 711 and the upper clamp 712 may also rotate relative to each other in a plane (e.g., an X-Y plane) perpendicular to the longitudinal axis 190.

In one or more embodiments, one or more different components or structures may be used in place of or in addition to the functions of the linkage 740 and the spherical bearing 738. For example, a universal joint or other support structure may be coupled between the lower clamp member 711 and the housing 730 or top structure 732 such that the upper and lower clamp members 712, 711 can simultaneously rotate relative to each other in two planes parallel to the longitudinal axis 190 of the pipeline 101. The gimbal or support structure may include one or more elastomeric or offset supports positioned between plates or between layered plates, with the lower clamp 711 being supported by the gimbal or support structure. Thus, the lower clamp member 711 may be able to rotate relative to the upper clamp member 712 via a universal joint or support structure.

Still referring to fig. 7A-7E, the clamping system 710 includes a platform 742 that enables access to the pipeline 101. Upper clamp 712 is positioned below platform 742 and is coupled to platform 742. The upper clamp 712 and/or the lower clamp 711 may also move relative to the platform 742. Lower clamp 711 is movable relative to platform 742 along longitudinal axis 190 of pipeline 101 relative to platform 742, such as by pulleys 736. Further, the upper clamp 712 moves relative to the platform 742 by being rotatable in one or more planes parallel to the longitudinal axis 190 of the pipeline 101. For example, an actuator 744 is coupled between platform 742 and upper clamp 712 to actuate and enable movement between platform 742 and upper clamp 712 as desired. Each actuator 744 may include a hydraulic cylinder and/or a pneumatic cylinder. In the event that the vessel, and therefore the enclosure 730 and the top structure 732, is not level, the platform 742 may be rotated relative to the upper clamp 712 to provide a more level environment for personnel on the platform 742 that are approaching the pipeline 101.

The pipeline 101 of the clamping system 710 shown in fig. 7A-7E may be subject to fluctuations in axial and bending stresses due to vessel heave and roll, respectively. For example, due to the heave of the vessel, the pipeline 101 may experience sinusoidal fluctuations in axial stress, particularly below the lower clamp 711. Lower clamp 711 and upper clamp 712 facilitate reducing or eliminating axial and bending stresses in pipeline 101. Since the lower clamp 711 may be used to reduce or remove the axial stress load of the pipeline 101, axial stress may not be applied to the pipeline 101 supported above the lower clamp 711.

Thus, the portion of the pipeline 101 above the lower clamp 711 experiences reduced or eliminated axial stress due to the lower clamp 711. This may particularly occur in embodiments where the clamping system 710 does not cause axial compression into a portion of the pipeline 101 between the clamps 711, 712. As shown, the upper clamp 712 may be used to support the pipeline 101 to remove or limit bending stresses applied in the pipeline 101 above the upper clamp 712. The portion of the pipeline 101 between the clamps 711, 712 may not be subjected to axial stress, but only bending stress. Limiting the axial stress of the pipeline 101 reduces fatigue of the pipeline 101 and promotes an increase in the useful life of the pipeline 101.

Limiting the axial and/or bending stresses of the pipeline 101 also contributes to a wider operating range of the vessel with the clamping system 710. For example, a vessel having a clamping system 710 may be used to lay a pipeline in a wider range of conditions, such as in more severe weather conditions.

While the foregoing is directed to embodiments of the present disclosure, other and further embodiments of the disclosure may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow.