U.S. patent number 3,708,990 [Application Number 05/096,479] was granted by the patent office on 1973-01-09 for deep water drill pipe controlled manipulator.
This patent grant is currently assigned to Global Marine Inc.. Invention is credited to Robert Curtis Crooke.
United States Patent |
3,708,990 |
Crooke |
January 9, 1973 |
DEEP WATER DRILL PIPE CONTROLLED MANIPULATOR
Abstract
A manipulator for working on underwater oil drilling and
production equipment and the like is supported on the lower end of
a pendulous drill pipe suspended from a floating vessel. The drill
pipe conducts hydraulic motive power to operate the manipulating
arms of the manipulator. Hydraulic fluid is distributed by
electrically controlled valves in a distribution manifold at the
manipulator. Electric control signals are conducted to the control
valves by a multi-conductor electric cable which is either secured
to the exterior of the drill pipe or disposed within the interior
of the pipe. Control signals alternately may be remotely
transmitted by a sonar system for producing coded acoustical
signals which are decoded at the manipulator and converted to
electric control signals for operating appropriate control valves.
Some motive power for operating the manipulator may be supplied by
an electric cable led down the inside of the drill pipe, with
control signals being carried by a low-voltage line either inside
the drill pipe or secured to its exterior. The electric control
signals may be multiplexed and decoded at the manipulator.
Inventors: |
Crooke; Robert Curtis (Corona
Del Mar, CA) |
Assignee: |
Global Marine Inc. (Los
Angeles, CA)
|
Family
ID: |
22257526 |
Appl.
No.: |
05/096,479 |
Filed: |
December 9, 1970 |
Current U.S.
Class: |
405/191; 114/264;
414/739 |
Current CPC
Class: |
B25J
9/14 (20130101); E21B 41/04 (20130101) |
Current International
Class: |
B25J
9/14 (20060101); E21B 41/00 (20060101); E21B
41/04 (20060101); B63c 011/00 () |
Field of
Search: |
;61/46.5,69,72.1-72.3
;114/16,.5D ;9/8 ;166/.5,.6 ;214/1CM |
References Cited
[Referenced By]
U.S. Patent Documents
Primary Examiner: Bell; J. Karl
Claims
I claim:
1. Underwater manipulating apparatus comprising
a manipulating device having at least one articulated manipulating
member,
a hollow conduit pendulously supported from a vessel floating on a
body of water in which the manipulating device is to be used and
supporting the manipulating device at its lower end independently
of the bottom of the body of water and of any elements connected
between the vessel and an object submerged in the water, and
means for supplying motive power to the manipulating device from
the vessel along the conduit for producing movement of the
manipulating member.
2. Apparatus according to claim 1 wherein the manipulating device
motive power is hydraulic power.
3. Apparatus according to claim 2 including an open loop hydraulic
system for supplying hydraulic fluid to the manipulating device,
and wherein the hydraulic fluid is sea water.
4. Apparatus according to claim 1 wherein the manipulating device
motive power includes electrical power.
5. The method of assembling underwater manipulating apparatus
comprising the steps of making up a hollow conduit pendulously
supported from the vessel floating on a body of water; connecting a
manipulating device to the lower end of the conduit and disposing
the manipulating device at a desired depth below the vessel so the
manipulating device is supported independently of the bottom of the
body of water and of any elements connected between the vessel and
an object submerged in the water; and thereafter extending an
electrical cable down the interior of the conduit and connecting it
to the manipulating device.
6. Underwater manipulating apparatus comprising
a hollow pipe pendulously supported from a vessel floating at the
surface of a body of water, and
a manipulating device supported on the lower end of the pipe
independently of the bottom of the body of water and of any
elements connected between the vessel and an object submerged in
the water, the manipulating device having at least one articulated
manipulating member,
the manipulating device being operative to perform manipulations of
the manipulating member on the underwater equipment in response to
receiving motive power conducted from the vessel through the
interior of the pipe.
7. Apparatus according to claim 6 wherein the motive power is
hydraulic power.
8. Apparatus according to claim 6 including an electric control
circuit at the manipulating device for operating the manipulating
device in response to receipt of a control signal,
an electric cable extending through the interior of pipe for
conducting the electric control signal, and
means for coupling the cable to the control circuit.
9. Apparatus according to claim 6 including an acoustical
transmitter for transmitting an acoustical control signal, and
an acoustical receiver at the manipulating device for receiving the
acoustical control signal and converting it into an electrical
control signal for regulating the motive power for operating the
manipulating device.
10. Apparatus according to claim 9 including means for coding the
transmitted acoustical control signal, and
means for decoding the coded acoustical signal when it is received
and converting it into a decoded electrical control signal.
11. Apparatus according to claim 6 including a multiplex
transmitter for transmitting multiplexed control signals, and
a multiplex receiver at the manipulating device for receiving the
multiplexed control signals and decoding the signals to produce
control signals for regulating the motive power for operating
respective parts of the manipulating device.
12. Apparatus according to claim 6 including an electric cable
extending through the interior of the pipe for conducting
electrical motive power to the manipulating device.
Description
BACKGROUND OF THE INVENTION
1. Field of the Invention
This invention relates to underwater manipulating apparatus, and
more particularly to a deep water manipulator supported from the
bottom of a drill pipe independently of the ocean floor.
2. Description of the Prior Art
Underwater well drilling and production equipment requires means
for installing it on the ocean floor and for continuously making
adjustments to maintain it in effective operation once installed.
Deep water manipulating devices have been described for opening and
closing underwater valves, handling wellhead equipment, such as
blow-out preventers and Christmas trees, connecting flow lines to
Christmas trees, and performing other similar tasks in deep
water.
Some deep water manipulators are deep diving manned submersibles
with movable manipulating arms for performing underwater tasks
under the control of a person inside the submersible. Manned
submersible manipulators have the disadvantage of being limited in
the amount of power available to perform underwater tasks, and in
the amount of time they can be present at a desired underwater
location, and they become more unsafe as water depths increase and
thus are not useful at great depths. Other conventional deep water
manipulators are tethered on a cable and remotely controlled from
the floating vessel by numerous hydraulic lines and electric cables
leading from the vessel to the manipulator. A major problem with
existing tethered unmanned submersibles is the great possibility of
fouling or snarling of the power and control cables, even when they
are collected in an umbilical arrangement. These unmanned
manipulators are also limited in the amount of power available,
which limits the type of functions they may perform as water depths
increase; also, they, like most manned submersibles are sensitive
to movement by underwater currents.
SUMMARY OF THE INVENTION
Briefly, this invention provides a supportive conduit, such as oil
well drill pipe, supported from a vessel such as a conventional
floating drilling vessel floating at the surface of a body of
water. A manipulating device is supported on the lower end of the
conduit independently of the bottom of the body of water. The
manipulating device is operable to perform manipulations on
underwater well drilling and producing equipment, for example, in
response to receiving motive power supplied along the conduit from
the vessel.
Thus, the manipulating device is put in position at the required
depth by the location of the supporting vessel so its movable
manipulating arms may perform a variety of useful functions, such
as installing and making controlled adjustments of drilling and
production equipment. The conduit provides a path for conducting a
substantially greater amount of motive power to the manipulating
device than is available to conventional manned submersible
manipulators or manipulators tethered on a cable. Thus, the
performance and safety of the present manipulator are not limited
as they are in manned and tethered unmanned submersible
manipulators. Moreover, the drill pipe conduit makes the
positioning of the manipulating device much less a problem when
storms or strong currents are present.
In a preferred form of the invention, control signals for operating
the manipulating device are conducted to a remote electric control
circuit at the manipulating device by an electric cable which is
either led down the interior of the drill pipe conduit, or fastened
to the exterior of the conduit. Alternately, control signals may be
transmitted to the remote electric control circuit by an acoustical
transmitter on the drilling vessel, with an acoustic receiver at
the manipulating device receiving acoustical control signals and
converting them to electric control signals for operating the
control members of the manipulating device. The acoustical control
signals are preferably coded when transmitted, and are decoded at
the manipulating device to produce control signals for performing
certain operating functions on the manipulating device.
In another form of the invention, control signals may be
multiplexed onto a low voltage signal and decoded at the
manipulating device to produce control signals for performing
specified operating functions.
BRIEF DESCRIPTION OF THE DRAWINGS
The above-mentioned and other features of the invention are more
fully set forth in the following detailed description of the
embodiments of the invention which are presently preferred, such
description being presented with reference to the accompanying
drawings, wherein:
FIG. 1 is a schematic elevation view showing a manipulating device
supported on the lower end of a drill pipe pendulously supported
from a drilling vessel floating on a body of water;
FIG. 2 is a schematic elevation view showing an alternative form of
the invention in which electric power is supplied by a cable
extending down the interior of a drill pipe, with control signals
being conducted by an electric cable secured to the exterior of the
drill pipe;
FIG. 3 is a schematic elevation view showing a system for
transmitting coded acoustical control signals; and
FIG. 4 is a schematic elevation view showing a system for
multiplexing control signals on a low voltage signal.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
Referring to the drawings, FIG. 1 shows a submerged wellhead 10 of
an oil well in a formation 12 underlying a body of water 14. An
upright, elongated hollow drill pipe 16 extends downwardly to the
vicinity of the wellhead from a drilling vessel 18 floating on the
body of water.
A deep water manipulator 20 is supported on the lower end of drill
pipe 16. The manipulator may be any one of the presently known
general purpose manipulating devices used to perform underwater
tasks, such as the manipulators carried by the manned submersible
known as "Beaver", which has been designed by Autonetics Division
of North American Aviation, Inc. The manipulator shown in the
drawings includes an elongated, articulated movable manipulating
arm 22 and other manipulating members (not shown) for performing
underwater operations on wellhead 10. A wrenching claw device 23,
for example, at the end of manipulating arm 22 is operative to open
and close valves on wellhead 10. Manipulator 20 also may have a
clamping device (not shown) for installing flow lines and other
underwater wellhead equipment. Other manipulating members may be
supplied with magnets, suction cups, or stud guns (such as those
described for use with the manipulators of the manned submersible
"Beaver") to lock the arm to an object and then relax the joints so
that relative motion may take place between the working end of the
arm and the body of the manipulator.
Hydraulic motive power is supplied to manipulator 20 through the
interior of drill pipe 16 by a hydraulic pump 24 mounted on
drilling vessel 18. A hydraulic system within manipulator 20
distributes the hydraulic fluid pumped down the drill pipe to power
manipulating arm 22. A control system for the manipulator includes
a plurality of electrically activated hydraulic control valves, two
of which are represented by valves 25 and 26 shown in FIG. 1 and
which may be of the throttling type. A valve manifold 28 receives
hydraulic fluid pumped down the drill pipe and delivers the fluid
to control valves 25 and 26 through hydraulic lines 30 and 32,
respectively. Hydraulic fluid is supplied to valve manifold 28 from
the drill pipe through a hydraulic line 33. Control valves 25 and
26 are operated by electric control signals (to be described in
detail below) supplied to the valves by electric lines 34 and 36,
respectively.
In use, when control valve 24 is actuated by an electric control
signal, hydraulic fluid is supplied from the valve manifold through
the valve and hydraulic line 38 to the manipulating arm 22 under a
specified amount of pressure determined by valve 24, for example,
to move the arm in a desired direction, or in a desired movement.
Similarly, when valve 26 is actuated by an electric control signal,
the valve supplies hydraulic fluid through a hydraulic line 40 to
the manipulating arm to move it in a different direction, or in a
different movement.
Expended hydraulic fluid is discharged to the sea through hydraulic
fluid exhaust lines (not shown) in the hydraulic system of the
manipulator. Alternatively, hydraulic fluid may be supplied in a
closed loop system in which expended hydraulic fluid is returned to
pump 24 on the drilling vessel 18. Sea water is the preferred
motive fluid for the manipulator because then the hydraulic system
may be an open loop system in which the sea water is exhausted to
the sea after performing the desired drive functions in the
manipulator. When a closed loop hydraulic system is used, the
hydraulic fluid may be a conventional hydraulic oil.
A housing 46 at the lower end of drill pipe 16 contains remote
electric control circuits connected to the respective hydraulic
control valves in manipulator 20. For example, one of the remote
electric control circuits in the housing 46 is connected to valve
25 through electrical lead 34. A multiconductor electric cable 48
is led down the interior of drill pipe 16. A remote electric
disconnect fitting 50 at the lower end of cable 48 latches the
different conductors in the cable to appropriate ones of the
control circuits in housing 46. Connections between plugs in the
remote electric disconnect fitting 50 and the electric control
circuits may be made of self-connecting spear-type connectors (not
shown) remotely stabbed into the appropriate receptacles leading to
the electric control circuits in housing 46. Alternatively, a
jointed sinker bar (not shown) of sufficient weight to force the
plugs and their receptacles into engagement may be used to remotely
connect the electric cable 48 to the control circuits. The cable 48
is preferably led down the interior of the drill pipe by securing a
weight to its lower end and pumping it down the pipe with the
hydraulic fluid from pump 24. A rupturable diaphragm (not shown)
sized to fit the inside diameter of the pipe may be secured to the
weighted end of the cable for use in pumping the cable down the
pipe. When the cable reaches its desired location, the diaphragm is
overloaded with fluid pressure to rupture it so the cable may be
latched to the control circuit, and so that hydraulic fluid may
thereafter be supplied past the disconnect fitting to manifold
28.
A remote connection between cable 48 and disconnect fitting 50 is
desired where electrical control signals are supplied to the
manipulator via the interior of drill pipe conduit 16. The drill
pipe conduit is assembled (by coupling elongated pipe sections
together in accordance with conventional deep water drilling
techniques), to place the manipulator at the desired depth below
vessel 18, and the cable is thereafter connected to the
manipulator. Conversely, the cable is removed from the interior of
the conduit before the conduit is disassembled in the process of
retrieving the manipulator after the manipulator has served its
purpose.
FIG. 2 shows an alternate system for powering and controlling
movements of the manipulator. In this system, a high voltage
electric cable 52 is led down the interior of drill pipe 16 to
supply working power to the manipulator. The cable is remotely
connected to high voltage electric power distribution circuits 54
at the manipulator by a plug 56 at the end of the cable. Electric
power delivered by cable 52 may be used to drive a motor 58 for
operating a hydraulic pump 59 that supplies hydraulic fluid to the
electrically controlled valves 25 and 26 in the distribution
manifold (not shown in FIG. 2) at the manipulator, in this case,
sea water may be used to advantage as the manipulator motive fluid,
and can be drawn from the sea through an intake line 60 and
discharged to the sea adjacent the manipulator through an exhaust
line (not shown).
As shown in FIG. 2, multi-conductor electric cable 61, if desired,
may be fastened to the exterior of drill pipe 16 by brackets 62. A
fitting 63 at the lower end of cable 61 latches the cable to a plug
(not shown) in housing 46 to deliver electric power to the remote
electric control circuits in the housing.
FIG. 3 shows a sonar system which provides alternate means for
remotely controlling operation of the manipulator. The sonar system
includes an acoustical transmitting system 64 onboard the drilling
vessel 18, and an acoustical receiving system 66 at the
manipulator. The acoustical transmitting system includes an encoder
68 and an acoustical transmitter 70 for transmitting a coded
acoustical signal represented by sound waves 72. A power supply,
such as a conventional 12-volt battery located at the manipulator,
powers the acoustical control system and the electrical control
valves for the manipulator. In use, each hydraulic control valve
(only valve 25 is shown in FIG. 3) in the hydraulic distribution
manifold 28 at the manipulator has a specific code. Encoder 68
codes each acoustical signal generated by transmitter 70 with a
specific frequency code, a time code, or the like, which
corresponds to a particular one of the control valves to be
actuated.
The acoustical receiving system 66 includes an acoustical receiver
74 and a decoder 76 for receiving the coded acoustical signal,
decoding the signal, and converting it to an electrical control
signal for operating the particular control valve corresponding to
the code given the transmitted acoustical signal. Thus, the
acoustical transmitting system operates hydraulic control valves in
the manipulator without requiring the use of electric cables,
hydraulic lines, or other physical connections between the water
surface and the underwater manipulator, thereby avoiding the
interference with underwater operations which is often caused by
numerous control lines, cables, and the like.
FIG. 4 shows further alternate means for remotely transmitting
control signals to manipulator 20. In this form of the invention, a
multiplex transmitter 80 onboard drilling vessel 18 is coupled to a
multiplex receiver 82 at the manipulator by a low voltage control
circuit preferably carried by a coaxial cable 84 secured to the
exterior of drill pipe 16. The control circuit includes an
electrical conductor (not shown) for transmitting control signals
to the multiplex receiver 82, and a power line (not shown) for
supplying electrical power to the multiplex system. Control signals
are multiplexed on a low voltage signal transmitted by multiplex
transmitter 80 to multiplex receiver 82. The multiplex receiver
decodes the multiplexed signal to produce command signals for
actuating certain ones of the valves, or other operative devices,
in manipulator 20. In the example shown in FIG. 4, multiplex
receiver 82 produces commands 85 and 86 for actuating control
valves 25 and 26, respectively. Hydraulic fluid supplied through
drill pipe 16 is delivered by manifold 28 to the control valves
which distribute the fluid to manipulating arm 22 to perform a
given control operative function.
If desired, the manipulator may be equipped with a TV camera and
suitable lights so that the operations performed by the manipulator
can be viewed safely aboard vessel 18.
The drill pipe controlled manipulator 20 has the advantage over
prior art manipulators of being held in position at the desired
underwater work site without having its position continuously
changed by strong currents. The manipulator may be positioned at
any depth desired since its position and use are not dependent upon
contact with the ocean floor; as noted, the manipulator is
positioned independently of any physical contact with the ocean
floor. The drill pipe conduit 16 is composed of readily available
materials and supplies substantially more motive power to the
manipulator than is available to underwater submersible
manipulators which must carry their own power supplies. With
substantially more power available, the manipulator 20 may operate
in greater depths than submersible manipulators. The drill pipe
controlled manipulator also performs a variety of useful functions
without requiring the use of numerous electric cables, hydraulic
lines, and guide lines which are susceptible to snarling and
interfering with underwater operations and damage by boats or
strong currents. Moreover, the invention eliminates the need for
equipment such as propulsion devices, and the like, which add to
the cost of a system. The drill pipe controlled manipulator also
has the advantage of being mounted at its operative position
independently of the ocean floor. Thus, in the event of an
emergency, such as a blowout or storm, the manipulator apparatus
may be removed from the work site relatively quickly without the
necessity of unfastening it from the ocean floor.
This invention provides drill pipe controlled manipulating
apparatus using state-of-the-art components in a novel, unobvious
combination to overcome the problems encountered by prior art
manned and unmanned submersibles. The invention includes a floating
drilling vessel and drill pipe supported from the vessel, which is
existing equipment that is readily available, well known,
relatively inexpensive, reliable, and requires conventional
procedures and techniques for operating it. Underwater manipulating
devices are also well known, and available in many different forms
depending upon the job to be performed.
* * * * *