WO2012108765A1 - Procédé et dispositif pour l'assemblage ou le démontage d'une structure sous l'eau - Google Patents

Procédé et dispositif pour l'assemblage ou le démontage d'une structure sous l'eau Download PDF

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Publication number
WO2012108765A1
WO2012108765A1 PCT/NL2012/050066 NL2012050066W WO2012108765A1 WO 2012108765 A1 WO2012108765 A1 WO 2012108765A1 NL 2012050066 W NL2012050066 W NL 2012050066W WO 2012108765 A1 WO2012108765 A1 WO 2012108765A1
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WO
WIPO (PCT)
Prior art keywords
movable arm
tool
support
segment
arm
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.)
Ceased
Application number
PCT/NL2012/050066
Other languages
English (en)
Inventor
Guido Johannes Maria AMMERLAAN
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.)
Heerema Marine Contractors Nederland BV
Original Assignee
Heerema Marine Contractors Nederland BV
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 Heerema Marine Contractors Nederland BV filed Critical Heerema Marine Contractors Nederland BV
Priority to US13/984,036 priority Critical patent/US20140147217A1/en
Priority to GB1316002.3A priority patent/GB2502489A/en
Publication of WO2012108765A1 publication Critical patent/WO2012108765A1/fr
Anticipated expiration legal-status Critical
Priority to NO20131209A priority patent/NO20131209A1/no
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23D—PLANING; SLOTTING; SHEARING; BROACHING; SAWING; FILING; SCRAPING; LIKE OPERATIONS FOR WORKING METAL BY REMOVING MATERIAL, NOT OTHERWISE PROVIDED FOR
    • B23D57/00—Sawing machines or sawing devices not covered by one of the preceding groups B23D45/00 - B23D55/00
    • 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
    • E02B17/04—Equipment specially adapted for raising, lowering, or immobilising the working platform relative to the supporting construction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23D—PLANING; SLOTTING; SHEARING; BROACHING; SAWING; FILING; SCRAPING; LIKE OPERATIONS FOR WORKING METAL BY REMOVING MATERIAL, NOT OTHERWISE PROVIDED FOR
    • B23D57/00—Sawing machines or sawing devices not covered by one of the preceding groups B23D45/00 - B23D55/00
    • B23D57/0084—Sawing machines or sawing devices not covered by one of the preceding groups B23D45/00 - B23D55/00 specially adapted for sawing under water or at places accessible with difficulty
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B25J11/0055—Cutting
    • 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
    • B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
    • 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
    • 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
    • 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
    • E02B17/02—Artificial islands mounted on piles or like supports, e.g. platforms on raisable legs or offshore constructions; Construction methods therefor placed by lowering the supporting construction to the bottom, e.g. with subsequent fixing thereto
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
    • E02D9/00—Removing sheet piles bulkheads, piles, mould-pipes or other moulds or parts thereof
    • E02D9/04—Removing sheet piles bulkheads, piles, mould-pipes or other moulds or parts thereof by cutting-off under water
    • 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
    • E02B2017/0052—Removal or dismantling of offshore structures from their offshore location
    • 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
    • E02B2017/0056—Platforms with supporting legs
    • E02B2017/006—Platforms with supporting legs with lattice style supporting legs

Definitions

  • the present invention relates a method and a device for assembling or
  • jacket structures In the offshore industry, jacket structures (or jackets in short) are widely used to support and fix platforms above the sea surface.
  • a jacket structure is generally positioned directly onto the seabed.
  • a jacket comprises many tubulars which are interconnected and form a lattice structure.
  • the beams are generally made from steel.
  • a jacket generally comprises a number of beams which are substantially upstanding and which extend from a base of the jacket to a top of the jacket.
  • the upstanding beams are generally connected to one another via horizontal and diagonal cross-beams.
  • a heavy lift vessel is used to support a top part of the jacket. Subsequently, the jacket is cut at a certain distance above the seabed. The section above the cut is lifted and removed with the heavy lift vessel, and the section below the cut remains on location. A further cutting and lifting operation may be required to remove a next part.
  • the cutting of the jacket generally is a time consuming and expensive operation.
  • a large vessel with a crew is required in order to perform the cutting.
  • Divers or one or more ROV's and special cutting and lifting equipment are required for the actual cutting itself.
  • For the lifting operation heavy lift capability is required, which is expensive.
  • the known removal operation has a further disadvantage in that bad weather can cause significant delays, which further increase the costs.
  • the invention provides a method of performing an under water operation on a structure (10) or in the vicinity of the structure, the method comprising:
  • a device (18) comprising a movable arm (20), the device being constructed to perform an under water operation on the structure or in the vicinity of a structure, the device comprising:
  • a first support (22) constructed to be connected to the structure, the support being configured to transfer substantial forces in three dimensions and substantial moments about the X-axis, Y-axis and Z-axis from the movable arm to the structure, including a vertical force required for lifting operations of the device,
  • first articulated movable arm (20) directly or indirectly connected at a proximal end (34) to said support, the first movable arm comprising a first tool (30) connected to a distal end (36) of said first movable arm, wherein the first tool (30) is movable in a three dimensional working range (98) around the at least first support,
  • At least one actuator (33) configured to controllably move the first tool (30) in the three dimensional working range in order to position the first tool at a target location
  • control device configured to control the at least one actuator and the tool during operation
  • the invention provides a method of assembling or disassembling a structure which is located at least partially under water, the method comprising:
  • the movable arm comprises at least a first segment and a second segment connected to one another via at least a first hinge
  • the support is connected to a proximal end of the first segment via at least one support hinge, the support being constructed to be mounted to the structure,
  • the tool is mounted to a distal end of the second segment
  • ⁇ the least one actuator is configured to:
  • control device is configured to control the at least one actuator and the tool during operation
  • a large jacket structure can be disassembled. It is possible to disassemble a jacket structure of for instance 100 meter.
  • the disassembling operation can be performed substantially independently by the movable arm.
  • the movable arm can be connected to one or several umbilicals providing electrical and/or hydraulic power, communication cables, fibre optics and the like.
  • the umbilical can extend to a vessel at the water surface or straight to shore.
  • the invention may also be used for disassembling large objects which rest on the seabed as a result of a calamity, for instance a sunken ship.
  • the movable arm has a substantial lifting capability, i.e. 10 tons or more. This is required to handle large tools and jacket segments. The movable arm thus does not need an extra under-water balloon to provide extra lifting capacity.
  • US4109480 discloses a submarine cherry picker constructed to be positioned on the seabed and suitable for repairing a pipeline under water. This cherry picker is not suitable for disassembling a jacket structure, at least because the working range above the seabed is too limited. The cherry picker further lacks sufficient lifting capacity to handle parts without an extra balloon.
  • US6267037B1 describes a cutting tool for cutting an underwater pipeline.
  • the tool comprises a cutting wire which is rotated to cut the pipeline.
  • the tool has limited capabilities and is not very versatile. A part which is cut from the structure is uncontrolled and drops to the seabed.
  • the apparatus of US6267037B1 therefore is not suitable to disassemble a jacket independently or substantially independently.
  • the tool comprises a gripping tool.
  • the tool comprises a processing tool selected from a group comprising:
  • a drilling device for drilling a hole in the structure
  • a sampling device for taking a sample, in particular from the structure, from the seabed or from the water.
  • the method comprises:
  • the method comprises simultaneously gripping the part with the gripping tool and cutting in the structure with the cutting tool, thereby preventing the part from falling when the part becomes separated from the structure.
  • the cutting tool is movable relative to the gripping tool, allowing a part of the structure to be held by the gripping tool while the cutting tool cuts the structure in different positions which are required to separate the part from the structure, the method comprising:
  • a part such as a beam is connected to the rest of the structure at multiple locations. Generally, multiple cuts will have to be performed to separate the part completely from the structure. Because the cutting tool is movable relative to the gripping tool, a part of a substantial size can be separated from the structure. In an embodiment, the working range of the cutting tool extends up to 5 meter from the gripping tool. In this way, parts of up to 10 meter can be removed from the structure.
  • the method comprises:
  • the parts can be conveniently collected in the container. Littering of parts on the seabed can be avoided, which results in a clean removal operation.
  • the container can be hoisted with a cable by a vessel. A new, empty container may be put in place prior to the removal of the full container in order to enable a non-stop operation.
  • the support comprises at least one clamp, the method comprising:
  • the movable arm is moved in a downwards spiral along the outer side of the structure for disassembling the structure.
  • the method comprises clamping the at least one clamp to a vertical beam or substantially vertical beam of the structure and moving downwards along said beam from said first position to said second position and further downward until the structure is substantially disassembled.
  • the substantially vertical beam is a suitable location to support the movable arm and can function as a rail along which the support can move downward.
  • an auxiliary rail is mounted to the support structure for supporting the arm, wherein the support of the movable arm is constructed to engage said rail and slide or roll along said rail.
  • the rail has a vertical or substantially vertical orientation.
  • the rail can be mounted to the vertical or substantially vertical beam and extends substantially parallel to the vertical or substantially vertical beam.
  • control device comprises cameras.
  • control device comprises:
  • a data processing device comprising a memory configured for storing:
  • one or more sensors constructed for determining a current position of the arm and of the tool relative to the structure
  • feed forward control and feedback control can be combined for an efficient removal process.
  • a next part which is to be removed can be determined. It can also be determined how the movable arm can reach said part. If the support needs of the movable arm to be repositioned at another support location, this can be performed prior to the cutting operation. The support may need to be replaced vertically or horizontally.
  • the part is gripped and cuts are made in the structure. Next, the part is removed and the disassembly data are updated with the removed part.
  • the sensors provide data for accurate positioning. Although in theory the complete form of the structure is known from the geometrical data, in practice unknown obstacles may be present, due to an incomplete or inaccurate drawing. With the sensors, the actual data can be used for accurate positioning.
  • the method comprises:
  • the method comprises:
  • the method comprises:
  • One arm can be used to efficiently replace another arm. This allows easy repositioning of the arms.
  • the method comprises:
  • a device comprising a movable arm, the device further comprising:
  • the first articulated movable arm being connected to the at least one support via said body, the first movable arm comprising a gripping tool
  • a second articulated movable arm directly or indirectly connected at a proximal end to said support, the second movable arm comprising a processing tool connected to a distal end of said second movable arm, wherein the processing tool is movable in a three dimensional working range around the at least first support, performing a processing operation on the structure with the gripping tool and the processing tool.
  • the method comprises:
  • proximal end and the distal end are configured to exchange functions
  • the method comprises: providing a vessel above the structure and assisting the operation by connecting a line from the vessel to the articulated movable arm or to a part of the structure and exerting an upward force on the articulated movable arm or on the part of the structure via the line.
  • the method comprises providing at least one submerged buoyancy tank and assisting the operation by connecting a line from the buoyancy tank to the articulated movable arm or to a part of the structure and exerting an upward force on the articulated movable arm or on the part of the structure via the line.
  • the method comprises connecting an excavating device to the distal end of the at least one articulated movable arm and carrying out at least one excavating operation in the vicinity of the structure.
  • the present invention relates to a method of assembling or disassembling a structure which is located at least partially under water, the method comprising:
  • a device comprising at least one movable arm, the device comprising:
  • At least one movable arm comprising at least a first segment and a second segment connected to one another via at least a first hinge, o a support connected to a proximal end of the first segment via at least one support hinge, the support being constructed to be mounted to the structure or placed on the seabed,
  • a processing tool mounted to a distal end of the second segment, o at least one actuator configured to: ⁇ controllably move the first segment relative to the support, and to
  • o control device configured to control the at least one actuator and the processing tool during operation
  • the present invention further relates to a device comprising a movable arm, the device being constructed to perform an under water operation on an at least partially submerged structure or in the vicinity of the at least partially submerged structure, the device comprising:
  • support being configured to transfer substantial forces in three dimensions and substantial moments about the X-axis, Y-axis and Z-axis from the movable arm to the structure, including a vertical force required for lifting operations of the device,
  • the first movable arm comprising a first tool connected to a distal end of said first movable arm, wherein the first tool is movable in a three dimensional working range around the at least first support
  • At least one actuator configured to controllably move the first tool in the three dimensional working range in order to position the tool at a target location
  • a control device configured to control the at least one actuator and the tool during operation.
  • the present invention further relates to a device comprising a movable arm for disassembling or assembling a structure extending at least partially under water, wherein:
  • the movable arm comprises at least a first segment and a second segment connected to one another via at least a first hinge
  • the support is connected to a proximal end of the first segment via at least one support hinge, the support being constructed to be mounted to the structure or to be placed on the seabed,
  • the tool is mounted to a distal end of the second segment
  • At least one actuator configured to: o controllably move the first segment relative to the support, and to o controllably move the second segment relative to the first segment in order to position the processing tool at a target location in a working range of the arm,
  • control device is configured to control the at least one actuator and the tool during operation.
  • the movable arm provides substantially the same advantages as described in relation to the method above.
  • the tool comprises:
  • a processing tool for performing a processing operation on the structure or in the vicinity of the structure.
  • the gripping tool and/or the processing tool is rotatable about the distal end of the articulated movable arm about three independent axes, providing the gripping tool and/or processing tool with six degrees of freedom relative to the support.
  • the processing tool is selected from a group comprising:
  • a sampling device for taking a sample, in particular from the structure, from the seabed or from the water,
  • an excavating device for excavating the seabed or for collecting material which rests on the seabed.
  • the cutting tool is movable relative to the gripping tool, allowing a part of the structure to be held by the gripping tool while the cutting tool cuts the structure in different positions which are required to separate the part from the structure.
  • the cutting tool is connected to the gripping tool or to the movable arm via a movable cutting arm which provides the cutting tool with a working range which extends around the gripping tool.
  • the support comprises a clamping device which comprises clamping members constructed to clamp to a vertical or substantially vertical beam of the structure.
  • the clamp comprises clamping members which have substantially vertically extending gripping surfaces.
  • the support comprises:
  • control device comprises:
  • a data processing device comprising a memory configured for storing:
  • assembly data or disassembly data relating to the individual steps of assembling or disassembling the structure, one or more sensors constructed for determining a current position of the arm and of the tool relative to the structure.
  • the device comprises:
  • the first articulated movable arm being connected to the at least one support via said body, wherein a gripping tool is provided at the distal end, a second articulated movable arm directly or indirectly connected at a proximal end to said support, the second movable arm comprising a processing tool connected to a distal end of said second movable arm, wherein the processing tool is movable in a three dimensional working range around the at least first support.
  • the device comprises a movable arm comprising:
  • first support connected to the body and comprising at a distal end thereof a clamp for clamping to the structure or an insertion device constructed to be inserted into the structure for providing a secure connection with the structure, and
  • the device comprises a movable arm, wherein the first support comprises a first articulated leg being connected at a proximal end to the body and comprising at a distal end thereof the clamp or insertion device, and wherein the second support comprises a second articulated leg being connected at a proximal end to the body and comprising at a distal end thereof the clamp or insertion device, the first and second legs comprising actuators for moving the first and second clamp in a three dimensional working range around the body.
  • the device comprises an articulated movable arm, wherein both at the proximal end and at the distal end of the articulated movable arm there is provided:
  • proximal end and the distal end are configured to exchange functions, wherein:
  • the support at the proximal end is connected to the structure and the processing tool at the distal end is operable to perform a processing operation on the structure
  • the support at the distal end is connected to the structure and the processing tool at the proximal end is operable to perform a processing operation.
  • the device comprises a movable arm, wherein the at least one articulated arm comprises a first, a second and a third segment connected to one another via a first and a second hinge.
  • the device comprises a movable arm, further comprising at least one buoyancy device connected to the at least one articulated arm for increasing the lift capacity of the movable arm.
  • the present invention further relates to a combination of a first device comprising a movable arm according to any of claims 25-40 and a second device comprising a movable arm according to any of claims 25-40.
  • the first device comprises a first coupling part and the second device comprises a second coupling part, the first and second coupling part being configured to be coupled to one another to form a joint movable arm assembly comprising at least two movable arms.
  • the coupling parts are provided substantially in a central area of the first movable arm and the second movable arm.
  • the present invention further relates to an assembly for disassembling a structure extending at least partially under water, the assembly comprising:
  • the present invention relates to a movable arm for disassembling or assembling a structure extending at least partially under water, the movable arm comprising:
  • a support connected to a proximal end of the first segment via at least one support hinge, the support being constructed to be mounted to the structure or to be placed on the seabed,
  • At least one actuator configured to:
  • control device configured to control the at least one actuator and the processing tool during operation.
  • Figure 1 A shows a schematic side view of the movable arm according to the invention comprising a cutting tool.
  • Figure 1 B shows a schematic side view of the movable arm according to the invention comprising a gripping tool.
  • Figure 2A shows an orthogonal view of an embodiment of the movable arm in a first operational step.
  • Figure 2B shows an orthogonal view an embodiment of the movable arm in a next operational step.
  • FIGS 3-8 show schematic side views of respective steps of the method according to the invention.
  • Figure 9 shows a schematic top view of another embodiment of the invention.
  • Figure 10 shows a schematic side view of another embodiment of the invention.
  • Figure 1 shows a detailed view of a processing tool.
  • Figures 12A and 12B show a schematic side view of a jacket with an embodiment of the invention connected to it.
  • Figure 13 shows a schematic side view of another embodiment of the invention.
  • Figures 14A and 14 B show a schematic side view of another embodiment of the invention.
  • Figure 15 shows a schematic side view of another embodiment according to the invention.
  • Figure 16 shows a schematic side view of yet another embodiment according to the invention.
  • Figure 17 shows a schematic side view of another embodiment according to the invention.
  • Figure 18 shows a schematic side view of yet another embodiment according to the invention.
  • Figure 19 shows a schematic side view of another embodiment according to the invention.
  • Figure 20 shows a schematic view of another embodiment according to the invention.
  • Figure 21 shows a schematic view of another embodiment according to the invention.
  • FIG. 1A a device 18 comprising an articulated movable arm 20 according to the invention is shown.
  • the movable arm 20 comprises a support 22 having two clamps 24A, 24B.
  • the two clamps 24A, 24B are connected to the support 22 and to one another via two intermediate beams 26A, 26B, which are preferably adjustable in length.
  • the clamps are constructed to transfer substantial forces in three dimensions and substantial moments about the X-axis, Y-axis and Z-axis from the device 18 to the structure 10. In particular when a lifting operation is performed, a downward vertical force is exerted by the device 18 via the support 22 onto the structure 10. If a current exists in the water, horizontal forces will also be transferred via the support 22 to the structure 10.
  • the device does not comprise a support 22 configured to rest on the seabed 100. In this embodiment, all forces and moments are transferred to the structure 10.
  • the support 22 is constructed to be connected to the structure
  • the movable arm 20 is mounted on a turret 63.
  • the turret 63 comprises a pivot 61 via which the arm 20 is rotatable relative to the support 22 about rotation axis 62.
  • a proximal end 34 of a first segment 28A is connected to the turret 63 via a hinge 27.
  • the arm comprises a first segment 28A and a second segment 28B.
  • the first and second segments are connected to one another via a hinge 29.
  • the movable arm may comprise additional segments, i.e. three or four segments.
  • the movable arm 20 comprises a number of actuators 33 with which the movable arm can be moved.
  • the actuators 33 can be electric or hydraulic.
  • a power cable 35 is provided which extends between the movable arm 20 and an auxiliary vessel for providing power to a motor 31 of the movable arm 20.
  • a tool 30 is provided at a distal end 36 of the second segment 28B.
  • the tool 30 comprises a gripping tool 50.
  • the tool 30 comprises a processing tool 51 , for instance a cutting tool 51 A.
  • the processing tool may also be another type of equipment such as a tool for drilling 51 B, grinding and the like.
  • the cutting tool 51A may be a saw, a flame cutting tool, a welding tool, a laser device or a different kind of cutting tool.
  • the cutting tool comprises a wrench for connecting or disconnecting bolts.
  • the rotation axis 62, the hinge 27 and the hinge 29 provide the segment 28b with three degrees of freedom relative to the support 22.
  • the tool 30 is rotatable relative to segment 28B about three independent axes of rotation 80, 81 , 82 via a hinge 84. This provides the tool 30 with six degrees of freedom. The six degrees of freedom allow the tool 30 to be positioned in any position within the 3D working range and have any orientation in that position.
  • the cutting tool 51 A is provided with a rotating cutting wire 109.
  • the rotating cutting wire 109 cuts through steel tubulars in a practical manner.
  • a jacket 10 or different kind of structure which is to be removed comprises a plurality of substantially vertical (or upstanding) beams 2.
  • the beams may be oriented at an angle of 0-8 degrees to the vertical.
  • the jacket 10 comprises a grid of 4 by 2 upstanding beams 2.
  • the jacket further comprises horizontal cross-beams 4 which extend between the upstanding beams 2 and diagonal beams 6, which also extend between the diagonal beams.
  • the beams 2, 4, 6 are connected to one another at joints 7 and form a lattice structure.
  • the jacket 10 may also comprise ducts 9 and other equipment which is mounted to the lattice structure.
  • the jacket 10 which is shown in figures 2A, 2B is only a part of the original jacket. It is the bottom part, and the top part of the jacket is already removed, for instance via a heavy lift operation.
  • the clamps 24A, 24B are constructed to be connected to the vertical beams 2.
  • the clamps comprise clamp members 23 which have substantially vertically extending gripping surfaces.
  • the gripping surface 23 are pivotable relative to the intermediate beams 26A, 26B such that their gripping surfaces can be aligned with the intermediate beams. This allows the intermediate beams 26A, 26B to be oriented substantially parallel to an upstanding beam 2 of the jacket. See also figure 4.
  • a gripping tool 50 is connected to the distal end of the second segment 28B.
  • the gripping tool comprises fingers 101 which are movable relative to one another for gripping a part of the structure.
  • the arm 20 may comprise both a gripping tool 50 and a processing tool 51.
  • the arm may comprise only a gripping tool 50, or only a processing tool 51.
  • the device 18 is a different embodiment than the device 18 shown in figures 1 a and 1 b, in the sense that the arm 20 comprises both a gripping tool 50 and a cutting tool 51 A, and the device 18 comprises a joint where the arm 20 splits in a gripping arm 20A and a processing arm 20B.
  • the processing arm 20B provides the cutting tool 51 A with a working range about the gripping tool 50.
  • the movable processing arm 20B is equipped with an actuator, so that the cutting tool 51 A can be controllably positioned around the gripping tool 50.
  • the movable arm comprises at least one actuator and the actuator is coupled to a control unit 60.
  • control unit 60 comprises a data processing device.
  • the data processing device comprises a memory configured for storing geometrical data relating to the initial form of the structure, and disassembly data relating to the progress of disassembling the structure and the current form of the structure.
  • the geometrical data may be obtained from measurements or a computer file which was used to design the jacket, an AutoCAD file or similar file from another design program.
  • the disassembly data may comprise a sequence of removal operations according to which the structure is to be disassembled.
  • the structure may be divided into separate parts which are to be removed in sequence.
  • the device 18 comprising the movable arm 20 comprises several sensors 102 which are used for determining a current position of the movable arm and of the processing tool relative to the structure. These sensors may be ultrasonic sensors, video cameras and/or touch sensors which register an engagement of the movable arm with the structure.
  • Other sensors are also provided, such as a current sensor 104 for measuring the current, a weight sensor 103 for measuring the weight of the part 32 which is lifted.
  • the device 18 comprising the movable arm according to figures 1 a, 1 b operates as follows.
  • an auxiliary vessel 110 is positioned at the water surface 1 11 nearby.
  • An ROV 1 12 which is connected to the auxiliary vessel via an umbilical 1 14 is used to make a cut in the jacket 10, dividing the jacket in a bottom part 10A and a top part 10B.
  • two devices 18A, 18B comprising movable arms 20A, 20B are subsequently positioned on the jacket 10.
  • the movable arms 20 are positioned on the jacket 10 from the vessel 110, for instance by lowering the movable arms 20A, 20B with a hoisting system from the vessel.
  • the clamps 24A, 24B are clamped onto one of the upstanding beams 2, see figure 1.
  • the movable arms 20A, 20B may also start the operation at a position which is above the water level, however this is less preferred.
  • One movable arm 20A comprises at least a gripping tool 50, and one movable arm
  • both arms 20A, 20B comprise both a gripping tool 50 and a cutting tool 51A.
  • Two containers 40 are positioned at the seabed 100, within working range of the movable arms 20.
  • the containers comprise one ore more connectors 41 for connecting a cable to the container 40.
  • the containers comprise a bottom and side walls and are open at the top, so that a part can be placed in the container with relative ease.
  • a heavy lift vessel 120 is positioned at the jacket 10.
  • the heavy lift vessel 120 comprises a crane 122 and lifts the top part 10B of the jacket 10.
  • the bottom part 10B remains on the seabed 100.
  • the movable arms 20A, 20B then start with the operation of cutting a part 32 from the jacket 10.
  • the part will generally be a beam 2, 4, 6 or a part of a beam, but may also be a joint 7 or a beam in combination with a joint 7.
  • Each part 32 is gripped with a gripping tool 50.
  • the movement of the gripping tool to the part 32 and the subsequent gripping of the part 32 by the gripping tool may be performed manually or automatically.
  • an operator may be present above the water surface in the auxiliary vessel 110, and control the movement of the movable arm 2 via a connection such as a cable 35.
  • the part 32 is firmly held by the gripping tool 50. While the part 32 is held by the gripping tool 50, the cutting tool 51 A makes cuts 55 in the jacket 2 with the cutting wire 109, so that part 32 becomes separated.
  • the processing tool 30 comprises a cutting tool 51 A which is movable independently from the gripping tool 50 and which has a three-dimensional working range 52 around the gripping tool 50, as is disclosed in figures 2a, 2b.
  • the cutting tool 51 A moves to the locations where the cuts 55 need to be made and makes the cuts.
  • the arms 20A, 20B may cooperate.
  • One arm 20A may hold the part 32 with the gripping tool while the other arm 20B cuts the part 32
  • the movable arm moves the part 32 away from the jacket.
  • the movable arm moves the part 32 toward the seabed and places the part 32 in the container 40.
  • the gripping tool 50 then releases the part 32.
  • the movable arm 20 then continues with another part 32.
  • the movable arm 20 may need to be repositioned to another position. It is possible that the movable arm 20 is positioned at another location at a same horizontal level. For instance, the movable arm 20 may be repositioned on a different upstanding beam 2 at the same level.
  • this repositioning operation is carried out with a crane positioned on board the working vessel 110.
  • a cable is connected to the movable arm 20.
  • the clamps 24A, 24B are released from the structure 10 and the movable arm may is repositioned at a new location.
  • the movable arm 20 has a capability of relocating itself.
  • the movable arm comprises multiple clamps. Two clamps are shown, 24A, 24B, but more than two is also possible. These clamps are mounted on movable clamp arms 26. Each clamp is mounted at an end of a movable clamp arm.
  • two movable arms 20A, 20B are provided. Both movable arms 20 comprise clamps 24A, 24B via which the structure is gripped.
  • a first movable arm can move the second movable arm by gripping the second movable arm with its gripping tool 50.
  • the second movable arm then releases its clamps 24A, 24B from the structure.
  • the first movable arm moves the second movable arm to another location, where the clamps of the second movable arm clamp the structure again.
  • the operation may also be performed the other way around, i.e. the second movable arm may move the first movable am.
  • the movable arm 20 When all removable parts 32 within the working range of the movable arm have been removed, the movable arm 20 is lowered, to a new lower position. For instance, the movable arm 20 can be repositioned on the same upstanding beam 2, but at a lower position. When the movable arm is repositioned to a lower location, the working range is also lowered and the jacket structure can be further disassembled.
  • a container 40 when a container 40 is full, the container is lifted to the surface by a vessel 120 and transported to shore.
  • a vessel 120 can be a crane vessel or any other vessel with sufficient hoisting capacity to lift the loaded containers 40.
  • a crane vessel can also lift the containers from the seabed and load them on a transportation barge. An empty container may replace the full container.
  • all the containers 40 are lifted to the surface.
  • the processing tool 51 or the gripping tool 50 comprises a hoisting device with a winch. If the jacket is very large, the movable arm may not be able to position a part of the structure on the seabed, because the arm is too short and the working range too limited. The removed part may then be lowered to the seabed with the hoisting device.
  • the movable arm is equipped with tracks to allow movement around and positioning on the seabed 100.
  • the skilled person will understand that the present invention may also be used for assembling a structure under water.
  • the opposite procedure will then be followed.
  • the parts will be provided in a container at the seabed.
  • the device 18 comprising the movable arm will be positioned at a first position near the seabed.
  • Each time a part will be picked from the container by the movable arm and the part will be connected to the parts which are already in place. In this way, a complete jacket can be erected.
  • the support 22 of the movable arm is repositioned at a higher position.
  • the device comprises a support 22 which comprises an insertion device 150 which is constructed to be inserted into a pipe end.
  • the insertion device is expandable in order to be securely fitted in a pipe end.
  • the insertion device comprises expanding members 152 which are movable from a retracted position to an outward position in order to engage the inner wall of the pipe end.
  • the expanding members are also retractable back to the retracted position to loosen the device 18 from the pipe end.
  • the device comprises a turret or slewing ring 63 which is rotatable about the support 22.
  • the first segment 28a is connected to the slewing ring via hinge 27.
  • thrusters 154 are provided for moving the arm.
  • a further actuator 33 is provided at a distal end 36 of the second segment. The actuator 33 is constructed to move the processing tool relative to the second segment 28B.
  • the shown processing tool is a cutting tool 51.
  • the cutting tool comprises a gate 156 which can be opened to let a part of the construction in and can subsequently be closed to confine the part in a closed space.
  • the gate 154 is connected to a body 159 of the cutting tool 51 via a hinge 158 and is driven by a drive.
  • the cutting tool 51 comprises a shear tool 160 which performs the cut.
  • the body 159 of the cutting tool is rotatable relative to the second segment via a rotary connection 162.
  • the hinge 84 provides two degrees of freedom. Together, the hinge 84 and the rotary connection 162 provide three degrees of freedom for the cutting tool 51 A relative to the second segment 28B.
  • a quick coupling 164 is provided in order to quickly exchange the cutting tool 51 for another tool.
  • Figure 1 1 shows a grabbing tool 50 having curved projections 166.
  • the device 18 may comprise a support having clamps 23 which can clamp a part of a structure, shown with A1 in figure 12A.
  • the device 18 may comprise an insertion device 150 which in use is inserted into a cut-off leg 2 of a structure 10. This is shown with A2 in figure 12A The insertion device 150 is indicated by a dotted line.
  • the device 18 comprising an insertion device 150 may also be inserted into one of the piles 168 which extend from the seabed upward and to which the structure 10 is anchored.
  • the device 18 further comprises a buoyancy device 170 which is connected to the arm 20 via a line 172.
  • Buoyancy elements can also be connected directly to the arm, for instance via a buoyant block 177.
  • the buoyancy device increases the lifting capacity of the movable arm.
  • the position 174 at which the buoyancy device is connected to the arm may be variable in direction 175, i.e. along the arm, with a drive 176.
  • the buoyancy of the buoyancy device is variable in a controlled manner.
  • the buoyancy device comprises a control unit 178 for varying the buoyancy, for instance by inflating the buoyancy device with a gas stored in a cylinder.
  • a buoyancy device 180 is connected to a part 32 of the structure which is to be removed.
  • the buoyancy device 180 is to the part directly or alternatively is connected via a line 172 to said part 32.
  • the working range 98 is a sphere around the support 22.
  • an auxiliary vessel 110 is provided.
  • the vessel 1 10 comprises a crane 181 or other lifting device.
  • a cable 180 extends from the crane to the device 18 comprising the movable arm 20.
  • the cable is attached to the movable arm 20, near a joint 29.
  • An anti-heave device 184 is provided on board the vessel to compensate for heave motions of the vessel. Anti-heave devices 184 are known in the prior art.
  • the cable is connected to a part of the structure which is to be removed.
  • the device 18 comprises a central body 190 and two articulated arms 20A, 20B which are connected at a proximal end 34 to the central body 190.
  • One arm 20A comprises a gripping tool 50 at the distal end 36 and one arm 20B comprises a cutting tool 51 at the distal end 36.
  • the device 18 further comprises two supports 22A, 22B.
  • the supports 22A, 22B are connected to the body via articulated legs 200A, 200B.
  • the articulated legs are connected to the body 190 via hinges 202 and each comprise a first segment 205 and a second segment 206 connected to the first segment via a hinge 208.
  • the articulated legs comprise actuators to move the legs.
  • the supports 22A, 22B comprise clamps for gripping a part of the structure 10.
  • the arm 20A comprising the gripping tool 50 may provide assistance when the device 18 is to be moved to another position on the structure 10.
  • the gripping tool 50 may grip the structure and provide further stability.
  • one of the legs 200A, 200B may release the structure 10 and be moved to another position on the structure and clamp the structure in that position.
  • the other leg 200 may release the structure and be moved to another position and subsequently grip the structure in that position.
  • the gripping tool 50 in this operation functions as a support 22.
  • a third leg 200 is provided in order to create more stability and allow the device 18 to be connected to the structure at three positions when a lifting operation is carried out by the gripper tool 50, i.e. when a separated part 32 is lifted by the gripping tool 50.
  • the third leg is similar to the first and second leg 200a, 200B. It is also possible that arm 20B comprises a gripping tool 50 in addition to the cutting tool 51 , so that the device 18 has two arms 20A, 20B and two legs 200A, 200B with which it can move, i.e. climb, over the structure, more or less like a Orangutan.
  • the body 190 is splittable in two body parts 190A, 190B.
  • the body parts 190A, 190B comprise couplings 220A, 220B with which the parts 190A, 190B can be coupled to one another and uncoupled from one another.
  • the uncoupled operating mode there are two devices 18A, 18B which may each operate independently, for instance for removing relatively light parts.
  • the coupled operating mode there is a single device 18.
  • the device 18 may be more stable and perform operations which require more stability, such as the removal of heavy parts.
  • two devices 18A, 18B which have a both a gripping tool 50 at a proximal end 34 and a gripping tool 50 at a distal end 36.
  • the gripping tools 50 also function as support 22.
  • the devices 18A, 18B also each comprise a processing tool 51 at the proximal end and a processing tool 51 at the distal end.
  • the processing tool may be a cutting tool (51A).
  • a device 18 which has a support 22 which is mounted to the structure 10 above the water line 240.
  • the tool 30 is constructed to be provided below the water line.
  • a rail 242 may be provided along which the device 18 can move.
  • the rail may extend horizontally.
  • the rail 242 may also extend over a vertical distance, allowing the device 18 to move along said rail 242.
  • a device 18 comprising an excavating tool 51 B is shown.
  • the excavating tool 51 B can be used to remove drill cuttings 250 in the vicinity of a drilling platform.
  • the drill cuttings typically form a pile around the structure 10.
  • a container 40 as shown in figure 2A can be provided in which the drill cuttings 250 can be deposited with the excavating device 51 B. It is also possible to just replace the drill cuttings, thereby allowing access to a bottom part 252 of the structure 10 which would otherwise be impossible to reach. In a subsequent step, the bottom part 252 may disassembled with the device 18 equipped with a cutting tool 51.
  • the support 22 can be of the insertion type and be inserted into a pile or a leg of the structure 10.
  • a processing tool 51 in the form of a drill 51 C is provided at the distal end of a movable arm.
  • Another movable arm 20 is provided with a gripping tool 50.
  • a processing tool 51 in the form of a sampling tool 51 D is provided at the end of the arm 20.
  • the sampling tool 51 D is constructed to take a sample from the structure 10, from the seabed 100, from the water, from the drill cuttings 250, or another sample.
  • the excavating device 51 B, drill 51C and sampling tool 51 D are connected to the arm 20 via a quick coupling, allowing easy exchange of the processing tool 51 for another processing tool 51.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Robotics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Mining & Mineral Resources (AREA)
  • Paleontology (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Automatic Assembly (AREA)
  • Earth Drilling (AREA)

Abstract

L'invention porte sur un procédé de réalisation d'une opération sous l'eau sur une structure (10) ou au voisinage de la structure, le procédé comprenant : - la disposition d'un dispositif (18) comprenant un bras mobile (20), le dispositif étant construit de façon à réaliser une opération sous l'eau sur la structure ou au voisinage d'une structure, le dispositif comprenant : au moins un premier support (22) construit pour être relié à la structure, le support étant configuré pour transférer des forces significatives en trois dimensions et des moments significatifs autour de l'axe X, de l'axe Y et de l'axe Z à partir du bras mobile à la structure, comprenant une force verticale requise pour des opérations de soulèvement du dispositif, au moins un premier bras mobile articulé (20) relié directement ou indirectement à une extrémité proximale (34) audit support, le premier bras mobile comprenant un premier outil (30) relié à une extrémité distale (36) dudit premier bras mobile, le premier outil (30) étant mobile dans une plage de travail en trois dimensions (98) autour du ou des premiers supports, au moins un actionneur (33) configuré pour déplacer de manière commandable le premier outil (30) dans la plage de travail en trois dimensions afin de positionner le premier outil à un emplacement cible, un dispositif de commande (56) configuré pour commander le ou les actionneurs et l'outil pendant le fonctionnement, - la fixation du dispositif à la structure par l'intermédiaire d'au moins un support, - le déplacement de l'outil en trois dimensions et la réalisation d'une opération sous l'eau.
PCT/NL2012/050066 2011-02-07 2012-02-07 Procédé et dispositif pour l'assemblage ou le démontage d'une structure sous l'eau Ceased WO2012108765A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
US13/984,036 US20140147217A1 (en) 2011-02-07 2012-02-07 Method and device for assembling or disassembling a structure under water
GB1316002.3A GB2502489A (en) 2011-02-07 2012-02-07 Method and device for assembling or disassembling a structure under water
NO20131209A NO20131209A1 (no) 2011-02-07 2013-09-06 Fremgangsmåte og en innretning for å sette sammen eller å demontere en struktur under vann

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US201161440127P 2011-02-07 2011-02-07
NL2006153A NL2006153C2 (en) 2011-02-07 2011-02-07 Method and device for assembling or disassembling a structure under water.
NL2006153 2011-02-07
US61/440,127 2011-02-07

Publications (1)

Publication Number Publication Date
WO2012108765A1 true WO2012108765A1 (fr) 2012-08-16

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Country Link
US (1) US20140147217A1 (fr)
GB (1) GB2502489A (fr)
NL (1) NL2006153C2 (fr)
NO (1) NO20131209A1 (fr)
WO (1) WO2012108765A1 (fr)

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NL2009954C2 (en) * 2012-12-10 2014-06-11 Mammoet Engineering B V Saw for sawing through an object, notably an offshore object or unshore object.
WO2014106081A1 (fr) * 2012-12-28 2014-07-03 1 Diamond, Llc Système de sciage, structure de support de sciage, ainsi qu'unité et procédé de remplacement de fil
NL2011872C2 (en) * 2013-11-29 2015-06-01 Heerema Marine Contractors Nl System and method for deploying/operating tool and heave compensation for same.
CN106284264A (zh) * 2016-08-16 2017-01-04 武汉船用机械有限责任公司 一种可拆卸式桁架桩腿
WO2017051163A1 (fr) 2015-09-25 2017-03-30 Subsea 7 Limited Déplacement d'outils sur structures en mer avec un chariot mobile
GB2570034A (en) * 2017-11-08 2019-07-10 Rotech Group Ltd Improved cutting tool
WO2020002473A1 (fr) 2018-06-26 2020-01-02 Subblue Robotics Aps Bras de robot, véhicule télécommandé et procédé de nettoyage d'une structure en sous-sol

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JP6425226B2 (ja) * 2014-11-28 2018-11-21 株式会社日立プラントコンストラクション ブレース切断機、及びブレース切断車輌
DK178613B1 (en) * 2015-05-21 2016-08-22 Subcpartner As An underwater buoy installation system and kit, a method for assembling it, use thereof, and a method for installing a buoy
NO343423B1 (en) * 2015-12-11 2019-03-04 Smart Installations As Mobile cutting tool and method for cutting a subsea tubular structure
WO2017217871A1 (fr) * 2016-06-15 2017-12-21 Badger Equipment Limited Accessoire de manipulateur
NO344001B1 (en) 2017-11-29 2019-08-12 Smart Installations As Method for cutting a tubular structure at a drill floor and a cutting tool for carrying out such method
US11608148B2 (en) * 2019-04-05 2023-03-21 Fmc Technologies, Inc. Submersible remote operated vehicle tool change control
NO346938B1 (en) * 2021-03-19 2023-03-06 Oceantech Innovation As Module-based splash-zone intervention tool assembly.
CN115283756A (zh) * 2022-08-26 2022-11-04 交通运输部上海打捞局 一种使用金刚石串珠绳锯系统切割沉船的方法
US11807349B1 (en) * 2022-09-16 2023-11-07 Fmc Technologies, Inc. Submersible remote operated vehicle vision assistance and control

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GB2504605A (en) * 2012-06-14 2014-02-05 Heerema Marine Contractors Nl Three dimensional arm mounted on rails for working on a submerged structure
NL2009954C2 (en) * 2012-12-10 2014-06-11 Mammoet Engineering B V Saw for sawing through an object, notably an offshore object or unshore object.
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WO2014106081A1 (fr) * 2012-12-28 2014-07-03 1 Diamond, Llc Système de sciage, structure de support de sciage, ainsi qu'unité et procédé de remplacement de fil
GB2523705A (en) * 2012-12-28 2015-09-02 Diamond Llc 1 Sawing system, sawing support structure and a wire replacement unit and method
GB2523705B (en) * 2012-12-28 2017-08-02 1 Diamond Llc Sawing system, sawing support structure and a wire replacement unit and method
NL2011872C2 (en) * 2013-11-29 2015-06-01 Heerema Marine Contractors Nl System and method for deploying/operating tool and heave compensation for same.
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GB2570034B (en) * 2017-11-08 2020-09-09 Rotech Group Ltd An underwater tool comprising a grabber arrangement and a cutter arrangement
GB2570034A (en) * 2017-11-08 2019-07-10 Rotech Group Ltd Improved cutting tool
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WO2020002473A1 (fr) 2018-06-26 2020-01-02 Subblue Robotics Aps Bras de robot, véhicule télécommandé et procédé de nettoyage d'une structure en sous-sol

Also Published As

Publication number Publication date
GB2502489A8 (en) 2014-01-15
NO20131209A1 (no) 2013-10-21
US20140147217A1 (en) 2014-05-29
NL2006153C2 (en) 2012-08-08
GB2502489A (en) 2013-11-27
GB201316002D0 (en) 2013-10-23

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