Robotic system for making or breaking a riser

Patent metadata

Field	Value
Publication number	US-12006779-B2
Application number	US-202318225945-A
Country	US
Kind code	B2
Filing date	Jul 25, 2023
Priority date	Sep 29, 2020
Publication date	Jun 11, 2024
Grant date	Jun 11, 2024

Abstract

The system for making or breaking the riser includes a robotic system. The robotic system includes one or more robotic arms configured to be disposed on a spider deck, and one or more riser-connection manipulation tools each having a camera and being configured to manipulate a riser connection, the camera being configured to capture an image of an object, wherein each robotic arm is configured to couple to one riser-connection manipulation tool. Further the system for making or breaking the riser includes a control system. The control system includes a robot controller in communication with the one or more robotic arms and configured to control the one or more robotic arms. The system for making or breaking the riser is configured to analyze the image to determine the location and orientation of the object and transmit the location and orientation of the object to the robot controller.

First claim

What is claimed is:

1. A system configured to make or break a riser having a riser joint, the system comprising:
(a) a robotic system having:
one or more robotic arms, each having six degrees of freedom; and
one or more riser-connection manipulation tools each having a lidar with a laser light source and being configured to manipulate a riser connection, each robotic arm being configured to couple to one riser-connection manipulation tool, the laser light source being configured to emit light toward an object configured for manipulation by the riser-connection manipulation tool such that the lidar receives light reflected back by the object configured for manipulation; and

(b) a control system having:
a robot controller in communication with the one or more robotic arms and configured to control the one or more robotic arms;
wherein the robot controller is configured to: (1) determine a position of the object based at least on laser light reflected by the object and received by the lidar; and (2) transmit signals to the one or more robotic arms based on the determined position of the object.

2. The system of claim 1 , wherein the riser connection is at least one of a riser bolt, a breech lock, or a latching dog.

3. The system of claim 2 , wherein the riser-connection manipulation tool is a multi-function tool configured to place the riser bolt into the riser joint, remove the riser bolt from the riser joint, manipulate the breech lock, manipulate the latching dog, manipulate a stabbing guide, manipulate a hole cover, apply a pre-determined torque, or a combination thereof.

4. The system of claim 3 , wherein the multi-function tool further comprises:
a socket configured to engage a head of the riser bolt;
a servo motor operatively coupled to the socket and configured to drive the socket; and
a fork tool assembly having a retaining fork disposed in proximity to the socket, the fork tool assembly being configured to pick and place an object using the retaining fork.

5. The system of claim 4 , wherein the fork tool assembly further comprises a retaining fork actuation cylinder operatively coupled to the retaining fork and configured to extend and retract the retaining fork.

6. The system of claim 4 , wherein the multi-function tool is configured to rotate the socket back and forth at a pre-determined frequency when the socket is engaged or disengaged from the head of the riser bolt.

7. The system of claim 1 , wherein the riser-connection manipulation tool is a torque wrench tool configured to apply a pre-determined torque.

8. The system of claim 7 , wherein the riser connection is a riser bolt, and wherein the pre-determined torque is configured to be applied to a head of the riser bolt that is disposed on the riser joint, thereby tightening or loosening the riser bolt from the riser joint.

9. The system of claim 8 , wherein the torque wrench tool further comprises a socket configured to rotate, thereby applying the pre-determined torque to the head of the riser bolt.

10. The system of claim 9 , wherein the torque wrench tool further comprises a hydraulic torque tool operatively coupled to the socket and configured to rotate the socket.

11. The system of claim 9 , further comprising a pressure sensor configured to measure a hydraulic pressure provided to the torque wrench tool, thereby detecting when the predetermined torque is achieved.

12. The system of claim 1 , further comprising a quick-change system having:
a master end disposed on a distal end of one of the one or more robotic arms; and
a tool end disposed on the riser-connection manipulation tool and configured to couple to the master end, the quick-changing system being configured to permit each of the one or more robotic arms to replace one riser-connection manipulation tool with another riser-connection manipulation tool.

13. The system of claim 1 , wherein the riser connection is a riser bolt, and wherein the system is configured to at least one of: (1) pick up the riser bolt from a bolt receptacle and secure the riser bolt to the riser joint without human intervention, thereby making the riser, or (2) remove the riser bolt from the riser joint and place it into a bolt receptacle without human intervention, thereby breaking the riser.

14. A system configured to make or break a riser having a riser joint, the system comprising:
(a) a robotic system having:
one or more robotic arms, each having six degrees of freedom; and
one or more torque wrench tools, each torque wrench tool having a socket, a hydraulic torque tool operatively coupled to the socket and configured to rotate the socket, and a reaction arm operatively coupled to the hydraulic torque tool and configured to secure the hydraulic torque tool in place to prevent rotation of the hydraulic torque tool under influence of a reaction torque, each torque wrench tool being configured to couple to one robotic arm; and

(b) a control system having:
a robot controller in communication with the one or more robotic arms and configured to control the one or more robotic arms;
wherein the robot controller is configured to: (1) determine a location and orientation of an object; and (2) transmit signals to the one or more robotic arms based on the determined location and orientation of the object.

15. The system of claim 14 , wherein the object is a riser bolt, the socket being configured to engage a head of the riser bolt.

16. The system of claim 15 , wherein to secure the hydraulic torque tool in place, the reaction arm is configured to be leaned against one or more elements of a riser.

17. The system of claim 14 , wherein each of the one or more torque wrench tools has a camera placed above the socket, the camera being configured to capture an image of the object, and
wherein the robot controller is configured to analyze the image to determine the location and the orientation of the object.

18. The system of claim 14 , wherein the hydraulic torque tool includes a hydraulic cylinder having a piston rod configured to move in and out of the hydraulic cylinder to produce torque for rotating the socket.

19. The system of claim 14 , further comprising a pair of interface plates forming a housing for the hydraulic torque tool.

20. The system of claim 14 , further comprising a quick-change system having:
a master end disposed on a distal end of one of the one or more robotic arms; and
a tool end disposed on the torque wrench tool and configured to couple to the master end.

Assignees

• Transocean Sedco Forex Ventures Ltd
• Stebbins Innovations Llc

Inventors

• Mccormick Craig
• Coady Michael
• Martin John
• Lippold James
• Willey Michael
• Mcclaugherty Shane

Classifications

• E21B17/085 Primary

  Riser connections (connectors for wellhead E21B33/038) · CPC title

• B25J9/1697

  Vision controlled systems · CPC title

• G05B2219/40306

  Two or more independent robots · CPC title

• E21B19/165 Primary

  Control or monitoring arrangements therefor · CPC title

• G05B2219/37555

  Camera detects orientation, position workpiece, points of workpiece · CPC title