GB2211226A - Tool carrier unit for unmanned underwater work - Google Patents
Tool carrier unit for unmanned underwater work Download PDFInfo
- Publication number
- GB2211226A GB2211226A GB8824333A GB8824333A GB2211226A GB 2211226 A GB2211226 A GB 2211226A GB 8824333 A GB8824333 A GB 8824333A GB 8824333 A GB8824333 A GB 8824333A GB 2211226 A GB2211226 A GB 2211226A
- Authority
- GB
- United Kingdom
- Prior art keywords
- carrier unit
- tool carrier
- tool
- unit
- legs
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
- 238000012544 monitoring process Methods 0.000 claims description 4
- 238000009434 installation Methods 0.000 description 13
- 238000012423 maintenance Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 239000006096 absorbing agent Substances 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 238000012806 monitoring device Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B41/00—Equipment or details not covered by groups E21B15/00 - E21B40/00
- E21B41/04—Manipulators for underwater operations, e.g. temporarily connected to well heads
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B41/00—Equipment or details not covered by groups E21B15/00 - E21B40/00
- E21B41/10—Guide posts, e.g. releasable; Attaching guide lines to underwater guide bases
Landscapes
- Geology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- Physics & Mathematics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Earth Drilling (AREA)
- Manipulator (AREA)
- Accommodation For Nursing Or Treatment Tables (AREA)
- Electrotherapy Devices (AREA)
Abstract
A tool carrier unit for underwater operation comprises a frame-like stand portion (1) with legs (2) provided with guides (3) for guide lines. A gripping means (12) or the like for support of a tool is connected to the tool carrier unit. A line (7) is used to raise and lower the unit, and is also used to supply power and control signals to the unit. <IMAGE>
Description
TOOL CARRIER UNIT FOR UNMANNED UNDERWATER WORK
The present invention relates to a tool carrier unit for undertaking a variety of different underwater work operations (e.g. in connection with unmanned underwater work related to oil\gas exploration and recovery).
The recovery of oil and/or gas from wells at the bottom of the sea, will, with increasing water depths, be performed from installations disposed on the sea bed.
Alternatively, it may be economically favourable, by using so-called satellite installations located on the sea bed, to connect peripheral deposits to an existing platform. In the case of installations located on the sea bed it would in many respects-be desirable to use unmanned equipment for both installation and maintenance of the installations. At great depths, it would be essential to use unmanned equipment for fitting and maintenance of the deeply submerged installations.
To be able to perform several different remotecontrolled, unmanned underwater work operations at sea, a flexible tool carrier unit has been produced which can be used with monitoring systems and with different tools, for inspection, installation, repair, component replacement, control and maintenance, etc., of underwater installations (e.g. located on the sea bed).
What constitutes the invention is defined in the following claim 1 and relates to a tool carrier unit which essentially comprises a frame-like stand with legs, attachments and holders for guide wires and means to attach a tool to the unit for underwater use.
The frame-like stand portion with legs desirably has a large open area in the forward and downward directions in order to allow different work operations to be carried out within a large working range with the tool carrier in position. The stand portion with its legs is suitably dimensioned for large buoyancy and arranged so as to allow a flexible location of tools and their control and supply systems.
The invention will now be described, by way of example, with reference to the accompanying drawings, in which:
Figure 1 shows one embodiment of tool carrier unit,
Figure 2 shows a side view of a tool carrier unit docked against a valve tree,
Figure 3 shows a tool carrier unit with a tool adapted for horizontal handling of a horizontally located valve,
Figure 4 shows a tool carrier unit with a tool adapted for vertical handling of a vertically located valve,
Figure 5 shows a tool carrier unit with a tool for introduction of a cleaning body,
Figure 6 shows a tool carrier unit with a tool for the removal of concrete surrounding a pipe, and
Figures 7A to 7C show a gripping device on a tool carrier unit with three different devices attached thereto.
A preferred embodiment of tool carrier unit according to the invention comprises a frame-like stand portion with legs connected thereto. The stand portion is designed to support an operating unit and a power supply unit. Guide wire holders are connected to the stand portion or, alternatively, to the legs and can be flexibly and/or detachably connected. Manipulator arms may be connected to the legs. Means for tool connection and connection members for signal and power transmission to the tools can be connected to a central part of the stand portion. The legs can be arranged so that a tool can be attached directly thereto and so that extra supporting legs can be mounted thereon.
By means of the tool carrier unit together with one or more of a range of different tools, a variety of different work operations can be carried out, for example mounting and dismantling of horizontally and vertically arranged valves, mounting and dismantling of a control unit, inspection, pressure-testing, machining, interconnection of pipes, cutting of pipes, winching, removal of coating material surrounding pipes, and handling of various parts, for example parts constituting a valve tree. The tool carrier unit is suitably arranged and dimensioned in such a way that it is capable, together with the different tools, of lifting and handling additional units within a substantial weight range.
On the surface structure (ship or platform), the tool carrier unit can be provided with a tool suitable for the intended operation. Then the tool carrier unit with the tool is lowered to the bottom installation. By means of operating equipment on the surface structure, the work operation carried out at the bottom is controlled and monitored via a control and connection line connected to the tool carrier unit. After the underwater operation has been completed the cool carrier unit is drawn back up to the surface structure with the aid of the control and connection line.
Figure 1 shows a tool carrier unit which comprises a stand portion 1 with spaced-apart legs 2. Each leg may be adjustably connected to the stand portion 1. Guide wires 4 connect a structure at the surface (not shown but usually a ship) to the installation located at the bottom. Guide wire holders 3 are connected to the carrier unit portion 1.
With the guide wire holders 3 surrounding the guide wires 4, the tool carrier unit 1, 2 can be lowered in a simple manner towards the bottom installation without the need for additional drop weights, and subsequently raised again using a control line 7 connected to the stand portion 1 without the need for extra buoyancy.
Any heave of the sea surface (e.g. movement experienced by a surface ship) can be compensated for, within wide limits, by the support system present on the surface structure. With this type of tool carrier unit, with the guide wires connected to the bottom installation, the tool carrier unit will automatically be exactly positioned at the installation for the performance of a required work operation when it has been fully lowered down the guide wires. A freely movable tool carrier unit has considerable limitations with respect to manoeuvrability due to underwater currents even though the unit is provided with thrusters. The lifting capacity of freely movable carrier units is also greatly restricted since fairly substantial additional buoyancy units are needed to lift a large mass.
With guide wires, a tool carrier unit is easily locatable where required and its lifting capacity is limited by the strength of the unit, the line 7 and the lifting gear in the surface structure.
To the stand portion 1 of the tool carrier unit shown in Figure 1 there is connected an operating unit 5 and a power supply unit 6, which are adapted to monitor and control the work operations conducted with the different tools used with the unit 1, 2. The control line 7 can be used for transmission of control signals to the operating unit 5 as well as for movement of the tool carrier unit with its tools. Depending on the type of operation, the feet of the legs 2 may be designed in a manner suitable therefor. Manipulator arms 8 are shown connected to the legs 2 and these are required for certain work operations, possibly with a tool connected thereto.For monitoring the work operations, the tool carrier unit can be provided with one or more TV cameras and lights and possibly other monitoring devices, such as an ultrasonic monitoring system for determining the position of different parts within the range of the intended work operation.
Figure 2 shows a side view of how a tool carrier unit 1, 2 is docked against a valve tree 9 in a submarine plant.
The tool carrier unit is designed to act together with existing guide posts or guide parts 11. A working tool 10 for, for example, a valve replacement can be placed in a chosen one of a number of different positions. The docking of the tool carrier unit to the tree 9 can be performed horizontally or vertically.
Figure 3 is a front view showing how a tool carrier unit 1, 2 can be provided with means 12 for connection to a tool used for horizontal handling and replacement of a horizontally located valve.
Figure 4 is a front view showing how a tool carrier unit 1, 2 can be provided with a tool 13 for a vertical valve lift. A manipulator arm 14 is shown connected to one leg 2. Alternatively, the tool 13 can be provided with a unit 15 for connection to a pipe. To allow for a possible release from the guide wires 4, the tool carrier unit is provided with thrusters 16 connected to the legs 2.
Figure 5 shows how a tool carrier unit 1, 2 is equipped with a work unit 19 for insertion of a cleaning body. The unit has reached its lowermost position with guide sleeves 17 seated on uprights of the submarine plant.
In upper corners of the stand portion 1, guide sleeves 18 are provided for the guide wires 4. To ensure that the distance between the tubular guide sleeves 17 is correct, the guide sleeves 17 can be protected by shock absorbing means. Springs and absorbers can be chosen so that a soft braking of the landing movement of the unit 1, 2 on the plant is achieved.
Figure 6 shows how a tool carrier unit 1, 2 can be adapted for the removal of concrete from a pipe 20. A tool 21 for concrete removal is shown connected to the stand portion 1 of the tool carrier unit. In this case, the tool carrier unit is also provided with four adjustable supporting legs 22. A navigational unit with a drive and navigational propeller 16 can be provided on each leg 2 so that the tool carrier unit can be moved in a controlled way after release from the guide wires.
Figures 7A, 7B and 7C show how the means 12 of a tool carrier unit can be provided with gripping means 23 for lifting a device or for securing one of a range of different tools to the carrier unit. Each device or tool is provided with a link part 24 adapted to the gripping means 23. In those cases where the device or tool also requires power supply, the tool carrier unit is provided with a power outlet, and the corresponding device or tool has a corresponding connection part for engagement in the power outlet. Such a power outlet is shown at 25 in
Figures 7A, 7B and 7C and the corresponding connection parts at 26. An auxiliary connection part 27 is shown in dashed lines in Figure 7B.
Claims (7)
1. A tool carrier unit for underwater un-manned work operations, which tool carrier unit comprises a frame-like stand portion with legs provided with guide holders for guide wires, operating and power supply systems and attachment, gripping means or the like for the connection of tools with means for monitoring and operation of the tool carrier unit, and a control line connecting the tool carrier unit to a surface structure for operation and power supply of the carrier unit.
2. A tool carrier unit according to claim 1, in which one or more manipulator arms is/are adjustably connected to the tool carrier unit, for example for handling a tool or a part connected thereto, the or each manipulator arm being controlled and supplied with energy by means of the operating and power supply systems.
3. A tool carrier unit according to claim 1 or claim 2, in which the guide wire holders for the guide wires are flexibly connected to the tool carrier unit.
4. A tool carrier unit according to any preceding claim, in which adjustably arranged supporting legs are connected to the legs of the stand portion.
5. A tool carrier unit according to any preceding claim, in which one or more thrusters is/are connected to the tool carrier unit, said thruster(s) being controlled and supplied with energy from the operating and power supply systems.
6. A tool carrier unit according to any preceding claim, which is provided with gripping means adapted to engage with a connection part of common design on a variety of different units.
7. A tool carrier unit substantially as hereinbefore described with reference to, and as illustrated in, the accompanying drawings.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| SE8704060A SE465078B (en) | 1987-10-19 | 1987-10-19 | TOOL SUSTAINABILITY FOR UNDEMANDED UNDERWATER WORK |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| GB8824333D0 GB8824333D0 (en) | 1988-11-23 |
| GB2211226A true GB2211226A (en) | 1989-06-28 |
Family
ID=20369929
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| GB8824333A Withdrawn GB2211226A (en) | 1987-10-19 | 1988-10-18 | Tool carrier unit for unmanned underwater work |
Country Status (5)
| Country | Link |
|---|---|
| BR (1) | BR8805418A (en) |
| FR (1) | FR2623848B1 (en) |
| GB (1) | GB2211226A (en) |
| NO (1) | NO169376C (en) |
| SE (1) | SE465078B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2228961A (en) * | 1989-02-07 | 1990-09-12 | Asea Atom Ab | Modularized tool carrier for diverless underwater operations |
| WO2000056982A1 (en) * | 1999-03-19 | 2000-09-28 | Granherne International Limited | Unmanned offshore platform and method of performing maintenance work thereon |
| WO2010064929A3 (en) * | 2008-12-05 | 2010-07-29 | Linjebygg Offshore As | Apparatus for splash zone operations |
| CN101797970A (en) * | 2010-03-30 | 2010-08-11 | 中国船舶重工集团公司第七〇二研究所 | Carrying device for underwater movable platform of remote control submersible |
| CN101864929A (en) * | 2010-05-05 | 2010-10-20 | 宝鸡石油机械有限责任公司 | Marine underwater exploration template |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| NO314467B1 (en) * | 2001-06-28 | 2003-03-24 | Statoil Asa | branching point |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4095649A (en) * | 1977-01-13 | 1978-06-20 | Societe Nationale Elf Aquitaine (Production) | Reentry system for subsea well apparatus |
| GB2099881A (en) * | 1981-06-01 | 1982-12-15 | Armco Inc | Location detecting tools for underwater well components |
| GB2122669A (en) * | 1982-06-25 | 1984-01-18 | Elf Aquitaine | Operations for returning to an underwater station equipped with a well apparatus |
| GB2152556A (en) * | 1983-11-21 | 1985-08-07 | Elf Aquitaine | A device for positioning, activating and connecting modules of a sub-sea oil production station |
| WO1987001156A1 (en) * | 1985-08-12 | 1987-02-26 | Cbv Indústria Mecânica S.A. | Equipment for installation of modules on fixed underwater bases, specially for undersea petroleum wells |
| EP0266621A1 (en) * | 1986-10-22 | 1988-05-11 | Ab Asea-Atom | System and method for replacing an insert unit included in an assembly located at a remote lowered location |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4030309A (en) * | 1976-05-18 | 1977-06-21 | Burton Hoster Mason | Work arm system for submergible chamber |
-
1987
- 1987-10-19 SE SE8704060A patent/SE465078B/en not_active IP Right Cessation
-
1988
- 1988-10-14 FR FR888813547A patent/FR2623848B1/en not_active Expired - Lifetime
- 1988-10-17 NO NO884612A patent/NO169376C/en not_active IP Right Cessation
- 1988-10-18 GB GB8824333A patent/GB2211226A/en not_active Withdrawn
- 1988-10-19 BR BR8805418A patent/BR8805418A/en unknown
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4095649A (en) * | 1977-01-13 | 1978-06-20 | Societe Nationale Elf Aquitaine (Production) | Reentry system for subsea well apparatus |
| GB2099881A (en) * | 1981-06-01 | 1982-12-15 | Armco Inc | Location detecting tools for underwater well components |
| GB2122669A (en) * | 1982-06-25 | 1984-01-18 | Elf Aquitaine | Operations for returning to an underwater station equipped with a well apparatus |
| GB2152556A (en) * | 1983-11-21 | 1985-08-07 | Elf Aquitaine | A device for positioning, activating and connecting modules of a sub-sea oil production station |
| WO1987001156A1 (en) * | 1985-08-12 | 1987-02-26 | Cbv Indústria Mecânica S.A. | Equipment for installation of modules on fixed underwater bases, specially for undersea petroleum wells |
| EP0266621A1 (en) * | 1986-10-22 | 1988-05-11 | Ab Asea-Atom | System and method for replacing an insert unit included in an assembly located at a remote lowered location |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2228961A (en) * | 1989-02-07 | 1990-09-12 | Asea Atom Ab | Modularized tool carrier for diverless underwater operations |
| GB2228961B (en) * | 1989-02-07 | 1993-01-27 | Asea Atom Ab | Modularized tool carrier for diverless underwater operations |
| WO2000056982A1 (en) * | 1999-03-19 | 2000-09-28 | Granherne International Limited | Unmanned offshore platform and method of performing maintenance work thereon |
| WO2010064929A3 (en) * | 2008-12-05 | 2010-07-29 | Linjebygg Offshore As | Apparatus for splash zone operations |
| CN101797970A (en) * | 2010-03-30 | 2010-08-11 | 中国船舶重工集团公司第七〇二研究所 | Carrying device for underwater movable platform of remote control submersible |
| CN101797970B (en) * | 2010-03-30 | 2012-07-18 | 中国船舶重工集团公司第七〇二研究所 | Carrying device for underwater movable platform of remote control submersible |
| CN101864929A (en) * | 2010-05-05 | 2010-10-20 | 宝鸡石油机械有限责任公司 | Marine underwater exploration template |
| CN101864929B (en) * | 2010-05-05 | 2012-11-21 | 宝鸡石油机械有限责任公司 | Marine underwater exploration template |
Also Published As
| Publication number | Publication date |
|---|---|
| SE465078B (en) | 1991-07-22 |
| NO884612D0 (en) | 1988-10-17 |
| GB8824333D0 (en) | 1988-11-23 |
| FR2623848A1 (en) | 1989-06-02 |
| NO169376C (en) | 1992-06-17 |
| SE8704060D0 (en) | 1987-10-19 |
| NO884612L (en) | 1989-04-20 |
| NO169376B (en) | 1992-03-09 |
| BR8805418A (en) | 1989-06-20 |
| SE8704060L (en) | 1989-04-20 |
| FR2623848B1 (en) | 1991-02-22 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| WAP | Application withdrawn, taken to be withdrawn or refused ** after publication under section 16(1) |