EP0139596A2 - Vorrichtung zum Bearbeiten einer unterseeischen Konstruktion mit mehreren Abzweigungen - Google Patents

Vorrichtung zum Bearbeiten einer unterseeischen Konstruktion mit mehreren Abzweigungen Download PDF

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Publication number
EP0139596A2
EP0139596A2 EP84402143A EP84402143A EP0139596A2 EP 0139596 A2 EP0139596 A2 EP 0139596A2 EP 84402143 A EP84402143 A EP 84402143A EP 84402143 A EP84402143 A EP 84402143A EP 0139596 A2 EP0139596 A2 EP 0139596A2
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EP
European Patent Office
Prior art keywords
support
tool
arm
carriage
parallel
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Withdrawn
Application number
EP84402143A
Other languages
English (en)
French (fr)
Other versions
EP0139596A3 (de
Inventor
Pierre Valdy
Jean Marie Othenin Girard
Patrick Radi
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SPIE-CAPAG
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SPIE-CAPAG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by SPIE-CAPAG filed Critical SPIE-CAPAG
Publication of EP0139596A2 publication Critical patent/EP0139596A2/de
Publication of EP0139596A3 publication Critical patent/EP0139596A3/de
Withdrawn legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E21—EARTH DRILLING; MINING
    • E21B—EARTH DRILLING, e.g. DEEP 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
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02B—HYDRAULIC ENGINEERING
    • E02B17/00—Artificial islands mounted on piles or like supports, e.g. platforms on raisable legs or offshore constructions; Construction methods therefor
    • E02B17/0034—Maintenance, repair or inspection of offshore constructions

Definitions

  • the present invention relates to a device for performing work on a structure with several branches and more particularly a device for cleaning the nodes of a drilling rig at sea.
  • structures of this kind are generally subject to significant pollution, in particular, in the case of underwater platforms, the pollution occurs either in the form of plant pollution such as algae or other various vegetation. 'or in the form of animal pollution resulting most of the time by the presence of limestone concretions which strongly adhere to the walls.
  • Cleaning is currently the most expensive of these three operations, it is on it that must focus first the efforts of automation or, at least, remote-controlled work without plunger.
  • the device envisaged must also make it possible to carry out work other than cleaning work.
  • a remote-controlled device comprising an articulated arm
  • This curve is all the more difficult to follow as the guided submarines generally have to move and keep a substantially horizontal attitude. means of propulsion badly allowing them to tilt relative to the horizontal plane.
  • the device envisaged must be of weight, size and energy consumption compatible with the use of an underwater vehicle, possibly manned, but preferably remotely controlled.
  • An object of the present invention is therefore to propose a device which is capable of carrying and implementing successively several tools in the vicinity of the nodes of an underwater structure with several branches without direct intervention on the place of use.
  • a device for performing work on an underwater structure with several branches comprising an annular support articulated so as to be able to be locked from one of the branches of the structure, a carriage mounted on the annular and movable support in a transverse direction relative to the axis of the annular support, a means for driving the carriage along the support, means for supplying energy to a tool and accessories of the tool, and an arm adapted to support the tool and its accessories and supported by the carriage, in which the arm is movable in at least one direction substantially parallel to the axis of the annular support, and is connected to a drive means of the arm relative to the carriage.
  • the arm moves along the axis of the branch of the underwater structure and the work on the node is correctly executed.
  • the tool-carrying arm comprises at one end an articulated parallelogram, two articulations of which are mounted spaced apart at the end of the tool-carrying arm, while the other two articulations are mounted so spaced apart on a support of the tool, a jack being further mounted articulated between two parallel sides of the parallelogram;
  • the annular support includes two toroids parallel joined by crosspieces, each torus is divided into three parts, two of the parts of the torus each being articulated at one of the ends of the third part and the respective position of the three parts being controlled by actuating cylinders connected to each part on either side of each joint;
  • the support locking means comprise a locking cylinder arranged on a crosspiece parallel to the latter and a gusset disposed on an adjacent crosspiece and provided with an opening provided for receiving the rod of the locking cylinder when the support is locked around 'a branch of the structure;
  • the carriage comprises two flanges each maintained in contact with a side of a torus by means of rollers with a cur
  • the mobile arm comprises several elongated telescopic elements and means for driving each element as a function of the movements of the adjacent element;
  • the drive means comprise at least one cable formed in an endless loop mounted on rollers carried by an intermediate element to move in a direction parallel to the axis of the telescopic elements, the cable comprising two parallel strands each fixed on a neighboring element on either side of the intermediate element;
  • the movable arm comprises a support tube, an intermediate element and a tubular end element embedded in each other, the support tube comprising a lateral opening and the intermediate element carrying at its rear end a pulley the axis of which is transverse to the the intermediate element and the means of supplying energy to the tool and its accessories comprise a layer of cables or hoses extending inside the final element around the pulley, between the element intermediate, and the support tube
  • FIG. 1 where there is shown schematically an embodiment of the invention applicable particularly to the cleaning of the nodes of an underwater platform having branches 1, 2, 3, 4 of different diameters, connected together at different angles and forming a knot at each connection.
  • the device comprises an annular support comprising two tori 5 connected together by crosspieces 6 and supporting a generally designated carriage in 7 being able to move along the toroids 5 transversely to the axis of the branch 4 on which the support is mounted.
  • the carriage 7 carries a tube 8 in which slides a tool-carrying arm 9, at the end of which is fixed a tool support-10 carrying, in the case shown, a brush 11 of frustoconical shape.
  • the annular support is connected to a remote-controlled submarine 12.
  • the submarine 12 conventionally comprises floats 13 arranged in a frame to ensure its lift in the water so that the energy expended by the submarine is essentially used for its movements and for the operation of the device according to the invention.
  • the submarine comprises thrusters, video means, navigation means (not shown) and an electric cable 14 ensuring the connection of control and feedback power from the surface.
  • This type of submarine generally moves in a vertical plane or a horizontal plane but can hardly take an inclined position.
  • This articulated connection comprises a vertical pivot 15 whose angular position is determined by a jack 16 connected in an articulated manner to the chassis of the submarine on the one hand and to the base of the pivot 15 on the other hand.
  • the pivot 15 carries a horizontal arm 17 fixed to the vertical pivot 15 by gussets 18 and whose position in a vertical plane is determined by a jack 19, connected in an articulated manner to the vertical pivot 15 on the one hand and on the side of the arm 17 on the other hand.
  • the horizontal arm 17 is separated into two parts 17.1 and 17.2 nested one inside the other (see fig. 1) and connected by a hydraulic motor ensuring their angular position relative to each other so that the annular support can be given any desired position and orientation compared to the submarine.
  • torque limiters will advantageously be provided on the elements ensuring the positioning of the annular support relative to the submarine.
  • the annular support comprises two identical toroids 5, produced for example by means of light alloy welded and leaktight tubular elements forming a volume ensuring the buoyancy of the support.
  • Each torus has a part 5.1 rigidly connected to the horizontal arm part 17.2 via a cross member 6.1, and two parts 5.2 each having one of their ends articulated to one of the ends of part 5.1 by l intermediary of gussets 20 carried by crosspieces 6 connecting together two parts of parallel toroids.
  • the relative movement of a torus part 5.2 with respect to the torus part 5.1 is adjusted by a jack 21 articulated on the crosspieces 6.
  • the torus part 5.1 represents substantially a semi-circle
  • each of the toroid parts 5.2 represents substantially a quarter of a circle so that during the complete extension of the jacks 21, the support is open laterally to allow its positioning around one branches of the structure.
  • the various cylinders are supplied by pipes, not shown, connected to the submarine.
  • the annular support carries a carriage 7 comprising a tubular element 8 in which slides a tool-carrying arm 9 comprising along its lower edge a rack 24 driven by a hydraulic motor 25 carried by the tubular support 8.
  • the tool-carrying arm 9 comprises a parallelogram comprising two parallel arms 26 and 27 articulated spaced apart on the one hand at the end of the tool-carrying arm 9 and on the other hand on the support of tools 10.
  • a jack 28 is mounted in an articulated manner between the arms 26 and 27, this jack ensures the deformation of the parallelogram and thus makes it possible to move the support of tools relative to the tool-carrying arm in order to bring together or move the tool away from the surface of the branch on which the device is mounted.
  • the tool support is preferably made in the shape of an L, the vertical part of the L being made up by a hydraulic motor and the horizontal part containing a connecting means such as a chain or a belt between the hydraulic motor and the tool.
  • the carriage 7 is constituted by the tubular element 8 on which are fixed flanges 29 arranged symmetrically with respect to a plane located halfway between the toroids 5 parallel to them.
  • Each flange 29 has a lower part substantially matching the shape of the flank of the torus 5 and moves on this flank by means of rollers with curvilinear surface 30 (see the enlarged insert of FIG. 2), each roller 30 being mounted on an axis 31 fixed on the edges of an opening 32 made in the flange 29.
  • the carriage 7 has an axis 33 whose ends are pivotally held on the flanges 29 and which itself carries toothed pinions 34 cooperating with a rack 35 carried by the toroids 5.
  • the shaft 33 is driven in rotation by a hydraulic motor 36 which thus allows the positioning of the carriage 7 at any point on the external surface of the annular support.
  • the device further comprises accessories such as cable reels 37 carried by the carriage and preventing tangling of the cables when the carriage moves or when the tool arm is extended.
  • the tool-carrying arm also supports a projector 38 and a video camera 39 appropriately connected to a control installation.
  • Figures 3 and 4 There is shown in Figures 3 and 4 a partial view of the annular support at the junction between the part 5.1 and a part 5.2 of the torus.
  • the sectional view of Figure 3 is taken along a plane parallel to the plane of the toroids 5 while in Figure 4, there is shown a side view of this portion of the annular support, the hinge means 20 and the cylinder 21 however, not being shown in this figure 4.
  • FIGS. 3 and 4 therefore serve mainly to illustrate the device for centering the annular support which is not shown in FIG. 1 or in FIG. 2.
  • the centering means comprise a series of arms 40 in the form of a V, the ends of which are articulated on gussets 41 carried by a cross member 6 so as to allow them to pivot around an axis parallel to the cross members 6.
  • the movement of the arm 40 is controlled by jacks 42 hingedly mounted on the one hand on gussets 43 carried by the crosspieces 6 and on the other hand on gussets 44 carried by the arms 40.
  • each arm has an appropriate configuration to allow contact with the surface of the branch on which the annular support is to be mounted.
  • the arm 40 of the left part of FIG. 3 has been shown in the raised position, while the arm 40 of the right part and shown in the lowered position, it will be understood that the different control jacks 42 will in practice be connected to a control ensuring synchronization of the movements of the different arms 40 so that during the downward movement of these arms, the toroids 5 are automatically centered on the branch of the structure.
  • Figures 5 and 6 illustrate a preferred embodiment of the movable arm 9.
  • the arm 9 comprises two elongated telescopic elements 9.1, 9.2 concentric tubular.
  • the intermediate element 9.1 is supported in the tube 8 by rollers 45, similar to the rollers 30, carried by the tube 8 and whose axes 46 are mounted on the edges of openings made in the tube 8, for example by means of bosses (not shown).
  • the final element 9.2 is placed inside the intermediate element 9.1 and is supported therein by rollers 47 similar to the rollers 45 and whose axes 48 are mounted in the same way as the axes 46 on the edges. openings in the intermediate element 9.1.
  • Driving means are provided between the element 9.1 and the element 9.2 so that the movements of the element 9.2 take place as a function of the adjacent element 9.1.
  • These drive means include two cables 49 formed in an endless loop each mounted on a pair of rollers 47 of the intermediate element 9.1 to move in a direction parallel to the axis of the elements 9.1 and 9.2.
  • Each cable 49 has an external strand 49.1 and an internal strand 49.2, parallel.
  • the external strand 49.1 is fixed by means of a spacer 50.1 to the tube 8 forming an external element and the internal strand 49.2 is fixed by means of a spacer 50.2 to the final element 9.2.
  • Each strand 49.1, 49.2 is thus fixed to a neighboring element on either side of the intermediate element which supports it.
  • the final element 9.2 also comprises a centering pin 51 cooperating with bosses 52.
  • the telescopic elements being hollow, it is possible to pass the electric cables and the hydraulic or pneumatic hoses 53 inside the final element 9.2 ce which reduces the external dimensions of the arm 9.
  • the ply 53 of cables and hoses therefore extends inside the element 9.2, around the return pulley 54, between the element 9.1 and the tube 8 and comes out through a lateral opening 55 of the support tube 8 towards a connection to the respective energy sources.
  • the opening 55 is at a distance D from the axis of the pulley equal to the maximum length from which the final element 9.2 must exit relative to the support tube 8.
  • Different maneuvering means can be envisaged for the device according to the invention.
  • a direct control means using a video camera placed near the tool and allowing an operator to follow each movement of the tool and ensure its positioning by acting on the hydraulic elements 6 , 25 and 28 respectively for controlling the position of the carriage, the extension of the tool arm and the distance of the tool from the surface of the branch of the structure.
  • this process makes it possible in particular to carry out the first monitoring by means of a video camera without polluting the surrounding water and then to carry out cleaning while the video camera could no longer be used due to the reduced visibility due to brush movement.
  • the invention has been described in connection with figures where the tool shown is a rotary brush, it will be understood that it is possible to use all kinds of tools. In particular, after having carried out a cleaning, it is possible to replace the cleaning tool with a control tool or with a tool making it possible to work on the knot.
  • the device according to the invention is particularly suitable for working on an underwater structure, it could also be used on an aerial structure.
EP84402143A 1983-10-26 1984-10-24 Vorrichtung zum Bearbeiten einer unterseeischen Konstruktion mit mehreren Abzweigungen Withdrawn EP0139596A3 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR8317057A FR2554037B1 (fr) 1983-10-26 1983-10-26 Dispositif pour effectuer un travail sur une structure a plusieurs branches
FR8317057 1983-10-26

Publications (2)

Publication Number Publication Date
EP0139596A2 true EP0139596A2 (de) 1985-05-02
EP0139596A3 EP0139596A3 (de) 1986-04-02

Family

ID=9293540

Family Applications (1)

Application Number Title Priority Date Filing Date
EP84402143A Withdrawn EP0139596A3 (de) 1983-10-26 1984-10-24 Vorrichtung zum Bearbeiten einer unterseeischen Konstruktion mit mehreren Abzweigungen

Country Status (4)

Country Link
EP (1) EP0139596A3 (de)
DE (1) DE139596T1 (de)
FR (1) FR2554037B1 (de)
NO (1) NO844256L (de)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0214841A2 (de) * 1985-09-03 1987-03-18 The Walton Mole Company (Gt. Britain) Limited Vorrichtung zum bewegbaren Montieren eines Arbeitskopfes in einer Konstruktion mit kreisförmigem Querschnitt
FR2593726A1 (fr) * 1986-02-03 1987-08-07 Goulet Jean Luc Nettoyeur de concretions pour structures immergees
GB2202887A (en) * 1987-03-16 1988-10-05 Oceaneering Int Inc Apparatus for inspecting cleaning and/or performing other tasks in connection with a welded joint
CN108212886A (zh) * 2018-01-02 2018-06-29 山东大学 一种水下清理机器人搭载的高压水喷头位姿调整机构
CN108296231A (zh) * 2018-01-04 2018-07-20 山东大学 应用于海上油田井口平台管道清理的移动机构
WO2023170398A1 (en) * 2022-03-07 2023-09-14 RotoTech Pte Ltd. Apparatus for servicing a structure

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NO332220B1 (no) * 2008-07-02 2012-07-30 Prezioso Linjebygg As Apparater for operasjoner i skvalpesonen
NL2009005C2 (en) * 2012-06-14 2013-12-17 Heerema Marine Contractors Nl Device and method for performing an operation on an at least partially submerged structure.

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1196144B (de) * 1961-01-03 1965-07-08 Shell Int Research Einrichtung zum Durchfuehren von Arbeiten an einem Unterwasser-Bohrlochkopf
US3766742A (en) * 1972-01-07 1973-10-23 Westinghouse Electric Corp Submarine tethered working unit and method of manipulating
FR2405863A1 (fr) * 1977-10-11 1979-05-11 Intersub Dispositif de suspension d'un sous-marin sur une structure immergee
GB2027473A (en) * 1978-07-28 1980-02-20 Boc Ltd Apparatus for attachment to tubular or elongate structural members

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1196144B (de) * 1961-01-03 1965-07-08 Shell Int Research Einrichtung zum Durchfuehren von Arbeiten an einem Unterwasser-Bohrlochkopf
US3766742A (en) * 1972-01-07 1973-10-23 Westinghouse Electric Corp Submarine tethered working unit and method of manipulating
FR2405863A1 (fr) * 1977-10-11 1979-05-11 Intersub Dispositif de suspension d'un sous-marin sur une structure immergee
GB2027473A (en) * 1978-07-28 1980-02-20 Boc Ltd Apparatus for attachment to tubular or elongate structural members

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0214841A2 (de) * 1985-09-03 1987-03-18 The Walton Mole Company (Gt. Britain) Limited Vorrichtung zum bewegbaren Montieren eines Arbeitskopfes in einer Konstruktion mit kreisförmigem Querschnitt
EP0214841A3 (en) * 1985-09-03 1987-11-11 The Walton Mole Company (Gt. Britain) Limited Apparatus for movably mounting a work head on a structure of circular cross-section
FR2593726A1 (fr) * 1986-02-03 1987-08-07 Goulet Jean Luc Nettoyeur de concretions pour structures immergees
GB2202887A (en) * 1987-03-16 1988-10-05 Oceaneering Int Inc Apparatus for inspecting cleaning and/or performing other tasks in connection with a welded joint
GB2202887B (en) * 1987-03-16 1991-04-17 Oceaneering Int Inc Apparatus for inspecting cleaning and/or performing other tasks in connection with a welded joint
CN108212886A (zh) * 2018-01-02 2018-06-29 山东大学 一种水下清理机器人搭载的高压水喷头位姿调整机构
CN108296231A (zh) * 2018-01-04 2018-07-20 山东大学 应用于海上油田井口平台管道清理的移动机构
WO2023170398A1 (en) * 2022-03-07 2023-09-14 RotoTech Pte Ltd. Apparatus for servicing a structure

Also Published As

Publication number Publication date
DE139596T1 (de) 1985-08-29
FR2554037B1 (fr) 1987-01-09
FR2554037A1 (fr) 1985-05-03
EP0139596A3 (de) 1986-04-02
NO844256L (no) 1985-08-19

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