Manipulator device to apply modules around a pipeline, laying vessel comprising said device and method to operate said laying vessel

A laying vessel comprising:

• a floating structure;
• a laying tower hinged to the floating structure around a rotation axis, the laying tower defining a laying line and configured to assemble and lay a pipeline on a bed of a body of water;
• a manipulator device comprising:
• two jaws moveable to an open position and to a closed position, the two jaws configured to respectively house two respective portions of a module configured to enclose a section of the pipeline during assembly of the pipeline, and
• an articulated mechanism having a plurality of degrees of freedom to place the two jaws:
• (i) in a loading position, and (ii) in a position that the two jaws are aligned with the pipeline during assembly of the pipeline, the articulated mechanism comprising a base body, an arm hinged to the base body and selectively moveable around a first rotation axis, a slide coupled to the arm and the two jaws, and a first elongated body extending along a first longitudinal axis substantially parallel to a first direction, wherein the first elongated body is coupled to the slide and moveably supports the two jaws between the open position and the closed position, the slide is configured to selectively move the two jaws with respect to the arm in the first direction.

A method to operate a laying vessel comprising a floating structure and a laying tower hinged to the floating structure around a rotation axis, the laying tower defining a laying line, and configured to assemble and lay a pipeline on a bed of a body of water, the method comprises:

• placing, by an articulated mechanism of a manipulator device, two jaws of the manipulator device in a loading position, the two jaws being moveable to an open position and to a closed position, the two jaws configured to respectively house two respective portions of a module configured to enclose a section of the pipeline during assembly of the pipeline;
• accommodating a first portion of the module in a first jaw of the two jaws and a second portion of the module in a second jaw of the two jaws;
• placing, by the articulated mechanism of the manipulator device, the two jaws in a position that the two jaws are aligned with the pipeline during assembly, the articulated mechanism having a plurality of degrees of freedom and comprising a base body, an arm hinged to the base body and selectively moveable around a first rotation axis, a slide coupled to the arm and the two jaws, and a first elongated body extending along a first longitudinal axis substantially parallel to a first direction, wherein the first elongated body is coupled to the slide and moveably supports the two jaws between the open position and the closed position, the slide is configured to selectively move the two jaws with respect to the arm in the first direction;
• and
• closing the two jaws around the section of the pipeline.

A method to operate a laying vessel comprising a floating structure and a laying tower hinged to the floating structure around a rotation axis, the laying tower defining a laying line, and configured to assemble and lay a pipeline on a bed of a body of water, the method comprises:

• placing, by an articulated mechanism of a manipulator device, two jaws of the manipulator device in a loading position, the two jaws being moveable to an open position and to a closed position, the two jaws configured to respectively house two respective portions of a module configured to enclose a section of the pipeline during assembly of the pipeline;
• accommodating a first portion of the module in a first jaw of the two jaws and a second portion of the module in a second jaw of the two jaws;
• placing, by the articulated mechanism of the manipulator device, the two jaws in a position that the two jaws are aligned with the pipeline during assembly, the articulated mechanism having a plurality of degrees of freedom and comprising a base body, an arm hinged to the base body and selectively moveable around a first rotation axis, a slide coupled to the arm and the two jaws, and a first elongated body extending along a first longitudinal axis substantially parallel to a first direction, wherein the first elongated body is coupled to the slide and moveably supports the two jaws between the open position and the closed position, the slide is configured to selectively move the two jaws with respect to the arm in the first direction;
• closing the two jaws around the section of the pipeline, and
• adjusting an inclination of the two jaws around another rotation axis.