US3766742A - Submarine tethered working unit and method of manipulating - Google Patents

Submarine tethered working unit and method of manipulating Download PDF

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Publication number
US3766742A
US3766742A US00216037A US3766742DA US3766742A US 3766742 A US3766742 A US 3766742A US 00216037 A US00216037 A US 00216037A US 3766742D A US3766742D A US 3766742DA US 3766742 A US3766742 A US 3766742A
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United States
Prior art keywords
body portion
unit
working unit
power
pylon
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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 - Lifetime
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US00216037A
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English (en)
Inventor
M Smith
A Brun
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Westinghouse Electric Corp
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Westinghouse Electric Corp
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Publication date
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    • 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
    • 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
    • B63C11/40—Diving chambers with mechanical link, e.g. cable, to a base of closed type adapted to specific work

Definitions

  • the work- 166/5 ing unit separates the module from the remainder of [56] References Cited the apparatus and carries it to the surface of the water after separation from the pylon.
  • the need for the present invention arises from the requirement for a working unit which may be precisely positioned relative to underwater apparatus and more particularly relative to certain components of the apparatus which are removable.
  • the working unit In order to constitute an improvement on the prior art, the working unit must possess in addition to the above ability to position itself precisely the additional ability to lock itself securely to the underwater apparatus in a primary working position so that the working unit will be able to exert sufficiently powerful forces on the apparatus to fulfill its mission.
  • the present invention isdirected to a submersible working unit to be utilized in'connection with underwater apparatus requiring periodic servicing.
  • the submersible working unit features the ability to maneuver itself into engagement with a pylon body at the bottom of a body of water and to embrace, of clasp the pylon in such a manner that the working unit may be guided therealong. Following this, the working unit climbs or crawls under its own power toward the top of the pylon and locks itself firmly to the pylon in a primary working position, such as adjacent to a removable module of the underwater apparatus.
  • the working unit may perform the required servicing of the apparatus and may separate and lift the removable module, transferring the same bodily to the working unit.-Following this, the-unit disengages the pylon and carries the apparatus module to the surface or to some other required transferpoint.
  • FIG. 10 is a plan view of a submersible working unit.
  • FIG. 1 l is a similar plan view showing another modification.
  • FIGS. 1 through 3 there is shown a submersible working unit having a box-like frame 20 within which may be mounted removably a diving bell or sphere 22 for service personnel or observers.
  • the diving bell 22 is centered and cradled in the frame 20 by a circular array of elements 24 consisting of utility gas bottles, buoyancy elements and cushions.
  • the frame. 20 carries rigid forwardly projecting arm structures 26, each of which is bifurcated as shown at 28 for the reception of power-operated engaging and positioning arms 30 which are pivotally attached to the rigid arm structures 26 through trunnions 32.
  • the arms 30 are preferably somewhat curved longitudinally as best shown in FIG. 3 to enable them to clasp or embrace a cylindrical pylon 34 forming the subsea anchorage and support of apparatus requiring servicing by the unit 20.
  • Such subsea apparatus will be referred to in greater detail as the description proceeds.
  • the engaging and positioning arms 30 are pivoted horizontally about the axes of their trunnions 32 by power operators 36 in the form of a pair of extensible and retractable cylinder-piston units.
  • the units 36 have their cylinder ends pivotally secured at 38 to the interior sides of rigid arm structures 26' and have their piston rod ends pivotally connected as indicated at 40'to the rear ends of the arms 30 in rearwardly spaced relation to the trunnions 32. It may be noted in FIGS. 2 and 3 that the engaging and positioning arms 30 are swingable between closed or active positions where these arms embrace the pylon 34 and open or inactive positions where the arms 30 are divergent. These two positions are shown in full lines and broken lines in FIG. 3.
  • each arm 30 Rota'tably mounted on the forward end of each arm 30 is a climbing and guiding wheel 42 forthe working unit having conventional power driving means, not shown.
  • the wheels 42 have, a covering of suitable friction material on their peripheries to resist. slipping while under power and in contact with the pylon 34.
  • Additional friction rollers 44 which may be powered-or unpowered are journaled on the top and bottom por-' tions of the rigid arm structures 26 so as to engage the rearward side of the pylon 34 in upper andlower pairs.
  • the driving means, not shown,for the wheels 42 and rollers 4:4 may be of a conventional nature and may be located in the center area 46 at the forward side of the frame 26 between the upper and lower sets of rollers 44, FIG.; 2. when the arms 30are in the active pylonembracing positions, FIG. 3, the wheels 42 are disposed well forwardly'of the center verticalaxis of the-pylon and the rollers 44. are well rearwardly of this-axis.
  • the working unit through its arm structure is embracing the vertical pylon at four approximately equidistantly spaced points around the circumference of the pylon.
  • This very secure engagement of the work ing unit to the pylon enables the working unit to climb or crawl upwardly on the pylon with precision and stability.
  • the arms 30 are expanded to their open divergent positions shown in broken lines in FIG. 3, these arms are then generally aligned with the axes of the diverge'nt rollers 44, and together therewith are cabable of guiding or funneling the working unit' smoothly into contact with the vertical pylon, as when the unit initially engages the pylon after being lowered into the water.
  • the rollers 44 are also adapted toform somewhat resilient bumpers for cushioning the engagement of the working unit with the rigid pylon.
  • the locking means for the working unit comprises a vertically spaced pair of power-operated locking shoes 50 on the central portion of the frame 20 between the pairs of rollers 44. These shoes are thrust forwardly into firm contact with the rear side of the pylon 34 by conventional power actuator means, not shown, also contained on the frame 20.
  • the shoes 50 are retracted from the pylon during the climbing movement of the working unit thereon and at all other times except when the unit is to be locked fixedly in the primary working position, for ex ample, as shown in FIGS. 1 and 6.
  • Similar poweroperated extendable and retractable locking shoes 52 are located on the interior sides of the arms 30 near the centers of these arms.
  • the shoes 52 are powered by conventional means, not shown.
  • the shoes 50 and 52 are operated substantially in synchronism. The arrangement is such, FIG. 3, that when the working unit is locked in position on the pylon 34 the sets of shoes 50 and 52 are engaging the pylon at three widely spaced circumferential locations.
  • the other shoes 52 are positioned somewhat beyond a plane through the axis of the pylon so that it will not be possible for the working unit to be dislodged laterally of the pylon axis when in the locked position.
  • a pair of opposite side conventional propulsion units 52 are provided on the frame 20 near the tops of the arm structures 26 and near the center of the frame 20 as viewed from above, FIG. 3.
  • the frame 20 which constitutes the body of the working unit possesses other features such as side racks 54 for various portable tools and guide rollers 56 to facilitate mating with certain types of deep diving craft. Still additional utility features, not shown in the drawings, may be included in the working unit.
  • the box-like frame 20 carries a pair of upstanding triangular rigid side extensions 58 to the tops of which is. pivoted a vertically swingable module manipulating frame 60.
  • the opposite side members of the frame 60 are pivoted near their lower ends to the extensions 58 as shown at 62.
  • depending crank arms 64 on the frame 60 are pivotally connected as at 66 with power operators 68 in the form of extensible and retractable cylinder-piston units. These units are additionally attached pivotally at 70 to the frame 20 near the upper forward comers thereof.
  • the power operators 68 may thus swing the frame 60 from a vertical position shown in full lines in FIG. 1 to a near horizontal working position shown in broken lines.
  • the manipulating frame 60 is provided at its top with a pivoted crosshead 72, turned on its pivot by another cylinder-piston unit 74 carried by the frame 60.
  • a coupling head 76 for engaging and lifting the module 48 is provided on the frame 60 coupled with the crosshead 72 by flexible fluid supply hoses 78 through which certain servicing fluids can be delivered to the subsea apparatus from above through a hose 8G and a swivel coupling 82 on the crosshead 72.
  • the coupling 76 along with the crosshead 72 is pivoted to the top of the frame 60 through a cross shaft 84.
  • annular-type ram or jack 86 for raising and lowering the coupling 76 is provided and various portable tools can be passed through the center bore of this annular device so as to enter the interior of the subsea apparatus when the coupling 76 is in communication therewith as indicated in broken lines in FIG. 1.
  • the pivoting frame 60 with the coupling 76 is utilized to bodily lift the module 48 from the top of the pylon 34 and to place the module at rest on a suitable seat 88 forming a part of the frame 20, after which the module may be transported to the surface of the water with the entire working unit. It should be clear that the frame 60 and associated components is operated in a similar but reverse manner to replace the module 48 on the top of the subsea apparatus or to install a new module.
  • the working unit can be tethered to a surface support vessel by the hose 80, which may be of the high tensile strength type. If preferred, the tethering may be done through a cable or a cable in addition to the hose. Electrical power may be supplied to the working unit through a suitable electrical cable, not shown. In cases where the working unit is not buoyant, the tethering hose or cable will support the weight of the unit, and in such a case a constant tension hoisting system is preferably employed on the surface. .1
  • FIGS. 4 through 9 of the drawings The method of utilizing and manipulating the abovedescribed working unit in connection with the required servicing of the underwater apparatus is as follows, referring particularly to FIGS. 4 through 9 of the drawings.
  • the tethered working unit has been lowered to the approximate level of the middle of the pylon 34 and is spaced laterally from the pylon. Since the pylon is cylindrical and the working unit is self-guiding into engagement with the pylon, it may approach from any direction. The working unit will be subject to up and down movements of the surface vessel as caused'by sea conditions. No significant horizontal movements from above will be transmitted to the working unit.
  • the working unit by usingits propulsion devices 52', whether propellers, jets or the like, now maneuvers itself horizontally toward the pylon 34 and can approach the same from any direction, asstated.
  • the widely divergent arms 30 and rollers44 will I serve to gently guide the working unit into proper engagement with the fixed pylon .during theapproach, and the rollers 44 serve as buffers to cushion the contact.
  • the arms 30 When the working unit is at a maximum vertical position under influence of surface waves (zero vertical velocity), the arms 30 are closed around the pylon to their positions shown in full lines in FIG. 3'and also shown in FIG. 5.
  • the driving means for the climbing rollers 42 or 44, or both, is set into operation and the climbing mechanism creates a positive link between the unit and pylon and the unit now begins to propel itself upwardly along the pylon toward the primary working position shown in FIG. 6. During this period, the constant tension hoisting system on the surface ship will further absorb oscillations caused by wave action.
  • tether 80 is now slacked off, FIG. 6, and the working unit is completely independent of the surface and continues its vertical climb on the pylon until it stops with precision at the predetermined working level.
  • the locking shoes 50 and 52 are activated and shift into locking engagement with the pylon and the working unit now is rigidly held on the pylon and stabilized for the performance of its various work functions under the most favorable conditions.
  • the manipulating frame 60 is now activated to bring the coupling 76 into coupled engagement with the module 48 for the delivery of servicing fluids to the subsea apparatus through the hoses 80 and 78, and so that other known types of servicing may be carried out.
  • the removable module 48 is bodily lifted from the top of the pylon 34 by raising the manipulating frame 60 back to the vertical.
  • the ram 86 is utilized to lower the module 48 onto its seat 88, FIG.
  • the locking shoes 50 and 52 are retracted and the arms 30 are separated to release the pylon 34 and the working unit may back away somewhat from the pylon using its propulsion means 52' and may then be elevated to the surface with the module 48 thereon by utilizing the tether 80 and associated hoisting means.
  • the invention permits particularly effective use of a tethered working unit, which unit has the advantage of being clear of the sea bottom at all times so that the propellers and other moving parts will not stir up sediment, thereby allowing the working unit to operate in clear water with good visibility for personnel in the bell or sphere 22.
  • the attaching In some cases, however, the attaching,
  • the unit 104 has pivotally mounted on the arm structures 108 a pair of diametrically opposed vertically extending crawler mechanisms 112 to securely lock the working climbing and locking features of the invention may be applied to non-tethered submarine-type units.
  • the greatest virtue of the invention lies in the ability of the working unit to reliably and securely locate and attach itself on'the pylon 34 and to climb up the pylon with precision and to stop thereon at a precise level, followed by secure locking which enables the unit to perform all interventions with reliability and efficiency.
  • FIG. 10 a slightly modified form of working unit 90 is shown having a body portion or frame 92 adapted to receive and support the module 48 and a diving bell, such as the bell 22 in FIG. 2.
  • the unit 90 has rigid diverging arm structures 94 on the forward 7 side thereof and pivoted power-operated engaging and positioning arms 96 corresponding to the arms 30 and being actuated by power means 98.
  • the arms 96 at their leading ends carry pylon-engaging rollers 100 which may be unpowered guide rollers.
  • the working unit 90 is equipped with a vertically extending power-operated caterpillar-type crawler mechanism 102 which engages the adjacent side of the pylon 34, with the rollers 100 situated forwardly of the axial center of the pylon.
  • a suitable positive locking means 102' similar to the shoes and 52 is also included in the unit 90.
  • FIG. 11 depicts a further modification in which a 6 working unit 104 having a body or frame 106 possesses diverging rigid arm structures 108 at its forward side. Associated with the arm structures 108 are forward diunit in the desired precise position on the pylon 34. Again, the method as described in connection with FIGS. 4 through 9 is essentially unchanged and a further description thereof is thought to be unnecessary for a full understanding of the invention.
  • a method of servicing an underwater apparatus having a body portion secured to the bottom of a body of water comprising the steps of:
  • Apparatus for 'servicing'an underwater apparatus having a body portion secured to the bottom of a body of water comprising:
  • a submersible unit maneuverable in the water relative to the body portion of said apparatus; propulsion means on said unit to move the unit'toward one side of said body portion;
  • roller means on said engaging arms having direct contact with the exterior surface of said body portion.
  • said power drive means including at least one crawler type traction device on said unit frictionally engaging the exterior surface of said body portion when said engaging arms are closed about the body portion.
  • said additional power means to lock the unit fixedly to the body portion comprises plural power-operated locking shoes movable substantially radially of the body portion into rigid clamping engagement therewith at widely spaced points around the circumference of the body portion, the body portion comprising a substantially cylindrical pylon.
  • a diving bell mounted removably within the frame body portion.

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  • Engineering & Computer Science (AREA)
  • Geology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Mining & Mineral Resources (AREA)
  • Environmental & Geological Engineering (AREA)
  • Fluid Mechanics (AREA)
  • Physics & Mathematics (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Earth Drilling (AREA)
  • Electric Cable Installation (AREA)
US00216037A 1972-01-07 1972-01-07 Submarine tethered working unit and method of manipulating Expired - Lifetime US3766742A (en)

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US21603772A 1972-01-07 1972-01-07

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US (1) US3766742A (enrdf_load_stackoverflow)
JP (1) JPS4874002A (enrdf_load_stackoverflow)
CA (1) CA965249A (enrdf_load_stackoverflow)
FR (1) FR2167731B1 (enrdf_load_stackoverflow)
GB (1) GB1363798A (enrdf_load_stackoverflow)
NL (1) NL7217314A (enrdf_load_stackoverflow)
SE (1) SE404054B (enrdf_load_stackoverflow)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2372070A1 (fr) * 1976-11-26 1978-06-23 Intersub Internal Submarine Se Dispositif d'accrochage d'un engin sous-marin sur une structure immergee
US4164195A (en) * 1977-07-29 1979-08-14 Gianfranco Frigeni Immersion apparatus carrying detachable and self-contained prospecting and submarine work units
DE3023417A1 (de) * 1979-06-22 1981-01-08 Canon Kk Aufzeichnungsfluessigkeit
FR2554037A1 (fr) * 1983-10-26 1985-05-03 Spie Capag Dispositif pour effectuer un travail sur une structure a plusieurs branches
US4669915A (en) * 1985-11-19 1987-06-02 Shell Offshore Inc. Manipulator apparatus with flexible membrane for gripping submerged objects
US5273376A (en) * 1992-02-10 1993-12-28 Shell Offshore Inc. Back-up connector release tool
US6808021B2 (en) * 2000-08-14 2004-10-26 Schlumberger Technology Corporation Subsea intervention system
WO2022036345A1 (en) * 2020-08-13 2022-02-17 Fmc Technologies, Inc. Secondary unlock tool for subsea connectors

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2366425A1 (fr) * 1976-09-29 1978-04-28 Doris Dev Richesse Sous Marine Installation de surveillance et d'entretien pour ouvrages en eau profonde
FR2405863A1 (fr) * 1977-10-11 1979-05-11 Intersub Dispositif de suspension d'un sous-marin sur une structure immergee
FR2555248B1 (fr) * 1983-11-21 1986-02-21 Elf Aquitaine Engin de pose, d'activation et de connexion des modules d'une station de production petroliere sous-marine
JPH0297194U (enrdf_load_stackoverflow) * 1989-01-18 1990-08-02
JPH0733995Y2 (ja) * 1989-01-18 1995-08-02 三菱重工業株式会社 垂直長尺大径円管状物体の外面の無人水中清掃機
JP2015048055A (ja) * 2013-09-04 2015-03-16 三菱重工業株式会社 メンテナンス装置

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3163221A (en) * 1961-01-03 1964-12-29 Shell Oil Co Underwater manipulator for wells
US3550388A (en) * 1968-11-18 1970-12-29 Westinghouse Electric Corp Locating and attachment means for a submersible vehicle

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3163221A (en) * 1961-01-03 1964-12-29 Shell Oil Co Underwater manipulator for wells
US3550388A (en) * 1968-11-18 1970-12-29 Westinghouse Electric Corp Locating and attachment means for a submersible vehicle

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2372070A1 (fr) * 1976-11-26 1978-06-23 Intersub Internal Submarine Se Dispositif d'accrochage d'un engin sous-marin sur une structure immergee
US4164195A (en) * 1977-07-29 1979-08-14 Gianfranco Frigeni Immersion apparatus carrying detachable and self-contained prospecting and submarine work units
DE3023417A1 (de) * 1979-06-22 1981-01-08 Canon Kk Aufzeichnungsfluessigkeit
FR2554037A1 (fr) * 1983-10-26 1985-05-03 Spie Capag Dispositif pour effectuer un travail sur une structure a plusieurs branches
EP0139596A3 (fr) * 1983-10-26 1986-04-02 Spie-Capag Dispositif pour effectuer un travail sur une structure sous-marine à plusieurs branches
US4669915A (en) * 1985-11-19 1987-06-02 Shell Offshore Inc. Manipulator apparatus with flexible membrane for gripping submerged objects
US5273376A (en) * 1992-02-10 1993-12-28 Shell Offshore Inc. Back-up connector release tool
US6808021B2 (en) * 2000-08-14 2004-10-26 Schlumberger Technology Corporation Subsea intervention system
WO2022036345A1 (en) * 2020-08-13 2022-02-17 Fmc Technologies, Inc. Secondary unlock tool for subsea connectors

Also Published As

Publication number Publication date
JPS4874002A (enrdf_load_stackoverflow) 1973-10-05
FR2167731A1 (enrdf_load_stackoverflow) 1973-08-24
GB1363798A (en) 1974-08-14
SE404054B (sv) 1978-09-18
FR2167731B1 (enrdf_load_stackoverflow) 1977-07-29
NL7217314A (enrdf_load_stackoverflow) 1973-07-10
CA965249A (en) 1975-04-01

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