Diverless bell mouth manipulator and method for performing diverless operations in a bell mouth using the manipulator

Abstract

A diverless bell mouth manipulator and a method for performing diverless operations in a bell mouth using the manipulator are disclosed. The disclosure makes it possible to replace human diving in operations carried out in a bell mouth and, furthermore, offers an advantageous alternative to the use of an ROV in areas where it is difficult to operate in shallow water depths. The manipulator comprises a main structure ( 1 ) of semicircular shape, comprising seats for mounting respective grippers ( 4 ) in the shape of a semicircular rack, a pinion ( 5 ) respectively coupled to the rack of each gripper ( 4 ), a plurality of magnetic rollers ( 3 ), and at least one robotic arm ( 12 ).

1 . A diverless bell mouth manipulator comprising:
 a main structure of semicircular shape comprising seats for mounting respective grippers in a shape of a semicircular rack;   a pinion respectively coupled to the rack of each of the grippers, and in which a pair of pinions is mounted on a shaft connected to respective driving means for moving the grippers;   a plurality of magnetic rollers, in which respective magnetic rollers are mounted on the grippers and on the main structure, and in which at least one magnetic roller is driven by a driving means for turning the manipulator; and   at least one robotic arm mounted on the main structure.   
     
     
         2 . The diverless bell mouth manipulator according to  claim 1 , wherein the semicircular main structure corresponds to an arc of between 90 and 270 degrees and the respective semicircular grippers correspond to an arc of between 45 and 135 degrees. 
     
     
         3 . The diverless bell mouth manipulator according to  claim 1 , wherein the seats are integrated into the main structure and comprise a slot for a guide tab of the respective grippers. 
     
     
         4 . The diverless bell mouth manipulator according to  claim 1 , wherein the main structure further comprises a drawer and at least one remotely operated vehicle (ROV) handle. 
     
     
         5 . The diverless bell mouth manipulator according to  claim 1 , wherein the drawer is lowered in relation to the main structure and grippers. 
     
     
         6 . The diverless bell mouth manipulator according to  claim 1 , wherein an umbilical is mounted on the drawer, and a bend stiffener is used at the attachment point of the umbilical to the main structure. 
     
     
         7 . The diverless bell mouth manipulator according to  claim 1 , wherein the manipulator comprises two manipulators attached, respectively, one on each side of the main structure. 
     
     
         8 . The diverless bell mouth manipulator according to  claim 1 , wherein the driving means for moving the grippers and the driving means for rotating the manipulator comprises one or more of a hydraulic motor or an electric motor. 
     
     
         9 . The diverless bell mouth manipulator according to  claim 1 , wherein the driven magnetic roller comprises a recess for fitting a belt connected to a pulley of the driving means. 
     
     
         10 . The diverless bell mouth manipulator according to  claim 1 , further comprising at least one magnetic roller mounted at one end between a respective pair of grippers. 
     
     
         11 . The diverless bell mouth manipulator according to  claim 1 , further comprising a monitoring camera having a magnetic base. 
     
     
         12 . A method for performing operations in a bell mouth by use of one or more diverless bell mouth manipulators, the method comprising:
 a) positioning a magnetic coupling of the one or more manipulators to a bell mouth by means of a remotely operated vehicle (ROV);   b) moving the ROV away from the one or more manipulators after positioning the one or more manipulators;   c) activating the closing of the grippers of the one or more manipulators to dock the one or more manipulators to the bell mouth;   d) rotating the one or more manipulators around the bell mouth from a starting position to a target position to perform an operation;   e) performing the operation;   f) rotating the one or more manipulators to return the same to the starting position;   g) activating an opening of the grippers of the one or more manipulators; and   h) decoupling the one or more manipulators from the bell mouth by use associated with the ROV.