• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a method of folding the armor wires of a flexible pipe (1), this method being used during the assembly of a connection tip. The folding is effected by means of a device (60) applying to the wire (20) a folding force via a tool (22) of the clamp type surrounding the wire. When folding, the clamp slides continuously along the wire, which avoids excessively strain the wire. The clip is moved into space by an operator-driven co-manipulation robot (62).
    公开号:FR3030011A1
    申请号:FR1402826
    申请日:2014-12-11
    公开日:2016-06-17
    发明作者:Antoine Colmard；Gregory Peckeu；Michael Bouvier
    申请人:Technip France SAS；
    IPC主号:
    专利说明:

    [0001] 1 Method of mounting a connection piece of a flexible tubular conduit and device for carrying out this method. The present invention relates to a method of mounting a connector end of a flexible tubular conduit for transporting a fluid in a marine environment. It relates more particularly to an unbonded flexible pipe ("unbonded" in English) used for the offshore exploitation of oil and gas deposits. The invention also relates to a device for implementing this mounting method. These flexible pipes, which are formed of a set of different concentric and superimposed layers, are said to be of unbound type as soon as these layers have a certain freedom to move relative to each other.
    [0002] These flexible pipes meet, among others, the recommendations of the normative documents. API 17J "Specification for Unbounded Flexible Pipe" and API RP 17B "Recommended Practice for Flexible Pipe" prepared by the American Petroleum Institute. In general, the constituent layers of these pipes comprise in particular sheaths of polymer material generally providing a sealing function, and reinforcing layers intended for the recovery of mechanical forces and formed by windings of strips, of metal wires. , various strips or profiles made of composite materials. The most commonly used non-bonded flexible pipes for the offshore exploitation of oil and gas deposits generally comprise, from the inside to the outside, an internal carcass consisting of a stapled strip which serves to prevent the crushing of the pipe under the effect of the external pressure, an inner polymeric sheath, a pressure vault made up of at least one metal wire of stapled form and helically wound with a short pitch, said pressure vault serving to take up the radial forces associated with the internal pressure, at least one traction armor ply formed of helical windings with a long pitch of metal or composite wires, said armor ply or plies serving to take up the longitudinal forces experienced by the pipe, and an outer polymeric sheath designed to protect the reinforcement layers from seawater.
    [0003] This type of pipe is of the non-smooth passage type ("rough-bore" in English) because of the geometry of the internal carcass which constitutes the layer the first layer from the inside. Alternatively, the pipe may be of the smooth-bore type in the case where it does not have an internal carcass, the first layer starting from the inside being in this case a sheath. smooth sealing of polymeric material. The flexible tubular conduits comprise, at each end, a connection piece intended to ensure the connection of the pipes between them or with terminal equipment. These connection tips provide several functions which are in particular the anchoring of the tensile armor and the sealing of the free ends of the different polymeric sheaths. The sealing functions are generally provided by means of crimping the ends of the sheaths. Such a connection tip is described in particular in document WO003 / 004921. It comprises an end vault connected by first crimping means to the inner pressure sheath and a cylindrical cover extending this vault and connected by second crimping means to the outer sheath. The vault and hood define an annular chamber in which the free ends of the tensile armor extend. The wires constituting the tensile armor are deployed in the annular chamber above the first crimping means. This annular chamber is filled with a filling material formed of an epoxy type resin for anchoring the tensile armor. A hook-type locking means is formed at the end of each pull armor wire and this hook, when embedded in the resin, provides a mechanical lock against the pulling forces of the pipe. . This blocking means, however, is not able to withstand durably tensile stresses, in particular because the mechanical characteristics of the armor are generally lower at the hook than in full length, this because of the manufacturing process of the hook.
    [0004] In order to reduce the level of tension at each hook, the friction between the armor threads and the resin and the capstan effect are used. Indeed, the trajectory of each armor wire enters on the one hand its point of entry into the resin at the rear of the tip and secondly the hook is not a straight line. This gives an additional capstan effect.
    [0005] When the flexible pipe is in use, the average voltage at the tip can reach several hundred tons, in particular at the upper end of a riser pipe deployed between a pipe and a pipe. It has a deep seabed and a floating production support located on the surface. Indeed in this configuration, the tearing tension exerted on the upper nozzle is a function of the total weight of the riser, weight which can reach a considerable value in the case of great depths (1500 meters and more). In addition, this tearing tension is not constant because it varies according to the vertical movements of the floating production support under the effect of the swell. The voltage variations associated with waves can reach several tens of tons, and can be repeated a very large number of times during the entire lifetime of the installation. This loading can generate a phenomenon of fatigue of the system of anchoring armor, phenomenon to which the tip must be able to durably resist. The manufacture of the tips requires folding and then unfolding each pull armor wire 10 during assembly of the tip. These folding and unfolding operations are performed manually by an operator, without special tools, which poses several problems. The first problem is a problem of difficulty. Indeed, to adapt to the increasing depths, the pipes comprise armor son increasingly larger and 15 increasingly resistant. Today, some flexible pipes have armor wires with a rectangular cross-section of 20 mm by 5 mm and a breaking strength of 1400 MPa. Such threads are particularly difficult to bend by hand. The second problem is the lack of reproducibility of manual folding, and the associated risk of bending and excessively hardening certain threads. Indeed, the bending zone 20 of the son during assembly of the nozzle is located at the rear portion of the nozzle, that is to say at the transition between the flexible pipe and the zone embedding armor. However, this location is critical vis-à-vis the fatigue phenomenon of the armor anchoring system. Indeed, within the pipe and at a distance from the tip the armor wires are relatively free to move laterally to accommodate the voltage variations, whereas inside the tip these wires are totally blocked laterally. This difference in stiffness has the effect of generating stress concentrations in the armor son at the rear portion of the tip. However, the hardening applied to the armor son during folding and unfolding operations has the disadvantage of locally reducing the fatigue resistance of the son. Since this work-hardening is carried out in a critical area from the point of view of the fatigue stresses, it should be controlled and limited to guarantee the fatigue resistance of the connection tip. In order to avoid excessive strain on the yarns during the step of folding the armor yarns, the document W003 / 004921 teaches a solution consisting in mounting around the duct a collar making it possible to guarantee the minimum value of the spoke radius. folding applied to the threads. This solution, however, is not entirely satisfactory, especially since it does not make it possible to control the reproducibility of hardening in a sufficiently precise manner. The invention therefore aims to propose a method of mounting a connection tip which avoids these disadvantages.
    [0006] To this end, the subject of the invention is a method of mounting a connector end of a flexible tubular conduit for transporting a fluid in a marine environment, said conduit being of the non-bonded type and comprising in particular a internal pressure sheath and at least one layer of tensile armor wound with a long pitch around the pressure sheath, said method comprising the following steps: a) providing a flexible pipe having a pipe end on which the nozzle connection piece is to be mounted, b) a stripped pipe section is formed at said pipe end by removing the outer layer (s) surrounding said at least one traction armor ply, (c) it is bent backward the flexible pipe each armor wire of said at least one ply of tensile armor by applying to each armor wire a folding force F, d) connecting said connection piece to said pipe end, this method of mounting being characterized in that during step c) said folding force F is applied to each armor wire via an application tool adapted to slide along the wire and in that during step c) the point of application P of said folding force F moves continuously along said armor wire. The mounting method according to the invention may further comprise one or more of the following characteristics, taken separately or in any combination (s) technically possible (s): - during step c), the curvilinear distance between, on the one hand, said point of application P of said folding force F and, on the other hand, the end of said armor wire increases, said curvilinear distance being measured along the armor wire; step c), the angular position α of said application point P varies monotonically as a function of time, said angular position a being measured in a plane perpendicular to the longitudinal axis AA 'of said flexible pipe, - during the step c), the amplitude of variation of said angular position α of said point of application P is between 120 degrees and 360 degrees, during step c), the axial position z of said application point P varies from monotonous way as a function of time, said positi axial z being measured parallel to the longitudinal axis AA 'of said flexible pipe, - during step c), the amplitude of variation of said axial position z of said application point P is between one-third and one-third. twice the helix pitch H of the armor wire within the flexible pipe, - during step c), the radial position r of said application point P varies as a function of time according to a curve comprising first a increasing phase of said radial position r up to a maximum value followed by a phase of decreasing said radial position r, said radial position r being equal to the distance separating said application point P from the axis longitudinal A-A '. The invention also relates to a device for implementing this method of mounting a connection tip. This device for folding back a weave wire of a flexible tubular pipe of longitudinal axis AA 'is characterized in that it comprises a tool for applying a folding force F to a wire armor, and mechanical means for moving the application tool, said application tool including guide means for said application tool to slide along said armor wire during the application of the force This device according to the invention may further comprise one or more of the following characteristics, taken separately or in any combination (s) technically possible (s): - said guide means leave said tool of free application to turn around said armor wire during the application of the folding force F, - said application tool comprises a clamp surrounding the armor wire, - said mechanical means of displacement comprise a chain of related items one after the other, said chain of elements having a stationary proximal end member forming a base, and a movable distal end member secured to said application tool, said elements being interconnected by mechanical bonds having at least one degree of freedom in rotation or in translation, said displacement means comprising four elements and three motorized mechanical links, said device making it possible to move said application tool along a three-dimensional path; said motorized mechanical links are links of type slide or pivot type, 3030011 6 - said mechanical means of displacement comprise a motorized mechanical connection pivot axis type of rotation substantially coincides with the longitudinal axis AA 'of said flexible tubular pipe, - said mechanical means of displacement comprise six of said elements and five of said links m -mechanical, said two mechanical connections being five non-motorized mechanical connections of the pivot type, - said mechanical movement means are a co-handling robot controlled by an operator. The invention will be better understood on reading the description which will follow, given solely by way of example and with reference to the appended drawings, in which: FIG. 1 is a perspective and partial view of a Flexible tubular pipe used for the offshore exploitation of oil and gas deposits, - Figure 2 is a schematic axial sectional view of a connecting end 15 of a flexible tubular pipe, - Figures 3 to 8 are schematic views. and partially in perspective of several successive steps of folding one of the son of tensile armor plies, according to a method according to the invention, - Figure 9 is a schematic and partial perspective view of a tool 20 d application of a folding force according to the invention, - Figures 10 and 11 are diagrammatic and partial side views of two devices for carrying out the method according to the present invention. FIG. 1 partially shows a flexible tubular pipe 1 intended for offshore oil exploitation, and more particularly for the transport of petroleum or gas products. It is of the unbound type and meets the specifications defined in the API 17J and API RP 17B normative documents. In the embodiment shown in this figure, the flexible tubular pipe 1 of longitudinal axis AA 'comprises from the inside to the outside: an internal carcass 2 consisting of a wound metal strip, profiled and stapled according to a propeller with a short pitch, more typically with a helix angle of between 70 and 90 ° and intended for crush resistance under the effect of the external pressure applied to the pipe, - a pressure sheath 3, again called internal sheath 3 and made by extrusion 35 of a polymeric material, - a pressure vault 4 consisting of at least one metal wire, for example stapled, wound helically with a short pitch, typically with a helix angle of between 70 and 90 °, and ensuring the resistance to the internal pressure in the pipe 1, - at least one layer of tensile armor and in the embodiment shown in Figure 1, two crossed layers of armor 5 and 6 consisting of helically wound wire long pitch typically at angles between 20 and 55 ° and - an outer sealing sheath 7, also called outer sheath 7, made of a polymeric material and forming a external protection of the pipe 1.
    [0007] The flexible tubular pipe 1 comprises, at each of its ends, a connecting piece 10 shown in FIG. 2 and designed to connect the pipes together or with terminal equipment. These tips must be made in conditions ensuring both a good connection and a good seal.
    [0008] The connection endpiece 10 provides a number of functions which are in particular the anchoring of the tensile armor plies 5 and 6, as well as the crimping and sealing of the free ends of the various polymer material sheaths 3 and 7. especially. In general, the tip 10 comprises an end vault 11 having an end flange 12 for attachment to another connection tip or to terminal equipment. This end vault 11 has an inner diameter substantially equal to the internal diameter of the inner carcass 2 of the pipe 1. The central bore of the arch is disposed next to the free end of the inner carcass 2, coaxially with this last, along an axis A-A ', so as to ensure a continuous flow of fluids between the pipe 1 and the nozzle 10. The nozzle 10 comprises crimping means 16 of the pressure sheath 3 arranged between the arch end end 11 and the end of the pressure sheath 3. The connection end piece 10 also comprises a cylindrical cover 15 extending the end vault 11. Crimping means 13 of the outer sheath 7 30 are arranged between the cylindrical cover 15 and the end of the outer sheath 7. The crimping means 13 of the outer sheath 7 comprise a metal cannula 18 inserted between the outer sheath 7 and the outer armor ply 6. The roof 11 and the hood 15 determine an annular chamber 14 in which the ends of the tensile armor plies 5 and 6 extend. The annular chamber 14 is filled with a filling material formed of a thermosetting resin of the epoxy type ensuring the anchoring of the ends. armor 5 and 6.
    [0009] The end of each armor wire of the traction armor plies 5.6 is provided with a hook 17 forming a means for locking the armor wires within the epoxy resin. According to other embodiments not shown, the locking means which is provided with the end of each pull armor wire is a wave-shaped deformation or torsade, or a local increase of the section of the wire obtained by welding an insert. The method of mounting such a tip 10 comprises the following steps: - A stripped section is formed at the end of the flexible pipe 1 and removing the outer layer or layers surrounding the outer layer of tensile armor 10 6. For this purpose, the outer sheath 7 is cut out and then removed, in a length advantageously between one to two meters starting from the end of the flexible pipe 1, in order to disengage the ends of the armor plies. traction 5.6. The cannula 18 is inserted under the cut end of the outer sheath 7. The two armor plies 5,6 are successively turned over by folding one by one the yarns aft to locally disengage the layers on the outside. the interior of the armor plies 5.6. - The end vault 11 is connected to the core constituted by the internal carcass 2, the pressure sheath 3 and the pressure vault 4, in particular ensuring the establishment of the crimping means 16 of the pressure sheath 3. This step is in a known manner that need not be clarified because the present invention does not relate to this particular point. The two armor plies 5.6 are unfolded forward to arrange them around the end vault 11. - The end of each armor wire is deformed in the form of a hook 17 of the plies 5, 6 armor. - The cover 15 is fixed on the end vault 11. - The crimping means 13 of the outer sheath 7 are put in place. - The annular chamber 14 is filled with a thermosetting resin of the epoxy type.
    [0010] Figures 3 to 8 illustrate several successive phases of the rear folding operation of one of the tensile armor wires 20 of the outer armor ply 6, according to a method according to the present invention. The outer sheath 7 of the flexible pipe 1 has been cut along a cutting plane 26 perpendicular to the longitudinal axis AA 'of the pipe 1, this cutting plane 26 being advantageously situated at a distance of between one and two meters per The outer sheath 7 has also been removed so as to disengage the outer layer of armor 6 on a stripped pipe section 27 of length advantageously between one and two meters. The armor wire 20 is disengaged and accessible along the bare pipe section 27. In addition, the armor wire 20 remains locked under the outer sheath 7 along the remainder of the flexible pipe 1, that is, that is, along the non-stripped pipe section 25. When bending the armor wire 20, the transition point 24 of the wire 20 between the stripped pipe section 27 and the non-stripped pipe section 25 may be considered as a fixed point of embedding the wire 20 within the flexible pipe 1. The armor wire 20 is then folded rearward that is to say away from the pipe end 28. In this application the term "backward" means towards the middle of the pipe, the middle of the pipe being located at an equal distance from both ends of the pipe. The term "forwards" means meanwhile towards the nearest end. In order to fold back the armor wire 20, a folding force F is applied locally to the wire 20 at the application point P as shown in FIG. 3. The folding force F is applied by by means of an application tool 22 able to slide along the wire 20. This application tool 22 comprises, for example, a clamp surrounding the wire 20. This application tool 22 is displaced in space by mechanical displacement means not shown in FIGS. 3 to 8. These mechanical displacement means 20 provide the force F necessary for folding the armor wire 20, this force F being transmitted to the wire 20 via the tool d 22. When folding the armor wire 20, the application point P of the folding force F moves continuously along the wire as shown in FIGS. 3 to 8. Because of this characteristic, the present invention is distinguished from prior practice. Indeed, according to the prior practice, when an operator manually folded the wire 20, he took it directly with his hand and he did not slide his hand along the wire 20 during the folding operation. On the contrary, in order to be able to apply a large folding force F such as that required to fold a wire 20 of large section, the operator had to tighten the wire 20 so that any slippage of his hand along the wire 20 was rendered impossible. Another reason why the prior art manual operation without continuous sliding of the point of application of the force F is that the wire 20 behaves like a spring when it is flexed and has a tendency to straighten because of springback. The operator therefore had to hold the wire 20 continuously for the duration of the folding until its final immobilization, otherwise it would have risked being injured.
    [0011] However, it has surprisingly been found that continuously moving the point of application P of the folding force F along the armor wire 20 makes it possible to improve the quality of the folding of the wire. 20, in particular avoiding excessive strain hardening of the wire 20 at the critical zone situated in the vicinity of the transition point 24. In order to implement this folding method, it is necessary that the folding force F provided by the mechanical means of displacement is transmitted to the wire 20 by means of a piece mounted freely sliding along the wire 20, which is the case of the application tool 22. In the present application, the term point d application means the middle of the application section, the application section being the section of the armor wire 20 which is in contact with the application tool 22, the folding force F being transmitted from the application tool 22 to the armor wire 20 thanks to this con tact distributed along the application section. The length of the application section is much less than the total length of the armor wire 20 which has been cleared along the stripped pipe section 27, typically at least fifteen times smaller. The folding force F is therefore applied along a short length of application section relative to the total length of the armor wire 20, which justifies the use of the term point of application. In addition, the wire remains free to rotate about its longitudinal axis at the point of application P, the contact between the armor wire 20 and the application tool 22 does not block this rotation. Thus, in this advantageous mode, the mechanical connection between the armor wire 20 and the application tool 22 has two degrees of freedom, namely on the one hand a first degree of freedom in translation parallel to the longitudinal axis armor wire 20 at the point of application P, this first degree of freedom allowing the application tool 22 to slide along the armor wire 20 during the folding, and secondly a second degree of freedom in rotation about the longitudinal axis of the armor wire 20 at the point of application P, this second degree of freedom allowing the armor wire 20 to rotate relative to the application tool 22 during folding. Thus, for example, this mechanical connection is a sliding pivot type connection. This second degree of rotational freedom has the effect of avoiding unnecessary stress on the armor wire (20) during twisting, thereby reducing the strain on the armor wire (20). during folding. In addition, advantageously, the curvilinear distance between on the one hand the application point P of the folding force F and on the other hand the end 29 of the armor wire 20 increases during the folding operation, the point application P progressively away from the end 29 and progressively closer to the transition point 24. This curvilinear distance is measured along the armor wire 20.
    [0012] This advantageous variant is shown in FIGS. 3 to 8. The curvilinear distance separating the point of application P from the end 29 first increases slowly (FIGS. 3 and 5) during the phase in which the wire 20 is removed from the longitudinal axis A-A ', then more quickly when the wire 20 is folded and plated backwards (Figures 6 to 8). This feature has the beneficial effect of avoiding excessively bending the wire 20 in the vicinity of the transition point 24. According to this variant, the folding begins with a large lever arm since the force F is initially applied far from the embedding point 24 and this lever arm is then gradually reduced as the wire 20 is bent, since the point of application of the force F then approaches the embedding point 24. This progressive shortening of the lever arm avoids excessively concentrating the deformations in the vicinity of the embedding point 24, contrary to what one would have obtained by maintaining a fixed lever arm. During folding, the folding force F can vary in intensity and direction depending in particular on the trajectory of the application point P. A Cartesian coordinate system (OXYZ) has been represented in FIGS. 3 to 8. The origin O this mark is located on the longitudinal axis AA 'of the flexible pipe 1. The flexible pipe 1 is advantageously parallel to the ground during the folding operation, the axis AA' is horizontal. The vector Z is parallel to the axis A-A '. The vector X is horizontal and perpendicular to the axis A-A '. The vector Y is vertical and perpendicular to the vectors X and Z as well as the axis A-A '. In the Cartesian coordinate system (OXYZ), the application point P of the folding force F has coordinates (x, y, z). This application point P is located at the contact zone between the armor wire 20 and the application tool 22. The projection of the point P on the (OXY) plane parallel to the vector is indicated by Q. Z. We denote by a the angle between the vectors X and OQ. a is the angular position of the point of application P, as measured in the plane (OXY) perpendicular to the longitudinal axis A-A '. The radial position of the application point P is denoted by r, the radial position r being equal to the distance separating the application point P from the longitudinal axis A-A '. The radial position r is also equal to the distance separating the points O and Q. The x and y coordinates of the application point P are a function of the angular position a and of the radial position r according to the following equations: x = r . cos (a) y = r. The z-coordinate of the point of application P is called the axial position of the point of application P. The axial position z is measured parallel to the longitudinal axis A-A 'of the pipe. Figure 3 corresponds to the beginning of the folding operation. When the outer sheath 5 is removed to form the stripped portion 27, the plies of tensile armor 5, 6 tend to swell. This swelling is linked to the elastic return of the armor wires due to imperfect preforming of the armor wires during the manufacture of the tensile armor plies 5, 6. In the ideal case of a perfect preform, this swelling would be zero and the plies of armor 5, 6 retained along the stripped portion 27 a geometry identical to those they have along the non-stripped section 25. In practice, the preformation is imperfect and the armor son inflate following a conical-helical path as soon as the outer layers surrounding the armor plies 5, 6 have been removed. This swelling is often accompanied by an increase in the pitch of the helix, the average pitch of the helix described by the armor wire 20 at the stripped portion 27 then becoming greater than the pitch of the helix described by the wire. armor 20 at the non-stripped section 25. In the case where the preform is poor, the average pitch of the helix described by the armor wire 20 at the denuded section 27 can sometimes double compared to the pitch of the propeller described by the armor wire 20 at the non-stripped section 25. Because of this swelling, the end 29 of the armor wire 20 is generally not in contact with the underlying layers of the armor 20. the pipe 1, unlike the transition point 24 which is in contact with these underlying layers. As a result, by this swelling, the application tool 22 can easily be installed around the wire 20 near the end 29, for example at a distance from the end 29 of between ten and fifty centimeters. Once the application tool 22 has been put in place as well as the mechanical means for moving this tool, folding of the armor wire 20 can begin. The mechanical means of displacement then cause the application tool 22 to describe a three-dimensional trajectory by simultaneously applying to the armor wire 20 via the application tool 22 a folding force F whose intensity and direction vary. During the displacement of the application tool 22. In addition, advantageously, the path of the application point P is such that the angular position a varies monotonically as a function of time during the folding of the armor wire 20 The term "varies monotonically as a function of time" means that the magnitude considered either increases with time, or decreases with time. In the embodiment shown in Figures 3 to 8, the angular position has increased during the folding of the armor wire 20. In the embodiment shown in Figures 4 to 8, the angular position a is initially equal to 0 ° (Figure 3) then it increases gradually up to 90 ° 5 (Figure 4), then up to 135 ° (Figure 5), then up to 150 ° (Figure 6), then up to 160 ° (Figure 7) to finish at 180 ° (Figure 8). In this particular embodiment, the amplitude of variation of the angular position during folding of the armor wire 20 is therefore equal to 180 °. Advantageously, the amplitude of variation of the angular position of the application point P during the folding of the armor wire is between 120 ° and 360 °. Preferably, the amplitude of variation of the angular position a of the point of application P during the folding of the weave wire is between 150 ° and 270 °. Further, advantageously, the path of the application point P is such that the axial position z varies monotonically as a function of time during the folding of the armor wire 20. In the embodiment shown in FIGS. 8, the axial position z decreases during the folding of the armor wire 20. In addition, advantageously, the amplitude of variation of the axial position z of the application point P during the folding of the armor wire is between one-third and two-fold of the helix pitch H of the armor wire 20 within the flexible pipe 1.
    [0013] In addition, according to an advantageous embodiment, the angular position a and the axial position z both vary monotonically during the folding of the armor wire 20. Such a trajectory has the advantage of continuously varying the plane of bending the armor wire 20, and to go back best along the average helix initially followed by the armor wire 20 along the stripped section 27.
    [0014] Indeed, an important difficulty of the bending problem is that the wire 20 originally has a geometry that is not flat so that it is not possible to work in a fixed bending plane. Within the flexible pipe 1, before the removal of the outer layers surrounding the plies of tensile armor 5, 6, the armor wire 20 is arranged helically. The helical pitch H of this helix is known since it was defined during the manufacture of the corresponding armor ply. However, it is particularly advantageous to move the application point P of the folding force F so that its axial position z and its angular position a vary proportionally with respect to each other, similarly to what would make the axial position and the angular position of a point which would go backwards following a helix close to that initially described by the armor wire 20 along the bare conduct section 27. In practice, the case of an ideal preformation of the armor wire 20, these conditions result in the following equations: z = K. a and K H / 360 In these equations, the angular position a is expressed in degrees, and the lengths z and H are expressed in meters. H is the pitch of the helix described by the armor wire 20 within line 1. K is the ratio of proportionality between the axial position z and the angular position a of the point of application P. The proportionality ratio K is preferably chosen equal to or close to H / 360 because this optimum value corresponds to that of a point going up along a helix of pitch H.
    [0015] However, particularly in the case of imperfect preforming of the armor wire 20, the invention may advantageously be implemented with a proportionality ratio of between one-half and three times the optimum value: z = K. a and (H / 2) / 360 <K <(3 H) / 360 According to this particularly advantageous variant the point of application P has a tendency to follow the initial average helix described by the armor wire 20 along the stripped section 27 just after the removal of the outer layers surrounding the armor plies 5, 6. This feature has the effect of facilitating the folding and make it more reproducible, including avoiding applying to the armor wire 20 unnecessary twists . Further, advantageously, the path of the application point P is such that the radial position r of the application point P first increases continuously (FIGS. 3, 4, 5) and then decreases (FIGS. 6, 7, 8 ). The initial phase during which the radial position r increases is that during which the armor wire 20 is spaced angularly from the longitudinal axis A-A 'to become almost perpendicular to this axis. The next phase during which the radial position r decreases is that during which the armor wire 20 is folded backwards beyond the cutting plane 26. At the end of the armor wire folding operation 20, the armor wire 20 is immobilized by hook-type means not shown in FIG. 8. During this immobilization, in order to facilitate the passage of the armor wire 20 in the immobilization hook, the trajectory of the point Application P may locally and punctually deviate from the optimum trajectory followed during folding, without this affecting the main features of the invention. Thus, for example, when the angular position a of the application point P has increased monotonously by 180 ° during folding, it may then decrease by a few degrees, typically by less than 5 °, when final phase of immobilization of the armor wire 20 in the immobilizing hook. The amplitude of the displacements of the application point P during folding is much greater than that of the displacements during the final phase of immobilization, typically at least 30 times greater, so that the trajectory of the point of application P during the final immobilization of the armor wire 20 has a negligible influence on the final work hardening of the armor wire near the transition point 24.
    [0016] Once the armor wire 20 is immobilized, the application tool 22 is removed and the operation is repeated in the same way for all the other threads of the outer tensile armor ply 6. Once the operation is completed for all the threads of the outer layer of tensile armor 6, this can be repeated in the same way for the internal armor ply 5.
    [0017] Figure 9 shows an application tool 22 according to the present invention. This tool comprises a body 30 and guiding means 37. The guiding means 37 comprise a guiding sleeve 39 of substantially cylindrical internal face surrounding the armor wire 20. This guiding sleeve 39 has an inside diameter sufficiently large for that the weave wire 20 can not only slide freely inside the guide sleeve 39 parallel to its longitudinal axis H6, but also freely rotate inside the guide sleeve 39 along an axis of rotation coinciding with the longitudinal axis H6. Thus, for example, in the case where the armor wire 20 has a rectangular diagonal section Da, the inside diameter Dm of the guide sleeve 39 is advantageously between one and a half times and five times the diagonal Da. This important clearance between the armor wire 20 and the guide sleeve 39 prevents the armor wire 20 from locking in the application tool 22 during folding. In spite of this important clearance, the armor wire 20 remains permanently in contact with the guide sleeve 39 during the folding, in particular because of the elastic return of the armor wire 20. The folding force F is transmitted from the sleeve guiding 39 to the armor wire 20 thanks to this distributed contact along the application section 68. In the case where the armor wire 20 has a rectangular section, the contact between the guide sleeve 37 and the section of Application 68 is generally located on the edges of the weave wire 20, typically on two adjacent edges.
    [0018] The length of the guide sleeve 39 measured parallel to the longitudinal axis H6 is advantageously between one and three times the inside diameter Dm of the guide sleeve 39, preferably of the order of twice the inside diameter Dm. The length of the guide sleeve 39 is advantageously between 5 centimeters and 20 centimeters.
    [0019] The point of application P of the folding force F, as defined in the present application, is located in the middle of the application section 68, that is to say at the intersection of the axis H6. and a transverse plane located substantially at half the length of the guide sleeve 39. The body 30 of the application tool 22 comprises two bearings 31 integral with the body 30 and surrounding the guide sleeve 39. These bearings are coaxial and each have a longitudinal slot 32 bearing greater width than the width of the armor wire 20, said longitudinal slots being identical and aligned parallel to the axis of the bearings 31. The guide sleeve 39 is mounted coaxially to the The mechanical connection between, on the one hand, the two bearings 31 and, on the other hand, the guide sleeve 39 is of the pivot type, the only authorized degree of freedom being the rotation of the guide bushing around the center. common longitudinal axis of the palms 31 and the guide sleeve 39. In addition, locking means not shown in Figure 9 can block and unlock this degree of freedom in rotation. The guide sleeve 39 further has a longitudinal sleeve slot 34 of the same width as the longitudinal bearing slots 32. As a result, at the beginning of folding, it is possible to introduce the armor wire 20 into the application tool 22 through the side. For this purpose, the locking means are first unlocked to allow rotation of the guide sleeve 39 relative to the bearings 31. Then, the guide sleeve 39 is rotated until the longitudinal sleeve slot 34 is aligned with the longitudinal slots of bearings 32. Then, is introduced laterally armor wire 20 in the guide sleeve 39 by passing through these three aligned slots. Then, turn the sleeve a quarter of a turn and lock the locking means. At the end of folding, the armor wire 20 is removed from the application tool 22, also passing by the side in the same way as for the introduction. The assembly consisting of the guide sleeve 39 and the two bearings 31 constitutes a clamp 33 surrounding the armor wire 20, said clamp 33 being open or closed to introduce or remove the armor wire 20 through the side . With reference to FIGS. 9 and 10, we will present a folding device 30 according to a first embodiment. This device comprises mechanical means of displacement 62 of the application tool 22. The mechanical means of displacement 62 comprise a chain of elements 52, 46, 42, 36, 35, 30 connected one after the other, said chain of elements comprising a stationary proximal end element 52 forming a base resting on the ground 54, and a distal end element 30 movable and secured to the application tool 22. These elements are interconnected by mechanical links 38, 40, 44, 48, 64, 66 having at least one degree of freedom in rotation or in translation. Thus, the distal end element 52 is connected to the second element 46 by a first slide-type mechanical connection 48 along an axis of translation H1 substantially parallel to the longitudinal axis AA 'of the flexible tubular pipe 1. In addition, the second element 46 is connected to the third element 42 by a second mechanical connection 44 of pivot type along an axis of rotation H2 parallel to H1 and substantially coaxial with the longitudinal axis AA 'of the flexible pipe 1. In addition, the third element 42 is connected to the fourth element 36 by a third mechanical connection 40 of the slide type along a translation axis H3 perpendicular and coplanar with the axis H2. The first mechanical connection 48, the second mechanical connection 44 and the third mechanical connection 40 are advantageously all three motorized. The slide-type mechanical links 40, 48 are advantageously motorized with servo-electric motors coupled to a transmission of the screw / nut type. The pivot type mechanical connection 44 is advantageously motorized with an electric motor coupled to a mechanical gearbox. These electric motors and the associated mechanical transmission systems are well known in the field of industrial robotics. With these three motors, the fourth element 36 can be displaced in space, the first motor varying the axial position z, the second motor varying the angular position a and the third motor varying the radial position. r. Advantageously, the application tool 22 is not fixed integrally to the fourth element 36, that is to say that it is not recessed to the fourth element 36. On the contrary, it is advantageous to have between the application tool 22 and the fourth element 36 a non-motorized intermediate mechanical connection comprising two to three degrees of freedom in rotation, in order to allow the application tool 22 to be oriented angularly so that the the axis of the guide sleeve 39 remains substantially parallel to the longitudinal axis H6 of the armor wire 20 at the application section 68. The associated technical effect is to avoid applying to the armor wire 20 unnecessary constraints for folding.
    [0020] According to a first variant of the first embodiment of the device 60, this non-motorized intermediate link is a fourth ball-type mechanical connection 38, as shown in FIG. 10. According to a second variant represented in FIG. 9, the fourth element 36 is connected to a fifth element 35 via a fourth pivot type mechanical connection 66 along an axis of rotation H4. This fifth element 35 is also connected to the distal end element 30 integral with the application tool 22 via a fifth mechanical connection 64 of pivot type along a perpendicular axis of rotation H5 and coplanar to the H4 axis. The fourth mechanical link 66 and the fifth mechanical link 64 are both non-motorized. The second embodiment of the device 60, which is shown in FIG. 11, is essentially distinguished from the first embodiment by the nature of the third mechanical link. According to this second mode, the third element 42 is connected to the fourth element 36 by virtue of a third mechanical connection 56 of pivot axis type of rotation H3. The axis of rotation H3 is in a plane perpendicular to the axis H2, and substantially tangential to a cylinder having the axis H2 axis and for radius the distance separating the location of the third mechanical connection 56 of the H2 axis. This third mechanical connection 56 is motorized, advantageously with a servo electric motor. The device 60 according to this second embodiment has the advantage of being less cumbersome and mechanically simpler than that of the first mode, but it is a little more complex to drive than that according to the first mode. Indeed, in the first embodiment, the axial positions z, angular a and radial r of the application tool 22 each depend on only one of the three motors, which facilitates the control of the movements of the tool 22. In contrast, in the second embodiment only the angular position a depends on a single motor, the axial positions z and radial r both depending on two motors, which slightly complicates the driving without both pose a real problem when the engine control system is equipped with real-time means of calculation means. Advantageously, the mechanical displacement means 62 constitute a co-manipulation robot controlled by an operator. This robot provides most of the mechanical power required for folding, for example 90% of the power, the rest being provided by the operator via at least one control member mechanically coupled to at least one of the elements. This type of co-manipulation robot is similar to a remotely controlled robot using a force feedback control, the particularity being that the mechanical effort exerted by the operator on the control is also transmitted directly to the robot. robot by mechanical means. The use of a co-manipulation robot which makes it possible to amplify the efforts of the operator by a factor of greater than or equal to 10 makes it possible to solve the problem of bending the wires. The control member is preferably constituted by a steering wheel H2 mechanically coupled to the third element 42 via sensors measuring the forces exerted by the operator. These sensors are connected to the engine control system which calculates and applies in real time the engine control parameters to amplify the forces exerted by the operator. According to this advantageous variant, the rotation of the control wheel directly determines the angular position a of the application tool 22, while the translation of the flywheel parallel to the axis H2 determines the axial position z, the radial position r being either driven manually from another command, or automatically determined to follow a predefined path. The optimal trajectory of the application tool 22 during folding is first determined by the operator on one of the armor wires 20 of the traction armor ply 5.6. During this adjustment phase, the operator can freely move the application tool 22 while benefiting from the mechanical power amplification function.
    [0021] Then, once this adjustment has been made, the co-manipulation robot can reproduce this optimum trajectory for all the other threads of the armor ply simply by incrementing the angular position a. The complex phases of implementation of the application tool 22 before folding, and immobilization of the armor wire 20 in the immobilization hook at the end of folding are manually driven but 15 greatly facilitated through the mechanical power amplification enjoyed by the operator. The same device 60 is also used for unfolding the armor ply yarns 5,6 forwardly after mounting the end vault 11, in an inverted manner compared to that used for folding backwards. Thus, for forward unfolding, the application tool 22 is first positioned around the armor wire 20 near the immobilization hook located near the transition point 24. Then the wire is released the immobilizing hook and the unfolding forward is performed by running to the application tool 22 a reversed path relative to that described when folding backwards. Thus, when unfolding forward, the application tool 22 slides along the armor wire 20 away from the transition point 24, and toward the point of the end 29. The present invention could also be implemented with a motorized device with hydraulic actuators, or with a non-motorized device using only the mechanical power of the operator, but reducing the hardness 30 thanks to transmission systems amplifying the forces applied by the operator to the control organs. 35
    权利要求:
    Claims (15)
    [0001]
    1. A method of mounting a connection piece (10) of a flexible tubular pipe (1) for transporting a fluid in a marine environment, said pipe (1) being of the unbound type and comprising in particular a internal pressure sheath (3) and at least one traction armor ply (5, 6) wound with a long pitch around the pressure sheath (3), said method comprising the following steps: a) providing a flexible pipe (1) having a pipe end (28) to which the connection tip (10) is to be mounted, b) forming a stripped pipe section (27) at said pipe end (28) by removing the or the outer layers surrounding said at least one traction armor ply (5, 6), c) each armor wire (20) of said at least one ply is bent toward the rear of the flexible conduit (1). traction armor by applying to each armor wire (20) a folding force F, d) connecting said connection piece ( 10) at said pipe end (28), said method being characterized in that during step c) said folding force F is applied to each armor wire (20) via a tool of application (22) able to slide along the wire (20) and in that during step c) the application point P of said folding force F moves continuously along said armor wire (20) .
    [0002]
    2.- method of mounting a connection tip (10) according to claim 1, characterized in that during step c), the curvilinear distance between firstly said application point P of said folding force F and on the other hand the end (29) of said armor wire (20) increases, said curvilinear distance being measured along the armor wire (20).
    [0003]
    3.- Method of mounting a connection piece (10) according to claims 1 or 2, characterized in that during step c), the angular position a of said application point P varies monotonically depending on the time, said angular position a being measured in a plane perpendicular to the longitudinal axis AA 'of said flexible pipe (1).
    [0004]
    4.- Method for mounting a connection piece (10) according to any one of claims 1 to 3, characterized in that during step c), the amplitude of variation of said angular position a of said point d Application P is between 120 degrees and 360 degrees. 3030011 21
    [0005]
    5.- method for mounting a connection piece (10) according to any one of claims 1 to 4, characterized in that during step c), the axial position z of said application point P varies so monotone as a function of time, said axial position z being measured parallel to the longitudinal axis AA 'of said flexible pipe 5 (1).
    [0006]
    6. A method of mounting a connecting piece (10) according to any one of claims 1 to 5, characterized in that during step c), the amplitude of variation of said axial position z of said point d application P is between one-third and twice the helix pitch H of the armor wire (20) within the flexible pipe (1). 10
    [0007]
    7.- Method for mounting a connecting piece (10) according to any one of claims 1 to 6, characterized in that during step c), the radial position r of said application point P varies according to time according to a curve comprising firstly an increase phase of said radial position r up to a maximum value then followed by a decrease phase of said radial position r, said radial position r being equal to the distance separating said point of application P of the longitudinal axis AA 'of said flexible pipe (1).
    [0008]
    8.- Device (60) for folding a rearward armor wire (20) of a flexible tubular pipe (1) of longitudinal axis AA 'according to claim 1, characterized in that said device (60 ) comprises an application tool (22) of a folding force F to a weave wire (20), and mechanical displacement means (62) of the application tool (22), said tool applicator (22) having guide means (37) for allowing said application tool (22) to slide along said armor wire (20) during the application of the folding force F.
    [0009]
    9. A device (60) according to claim 8, characterized in that said guiding means (37) allow said applicator tool (22) free to rotate around said armor wire (20) during the application of the folding force F.
    [0010]
    10.- Device (60) according to claim 8 or 9, characterized in that said application tool (22) comprises a clamp (33) surrounding the armor wire (20).
    [0011]
    Apparatus (60) according to any one of claims 8 to 10, characterized in that said mechanical displacement means (62) comprise a chain of elements (52, 46, 42, 36, 35, 30). connected thereto, said chain of elements (52, 46, 42, 36, 35, 30) having a stationary proximal end element (52) forming a base, and a distal end member ( 30) movably secured to said application tool (22), said elements being interconnected by mechanical links (38, 40, 44, 48, 56, 64, 66) having at least one degree of freedom in rotation or in rotation. translation, said displacement means (62) having four elements and three motorized mechanical links (40, 44, 48, 56), said device (60) for moving said application tool (22) along a three-dimensional path.
    [0012]
    12.- Device (60) according to claim 11, characterized in that said motorized mechanical links (38, 40, 44, 48, 56) are slide type or pivot type links.
    [0013]
    13.- Device (60) according to claim 11 or 12, characterized said mechanical movement means (62) comprise a motorized mechanical connection pivot type (44) axis of rotation (H2) substantially coincident with the longitudinal axis AA of said flexible tubular pipe (1). 10
    [0014]
    14.- Device (60) according to claims 11 to 13, characterized in that said mechanical displacement means (62) comprise six of said elements (52, 46, 42, 36, 35, 30) and five of said mechanical links (38). , 40, 44, 48, 56, 64, 66), two of said five mechanical links being non-motorized pivot type mechanical links (64, 66). 15
    [0015]
    15.- Device (60) according to any one of claims 8 to 14, characterized in that said mechanical displacement means (62) are a comanipulation robot driven by an operator. 20
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    同族专利:
    公开号 | 公开日
    FR3030011B1|2016-12-30|
    DK3230640T3|2020-11-02|
    BR112017011983A2|2017-12-26|
    EP3230640B1|2020-08-12|
    CN107250643B|2019-12-03|
    EP3230640A1|2017-10-18|
    CN107250643A|2017-10-13|
    WO2016092214A1|2016-06-16|
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    法律状态:
    2015-12-22| PLFP| Fee payment|Year of fee payment: 2 |
    2016-06-17| PLSC| Publication of the preliminary search report|Effective date: 20160617 |
    2016-12-20| PLFP| Fee payment|Year of fee payment: 3 |
    2017-12-21| PLFP| Fee payment|Year of fee payment: 4 |
    2019-12-20| PLFP| Fee payment|Year of fee payment: 6 |
    2020-12-18| PLFP| Fee payment|Year of fee payment: 7 |
    2021-12-28| PLFP| Fee payment|Year of fee payment: 8 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1402826A|FR3030011B1|2014-12-11|2014-12-11|METHOD FOR MOUNTING A FLEXIBLE TUBULAR CONDUIT CONNECTING TIP AND DEVICE FOR CARRYING OUT SAID METHOD|FR1402826A| FR3030011B1|2014-12-11|2014-12-11|METHOD FOR MOUNTING A FLEXIBLE TUBULAR CONDUIT CONNECTING TIP AND DEVICE FOR CARRYING OUT SAID METHOD|
    DK15823629.9T| DK3230640T3|2014-12-11|2015-12-09|Method for mounting a connecting end fitting for a tubular flexible conduit, and apparatus for implementing the method|
    BR112017011983A| BR112017011983A2|2014-12-11|2015-12-09|method for mounting a connector terminal of a tubular flexible duct, and device for implementing the method|
    CN201580075690.XA| CN107250643B|2014-12-11|2015-12-09|For installing the method and apparatus for carrying out this method of the connection end fittings of tubulose flexible pipe|
    PCT/FR2015/053395| WO2016092214A1|2014-12-11|2015-12-09|Method for mounting a connecting end piece of a tubular flexible pipe, and device for implementing the method|
    EP15823629.9A| EP3230640B1|2014-12-11|2015-12-09|Method for mounting a connecting end piece of a tubular flexible pipe, and device for implementing the method|
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