FR2623848A1 - TOOL SUPPORT APPARATUS FOR UNDERWATER WORKS WITHOUT HUMAN INTERVENTION - Google Patents

Abstract

The invention relates to the automatic completion of underwater work. A tool support device making it possible to perform underwater work without human intervention, comprises a metal frame frame 1 equipped with legs 2 and with retaining devices 3 for guide cables 4. Gripping means 12, intended for fixing a tool, are mounted on the device. A control and link line 7 is connected to the device to control its operation and to ensure its power supply. Application to underwater oil exploitation.

Description

The present invention relates to an apparatus for

  carrying tools for the accomplishment of different opera-

  in connection with the performance of underwater works

without human intervention.

  In the exploitation of oil and gas from wells at the bottom of the sea, with increasing water depths, we will be driven to work from facilities located at the bottom. On the other hand, with so-called satellite facilities located at the bottom, it can be economically favorable to connect peripheral depots to an existing platform. In the case of underground installations, it would be favorable in many respects to use automatic equipment both for the installation and for the maintenance of the installations. A of

  great depths, it would be absolutely necessary to use

  automatic equipment for setting up and

  maintenance of the underground facilities, for the ex-

oil and gas operations.

  To be able to perform at sea several different operations remotely controlled and without human presence, at

  means of installations located at the bottom of the sea, for the ex-

  oil and gas operations, a device was manufactured

  tool carrier with great flexibility of use.

  sation, which can be used to monitor systems and with various tools for inspection, set-up, repair, organ replacement, control and maintenance operations, etc. , of facilities located

  basically; The tool support apparatus essentially comprises

  a metal frame frame with legs, accessories and retainers for guidewires. The tool support apparatus is further provided with a control system, a launching system and a feed system. A control and link line connects the tool support apparatus to work equipment and power on a surface vessel or

  a platform. The connecting line is dimensioned

  to be able to lift to the surface the

  tools as well as the tools, from the

installation at the bottom.

  The part consisting of a frame made of metal frame with the legs, must have a large unobstructed area

  in the forward and reverse directions, to enable

  completion of various works within a range of

  extended range, with the tool holder in position. The leg frame must be dimensioned to have a high buoyancy, and it must be designed to provide great flexibility in the positioning of tools and

  their control and power systems.

  The tool support apparatus according to the invention

  It comprises a portion consisting of a metal frame frame to which legs are attached. Mount supports

  a control module and a power supply module. Dis

  Positive guide wire retainers are removably attached to the frame or, alternatively, to the legs. Manipulator arms can be attached to the legs. of the

  means for coupling tools and connecting parts

  xion for the transmission of signals and energy to the tools are attached to the central part of the frame. The legs are designed so that you can attach a tool and

  we can mount additional support legs.

  The tool support apparatus, in combination with various tools, allows different tasks to be carried out, for example the mounting and dismantling of horizontally and vertically arranged valves, the mounting and dismounting of a control module, operations inspection, pressure testing and machining, pipe connection, pipe cutting, winching, cement removal

  around pipes, and the handling of various parts,

  for example at the head of eruption. The tool support apparatus is designed and dimensioned to be able to lift and manipulate modules in a large weight range, in combination with the various tools. On the surface vessel or platform, the tool support apparatus is equipped with a tool suitable for the intended operation. Then, down to the installation located at the bottom of the tool support apparatus with the tool. By means of control equipment on the surface vessel or the platform, the work done on the bottom is controlled and checked with the control and connection line connected to the device.

  of tool support. When the work is done, we will

  leads the tool support apparatus to the surface vessel or platform, using the command line and

link.

  The invention will be better understood on reading the

  description which follows of an embodiment, given in

  as a non-limitative example. The rest of the description

  Referring to the accompanying drawings in which: Fig. 1 shows a tool support apparatus; Fig. 2 shows a tool support apparatus;

  in side view, with a tool moored against a head of erup-

  Figure 3 shows a tool support apparatus with a tool for horizontal handling of a horizontally positioned valve. Figure 4 shows a tool support apparatus with a tool for vertical handling of a valve. placed vertically, Figure 5 shows a tool support apparatus with a tool provided for the introduction of a cleaning device, Figure 6 shows a tool support apparatus with a tool provided for the removal of cement around pipes; and Figure 7 shows a gripping device for

a tool support apparatus.

  Figure 1 shows how a tool support apparatus comprises a frame 1 with legs 2. The legs may be adjustably attached to the frame 1. Guiding wire retainers 3 are connected to the frame 1. guide cables 4 connect the surface vessel to

  the installation located at the bottom. With the devices of

  holding guide cables 3 around the guide cables 4,

  the device can be lowered easily

  tool port 1, 2 to the installation at the bottom, without having to use additional weighting elements, and can then be brought back by means of the command line which is fixed to the frame, without having to use of the

additional floating bodies.

  The functional systems that are present on board the surface vessel are able to compensate, in

  broad limits, the swell that the ship of surface

  this. With this type of tool support apparatus, when the guide cables are attached to the installation at the bottom, it is possible to position the tool support apparatus

  exactly in relation to the installation, for the accomplishment

  work. A freely movable tool support apparatus has considerable limitations in terms of maneuverability, because of the currents

  submarines, despite the use of thrusters. The capacity

  Lifting tee is also severely limited, as very heavy floating bodies are required to have high lifting forces. With guiding cables, it is possible to maneuver a tool support apparatus into

  the intended range, and this device can have a large capacity

lifting city.

  An operation control module 5 and a module

  6 power supply are mounted on the frame 1 of the appa-

  tools, and these modules are designed to

  to control and control the work, in combination with the various tools. A control and connecting line 7 is fixed to the frame 1 for transmitting the signal.

  control commands to the operation control module.

  5 and for transporting the tool support apparatus with tools and possibly a part that has been removed. The legs 2 feet can be designed in a suitable manner, depending on the type of operation. Manipulator arms 8 can also be attached to the legs 2 when certain work needs to be done, possibly with a tool attached to these arms. To control the work, the tool support apparatus is equipped with one or more television cameras and projectors, and

  possibly another control system, such as a system

  ultrasound control system, to determine the position of different organs in the range in which a work

is done.

  FIG. 2 shows in a side view how a tool support apparatus 1, 2 is moored against an eruption head 9 in an underwater installation.

  tool carrier is designed to operate in cooperation with

  ration with existing elements called colonists

  11, which is, for example, a valve replacement tool, can

  to be placed in different positions. It is also possible

  sible that the mooring of the tool support

  made either horizontally or vertically.

  FIG. 3 shows in a front view how a tool support apparatus 1, 2 is equipped with means 12

  for coupling to a tool, for horizontal manipulation

  and replacing a valve placed horizontally

  is lying. FIG. 4 shows in a front view how the tool support apparatus 1, 2 is equipped with a tool

  13 for lifting a vertical valve. An arm of manipulation

  14 is attached to a leg 2. According to a variant, the

  til 13 may be equipped with a device 15 for connection

  of pipes. In order to be able to cope with a possible clearance with respect to the guide cables 4, the tool support apparatus is equipped with thrusters 16 which are fixed

to the legs 2.

  Figure 5 shows how a support device

  of tools 1, 2, with a working module 19 provided for the in-

  a cleaning device has reached its lower position, with the guide sleeves 17 guided to the underwater installation. In the upper corner of the frame 1, there are guide sleeves 18 for the guide cables 4. To ensure a correct distance between the

  tubular guide sleeves 17, the latter are protected against

  by shock absorbing means. We choose springs and dampers so as to obtain a braking

progressive movement.

  FIG. 6 shows how a tool support apparatus 1, 2 is adapted for the removal of concrete from a pipe 20. A tool 21 for the removal of

  concrete is attached to the frame 1 of the tool support apparatus.

  In this case, the tool support apparatus is also equipped with four adjustable support legs 22. An orientation module equipped with a displacement propeller and aientatian 16 is mounted on each leg 2, so that can maneuver the tool holder after

  that it was released without guiding wires.

  FIG. 7 shows how a tool support apparatus can be equipped with gripping means 23 provided only for lifting a device or for fixing various tools, each device and tool being equipped with a member 24 adapted to the gripping means . In

  cases in which the device or tool also requires

  power supply, the support device

  of tools is equipped with a power connector, at the

  right to which the corresponding device or tool comprises

  a corresponding connection device.

  It goes without saying that many modifications can

  can be made to the apparatus described and shown without departing from the scope of the invention.

Claims (6)

  1. Tool holding apparatus for accomplishing   various operations relating to underwater work without human intervention, characterized in that it comprises a part consisting of a frame made of metal frame (1), with legs (2) equipped with guiding retainers ( 3) for guiding cables (4), operating and supply control systems (5, 6) and accessories, and gripping means (12) or the like for coupling tools with means for controlling and controlling the operation of the tool support apparatus, and in that a control line (7) connects a surface installation or the like   to the tool support apparatus, for controlling the function   and feeding of the latter.   2. Tool holding apparatus according to the claim   1, characterized in that one or more manipulator arms   latters (8) are adjustably attached to the tool support apparatus (1,2), for example to handle a tool   or an organ that is coupled to it, and the arms of manipulation   (8) are controlled and supplied with power by the operation and power control systems (5, 6).   3. Tool holding apparatus according to the claim   1, characterized in that the guide cable retainers (3) for the guide cables (4) are flexibly attached to the tool support apparatus (1, 2).   4. Tool holding apparatus according to the claim   1, characterized in that support legs   bles (22) are coupled to the legs (2) of the frame (1).   5. Tool holding apparatus according to the claim   1, characterized in that one or more thrusters (16) are attached to the tool support apparatus, and the at least one thruster (16) is controlled and energized.   from the operating and food control systems tion (5, 6).   6. Tool holding apparatus according to the claim   1, characterized in that it comprises means for pre-   hension (23) or similar means, which are adapted to   the common-design coupling member (24) of different different modules.