GB2586221A

GB2586221A - Flexible track apparatus

Info

Publication number: GB2586221A
Application number: GB1911094.9A
Authority: GB
Inventors: Millum Colin
Original assignee: 1csi Ltd
Current assignee: 1csi Ltd
Priority date: 2019-08-02
Filing date: 2019-08-02
Publication date: 2021-02-17
Anticipated expiration: 2039-08-02
Also published as: GB2586221B; GB201911094D0

Abstract

An apparatus 1 for supporting and guiding one or more tools in relation to a curved surface. The apparatus comprises at least one flexible track 5 for guiding a carriage means 3, which is movable along the track. Each track end is coupled to an arm member 9. The arm members are movably coupled at one end to a body element 8 and are configured to engage with the curved surface at the other end. The arm members are movable to engage with curved surfaces of different radii by changing the curvature of the track. The apparatus may use a tooth-belt driven by a gear-motor 6. A buoyancy module may be used for subsea applications, such as on oil pipelines or renewable energy structures. The carriage may have a sensor array 2, which may comprise a plurality of ultrasonic sensors. The arm members may fully retract into the body element allowing the track to lie flat.

Description

FLEXIBLE TRACK APPARATUS

The present invention relates to apparatus for holding and moving sensing means or other tooling in close proximity to a curved surface. More particularly, the present invention relates to such apparatus for use in scanning subsea sections of assets and structures within the oil and renewables (wind, wave, tide) industries.

In this regard, in the oil and renewables industries, assets and structures such as offshore oil rig installations comprise multiple sections of metal framework and pipelines which require regular maintenance due to the harsh environment in which they are located. Such maintenance involves inspection of the metal assets and structures to check their integrity.

Current equipment for performing such inspection sub-sea has for example included the use of ROV deployed scanning devices that are, in use, fixedly clamped to, or around, the structure in order to carry out the scanning process. Two such known devices, Oceaneering's Neptune scanner and Sonomatic's Roy-It scanner, provide a 360 degree ultrasound examination of a pipeline section, and involve the clamping of a rigid metal framework around the pipeline section, within which the scanning apparatus can move to perform the scan.

A problem with such known scanner arrangements is the relatively slow pace of the actual scanning process, as well as the time involved in getting to and from the section to be scanned and clamping the required framework around the pipeline once there. Moreover, the process has little flexibility in that the framework has to fit around the structure to be scanned, meaning the framework has to be relatively specific for each diameter of pipeline being scanned. The section to be scanned must also be located where there is sufficient access for the framework to fit all around its circumference.

Moreover, positioning the bulky framework can be difficult where the structure being scanned has inclined sections and changes of directions, such as at junctions and corners. This inevitably restricts access to certain sections of pipeline.

An object of the present invention is to alleviate such problems.

According to a first aspect of the present invention there is provided apparatus for supporting and guiding one or more tools in relation to a curved surface, the apparatus comprising:-at least one flexible track for guiding a carriage means, the carriage being movable along the flexible track; the at least one flexible track being coupled at or adjacent each of its ends to a respective arm member, the arm members being movably coupled at one end on a body element of the apparatus, the other end of each arm member being configured for engagement with a curved surface, the arm members being movable to engage curved surfaces of different radius, their movement altering the curvature of the at least one flexible track. In this way, the apparatus affords a means for supporting one or more tools at or adjacent a curved surface that can adapt to different surface curvatures.

Conveniently, the coupling between each arm member and the body element allows for both rotational and translational movement of the arm member in relation to the body element. In this manner, the movement of the arm members can be translated into a suitable change of curvature of the at least one flexible track.

Preferably, each arm member is additionally coupled to the body element by a limb member, the limb member being pivotally connected to arm member and the body element. Conveniently, each arm member is coupled to the body element by way of a slot and pin arrangement. Preferably the pin is provided on the arm member which runs in a slot on the body element. Such an arrangement provides a reliable means for defining the curvature of the at least one flexible track. Conveniently, the slot is curved such that the pin follows a curved path. Preferably, each arm member has a profiled foot. The foot can be profiled for engaging the curved surface.

Conveniently, a pair of substantially parallel flexible tracks are provided, whereby the carriage means is disposed between the flexible tracks. In this way, the progression of the carriage can be accurately controlled.

Preferably, the carriage means supports one or more sensors. The carriage could however support any suitable tools that may be used in relation to the curved surface, and could include for example one or more of cutting, joining (e.g. welding), testing, and analysing tools.

Conveniently, the body element comprises a side of the apparatus, the side being formed of a pair of parallel plates. The apparatus may in preferred embodiments take the form of a frame comprising said pair of sides separated by cross struts. Preferably, opposing slots are provided in the plates of each side such that each arm member is disposed between the plates of a side, the arm member having pins that extend into the slots. Using a frame-like structure allows the weight of the apparatus to be optimised.

Preferably, each side carries two arm members which move within a plane defined by the side. Conveniently, the carriage extends between and orthogonally to the at least one flexible track.

Preferably, the carriage and at least one flexible track are coupled for a controllable progression of the carriage along the at least one flexible track. This may, for example, involve a rack and pinion arrangement.

Each flexible track may in this regard have a flexible rack profile, and each end of the carriage may conveniently have a pinion for engagement therewith.

Preferably, the pinion may be linked by a through shaft and this may in preferred embodiments be tooth-belt driven by a gear-motor. Conveniently, the arm members are mechanically synchronised to move together.

For subsea applications, the apparatus may include a buoyancy module. Further the apparatus may be shrouded in protection covers.

Conveniently, an array of sensors is carried by the carriage. Preferably, 3 to 7 sensors may be provided and more preferably 4 or 5 sensors are provided. The sensors are preferably ultrasonic sensors. In preferred embodiments the arm members are fully retractable into the body element such that the at least one flexible track is flat Certain preferred embodiments of the present invention will now be described by way of example and with reference to the accompanying drawings, of which:-Figure 1 shows a perspective view of apparatus according to the present invention; Figure 2 shows a plan view from above of the apparatus of Figure 1; Figures 3A and 3B show side views of the apparatus of Figures 1 and 2; Figures 4A to 4D show several configurations of the apparatus on sections of different curvature; and Figure 5 shows the apparatus in situ on the side of a bend.

Referring to Figures 1 to 3, there are shown perspective, plan and side views of a scanning tool 1 incorporating apparatus according to the present invention.

The scanning tool 1 of this embodiment is used for performing fast scans on subsea installations such as oil rig components having curved surfaces.

In this connection, the tool includes an array of ultrasonic sensors 2 mounted on a carriage 3. The sensors may be phased array sensors (around 200mm total length). In this embodiment, the sensors are intended to sweep a nominal 300mm wide array over a stroke length of 200mm. Of course, alternative suitable configurations and dimensions are possible within the scope of the invention.

The ends 4 of the carriage include pinion elements that run in a pair of flexible tracks 5, to form a rack and pinion arrangement. Whilst a pair of flexible tracks is shown in this embodiment, further embodiments are envisaged having a single track, for example positioned centrally, or more than two tracks, according to requirements. Moreover, alternative mechanisms for moving the carriage along the flexible track may be used in other embodiments, such as a simple sliding arrangement between the carriage and flexible track and a separate driving mechanism.

The flexible tracks in the present embodiment are formed of a spring steel that can be bent to the required radius by a mechanical alignment mechanism as described below. However alternative materials may be used according to requirements.

In the embodiment shown, a single gear motor 6 is coupled to a through shaft of the pinions by way of a toothed belt to thereby drive the carriage backwards and forwards along the flexible tracks.

The gear-motor 6 may be fitted with a feedback encoder connected to system software to thereby control the activity of the scanner and to provide position feedback The scanner apparatus includes an alignment mechanism for ensuring the carriage carrying the sensors follows a curved path that mirrors the curved surface against which the apparatus is abutted by feet 7.

In this connection, the alignment mechanism bends each flexible track, along which the carriage moves, so that its curvature is determined by the position of feet 7 which abut the section of, for example, pipe being scanned. The alignment mechanism comprises body sides 8, arm members 9 and limb members 10.

As shown in Figures 1 and 2, each body side 8 has two parallel plates 11, the sides 8 being separated by struts 15. Each arm member 9 has one end provided between the plates and mounted there between by way of arm member pins 12 that can move in slots 13 in the body sides. Each arm member is moreover coupled to the body side 8 by way of a limb element 10, pivotally mounted between the plates 11 of the body side at one end and pivotally mounted to the arm member 9.

A flexible track 5 is coupled between the arm members 9 of a body side 8 such that as the arm members move in and out, the flexible track is accordingly curved to a greater and lesser extent. The amount of deflection of the flexible track is carefully determined by the curvature of the slots 13 in which the pins 12 can slide and the extent of pivoting of the arm members permitted by limb members 10.

Figures 3A and 3B show the arms opened to different extents for engagement with curved surfaces of different radius.

Figures 4A to 4D likewise show different configurations of the scanner on curved sections of different tubular diameters. Figure 4A shows the scanner on a 6 inch (152mm) diameter section. Figure 4B shows the scanner on a 12 inch (305mm) diameter section. Figure 4C shows the scanner on a 20 inch (508 mm) diameter section. Figure 4D shows the scanner on a flat section.

As shown, the flexible track 5 can adopt different curvatures to allow the array of sensors 2 to run along a range of curved surfaces as well as a flat surface.

As shown in the figures, the body of the apparatus can take the form of a frame that includes the sides 8 formed of opposing sets of parallel plates 11 separated by cross struts 15. In this respect, the apparatus size and weight is minimised to enable deployment by small ROVs or AUVs. The electronics for the apparatus may be installed in a suitable pressure vessel, and one or more buoyancy modules may be provided.

Control of the apparatus can in this respect be performed from a remote topside computer and the scanner apparatus itself may be interfaced with an ROV to provide power and communications The alignment mechanism adjusts the relative angles of each of the arm members to follow the curvature of the scanned surface. The movement of the arm members is as such carefully controlled so that as the arm members engage the surface, the flexible guide track is bent to follow the curvature of the surface being analysed.

As shown in Figure 5, for a subsea application, the scanner will be brought into proximity of, for example, a tubular section 14. The scanner will be orientated, using for example an ROV, so that the longitudinal direction of the carriage aligns generally with the tubular axis. The arm members 9 may initially be set in a relatively open configuration so that they are out of the way in terms of the carriage being positionable in close proximity to the tubular section. A sensor can in this respect be used to determine when the carriage is at a desired spacing from the tubular section.

The arm members 9 are then actuated by the gear-motor and gearbox system and are mechanically synchronised to move together. The arm members hence correctly align the scanner on the tubular section and at the same time bend the flexible track into the correct radius. The motor has an encoder to provide position feedback.

It will be understood that whilst the present embodiment relates to a scanner for use in scanning subsea sections of assets and structures within the oil and renewables (wind, wave, fide) industries, the alignment mechanism for setting the curvature of the flexible track can be applied to other applications, wherever a tool is required to work on a curved surface.

Likewise, whilst the particular use of this embodiment is in relation to a scanner, any suitable tool mays be mounted on the carriage. For example, other types of analysing tool or treatment tool may be mounted on the carriage, where a section of curved surface requires attention.

Claims

Claims:- 1. Apparatus for supporting and guiding one or more tools in relation to a curved surface, the apparatus comprising:-at least one flexible track for guiding a carriage means, the carriage being movable along the flexible track; the at least one flexible track being coupled at or adjacent each of its ends to a respective arm member, the arm members being movably coupled at one end to a body element of the apparatus, the other end of each arm member being configured for engagement with a curved surface, the arm members being movable to engage curved surfaces of different radius, their movement altering the curvature of the at least one flexible track.
2. The apparatus of claim 1, wherein the coupling between each arm member and the body element allows for both rotational and translational movement of the arm member in relation to the body element.
3. The apparatus of claim 1 or 2, wherein each arm member is coupled to the body element by a limb member, the limb member being pivotally connected to arm member and the body element.
4. The apparatus of any of claims 1 or 3, wherein each arm member is coupled to the body element by way of a slot and pin arrangement.
5. The apparatus of claim 4, wherein the pin is provided on the arm member which runs in a slot on the body element.
6. The apparatus of claim 5, wherein the slot is curved such that the pin follows a curved path.
7. The apparatus of any preceding claim, wherein the arm members are mechanically synchronised to move together.B
8. The apparatus of any preceding claim, wherein a pair of substantially parallel flexible tracks are provided, whereby the carriage is disposed between the flexible tracks.
9. The apparatus of claim 1, wherein the carriage supports one or more sensors.
10. The apparatus of any preceding claim, wherein the apparatus comprises a pair of sides, each side being formed of a pair of parallel plates.
11. The apparatus of claim 10, wherein the apparatus comprises a frame comprising said pair of sides separated by cross struts.
12. The apparatus of claim 10 or 11, wherein opposing slots are provided in the plates of each side such that each arm member is disposed between the plates of a side, the arm member having pins that extend into the slots.
13. The apparatus of claim 10, 11 or 12, wherein each side carries two arm members which move within a plane defined by the side.
14. The apparatus of any preceding claim, wherein the carriage extends between, and orthogonally to, the at least one flexible track.
15. The apparatus of any preceding claim, wherein the carriage and at least one flexible track are coupled with a rack and pinion arrangement.
16. The apparatus of claim 15, wherein flexible track has a flexible rack profile, and each end of the carriage may conveniently have a pinion for engagement therewith.
17. The apparatus of claim 16, wherein the pinion may be linked by a through shaft and this may in preferred embodiments be tooth-belt driven by a gear-motor.
18. The apparatus of any preceding claim, wherein the apparatus is used for subsea applications and includes a buoyancy module.
19. The apparatus of any preceding claim, wherein an array of sensors is carried by the carriage.
20. The apparatus of claim 19, wherein an array of 4 or 5 ultrasonic sensors is provided on the carriage.
21. The apparatus of any preceding claim, wherein the arm members are fully retractable into the body element such that the at least one flexible track is flat.