ITUD20130037A1 - "SYSTEM AND METHOD OF MOVEMENT OF TUBULAR ELEMENTS" - Google Patents

Description

SYSTEM AND METHOD OF HANDLING OF TUBULAR ELEMENTS

Technical field

The present invention relates to a system for moving tubular elements on a boat according to the characteristics of the precharacterizing part of claim 1.

The present invention also relates to watercraft according to the characteristics of claims 40 to 42.

The present invention also relates to a method of handling tubular elements according to the characteristics of the precharacterizing part of claim 43.

Definitions

In the present description and in the attached claims, the following terms must be understood according to the definitions given below.

In the course of the present description and in the attached claims with the generic expression â € œnatantsâ €, ships, boats, platforms, floating structures in general and in particular ships for oil drilling, semi-submersible drilling platforms will be indicated.

In the course of this description and in the attached claims with the generic expression â € œtube elementsâ €, both actual pipes suitable for being laid on the seabed or ocean floor by means of pipelaying vessels, and the so-called â € œriserâ € will be indicated, which are tubular elements able to be mutually fixed one after the other to form the drilling pipeline between the vessel and the seabed and in the subsea drilling wells. Prior art

In the field of construction of vessels suitable for oil drilling, a fundamental role is played by the vertical pipeline that connects the vessel to the seabed, at which the well is drilled. This vertical pipeline is composed of elements called â € œriserâ € which are tubular elements that form a vertical or catenary connection pipe between a control valve positioned on the seabed usually called BOP [Blow Out Preventer] and the vessel. Risers are normally flanged tubular elements consisting of a main hole and a certain number of auxiliary lines for the passage of control fluids, as well as floating thrust elements inserted around the structure of the riser itself. For example, the auxiliary lines can include a line for the introduction of sludge (kill line), a line for the recovery of sludge (choke line), two lines relating to the command of the control valve, a pumping line (booster line).

The present invention generally relates to the handling of tubular elements from a storage area present on the boat and means for handling the tubular elements. The present invention, in particular, relates to the handling of risers from a storage area present on the vessel towards the drilling tower. However, it will be evident that the present invention is not limited only to the specific application of the risers but, in general, it is applicable to the handling of generic tubular elements such as for example in the case of pipelayers.

The length of the risers or tubular elements can be of the order of 22-27 meters and the diameter of the main hole can be of the order of 530 - 540 mm but it will be evident in the light of the present description that the invention is It is applicable to tubular elements in general, regardless of the dimensions indicated. In the case of the risers there are further elements called â € œthrust modulesâ € which have the function of reducing the weight in water of the single riser. The weight of the risers can be of the order of 20 - 40 tons. The risers are mutually connected according to different coupling methods which are considered known for the purposes of the present invention.

Each â € œriserâ € is a delicate element that must be properly handled. Particular attention must be paid to picking up from the storage area, typically a parking area on the deck of the vessel or a hold. Furthermore, the handling phase on the deck of the vessel is also very delicate in order to bring the riser towards the drilling tower in order to connect it to the vertical pipe of already positioned risers. The risers, once connected to each other to form the vertical pipe, form the connection between the probe surface of the vessel and the control valve positioned on the seabed usually referred to as â € œBlow Out Preventerâ €. During the actual drilling activities, the drill rods are lowered into the riser. To carry out the drilling activity, drilling fluids are used which are pumped under pressure inside the drill rods which are hollow. Normally drilling fluids consist of drilling muds, specially prepared with the addition of various additives to modify their physical properties. The drilling mud, pumped through the rods, exits the drilling head and then rises to the surface where it is treated to be recycled and pumped back into the well. During the ascent, once the control valve positioned on the seabed is reached, the mud returns to the drilling vehicle passing between the gap between the main hole of the riser and the drilling rods lowered into it. This is in fact the main function of the risers, that is to create a â € œhermeticâ € passage for the ascent of the drilling muds from the seabed to the drilling means.

The tubular elements or risers are usually stored in a covered hold or on the deck of the vessel.

In the solutions of the prior art in which the tubular elements or risers are stored in a covered hold, the movement of the tubular elements takes place by means of bridge cranes which take the tubular elements from storage stacks to bring them to a handling device which in its vault takes them to the deck of the vessel.

In the solutions of the prior art in which the tubular elements or risers are stored on the deck of the vessel, a first handling step takes place by means of overhead cranes or handling cranes.

Once the riser removal phase has been completed, they must be moved in order to deposit them on a transfer device usually known as the `` catwalk '' which is a trolley that allows the risers to be transferred inside the tower. drilling where each tubular element or riser is brought from an essentially horizontal condition to an essentially vertical condition to connect it to the series of risers previously installed to form the vertical pipeline to the seabed or ocean floor where the well closed by the respective valve is dug. check.

For example, a vessel for oil drilling must be able to operate on deep sea or ocean bottoms, where `` high seabeds '' are understood, without limitation for the purposes of the present invention, to marine or oceanic depths of the order of 3000-4000 meters. For example, for a depth of about 3700 meters with a riser of 27.5 meters in length, it will be necessary to move about 135 risers both during the installation phase of the risers themselves and during the recovery phase from the well towards the storage area.

For example, among the solutions of the prior art, some, such as the solution described in WO 2010/000745, provide for the storage of tubular elements according to a storage configuration in which the tubular elements are deposited vertically within a hold, in the sense that the The longitudinal development axis of the tubular element is positioned vertically within the hold. These solutions, in addition to necessarily requiring the use of lifting cranes with the previously described problems inherent to the risks and dangers of managing suspended loads, also require that the bottom of the hold is modified for the assembly of the base supports of the risers themselves, which base supports will have to be replaced, for example if you wish to operate with different risers. Further in these solutions, the extraction of the riser from the hold, being the riser arranged vertically, requires that it be raised for its entire longitudinal extension above the deck of the vessel so that the lower end of the riser protrudes completely from the hold. This operation is considerably dangerous if we consider the length of the risers (even up to almost 30 meters) and their weight (of the order of 20 - 40 tons) in addition to the fact that they must be lifted by a bridge crane on a a boat on the high seas.

Other solutions of the prior art provide for the storage of the risers within a hold of the vessel according to an arrangement in which the longitudinal axis of development in length of the riser or of the tubular element is arranged essentially horizontally. In these solutions, however, the movement from inside the hold towards the deck takes place by means of bridge cranes inside the hold which occupy considerable useful space inside the hold itself which could be used for the storage of other risers. In fact, the internally mounted overhead cranes take away a lot of space in height and also in length and width as they must be able to move along the entire volume of the hold. Furthermore, there are the previously described problems inherent to the risks and dangers of managing suspended loads. In other solutions of this type, the hold is essentially free from overhead cranes but a bridge crane is used which is mounted above and outside the hold, that is, on the deck of the vessel. In these solutions, however, the hold must necessarily be equipped with considerably wide hatches that can guarantee the access of the external bridge crane to the various areas of the hold for picking up and handling the risers. This solution, in addition to the need for large-sized cargo hatches, is also subject to the previously described problems inherent to the risks and dangers of managing suspended loads. Furthermore, having huge access hatches to the hold to allow access by means of the bridge crane outside the hold, the contents of the hold and also the operators being exposed to the elements.

Problems of the prior art

The solutions of the prior art relating to the handling and transfer of the tubular elements from the storage area to the transfer device which transfers them to the drilling tower present various problems.

First of all, in the solutions of the prior art in which the tubular elements or risers are stored in a covered hold and the movement of the tubular elements takes place by means of bridge cranes, both safety problems inherent in the handling of suspended loads on a vessel and efficiency problems are present. in the exploitation of the space available in the hold of the vessel itself. In fact, the bridge crane placed inside the hold occupies a large space for the entire length of the hold itself and this space, intended for the movement of the bridge crane above the stacks of tubular elements, is in fact unused space for storage.

Furthermore, the handling of the tubular elements, which are very heavy, by means of overhead cranes and suspension cables or rigid elements, exposes the tubular elements to impacts that can compromise their tightness or coupling.

Furthermore, the handling process is managed manually by the operators who control the bridge crane or the transfer cranes, without the adoption of automated procedures. Furthermore, the presence of operators in the maneuvering areas exposes the operators themselves to conditions of potential danger.

Furthermore, the lack of automation of the process often constitutes a serious problem in the shift change phases of the operators. In fact, when, after about six months, the operators are replaced with a new crew, there is a reduction in the performance of the crew with a consequent slowdown in the laying operations of the tubular elements.

Furthermore, the solutions of the prior art make the inspection steps of the tubular elements before their removal difficult.

Furthermore, the solutions of the prior art, providing for the assembly of a bridge crane inside the hold of the ship, necessarily require that the installation of the bridge crane takes place during the construction phase of the ship as it must be mounted inside the hold before the hold itself is closed at the top by the respective closing vault which constitutes the deck of the ship. Before the hold is definitively closed, the bridge crane is exposed to bad weather and damage that can compromise its functionality before the ship is launched.

Above all as regards the risers, it is also necessary to take into consideration that in the storage area there are various types of risers depending on the depth at which each riser will operate. It is therefore essential that, both in the operations of loading the risers on the ship and in the unloading phase of the same for their use, the operator follows the correct order of loading and withdrawal to avoid that a riser suitable for operating at low depth is taken to be installed at great depths. Currently, the selection of the risers to be picked up as well as their loading operations are carried out manually by the operators, exposing the procedure to errors that could have serious consequences from an environmental point of view or in any case slowdowns in the operations of picking up or loading the risers.

Further drawbacks of the solutions of the prior art derive from the fact that all the devices involved in the movement of the tubular elements are often considered in isolation starting from the design phase of the ship, but also in the phase of setting up the ship and even in the phase of use of the devices themselves. . In fact, there is no integration of the various systems in a single movement system that allows the guided, safe and reliable movement of the tubular elements along their own movement path from the storage area to the machine that performs the installation, both as regards tubular elements in the form of risers for drilling, both as regards tubular elements in the form of tubes which are laid on the seabed by a vessel in the form of pipelayers.

The handling activities of the tubular elements, particularly in the case of risers, are often made complex due to the number of operations required and the number of different machinery involved which are not mutually coordinated or integrated and which must necessarily be managed manually by individual operators with all the risks associated with handling errors, falling suspended loads, impacts, damage, etc.

As noted above, the risers are not all the same but may differ from each other depending on the depth at which they are suitable to operate. Consequently, a drawback of the prior art systems is that the risers are generally loaded and removed manually by the operators who establish the loading order. An error on the part of the loaders could cause subsequent delays in the installation phase, for example in the event that a riser suitable for operating at great depths (which must be removed before the others) has been loaded on a rack at the bottom and beyond below compared to a series of risers suitable for operating at low depths (which must be removed last). Furthermore, if the installation operators do not notice the error, they could place a riser at great depths that is not suitable for operating at such depths with the risk of breakage which could cause irreparable environmental damage and compromise the safety of the operators.

Purpose of the invention

The object of the present invention is to provide an improved handling device and method for moving tubular elements from the hold of the vessel towards the deck of the vessel itself.

A further object of the present invention is to provide an improved lifting device and method for moving tubular elements on the deck of the vessel itself in order to bring the tubular elements to the transfer device which transfers them to the drilling tower.

Concept of invention

The object is achieved with the features of the main claim. The sub-claims represent advantageous solutions.

Advantageous effects of the invention

The solution in accordance with the present invention, through the considerable creative contribution whose effect constitutes an immediate and not negligible technical progress, has various advantages.

Advantageously, the solution according to the present invention makes it possible to make better use of the space available inside the hold where the tubular elements are stored, obtaining significantly more favorable hold filling coefficients than the prior art solutions. In this way it is possible to alternatively load a greater number of tubular elements on the same vessel or to design vessels of smaller dimensions than the tubular elements that can be loaded, with consequent economic benefits both in the construction phase of the vessel and in the construction phase. exercise of the same.

In general, the solution according to the present invention allows to eliminate the traditional lifting devices, normally consisting of overhead traveling cranes, hold lifts and deck cranes, by replacing them with more effective and safe devices capable of guaranteeing the movement of the tubular elements or risers in conditions of maximum security. Furthermore, a high degree of automation of the handling process of the tubular elements is allowed. Furthermore, the number of passages of the tubular elements or risers between different types of machinery is minimized.

With reference to the inventive handling device which carries out the movement of the tubular elements or risers within the hold of a vessel, the solution according to the present invention allows to solve the safety problems linked to the presence of suspended loads since the solution according to the present invention it allows to obtain a movement of the tubular elements in a locked condition on the handling means, effectively eliminating all conditions of presence of suspended loads. This is further advantageous in that it avoids impacts which can damage the tubular elements themselves. Further advantageously, the solution according to the present invention also allows to completely automate the transfer phase as well as the hold loading phase, so that the operators no longer have to manually maneuver the handling means, reducing the possibility of error and reducing the ™ exposure of operators to dangerous conditions. Furthermore, the solution according to the present invention also allows to maintain high standards of operational efficiency even in the case of crew or operator changes. Furthermore, the solution according to the present invention facilitates the inspection steps of the tubular elements before their removal from the storage stacks and also allows to know with precision and automatically the position of the different types of tubular elements or risers present in the storage stacks. Furthermore, the solution according to the present invention allows the assembly of the devices for moving the tubular elements also on existing ships and, in any case, after the launch of the ship itself, avoiding that the moving devices remain exposed to the elements for long periods of time.

With reference to the inventive lifting device which carries out the movement of the tubular elements or risers in correspondence with the deck of the vessel, the solution according to the present invention allows to operate the movement of the tubular elements or risers on the deck without having to use the on-board cranes and, therefore, completely eliminating the suspended loads, to the benefit of personnel safety and the preservation of the riser from possible damage. This is further advantageous in that it avoids impacts which can damage the tubular elements themselves. Furthermore, an efficient transfer of the tubular elements or risers is advantageously allowed between the pick-up position in the hold or on the deck and the unloading position towards the transfer device with a single operation in a constant condition of locking the tubular element or riser.

Advantageously, the solution according to the present invention makes it possible to obtain a system for handling tubular elements which is able to automatically manage the entire movement of the tubular elements themselves both during the loading phase of the tubular elements within the storage area and during the installation phase of the tubular elements themselves. The system according to the present invention also allows to have a single subject that provides the entire management and handling chain of the tubular elements, to the advantage of the mutual integration of the various constituents of the system and to the advantage of an efficient and safe handling of the tubular elements. themselves.

Advantageously, the solution according to the present invention can be installed on the vessel even once its construction has been practically completed, thus avoiding the need for the equipment and devices of the movement system to be installed in the construction phase of the vessel itself. exposing them to bad weather and environmental conditions that could compromise their efficiency and functionality. Furthermore, a high degree of integration is allowed with the design phase of the vessel itself, which may already be in the design phase predisposed to host the system according to the present invention allowing, with the same capacity of the tubular elements transported, to optimize and therefore reduce the size of the area dedicated to their storage and therefore of the vessel itself, or, for the same size of the vessel, to increase the area intended for their storage.

Further advantageously, the system according to the present invention allows easy and rapid inspection of the tubular elements even when they are stowed within the storage area, which advantageously allows inspection of the same during the navigation phase. Hence, it is possible to save time during the installation operations of the tubular elements themselves, indeed by highlighting in advance and in advance any problems in such a way as to allow the preparation of appropriate corrective actions for the procedure for removing the tubular elements from the storage area, taking into account any anomalies highlighted in the preliminary inspection phase.

Description of the drawings

An embodiment solution is described below with reference to the attached drawings to be considered as a non-limiting example of the present invention in which:

Fig. 1 represents a side schematic view of a drilling vessel made in accordance with the present invention.

Fig. 2 represents a schematic plan view of a tubular element in the form of a riser.

Fig. 3 represents a schematic view of the riser of Fig. 2 according to the point of view indicated with â € œDâ € in Fig. 2.

Fig. 4 schematically represents a sectional view of a craft made in accordance with the present invention.

Fig. 5 schematically represents a side view of a device for moving tubular elements made in accordance with the present invention.

Fig. 6 schematically represents a front view of a device for moving tubular elements made in accordance with the present invention.

Fig. 7 schematically represents an enlarged view of the detail indicated with â € œAâ € in Fig. 6 relating to the device for moving tubular elements made in accordance with the present invention.

Fig. 8 schematically represents a front view of the device for handling tubular elements made in accordance with the present invention in a first handling condition.

Fig. 9 schematically represents a front view of the handling device of Fig. 8 in a second handling condition.

Fig. 10 schematically represents a plan view of the handling device made in accordance with the present invention in a third handling condition.

Fig. 11 schematically represents a plan view of the handling device made in accordance with the present invention in a fourth handling condition.

Fig. 12 schematically represents a side view of the device for moving tubular elements made in accordance with the present invention in two different positioning configurations of the moving slider.

Fig. 13 schematically represents a plan view of a support base of the device for moving tubular elements made in accordance with the present invention.

Fig. 14 schematically represents a side view of the support base of the device for moving tubular elements made in accordance with the present invention.

Fig. 15 schematically represents a side view of only the slider of the device for moving tubular elements made in accordance with the present invention in a first condition for moving the lifting device.

Fig. 16 schematically represents a side view of only the slider of the device for moving the tubular elements of Fig. 15 in a second moving condition of the lifting device.

Fig. 17 schematically represents a view of the means for moving the support base of the device for moving tubular elements made in accordance with the present invention.

Fig. 18 schematically represents an enlarged view of the detail indicated with â € œBâ € in Fig. 17.

Fig. 19 schematically represents a view of a detail of the means for moving the support base of the device for moving tubular elements made in accordance with the present invention.

Fig. 20, Fig. 21, Fig. 22, Fig. 23, Fig. 24 schematically illustrate successive phases of the transfer of the tubular elements between devices of the system for handling tubular elements realized in accordance with the present invention inside a hold.

Fig. 25, Fig. 26, Fig. 27, Fig. 28, Fig. 29, Fig. 30 schematically illustrate successive phases of the transfer of the tubular elements between devices of the system for handling tubular elements realized in accordance with the present invention externally to a hold.

Fig. 31 represents a side schematic view of a first embodiment of the lifting device made in accordance with the present invention.

Fig. 32 represents a side schematic view of the guide of the lifting device of Fig. 31.

Fig. 33 represents a side schematic view of the lifting device of Fig. 31 mounted on the guide of Fig. 32.

Fig. 34 schematically represents a sectional view of a vessel in which the tubular elements are stored on the deck and illustrates the applicability of the solution according to the present invention also in the case of storage of tubular elements on the deck.

Fig. 35 schematically represents an enlarged view of the detail indicated with â € œCâ € in Fig. 34.

Fig. 36 schematically represents a perspective view illustrating the reciprocal position of the lifting and tilting device of the system for handling tubular elements made according to the present invention.

Fig. 37 schematically represents a perspective view illustrating the mutual position of the lifting and overturning device of Fig. 36 following the loading of a tubular element for its movement.

Fig. 38 schematically represents a perspective view of a second embodiment of the lifting device of the system for handling tubular elements made according to the present invention.

Fig. 39 schematically represents a perspective view of the lifting device of Fig. 38 according to a different point of view.

Fig. 40 schematically represents a perspective view illustrating the mechanism for controlling the movement of the tooth of the lifting device of Fig. 38.

Fig. 41 schematically represents a perspective view of an embodiment of the overturning device of the system for handling tubular elements made according to the present invention.

Fig. 42 schematically represents a perspective view of the overturning device of Fig. 41 according to a different point of view.

Fig. 43 schematically represents a perspective view of a different embodiment of the trolley of the device for moving tubular elements made in accordance with the present invention.

Fig. 44 schematically represents a perspective view of a detail of the carriage of Fig. 43.

Fig. 45 schematically represents a front view of a different embodiment of the trolley of the device for moving tubular elements made in accordance with the present invention.

Fig. 46 schematically represents a plan view of the carriage of Fig. 45.

Fig. 47 schematically represents a perspective view illustrating the final stage of depositing the tubular element on a transfer device.

Fig. 48 represents an embodiment of the retractable insertion pin in which the insertion pin is shown in the retracted position.

Fig. 49 represents an embodiment of the retractable insertion pin in which the insertion pin is shown in the extracted position.

Fig. 50, Fig. 51 represent an embodiment of the lifting cable traction balancing system.

Description of the invention

With reference to the figures (Fig. 1), the present invention finds application in the movement of tubular elements (6) from a storage area (14) of a boat (1) towards at least one area for laying (2) or for use of the elements tubular. For example, without limitation for the purposes of the present invention, in the case of an oil drilling vessel [Drillship] or in the case of a semisubmersible drilling rig, the tubular elements will be risers which are taken from a storage area. (14) which could be a hold or a storage area on the deck. The risers (6) are (Fig. 2, Fig. 3) normally flanged tubular elements at a first end (11) and at a second end (12) which are opposite ends with respect to the longitudinal development of the element tubular in the form of a riser. The riser (Fig. 3) comprises a main hole (10) and a certain number of auxiliary lines (13) for the passage of the control fluids, as well as floating thrust elements inserted around the structure of the riser itself. Once the removal phase of one of the risers has been completed, it must be moved in order to deposit it on a transfer device (3) usually known as the â € œcatwalkâ € which is a trolley that allows you to transfer the risers inside (Fig. 1) of the drilling tower (2) where each tubular element or riser is brought from an essentially horizontal condition to an essentially vertical condition to connect it to the series of risers previously installed to form the vertical pipe (7) up to the seabed or ocean floor (9) where the well closed by means of the respective control valve (8) is dug.

Although explicit reference will be made in the following of the present description to the solution relating to the application of the present invention for ships for oil drilling [Drillship] or semi-submersible drilling rigs [Semisubmersible drilling rig] and, therefore, explicit reference will be made to the handling of risers, it will be It is clear that the present invention is generically applicable to the field of boats (1) in which it is necessary to move tubular elements (6) from a storage area (14) to a laying or use area (2).

As previously explained, the tubular elements (6) or the risers can be stored within an internal storage area (14) such as a vessel hold (1) or they can be stored in correspondence with an external storage area (14), such as a boat deck (1). Although the solution according to the present invention is particularly advantageous in the case of an internal storage area (14) such as for example a hold of the vessel (1), it also has advantageous solutions for application in the case of a storage area (14). external such as a boat deck (1). In fact, as it will be evident in the light of the following description, the system according to the present invention is also applicable to the racks within which the tubular elements are deposited on the bridge and is advantageous in that bridge cranes or handling cranes which involve the risks and dangers previously described with reference to the handling conditions of suspended loads.

In particular, the present invention advantageously exploits the reciprocal combination and coordination of the movement of the tubular elements (6) which is operated by means of at least two distinct devices which coordinate one with the other to obtain a guided movement of the tubular elements. from a storage area (14), preferably a hold of the vessel (1), to an area for laying (2) or using the tubular elements, which, for example in the case of a vessel for oil drilling, may be (Fig. 1 ) an drilling tower (2).

A first inventive device is (Fig. 4, Fig. 5, Fig. 6, Fig. 8, Fig. 9, Fig. 10, Fig. 11, Fig. 12) a handling device (5) which is able to manage the movement of tubular elements in the storage area (14):

- both as regards the operations of depositing the tubular elements (6) within the storage area (14) during the loading of the vessel (1); - both as regards the operations of picking up the tubular elements (6) from the storage area during their use in order to manage the movement of the tubular elements (6) from the storage area (14) of the vessel (1) towards the area of installation (2) or use of the tubular elements;

- both as regards the operations of handling the tubular elements (6) during their recovery by managing the movement from the transfer machinery (3) of the tubular elements (6) to the storage area (14) of the vessel.

The handling device (5) interfaces and coordinates (Fig. 20, Fig. 21, Fig. 22, Fig. 23, Fig. 24) with a lifting device (4), which is able to manage the movement of the tubular elements between the storage area (14) and the deck (16) of the vessel (1):

- both as regards the operations of depositing the tubular elements (6) within the storage area (14) during the loading of the vessel (1);

- both as regards the operations of picking up the tubular elements (6) from the storage area during their use in order to manage the movement of the tubular elements (6) from the storage area (14) of the vessel (1) towards the area of installation (2) or use of the tubular elements;

- both as regards the operations of handling the tubular elements (6) during their recovery by managing the movement from the transfer machinery (3) of the tubular elements (6) to the storage area (14) of the vessel.

Furthermore, the lifting device (4) can interface with cranes or handling means, such as a tipper, designed to move the tubular element (6) or the riser between the bridge (16) and the laying area (2 ) or use of tubular elements. For example, in the case of an oil drilling vessel, the lifting device (4) can interface with a crane or other device for handling the riser from the lifting device (4) to a transfer device which can be a transfer device (3 ) towards the drill tower (2). The transfer device (3) could for example be a transfer device of the type usually known by the name of "catwalk", which is considered known for the purposes of the present invention.

In the solutions of the prior art, since the tubular elements are not completely guided during the handling phases, but are subject to transfers under suspended load conditions, in addition to the fact that the various handling systems are often the subject of separate supplies and designs , all the described handling operations between the storage area (14) and the bridge (16) or the laying area (2) are carried out by means of manual controls by the operators who are thus directly exposed to dangers during the handling of the tubular elements and who they can cause damage to the tubular elements themselves.

The main components of the innovative system developed, on the other hand, can interact and coordinate each other to automatically manage the entire movement of the tubular elements.

In particular, the handling device (5) that manages the movement of the tubular elements in the storage area (14) consists (Fig. 4, Fig. 8, Fig. 9) by a pair of trolleys (17, 18) which are able to translate (Fig. 4, Fig. 5, Fig. 10, Fig. 11, Fig. 12, Fig. 14) along a first direction (49) in the gap (51) between the stack (52) or column ( 15) of risers or tubular elements (6) and a supporting wall or structure (25, 62) whose function will be explained in greater detail in the following of the present description. The first trolley (17) and the second trolley (18) of the handling device (5) are positioned at opposite ends of the storage area (14), i.e. they are positioned on opposite sides with respect to at least one stack (52) of tubular elements and in particular they are positioned on opposite sides of at least one stack (52) which are the opposite sides in correspondence of the first end (11) and the second end (12) of the tubular elements (6), that is ̈ the ends (11, 12) of the tubular elements on which there are the main holes (10) and any holes of the auxiliary lines (13) of the risers or tubular elements (6). The first carriage (17) and the second carriage (18) of the handling device (5) are each equipped with a base (44) which is sliding (Fig. 5, Fig. 6, Fig. 7, Fig. 10 , Fig. 11) in the first direction (49) by means of first wheels (20) which rest on a first guide (19) which has both the purpose of guiding the sliding of the base (44) and of discharging the weight of both the respective trolley (17, 18) and of the tubular element supported by the pair of trolleys (17, 18) themselves. The first trolley (17) and the second trolley (18) of the handling device (5) are each equipped with a substantially vertical frame (26) which is integral with the base (44) and can be moved jointly and integrally with the base. The substantially vertical frame (26) develops for a corresponding height but lower than the height of the hold or of the storage area (14). A slider (27) slides vertically on the frame (26). The slider (27) is equipped with at least one engagement means (29, 30) with a corresponding one of the ends (11, 12) of the tubular elements (6). Since the handling device (5) consists (Fig. 4, Fig. 8, Fig. 9) of a pair of carriages (17, 18) each equipped with a base (44) sliding in a first direction ( 49) and since on each base (44) there is mounted a corresponding frame (26) able to constitute a support and guide element for the movement according to a second substantially vertical direction (50) with a corresponding cursor (27) equipped of engagement means (29, 30) with a corresponding one of the ends (11, 12) of the tubular elements (6), it is possible to coordinate the movement of the two carriages (17, 18):

- move the first trolley (17) so that the corresponding base (44) slides in the first direction (49) on the first guide (19) until the base (44) is positioned in correspondence (Fig. 4, Fig. 8) , Fig. 10, Fig. 11) of a position along the first direction (49) which corresponds to a stack (52) of tubular elements (6) on which there is (Fig. 20) a specific tubular element (6) adapted to to be withdrawn;

- move the second trolley (18) so that the corresponding base (44) slides in the first direction (49) on the first guide (19) until the base (44) is positioned in correspondence (Fig. 4, Fig. 8) , Fig. 10, Fig. 11) of a position along the first direction (49) which corresponds to a stack (52) of tubular elements (6) on which there is (Fig. 20) a specific tubular element (6) adapted to to be withdrawn;

- move the cursor (27) of the first carriage (17) so that it slides in the second direction (50) on the frame (26) of the first carriage (17) until the cursor (27) is positioned in correspondence (Fig. 4, Fig. 8, Fig. 10, Fig. 11) of a position along the second direction (50) which corresponds to the height position on the stack (52) of the specific tubular element (6) adapted to be picked up from the stack (52 ) of tubular elements (6);

- move the cursor (27) of the second carriage (18) so that it slides in the second direction (50) on the frame (26) of the second carriage (18) until the cursor (27) is positioned in correspondence (Fig. 4, Fig. 8, Fig. 10, Fig. 11) of a position along the second direction (50) which corresponds to the height position on the stack (52) of the specific tubular element (6) adapted to be picked up from the stack (52 ) of tubular elements (6);

- actuation (Fig. 8, Fig. 10) of the engagement means (29, 30) of the slider (27) of the first carriage (17) so that the engagement means (29, 30) engage with a corresponding first end (11) of the specific tubular element (6) adapted to be picked up from the stack (52) of tubular elements (6); - actuation of the engagement means (29, 30) of the slider (27) of the second carriage (18) so that the engagement means (29, 30) engage with a corresponding second end (12) of the specific tubular element ( 6) adapted to be picked up from the stack (52) of tubular elements (6);

- moving (Fig. 9, Fig. 21) in a mutually coordinated and synchronized way the slider (27) of the first trolley (17) and the slider (27) of the second trolley (17) so that they slide in a mutually coordinated way and synchronized according to the second direction (50) with lifting of the specific tubular element (6) able to be picked up from the stack (52), this lifting taking place at least up to a condition in which the specific tubular element (6) able to be picked up by stack (52) is outside the overall height of any other stacks (52) of tubular elements present in the same storage area (14) in which the specific tubular element (6) is located, suitable for being picked up from the stack (52 ), preferably such lifting occurring at least up to a condition in which the specific tubular element (6) adapted to be picked up from the stack (52) is aligned in height with a transfer position nto of the tubular element from the handling device (5) towards the lifting device (4) which carries out the subsequent handling phase of the tubular element;

- moving (Fig. 21, Fig. 22) in a mutually coordinated and synchronized way the first trolley (17) and the second trolley (18) so that the corresponding base (44) of the first trolley (17) and that the corresponding base (44) of the second carriage (18) slide in a mutually coordinated and synchronized manner according to the first direction (49) on the respective first guides (19) until the bases (44) are positioned at a position along the first direction (49) ) which corresponds to a longitudinal alignment position with a transfer position of the tubular element from the handling device (5) to the lifting device (4).

At this point, the tubular element can be transferred from the handling device (5) to the lifting device (4) which carries out the subsequent handling phase of the tubular element and which will be described later in this description. As will be evident, advantageously, the described system can also operate according to the opposite sequence to carry out the loading of the tubular elements or risers (6) from the lifting device (4) towards the stacks (52) within the storage space. Although not shown, it will be evident that the stacks (52) will be equipped with containment elements able to receive one or more rows of tubular elements or risers (6) arranged in columns, in a very similar way to the containment elements (53) shown with refer to the deck storage solution (Fig. 34).

Preferably, the engaging means (29, 30) of the slider (27) are made in the form of pins which are inserted into the main hole (10) of the tubular element. However, it will be evident that different embodiments of the engagement means (29, 30) are also possible, which can be considered equivalent and as such fall within the scope of the present invention. The solution with the pins provides that each slider (27) is equipped with at least one respective retractable pin (29, 30) capable of carrying out an insertion or disconnection movement with respect to the main hole (10) of the tubular element. The actions of:

- insertion of one of the pins (29, 30) of the slider (27) of the first carriage (17) into the main hole (10) of the tubular element at the first end (11) of the tubular element;

- insertion of one of the pins (29, 30) of the slider (27) of the second carriage (18) into the main hole (10) of the tubular element at the second end (12) of the tubular element;

constitute a gripping action of the tubular element (6) which is thus tightened at opposite ends (11, 12) by means of the described engagement means (29, 30) of the first trolley (17) and of the second trolley (18) which from this moment onwards constitute mutually coordinated movement means constituting as a whole the movement device (5).

The handling device (5) described is in practice constituted by a pair of mutually coordinated translating columns which are positioned at the two ends of the storage area (14). The described handling device (5) allows the tubular elements to be moved within the storage area both transversely, that is, according to the first direction (49) and vertically, that is, according to the second direction (50). Furthermore, the described handling device (5) allows to reach any position of the storage area (14). The two translating columns of the handling device (5) are not physically constrained to each other, as usually occurs in a bridge crane, but their alignment and coordination is guaranteed by the automation system of the machinery itself. This brings the advantage that, for the same function, the system is lighter and less bulky, which allows a reduction in the height of the hold or alternatively an efficient exploitation of the height of the existing hold. Furthermore, the device is much more compact than a bridge crane usually used, allowing it to be installed on the vessel (1) even once the construction of the vessel has been completed, so that the handling device (5) is not exposed. to bad weather or to shocks during the construction phase of the vessel itself.

The handling device (5) further presents advantageous solutions to allow efficient filling of the storage area (14), whether it is placed inside a hold (Fig. 1, Fig. 4, Fig. 20, Fig. 21, Fig. . 22, Fig. 23, Fig. 24) of the vessel (1) whether it is placed (Fig. 34, Fig. 35) on the deck (16) of the vessel.

In the solution in which the storage area (14) is located (Fig. 34, Fig. 35) on the deck (16) of the vessel (1), the system is in any case advantageous as it allows also in this case to avoid recourse to bridge cranes or cranes with the consequent problems inherent in the handling of suspended loads which expose operators to dangerous conditions and which expose the tubular elements (6) to possible impacts and damage. Even in the case of application of the inventive system with the storage area (14) placed (Fig. 34, Fig. 35) on the deck (16) of the vessel (1), it is possible to obtain a completely guided movement of the elements tubular (6) which avoids the presence of suspended loads and allows a high degree of automation of the process.

A first particularly advantageous solution consists in the fact that the slider (27), which is itself movable vertically on the frame (26) according to the second direction (50), is further equipped (Fig. 15, Fig. 16 ) of an elevation element (28) which is itself vertically movable along the body of the cursor (27) according to the second direction (50). The fact of having the lifting element (28) movable vertically on the body of the slider advantageously allows to optimize the filling of the hold as it must be observed that the engagement means (29, 30) must be placed at a height such as to allow to them to deposit and withdraw (Fig. 12) the tubular elements at the bottom of the hold or the deck floor. Furthermore, the engagement means (29, 30) must be placed at a height such as to allow the transfer (Fig. 21, Fig. 22, Fig. 23) of the tubular elements (6) onto the lifting device (4). These two requirements for the means of engagement (29, 30) are mutually conflicting in that:

- to deposit and withdraw (Fig. 12) the tubular elements at the bottom of the hold or the deck floor, the engagement means (29, 30) must be placed as low as possible on the slider (27);

- to allow the transfer (Fig. 21, Fig. 22, Fig. 23) of the tubular elements (6) to the lifting device (4) the engagement means (29, 30) must be placed as high as possible on the slider (27) in order to fill the hold as much as possible in height;

The fact of having an elevation element (28) which is itself movable vertically along the body of the slider (27) according to the second direction (50) allows the engagement means (29, 30) to be moved vertically and, therefore , the tubular element supported by them in such a way as to allow the tubular element to rest on the ground and also to lift it beyond the maximum permitted height of the stacks (52) for the transfer of the tubular element from the handling device (5) to the lifting device (4).

Further advantageously, the slider (27) is equipped with two distinct engagement means (29, 30) which are mutually spaced apart along the first direction (49) and essentially symmetrical with respect to an axis of symmetry of the slider (27). In this way it is possible to use:

- a first pin (29) for picking up or depositing a tubular element in correspondence (Fig. 10) of a first side (54) of the storage area (14);

- a second pin (30) for picking up or depositing a tubular element in correspondence (Fig. 11) of a second side (55) of the storage area (14).

In practice, with this solution it is possible to fill the storage space (14) from one end near the first side (54) to the other end at the second side (55) in such a way as to get as close as possible to the ends themselves and almost completely fill the storage space (14).

However, in different embodiments it may be sufficient to use (Fig. 45, Fig. 46) trolleys (17, 18) equipped with sliders (27) which are provided with lifting elements (28) with only one means of engagement ( 29) arranged in a median position with respect to the width of the carriage itself. In this solution the lateral filling of the hold may be less than in the solution with two engagement means (29, 30) previously described. However, the solution with a single means of engagement (29) can be advantageous if the storage requirements are not particularly stringent, in the sense that the space available on the vessel does not constitute a problem for the storage of the tubular elements (6). In this case the load on the trolley (17, 18) will be more balanced and also the cost of the trolley will be lower due to the absence of the double means of engagement and the relative movements.

Advantageously, the engagement means or pins (29, 30) can be shaped (Fig. 44) with an essentially quadrangular sectional conformation with edges joined according to connecting radii essentially corresponding to the internal radius of the riser. The engagement means or pins (29, 30) are provided with at least a portion which is coated with a soft or friction material, such as for example a rubbery material or a plastic material. The quadrangular conformation is particularly advantageous as it allows to have two mutually spaced contact areas between the head (67) and the inside of the tubular element, ensuring greater stability than a solution with a circular head which will still be a solution adoptable even if less preferred than the solution with quadrangular head. Furthermore, in order to limit the risk of possible damage, provision is made for the presence of the coating material of the external surface of the engagement means or pins (29, 30) at least in correspondence with the areas of contact with the tubular elements (6).

Each pin (29, 30) is retractable (Fig. 10, Fig. 11):

- both to allow the use of one pin or the other depending on whether a tubular element has to be moved in correspondence (Fig. 10) of a first side (54) of the storage area (14) or in correspondence (Fig. 11) of a second side (55) of the storage area (14);

- and to allow (even in the case of a solution with a single pin) to position the cursor (27) at a first end (11) or a second end (12) of a tubular element in a condition of alignment between the pin and the main hole (10) before extracting the pin for its insertion into the main hole (10) in order to clamp the tubular element between the opposite pins of a first carriage (17) and a second carriage (18 ) in order to remove (Fig. 8, Fig. 9) the tubular element itself.

The first pins (29) and the second pins (30) of the elevation elements (28) just described as well as the third pins (66) of the tipper (65) which will be described later in this description, may have the previously described configuration quadrangular (Fig. 43, Fig. 44, Fig. 48, Fig. 49). The pin (29, 30, 66) can slide (Fig. 48, Fig. 49) inside a sheath (92), but the head (67), which is the part able to come into contact with the € ™ tubular element (6), always remains external to the sleeve (92) even in the retracted position of the pin (29, 30, 66). This solution makes it possible to adopt interchangeable heads (67) without having to modify the rest of the mechanism of the pins themselves, for example in order to replace them in the event of wear or in order to allow the handling of tubular elements having very different shapes with a the same device of general applicability, which will be adapted to different needs by simply replacing the head (67) and leaving the rest of the pin (29, 30, 66) and the device for moving the pins unchanged to obtain the movement between the positions extracted and retracted.

The whole pivot assembly (29, 30, 66), i.e. including the pivot itself, the relative sleeve (92) and the relative pivot actuator (88) has been designed in such a way that it can be installed in a removable way, in order to facilitate and speed up any replacements. The pin (29, 30, 66) slides on pads inside the sleeve (92) and an adequate greasing system is provided to reduce friction and keep the system efficient.

The pin (29, 30, 66) can be moved between the extracted position and the retracted position by means of a pin actuator (88) which acts in extension and traction between the pin itself and the sheath (92). The actuator of the pin (88) can be an electric actuator or a hydraulic cylinder which is advantageously placed below the unit and outside the seat and sleeve, improving accessibility for maintenance or replacement while remaining in a protected position and not interfering with the tubular element during handling and picking operations.

The positioning of the pin (29, 30, 66) in front of the tubular element (6) can be done in different ways according to the degree of automation to be obtained. A particularly simple and economical solution (Fig. 48, Fig . 49) provides for the definition of a Cartesian plane of movement coordinates on which Cartesian plane the positions of the tubular elements within the containment elements (53) are previously defined. By means of the signals of the movement encoders of the various motors it is possible to carry out a sufficiently precise positioning of the pin (29, 30, 66) in correspondence with the tubular element (6) to be taken from a stack (52). Alternatively, a vision and recognition system based on cameras can also be provided which also allows remote control by the operator and possibly also inspection operations with automatic recognition of any problems, imperfections, damage, etc. A different solution provides for the use of optical aiming systems which allow to detect the position of the head flange of the tubular element or its terminal edge in order to more accurately control the positioning of the pin with respect to the insertion hole.

Whatever the choice for the positioning of the pins (29, 30, 66) is, it is advisable to provide means for mechanical verification of the position for safety purposes. For this purpose, three sensors are adopted which are composed of a movable body for contact with the tubular element (6), which, following the contact, approaches an inductive sensor which detects its position by identifying the any contact with the tubular element:

- a first sensor (89), when activated by contact with the tubular element (6), stops the lowering of the elevation element (28) or the slider (27) which move the pins (29, 30) vertically in the first trolley (17) or in the second trolley (18), thus giving the certainty that the pin (29, 30) is actually in front of the insertion hole of the tubular element and only in this condition the extraction of the pin for insertion into the main hole (10) of the tubular element (6) is effectively enabled, for example in the form of a riser;

- a second sensor (90) which, when activated, stops the pin from coming out towards the extracted position, giving the certainty that the whole body of the pin (29, 30) is completely inserted into the hole (10) of the element tubular, only in this condition being subsequently enabled the lifting command of the tubular element which in this condition is correctly tightened by means of a pair of retractable pins at opposite ends, i.e. by means of a pin (29, 30) of the first trolley (17) on one side of the tubular element (6) and by means of a pin (29, 30) of the second trolley (18) on the opposite side of the tubular element (6) with respect to the side at which The pin (29, 30) of the first carriage (17) has been inserted;

- a third sensor (91) which, when active, confirms that the tubular element (6) is in a suspended condition on the respective pin and its handling can proceed without particular attention as the gripping phase has been completed correctly.

As can be seen, the sensors (89, 90, 91) not only confirm the positioning, but guarantee to avoid impacts between the pin (29, 30) and the tubular element (6) by sequentially enabling the movements. Obviously the automation system and in particular the control unit (63), controls both the carriages (17, 18) and the respective elevation elements (28) and sliders (27) at the opposite ends of the element tubular (6), the control unit (63) proceeding with the sequence of movements only when both systems give positive results, that is when both the sensors (89, 90, 91) of the pin (29, 30) of the first carriage (17) and the sensors (89, 90, 91) of the pin (29, 30) of the second carriage (18) confirm that the tubular element (6) has been correctly picked up.

Should the shape or type of tubular elements (6) vary, the mechanical actuators that enable the sensors may also vary in shape and size, but the control logic remains the same. The actual sensors that are activated by the mechanical actuators shown (Fig. 48, Fig. 49) are of the inductive type.

By combining the two solutions described above relating to the presence of the first pin (29) and the second pin (30) and also to the presence of the vertically movable elevation element (28), an efficient and almost complete filling of the space is possible. of storage (14) both along the first direction (49), ie transversely, and along the second direction (50), ie vertically.

The movement of the cursor (27) according to the second direction (50) is controlled by means (Fig. 6, Fig. 7, Fig. 12, Fig. 13, Fig. 14) of means for moving the cursor (31) which they are preferably mounted on the base (44) of the trolley and are preferably constituted by a first motor (35) which by means of a first reducer (48) sets in motion a winch (32), preferably a pair of winches (32) i which, by means of one or more cables (33) which slide on the first transmission pulleys (34), allow the lifting and lowering of the slider (27) which is advantageously constrained and guided in the vertical movement by means of the frame (26 ). In the illustrated solution, the movement of the slider (27) according to the second direction (50) is controlled by means (Fig. 43) of the first motor (35) which by means of the first reducer (48) sets in motion the pair of winches ( 32) which are controlled in a mutually synchronized way by means of a single drive shaft. There are two cables (33), each sliding on their respective first transmission pulleys (34). Each of the two cables (33) winds on a respective winch of the pair of winches (32) and each cable (33) preferably makes a double round-trip between the winch and the first transmission pulleys (34). Advantageously, each of the two cables (33) is able to support the entire cursor (27) independently of the other of the two cables (33), so that even if one of the two cables fails, the The other would be able to support by itself all the weight of the slider (27) and any load. In practice, a double section winch is created with two symmetrical cables and with 100% redundancy. Advantageously, a braking system can be provided consisting of a disc (42) and corresponding brakes (43) or composed of a pack of braking discs which are positioned in correspondence with an output shaft of the first motor (35) towards the at least one winch (32) or at an input shaft of at least one winch (32).

This brake has mainly a safety purpose as in case of failures it intervenes to completely block the lifting system. In fact, the brake is of the type normally tightened during braking and, for the normal functioning of the system, it must be kept constantly deactivated by means of a specific command. In this way, in the event of breakdowns or breakdowns, when the control that keeps the brake released falls, it will intervene immediately, blocking the system. Furthermore, the brake may also be useful for braking the downward movement of the slider when it supports the weight of a tubular element (6) during transport. Further in combination or as an alternative to the disc (42) with corresponding brakes (43) mounted directly on the output shaft of the first motor (35), a solution can also be envisaged in which a pack of braking discs is mounted between the € ™ winch (32) and the first gearbox (48).

In the event of a failure of one of the first carriage (17) and the second carriage (18), for example in the event of a failure of one of their motors, the described braking system will intervene on the respective damaged carriage and will also command the activation of the braking system of the other trolley that is not subject to failure, preventing any tubular element that is being transported from bending due to the blocking of one of the two trolleys while the other continues its run or handling.

A problem that has had to be faced with the described configuration is that, since there is a cursor (27) which slides on wheels along the frame (26) and which is controlled by two separate and independent cables controlled in a synchronized way, it is due to the fact that with such a configuration only one of the two cables is actually in the traction condition, for example due to the fact that one cable is looser than the other, or due to the asymmetry of the load, etc. Consequently (Fig. 50, Fig. 51) a rocker system (86) was created which allows balancing any difference in traction between the two cables. The rocker arm (86), oscillating, compensates for any different traction of the two cables. For example, it can be envisaged that the balance wheel (86) can compensate for a different length of the cables, due for example to their progressive elongation due to wear. The rocker arm (86) will preferably oscillate between a central position and two positions of maximum inclination which will preferably correspond to inclinations of / - 15 degrees with respect to the central position, even more preferably of / - 10 degrees with respect to the central position. The maximum inclination positions can be defined by means of stop elements which prevent inclinations beyond the mechanically set limit value. Sensors can also be provided that generate a corresponding signal that the maximum inclination limit has been reached, in which case the system is no longer able to compensate for further differences between the cables and a maintenance intervention must be scheduled. Therefore the slider (27) will be equipped with a balance wheel (86) suitable for the passage of the two cables (33), the balance wheel (86) being suitable for tilting alternately to one side or the opposite side under the action of the difference in traction present between the two cables (33), this inclination of the rocker arm (86) compensating for the difference in traction present between the two cables (33) so as to bring them both in a condition of equal traction and avoiding that a single cable is subjected to all the effort. The rocker arm (86) comprises abutment elements which prevent inclinations of the rocker arm (86) beyond mechanically set limit values, these abutment elements preferably limiting the inclination of the barbell (86) to angles between +/- 15 degrees with respect to the position of equilibrium in which the two cables (33) exert an equal traction force, even more preferably by limiting the inclination of the rocker arm (86) to angles between / - 10 degrees.

Then, in the illustrated embodiment (Fig. 15, Fig. 16, Fig. 50, Fig. 51), for lifting the slider (27) along (Fig. 5, Fig. 6, Fig. 7) the frame ( 26) cables are used (33). The connection of the cables (33) on the cursor (27) takes place by means of the rocker arm (86) in order to constantly equalize the pull on both sides and cancel the effect of a possible future different elongation between the two cables (33 ) present. As observed, the maximum inclination of the rocker arm (86) can be limited to the indicated angles by means of strong mechanical strikes. In this way, if a cable of the two cables (33) used for lifting should break, the other cable is still able to support the whole load and in this case the control unit will be able to bring the load and the slider (27) to the safety position. This means that the load is handled with a safety factor of 100% since even if one of the two cables breaks, the other cable (33) is able to support the entire system and the ™ any load present, allowing the system to be brought in absolute safety to a locking position. The cables (33) are connected to the slingbar by means of threaded turnbuckles with eyelet or fork and are fixed with a ball nut and lock nut. The end of the cables is in turn equipped with a lug with eyelet or fork. The rough adjustment of the difference between the two cables will be carried out by acting on the thrust ring of one of the two drums. Fine adjustment and subsequent adjustments will be made with the barbell rods (86). The rocker arm (86) is positioned in the lower part of the elevator to allow it to exploit the full height of the guide plate without interfering with the wheels or the idler pulleys. Consequently, the connections are made on the sides of the trolley. The position of the balance wheel (86) is controlled by 3 limit switches, the central one says that the balance wheel (86) is horizontal, while the other two give the signal of the balance wheel (86) too inclined on one side or on the opposite side.

There are also safety limit switches on the stroke of the cursor (27), of the carriage (17, 18).

The movement of the trolley (17, 18) according to the first direction (49) is guided (Fig. 6, Fig. 7) by means of a second guide (21) placed below the height of the frame (26) and for by means of a third guide (23) placed above the height of the frame (26). The second guide (21) is made in the form of a rail on whose opposite sides are engaged opposite pairs of second wheels (22) which are arranged on an essentially orthogonal plane with respect to the plane on which the handling frame (26) develops. of the slider (27). The third guide (23) is made in the form of a rail on whose opposite sides are engaged opposite pairs of third wheels (24) which are arranged on an essentially orthogonal plane with respect to the plane on which the handling frame (26) develops. of the slider (27). This solution is advantageous as the frame (26) can also have a considerable development in height and must support the weight of both the slider (27) and the tubular element (6) transported. By means of the solution illustrated with opposite pairs of second wheels (22) and third wheels (24) which engage on respective rails, the action of transmission of motion to the trolley is advantageously released for translation according to the first direction (49) and the Action of unloading the weight on the trolley due to the presence of the tubular element (6) which is practically cantilevered laterally with respect to the trolley itself. In this way the force applied by the tubular element due to the effect of gravity which would tend to overturn the trolley is effectively counteracted by the second and third wheels and by the respective rails, while it does not affect the trolley handling means (37). The movement of the trolley (17, 18) is controlled by means (Fig. 12, Fig.

17, Fig. 18, Fig. 19) of means for moving the trolley (37) which are preferably constituted by a third motor (38) which, by means of a second reducer (56), is coupled with two transmissions (39) which respectively put in rotation fourth wheels (41) of which:

- a fourth upper wheel (41) supported by means of a casing (46) by means of bearings (47), the fourth upper wheel (41) being placed above the development of the frame (26) according to the second direction (50) which It is a toothed wheel that is coupled with a fourth guide (40) in the form of a rack (45); - a fourth lower wheel (41) supported by means of a casing (46) by means of bearings (47), the fourth lower wheel (41) being positioned below the development of the frame (26) according to the second direction (50) which It is a toothed wheel that mates with a fourth guide (40) in the form of a rack. The transmissions (39) are preferably cardan shafts which by means of the second reduction gear (56) receive motion from the third motor (38) thus being mutually synchronized so as to control the movement of the carriage (17, 18) through the rack system. just described.

As observed the cursor (27) is equipped with an elevation element (28) which is itself movable vertically along the body of the cursor (27) itself according to the second direction (50). The movement of the lifting element (28) takes place (Fig. 43, Fig. 44) advantageously by means of a worm screw system. A second motor (85) acts on the worm screw system in such a way that the lifting element (28) is commanded to raise and lower along the screws (72).

All the machines in the supply communicate with each other through a central control system and in particular through the control unit (63). The control unit (63) receives the signals from the inverters of the electric control motors of the various devices to operate their control and synchronization. For example, between the first trolley (17) and the second trolley (18) of the handling device (5) there is an â € œ an electric axisâ € which guarantees the simultaneity of the movements. The trolleys (17, 18) are also equipped with sensors connected to the control unit (63) for the coordination and synchronization of movements, to simplify communications between different devices and to secure the handling system as a whole in case failure of one or more devices. This command and control logic can be assisted with other control systems such as the aid of a camera that allows other management modes even in situations other than operational ones, such as manual advancement for maintenance and control with the presence of the operator on the trolley (17, 18) or remotely by displaying the video signals of the cameras on a remote control monitor or by means of diagnostic systems and automatic inspection using cameras that control the movements of one or more trolleys (17, 18) to carry out an automatic inspection by cameras of the tubular elements (6) stored before their actual use.

As observed (Fig. 5) each carriage (17, 18) moves along first guides (19) and is equipped with a vertical frame (26) along which the cursor (27) slides which in turn is equipped with one or more grip pins (29, 30) possibly mounted on an elevation element (28) which increases the vertical excursion that can be reached with the cursor (27). The slider (27) is movable vertically on the frame (26) and is raised by the cables (33) which are operated by a lifting system comprising the two winches (32) controlled by the first motor (35). The winches are positioned on the carriage (17, 18) at the bottom and near the vertical frame (26) along which the slider (27) slides. On the side there are support seats to allow the slider (27) to rest when it is not used for sliding along the frame (26). The control of the winches (32), which are preferably controlled by a single shaft in common, takes place by means of a position encoder which communicates with the control unit (63). For example, the encoder can be controlled by a mechanical system equipped with a chain. The electrical system of each trolley (17,18) preferably consists of three sensors for detecting the inclination of the rocker arm (86), as previously described, two proximity sensors to stop the movement of the trolley (17, 18) in correspondence with the limits functional ends of the first guide (19), an alarm sensor that signals an excessive elongation of the encoder chain, any position sensors of the cursor (27) along the frame (26) during the vertical movement of the cursor itself or sensors at the respective lower and upper limits of the frame. At the upper end of the frame (26), which in practice constitutes a vertical sliding column for the slider (27), there is preferably a robust mechanical stop device to prevent the slider (27) from exceeding the upper travel limit. and mechanical stop devices can also be provided at the end positions of the first guide (19) along which the carriage (17, 18) moves.

The slider (27) is guided (Fig. 43) along the frame by means of two rear main wheels placed at the upper end of the slider body (27) and by means of two front main wheels placed at the lower end of the slider body (27). Longitudinally with respect to the vessel, the trolley is guided by four rollers, two of which are placed above and two below and is fixed by four additional auxiliary rollers opposite the main rollers to prevent overturning. The four main rollers support the load on the ground while the side rollers are able to unload the lateral or longitudinal loads due to the weight of the tubular element or to the displacements of the vessel. The auxiliary rollers during normal operation do not touch their respective guides unless there are longitudinal acceleration peaks or ship movements, collisions, etc.

The lifting system or means for moving the slider (31) consist of two cables (33) which wind around the two winches (32) with at least 5 safety turns which are maintained even in the case of maximum release of the cable. From the winch the cable (33) passes along first fixed pulleys which are applied on the walls of the vessel itself or on the fixed support structure of the overall system. The cable (33) reaches (Fig. 43) then the first pulleys (34) at the top which are located at the top of the frame (26) along which the cursor (27) moves. At this point the cable is returned downwards to pass through the lateral pulleys of the slider itself and be returned again towards the top to make a further passage on the first pulleys (34) at the top which are located at the top of the frame (26) along which the cursor (27) moves and finally return towards the cursor (27) to reach the rocker arm (86). The cables will preferably have a diameter of 26 mm and are fixed to the rocker arm (86) by means of eyelet or fork systems (Fig. 50). The nut and lock nut system allows adjustment of the tension of the cables (33) so as to set a relative tension of one with respect to the other that is such as to keep the rocker arm (86) in an approximately horizontal position. If the difference in elongation between the cables (33) is excessive, i.e. such that it cannot be adjusted with the system indicated, then it is necessary to act on the number of windings of the cable (33) on the winch drum (32) or act on the angular position of the winches (32).

The encoder system includes an encoder box installed on top of the frame (26) near the first pulleys (34). The box protects the encoder and the relative electrical contacts. The encoder is axially coupled to an axis which ends with an external pinion which is connected to a chain. The chain is tensioned by means of an idler wheel at the lower end. This idler wheel is mounted on a hinged support which is tensioned by means of a spring. Both ends of the chain are connected to a compact connection arm screwed to the slider (27). A tensioner is mounted between the upper end of the chain and the connecting arm for automatic adjustment of the chain tension. When the cursor (27) moves vertically along the frame (26), it also moves the chain and consequently the upper toothed wheel that controls the encoder. In this way the automation system and the control unit will know the vertical position of the slider (27) along the frame (26) at all times and will be able to coordinate and synchronize the vertical movement of the two sliders (27) of the first trolley ( 17) and the second carriage (18).

Since the excursion of the chain can be up to 17 meters, to limit any oscillations, guide lines of the chain are used along the frame (26).

The sensors that measure the position of the rocker arm (86) consist of:

- an intermediate proximity sensor which detects when the rocker arm (86) is in a substantially horizontal position corresponding to normal operating conditions;

- an upper proximity sensor and a lower proximity sensor that provide an alarm signal to the control unit when the rocker arm (86) is tilted beyond the maximum limit set in order to warn that maintenance is required to regulate the tension of the cables (33).

The lifting system comprises the two winches (32) controlled by the first motor (35). As an alternative to the solution shown with a motor placed at one end and a shaft shared by the two winches, it is also possible to resort to a solution in which a double shaft central motor drives both winches. In the solution illustrated, the first motor (35) that controls the winches (32) is connected to a first planetary gearbox (48) integral with one of the two winches (32). The winches are directly welded to the rotation drive shaft and are supported by end bearings on both sides.

Winches and moving parts are preferably protected by protective casings. The handling device (5) coordinates (Fig. 20, Fig. 21, Fig. 22, Fig. 23, Fig. 24) with the lifting device (4) which carries out the subsequent handling of the tubular element to move it towards the tipper which loads it onto the transfer device (3), which in the case of tubular elements (6) in the form of a riser may be the device usually indicated with a `` catwalk '' which transfers the risers to the drilling tower (2) also dealing with their verticalization.

The lifting device (4), advantageously, is preferably installed in correspondence with an existing wall of the vessel and near the hatch for accessing the storage area (14). It consists (Fig. 36) of a first elevator (70) and a second elevator (71) which are moved in a mutually coordinated and synchronized way to carry out the lifting and lowering operations of a pair of cradles (57). The cradles (57) form a storage seat (60) on which the handling device (5) places (Fig. 22, Fig. 23) the tubular element (6) in the case of removal from the storage area (14 ) or from which the handling device (5) picks up the tubular element (6) in the case of loading the tubular elements (6) towards the storage area (14).

The cradles (57) are preferably equipped with a retractable tooth (36) which is able to be moved between a first position (Fig. 21) in which the tooth (36) is folded downwards, leaving the Access to the storage seat (60) for the movement within it of the tubular element (6) and a second position (Fig. 23, Fig. 31) in which the tooth (36) is folded towards the high, acting as a containment means for the tubular element (6) within the storage seat (60) during the lifting or lowering of the cradles (57). Each cradle (57) is mounted on a respective first body (58) which can slide vertically in raising and lowering along (Fig. 32, Fig. 33) an upright (59) which guides its movement and on which the means for moving the first body (58) supporting the cradles (57) have been installed.

Even more preferably (Fig. 38, Fig. 39, Fig. 40), each cradle (57) is mounted on a respective second body (84) which in turn slides vertically on the first body (58). The first body (58) can slide vertically in raising and lowering along the upright (59) which guides its movement and on which the means for moving the first body (58) supporting the cradles (57) are installed. For example, the means for moving the first body (58) can be made in the form of a motor (not shown) which, by means of a cable (not shown) and second pulleys (76), carries out the lifting and lowering movement of the first body. (58) along the upright (59). The movement of the second body (84) is of the vertical type similar to that of the first body (58) and allows to obtain an extension of the movement of the cradles (57) obtaining a movement range greater than that which would be obtainable with the mast alone. (59). For example, the second body (58) could be (Fig. 38) movable vertically by means of a worm screw system in which an actuator (73) controls the vertical excursion of the shaft by means of a pair of shafts (75). second body (58) along the screws (72). In this way, advantageously, a lowering and raising movement of the cradles (57) is allowed by interaction of the lifting device (4) with:

- the handling device (5) in correspondence (Fig. 22) with the lowered position of the second body (84) to manage the transfer phases of the tubular elements from the handling device (5) to the lifting device (4) or vice versa ;

- the tipper (65) in correspondence (Fig. 29) with the raised position of the second body (84) to manage the transfer phases of the tubular elements from the lifting device (4) to the tipper (65) or vice versa.

The movement of the tooth (36) takes place (Fig. 40) by means of an electric or hydraulic drive (74), preferably in the form of a piston which exerts a thrust or traction force on the tooth (36) with respect to the cradle (57 ) on which the tooth (36) itself is hinged.

Finally, the system interfaces with a tipper (65), consisting of two rotating arms (78) equipped with lifting pins, designed to fit into the main hole (10) of the tubular element (6), similarly to what is described with with reference to the engagement means (29, 30) of the handling device (5).

In practice, the tipper (65) consists of a pair of components of which a first component (68) and a second component (69) which are mutually aligned (Fig. 36, Fig. 37) according to a direction corresponding to the width of the tubular element (6) to be handled. The first component (68) and the second component (69) are mutually spaced by a distance greater than the width of the tubular element (6). Each of the first component (68) and the second component (69) comprises (Fig. 41, Fig. 42) a pair of support elements (77) which support an arm (78) rotating by hinging. The centers of rotation around which the two arms (78) rotate are mutually aligned (Fig. 36, Fig. 37) in a direction corresponding to the width of the tubular element (6) to be moved. That is, the center of rotation of the arm (78) of the first component is aligned with the center of rotation of the arm (78) of the second component so that the arms (78) rotate along mutually parallel planes. The rotation of the arm (78) is controlled by means of a fourth motor (83) which by means of a third reducer (82) rotates a pair of gears (81) arranged on the same drive shaft. Each gear acts on a corresponding toothed portion (80) present on wings (79) for actuating the arm (78) which are integral with the arm itself. In practice, a toothed coupling is created with a reduction function given by the different diameter of the gear (81) compared to the dimensions of the wing (79).

Advantageously, the wing (79) is made in the form of a portion of a circular plate, since the rotation that must be made by the tipper (65) is not carried out on an arc of 360 degrees but must only complete a section approximately 180 degrees to bring (Fig. 28, Fig. 29, Fig. 30) the tubular element (6) from the lifting device (4) to the next transfer device (3) or vice versa if loading the hold. In practice, the tubular element (6) is lifted from the hold (14) by means (Fig. 25, Fig. 26) of the lifting device (4) whose first body (58) slides vertically on the upright (59) and in which the possible second body (84) slides (Fig. 27, Fig. 28) on the worm screw means to extend the lifting and lowering movement of the cradle (57). At this point (Fig. 28, Fig. 29) the tipper (65) is activated and the arm (78) is rotated so as to bring the respective engagement means or third pin (66) in correspondence (Fig. 29, Fig 37) of the gripping area of the tubular element on the lifting device (4). Once the engagement means or third pins (66) of the arms (78) are both in the extracted position, that is, they are inserted into the hole (10) of the tubular element (6), the arm (78) is rotated (Fig. 30) to lift the tubular element (6) from the lifting device (4), which is then free to descend back into the hold to pick up a further tubular element while the tipper (65) deposits (Fig. 47) the tubular element on the transfer device (3).

The gripping of the tubular element (6) by the tipper (65) takes place by means of engagement means in the form (Fig. 41, Fig. 42, Fig. 37) of a third retractable pin (66) positioned in correspondence with of the arm (78), the third pin (66) of the arm (78) of the first component (68) being movable in a coordinated manner with the third pin (66) of the arm (78) of the second component (69):

- according to directions of engagement with the tubular element (6) which correspond to directions of mutual approach of the third pins (66) and

- according to directions of disengagement from said tubular element (6) which correspond to directions of mutual separation of the third pins (66).

The reciprocal approaching of the third pins (66) involves the insertion of the third pins (66) into the tubular element (6) from mutually opposite directions with respect to each other, blocking the element tubular element (6) on the overturning device (65) which can then move the arms (78) in rotation to deposit (Fig. 47) the tubular element (6) on the transfer device (3), which, for example, can carry out the transfer on tracks (87) to another area of the vessel (1). For example, the transfer device (3) could be the riser transfer device usually indicated with the name of â € œcatwalkâ € which carries out the transfer (Fig. 1) towards an drilling tower (2).

The innovative system according to the present invention can advantageously manage in a completely automatic way the main phases of the operation of moving the tubular elements (6) from the storage area (14) to the laying area (2) or vice versa from a loading area. or from a laying area (2) to the storage area (14). Contrary to the prior art systems which must necessarily be managed manually by the operators, the system according to the present invention, avoiding conditions of suspended loads, is able to carry out a completely guided and constrained movement of the tubular elements allowing, therefore, also the automatic passage of a tubular element from one device to another, such as for example from the handling device (5) to the lifting device (4) or from the lifting device (4) to the tipper or vice versa.

Advantageously, the handling device (5) is composed of two carriages, that is a first carriage (17) and a second carriage (18) which can be moved in a mutually coordinated and synchronized manner during the movement phases of the tubular elements. However, since the two carriages are completely mechanically released as synchronization takes place by means of an electronically controlled synchronization, it is also possible to control the first carriage (17) and the second carriage (18) independently of each other. ™ other. This operating mode is particularly useful during the inspection phases. In the solutions of the prior art it was also necessary to provide a complex system of stairs and walkways that would allow access to the stacks of tubular elements so as to be able to inspect them, for example during navigation or before removal. With the solution according to the present invention, the need for stairs and walkways is completely eliminated since the first trolley (17) and the second trolley (18) are equipped (Fig. 15, Fig. 16) with at least one basket (61) protection designed to accommodate an operator who, by commanding the respective trolley, can freely and quickly inspect the tubular elements reaching any position within the storage area without having to physically move within the storage area itself but always remaining within the basket (61) placed on the slider (27) of the carriage (17, 18). Furthermore, since the two trolleys can be used independently, the inspection can be carried out simultaneously from opposite sides of the stack by means of two operators, a first operator on the first trolley (17) and a second operator on the second trolley (18).

Furthermore, an automatic inspection system could also be envisaged in which a control unit controls the movement of the baskets (61) placed on the sliders of the trolleys (17, 18) in order to guide the operators in the inspection operations so that the operators check, under the control action of the control unit, the tubular elements (6) according to an inspection order that corresponds to the laying order of the tubular elements themselves, in order to promptly highlight any problems and plan possible solutions in advance o changes to the installation program of the tubular elements (6).

Furthermore, the system according to the present invention also allows to completely automate the inspection step since the cursor (27) of the trolley (17, 18) can advantageously be equipped with visual detection or measuring means for carrying out automatic inspection operations of the elements. tubular (6) stored. For example, cameras or sensor means can be used to automatically identify and detect the presence of any anomalies, signaling to an operator the need for a more accurate intervention or control. For example, following the detection of an anomaly, the system will be able to display on a monitor an image of the tubular element (6) on which the anomaly was detected so that the operator can decide whether to catalog this report as a false alarm or as an actual anomaly or he may decide to send an operator on site who will carry out a thorough check to establish the cause of the problem and verify if the tubular element (6) is actually compromised or if it is usable. Advantageously, it will be appreciated that in this case the operator who has to carry out the check will not need to identify the tubular element in the middle of the stacks as the trolley (17, 18) itself will take care of picking up the operator and bring it to the position where the tubular element to be inspected is located.

As previously observed, the lifting device (4) is characterized by having the lower section of its cradles (57) configured according to a telescopic conformation. This allows the cradles (57), sized to lift the tubular elements (6), to descend inside the hold or the storage area (14). This particularity makes it possible to eliminate the need for an additional hold lift to bring the tubular elements out of the hold itself as is necessary in some prior art solutions. In this way, eliminating an additional device from the hold allows a further saving of height space within the hold which can be advantageously exploited to house a greater number of tubular elements (6) or to reduce the size of the vessel (1), with obvious enormous benefits in both cases. The peculiarity of the different engagement system of the tubular elements which for the handling device (5) is made up of the pins (29, 30) and for the lifting device (4) is made up of the cradles (57), allows the passage of the tubular elements between the two devices without the tubular element (6) ever being left free, all to the advantage of the safety of the operation, allowing movement of the tubular elements (6) in a guided and constrained condition. The lifting device (4) can thus lift the tubular element (6) out of the hold, taking it up to the tipper. The tipper can then pick up the tubular element (6) by means of a telescopic pin engagement system similar to the pin engagement system of the handling device (5) that has been previously described. The tipper will deposit the tubular element (6) on the transfer device (3), which in the case of the specific application of the risers on a drilling vessel will consist of the device usually called â € œcatwalkâ €. In a completely similar way to what has already been seen, the use of two different hooking systems of the tubular element (6) by the two devices involved, i.e. the lifting device (4) and the overturning device allows the passage of the ™ tubular element completely guided and constrained in conditions of maximum control and safety for both operators and tubular elements.

In the case of risers stored outside (Fig. 34, Fig. 35) the process is extremely simpler because it normally involves a single machine consisting of an overhead crane which, after having taken the riser from its storage position deposits it directly on the catwalk. However, this entails the need for a sufficiently large overhead crane structure developed in height capable of reaching the entire storage area and lifting the risers up to the level of the catwalk. However, it is evident that it is possible to extend the use of all the devices according to the present invention also to this case with the advantages deriving from them, as previously explained, that is a combination of only some of them missing some constraints constituted by the presence of the upper closing deck of the hold, or to use only the handling device (5) reducing to a minimum the number of machinery involved in the operation.

In general, the present invention is applicable in the handling of tubular elements (6) on boats (1) operating in offshore working conditions. The tubular elements may be risers in the case of drilling vessels or pipes in the case of pipelaying vessels. For example, offshore pipelayers are means used to build and lay subsea pipelines on the seabed. These vehicles need to move, during the operations, large quantities of pipes which constitute the pipes to be laid on the seabed or ocean floor. In this case, the element to be handled is no longer a composite tube like the riser, but it is a matter of actual tubes, of very variable diameters and lengths. Obviously, in this case, the handling needs also change: the purpose is no longer to move the tubes from the hold to a catwalk but, in a completely analogous way, to allow them to be loaded in the hold by the support vessels dedicated to supplying the vehicle. new tubes, or to take the tubes from the hold to position them on the welding line where they are pre-assembled and then take them again to take them to the launch line where they are connected with the section of tubes already launched to be lowered to the seabed. Also in this case the advantages deriving from the application of the present invention are evident.

It will also be appreciated how the present invention advantageously provides a method of handling tubular elements (6) on a vessel (1) at least in correspondence with a storage area (14) of the vessel (1) itself or from the storage area (14) to an adduction zone (2) or vice versa, in which the tubular element (6) is advantageously always moved in an essentially constrained condition, avoiding conditions of suspended loads. In particular, the handling method includes handling phases of the tubular elements operated by means of at least one pair of devices of a system for handling (3, 4, 5, 65) of the tubular elements (6) and passage phases of the tubular element (6) from a first device of this handling system (3, 4, 5, 65) to a second device of this handling system (3, 4, 5, 65). The passage of the tubular element (6) from the first device to the second device of this system for handling (3, 4, 5, 65) takes place by means of the alternation of different types of gripping and transfer means of the tubular element (6). In particular, the steps for passing from the first device to the second device may include:

A) first stages of transition including:

al) a step of gripping the tubular element (6) by the first device (5, 65) by means of engagement means in the form of pins (29, 30, 66) which are inserted into the tubular element (6) at opposite ends (11, 12) of the tubular element (6);

a2) a step of moving the tubular element (6) by the first device (5, 65) towards a position of passage towards the second device (4, 3);

a3) a deposit step on support means of the tubular element (6) which are present on the second device (4, 3) and which are preferably made in the form of cradles (57) equipped with storage seats (60) for the tubular element (6);

a4) a release step of the tubular element (6) by the pins (29, 30, 66); B) second stages of passage including:

b1) a step of gripping the tubular element (6) by the second device (5, 65) by means of the support means of the tubular element (6) which are present on the second device (4, 3) and which are preferably made in the form of cradles (57) equipped with storage seats (60) for the tubular element (6);

b2) a step of moving the tubular element (6) by the second device (4, 3) towards a position of passage towards the first device (5, 65);

b3) a step of gripping the tubular element (6) by the first device (5, 65) by means of the engagement means in the form of pins (29, 30, 66) which are inserted into the tubular element (6) at opposite ends (11, 12) of the tubular element (6).

The description of the present invention has been made with reference to the attached figures in a preferred embodiment thereof, but it is evident that many possible alterations, modifications and variations will be immediately clear to those skilled in the art in the light of the previous description. Thus, it should be emphasized that the invention is not limited by the foregoing description, but includes all those alterations, modifications and variations in accordance with the attached claims.

Nomenclature used

With reference to the identification numbers shown in the attached figures, the following nomenclature was used:

1. Vessel

2. Drilling tower or laying area

3. Transfer device

4. Lifting device

5. Handling device

6. Tubular element

7. Vertical conduct

8. Valve

9. Sea or ocean floor

10. Main forum

11. First end

12. Second end

13. Auxiliary line

14. Storage area

15. Column

16. Bridge

17. First cart

18. Second cart

19. First guide

20. First wheel

21.Second guide

22. Second wheel

23. Third guide

24. Third wheel

25. First wall or first support structure 26. Frame

27. Cursor

28. Element of elevation

29. First pin

30. Second pivot

31. Means for moving the slider 32. Winch

33. Cable

34. First pulley

35. First engine

36. Tooth

37. Means of handling the trolley 38. Third motor

39. Transmission

40. Fourth guide

41. Fourth wheel

42. Disc

43. Brake

44. Base

45. Rack coupling 46. Casing

47. Bearing

48. First reducer

49. First direction

50. Second direction

51. Cavity

52. Stack

53. Containment element

54. First flank

55. Second flank

56. Second reducer

57. Cradle - cradle

58. First body

59. Upright

60. Place of deposit

61. Basket

62. Second wall or second support structure 63. Control unit

64. Control unit

65. Tipper

66. Third pivot

67. Head

68. First component

69. Second component

70. First elevator

71. Second elevator

72. Screw

73. Actuator

74. Operation

75. Tree

76. Second pulley

77. Support element

78. Arm

79. Wing

80. Toothed portion

81. Gear

82. Third reducer

83. Fourth engine

84. Second body

85. Second engine 86. Rocker arm

87. Binary

88. Pivot actuator 89. First sensor 90. Second sensor 91. Third sensor 92. Sleeve

d. Distance

Claims (45)

CLAIMS 1. System for handling (3, 4, 5, 65) of tubular elements (6) on a vessel (1) in correspondence with a storage area (14) of said vessel (1) or from said storage area ( 14) to an adduction zone (2) or vice versa characterized by the fact that said handling system (3, 4, 5, 65) comprises a handling device (5) suitable for handling said tubular elements in correspondence with said storage area (14), said handling device (5) comprising at least two trolleys (17, 18) that can be moved according to at least a first movement direction (49) and mutually spaced apart by a distance (d), each of said trolleys (17, 18) being equipped with at least one engagement means (29, 30) suitable for to engage with respective ends (11, 12) of said tubular element (6), said engagement of said ends (11, 12) corresponding to a withdrawal of said tubular element (6) by said handling device (5) for movement of at least one of said tubular elements (6) in correspondence with said storage area (14). 2. System for handling (3, 4, 5, 65) of tubular elements (6) on a watercraft (1) according to claim 1 characterized in that said handling device (5) comprises at least two of said trolleys (17, 18) of which: - a first trolley (17) can be moved according to at least said first movement direction (49) in correspondence with a first support structure (25) extending parallel to said first movement direction (49); - a second trolley (18) can be moved according to at least said first movement direction (49) in correspondence with a second support structure (62) developing parallel to said first movement direction (49), said second support structure (62) ) being spaced by said distance (d) with respect to said first support structure (25). 3. System for handling (3, 4, 5, 65) of tubular elements (6) on a watercraft (1) according to any one of the preceding claims 1 to 2 characterized in that each of said trolleys (17, 18) is equipped with at least one of said engagement means (29, 30), the at least one engagement means (29, 30) of said first trolley (17) being able to engage with a first end (11) of said ends (11, 12) of said tubular element (6) and the at least one engagement means (29, 30) of said second carriage (18) being able to engage with a second end (12) of said ends (11, 12) of said tubular element (6) which is an opposite end of said tubular element (6) with respect to said first end (11). 4. System for handling (3, 4, 5, 65) of tubular elements (6) on a watercraft (1) according to any one of the preceding claims 1 to 3 characterized in that comprises at least one control unit (63) suitable for controlling at least said movement device (5), said control unit (63) being able to control the movement of said two trolleys (17, 18) in a mutually coordinated and synchronized manner the one with respect to the other according to a first control mode in which each of said two trolleys (17, 18) is controlled to carry out the same movement of the other of said two trolleys (17, 18). 5. System for handling (3, 4, 5, 65) of tubular elements (6) on a watercraft (1) according to any one of the preceding claims 1 to 4 characterized in that comprises at least one control unit (64) suitable for controlling at least one of said two carriages (17, 18), said control unit (64) being able to control the movement of at least one of said two carriages (17, 18) independently from the other trolley of said two trolleys (17, 18) according to a second control mode in which each of said two trolleys (17, 18) is controlled independently with respect to the other of said two trolleys (17, 18) to carry out maintenance or inspection operations of said tubular elements (6) within said storage space (14). 6. System for handling (3, 4, 5, 65) of tubular elements (6) on a watercraft (1) according to any one of the preceding claims 2 to 5 characterized in that said first support structure (25) and said second support structure (62) are mutually opposite and parallel framework structures positioned above a deck (16) of said vessel (1), said deck (16) of said vessel being adapted to constitute said storage area (14) of said tubular elements (6). 7. System for handling (3, 4, 5, 65) of tubular elements (6) on a watercraft (1) according to any one of the preceding claims 2 to 5 characterized in that said first support structure (25) and said second support structure (62) are mutually opposite and parallel walls of a hold of said vessel (1), said hold of said vessel being adapted to constitute said storage area (14) of said tubular elements (6). 8. System for handling (3, 4, 5, 65) of tubular elements (6) on a watercraft (1) according to any one of the preceding claims 1 to 7 characterized in that each of said carriages (17, 18) comprises a frame (26) developing according to a second direction (50) which is essentially vertical and essentially orthogonal with respect to said first direction (49), said frame (26) being able to guide the movement of a slider (27), said slider (27) being vertically movable along said frame (26) and being equipped with said at least one engagement means (29, 30), said at least one engagement means (29, 30) being movable according to said first direction (49) by means of the movement of said carriage (17, 18), said at least one engagement means (29, 30) being movable according to said second direction (50) by means of the movement of said slider (27), said movement of said engagement means (29, 30) constituting a two-axis movement system for moving at least one of said tubular elements (6) in correspondence with said storage area (14). 9. System for handling (3, 4, 5, 65) of tubular elements (6) on a watercraft (1) according to claim 8 characterized in that each of said carriages (17, 18) comprises means for moving the slider (31), said means for moving the slider (31) being able to move said slider (27) according to said second direction (50) along said frame (26), said means for moving the slider (31) comprising a first motor (35) which transmits its rotational motion to at least one winch (32) suitable for winding and unwinding a handling cable (33) of said slider (27) according to said second direction (50) along said frame (26). 10. System for handling (3, 4, 5, 65) of tubular elements (6) on a watercraft (1) according to claim 9 characterized in that said first motor (35) is equipped with a braking disc (42) equipped with corresponding brakes (43) or with a pack of braking discs which are positioned at an output shaft from said first motor (35) towards said at least one winch (32) or in correspondence with an input shaft of said at least one winch (32). 11. System for handling (3, 4, 5, 65) of tubular elements (6) on a boat (1) according to any one of the preceding claims from 9 to 10, characterized in that said means for moving the slider (31) comprise two of said winches (32) and two of said cables (33) both controlled by said first motor (35) with the interposition of a first reducer (48), said two winches (32) being controlled in a mutually synchronized manner by means of a single drive shaft connected to said first reducer (48), each of said two winches (32) being suitable for winding one of said two cables (33), each of said two cables (33) having mechanical characteristics of resistance corresponding to the mechanical characteristics necessary to support alone the weight of said slider (27) and any load of said tubular element (6). 12. System for handling (3, 4, 5, 65) of tubular elements (6) on a watercraft (1) according to claim 11 characterized in that said slider (27) is equipped with a rocker (86) suitable for the passage of said two cables (33), said rocker (86) being suitable for tilting alternately on one side or the opposite side under the action of the difference in traction present between said two cables (33), said inclination of said balance wheel (86) compensating for said difference in traction present between said two cables (33). 13. System for handling (3, 4, 5, 65) of tubular elements (6) on a watercraft (1) according to claim 12 characterized in that said rocker arm (86) comprises abutment elements which prevent inclinations of said rocker arm (86) beyond mechanically set limit values, said abutment elements preferably by limiting the inclination of said rocker (86) to angles comprised between / - 15 degrees with respect to equilibrium position in which said two cables (33) exert an equal traction force, even more preferably by limiting the inclination of said rocker arm (86) to angles between -10 degrees. 14. System for handling (3, 4, 5, 65) of tubular elements (6) on a boat (1) according to any one of the preceding claims 1 to 13 characterized in that each of said trolleys (17, 18) comprises an elevation element (28) which can be moved vertically between at least two positions, said at least one engagement means (29, 30) being integral with said elevation element (28). 15. System for handling (3, 4, 5, 65) of tubular elements (6) on a watercraft (1) according to claim 14 characterized in that said elevation element (28) can be moved vertically at least between said two positions by means of a worm screw movement system, a second motor (85) acting on said worm screw system, said second motor (85) being suitable for controlling the movement of said lifting element (28) in raising and lowering along screws (72). 16. System for handling (3, 4, 5, 65) of tubular elements (6) on a watercraft (1) according to any one of the preceding claims from 14 to 15 and according to any of the preceding claims from 8 to 11 characterized by fact that said elevation element (28) is installed on said slider (27), said at least one engagement means (29, 30) being movable vertically according to said second direction (50) by means of moving said slider (27) and being further movable vertically according to said second direction (50) between at least two positions along the body of said slider (27) by means of the movement of said elevation element (28). 17. System for handling (3, 4, 5, 65) of tubular elements (6) on a boat (1) according to any one of the preceding claims from 1 to 16 characterized in that each of said trolleys (17, 18) includes wheels selected from: - first wheels (20) which rest on a first guide (19) developing parallel to said first direction (49), said first wheels (20) guiding the sliding of said carriage (17, 18) along said first direction (49) and unloading on said first guide (19) the weight of the respective carriage (17, 18) and of said tubular element handled by means of said carriages (17, 18); - opposite pairs of second wheels (22) whose rotation plane is arranged on an essentially horizontal plane, said second wheels (22) being able to couple at opposite sides of a second guide (21) in the form of a rail which is clamped in an intermediate position between said pair of second wheels (22); - opposite pairs of third wheels (24) whose rotation plane is arranged on an essentially horizontal plane, said third wheels (24) being able to couple at opposite sides of a third guide (23) in the form of a rail which is tightened in an intermediate position between said pair of third wheels (24). 18. System for handling (3, 4, 5, 65) of tubular elements (6) on a watercraft (1) according to any one of the preceding claims 8 to 16 and according to claim 17 characterized in that said second wheels (22) are positioned along said frame (26) in correspondence with a first position along said frame (26) which is a lower and spaced position with respect to a second position along said frame (26) which is a position higher than said first position, said third wheels (24) being positioned along said frame (26) at said second position. 19. System for handling (3, 4, 5, 65) of tubular elements (6) on a boat (1) according to any one of the previous claims 1 to 18 characterized in that each of said trolleys (17, 18) comprises means for moving the trolley (37), said means for moving the trolley (37) being able to move said trolley (17, 18) according to said first direction (49). 20. System for handling (3, 4, 5, 65) of tubular elements (6) on a watercraft (1) according to claim 19 and according to any of the previous claims 8 to 18 characterized in that said means for moving the trolley (37) consist of a third motor (38) which, by means of a second reducer (56), is coupled with two transmissions (39) which respectively rotate the fourth wheels (41) of the Which: - a fourth upper wheel (41) supported by means of a respective support element (46) by means of bearings (47), the fourth upper wheel (41) being placed above the extension of said frame (26) according to said second direction ( 50), said fourth upper wheel (41) being a toothed wheel which is coupled with a fourth upper guide (40) in the form of a rack; - a fourth lower wheel (41) supported by means of a respective support element (46) by means of bearings (47), the fourth lower wheel (41) being positioned below the extension of said frame (26) according to said second direction ( 50), said fourth lower wheel (41) being a toothed wheel which is coupled with a fourth lower guide (40) in the form of a rack; the terms `` upper '' and `` lower '' referring to said frame (26) with a substantially vertical development according to a direction corresponding to the direction of the force of gravity according to the usual meanings conventionally attributed to the terms `` upper '' and `` lower '' . 21. System for handling (3, 4, 5, 65) of tubular elements (6) on a watercraft (1) according to claim 20 characterized in that said transmissions (39) are cardan shafts which by means of said second reducer (56) receive motion from said third motor (38) thus being mutually synchronized so as to control the movement of said carriage (17, 18) by means of said fourth guides (40) in the form of a rack. 22. System for handling (3, 4, 5, 65) of tubular elements (6) on a boat (1) according to any one of the preceding claims 1 to 21 characterized in that said at least one engagement means (29, 30) is an at least one retractable pin able to be moved between at least two positions of which a first position is a retracted non-engaging position with said tubular element (6) and a second position is an extracted engaging position in which said pin is inserted into a hole (10) of said tubular element (6). 23. System for handling (3, 4, 5, 65) of tubular elements (6) on a watercraft (1) according to claim 22 characterized in that said at least one engagement means (29, 30) is a pair of said retractable pins, said retractable pins being retractable and extractable between said first retracted non-engaging position and said extracted engagement position independently of one from the ™ other. 24. System for handling (3, 4, 5, 65) of tubular elements (6) on a watercraft (1) according to claim 23 characterized in that said pair of retractable pins is composed of a first pin (29) and a second pin (30) mutually spaced by a distance greater than the overall dimensions in section of said tubular element (6). 25. System for handling (3, 4, 5, 65) of tubular elements (6) on a watercraft (1) according to any one of the preceding claims 1 to 24 characterized in that said handling system (3, 4 , 5, 65) comprises a lifting device (4) suitable for lifting or lowering said tubular elements (6) between at least two positions of which a first position is an interface position with said movement device (5) and a second position is an interface position with another device of said handling system (3, 4, 5, 65), said first interface position with said handling device (5) being a position suitable for the transfer of at least one of said tubular elements (6) from said handling device (5) to said lifting device (4) within a storage seat (60) or, vice versa, being a position suitable for transferring at least one of said elements tubular elements (6) from said storage seat (60) of said lifting device (4) towards said handling device (5). 26. System for handling (3, 4, 5, 65) of tubular elements (6) on a watercraft (1) according to claim 25 characterized in that said lifting device (4) consists of a pair of cradles (57) which form said storage seat (60) on which said handling device (5) lays said tubular element (6) or from which the movement (5) picks up said tubular element (6). 27. System for handling (3, 4, 5, 65) of tubular elements (6) on a watercraft (1) according to claim 26 characterized in that said cradle (57) is equipped with a retractable tooth (36) which is able to be moved between a first position in which said tooth (36) is retracted leaving completely free access to said storage location ( 60) for the movement within it of said tubular element (6) and a second position in which said tooth (36) is folded towards said cradle (57) acting as a containment means of said tubular element (6) within said seat deposit (60) during the lifting or lowering phases of said cradle (57), the movement of said tooth (36) taking place by means of an electric or hydraulic drive (74), preferably a drive (74) in the form of a piston which exerts a thrust or traction force on said tooth (36) with respect to said cradle (57) on which said tooth (36) is hinged. 28. System for handling (3, 4, 5, 65) of tubular elements (6) on a boat (1) according to any one of the preceding claims from 26 to 27 characterized in that each of said cradles (57) is mounted on a respective first body (58) which can slide vertically in raising and lowering along an upright (59) which guides the movement of said first body (58), said upright (59) being equipped with means for moving said first body (58) supporting one of said cradles (57). 29. System for handling (3, 4, 5, 65) of tubular elements (6) on a watercraft (1) according to claim 28 characterized in that each of said cradles (57) is mounted on said respective first body (58) with the interposition of a second body (84), each of said cradles (57) being mounted on said second body (84) which is vault sliding vertically on said first body (58), said first body (58) being suitable for sliding in lifting and lowering along said upright (59), said second body (84) being suitable for sliding in lifting and lowering along said first body (58), the movement of said second body (84) constituting an extension of the movement of the cradles (57) by means of said first body (58). 30. System for handling (3, 4, 5, 65) of tubular elements (6) on a watercraft (1) according to any one of the previous claims from 25 to 29 and according to claim 7 and according to any of the claims 8 to 24 characterized by the fact that said movement device (5) is suitable for the movement of said tubular elements (6) within said storage area (14) in the form of the hold of said vessel (1) and further characterized in that said handling device (5) interfaces and coordinates with said lifting device (4), which is suitable for moving said tubular elements between said storage area (14) and said deck (16) of said vessel ( 1), said lifting device (4) operating the lifting or lowering of at least one of said tubular elements (6) between: - a first interface and transfer position of said tubular elements between said handling device (5) and said lifting device (4), said first interface and transfer position being positioned inside said storage area (14) in the form of hold of said vessel (1); - a second position for interfacing and transferring said tubular elements between said lifting device (4) and another device of said handling system (3, 4, 5, 65), said second interface and transfer position being positioned externally to said storage area (14) in the form of the hold of said vessel (1). 31. System for handling (3, 4, 5, 65) of tubular elements (6) on a watercraft (1) according to any one of the preceding claims from 25 to 30 characterized in that said handling system (3, 4 , 5, 65) comprises an overturning device (65) capable of interfacing and coordinating with said lifting device (4), said overturning device (65) being equipped with arms (78) suitable for overturning at least one of said tubular elements ( 6) between a resting position within said storage seat (60) and a resting position on a transfer device (3) suitable for transferring said tubular element (6) to a laying area (2) or from an area for loading said tubular elements (6) onto said vessel (1). 32. System for handling (3, 4, 5, 65) of tubular elements (6) on a watercraft (1) according to claim 31 characterized in that said tipper (65) is made up of a pair of components of which a first component (68) and a second component (69) which are mutually aligned in a direction corresponding to the width of said tubular element (6) and mutually spaced apart a distance greater than the width of said tubular element (6), each between said first component (68) and said second component (69) comprising a pair of support elements (77) which support said arm (78) rotating by hinging, the center of rotation of the arm (78) of the first component (68) being aligned with the center of rotation of the arm (78) of the second component (69), said arms (78) making a rotation along mutually parallel planes. 33. System for handling (3, 4, 5, 65) of tubular elements (6) on a watercraft (1) according to claim 32 characterized in that said arm (78) is rotated by means of a pair of gears (81) arranged on the same drive shaft, each gear acting on a corresponding toothed portion (80) present on the drive wings (79) of said arm ( 78) which are integral with the arm itself. 34. System for handling (3, 4, 5, 65) of tubular elements (6) on a boat (1) according to any one of the previous claims from 32 to 33 characterized in that the gripping of said tubular element (6) by said tipper (65) takes place by means of engagement means in the form of a third retractable pin (66) positioned in correspondence with said arm (78), the third pin (66) of the arm (78) of the first component ( 68) being movable in a coordinated manner with the third pin (66) of the arm (78) of the second component (69) according to directions of engagement with said tubular element (6) which correspond to directions of mutual approach of said third pins (66) and according to directions of disengagement from said tubular element (6) which correspond to directions of mutual separation of said third pins (66), the mutual approach of said third pins (66) involving the insertion of said third pins (66 ) within said element tubular (6) from mutually opposite directions with respect to each other. 35. System for handling (3, 4, 5, 65) of tubular elements (6) on a boat (1) according to any one of the previous claims from 22 to 34 characterized in that said pin (29, 30, 66) it has an essentially quadrangular sectional conformation with connecting radii essentially corresponding to the internal radius of said tubular element (6), at least a contact portion of said essentially quadrangular sectional conformation possibly being coated with a soft or friction material. 36. System for handling (3, 4, 5, 65) of tubular elements (6) on a boat (1) according to any one of the previous claims 22 to 35 characterized in that said pin (29, 30, 66) It slides between a position in which the pin is at least partially retracted within a sleeve (92) and a position extracted from said sleeve (92) in which said pin is suitable for engaging with said tubular element (6), said pin (29, 30, 66) being movable by means of an actuator of the pin (88) which acts in extension and traction between the pin itself and the sleeve (92), said actuator of the pin (88) being preferably an electric actuator or a hydraulic cylinder. 37. System for handling (3, 4, 5, 65) of tubular elements (6) on a boat (1) according to any one of the previous claims 22 to 36 characterized in that said pin (29, 30, 66) It is equipped with an interchangeable head (67) able to constitute the engagement element of said pin with said tubular element (6). 38. System for handling (3, 4, 5, 65) of tubular elements (6) on a watercraft (1) according to any one of the preceding claims from 1 to 37 characterized in that said handling system (3, 4 , 5, 65) is a handling system of tubular elements (6) in the form of rig risers. 39. System for handling (3, 4, 5, 65) of tubular elements (6) on a boat (1) according to any one of the preceding claims 1 to 37 characterized in that said handling system (3, 4 , 5, 65) is a handling system of tubular elements (6) in the form of tubes suitable for being laid on a sea or ocean floor by mutual connection, suitable for constituting a submarine pipeline. 40. Vessel (1) suitable for the transport and / or installation of said tubular elements (6) characterized by the fact that comprises said system for handling (3, 4, 5, 65) of said tubular elements (6), said system for handling (3, 4, 5, 65) being a system for handling (3, 4, 5, 65) of tubular elements (6) on a boat (1) made according to any one of the preceding claims from 1 to 39. 41. Vessel (1) suitable for the transport and / or installation of said tubular elements (6) characterized by the fact that this vessel is selected by the group consisting of oil drilling ship [Drillship], semisubmersible drilling rig and further characterized by the fact that comprises said system for handling (3, 4, 5, 65) of said tubular elements (6), said system for handling (3, 4, 5, 65) being a system for handling (3, 4, 5, 65) of tubular elements (6) on a boat (1) made according to any one of the preceding claims from 1 to 38. 42. Vessel (1) suitable for the transport and / or installation of said tubular elements (6) characterized by the fact that said vessel is a pipelay vessel and further characterized by the fact that comprises said system for handling (3, 4, 5, 65) of said tubular elements (6) in the form of tubes, said handling system (3, 4, 5, 65) being a system for handling (3, 4, 5, 65) of tubular elements (6) on a boat (1) made according to any one of the preceding claims from 1 to 37. 43. Method of moving tubular elements (6) on a vessel (1) at least in correspondence with a storage area (14) of said vessel (1) or from said storage area (14) to an adduction area (2 ) or vice versa characterized by the fact that said movement takes place at least by means of a movement device (5) comprising a first trolley (17) and a second trolley (18), said movement taking place according to the following steps: a) movement of said first trolley (17) according to at least a first movement direction (49) which develops parallel and horizontally with respect to at least one stack (52) of said tubular elements (6) in correspondence with a first defined movement trajectory from at least one corresponding first guide (19); b) movement of said second trolley (17) according to at least said first movement direction (49) in correspondence with a second movement trajectory defined by at least one corresponding first guide (19), said second movement trajectory developing parallel to said first trajectory for the movement of said first trolley (17) and said second movement trajectory being spaced with respect to said first movement trajectory by a distance greater than the extension in length of said tubular elements (6); c) coordination of the movement of said first trolley (17) and of said second trolley (18), said coordination being able to move said first trolley (17) up to a first position along said first movement trajectory which corresponds to a first position along said first trajectory which is a first position according to horizontal coordinates in correspondence with which there is a specific tubular element (6) of said tubular elements (6) which must be taken from said stack (52) or which is a first position according to horizontal coordinates in correspondence with which said specific tubular element (6) of said tubular elements (6) must be deposited and said coordination being able to move said second carriage (18) up to a first position along said second movement trajectory which corresponds to a first position along said second trajectory which is a first position according to horizontal coordinates in correspondence with which said second carriage (18) is in a condition of mutual alignment with said first carriage (17) according to an alignment direction corresponding to the direction of development in length of said specific tubular element (6); k) actuation of engagement means (29, 30) of said first carriage (17) so that the engagement means (29, 30) engage with a corresponding first end (11) of said specific tubular element (6) which must be taken from said stack (52); m) actuation of engagement means (29, 30) of said second carriage (18) so that the engagement means (29, 30) engage with a corresponding second end (12) of said specific tubular element (6) which must be taken from said stack (52), said second end (12) being an end opposite to said first end (11) with respect to the length development of said specific tubular element (6) which must be taken from said stack (52 ); p) movement in a mutually coordinated and synchronized manner of said first trolley (17) and of said second trolley (18) in a condition of engagement of said engagement means (29, 30) with said first end (11) and second end (12) ) of said specific tubular element (6) which must be taken from said stack (52). 44. Method of handling tubular elements (6) according to claim 43 characterized in that further includes the following phases temporally successive or simultaneous or antecedent with respect to said phase c): d) movement of a first slider (27) of said first trolley (17) according to at least a second movement direction (50) which develops parallel and vertically with respect to said at least one stack (52) of said tubular elements (6) in correspondence of a third movement trajectory defined by at least a first frame (26) of said first trolley (17), said first frame (26) being able to guide the movement of said first slider (27) according to said second movement direction ( 50); e) movement of a second slider (27) of said second trolley (18) according to at least said second movement direction (50) in correspondence with a fourth movement trajectory defined by at least one corresponding second frame (26) of said second trolley ( 18), said second frame (26) being able to guide the movement of said second slider (27) according to said second movement direction (50); f) coordination of the movement of said first slider (27) of said first trolley (17) and of said second slider (27) of said second trolley (18), said coordination being able to move said first slider (27) of said first trolley (17) up to a second position along said third movement trajectory which corresponds to a second position along said third trajectory which is a second position according to vertical coordinates in correspondence with which said specific tubular element (6) and said coordination being adapted to move said second cursor (27) of said second carriage (18) up to a second position along said fourth movement trajectory which corresponds to a second position along said fourth trajectory which is a second position in correspondence with which said specific tubular element (6) according to a mutually coordinated movement of said cursors (27). 45. Method of handling tubular elements (6) according to claim 44 characterized in that further comprises the following temporally successive phases with respect to said phase f): g) movement of a first lifting element (28) positioned on said first slider (27) of said first trolley (17) according to at least said second movement direction (50 ); h) movement of a second lifting element (28) positioned on said second slider (27) of said second trolley (17) according to at least said second movement direction (50); i) coordination of the movement of said first lifting element (28) of said first trolley (17) and of said second lifting element (28) of said second trolley (18), said coordination being able to move said first lifting element (28) of said first trolley (17) and said second lifting element (28) of said second trolley (18) according to a mutually coordinated movement up to a position according to vertical coordinates in correspondence with which there is a lifting device (4 ) adapted to interface with said handling device (5) for transferring said specific tubular element (6) from said handling device (5) to said lifting device (4) or vice versa.