WO1992018746A1

WO1992018746A1 - Blocking robot for high-pressure oil wells

Info

Publication number: WO1992018746A1
Application number: PCT/FR1992/000323
Authority: WO
Inventors: Joseph Ferraye
Original assignee: Joseph Ferraye
Priority date: 1991-04-11
Filing date: 1992-04-10
Publication date: 1992-10-29
Also published as: NO933629D0; AU1777492A; EP0593503A1; CA2103361A1; NO933629L

Abstract

A robot for sealing and blocking pipes which are subject to very high pressure. The robot comprises a counter-pressure device below the main blocking portion for simultaneously acting on the inner wall, at depth in the pipe, by expansion caused by a single linear movement of a tapered shaft in a cylinder having therein a tapered bore; said shaft having a diameter which is 50 % greater than the difference between the inner taper diameters of the two ends of the cylinder, which cylinder has a slot running the full length thereof and is controlled by hydraulic jacks; a centre pipe allowing oil flow and normalising the upward pressure during the insertion process; and two pantographs for centering the system in the well in spite of the very high pressure. The high pressure in the well helps ensure blocking of the system.

Description

ROBOT FOR LOCKING OIL WELLS SUBJECT TO VERY HIGH PRESSURES

The present invention relates to a robot for closing and blocking pipes subjected to very high pressures, comprising two means of opposing the pressure, located below the main blocking system, and acting simultaneously on the inner wall, depth in the pipe, by extension, obtained by a single linear movement of a conical axis in a cylinder having inside a conical milling, the axis having (50%) more diameter than the difference in diameters conical interiors of the two ends of the cylinder having a slot over its entire length; controlled with hydraulic cylinders; the strong pressure in the well acts for the firmness of the blocking of the system.

The lower part of the robot has two conical parts (1, 2) and a straight part (3), allowing to center the penetration of the system in the pipe, screwed on the central threaded axis.

The first device for opposing the pressure in the pipe is composed of a cylinder (7) made of a material having the quality of being tender and extensible (eg copper, lead etc.) surrounding the central axis. (8) conical (6), and acting by blotting against the wall of the pipe by distributing the pressure by compensation according to the reaction of the components of the different parts of the system to the pressure obtained by the axial movement of the ring (9) over nearly (80 M) of the stroke of the central axis at the time of locking; this distribution of pressure is limited for the first opposition device by the stop of the screws (10 a, 10 b) in the lower parts of the vertical millings made on the central axis, benefiting by (20%) the second device d 'opposition. The second opposition and blocking device is composed of a cylinder (11) made of a material having the qualities of being soft and extensible (eg copper, lead etc.) surrounding the central conical axis (14 ), and acting by blotting against the wall of the pipe, by the pressure exerted by its stop against the edge of the cylinder (17) obtained by the linear movement of the locking of the central axis, also sealing imperfections.

The main part of the blocking is composed by the extension of the conical central axis (15), having (50%) more diameter than the difference of the conical internal diameters of the two ends of the cylinder (17) having a slot on its length which allows it extension for blocking. The main part of the blocking also comprises a profile (16) forming part of the central axis (15), and a milling (13) wider than the slot (20) produced in the cylinder, and comprising a lead molding or copper over the entire length of the slot, the profile (16) exerts pressure on the lead or copper molding, in the milling (13) sealing the slot (20) by the linear movement of the central axis at the time of blocking of the pipe. The outer wall of the blocking cylinder has two entirely b grooved parts (17) for a better grip on the wall of the pipe, and a part covered with lead or copper (12).

The length of the axes (21 a, 21 b, 21 c, 21 d), as well as the length of the extension of the central axis (22) are variable according to the level of the depth of the blocking in the pipe or the well. The axes (21 a, 21 b, 21 c, 1021 d) are fixed by one end in tapped holes (19 a, 19 b, 19 c, 19 d) on the edge of the upper part of the cylinder (17) in steel, and other ends on the support (23) of the cylinders. The extension of the central axis (22) of the locking system passes through a hole made in the first support, and is fixed to the second support, with nuts (30 a, 30 b). The support (23) carries the hydraulic cylinders (24 a, 24 b, 24 c, 24 d); the pistons of the jacks are fixed to the second support (28) with screws (29 a, 29 b, 29 c, 29 d). The final blocking of the system is obtained by the introduction of the cylinders (31 a, 31 b) into the pipe, and by tightening the nuts (30 a, 30 b) on the end of the central axis (22) . 20 Two angle sensors fixed on the system, transmit the variations of the angles during the introduction, to an electronic computer which controls the movements of the jacks of the crane introducing the system into the pipe, and corrects them according to the angle of the pipe .

A first variant is produced by reversing the conical locking system. - - A second variant is produced by controlling the linear movements of the blocking with rotary motors.

A third variant is achieved by blocking the system with screws (see drawing 2).

A fourth variant is produced by increasing or decreasing the pressure opposition devices.

Two pantographs are attached to two levels of the blocking system ensuring its centering in the pipe subjected to very high pressures; each pantograph has four bearings (2, lb z, z, ld z) allowing axial movement, which are welded to the edges of the locking system, and 5 two axes (2a z, 2b z) ensuring with the bearings movements in one direction; and two other bearings (3a z, 3b z) also allowing the axial movement, which are welded on the ends of the two axes (2a z, 2b z), with a third axis (4 z) ensuring movements in the other direction; rings (5a z, 5b z, 5c z, 5d z) are screwed onto the threaded parts at the ends of the axes, limiting the fields of movement of the two pantographs to the radius of the pipe; the axes (4 z) of the two pantographs are held firmly D with a crane that can make two double movements helping to find the angle of the pipe with precision.

Angle sensors fixed on the blocking system, transmit the modifications of the angles during the process of the introduction of the system to an electronic computer which controls the movements of the jacks of the crane, 10 and corrects them according to the angle of the pipe.

A variant of the centering system is produced by controlling the movements of the locking system in all directions of the two pantographs with motors or hydraulic cylinders.

The conical central axis (8) (6) of the fifth variant is constituted by '5 the extension (22) of the piston (27) of the cylinder (24), or else it is screwed with the piston. Two axes (21 a, 21 b) are fixed at one end to the edge of the cylinder (17), and at the other end, to the body of the jack (24 x); the length of the axes (21 a, 21 b), and the length of the extension of the central axis (22), are variable according to the level of the depth of the blocking in the pipe. -0 A sixth variant comprises a conduit (34) in almost the entire length of the central axis (15, 22) ensuring the exit of oil or gas, by pipes (36 a, 36 b) normalizing the rising pressure exerted by the multiplication of the stress force by reducing the surface area of the inflow by the introduction of the system into the pipe or the well; the opposite arrangement of the two pipes ensures the balance of the system.

After blocking the well, the pipes (36 a, 36 b) are blocked with solenoid valves (35 a, 35 b) comprising electronic means sensitive to the blocking and unblocking commands transmitted by radio control; the solenoid valves (35 a, 35 b) are mounted on the pipes (36 a, 36 b). 30 The main blocking cylinder (17) having a conical milling inside consists of several layers of two metals having different pressure behavior, two layers are made of steel, and the third of soft metal (eg copper) ensuring tolerance in the behavior of the cylinder (17) during the blocking process. -'5 The base of the system comprises a conical duct, with the large diameter down (33), and several other ducts (33 a, 33 b) which flow towards the central duct (34) increasing the flow of the flow , and decreasing the rising pressure to allow the introduction of the system into the well with the minimum of stress.

A seventh variant comprises in the cylinder, an ellipsoidal milling (52), and the blocking is obtained by the pivoting movement of a quarter 5 turn of an ellipsoidal axis (52 a) in the cylinder having a slot itself. allowing extension; and grooves (17) on the outside side of its entire length.

The length of the extension of the cylinder (53) and of the central axis are variable according to the level of the depth of the blocking in the pipe. The base of the system comprises a conical conduit, with the large diameter downwards, connected to the central conduit (34) produced in almost the entire length of the axis, normalizing the upward pressure exerted by the multiplication of the stress force by the reduction in the area of the pipe by the introduction of the system. After blocking the well, the blocking of the conduit is ensured by solenoid valves (35 a, 35 b) comprising electronic means sensitive to blocking and unblocking commands by radio control. A horizontal axis (48) welded to the cylinder carries the cylinder (24), which controls the blocking by the movement of the piston (27) pushing the element (47) welded on the central axis; the ball bearing (45) fixed on the central axis, and forming part by its external curve of the cylinder, facilitates the pivoting of a quarter turn of the blocking and unblocking.

The means of opposition to the pressure is composed of a copper cylinder (11 a) integral with the blocking cylinder (17), having the base in helical shape (51) below which another cylinder having the upper part in helical shape made of steel, and integral with the central axis, ensuring, by the pivoting movement of a quarter turn of the blocking, that the copper cylinder snaps against the inside wall of the pipe. A variant of the seventh variant is produced by replacing the hydraulic cylinder with a rotary motor, fixed vertically above the system; the motor rotor forming part of the central axis, and the cylinder stator. The engine comprises electronic means sensitive to the commands of the rotational and stop movements.

The centering system is composed like the first, of two pantographs, allowing the system to block movement in all directions, within the working range of the pipe radius.

The accompanying drawings are examples, and do not limit the methods of carrying out the invention.

Claims

R E V E N D I C A T I O N S

1) Robot for closing and blocking pipes subjected to very high pressures, characterized in that it comprises two means of opposing the pressure, located below the main blocking system, and acting simultaneously on the inner wall, deep in the pipe by extension, obtained by a single linear movement of a conical axis, in a cylinder having inside a conical milling, having (503.) of greater diameter the difference of the conical internal diameters of the two ends of the cylinder, also comprising a slot over its entire length, controlled by hydraulic cylinders; the high pressure of the well acts for firmness

10 of the system blocking.

2) Robot according to claim 1, characterized in that its lower part comprises two conical parts (1, 2) and a straight part (3), allowing to center the penetration of the system in the pipe, screwed on the central axis threaded.

15 3) Robot according to claim 1, characterized in that the first device for opposing the pressure in the pipe is composed of a cylinder (7) made of a material having the qualities of being tender and extensible (eg copper, lead etc.) surrounding the central axis (8) conical (6), and acting by blotting against the wall of the pipe, by distributing the pressure

L 0 sion by compensation according to the reaction of the components of the different parts of the system to the pressure obtained by the axial movement of the ring (9) over almost (80%) of the stroke of the central axis at the time of locking; the pressure distribution is limited for the first opposition device by the stop of the screws (10 a, 10 b) in the lower part of the millings

25 verticals made on the central axis, benefiting almost (20%) the second device, opposition and blocking.

4) Robot according to claims 1 and 3, characterized in that the second opposition and blocking device is composed of a cylinder (11) made of a material, having the qualities of being tender and extensible (ex. 0 copper, lead etc.) surrounding the conical central axis (14), and acting by blotting against the wall of the pipe by the pressure exerted by its stop against the edge of the cylinder (17) obtained by the linear movement of the blocking of the central axis, also sealing imperfections in the pipe.

5) Robot according to claim 1, characterized in that the main part of the blocking is composed by the extension of the central axis (15) conical, having (50%) more diameter than the difference of the conical internal diameters of the two ends of the cylinder (17), comprising a slot (20) over its entire length, allowing it to be extended for blocking. 6) Robot according to claims 1, 5, characterized in that the main part 5 of the blocking also comprises a profile (16) fixed on the central axis (15), and a milling (13) wider than the slot ( 20) produced in the cylinder, and comprising a lead or copper molding over the entire length of the slot (20), the profile (16) exerts pressure on the lead or copper molding in the milling (13 ) sealing the slot (20) by the linear movement 10 of the central locking axis.

7) Robot according to any one of claims, characterized in that the outer wall of the locking cylinder has two fully grooved parts (17) to have the best grip on the inner wall of the pipe, and a part covered with lead or copper (12). 158) Robot according to claim 1, characterized in that the length of the axes (21 a, 21 b, 21 c, 21 d) as well as the length of the extension of the central axis (22) are variable depending on the level the depth of the blockage in the pipe; the axes (21 a, 21 b, 21 c, 21 d) are fixed by one end in tapped holes (19 a, 19 b, 19 c 19 d) made on the edge of the? 0 upper part of the cylinder (17) in steel, and the other ends on a support (23) of the jacks; the extension of the central axis (22) of the locking system passes through a hole made in the first support, and is fixed on the second support (28) with nuts (30 a, 30 b).

9) Robot according to claims 1, 8, characterized in that the support 25 (23) carries the hydraulic cylinders (24 a, 24 b, 24 c, 24 d) and the pistons of the cylinders are fixed on the second support ( 28) with screws (29 a, 29 b, 29 c, 29 d).

10) Robot according to any one of claims, characterized in that the final blocking of the system is obtained by the introduction of the cylinders (31

30 a, 31 b) in the pipe, and by tightening the nuts (30 a, 30 b) on the end of the central axis (22).

11) Robot according to claim 1, characterized in that two angle sensors fixed on the system transmit the variations of the angles at the time of introduction, to an electronic computer which controls the movements

--5 of the crane cylinders introducing the system into the pipe, and correcting them according to the angle of the pipe.

12) Robot according to any one of claims, characterized in that, a first variant is produced by reversing the conical locking system. 13) Robot according to any one of claims, characterized in that, a second variant is produced by controlling the linear blocking movements with rotary motors. 5 14) Robot according to any one of claims, characterized in that a third variant is produced by controlling the linear locking movement with screws (see drawing 2).

15) Robot according to any one of claims, characterized in that, a fourth variant is produced by multiplication or by reduction

10 devices for opposing the pressure in the pipe.

16) Robot according to any one of claims, characterized in that it comprises a centering system allowing its introduction into a pipe subjected to very high pressures, comprising two pantographs, located at two levels of the blocking system each comprising four bearings (la 5 z, lb z, z, ld z) allowing the axial movement, which are welded on the edges of the locking system, and two axes (2a z, 2b z) ensuring with the bearings the movements in a meaning ; and two other bearings (3a z, 3b z) also allowing the axial movement, which are welded on the ends of the two axes (2a z, 2b z), with a third axis (4 z) ensuring the movements-

20 in the other direction; and rings (5a z, 5b z, 5c z, 5d z) screwed onto threaded parts at the ends of the axes limiting the field of movement of the two pantographs to the radius of the pipe.

17) Robot according to claims 1, 11, 16, characterized in that the two axes (4 z) of the pan ographs, are held firmly with a crane

25 being able to make two double movements helping to touch the angle of the pipe; angle sensors fixed on the locking system, transmit changes in angles during the process of introducing the system to an electronic computer which controls the movements of the crane's jacks, and corrects them according to the angle of the pipe.

3018) Robot according to claims 1, 11, 16, 17, characterized in that a variant of the centering system is produced by controlling the movements of the locking system in all directions of the two pantographs with motors or hydraulic cylinders.

19) Robot according to any one of claims, characterized in that, 5 the conical axis of the system of the fifth variant is constituted by the extension (22) of the piston (27) of the cylinder (24).

20) Robot according to any one of claims, characterized in that, the conical axis of the system according to the fifth variant is screwed with the piston (27) of the jack (24).

21) Robot according to any one of claims, characterized in that two axes (21 a, 21 b) are fixed at one end to the edge of the cylinder (17),

5 and from the other end, on the body of the jack (24). The length of the axes (21 a, 21 b), and the length of the extension of the central axis (22) are varia¬ ble according to the depth level of the blockage in the pipe.

22) Robot as claimed in any one of claims, characterized in that sensors of angles and secured to the locking system pressures, 0 transmit changes of the angles of a computer system to electro ^¬ nique which controls the movements of rectification of the crane cylinders and of the centering cylinders of all parameters during the introduction of the system into the well.

23) Robot according to any one of claims, characterized in that a sixth variant according to the invention comprises a conduit (34) in almost the entire length of the central axis (15, 22) ensuring the flow oil or gas, via the pipes (36 a, 36 b) normalizing the upward pressure exerted by the multiplication of the stress force by reducing the surface of the sharpening by the introduction of the system into the pipe or the well; the opposite arrangement of the pipes (36 a, 36 b) ensures the equilibrium of the system.

24) Robot according to claim 23, characterized in that, after the blocking of the well, • the blocking of the pipes (36 a, 36 b) is ensured with electrovalves (35 a, 35 b) comprising electronic means sensitive to blocking and unblocking commands transmitted by radio control; the solenoid valves (35 a, 35 b) are mounted on the pipes (36 a, 36 b).

25) Robot according to any one of claims, characterized in that the locking cylinder (17), comprising inside a conical milling consists of several layers of metals having different behaviors under pressure, l 'one of these layers being made of soft metal (eg copper) ensuring tolerance in the behavior of the cylinder (17) during the blocking process.

26) Robot according to claims 23, 24, characterized in that the base of the system comprises a conical duct, having the largest diameter downwards (33), and several other ducts (33 a, 33 b) which flow towards the central duct (34) multiplying the flow of the flow, and decreasing the rising pressure to allow the introduction of the system into the well with the minimum of constraint.

27) Robot according to claims 23, 24, 26, characterized in that, a variant of the sixth variant is produced by increasing or decreasing the outlets of the flow. 5 28) Robot according to any one of claims, characterized in that the locking cylinder of the seventh variant comprises an ellipsoidal milling (52), and the locking of the system is obtained by the rotational movement of a quarter turn, of an ellipsoidal shaped axis (52 a) in the cylinder (17). 1029) Robot according to claim 28, characterized in that the extension of the cylinder (53) and the central axis is variable depending on the level of depth of the blocking of the well.

30) Robot according to claims 28, 29, characterized in that the hori¬ zontal axis (48) fixed on the cylinder, supports the cylinder (24), which controls the blocking by the movement of the piston (27) exerted on the axis (47) fixed on the central axis; the ball bearing (45) fixed on the central axis forms part of its outer cylinder curve, facilitating the pivoting movement of the locking and unlocking of the system.

31) Robot according to claims 28, 29, 30, characterized in that the 0 pressure opposition means is composed of a copper cylinder (11) integral with the blocking cylinder (17 z), and having the helical-shaped base (51) below which another cylinder having the upper part in helical shape, made of steel, and integral with the central axis, ensures by the rotation movement of the quarter-turn of the blocking , the blotting of the copper cylinder against the inner wall of the pipe.

32) Robot according to claims 28, 29, 30, 31, characterized in that a variant of the seventh variant is produced by replacing the hydraulic cylinder with a rotary motor fixed vertically above the system, the rotor of the motor making part of the central axis, and the stator of the cylinder; Ole motor comprising electronic means sensitive to the commands of the pivoting movements of the blocking and unlocking of the system.

The drawings 1/25 to 10/25 are all combined together the same system "UNIVERSAL 1". Drawings 11/25 to 18/25 are all put together the same system "UNTVERSAL 2" Drawings 19/25 to 24/25 are all put together the same system "UNIVERSAL 3" 5 Drawing 25 is the system of the third "UNTVERSAL 4" variant.