Module-based splash-zone intervention tool assembly

The present invention is related to a module-based splash-zone intervention tool assembly according to the preamble of claim 1.

Especially, the present invention is related to a module-based splash-zone intervention tool assembly for offshore installations for use in the splash zone, both for maintenance and inspection of difficult available locations on the offshore installation, such as a platform, fish farm or similar.

Background

Offshore installations are daily exposed to harsh weather conditions. Due to the harsh weather conditions, the need for inspection and maintenance work on these installations is a constantly proceeding task.

Over the years, there have been proposed different solutions to avoid the use of divers and ROVs to perform such operations.

From NO332220 B1 it is known a system for maintenance and inspection of structures located at difficult available places including a remote arm arranged to the structure by an attachment device, where the mentioned remote arm can be provided with different work tools and camera, and where the mentioned remote arm is controlled from a control center at deck of the offshore installation.

In NO20130829/US 2013/0336724 A1 is described a device for performing a subsea operation on at least a partly submerged structure where the device comprises a fundament with a connector for connecting the device to and from the structure. The device further comprises a movable arm directly or indirectly arranged to the fundament. The arm is provided with a tool movable in a three-dimensional work area about the fundament. The fundament comprises a rail and the movable arm comprises a support wagon going in engagement with the rail for allowing the movable arm to move along the rail.

From FR 2964995 A1 is known a scaffolding system for fastening to profiles by using clamps, which clamps are mounted movably along a rail.

There are several disadvantages with the mentioned solutions and the largest disadvantage is that they are not module-based. As they are not module-based, this requires that they must be adapted to each separate offshore installation, something that is costly and time-consuming, and that they to a large extent cannot be re-used.

Further, they have high weight, requiring the use of cranes for mounting them in place on the structure of the offshore installation, as well as removing them after the operation is completed.

In many cases, there is no such crane available on the offshore installation resulting in that one must acquire a vessel for performing the mounting, which is both costly and time-consuming. A solution solving many of the drawbacks of these solutions is described in WO2016133402 A1. In WO2016133402 A1 is described a module-based vertical access tool for work in the splash-zone of an offshore installation, including a framework of framework modules, an attachment module adapted for arranging the module-based vertical access tool to a structure of the offshore installation, and a tool module which can move in the longitudinal direction of the framework. The tool module itself carries driving means for movement along the framework, and is provided with a remote arm at lower side thereof, to which remote arm work equipment can be arranged. One disadvantage with this solution is that the attachment module is fixed to the framework making it difficult to adapt to different structures of an offshore installation. Another disadvantage is that there is only used one attachment module for arranging the framework to the offshore installation enabling arrangement to only one structure of the offshore installation, resulting in that the framework will be affected by current and waves if the framework has considerable length, which will considerably limit the operational window of the access tool. This will also result in that both the tool module and framework will have to be retrieved even at lower wave heights. Further, any movement or instability of the framework will affect the precision of the remote arm when operated. Another disadvantage is that the tool module carries driving means for operation of the tool module along the framework and for operation of the remote arm. If an error arises in the tool module, such as mechanical error or power supply error, the tool module will be stuck down on the framework, resulting in that the entire system will have to be retrieved. Another disadvantage of this solution is that that the movement of the tool module is relied on a chain extending along the framework that will be affected by currents and waves and will thus affect the accurate positioning of the tool module. The toothed wheels for engagement with the mentioned chain and rotating shafts driving the toothed wheels are further exposed to the harsh environment and requires extensive maintenance. Due to the toothed wheels being in engagement with the chain this further results in that the tool module cannot be retrieved rapidly if required. A further disadvantage with this solution is that the framework modules are assembled by standard scaffolding materials and requiring the use of bolts to attach the framework modules together, thus resulting in that the framework cannot be easily extended or shortened.

It is accordingly a need for a module-based splash-zone intervention tool assembly being more robust and flexible as regards arrangement to structures of the offshore installation.

It is further a need for a module-based splash-zone intervention tool assembly that is easier to assemble and disassemble, as well as can be retrieved in a simple and safe manner.

Object

The main object of the present invention is to provide a module-based splash-zone intervention tool assembly for offshore installations partly or entirely solving the above-mentioned disadvantages of prior art.

It is further an object of the present invention to provide a module-based splash-zone intervention tool assembly for offshore installations where one does not need support vessels for performing operations in the splash-zone of the offshore installation.

It is further an object of the present invention to provide a module-based splash-zone intervention tool assembly for offshore installations which can easily be adapted for work at the separate offshore installation by that it includes modules which easily can be adapted to the separate offshore installation.

It is further an object of the present invention to provide a module-based splash-zone intervention tool assembly for offshore installations where one does not need cranes for arranging the module-based splash-zone intervention tool assembly to the offshore installation, but which can be arranged by means of access technique and rig equipment.

An object of the present invention is to provide a module-based splash-zone intervention tool assembly for offshore installations providing 360 degrees work area for work tools to be used. It is further an object of the present invention to provide a module-based splash-zone intervention tool assembly for offshore installations enabling arrangement to more than one structure of the offshore installation.

An object of the present invention is to provide a module-based splash-zone intervention tool assembly for offshore installations providing increased operational stability compared to prior art solutions.

It is an object of the present invention to provide a module-based splash-zone intervention tool assembly that can be retrieved rapidly and in a safe manner.

Further objects will appear by consideration of the following description, claims and attached drawings.

The invention

A module-based splash-zone intervention tool assembly for maintenance and inspection of an offshore installation is defined by the technical features of claim 1. Preferable features of the module-based splash-zone intervention tool assembly are described in the dependent claims.

A module-based splash-zone intervention tool according to the present invention for maintenance and inspection of an offshore installation comprises a framework assembly, upper and lower attachment modules for arrangement of the framework assembly to structures of the offshore installation and a tool module movable in longitudinal direction of the framework assembly.

The framework assembly according to the present invention is formed by at least one framework module and provided with a rail assembly extending in longitudinal direction thereof. According to the present invention, the module-based splash-zone intervention tool assembly comprises at least one upper and at least one lower attachment module independently arranged to the rail assembly and wherein the at least one upper and at least one lower attachment module are arranged movable in longitudinal direction of the rail assembly.

In accordance with one embodiment of the present invention, the framework assembly is formed by an elongated mainly tubular main body and wherein the rail assembly is arranged at one side thereof. The framework assembly according to the present invention is formed by at least one framework module. The framework module is formed by an elongated mainly tubular main body provided with a rail module at one side thereof, wherein the elongated mainly tubular main body is provided with upper and lower corresponding connections for detachable arrangement to an adjoining framework module to form a continuous framework assembly with a continuous rail assembly of a desired length.

According to one embodiment of the present invention, the rail module comprises a pair of parallel U-shaped rail guides with a quadratic or rectangular cross-section, spaced apart in transversal direction of the elongated mainly tubular main body, arranged such that an opening of the U-shaped rail guides is facing away from the elongated mainly tubular main body of the framework module, in a plane perpendicular to the longitudinal direction of the framework module.

In accordance with one embodiment of the present invention, the rail module comprises a pair of parallel exterior guides arranged or fixed exterior of each of the U-shaped rail guides. The exterior guides according to the present invention comprises a guide side extending with a desired inclined angle from the elongated mainly tubular main body of the framework module and ending in a fixation side parallel to the U-shaped rail guides and provided with holes and/or slots distributed in longitudinal direction thereof.

According to the present invention, the upper attachment module comprises a support carriage and a mainly U-shaped clamp arranged tillable to the support carriage at one side thereof via a rotational joint. The support carriage is at the other side provided a pair of parallel guide members provided with guide wheels and/or spacers adapted the U-shaped rail guides and arranging the upper attachment module movably in longitudinal direction of the U-shaped rail guides.

In accordance with one embodiment of the present invention, the lower attachment module comprises a support carriage and a mainly U-shaped claw arranged to the support carriage at one side thereof. In a further embodiment of the present invention the mainly U-shaped claw is arranged rotatable about a vertical center axis of the support carriage via an attachment plate and rotational joint.

The support carriage is at the other side provided a pair of parallel guide members provided with guide wheels and/or spacers adapted the U-shaped rail guides and arranging the lower attachment module movably in longitudinal direction of the U-shaped rail guides.

According to one embodiment of the present invention, the attachment plate and support carriage are provided with corresponding through holes enabling fixation of the U-shaped claw at an angle in relation to longitudinal direction of the support carriage. By being enable to adapt the rotational position of the U-shaped clamp one can adapt the lower attachment module for arrangement to both inclined extending structures and horizontally extending structures of the offshore installation.

According to a further embodiment, the upper attachment module is provided with a similar rotational feature as the lower attachment module to enable also the upper attachment module to be arranged to inclined or horizontally extending structures.

In accordance with one embodiment of the present invention, the parallel guide members of the support carriages are provided with through holes or slots coinciding with the holes and/or slots of the fixation side of the exterior guides for fixation of the upper and lower attachment module, respectively, to the rail assembly by fixation means.

According to one embodiment of the present invention, the tool module comprises an elongated housing, wherein the elongated housing at a longitudinal side thereof is provided with a centrally longitudinally extending mainly U-shaped recess. The mainly U-shaped recess is adapted for receiving and accommodating the elongated mainly tubular main body of the framework assembly and wherein the opening of the mainly U-shaped recess has tapering ends narrowing the opening of the mainly U-shaped recess in relation to the remaining part of the mainly U-shaped recess such that the elongated housing at least partly encloses the elongated mainly tubular main body and retains the elongated housing to the elongated mainly tubular main body.

In accordance with one embodiment of the present invention, guide means are arranged at the tapering ends of the elongated housing adapted for sliding engagement with the elongated mainly tubular main body and guide sides of the framework assembly.

According to a further embodiment of the present invention, one or more lock mechanisms is/are arranged at each tapering end, wherein the lock mechanism comprises at least one lock member movable between a locking position, wherein the lock member is in engagement with the guide side of the exterior guides of the framework assembly, and a releasing position, wherein the lock member is retracted from engagement with the guide side.

The tool module is further provided with a remote arm at a lower part of the elongated housing, wherein a desired tool assembly can be arranged to the remote arm.

The module-based splash-zone intervention tool assembly according to the present invention will further be connected to supply lines for power, hydraulic, pneumatic or electricity, as well as communication lines to a control central, further explained below.

The framework assembly is according to the present invention formed by that a desired number of framework modules are arranged together in longitudinal direction for forming a desired work length for the module-based splash-zone intervention tool assembly to be arranged in the vertical plane to one or more structures of the offshore installation.

By the upper and lower attachment modules being movably arranged to the rail assembly of the framework assembly, the upper and lower attachment modules are easily adapted structures of the offshore installation.

Due to the upper attachment module is provided with a hinged connection to the framework assembly, the framework assembly as well as the lower attachment module can be tilted approximately 90 degrees and allowing the framework assembly to slide in relation to the upper attachment module at the same time as providing clearance for the lower attachment module in relation to lower structures of the offshore installation.

With the upper and lower attachment modules, as well as the rail assembly, facing the structure of the offshore installation, the tool module is arranged to move in longitudinal direction of the elongated mainly tubular main body of the framework assembly facing the other side, i.e. away from the structures of the offshore installation and independent of the U-shaped rail guides. By using separate upper and lower attachment modules, the framework assembly can be arranged to one or more structures of the offshore installation. By arranging the framework assembly to two structures spaced apart one will achieve two attachment points displaced in longitudinal direction of the framework assembly providing a more rigid arrangement of the module-based splash-zone intervention tool assembly, compared to prior art solutions.

The tool module according to the present invention is provided with connection points at upper side thereof for connection to at least one hoisting system for elevating the tool module in longitudinal direction of the framework assembly, while the present invention according to one embodiment use gravity for lowering the tool module in longitudinal direction of the framework assembly. The tool module can due to the locking mechanism be precisely secured at a desired position in longitudinal direction of the framework assembly where tasks are to be performed by a tool assembly.

The remote arm of the tool module according to the present invention comprises at least one horizontal arm arranged rotatable in a horizontal opening in a front side of the elongated housing, such that the rotational arrangement of the remote arm to the elongated housing is protected. According to one embodiment of the present invention, the remote arm is formed by first and second horizontal arms connected to each other by a rotational joint and movable in the same horizontal plane. In an alternative embodiment, the first and second horizontal arms are parallel displaced in vertical direction and thus rotatable in parallel horizontal planes.

At the free end of the remote arm is arranged a desired tool assembly. The tool assembly is according to one embodiment of the present invention arranged to the remote arm via a rotational interface. In a further embodiment of the present invention, the tool assembly is arranged to the remote arm by a hoisting unit enabling movement of the tool assembly in the vertical direction of the mentioned remote arm.

By means of the degrees of freedom of movement of the remote arm and/or the tool assembly it is provided a tool module capable of performing any desired operation.

The tool module according to the present invention is designed to operate both above the sea surface and under the sea surface if required, and thus operate during bad weather conditions and wave loads considerably larger than conventional techniques can handle.

Due to the degrees of freedom of movement of the remote arm and tool assembly both the remote arm and tool assembly are easy to manipulate, such that it reaches all locations within reach of the remote arm and tool assembly.

An advantage by using a remote arm comprising first and second horizontal arms being arranged to each other by a rotational interface is that it will be possible to fold the remote arm together such that minimum of space is required to make transport of the tool module less spacedemanding as well as having few protruding parts.

The tool assembly according to the present invention typically comprises exchangeable manipulator arms capable of performing different types of operations. The fact that they are exchangeable means that it in a simple manner can be mounted a mechanical unit at the end thereof for performing maintenance as grinding, cutting and drilling, etc., and which in addition can be rotated such that the equipment does not need to be brought to the surface for changing direction/position. This makes the tool module also capable of performing advanced inspection work by arranging inspection equipment to the tool assembly which includes, but in no way is limited to, equipment for, e.g., visual inspection, X-ray and eddy current equipment, painting, washing, etc.

The module-based splash-zone intervention tool assembly is preferably arranged such that the framework assembly extends in the vertical plane, but can also be arranged with an angle deviating therefrom, if required. By providing the lower and/or upper attachment module with a rotational interface, this enables the attachment to both horizontally extending structures and inclined extending structures of the offshore installation.

The tool module and/or tool assembly is further preferably provided with a vision system, such as a CCTV system, for full video surveillance of the work being performed such that all operations can be performed from a remote location. The tool module and/or tool assembly is preferably also provided with one or more light sources for illumination of the work area for operations by night or under water.

The tool module and tool assembly are provided with energy and control signals from topside of the offshore installation, e.g. via hoses and umbilical. The tool module is further preferably provided with driving means (motor/gear/pneumatic/batteries/electricity etc.) for powering and operation of the tool assembly and locking mechanism of the tool module. In an alternative embodiment, the communication is performed by wireless communication means.

The module-based splash-zone intervention tool assembly is connected to a control central being arranged on the offshore installation, typically on deck, where personnel can perform the necessary tasks without danger and without considering the weather by remotely controlling the module-based splash-zone intervention tool assembly. This control central has full control and manipulation opportunities of the module-based splash-zone intervention tool assembly via monitors and control devices, and computers/control devices for controlling the equipment. The installation of the module-based splash-zone intervention tool assembly can be based on, e.g., advanced rigging and rope techniques (access technique), portable hoisting systems or other types of portable equipment for attaching the module-based splash-zone intervention tool assembly to a structure of the offshore installation. This means that the arrangement of the module-based splash-zone intervention tool assembly is not dependent of permanent hoisting equipment on the offshore installation, but if such are available, they can of course be used. This provides a unique flexibility, which provides the module-based splash-zone intervention tool assembly with the opportunity to be operated independent of other equipment being present on the offshore installation.

Further preferable features and advantageous details of the present invention will appear from the following example description, claims and attached drawings.

Example

The present invention will below be described in further detail with references to the attached drawings, where:

Fig.1 is a principle drawing of a module-based splash-zone intervention tool assembly according to the present invention arranged to an offshore installation,

Fig.2a-d are principle drawings of a framework module and assembly of a framework assembly according to the present invention,

Fig.3a-c are principle drawings of an upper attachment module according to the present invention,

Fig.4a-c are principle drawings of a lower attachment module according to the present invention,

Fig.5a-c are principle drawings of a tool module according to the present invention, and Fig.6 is a principle drawing of a framework assembly according to the present invention in a tilted position.

Reference is now made to Fig.1 showing a principle drawing of a module-based splash-zone intervention tool assembly 100 according to the present invention arranged to an offshore installation 10. The module-based splash-zone intervention tool assembly 100 according to the present invention comprises a framework assembly 200, at least two independent attachment modules 300-400 for arranging the framework assembly 200 to one or more structures 11 of the offshore installation 10, and a tool module 500 movably arranged to the framework assembly 200, movable in longitudinal direction thereof. The framework assembly 200 according to the present invention is formed by an elongated mainly tubular main body 201 and a provided with rail assembly 230, arranged at one side thereof.

Reference is now made to Fig.2a-d showing principle drawings of a framework module 210 and assembly of the framework assembly 200 according to the present invention. The framework assembly 200 according to the present invention comprises at least one framework module 210, as shown in detail in Fig.2a-c. The framework module 210 comprises an elongated mainly tubular main body 211, which at upper and lower ends is provided with corresponding upper and lower connections 212a-b for providing a connection to adjoining framework modules 210 and for arrangement of a head assembly 250 (Fig.2d) for handling of the framework assembly 210 by means of rigging equipment or hoisting systems (not shown). The upper connection 212a is, e.g., formed by an elongated tubular body and the lower connection 212b is e.g. formed by a mainly tubular sleeve with an exterior diameter corresponding to the exterior diameter of the main body 211 and wherein the upper connection 212a is adapted to be received in the lower connection 212b. The mentioned upper 212a and lower 212b connections are provided with cone-shaped through holes 213a-b (Fig.2b), respectively, which cone-shaped through holes 213a-b coincide when two adjoining framework modules 210 are connected by means of the upper 212a and lower 212b connections. The mentioned cone-shaped through holes 213a-b are adapted for receiving and accommodating a locking assembly 220, as shown in Fig.2b, formed by cone-shaped locking members 221a-b adapted to be received and accommodated in the cone-shaped through holes 213a-b. The cone-shaped locking members 221a-b are designed to have an extension in longitudinal direction that corresponds to the total length of the cone-shaped through holes 213ab of the upper and lower connections 212a-b, and thus are in locking engagement with both the upper and lower connections 212a-b when inserted into the cone-shaped through holes 213a-b. The cone-shaped locking members 221a-b are provided with through holes for receiving a locking bolt 222 for fixation of the mentioned cone-shaped locking members 221a-b to each other and to the mentioned cone-shaped through holes 213a-b.

In an alternative embodiment, the upper connection 212a is arranged at lower side of the framework module 210 and the lower connection 212b is arranged at the upper side of the framework module 210.

Accordingly, two adjoining framework modules 210 are fixed to each other by that the coneshaped locking members 221a-b are inserted into the mentioned through holes 213a-b, respectively, and the locking bolt 222 is inserted and fixed at both sides by means of, e.g., nuts. The rail assembly 230 of the framework assembly 200 is formed by rail modules 231 comprising a pair of parallel U-shaped rail guides 232a-b with a quadratic or rectangular cross-section, spaced apart in transversal direction of the elongated mainly tubular main body 211 and arranged at one side of the elongated mainly tubular main body 211, and wherein the U-shaped rail guides 232a-b are provided with a longitudinally extending opening 233 in a plane perpendicular to the longitudinal direction of the framework module 210, facing away from the elongated mainly tubular main body 211 of the framework modules 210. The U-shaped rail guides 232a-b are adapted with a shape and size for receiving guide wheels 312a-b and 415a-b arranged on the upper 300 and lower 400 attachment modules, which will be further described below.

The rail assembly 230 further comprises a pair of parallel exterior guides 240a-b, as shown in detail in Fig.2c, arranged or fixed exterior of each of the U-shaped rail guides 232a-b, respectively, wherein the exterior guides 240a-b extend in longitudinal direction of the elongated mainly tubular body 211 of the framework modules 210. The exterior guides 240a-b comprise a guide side 241 that extends with a desired inclined angle from the elongated mainly tubular main body 211 and ending in a fixation side 242 parallel to the U-shaped rail guides 232a-b. The inclination angle of the guide side 241 is adapted the rear side of the tool module 500, which will be further described below. The fixation side 241 extends in plane perpendicular to the longitudinal direction of the elongated mainly tubular main body 211 and exhibits a longer width than the mentioned U-shaped rail guides 232a-b such that it extends further from the exterior circumference of the elongated mainly tubular main body 211 than the mentioned U-shaped rail guides 232a-b.

The mentioned fixation sides 242 are, at the area outside the U-shaped rail guides 232a-b, provided with coinciding through holes 243 distributed in longitudinal direction thereof and/or coinciding slots 244 distributed in longitudinal direction thereof, which will be used for fixation of the mentioned upper 300 and lower 400 attachment modules to the framework assembly 200, at a desired position in longitudinal direction thereof, which will be described in further detail below. The mentioned rail modules 231 have an extension in longitudinal direction of the framework modules 210 ensuring that a continuous rail assembly 230 is formed when two framework modules 210 with rail modules 231 are arranged to each other, as shown in Fig.2d. It should further be noted that the framework modules 210 also may have different lengths if desirable. Reference is now made to Figures 3a-c showing principle drawings of an upper attachment module 300 according to the present invention. The upper attachment module 300 according to the present invention comprises a support carriage 310 and a mainly U-shaped claw 320 arranged tiltably arranged to the support carriage 310 via a hinged connection 330 at one longitudinal side thereof, enabling the mainly U-shaped clamp 320 to be tilted from a first position, where the mentioned clamp 320 is in engagement with the support carriage 310, and to a second position, where the U-shaped clamp 320 is positioned in a plane approximately perpendicular to the longitudinal plane of the support carriage 310. The purpose of this tilting movement will be described in further detail below.

To limit the extension of the tilting movement of the mentioned claw 320, the mentioned claw 320 and support carriage 310 are provided with respective rotational joints 331a-b, and wherein a restriction member 332, such as a bolt or shaft or actuator, with a desired extension extends between the mentioned rotational joints 331a-b. The restriction member 332 is fixed at one end to the rotational joint 331b of the support carriage 310 and is extending through an opening in the rotational joint 331a of the mentioned claw 320 with the free end, thus allowing the restriction member 332 to move in relation to the mentioned claw 320. Accordingly, at tilting movement of the mentioned claw 320 in relation to the support carriage 310, the restriction member 332 will slide in the rotational joint 331a as the mentioned claw 320 is tilting from or towards the support carriage 310, while the rotational joints 331a-b will adjust for the angle of the restriction member 332 during the mentioned tilting movement. The restriction member 332 is at the free end, i.e. the end outside the rotational joint 331a of the mentioned claw 320, provided with a stop member 333, such as a nut or similar. By using a stop member 333 that is adjustable in longitudinal direction of the restriction member 332, the tilting angle can be adjusted according to the desired requirements at a location of use. In an alternative embodiment, the restriction member 332 is telescopic and fixed at both ends to the mentioned rotational joints 331a-b and wherein the telescopic movement will limit the extension thereof. In a further embodiment, the restriction member 332 is formed by a linear actuator, such as a pneumatic or hydraulic cylinder or electrically driven lead screw or similar, enabling controlled tilting movement of the mentioned claw 320 in relation to the support carriage 310, wherein the stroke of the actuator limits the extension thereof. A further embodiment may include pretension means, such as one or more springs or similar, arranged in connection with the restriction member 332 to facilitate movement in one of the tilting directions.

In yet a further embodiment, the upper attachment module 300 is provided with interlocking means arranged to prevent undesired tilting movement of the mentioned claw 320 in relation to the support carriage 310.

The support carriage 310 is at lower side, i.e. the opposite side of the arrangement of the claw 320, provided with a pair of parallel guide members 311a-b extending in longitudinal direction of the support carriage 310 and adapted to travel in the opening 233 of the parallel guide tracks 232a-b.

At lower side of the parallel guide members 311a-b are arranged guide wheels 312a-b, distributed in longitudinal direction of the respective parallel guide members 311a-b and arranged to rotate in a plane perpendicular to the guide members 311a-b. The guide wheels 312a-b are adapted to fit into the respective U-shaped rail guides 232a-b and designed for engaging movement in the respective U-shaped rail guides 232a-b, securing the upper attachment module 300 to the rail assembly 230 of the framework assembly 200 and enabling movement of the upper attachment module 300 in longitudinal direction of the framework assembly 200.

According to a further embodiment of the present invention there are arranged spacers 313a-b at distal ends of the parallel guide members 311a-b, which spacers 313a-b are adapted to travel in the U-shaped rail guides 232a-b. The mentioned spacers 313a-b are preferably mainly quadratic or rectangular and are able to pick up torsional and tilting forces acting on the upper attachment module 300 and thus stabilize the arrangement of the upper attachment module 300 to the rail assembly 200.

The mentioned parallel guide members 311a-b are further provided with through holes or slots 314, wherein one or more of them may be oblong, positioned such that they coincide with the mentioned holes 243 and/or slots 244 in the fixation sides 242 of the exterior guides 240a-b enabling fixation of the upper attachment module 300 to the rail assembly 230 and thus framework assembly 200 by using fixation means (not shown), such as locking pins, bolts and nuts, at a desired location in longitudinal direction of the framework assembly 200.

Reference is now made to Fig.4a-c showing principle drawings of a lower attachment module 400. The lower attachment module 400 according to the present invention comprises a support carriage 410 and a U-shaped claw 420. The U-shaped claw 420 is either fixed to the support carriage 410 or as shown in Fig.4a-c arranged rotatable about a vertical center axis of the support carriage 410 via a rotational joint 430. By that the U-shaped claw 420 is rotatably arranged to the support carriage 410, this enables the mainly U-shaped clamp 420 to be rotated in a plane perpendicular to the support carriage 410. The purpose of this rotational movement will be described in further detail below.

The U-shaped claw 420 comprises an attachment plate 421 for arrangement of the U-shaped claw 420 to the support carriage 410. Both the support carriage 410 and the attachment plate 421 are provided with a coinciding centered through hole for arrangement of a shaft or bolt forming the rotational joint 430 and enabling the U-shaped claw 420 to be rotated in relation to the support carriage 410. Both the support carriage 410 and the attachment plate 421 are further provided with through positioning holes 412 and 422, respectively, arranged in a circular pattern around the centered through hole adapted for receiving a fixation bolt 413. In this manner, the U-shaped 420 can be rotated in relation to the support carriage 410 and fixed in a desired angle in relation to the longitudinal direction of the support carriage 410.

The mentioned attachment plate 421 is further at longitudinal sides thereof provided with upwards protruding flanges 423a-b extending in longitudinal direction thereof, which flanges 423a-b are provided with through holes 424 distributed in longitudinal direction thereof, and the U-shaped claw 420 is further at a planar base part 425 thereof provided with corresponding holes 426 for arrangement of the U-shaped claw 420 to the attachment plate 421 by means of fixation means (not shown), such as bolts.

The support carriage 410 is at lower side, i.e. the opposite side of the arrangement of the claw 420, provided with a pair of parallel guide members 414a-b extending in longitudinal direction of the support carriage 410 and adapted to travel in the opening 233 of the U-shaped rail guides 232a-b.

At lower side of the parallel guide members 414a-b are arranged guide wheels 415a-b, distributed in longitudinal direction of the respective parallel guide members 414a-b and arranged to rotate in a plane perpendicular to the guide members 414a-b. The guide wheels 415a-b are adapted to fit into the respective U-shaped rail guides 232a-b and designed for engaging movement in the respective U-shaped rail guides 232a-b, securing the lower attachment module 400 to the rail assembly 230 of the framework assembly 200 and enabling movement of lower attachment module 400 in longitudinal direction of the framework assembly 200.

According to a further embodiment of the present invention there are arranged spacers 416a-b at distal ends of the parallel guide members 414a-b, which spacers 416a-b are adapted to travel in the respective U-shaped rail guides 232a-b. The mentioned spacers 416a-b will be able to pick up torsional and tilting forces acting on the lower attachment module 400 and thus stabilize the arrangement of the lower attachment module 400 to the framework assembly 200.

The mentioned parallel guide members 414a-b are further provided with through holes or slots 417, wherein one or more of them may be oblong, positioned such that they coincide with mentioned holes 243 and/or slots 244 in the fixation sides 242 of the exterior guides 240a-b enabling fixation of the lower attachment module 400 to the rail assembly 230 and thus framework assembly 200 by using fixation means (not shown), such as locking pins, bolts and nuts, at a desired location in longitudinal direction of the framework assembly 200.

Accordingly, the upper attachment module 300 is designed for movement along the framework assembly 200 and in addition tiltable, while the lower attachment module 400 is designed for movement along the framework assembly 200 and in addition rotatable in one embodiment of the present invention.

In a further embodiment of the present invention, the rotational feature of the lower attachment module 400 is also integrated in the upper attachment module 300.

The mentioned U-shaped clamps 320 and 420 are preferably of solid metal and in a further embodiment of the present invention is coated or provided with a plastic, wood or rubber material (not shown) at the interior side for more gentle attachment to the structures 11 of the offshore installation 10. Due to the mentioned attachment modules 300 and 400 are movable in longitudinal direction of the framework assembly 200 they can easily be adapted to the structures 11 of the offshore installation 10 in question. The rotation feature of the lower attachment assembly 400 enables the arrangement to inclined structures 11 of the offshore installation 10, due to the U-shaped clamp 420 may be adjusted according to the inclination of an inclined structure 11.

Reference is now made to Fig.5a-c showing principle drawings of a tool module 500, seen in different angles from the front and from behind. The tool module 500 according to the present invention comprises an elongated housing 510, in the example mainly rectangular, which at its rear end, which is to face the framework assembly 200, is provided with a centrally longitudinally extending mainly U-shaped recess 511. The mainly U-shaped recess 511 is adapted to receive and accommodate the elongated mainly tubular main body 201/211 of the framework assembly 200 with a spacing allowing it to move in longitudinal direction thereof, and wherein the opening of the mainly U-shaped recess 511 has tapering ends 512 narrowing the opening of the mainly U-shaped recess 511 in relation to the remaining part of the mainly U-shaped recess 511 and in this manner partly enclosing the elongated mainly tubular main body 201/211 of the framework assembly 200 by enclosing the elongated mainly tubular body 201/211 in circumferential direction except for the area where the rail assembly 230 is arranged.

The mentioned tapering ends 512 are tapering with an inclination angle corresponding to the inclination of the guide sides 241 of the exterior guides 240a-b, or vice versa, such that the inclination of these are adapted each other. The tool module 500 further comprises guide means 520a-b, arranged at the tapering ends 512 for sliding engagement against the mentioned guide sides 241 and the elongated mainly tubular main body 201/211 of the framework assembly 200. In the shown embodiment, the guide means 520a-b are formed by upper 520a and lower 520b angled guide pads, preferably arranged close to the distal ends of the mainly U-shaped recess 511, which upper 520a and lower 520b angled guide pads have an extension at both rear side of the elongated housing 510 and interior of the mainly U-shaped recess 511 providing sliding engagement surfaces against the elongated mainly tubular main body 201/211 and guide sides 241 of the framework assembly 200, thus enabling movement of the tool module 500 in longitudinal direction of the framework assembly 200 (up and down along the framework) formed by at least one framework modules 210.

According to a further embodiment of the present invention, the guide means 520a-b comprises one or more intermediate guide pads (not shown), distributed between the upper 520a and lower 520b guide pads.

Reference is now made to Fig.5b-c. In accordance with a further embodiment of the present invention, the tool module 500 further comprises at least one combined guide and lock assembly 530, arranged between the upper 520a and lower 520b guide pads at each tapering end 512. In the shown embodiment the combined guide and lock assembly 530 comprises a guide pad 531 facing the interior of the mainly U-shaped recess 511 and a lock mechanism 532 facing the guide side 241 of the exterior guides 240a-b. The lock mechanism 532 comprises at least one movable lock member 533 and an actuator 534 enabling the movable lock member 533 to move between a locking position, wherein the lock member 533 is in engagement with the guide sides 241 of the exterior guides 240a-b, and a releasing position, wherein the lock member 533 is retracted from engagement with the guide sides 241 of the exterior guides 240a-b. In the locking position, the tool module 500 is secured to the framework assembly 200 and in a stable position resulting in that the wear and tear will be reduced which again is resulting in that the operating time of the module-based splash-zone intervention tool assembly 100 will be longer. This is also a great advantage as the module-based splash-zone intervention tool assembly 100 can have an angle deviating from the vertical plane without this resulting in unnecessary wear and tear. Accordingly, by controlling the actuator 534, the lock member 532 is controlled between locking engagement of the tool module 500 to the framework assembly 200 and a releasing position wherein the tool module 500 is free to move in longitudinal direction of the framework assembly 200.

In an alternative embodiment, the lock mechanism 532 is arranged separately, i.e. without the mentioned guide pad 531. In a further embodiment, the tool module 500 comprises two or more of the mentioned lock mechanisms 532 or combined guide or lock assemblies 530 at each tapering end 512.

Accordingly, the tool module 500 according to the present invention is arranged to the framework assembly 200 by arrangement from the upper free end of the framework assembly 200 and can be locked in a desired longitudinal position by activation of the lock assemblies 530.

The elongated housing 510 is further at upper side provided with an attachment device 540 (Fig. 5b) provided with at least one lifting point 541 providing a connection point for arrangement to at least one hoisting system (not shown) via wire, cable or chain, wherein the at least one hoisting system is arranged topside of the offshore installation 10 for controlled movement of the tool module 500 in longitudinal direction of the framework assembly 200. In the shown embodiment, there are two attachment points 541, wherein one can be used for performing the hoisting or lowering movement, while the other may be arranged to an anti-falling device (not shown) with a wire, typically an anti-falling block of known type which has automatic rewind of the wire, which secures the tool module 500 from falling if there arises an error with the main hoisting system or for arrangement to a redundant hoisting system for the same purpose.

The tool module 500 further includes a remote arm 550, which is arranged at lower part of the elongated housing 510. In the shown embodiment, the remote arm 550 is arranged in a horizontal opening 513 in the front side of the elongated housing 510, such that the rotation arrangement of the remote arm 550 to the elongated housing 510 is protected. The remote arm 550 according to the present invention is formed by at least one horizontal arm 551, 552 rotably arranged in the elongated housing 510 by one end thereof. To the other end of the mentioned horizontal arm 551 a desired tool assembly 600 or a second horizontal arm 552 is arranged via a rotational joint or interface 553. In the embodiment with a second horizontal arm 552 arranged to a first horizontal arm 551, the desired tool assembly 600 is arranged to the other end of the second horizontal arm 552.

According to a further embodiment of the present invention, the first 551 and/or second 552 horizontal arm is provided with a hoisting unit 560 enabling movement of the desired tool assembly 600 in the vertical direction of the mentioned remote arm 550.

In Fig.5a is shown a tool assembly 600 arranged to the free end of the second horizontal arm 552 by a rotational interface 610 and further comprising a remote tool arm 620 formed by a first 621 and second 622 tool arm arranged to each other by a rotational joint or interface 623 and wherein at the free end of the second tool arm 622 is arranged a tool or at least one manipulator arm 630 for holding a desired tool.

The mentioned first 551 and second 552 horizontal arms of the tool module 500 may be arranged to operate in the same horizontal plane or displaced in vertical direction to operate in two parallel horizontal planes.

The rotation of the first horizontal arm 551 in relation to the elongated housing 510 is powered by driving means 554 (Fig.5a), such as an electric, hydraulic or pneumatic motor connected to a slew drive, and capable of rotating approximately 210 degrees in relation to the elongated housing 510. The rotation of the second horizontal arm 552 about the free end of the first horizontal arm 551 is provided by driving means 555, such as an electric, hydraulic or pneumatic motor connected to a slew drive, and capable of rotating the second horizontal arm 552 about the end of the first horizontal arm 551, in the same horizontal plane or a horizontal plane located above or below the plane of the first horizontal arm 551. The length of the horizontal arms 551, 552 can be adapted to the area of use. In addition, the horizontal arms 551-552 may be telescopic such that the length also can be changed during an operation. As shown in Fig.5a, the respective horizontal arms 551, 552 can further be formed by arm modules or sections, such that the length of the respective arms 551, 552 as well as the properties of the remote arm 550 can easily be changed/altered by replacing, adding or removing arm modules or sections.

By that the remote arm 550 includes two horizontal arms 551 and 552, which separately can rotate, the remote arm 550 is easy to manipulate, such that it can reach all positions within the working range of the remote arm 550. Further, by that the horizontal arms 551 and 552 are rotatable in relation to each other, the remote arm 550 may be folded together such that it takes minimum space and thus makes the tool module 500 easy to transport without requiring detaching the arms.

The tool module 500 further comprises a control unit (not shown). The tool module 500 can further be provided with one or more of: batteries or electricity supply from the offshore installation, valves/valve control unit, hydraulics (tanks for hydraulic oil, hydraulic pump), pneumatics (compressor, air tanks), compensators, sensors or similar, which will be known for a skilled person and is thus not shown explicit in the figures or described herein. In this manner the tool module 500 is capable of driving/powering any equipment which is arranged on the remote arm 550, either it is electric, pneumatic or hydraulic.

The tool module 500 will further be provided with communication means for communicating with a control central arranged on the offshore installation 10, typically on deck, where personnel can perform the necessary tasks without danger and consideration of the weather by remote controlling of the module-based splash-zone intervention tool assembly 100. The mentioned control central has full control and manipulation possibilities of the module-based splash-zone intervention tool assembly 100 via monitors and control devices, and a computer or control device for controlling the equipment. This is well known for a skilled person and does not need to be elaborated further herein.

According to a further embodiment of the present invention, the driving means 554-555 for the horizontal arm(s) 551, 552 are provided with or associated with means for reading or measuring the position, such as an encoder, to provide a measure of the angle of the horizontal arm 551, 552 in relation to an initial position. In this manner, the tool module 500 can be arranged to operate the at last one horizontal arm 551, 552 in preprogrammed operational paths or movements. In this manner the tool module 500 can be controlled from the control central and operate both above the sea surface and under the sea surface, and be driven under bad weather conditions and wave loads considerably larger than conventional techniques can handle.

By the present invention a desired tool can easily be arranged to the remote arm 550 via the tool assembly 600 and be exchanged for performing different types of operations.

It should also be mentioned that the tool module 500 preferably is provided with at least one vision system, such as a CCTV system, and one or more light sources as mentioned in the general part of the description. This is well known for a skilled person and does not need to be described in further detail herein.

With the present invention, it is accordingly provided a module-based splash-zone intervention tool assembly 100 which easily can be extended or shortened to desired properties by adding or removing framework modules 210.

It is further provided a module-based splash-zone intervention tool assembly 100 which has considerably lower weight than prior art solutions due to it includes modules, something which results in that one can arrange the module-based splash-zone intervention tool assembly 100 with simple access technique and low weight rigs or hoisting systems.

It is achieved a module-based splash-zone intervention tool assembly 100 which is more stable compared to prior art by that one achieves a stiffer and stronger construction, and that the compact solution also makes the module-based splash-zone intervention tool assembly 100 less exposed to affection from waves.

It is further achieved a module-based splash-zone intervention tool assembly 100 which is both cheaper to produce and arrange by the design of the framework assembly 200 and the movability of the attachment modules 300 and 400 in relation to the framework assembly 200.

An example of the assembly and arrangement of the module-based splash-zone intervention tool assembly 100 will now be described. The framework assembly 200 is assembled by adjoining framework modules 210 topside to form a framework 200 of a desired length with an aligned rail assembly 230 at one side thereof. The upper 300 and lower 400 attachment modules are arranged to the mentioned rail assembly 230 by means of the support carriages 310 and 410, respectively, by inserting the mentioned guide wheels 312a-b, 415a-b in the U-shaped guide rails 232a-b, from one end thereof, and fixing them to the rail assembly 230 at desired pre-positioning positions, i.e. with a distance from each other.

The assembled framework assembly 200 is next lifted into position of the offshore installation 10 with the lower attachment module 400 next to a horizontal structure 11 of the offshore installation 10. The lower attachment module 400 is temporary secured to the structure 11 by means of suitable temporary attachment means, such as ratchet straps or similar. The fixation means for the lower attachment module 400 is next removed, allowing the framework assembly 200 to slide in relation to the lower attachment module 400 that is temporary attached to the structure 11.

The framework assembly 200 is next lowered until the upper attachment module 300 meets the lower attachment module 400 at the same structure 11. At this position, the lower attachment module 400 is again fixed to the rail assembly 230 by rearranging the fixation means and the mentioned temporary attachment means are removed.

The framework assembly 200 is next lowered until the upper attachment module 300 rests on the structure 11.

The upper attachment module 300 is now temporary attached to the structure 11 and the fixation means securing the upper attachment module 300 to the framework assembly 200 are removed allowing the framework assembly 200 to slide in relation to the upper attachment module 300. The framework assembly 300 is then lowered a desired distance in relation to an inclined or horizontal lower structure 11 and the upper attachment module 300 is positioned in an open position, i.e. the position where the U-shaped claw 320 is positioned approximately 90 degrees in relation to the framework assembly 200, and in this manner moving the entire framework assembly 200 and lower attachment module 400 approximately 90 degrees from the structures 11 of the offshore installation 10, as shown in Fig.6, ensuring that the lower attachment module 400 goes clear of lower inclined or horizontal structures 11.

The framework assembly 200 is next lowered such that the lower attachment module 400 is positioned below the lower inclined or horizontal structure 11. The lower attachment module can further be rotated to adapt for the inclination of an inclined structure 11 or this can be performed before starting the arrangement operation, if the lower structure 11 is an inclined structure. An advantage with the present invention is that the framework assembly 200 is attached to a structure 11 of the offshore installation 10 by means of the upper attachment module 300, before the framework assembly 200 is lowered into the sea, i.e. before the lower part of the framework assembly 200 is penetrating the sea surface. This is not possible with prior art solutions and provides both a larger operational window for assembly of the module-based splash-zone intervention tool assembly 100 and higher stability and safety in the installation process.

The U-shaped claw 320 of the upper attachment module 300 is moved to the initial position, i.e. closed, which moves the framework assembly 300 approximately 90 degrees in relation to the structures 11 of the offshore installation 10, and positions the lower attachment module 400 for engagement with the lower inclined or horizontal structure 11. The framework assembly 200 is next hoisted until the lower attachment module 400 is in safe engagement with the lower inclined or horizontal structure 11 and the fixation means of the upper attachment module 300 are reinstalled, thus securing the upper attachment module 300 to the upper structure 11. The temporary attachment means are then removed.

The framework assembly 200 is now securely fixed to two structures 11 (upper and lower) of the structure 10 and the framework assembly 200 is now ready for arrangement of the tool module 500 to the secured framework assembly 200.

The tool module 500 is lowered onto the framework assembly 200 from above and into sliding engagement with the elongated mainly tubular main body 201/211 and the exterior guides 240a-b and lowered to a desired position for performing a desired operation, wherein the lock mechanisms 532 are activated to lock the tool module 500 in this position before the desired operation is performed.

During an operation, the tool module 500 can easily be moved in longitudinal direction of the framework assembly 200 by releasing the lock mechanisms 532 and using a hoisting system to elevate the tool module 500 or gravity to lower the tool module 500 before reactivating the lock mechanisms 532 at a new desired position.

It is preferably arranged a safety stop at bottom of the rail assembly 230 to avoid the upper 300 and lower 400 attachment modules from sliding out of the rail assembly 230. The pre-positioning of the upper 300 and lower 400 attachment modules is preferably based on information about the structures 11 of the offshore installation 10 the module-based splash-zone intervention tool assembly 100 is to be arranged to.

Due to the framework assembly 200 is arranged to and secured to the structures 11 before the tool module 500 is arranged to the framework assembly 200, this provides a considerably larger operational (weather) window for an operation than for prior art solutions. Further, the framework assembly 200 can withstand wave heights up to twice of the tool module 500.

Accordingly, only the tool module 500 would have to be retrieved while framework assembly 200 can be left attached to the offshore installation 10, something which is not possible with the prior art solutions.

The operational window of the tool module 500 is typically wave heights up to 1.5 meters, while the operational window of the framework assembly 200 is wave heights up to 3 meters.

Accordingly, it will only be necessary to retrieve the tool module 500 at wave heights between 1.5 meters to 3 meters, while the framework assembly 200 can remain arranged to the offshore installation 10 and ready for use. This will considerably reduce the costs and time of an operation due to only the tool module 500 will have to be retrieved if bad weather is coming during an operation.

At higher wave heights than approximately 3 meters it will also be favorable to retrieve the framework assembly 200 to avoid damages.

The main body 201 and 211 of the framework assembly 200 and framework modules 210, respectively, according to the present invention may be of other shapes than mainly tubular. The use of a mainly tubular shape is advantageous due to it will be considerably less affected by waves and currents than a rectangular or quadratic shape. In addition, the fact that the framework modules 210 are mainly tubular will be favorable as they will be less space-demanding during storage and transport compared to a rectangular or quadratic shape.

According to a further embodiment of the present invention, the module-based splash-zone intervention tool assembly 100 comprises a docking station (not shown) for the tool module 500, that can be used to secure the tool module 500 on the deck of the offshore installation 10 in an upright position. In a further embodiment of the present invention, the docking station can further be used for lifting the tool module 500 for assembly to the framework assembly 200 and used for removing the tool module 500 from the framework assembly 200. The docking station may further be arranged for landing on the upper end of the framework assembly 200 such that the tool module 500 may slide onto or of the framework assembly 200 in connection with assembly and disassembly of the tool module 500 to the framework assembly 200.

According to a further embodiment of the present invention, the tool module 500 is adapted for arrangement of a tool or equipment at other positions than the remote arm 550.