Method of positioning pipes end to end

1. A method for positioning an end portion of a first pipe relative to an end portion of a second pipe, the end portion of the first pipe being provided with a first substantially annular surface close to an inside surface of the first pipe and a first chamfer adjacent to the first annular surface, the end portion of the second pipe being provided with a second substantially annular surface close to an inside surface of the second pipe and a second chamfer adjacent to the second annular surface, said first annular surface and said second annular surface defining a joint plane, the method using a plurality of clamping actuators regularly distributed around the first pipe and the second pipe, the method comprising:

A. prepositioning the first annular surface and the second annular surface facing each other;

B. clamping each of the first pipe and the second pipe using the clamping actuators;

C. evaluating a radial offset between the first annular surface and the second annular surface;

D. controlling the plurality of clamping actuators to shift the second pipe relative to the first pipe parallel to said joint plane according to the radial offset between the first annular surface and the second annular surface so as to provide for a maximum facing area for the first annular surface and the second annular surface while maintaining the first pipe and the second pipe clamped.

2. The method according to claim 1 , wherein step C comprises evaluating and monitoring said radial offset either visually or by using sensors, and wherein step D comprises transmitting and processing said radial offset by a calculation processing unit co-operating with at least some of said clamping actuators and controlling the movements of the at least some of said clamping actuators.

3. The method according to claim 1 , wherein step C comprises evaluating and monitoring said radial offset relative to the inside surface of said first pipe and the inside surface of said second pipe.

4. The method according to claim 1 , wherein step C comprises evaluating and monitoring said radial offset relative to the first chamfer and the second chamfer.

5. The method according to claim 1 , wherein step B comprises:

clamping the first end of the first pipe,

bringing the second pipe approximately in line with the first pipe, and

clamping the second pipe.

6. The method according to claim 1 , wherein the clamping actuators comprise hydraulic actuator being associated with a solenoid valve which is controlled to supply an input of the hydraulic actuator with fluid, and with a proportional-type pressure regulator which controls an output of the hydraulic actuator.

7. A method for positioning an end portion of a first pipe relative to an end portion of a second pipe, the end portion of the first pipe being provided with a first substantially circular edge close to an inside surface of the first pipe and a first chamfer adjacent to the first circular edge, the end portion of the second pipe being provided with a second substantially circular edge close to an inside surface of the second pipe and a second chamfer adjacent to the second circular edge, the first circular edge and the second circular edge defining a joint plane, the method using a plurality of clamping actuators regularly distributed around the first pipe and the second pipe, the method comprising:

A. prepositioning the first circular edge and the second circular edge facing each other;

B. clamping each of the first pipe and second pipe using the clamping actuators;

C. evaluating a radial offset between the first circular edge and the second circular edge; and

D. controlling the plurality of clamping actuators to shift the second pipe relative to the first pipe parallel to the joint plane according to the radial offset between the first circular edge and the second circular edge so as to provide for a maximum facing area for the first circular edge and the second circular edge while maintaining the first pipe and the second pipe clamped.

8. The method according to claim 1 or claim 7 , wherein step A comprises performing an alignment between an outside surface of the first pipe and an outside surface of the second pipe before step B.

9. The method according to claim 1 or claim 7 , wherein step A comprises providing a longitudinal gap of a few millimeters is between the end portion of the first pipe and the end portion of the second pipe.

10. The method according to claim 1 or claim 7 , wherein step D comprises individually controlling the clamping actuators to shift the end portion of the first pipe and the end portion of the second pipe relative to each other while maintaining the end portion of the first pipe and the end portion of the second pipe clamped by the clamping actuators.

11. The method according to claim 10 , wherein step D comprises locking the clamping actuators in a clamping position and maintaining thrust forces applied to at least one of the first pipe or the second pipe after shifting of the first pipe and the second pipe.

12. The method according to claim 1 , wherein step D comprises shifting at least one of the first pipe or the second pipe relative to each other so as to obtain a facing area lying in the range of 20% to 100% of at least one of an area of the annular surface of the first pipe or an area of the annular surface of the second pipe.

13. The method according to claim 12 , wherein step D comprises locking the clamping actuators in a clamping position and maintaining thrust forces applied to at least one of the first pipe or the second pipe after shifting of the first pipe and the second pipe.

14. The method according to claim 1 or claim 7 , wherein step D comprises locally modifying the radial offset by adjusting a position of at least one of the clamping actuators individually and separately.

15. The method according to claim 1 or claim 7 , wherein in step C, at least some of the clamping actuators retract while ensuring a constant clamping thrust force on at least one of the first pipe or the second pipe.