EP0188459B1 - Selbsttätiges unterwasserfahrzeug mit mannschaft - Google Patents

Selbsttätiges unterwasserfahrzeug mit mannschaft Download PDF

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Publication number
EP0188459B1
EP0188459B1 EP85903073A EP85903073A EP0188459B1 EP 0188459 B1 EP0188459 B1 EP 0188459B1 EP 85903073 A EP85903073 A EP 85903073A EP 85903073 A EP85903073 A EP 85903073A EP 0188459 B1 EP0188459 B1 EP 0188459B1
Authority
EP
European Patent Office
Prior art keywords
vessel
manipulator
underwater
rail track
underwater vessel
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.)
Expired
Application number
EP85903073A
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English (en)
French (fr)
Other versions
EP0188459A1 (de
Inventor
Einar Pedersen
Johan Fr. Jaunsen
Walter Garlung
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.)
Total Transportation Systems International AS
Original Assignee
Total Transportation Systems International AS
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Filing date
Publication date
Application filed by Total Transportation Systems International AS filed Critical Total Transportation Systems International AS
Publication of EP0188459A1 publication Critical patent/EP0188459A1/de
Application granted granted Critical
Publication of EP0188459B1 publication Critical patent/EP0188459B1/de
Expired legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/34—Diving chambers with mechanical link, e.g. cable, to a base
    • B63C11/36—Diving chambers with mechanical link, e.g. cable, to a base of closed type
    • B63C11/42—Diving chambers with mechanical link, e.g. cable, to a base of closed type with independent propulsion or direction control

Definitions

  • the present invention relates to a manned self-sufficient underwater vessel, having at least one external manipulator being mounted on support means movable along a generally horizontal rail track, which is mounted externally on the pressure hull of the vessel.
  • the underwater operating system includes the use of a underwater vessel which is load carrying, manned and self-sufficient.
  • a particular object of the present invention is to suggest such an underwater vessel.
  • the use of such a vessel is of course not limited to the use in conjunction with the said particular underwater operating system. It may be used wherever there is a demand for such a vessel, with the advantages it entails,
  • the object of the invention it is therefore to provide a manned, self-sufficient underwater vessel, having at least one external manipulator, said vessel being load carrying and having at least one manipulator capable of handling, the load carried.
  • An underwater vessel of the above type and in accordance with the precharacterizing part of claim 1, is known from US-A-3 451 224.
  • This vessel is on the underside provided with a head equipped with two manipulator arms.
  • the head is movable along a rail track on the underside of the vessel, but this movement only serves to bring the manipulators from stored position to the position of use. It is not intended that the head should be able to move while the manipulator arms are in use.
  • the vessel is neither intended for carrying externally accessible cargo nor are the manipulators intended for handling or moving such cargo. This known device can therefore not fulfil the object of the present invention.
  • the object of the present invention is fulfilled by a manned self-sufficient underwater vessel of the type mentioned by way of introduction, the vessel being provided with a loading area at the underside of the pressure hull, where a rail track carries a lifting yoke for transferring cargo units which can be carried by the vessel in the loading area, Since the vessel is self-sufficient and can carry cargo which it may able to handle itself, for instance in the form equipment units which are to be installed or dismantled on well installations at quite large depths, the vessel will have a considerably greater applicability, flexibility and efficiency than known vessels.
  • the vessel is a true underwater vessel without the need for an umbilical, and it may have the capability of staying under water countinuously for weeks, having a larger crew, for instance 5-10 persons.
  • Such an underwater vessel will have the advantage that one will be entirely independent of the weather conditions on the surface when performing necessary operations and work on an underwater installation, since the underwater vessel may be operational at any time and quickly may be brought to the place of employment, carrying the necessary load, i.e. equipment units and components for the underwater installation.
  • Said rail tracks permitting travelling of the lifting yoke, the manipulator or manipulators, provides a desired, larger work area for these while the underwater vessel is at rest, and this facilitates carrying our the necessary work.
  • the advantages are even greater if it is possible to dock the underwater vessel as shown and described in the above mentioned European patent application 85903072.8.
  • Such a manned autonomous or self-sufficient underwater vessel will also be able to reduce the long term demands on the equipment in an underwater installation, without reducing safety, particularly since one at the desired time quickly may gain access for performing the necessary work, replacements etc.
  • the need for complete shut-off of an installation e.g. a cluster of production trees with corresponding manifold equipment, will also be reduced or possibly be eliminated because one can perform any necessary repairs or replacements, e.g. in a manifold part or in a production tree, without the necessity of closing down the other sections of the installation.
  • the underwater vessel can work at very large depths, well outside the reach of divers, and a particular advantage is that the underwater vessel also may be used in arctic waters (below ice).
  • the vessel may advantageously have a vertical rail track at the front of the vessel.
  • a vertical rail track is particularly advantageous for a manipulator which is to perform work on a tower-like structure, e.g. a production tree.
  • the vertical rail track is movable horizontally in the longitudinal direction of the vessel. Then the rail track may be moved with respect to the front part of the vessel, and the rail track with the appurtenant manipulator may, if needed, be pulled all the way up to the front part of the vessel, to a stored position or an inoperative position during transport.
  • the pressure hull of the vessel may advantageously be provided with wall sections which, as known per se, may be opened and which define a room where the manipulators are located when not in use.
  • a further rail track may be arranged in the loading area for a belly manipulator.
  • the belly manipulator and the lifting yoke and their rail tracks are designed so that the belly manipulator and the lifting yoke can pass each other.
  • the belly manipulator may comprise a U-shaped frame running in two rails forming the rail track of the belly manipulator, while the lifting yoke concurrently comprises a trolley carriage dimensioned for movement in the space between the U-shaped frame and the vessel, the rail track of the lifting yoke extending inside the rails of the belly manipulator.
  • supports are arranged in its loading area for equipment units in a upper loading level and in a lower parking level, in which parking level the equipment units will hang out of the way of longitudinal transport of an equipment unit in the loading area by means of the lifting yoke.
  • the belly manipulator which can travel in the loading area, can be retracted to a position within the cross-section of the loading area and preferably above the parking level.
  • the belly manipulator may thus be driven passed the parked equipment units.
  • the vessel is designed so that the loading area is defined by the pressure hull of the vessel and cargo room walls suspended from the hull.
  • the walls may be opened, e.g. by being pivotable, or for instance foldable.
  • the equipment units, the belly manipulator and the lifting yoke may be protected inside a cargo room, simultaneously obtaining a more streamlined outer skin for the underwater vessel during transit.
  • the underwater vessel is provided with telescopic or lowerable supporting legs, and these supporting legs may advantageously be provided with supporting wheels which may be intended for cooperation with and locking to a rail track on the or those underwater installations or underwater platforms serviced by the underwater vessel.
  • the underwater vessel may be docked on the supporting legs and may be moved on the rail track to the desired position and locked in this position.
  • the underwater vessel is provided with windows known per se, preferably large acrylic windows located in the areas where the work is to be performed.
  • windows known per se preferably large acrylic windows located in the areas where the work is to be performed.
  • the underwater vessel may preferably carry a tool storage unit (tool box) in its cargo room.
  • the manipulators can fetch tools for working on the equipment units.
  • the tool box may be designed like a carousel supported in a frame, which in turn may be connected to the lifting yoke.
  • FIG. 1 an underwater installation 1 is schematically shown, here in the form of an underwater production platform having four well areas 2, 3, 4, 5 and appurtenant manifold equipment, represented by the framework 6, Only one production tree 7 is shown.
  • a rail track is arranged, generally consisting of two rails 8 and 9, and on this rail track an underwater vessel 10 is shown,
  • the underwater vessel 10, which is shown schematically, is about to approach the underwater installation for docking on the rails 8, 9 in a manner to be described more closely below in connection with Figs, 2 and 3.
  • the underwater vessel 10 in Fig. 1 has a cargo room 11 and a front room 12. Both these rooms are shown in closed condition, i.e. the bow doors are closed and the same is true for the belly doors limiting the cargo room 11 outwards.
  • the underwater vessel 10 has a pressure hull 13. This pressure hull 13 is surrounded by an outer hull 14. On the belly side of the pressure hull 13 a loading area or cargo room 15 is arranged, where cargo may be placed in a manner not shown in further detail, here suggested by dash-dot lines indicating the contour of modules or equipment units 17.
  • the cargo room 15 is provided with attachment supporting devices 46 enabling positioning of the equipment units 17 inside the cargo room, as shown to the right in Fig. 2. In this parked position the side walls of the cargo room is of course swung outwards, as indicated by dash-dot lines in Fig. 3, where side walls 16, 18 are shown swung outwards and folded, respectively.
  • the various equipment units 17 may be handled in the cargo room by means of a lifting yoke 19, which is supported to be raised and lowered in a trolley carriage 20.
  • This trolley carriage 20 can run in two rails 21, 22 mounted under the belly of the pressure hull 13. These rails 21, 22 extend parallel to each other and to the longitudinal axis of the vessel.
  • the parking possibility for the equipment units 17 permits moving of the equipment units with respect to each other in the cargo room, and also permits moving of an equipment unit 17 by means of the lifting yoke 19 past the belly manipulator 25, 26 if the need arises.
  • the belly manipulator 26 In its folded condition, the belly manipulator 26 is located above the parking level, as shown in Fig. 2. The folded position is shown in solid lines in Fig. 3. Broken lines in Fig. 3 show a possible working position of the belly manipulator 26.
  • a front vertical rail track 31 is supported horizontally movable by means of horizontal beams 32, 33 (Fig. 2).
  • the vertical rail track 31 is in fact designed as a double vertical rail track having two vertical rails 34, 35, and on each of these rails a bow manipulator 36, 37 is movably supported (see also Figs. 4, 5 and 6).
  • Fig. 3 only one of the bow manipulators is indicated and given reference numeral 36, while Fig. 2 shows the other bow manipulator 37, in fact only its rail track part.
  • Fig. 2 the vertical rail track 31 is shown extended. Dash-dot lines show a retracted position for the rail track 31 inside a front room 38, which may be closed by means of bow doors not shown.
  • the underwater vessel 10 is provided with four telescopic legs 39. At the top these telescopic legs are attached to the pressure hull 13, and at the bottom they are each provided with a set of running wheels 40, by means of which the underwater vessel may rest on the rails 8 and 9 indicated in Figs. 2 and 3, see also Fig. I.
  • the underwater vessel When the underwater vessel is to be docked on the rails 8, 9, one opens the cargo room doors 16, 18 and run the legs out for contact with the rails. Thereupon, one may, by means of the telescopic legs 39, adjust the position of the vessel on the rail track.
  • the underwater vessel may be locked to the rail track by means not shown, such as pivotable claws or the like.
  • the underwater vessel may be provided with equipment known per se and not shown, such as light projectors, TV cameras etc., but primarily the intention is that an operator inside the pressure hull 13 shall have direct visual control over the manipulators.
  • a large acrylic window 41 is arranged in the nose of the pressure vessel, see also Figs. 4-6.
  • several large acrylic windows 42 are provided on the belly side (shown by broken lines).
  • a hydraulic, foldable crane is shown at 43.
  • the submarine also has side thrusters 44.
  • any suitable motor may be used for driving the trolley carriage 20 any suitable motor may be used.
  • a suitable hoist may be arranged in the trolley carriage 20.
  • the lifting yoke 19 may be a magnetic yoke or it may be provided with hooks or other attachment means known per se suitable for cooperation with the equipment units 17.
  • the frame 25 for the belly manipulator 26 is provided with a suitable drive means for moving along the rails 23, 24.
  • the manipulators may be electrically or hydraulically driven in a manner known per se,
  • the bow ports and the cargo room ports may be opened and closed by means known per se, e.g. by means of hydraulic operating cylinders or electrically or hydraulically driven spindle mechanisms.
  • Figs. 4, 5 and 6 it is shown how the bow manipulators 36, 37 may be used for performing work on a vatve tree 45.
  • the vertical rails 34, 35 may be moved horizontally in the longitudinal direction of the vessel, as mentioned above.
  • the manipulators 36, 37 themselves may be moved vertically along their rails 34, 35, In Figs. 4, 5 and 6 the manipulators 36, 37 are shown in different working positions, and their respective working areas are indicated by the curved dash-dot lines.
  • Fig. 7 shows how the underwater vessel 10 is provided with a "tool box” 48, which from a position in the cargo room 15 may be “parked” in the front position, the lifting yoke 19 being used for this relocation.
  • the bow manipulator 37, and also the belly manipulator 26 can fetch/place tools in this unit 48.
  • the unit 48 may preferably be designed as a carousel (not shown).

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Manipulator (AREA)
  • Underground Or Underwater Handling Of Building Materials (AREA)
  • Earth Drilling (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Removal Of Floating Material (AREA)

Claims (12)

1. Ein unabhängiges, bemanntes Unterwasserfahrzeug mit mindestens einem auBenliegenden Handhabungsgerät (26; 36, 37), das auf einem Träger (25; 31) befestigt ist, welcher längs einer im wesentlichen horizontalen Schienenführung (23, 24; 27-30), die auf der Außenseite des Druckraumes (13) des Fahrzeuges (10) befestigt ist, verfahrbar ist, dadurch gekennzeichnet, daß das Fahrzeug eine Ladezone (15) auf der Unterseite des Druckraumes (13) aufweist, wobei eine Schienenführung (21, 22) ein Hubjoch (19) trägt, um Ladungseinheiten (17) zu bewegen, die von dem Fahrzeug in der Ladezone transportiert werden können.
2. Ein Unterwasserfahrzeug gemäß Anspruch 1, dadurch gekennzeichnet, daß es eine im wesentlichen senkrechte Schienenführung (34, 35) für mindestens ein Handhabungs gerät (36, 37) am Bug des Fahrzeuges besitzt, wobei die im wesentlichen senkrechte Schienenführung an dem Fahrzeug so gelagert ist, daß sie in Bezug auf dieses im wesentlichen horizontal bewegt werden kann.
3. Ein Unterwasserfahrzeug gemäß Anspruch 2, dadurch gekennzeichnet, daß das Fahrzeug vor dem Druckraum Wandteile trägt, wobei ti°e Wandteile in bekannter Weise zu öffnen sind und einen Raum bilden, in dem die Handhabungsgeräte (36, 37) während ihrer Nichtbenutzung untergebracht sind.
4. Ein Unterwasserfahrzeug gemäß Anspruch 1, dadurch gekennzeichnet, daß in der Ladezone (15) eine weitere Schienenführung (23, 24) für ein Bauch-Handhabungsgerät (26) angeordnet ist.
5. Ein Unterwasserfahrzeug gemäß Anspruch 4, dadurch gekennzeichnet, daß das Bauch-Handhabungsgerät (26) und das Hubjoch (19) sowie deren jeweilige Schienenführungen so gestaltet sind, daß das Handhabungsgerät und das Hubjoch einander passieren können.
6. Ein Unterwasserfahrzeug gemäß Anspruch 5, dadurch gekennzeichnet, daß das Bauch-Handhabungsgerät (26) einen U-förmigen Rahmen (25) aufweist, der in der Schienenführung (23, 24) des Bauch-Handhabungsgerätes läuft, und daß das Hubjoch eine Laufkatze (20) umfaßt, die für eine Bewegung in dem Zwischenraum zwischen dem U-förmigen Rahmen (25) und dem Fahrzeug bemessen ist und daB sich die Schienenführung (21, 22) für das Hubjoch innerhalb der Schienenführung (23, 24) für das Bauch-Handhabungsgerät erstreckt.
7. Ein Unterwasserfahrzeug gemäß einem der Ansprüche 1 bis 6, dadurch gekennzeichnet, daß es Träger (46, 47) für Ausrüstungseinheiten (17) auf einer oberen Ladungsebene und einer unteren Parkebene der Ladezone aufweist, wobei die Ausrüstungseinheiten in der Parkebene sich außerhalb der Bahn für den Längstransport Von Ausrüstungseinheiten in der Ladezone mit Hilfe des Hubjoches (19) befinden.
8. Ein Unterwasserfahrzeug gemäß Anspruch 7, dadurch gekennzeichnet, daß das Bauch-Handhabungsgerät (26), das in der Ladezone beweglich ist, in eine Stellung innerhalb des Querschnittes der Ladezone (15) und vorzugsweise oberhalb der Parkebene zurückziehbar ist.
9. Ein Unterwasserfahrzeug gemäß einem der Ansprüche 1 bis 6, dadurch gekennzeichnet, daß die Ladezone (15) von der Druckkammer des Fahrzeuges und von Laderaumwänden (16, 18), die an dem Druckraum befestigt sind, begrenzt ist, wobei die Wände vorzugsweise schwenkbar und gegebenenfalls faltbar sind.
10. Ein Unterwasserfahrzeug gemäß einem der Ansprüche 1 bis 6, dadurch gekennzeichnet, daß es ausfahrbare oder absenkbare Stützbeine (39) aufweist.
11. Ein Unterwasserfahrzeug gemäß einem der Ansprüche 1 bis 6, welches mit einer Werkzeuglagereinheit versehen ist, wo das Handhabungsgerät Werkzeuge herausnehmen und ablegen kann, dadurch gekennzeichnet, daß die Werkzeuglagereinheit (48) als karussell gestaltet ist.
12. Ein Unterwasserfahrzeug gemäß einem der Ansprüche 1 bis 6, dadurch gekennzeichnet, daß es eine CAD-Steuereinrichtung für die Handhabungsgeräte umfaßt.
EP85903073A 1984-06-22 1985-06-21 Selbsttätiges unterwasserfahrzeug mit mannschaft Expired EP0188459B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NO842543 1984-06-22
NO842543A NO154662C (no) 1984-06-22 1984-06-22 Bemannet, autonomt undervannsfartoey.

Publications (2)

Publication Number Publication Date
EP0188459A1 EP0188459A1 (de) 1986-07-30
EP0188459B1 true EP0188459B1 (de) 1988-09-14

Family

ID=19887728

Family Applications (1)

Application Number Title Priority Date Filing Date
EP85903073A Expired EP0188459B1 (de) 1984-06-22 1985-06-21 Selbsttätiges unterwasserfahrzeug mit mannschaft

Country Status (9)

Country Link
EP (1) EP0188459B1 (de)
JP (1) JPS62500113A (de)
DE (2) DE3564928D1 (de)
DK (1) DK82286A (de)
FI (1) FI860740A0 (de)
GB (1) GB2177351A (de)
NO (1) NO154662C (de)
SE (1) SE8600720D0 (de)
WO (1) WO1986000273A1 (de)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NO159843C (no) * 1986-05-23 1989-02-15 Norske Stats Oljeselskap Arbeidsverktoey for utfoerelse av arbeider under vann.
GB2210838B (en) * 1987-10-10 1992-02-26 Ferranti Int Signal Subsea working arrangement including submersible vehicle docking arrangement and garage
DE102011082428A1 (de) * 2011-09-09 2013-03-14 Howaldtswerke-Deutsche Werft Gmbh Vorrichtung zum Lagern und Ausbringen mindestens einer Waffe
GB2539450A (en) * 2015-06-16 2016-12-21 Magma Global Ltd Offshore pipe deployment method and apparatus
CN106627985B (zh) * 2016-10-28 2018-10-12 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） 一种海底管线原位检修舱
CN107878712B (zh) * 2017-09-26 2023-12-29 杭州电子科技大学 冰下探测机器人

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3133244A1 (de) * 1980-08-22 1982-05-27 Compagnie Française des Pétroles S.A., 75781 Paris "verfahren und vorrichtung zum arbeiten an einer auf dem meeresboden verlegten rohrleitung"
DE3202106C2 (de) * 1982-01-23 1984-10-11 ZF-Herion-Systemtechnik GmbH, 7990 Friedrichshafen Unterwasser-Arbeitsgerät

Family Cites Families (9)

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Publication number Priority date Publication date Assignee Title
US1139805A (en) * 1914-04-02 1915-05-18 William J Rogers Diving apparatus.
US1450232A (en) * 1920-03-06 1923-04-03 John C Setlow Submarine salvage vessel
GB1227342A (de) * 1967-03-31 1971-04-07
US3451224A (en) * 1967-06-20 1969-06-24 Gen Dynamics Corp Stowable underwater manipulator
US3698197A (en) * 1971-02-22 1972-10-17 Charles E Bodey Submerged pier for moving a submarine under water
US3983707A (en) * 1975-03-05 1976-10-05 Georgy Mikhailovich Lezgintsev Method and apparatus for moving an object on the bottom of a body of water
US4030309A (en) * 1976-05-18 1977-06-21 Burton Hoster Mason Work arm system for submergible chamber
US4010619A (en) * 1976-05-24 1977-03-08 The United States Of America As Represented By The Secretary Of The Navy Remote unmanned work system (RUWS) electromechanical cable system
US4142818A (en) * 1977-03-14 1979-03-06 Lezgintsev Georgy M Device for travelling along the basin and sea bottom

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3133244A1 (de) * 1980-08-22 1982-05-27 Compagnie Française des Pétroles S.A., 75781 Paris "verfahren und vorrichtung zum arbeiten an einer auf dem meeresboden verlegten rohrleitung"
DE3202106C2 (de) * 1982-01-23 1984-10-11 ZF-Herion-Systemtechnik GmbH, 7990 Friedrichshafen Unterwasser-Arbeitsgerät

Also Published As

Publication number Publication date
DK82286D0 (da) 1986-02-21
WO1986000273A1 (en) 1986-01-16
DE3590305T1 (de) 1986-08-07
NO154662C (no) 1986-11-26
DK82286A (da) 1986-02-21
FI860740A (fi) 1986-02-19
DE3564928D1 (en) 1988-10-20
JPS62500113A (ja) 1987-01-16
GB2177351A (en) 1987-01-21
SE8600720L (sv) 1986-02-18
SE8600720D0 (sv) 1986-02-18
GB8604270D0 (en) 1986-03-26
FI860740A0 (fi) 1986-02-19
NO154662B (no) 1986-08-18
EP0188459A1 (de) 1986-07-30
NO842543L (no) 1985-12-23

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