Frame for underwater drilling assembly

Abstract

An underwater drilling assembly and system is disclosed. The underwater drilling assembly and system includes a drilling assembly, a frame for the drilling assembly, and a connection flange assembly to be secured to a hull of a vessel. The underwater drilling assembly and system also includes a waste box and an automatic vent valve assembly.

Description

[0001] Cross-reference to related applications

[0002] This application claims priority to U.S. Provisional Patent Application Serial No. 63 / 426,591, filed November 18, 2022, entitled “MARINESALVAGE DRILL ASSEMBLIES AND SYSTEMS,” filed under 35 USC § 119(e), the entire disclosure of which is incorporated herein by reference. Background Technology

[0003] This disclosure relates to drilling systems, components, and parts that can be used for marine salvage. Summary of the Invention

[0004] Among various aspects of this disclosure, an underwater drilling system for marine salvage is disclosed. The underwater drilling system includes a frame, a drilling assembly supported by the frame, and a connecting flange assembly configured to be attached to a hull by the drilling assembly. For example, hydrocarbons can be extracted from the hull via the connecting flange assembly after the connecting flange assembly is attached to the hull and the drilling assembly is detached from the connecting flange assembly. Attached Figure Description

[0005] The various aspects and advantages described herein can be understood from the following description in conjunction with the accompanying drawings.

[0006] Figure 1 This is a perspective view of an underwater drilling system according to at least one aspect of the present disclosure, the underwater drilling system including a frame, a drilling assembly supported by the frame, and a connecting flange assembly configured to be fixed to the hull by the underwater drilling system.

[0007] Figure 2 It is based on at least one aspect of this disclosure Figure 1 A partial perspective view of an underwater drilling system.

[0008] Figure 3 It is based on at least one aspect of this disclosure Figure 1 A partial perspective view of an underwater drilling system.

[0009] Figure 3A It is based on at least one aspect of this disclosure Figure 1 A partial perspective view of an underwater drilling system.

[0010] Figure 4 It is based on at least one aspect of this disclosure Figure 1 A top view of an underwater drilling system.

[0011] Figure 5 It is based on at least one aspect of this disclosure Figure 1Front view of an underwater drilling system.

[0012] Figure 6 It is based on at least one aspect of this disclosure Figure 1 A side view of an underwater drilling system.

[0013] Figure 7 It is based on at least one aspect of this disclosure Figure 1 A perspective view of the attachment leg of an underwater drilling system, wherein the attachment leg includes a fluid actuator, an expandable leg assembly attached to the fluid actuator, and a suction cup base configured to be fixed to the hull.

[0014] Figure 8 It is based on at least one aspect of this disclosure Figure 7 A partial perspective view of the attached leg.

[0015] Figure 9 It is based on at least one aspect of this disclosure Figure 7 A cross-sectional view of a portion of the attachment leg, wherein the expandable leg assembly includes an upper leg portion attached to and movable by a fluid actuator and a lower leg portion spring-loaded against the upper leg portion.

[0016] Figure 10 It is based on at least one aspect of this disclosure Figure 1 A schematic diagram of an underwater drilling system and its attachment legs configured to engage with a concave hull surface, wherein the attachment legs are shown in a retracted configuration.

[0017] Figure 11 It is based on at least one aspect of this disclosure Figure 10 A schematic diagram of an underwater drilling system and its attachment legs, with the attachment legs shown in an extended configuration.

[0018] Figure 12 It is based on at least one aspect of this disclosure Figure 10 A schematic diagram of an underwater drilling system and its attachment legs, wherein the attachment legs are shown in a first retaining configuration.

[0019] Figure 13 It is based on at least one aspect of this disclosure Figure 10 A schematic diagram of an underwater drilling system and its attachment legs, wherein the attachment legs are shown in a second retaining configuration.

[0020] Figure 14 It is based on at least one aspect of this disclosure Figure 1 A schematic diagram of an underwater drilling system and its attachment legs configured to engage with the surface of a convex hull, wherein the attachment legs are shown in a retracted configuration.

[0021] Figure 15 It is based on at least one aspect of this disclosure Figure 14A schematic diagram of an underwater drilling system and its attachment legs, with the attachment legs shown in an extended configuration.

[0022] Figure 16 It is based on at least one aspect of this disclosure Figure 14 A schematic diagram of an underwater drilling system and its attachment legs, wherein the attachment legs are shown in a first retaining configuration.

[0023] Figure 17 It is based on at least one aspect of this disclosure Figure 14 A schematic diagram of an underwater drilling system and its attachment legs, wherein the attachment legs are shown in a second retaining configuration.

[0024] Figure 18 It is based on at least one aspect of this disclosure Figure 1 A partial cross-sectional view of the self-tapping studs among multiple self-tapping studs in an underwater drilling system, wherein the self-tapping studs are configured to be drilled into the hull to... Figure 1 The connecting flange assembly of the underwater drilling system is fixed to the hull, and the self-tapping connecting stud includes a cutting body, a self-tapping thread, a shank, and a driveable head.

[0025] Figure 19 It is based on at least one aspect of this disclosure Figure 18 Self-tapping connecting studs and Figure 1 A partial cross-sectional view of the receiving structure of the connecting flange assembly, wherein the self-tapping connecting stud is shown in an initial unactuated position, and wherein the receiving structure includes a sealing ring and a receiving cavity through which the self-tapping connecting stud is configured.

[0026] Figure 20 It is based on at least one aspect of this disclosure Figure 18 Self-tapping connecting studs and Figure 1 A partial cross-sectional view of the housing structure of the connecting flange assembly, wherein the self-tapping connecting stud is shown in the initial contact position.

[0027] Figure 21 It is based on at least one aspect of this disclosure Figure 18 Self-tapping connecting studs and Figure 1 A partial cross-sectional view of the receiving structure of the connecting flange assembly, wherein the self-tapping connecting stud is shown in the first part of the drilled position.

[0028] Figure 22 It is based on at least one aspect of this disclosure Figure 18 Self-tapping connecting studs and Figure 1 A partial cross-sectional view of the housing structure of the connecting flange assembly, wherein the self-tapping connecting stud is shown in the second part of the drilling position.

[0029] Figure 23 It is based on at least one aspect of this disclosure Figure 18 Self-tapping connecting studs and Figure 1 A partial cross-sectional view of the housing structure of the connecting flange assembly, in which the self-tapping connecting stud is shown in the fully drilled position.

[0030] Figure 24 It is based on at least one aspect of this disclosure Figure 18 Self-tapping connecting studs and Figure 1 A partial cross-sectional view of the housing structure of the connecting flange assembly, in which the self-tapping connecting stud is shown in the fully installed position.

[0031] Figure 25 It is based on at least one aspect of this disclosure Figure 18 Self-tapping connecting studs and Figure 1 A partial cross-sectional view of the receiving structure of the connecting flange assembly, wherein the self-tapping connecting stud is shown in the first failure configuration.

[0032] Figure 26 It is based on at least one aspect of this disclosure Figure 18 Self-tapping connecting studs and Figure 1 A partial cross-sectional view of the housing structure of the connecting flange assembly, wherein the self-tapping connecting stud is shown in a second failure configuration.

[0033] Figure 27 It is based on at least one aspect of this disclosure Figure 1 A partial perspective view of an underwater drilling system, which also includes a locking assembly configured to attach a connecting flange assembly to and detach it from the frame.

[0034] Figure 28 It is based on at least one aspect of this disclosure Figure 1 A partial perspective view of an underwater drilling system, wherein the frame includes a lower platform and a male coupling portion attached to the lower platform, wherein the male coupling portion is configured to be received by a female coupling portion of a connecting flange assembly, and wherein the locking assembly includes a locking ring configured to rotate to lock and unlock the male coupling portion and the female coupling portion.

[0035] Figure 29 It is based on at least one aspect of this disclosure Figure 1 A perspective view of a connecting flange assembly of an underwater drilling system, wherein the connecting flange assembly includes a cutter gate configured to provide an actuable seal between a lower drill chamber and an upper drill chamber defined within the connecting flange assembly.

[0036] Figure 30 It is based on at least one aspect of this disclosure Figure 1 A cross-sectional view of the connecting flange assembly, the lower platform of the frame, and the locking assembly of the underwater drilling system.

[0037] Figure 31It is based on at least one aspect of this disclosure Figure 1 A schematic diagram of a waste box for an underwater drilling system comprising a drill rod, a male connector portion of a frame, a connecting flange assembly, and a drill cavity fluidly connected to the male connector portion, wherein the waste box is configured to collect waste fluid, and wherein the drill rod is shown in an initial position.

[0038] Figure 32 It is based on at least one aspect of this disclosure Figure 31 A schematic diagram of the drill pipe, male connector, connecting flange assembly, and waste box, wherein the drill pipe is shown in the pressurized chamber position.

[0039] Figure 33 It is based on at least one aspect of this disclosure Figure 31 A schematic diagram of the drill pipe, male connector, connecting flange assembly, and waste box, wherein the drill pipe is shown in the hole cutting position, where fluid passes through the hull and enters the drill cavity.

[0040] Figure 34 It is based on at least one aspect of this disclosure Figure 31 A schematic diagram of the drill pipe, male connector, connecting flange assembly, and waste box, wherein the drill pipe is shown in the retracted position and the cutter gate of the connecting flange assembly is shown in the actuated configuration to provide a seal between the upper drill cavity portion of the male connector and the lower drill cavity portion of the connecting flange assembly.

[0041] Figure 35 It is based on at least one aspect of this disclosure Figure 31 A schematic diagram of the drill pipe, male connector, connecting flange assembly, and waste box, wherein the drill pipe is shown in the retracted position and the cutter gate of the connecting flange assembly is shown in the actuated configuration, wherein the pump is configured to discharge waste fluid from the drill cavity into the waste box.

[0042] Figure 36 It is based on at least one aspect of this disclosure Figure 31 The drill pipe, male connector and scrap box and Figure 31 A schematic diagram of the separation of the connecting flange assembly, in which the waste box is filled with waste liquid.

[0043] Figure 37 It is based on at least one aspect of this disclosure Figure 1 A partial perspective view of an underwater drilling system, wherein the underwater drilling system includes an automatic venting valve assembly configured to automatically vent air from the drill chamber, and wherein the automatic venting valve assembly includes a fluid pivot connection, a float, and an internal automatic venting valve.

[0044] Figure 38 It is based on at least one aspect of this disclosure Figure 37 A cross-sectional view of the automatic exhaust valve assembly.

[0045] Figure 39 This is a schematic diagram of a system including a drilling assembly and various components for operating the drilling assembly, according to at least one aspect of this disclosure.

[0046] Throughout the various views, corresponding reference numerals denote corresponding parts. The examples set forth herein illustrate one form of various aspects of this disclosure, and these examples should not be construed as limiting the scope of the invention in any way. Detailed Implementation

[0047] The applicant of this application owns the following patent applications, all filed on November 17, 2023, the entire contents of which are incorporated herein by reference:

[0048] 1. PCT patent application, entitled "Fasteners for underwater drilling assemblies"; Attorney's case number 220323-2PCT;

[0049] 2. PCT patent application, entitled "Lockable flange for underwater drilling assembly"; Attorney's case number 220323-3PCT;

[0050] 3. PCT patent application, entitled "Scrap Box for Underwater Drilling Assembly"; Attorney's Case No. 220323-4PCT; and

[0051] 4. PCT patent application, entitled "Exhaust assembly for underwater drilling assembly"; Attorney's case number 220323-5PCT.

[0052] Before explaining the various aspects of the drilling assemblies and systems, it should be noted that the application or use of the illustrative examples is not limited to the details of the construction and component arrangement shown in the figures and description. The illustrative examples may be implemented or combined in other aspects, variations, and modifications, and may be practiced or performed in various ways. Furthermore, unless otherwise stated, the terminology and expressions used herein are chosen for the convenience of the reader in describing the illustrative examples and are not intended to limit their purpose. Likewise, it will be understood that one or more aspects, expressions of aspects, and / or examples described below may be combined with other aspects, expressions of aspects, and / or examples described below.

[0053] One function of ocean salvage can include removing or extracting fluids contained within a disabled vessel or marine vehicle. Leaving fluids inside a disabled vessel can pose a potential environmental hazard. A vessel can be classified as disabled if it sinks to the seabed or is otherwise unable to return to a state where it can independently discard its fluids. Fluids to be extracted can include, for example, fuel. In one instance, fuel is contained in the vessel's fuel tanks. In another instance, fuel is contained in the vessel's cargo area. In any case, extracting fluids from a disabled vessel can mitigate the risk of potential environmental hazards.

[0054] In one instance, the method of extracting fluid from a disabled vessel involves human divers manually drilling holes in the vessel. Manual drilling requires numerous steps and equipment. Divers must locate the fluid to be extracted and assess where to drill a hole in the vessel to extract it. In many cases, the vessel's frame is located behind or beside the hull or skin. This presents a risk of drilling into the frame, which could lead to drill bit failure and / or fluid leakage from the vessel. Current methods for determining where to drill involve tapping the vessel's hull and listening to the tone of the taps until a hollow tone is found—similar to locating a joist in a wall.

[0055] In one example, once the diver has located the drilling location, they install a flange onto the hull. The flange can be attached to the hull of the vessel, for example, by inserting and securing the flange to the hull with a self-tapping threaded bolt. Once the flange is attached to the hull, a valve is attached to it, for example, by bolting. Once the valve is installed, the diver installs the drilling assembly by bolting it to the valve. Once the drilling assembly is installed, the valve is opened. The diver can now actuate the drill, and the drill bit is configured to pass through the valve and flange to drill a hole in the hull of the vessel. The drill bit can act as a temporary fluid stop to prevent fluid from overflowing during drilling. Once the hole is drilled, the drill bit is raised above the valve, the valve closes, and the drill is removed. Once the drill is removed, fluid can be extracted through a port in the valve.

[0056] In at least one instance, various marine salvage tasks are performed using an underwater drilling system capable of carrying out several steps of marine salvage at the drilling site with minimal or no diver intervention. An overview of the underwater drilling system will now be described. Several components discussed below are described in more detail throughout this disclosure. First, a vessel, containing all necessary equipment for extracting fluids from the wreck, is positioned near the wreck. Once the vessel is in place, a crane mounted on the vessel is used to lower the underwater drilling system onto the water surface, where components are afloat by multiple removable floats. A remotely operated underwater vehicle (ROV) is then deployed to connect to the underwater drilling system. After the ROV is connected to the underwater drilling system, the floats are removed to allow the ROV to lower the underwater drilling system to the drilling site. The underwater drilling system is moored to a control interface on the vessel to transfer hydraulic fluid between the hydraulic power pack and the underwater drilling system, and to transmit electrical and data signals between the control interface and the underwater drilling system.

[0057] Once the underwater drilling system is positioned at the drilling location, it is positioned against the surface of the wreck by the ROV. In at least one instance, the ROV pushes the underwater drilling system against the surface of the wreck with a predetermined holding force. At this point, attachment legs are actuated via a control interface on the vessel to attach the underwater drilling system to and hold it against the surface of the wreck. Once the attachment legs are engaged with the surface of the wreck, the ROV can reduce or stop applying the predetermined holding force, allowing the underwater drilling system to remain against the surface of the wreck via the attachment legs.

[0058] Following the engagement of the attachment legs, the drilling assembly of the underwater drilling system is used to secure the connecting flange assembly to the surface of the wreck using multiple self-tapping studs and to drill a master hole in the wreck surface for fluid extraction. The drilling assembly includes two linear fluid actuators and a rotary fluid actuator. Each linear fluid actuator is configured to linearly actuate a drill rod, and each drill rod is configured to rotate via a drive assembly by the rotary fluid actuator. One drill rod is configured to drive the self-tapping studs into the surface of the wreck to secure the connecting flange assembly to the surface, and the other drill rod is configured to drill a master hole in the surface of the wreck for fluid extraction.

[0059] The connecting flange assembly is secured to the hull by a plurality of self-tapping studs. The connecting flange assembly includes a plurality of receiving structures configured to contain waste fluids that may leak due to the drilling of the self-tapping studs into the hull. In at least one of the self-tapping studs may break, and in such cases, the receiving structures are configured to prevent waste fluids from leaking from the connecting flange assembly due to said breakage.

[0060] After the connecting flange assembly is secured and the main borehole is drilled, the cutter gate of the connecting flange assembly is actuated to seal the connecting flange assembly to prevent additional fluid from escaping from the wreck's main borehole beyond what was escaped during drilling. The cutter gate divides the drill chamber (through which the drill rod passes to drill the main borehole) into an upper and lower drill chamber. At this point, fluid and / or debris that escaped from the main borehole during drilling is captured in the upper drill chamber within the male coupling portion of the frame defined in the underwater drilling system. As discussed in more detail below, the male coupling portion is secured to the connecting flange assembly by a locking mechanism.

[0061] The fluid trapped in the upper borehole is now discharged from the upper borehole into the waste container of the subsea drilling system in an attempt to reduce or eliminate the escape of waste fluid into the surrounding medium (e.g., seawater) when the frame and borehole assembly of the subsea drilling assembly separate from the mounted connecting flange assembly. The waste container is mounted to the frame and fluidly connected to the upper borehole via a male coupling. A pump is provided to pump seawater into the upper borehole to discharge the waste fluid into the waste container.

[0062] The underwater drilling system also includes an automatic venting assembly fluidly connected to the upper drill chamber to automatically release any trapped air encountered within the wreck. The automatic venting assembly is pivotally connected to the frame to allow it to pivot to its highest position, thereby facilitating the release of trapped air.

[0063] After the waste fluid is discharged from the upper drill chamber, the locking mechanism is actuated to unlock the male and female couplings, thereby allowing the removal of the drilling assembly, frame, and various other components of the underwater drilling system from the installed connecting flange assembly. In addition to unlocking the male and female couplings of the connecting flange assembly, the attachment legs are also released from the surface of the wreck to allow complete separation of the frame, drilling assembly, and various other components of the underwater drilling system from the installed connecting flange assembly.

[0064] Once removed from the installed connecting flange assembly, the subsea drilling system can be, for example, transported back to the surface by an ROV to reinstall the float, reload additional connecting flange assemblies, clean and / or flush the waste box, and prepare for the next installation of the connecting flange assembly. In at least one case, the float is reinstalled back onto the frame before the above steps occur. In at least one case, another connecting flange assembly is aligned with the male coupling portion of the frame, and a locking mechanism locks the male coupling portion and the new connecting flange assembly. The subsea drilling system can then be lowered back to the new drilling site for the installation of the new connecting flange assembly.

[0065] After the connecting flange assembly is installed, the ROV can be configured to connect the hose assembly to the connecting flange assembly, release the knife brake seal, and extract fluid from the wreck, for example, by vacuum. In at least one case, the connecting flange assembly is resealed after fluid extraction.

[0066] All steps described in this article can be performed by the ROV alone, by the ROV with the assistance of a diver, and / or by the diver alone.

[0067] Hydraulic hoses and / or electrical transmission lines can be stored on reels on the vessel. For example, hydraulic hoses and / or electrical transmission lines for transmitting fluid and / or electrical signals between the vessel and a transport center can be stored on one or more reels positioned on the vessel.

[0068] Details of various devices, systems and / or components for marine salvage can be found in U.S. Patent Application Serial No. 16 / 356,398 (now U.S. Patent No. 11,014,639, entitled “MARINE SALVAGE DRILL ASSEMBLIES AND SYSTEMS”), the entire contents of which are incorporated herein by reference.

[0069] Figure 1-9 An underwater drilling system 1000 according to one aspect of this disclosure is shown. The underwater drilling system 1000 includes a frame 1100 configured to support various components of the underwater drilling system 1000; a plurality of attachment legs 1300 attached to the frame 1100 and configured to hold the underwater drilling system 1000 to a hull; and a drilling assembly 1400 configured to drill a main hole in the hull and secure a connecting flange assembly 1600 to the hull using a plurality of self-tapping studs 1200. The underwater drilling system 1000 also includes a waste container assembly 1800 mounted to the frame 1100 and configured to collect waste fluid; and an automatic vent valve assembly 1900 configured to automatically vent air encountered through the hull.

[0070] The underwater drilling system 1000 also includes various other components, such as a hot-swappable connector assembly 1010 configured to provide global connection points for fluid and / or electrical cabling. In at least one embodiment, the ROV is configured to connect directly to the hot-swappable connector assembly 1010, and the ROV is connected to an electrical and / or hydraulic supply source on the vessel. In at least one embodiment, the ROV is configured to connect a tether from the vessel to the hot-swappable connector assembly 1010. In at least one embodiment, the underwater drilling system 1000 also includes one or more cameras, lights, power supplies, and ROV wrist mechanisms attached to the frame 1100. In at least one embodiment, the ROV is configured to attach to the ROV wrist mechanism to allow the ROV to maneuver the underwater drilling system 1000. In at least one embodiment, the underwater drilling system 1000 also includes a central valve box. In at least one embodiment, one or more hydraulic components of the underwater drilling system 1000 include separate supply and return lines connected to the central valve box, and the central valve box includes the main supply and return lines. In at least one case, the main supply and return lines are fed to the vessel via hot-swappable connector assemblies.

[0071] The underwater drilling system 1000 also includes a float assembly 1005 configured to be manually and / or by an ROV attached to and detached from the frame 1100. In at least one case, the float assembly 1005 is configured to facilitate the transfer of the underwater drilling system 1000 from the vessel to the ocean, for example, by allowing the underwater drilling system 1000 to float on the sea surface. At this time, the ROV can be attached to the underwater drilling system 1000. Once the ROV is attached to the underwater drilling system 1000, the float can be manually and / or by the ROV, thereby allowing the underwater drilling system 1000 to be carried to the drilling site, for example, by an ROV and / or a diver.

[0072] Main reference Figure 2 and Figure 3 The frame 1100 is configured to support various components, subsystems, and assemblies of the underwater drilling system 1000. The frame 1100 can be made of any suitable material, such as metal, plastic, and / or any combination thereof. The frame 1100 includes a main support structure (or protective cage) 1110, a central support structure 1101 located within and attached to the main support structure 1110, and a lower platform 1120 attached to the central support structure 1101. The central support structure 1101 and the lower platform 1120 primarily support the drilling assembly 1400. As discussed in more detail below, the lower platform 1120 is configured in a pre-arranged configuration (e.g., as...). Figure 2 and Figure 3(As shown) a plurality of self-tapping studs 1200 are maintained, wherein the studs 1200 are aligned with corresponding orifices in the connecting flange assembly 1600, such that the drilling assembly 1400 can drive the studs 1200 into the connecting flange assembly 1600 to secure the connecting flange assembly 1600 to the hull. In at least one case, the studs 1200 are held within the lower platform 1120 by, for example, a bushing structure 1121, which is configured to provide a tight fit for each stud 1200 therein before being driven by the drilling assembly 1400 to hold the stud 1200 in a pre-arranged configuration.

[0073] The central support structure 1101 also includes a top platform 1102. The top platform 1102 includes a hook 1103 configured to be engaged by a crane to pick up and lower the underwater drilling system 1000.

[0074] Main reference Figure 2 , Figure 3 and Figure 7-9 Attachment legs 1300 are attached to frame 1100 and configured to hold the underwater drilling system 1000 to the hull. Each attachment leg 1300 is attached to a lower platform 1120. Each attachment leg 1300 includes a linear fluid actuator 1310, an extendable (or telescopic) leg assembly 1320, and a suction cup base 1370, the leg assembly 1320 being attached to the fluid actuator 1310, and the suction cup base 1370 being attached to the extendable leg assembly 1320 via a leveling frame 1360. The suction cup base 1370 is configured to provide holding force against the hull. The extendable leg assembly 1320 is configured to allow the underwater drilling system 1000 to float relative to the hull, as will be discussed in more detail below. The linear fluid actuator 1310 includes an output shaft 1311 configured to move up and down in response to fluid actuation. The expandable leg assembly 1320 includes an outer housing member 1321 fixedly attached to a linear fluid actuator 1310, an upper leg portion 1330 slidably supported within the outer housing member 1321, and a lower leg portion 1350 slidably supported within the outer housing member 1321. The upper leg portion 1330 is attached to and translated directly upward and downward by the output shaft 1311. The lower leg portion 1350 is spring-loaded by abutting against the upper leg portion 1330 via a spring mechanism 1340.

[0075] The spring mechanism 1340 includes a plunger shaft 1341 slidably supported within the upper leg portion 1330. The plunger shaft 1341 includes a plunger head 1342. The spring mechanism also includes a spring 1343 and a retaining nut 1344 positioned within the upper leg portion 1330. The spring 1343 is positioned between the plunger head 1342 and the nut 1344 such that when the suction cup base 1370 engages with the hull (e.g., by applying suction hydraulically), as the upper leg portion 1330 is translated upward by the output shaft 1311, the upper leg portion 1330 expands relative to the lower leg portion 1350 due to the retaining force provided by the suction cup base 1370 and the spring 1343. The lower leg portion 1350 is pinned via a pin 1345 to a groove 1322 in the plunger shaft 1341 and the housing member 1321. Pin 1345 holds plunger shaft 1341 to lower leg portion 1350 to allow retraction of upper leg portion 1330 via fluid actuator 1310. Upper leg portion 1330 is spring-loaded against nut 1344. As will be discussed in more detail below, attachment leg 1300 is configured to allow underwater drilling system 1000 to float relative to the hull while still providing holding force via suction cup base 1370.

[0076] Each suction cup base 1370 is attached to the lower leg portion 1350 via a leveling bracket 1360 to allow each attachment leg 1300 to conform to the uneven surface of the hull, as will be discussed in more detail below. The suction cup base 1370 includes a suction cavity 1371 defined in the underside of the suction cup base 1370 and a plurality of suction holes 1372, which are fluidly connected to fluid lines to create a vacuum in the suction cavity 1371 to secure each attachment leg 1300 to the hull.

[0077] Figure 10-13 and Figure 14-17 These are schematic diagrams showing the underwater drilling system 1000 being attached to the concave hull 2001 and the convex hull 2002 via attachment legs 1300. Figure 10 As can be seen, the expandable leg assembly 1320 is shown in a retracted configuration. From the retracted configuration, the fluid actuator 1310 is actuated to advance the output shaft 1311, thereby propelling the expandable leg assembly 1320 and the suction cup base 1370 toward the concave hull 2001 and into… Figure 11 The extended position is shown. For example... Figure 11 As can be seen, the suction cup base 1370 pivots or rotates to conform to the concave hull 2001 when in contact with it. After the suction cup base 1370 has made full contact with the concave hull 2001, air and / or water are extracted from the suction cavity 1371 defined in the suction cup base 1370 through the suction port 1372 to secure the suction cup base 1370 to the concave hull 2001. In at least one case, a suction pump or vacuum pump 1003 is used. Figure 2 This is used to achieve suction within the suction chamber 1371.

[0078] In at least one case, sufficient contact between the suction cup base 1370 and the hull 2001 can be automatically determined by a pre-configured pressure relief valve, which is configured to stop the extension of the output shaft 1311 when a predetermined pressure is reached. This configuration prevents the fluid actuator 1310 from lifting the subsea drilling system 1000 from the hull 2001. In at least one case, the ROV is configured to maintain the application of a predetermined amount of positive downward force on the subsea drilling system to keep the subsea drilling system 1000 against the hull 2001. In at least one case, the gasket 1690 allows for a degree of self-leveling of the subsea drilling system 1000.

[0079] After suction force is established at the suction cup base 1370, the output shaft 1311 is retracted by the fluid actuator 1310 to place the attachment leg as... Figure 12 The first retaining configuration is shown in the diagram. The output shaft 1311 retracts to pull the upper leg portion 1330 upward relative to the lower leg portion 1350, thereby extending the expandable leg assembly 1320. This is achieved by a spring mechanism 1340. This retaining configuration causes the attachment leg 1300 to pull the underwater drilling system 1000 toward the hull 2001. In at least one case, the output shaft 1311 is locked after this retaining configuration is achieved. The expandable leg assembly 1320 allows the underwater drilling system to float or move slightly when the connecting flange assembly 1600 is mounted in the hull 2001 while maintaining maximum suction retaining force. In other words, the underwater drilling system 1000 is able to index toward the hull 2001 when the washer 1690 is compressed, thanks to the spring 1343. In at least one case, this arrangement eliminates the hydraulic pressure required to compensate for the movement of the underwater drilling system 1000 relative to the hull 2001 when the washer 1690 is compressed. In at least one case, hydraulic pressure (e.g., the hydraulic pressure of the attached leg 1300) is used in addition to the spring mechanism 1340 to index the underwater drilling system 1000. In at least one case, the output shaft 1311 is not locked after reaching the first holding configuration.

[0080] Due to the spring mechanism 1340, the underwater drilling system 1000 can float, resulting in the attachment leg 1300 obtaining... Figure 13The second retaining configuration is shown. In at least one case, during the installation of the connecting flange assembly 1600 via the self-tapping bolt 1200, the underwater drilling system 1000 is pulled closer to the hull 2001. This vertical approach is a result of the compression of the washer 1690 of the connecting flange assembly 1600 between the outer edge of the connecting flange assembly 1600 and the hull 2001 as the threads 1230 of the self-tapping bolt 1200 engage in the hull 2001. This engagement pulls the connecting flange assembly 1600 toward the hull 2001, thereby compressing the washer 1690. Without the extendable leg assembly, the vertical movement of the underwater drilling system 1000 relative to the hull after the attachment legs of the underwater drilling system have applied retaining force to the hull can cause inconsistencies in the magnitude of the retaining force applied by the attachment legs. In at least one case, this vertical approximation results in a loss of suction force supplied by the attachment legs utilizing the suction cup.

[0081] As mentioned above, Figure 14-17 This is a schematic diagram showing the underwater drilling system 1000 attached to the convex hull 2002 via attachment legs 1300. The operation of attachment legs 1300 is similar to that described above. Figure 10-13 The approach discussed is similar. In this case, the constant level 1360 allows the suction cup base 1370 to pivot in a direction different from the pivoting direction of the suction cup base 1370 when it contacts the concave hull 2001.

[0082] As described above, the drilling assembly 1400 of the underwater drilling system 1000 is configured to drill a main hole in the hull, and the connecting flange assembly 1600 is secured to the hull using the plurality of self-tapping studs 1200. Again, primarily refer to... Figure 1-3 The drilling assembly 1400 includes a rotary fluid actuator 1410 operatively coupled to a drive mechanism 1415. The drilling assembly 1400 also includes a first linear fluid actuator 1420 configured to linearly translate an outer drill pipe 1430, and a second linear fluid actuator 1440 configured to linearly translate a main drill pipe 1450. The outer drill pipe 1430 is configured to be rotated by the rotary fluid actuator 1410 via the drive mechanism 1415 to drive a self-tapping stud 1200. The main drill pipe 1450 is also configured to be rotated by the rotary fluid actuator 1410 via the drive mechanism 1415 to drill a master hole in the hull for fluid extraction. In at least one embodiment, the drive mechanism 1415 includes a clutch configured to selectively and independently drive each drill pipe 1430, 1450. In at least one instance, when the rotary fluid actuator 1410 is actuated, each drill rod 1430, 1450 rotates simultaneously.

[0083] The drilling assembly 1400 also includes a rotating bracket assembly 1470 surrounding the main drill rod 1450. Figure 3A The rotating bracket assembly 1470 is configured to rotate the entire drilling assembly 1400 about the drill axis defined by the main drill rod 1450, so as to align the outer drill rod 1430 with each self-tapping stud 1200. (Main Reference) Figure 3A The rotating carriage assembly 1470 includes a first linear fluid actuator 1471 and a second linear fluid actuator 1472 attached to the lower platform 1120, a drive link 1475 connected to the first and second linear fluid actuators 1471 and 1472, and a rotating carriage gear segment 1480 surrounding the main drill pipe 1450. The drive link 1475 is operably engaged with the rotating carriage gear segment 1480. The linear fluid actuators 1471 and 1472 can be cooperatively actuated to rotate the rotating carriage gear segment 1480, thereby aligning the outer drive shaft 1430 with each self-tapping stud 1200.

[0084] When the outer drive shaft 1430 is aligned with one of the self-tapping studs 1200, the first linear fluid actuator 1420 is actuated to advance the outer drive shaft 1430 toward the drive head 1211 of the self-tapping stud 1200 in its pre-arranged configuration. Once the outer drive shaft 1430 is operably engaged with the drive head 1211, the linear fluid actuator 1420 and the rotary fluid actuator 1410 can be cooperatively actuated to linearly and rotaryly drive the self-tapping stud 1200 into the hull from its pre-arranged configuration. Once the self-tapping stud 1200 is installed or broken, as discussed in more detail below, the first linear fluid actuator 1420 is actuated to retract the outer drill pipe 1430 back to its original position. Once the outer drill pipe 1430 is in its original position, the rotating carrier gear segment 1480 rotates to align the outer drill pipe 1430 with the other self-tapping stud 1200. Repeat this process until all self-tapping studs 1200 are secured to the hull and / or the connecting flange assembly 1600 is fully installed in the hull. In at least one instance, one or more of the self-tapping studs 1200 may break during the attachment of the connecting flange assembly 1600. In at least one instance, it is not necessary to fully drive each self-tapping stud 1200 into the hull to achieve full attachment of the connecting flange assembly 1600 to the hull.

[0085] As described above, the connecting flange assembly 1600 is secured to the hull by self-tapping studs 1200. In various situations, debris and / or waste fluid may be forced to escape from the holes drilled and / or tapped by each self-tapping stud 1200. Therefore, the connecting flange assembly 1600 includes a receiving structure 1650 for each self-tapping stud 1200 to attempt to address the problem of escaping debris and / or waste fluid. The receiving structure 1650 and the self-tapping studs will now be described in more detail. Figure 2 , 3As shown in Figure 27, the connecting flange assembly 1600 includes an outer edge 1641. The outer edge 1641 includes the plurality of receiving structures 1650. Each receiving structure 1650 is aligned with one of the self-tapping connecting studs 1200.

[0086] Now for reference Figure 18-26 Each self-tapping stud 1200 includes a head portion 1210, a shank 1220, a self-tapping thread 1230, and a cutting body 1240. The head portion 1210 includes a drive head 1211 configured to engage and rotate with an outer drill rod 1430. The head portion 1210 is configured to be secured within a bushing structure 1121 before engagement with the outer drill rod 1430. The head portion 1210 also includes an upper flange portion 1212. In at least one embodiment, the upper flange portion 1212 is also configured to be pushed downward by the outer drill rod 1430 to linearly advance the self-tapping stud 1200. The head portion 1210 also includes a main head flange (or locking collar) 1213 configured to abut against a connecting flange assembly 1600 when the self-tapping stud 1200 is installed into the hull.

[0087] Main reference Figure 18 The shank 1220 extends downward from the main flange 1213 to the self-tapping thread 1230. A break (or discontinuity) 1221 is provided between the shank 1220 and the self-tapping thread 1230, which will be discussed in more detail below. The self-tapping thread 1230 includes a tapered thread portion 1231 and a pressure relief groove 1232. The self-tapping thread 1230 is configured to be driven into the hull to secure the self-tapping connecting stud 1200, and thus the connecting flange assembly 1600, to the hull. The cutting body 1240 includes a tip 1241 and is configured to cut a hole in the hull for engagement of the self-tapping thread 1230.

[0088] Each receiving structure 1650 includes a receiving body 1651 and a bushing 1652 positioned on top of and inside the receiving body 1651. Overall, the receiving body 1651 and bushing 1652 define a receiving cavity 1653. In at least one embodiment, the receiving body is a conventional metal fitting, for example, a rigid structure to provide a self-tapping stud 1200 that can be fastened thereto. In at least one embodiment, the fitting is welded to an outer edge 1641. Any suitable rigid structure can be used. In at least one embodiment, the bushing 1652 comprises a rubber material. Any suitable material can be used to manufacture the bushing 1652. The bushing 1652 is configured to retain its position... Figure 19-26The position shown is such that the receiving cavity 1653 is maintained throughout the installation of the self-tapping stud 1200. Maintaining a constant volume in the receiving cavity 1653 throughout the installation of the self-tapping stud 1200 ensures space to prevent debris and / or waste liquid from interfering with the installation of the self-tapping stud 1200. For example, as the self-tapping stud 1200 is driven into the hull 1001, debris can float freely within the receiving cavity 1653 during installation, rather than becoming stuck between the self-tapping stud 1200 and the hull 1001. In at least one instance, the volume of the receiving cavity 1653 is based on the amount of debris predicted from the installation of the self-tapping stud 1200. For example, the volume of the receiving cavity 1653 is at least capable of accommodating a volume equal to the volume of metal chips from the hull with the maximum thickness through which the stud 1200 will attempt to be installed.

[0089] In at least one instance, the bushing is rigidly supported within the receiving body 1651, rather than on top of and inside the receiving body 1651. In this case, the bushing can be configured to slide downward relative to the receiving body 1651 during installation of the self-tapping connecting stud 1200. In at least one instance, the bushing is positioned near and / or at the bottom of the receiving body 1651, abutting against the outer edge 1641 of the connecting flange assembly 1600. In this case, the downward force applied to the bushing strengthens the seal to prevent fluid and / or debris from escaping through the hole drilled in the hull by the self-tapping connecting stud 1200.

[0090] Figure 18-24 The process of fully driving or installing the self-tapping stud 1200 into the hull 1001 using the housing structure 1650 is illustrated. For example, Figure 19 It shows the relationship with Figure 2 and Figure 3 The self-tapping stud 1200 shown is in the unacted position. To drive the self-tapping stud 1200 into the hull 1001, the outer drill rod 1430 engages with the drive head 1211. Figure 20 The self-tapping stud 1200 is driven downward through the receiving structure 1650 so that the cutting tip 1241 contacts the hull 1001. At this position, the self-tapping thread 1230 seals against the bushing 1652, thus initiating a seal between the bushing 1652 and the hull 1001. Once in contact with the hull 1001, the rotation and downward axial movement of the self-tapping stud 1200 continue to cut a hole in the hull 1001, wherein the self-tapping thread 1230 maintains a sealing engagement with the bushing 1652 to prevent debris and / or waste fluid from escaping from the receiving cavity 1653. Figure 21 ).

[0091] As the self-tapping stud 1200 is further driven into the hull 1001, the sealing engagement between the self-tapping stud 1200 and the bushing 1652 is transferred from the self-tapping thread 1230 to the shank 1220. Figure 22 Further axial movement and rotational actuation of the self-tapping stud provide a sealing engagement between the shank 1220 and the bushing 1652. Figure 23 Finally, after fully driving the self-tapping stud 1200 into place ( Figure 24 After the receiving structure 1650 secures the outer edge 1641 to the hull 1001, the outer drill pipe 1430 can be retracted and repositioned to drive another self-tapping stud 1200 through the other receiving structure 1650. During the installation of the self-tapping stud 1200, the receiving cavity 1653 may have collected waste fluid and / or debris, which will be trapped to, for example, prevent the release of fluid and / or debris into the surrounding seawater.

[0092] As described above, the self-tapping stud 1200 may break and / or fail during installation. The stud 1200 may break and / or fail for any number of reasons. For example, unpredictable hull material (a hull harder than expected), unpredictable hull thickness (a hull thicker than expected), manufacturing irregularities of the self-tapping stud, and interfering objects inside the hull and / or hull where the cutting tip 1241 may strike, can all increase the risk of self-tapping stud failure during installation. Stud failure may result in accidental leakage of waste liquid and / or debris. The self-tapping stud 1200 and the receiving structure 1650 are configured to address these problems.

[0093] Turn Figure 25 The diagram illustrates a self-tapping stud 1200 in a first failure configuration. A breakpoint 1221 is provided on the stud 1200 to guide or isolate the mechanical failure of the self-tapping stud 1200 to the location of the breakpoint 1221 in the event of failure. Isolating the failure of the self-tapping connection reduces the likelihood of the stud 1200 failing at other locations, which would increase the risk of waste liquid and / or debris leakage. Furthermore, the bushing 1652 is configured to retain the head portion 1210 and the shank portion 1220 after failure to maintain a sealed receiving cavity 1653 and to trap any waste liquid and / or debris that escapes during the installation of the self-tapping stud 1200.

[0094] Turn Figure 26The diagram illustrates a self-tapping stud 1200 in a second failure configuration. In this case, the break is located within the self-tapping thread 1230. This failure may be less severe than failures at other locations due to reasons similar to those listed above for the first failure configuration. A sealing engagement is maintained between the bushing 1652 and the self-tapping thread 1230, and the bushing 1652 retains the position of the failed portion of the self-tapping stud 1200 after failure. Although the hole is not completely drilled during this failure, metal shavings generated during a portion of the drilling can be captured in the receiving cavity 1653.

[0095] Refer again Figure 1-3 After the connecting flange assembly 1600 is secured to the hull by the self-tapping stud 1200, the rotary fluid actuator 1410 and the second linear fluid actuator 1440 are cooperatively actuated to cause the main drill rod 1450 to advance and rotate linearly. Discussed in more detail below, the main drill rod 1450 is configured to cut or drill a main hole in the hull using a guide drill bit 1451 and an annular cutter 1452. In at least one instance, the main drill rod 1450 is driven by gears within a transmission 1415 according to the torque and speed requirements for drilling the main hole in the hull for fluid extraction, while the outer drill rod 1430 is driven by gears within the transmission 1415 according to different torque and speed requirements for driving the self-tapping stud 1200 into the hull. In at least one instance, a larger torque and a smaller speed are optimal for the main hole, while a limited torque and a larger speed are optimal for driving the self-tapping stud 1200 into the hull. Any suitable combination of torque and speed specifications can be used.

[0096] In at least one instance, multiple connecting flange assemblies 1600 are configured for use with the subsea drilling system 1000 to provide multiple fluid access points through the hull. Therefore, referring again... Figure 1-3 as well as Figure 27-30 The connecting flange assembly 1600 can be connected to and disconnected from the frame connecting assembly 1130 of the frame 1100, and / or can be locked to and unlocked from the frame connecting assembly 1130 by the locking assembly 1160 of the frame 1100. In at least one instance, this occurs on board. In at least one instance, this occurs at a drilling site. In at least one instance, this is performed manually. In at least one instance, this is performed by an ROV.

[0097] Main reference Figure 27-30 The frame connection assembly 1130 includes a male connection portion 1140 that is fixedly attached to the lower platform 1120. The male connection portion 1140 includes a support flange 1141 and a male end 1142, which is configured to be received within the connection flange assembly 1600 as discussed in more detail below.

[0098] Main reference Figure 29 The connecting flange assembly 1600 includes a female connecting portion 1610 configured to receive a male connecting portion 1140 therein, a knife gate hole 1630, and a lower connecting portion 1640 including an outer edge 1641. The female connecting portion 1610 includes a connecting flange 1620 and a central bore 1621 configured to receive a male end 1142 of the male connecting portion 1140. In at least one embodiment, the central bore 1621 includes a machined inner surface configured to seal against the outer surface of the male connecting portion 1140. In at least one embodiment, the outer surface of the male connecting portion 1140 is also machined to ensure a tight-sealed interface between the inner surface of the central bore 1621 and the outer surface of the male connecting portion 1140. A gasket 1695 is also disposed between the male connecting portion 1140 and the central bore 1621. In at least one embodiment, the gasket 1695 is positioned within a recess in the male connecting portion 1140. In at least one embodiment, the washer 1695 is positioned in a groove on the inner surface of the central bore section 1621. The connecting flange 1620 includes a mating surface 1622 configured to mate with a corresponding mating surface 1143 of the male support flange 1141. The connecting flange 1620 also includes a plurality of grooves 1623 defined therein.

[0099] To connect the connecting flange assembly 1600 to the frame coupling assembly 1130, a locking assembly 1160 is positioned in its unlocked configuration. The locking assembly 1160 includes a linear fluid actuator 1163 and a locking ring 1161, which includes a plurality of locking claws 1162. The locking ring 1161 is axially fixed to the frame coupling assembly 1130; however, the locking ring 1161 is rotatable relative to the frame coupling assembly 1130 between a locked position and an unlocked position. The linear fluid actuator 1163 is actuated to rotate the locking ring 1161 relative to the frame coupling assembly 1130 between the locked and unlocked positions.

[0100] Once the locking ring 1161 is in its unlocked position, the groove 1623 of the connecting flange 1620 is axially aligned with the locking claw 1162 of the locking ring 1161, and the connecting flange assembly 1600 is brought into engagement with the supporting flange 1141, with the locking claw 1162 passing through the groove 1623. At this time, the main reference... Figure 28The linear fluid actuator 1163 is actuated to rotate the locking ring 1161 to the locked position, thereby rotating the locking claw 1162 relative to the connecting flange 1620, and thus rotating the groove 1623, thereby misaligning the claw 1162 and the groove 1623. When in its locked position, the locking ring 1161 is positioned such that the locking claw 1162 axially constrains the connecting flange assembly 1600 relative to the frame connecting assembly 1130. To remove the connecting flange assembly 1600 from the frame connecting assembly 1130, the locking ring 1161 is rotated by the linear fluid actuator 1163 to its unlocked position, so that the locking claw 1162 and the groove 1623 are axially realigned, allowing the male connecting portion 1140 to be removed from the female connecting portion 1610.

[0101] like Figure 28 As can be seen, the male connecting portion 1140 includes a chamfered edge 1144. Such a chamfered edge facilitates insertion of the male connecting portion 1140 into the female connecting portion 1610. In at least one embodiment, the male connecting portion 1140 is axially constrained not only by the mating surface 1143 of the male support flange 1141 but also by a shoulder 1624 defined within the connecting flange 1620. In at least one embodiment, the male connecting portion 1140 is axially constrained only by the shoulder 1624.

[0102] A guiding system is used to prevent the connecting flange assembly 1600 and the rest of the underwater drilling system 1000 from rotating relative to each other. (Main Reference) Figure 27-29 The guiding system includes guide lugs 1390 extending from each housing member 1321 and corresponding guide posts 1642 extending from the lower connecting portion 1640. Each lug 1390 includes an inlet groove portion 1391 and a retaining groove portion 1392 configured to capture the post 1642. The inlet groove portion 1391 includes a tapered profile to guide a tighter fit between the post 1642 and the lug 1390. Each post 1642 includes an inlet surface 1643 configured to facilitate alignment of the post 1642 with the inlet groove portion 1391. Relative rotation between the attachment leg 1300 and the connecting flange assembly 1600 is prevented when the post 1642 is positioned within the retaining groove portion 1392. When the underwater drilling system 1000 is removed from the mounted connecting flange assembly 1600, the lugs 1390 slide off the posts 1642.

[0103] refer to Figure 28In various situations, the manual unlocking actuator 1170 is connected to the locking assembly 1160 to allow manual rotation of the locking ring 1161. For example, in an emergency, this actuator can be used to request disengagement or unlocking of the frame coupling assembly 1130 and the connecting flange assembly 1600. In at least one instance, the unlocking actuator 1170 is configured to release hydraulic pressure from the linear fluid actuator 1163 to automatically rotate the locking ring 1161 back to its unlocked position.

[0104] Main reference Figure 29 After the connecting flange assembly 1600 is secured to the hull and the main bore is drilled, the cutter gate 1660 of the connecting flange assembly 1600 is actuated to seal the connecting flange assembly 1600, preventing additional fluid, besides waste fluid and / or debris that may have escaped from the ship during drilling the main bore, from flowing out of the sunken ship and allowing the drainage of waste fluid within the connecting flange assembly 1600, as will be discussed in detail below. When the cutter gate 1660 is actuated, it divides the drill chamber into an upper drill chamber and a lower drill chamber through which the drill rod passes to drill the main bore. In at least one instance, the cutter gate 1660 is actuated by a linear fluid actuator.

[0105] The knife gate 1660 includes a gate frame 1661 and a knife gate bore 1630 extending from the gate frame 1661. The knife gate bore 1630 is secured between a connecting flange 1620 and a lower connecting portion 1640. In at least one embodiment, the female connecting portion 1610, the knife gate bore 1630, and the lower connecting portion 1640 are integrally formed. The knife gate bore 1630 includes a knife groove 1631 extending laterally through half of the knife gate bore 1630. The knife gate 1660 also includes a sealing knife 1670 slidably supported within the gate frame 1661 and configured to be received within the groove 1631 to provide a fluid seal between the female connecting portion 1610 and the lower connecting portion 1640. In at least one embodiment, the gate 1670 includes a crescent-shaped end to save space within the connecting flange assembly 1600 and maximize the effectiveness of the seal provided by the gate 1660 by limiting the profile of the gate 1670 to correspond to the interior of the gate bore 1630 and allowing the edge of the crescent-shaped end to press against the interior of the gate bore 1630. In at least one embodiment, a rubber cap is provided on the crescent-shaped end to further enhance the fluid seal of the gate 1670 within the gate bore 1630. The sealing gate 1670 may comprise any suitable material, such as metal, plastic, wood, and / or rubber.

[0106] After the gate 1660 is closed, waste fluid and / or debris that escaped from the main borehole during drilling is captured within the upper drill chamber defined in the male connection portion 1140. The waste fluid and / or debris in the upper drill chamber are now discharged from the upper drill chamber into the waste box assembly 1800 of the subsea drilling system 1000 in an attempt to reduce or eliminate the escape of waste fluid and / or debris into the surrounding medium (e.g., seawater) when the rest of the subsea drilling system 1000 separates from the mounted connecting flange assembly 1600.

[0107] The discharge of waste fluid and / or debris from the upper drill cavity into the waste collection box assembly 1800 will now be described. (Main Reference) Figures 31-36 Waste fluid "WF" and / or debris are configured to be discharged from the upper drill cavity into the waste collection box assembly 1800. For example... Figures 31-36 As can be seen, a drill cavity 1850 is defined within the frame connecting assembly 1130 and the connecting flange assembly 1600 when they are operably connected to each other via the aforementioned locking assembly 1160. The drill cavity 1850 is defined as a chamber within the frame connecting assembly 1130 and the connecting flange assembly 1600 through which the drill bit passes to drill a main hole in the hull 1001.

[0108] The waste bin assembly 1800 includes a waste bin 1810 mounted to a frame 1100. The waste bin 1810 is configured to collect and store waste fluid (WF) and / or debris discharged from the drill duct 1850. The waste bin 1810 includes a vent 1811 and a volume rod 1820. The volume rod 1820 is configured to move relative to the housing of the waste bin 1810 as the waste fluid (WF) and / or debris push the volume rod 1820 upward relative to the housing.

[0109] like Figure 31 As can be seen, the main drill pipe 1450 is shown in the unacted position and has not yet drilled out of the main hole. Before drilling out of the main hole, the main drill pipe 1450 is linearly translated slightly towards the hull 1001. Figure 32 The pressure within the drill cavity 1850 is increased by increasing the volume of material within the main drill pipe 1450. This pressure increase at this stage is to test the seal of the drill cavity 1850. The pressure is indicated by a pressure gauge 1833. In at least one instance, for example, while the main drill pipe 1450 is held in the unacted position, a fluid such as seawater is pumped into the drill cavity 1850 to increase the pressure within the drill cavity 1850 and test the seal. In at least one instance, the pressure within the drill cavity 1850 is regulated and / or controlled by a check valve.

[0110] Once sufficient sealing is detected, the main drill pipe 1450 is driven through the drill chamber 1850 and into the hull 1001. Figure 33The main borehole is drilled in the hull 1001 using a guide drill bit 1451 and an annular cutter 1452. In at least one instance, drilling the main borehole and retracting the main drill string 1450 to its initial position causes waste fluid (WF) and / or debris to leak into the drill chamber 1850. Once the main borehole is drilled, the main drill string 1450 retracts to its initial position. Figure 34 And the knife gate 1660 is actuated to sealably divide the drill chamber 1850 into an upper drill chamber 1851 and a lower drill chamber 1852. For example... Figure 34 As can be seen, waste fluid (WF) and / or debris are present in the upper drill chamber 1851 and the lower drill chamber 1852. Waste fluid (WF) and / or debris can now be discharged from the upper drill chamber 1851 and enter the waste collection box 1810.

[0111] refer to Figure 35 To remove waste fluid WF and / or debris from the upper drill chamber 1851, pump 1830 pumps seawater “W” into the upper drill chamber 1851 via check valve 1831, which is configured to prevent backflow of fluid from the upper drill chamber 1851 toward the pump. In at least one instance, before, during, and / or after pumping seawater W into the upper drill chamber 1851, the main drill pipe 1450 rotates to agitate the waste fluid WF and seawater W in the upper drill chamber 1851. In at least one instance, the main drill pipe 1450 rotates continuously while the waste collection box 1810 is filled with waste fluid WF.

[0112] Pumping seawater W into the upper drill chamber 1851 causes waste fluid WF and / or debris to be emptied into the waste container 1810 via an outlet 1832 in fluid communication with the frame connection assembly. In at least one embodiment, the outlet 1832 is in fluid communication with the male connection portion 1140. The outlet 1832 includes a check valve 1834 configured to prevent backflow of fluid from the waste container 1810 toward the upper drill chamber 1851. In at least one embodiment, the check valve 1834 is also configured to regulate and / or control the pressure within the drill chamber 1850 and / or the upper drill chamber 1851.

[0113] Still referencing Figure 35 As waste fluid (WF) and / or debris flow into the waste collection box 1810, the volumetric rod 1820 is pushed upward by its plunger head 1821 as the waste collection box 1810 is filled with waste WF. In at least one instance, air can be trapped below the plunger head 1821 within the waste collection box 1810. The plunger head 1821 includes a check valve 1822 configured to automatically purge the air trapped within the waste collection box 1810. In at least one instance, when the subsea drilling system 1000 is brought to the surface, the air trapped within the waste collection box 1810 may expand. The air will be discharged through the check valve 1822. The vent 1811 is further configured to remove fluid (e.g., seawater) from the waste collection box 1810 as the volumetric rod 1820 is pushed upward by the waste WF.

[0114] In at least one embodiment, the volume rod 1820 is configured to be pulled upward during the removal of fluid from the upper drill chamber 1851 via a fluid linear actuator to draw waste fluid WF from the upper drill chamber 1851. Suction force can be applied by the plunger head 1821, and water can be pumped into the upper drill chamber 1851 via the pump 1830. In at least one embodiment, no pump is used, and ambient water can be drawn into the upper drill chamber 1851 from the waste container 1810 via a check valve. In at least one embodiment, a vacuum pump is used within the waste container 1810 to apply further suction force to the fluid in the upper drill chamber 1851.

[0115] In at least one instance, the waste container 1810 is sized to receive three times the volume of the upper drill chamber 1851. In this case, the waste fluid (WF) within the upper drill chamber can be purged three times before removing the subsea drilling system 1000 from the connecting flange assembly 1600, ensuring that clean residual fluid (e.g., as close to 100% seawater as possible) remains within the upper drill chamber 1851. The waste container 1810 can include any suitable size. The waste container 1810 also includes a transparent housing to facilitate visual inspection of the contents during the purging of the upper drill chamber 1851. In at least one instance, the contents of the waste container 1810 can be monitored by and / or via an ROV.

[0116] Once the waste container 1810 is filled and / or the emptying process is complete, the male coupling portion 1140 and the connecting flange assembly 1600 are disengaged to remove the underwater drilling system 1000 from the connecting flange assembly 1600. The underwater drilling system 1000 containing the full waste container 1810 can be brought to the surface to empty and / or flush the waste container for subsequent use. In at least one instance, the waste container 1810 allows for the collection of samples of the collected waste fluid (WF) prior to the full fluid extraction process. Furthermore, at this point, a hose assembly can be connected to the connecting flange assembly 1600, the knife gate 1660 can be opened, and fluid can be extracted from the hull (e.g., via the full fluid extraction process).

[0117] Under various circumstances, air trapped within the hull may be encountered during the drilling of the main borehole by the underwater drilling system 1000. This air can flow into the underwater hoses and / or components of the underwater drilling system 1000, and when the underwater drilling system 1000 is brought to the surface, this air can expand rapidly and potentially cause overpressure on the underwater hoses and / or components of the underwater drilling system 1000. This rapid expansion can damage the underwater hoses and / or components of the underwater drilling system 1000.

[0118] Main reference Figure 37 and Figure 38The underwater drilling system 1000 utilizes an automatic venting valve assembly 1900 to automatically ventilate or release air encountered during drilling the main borehole within the hull. The automatic venting valve assembly 1900 operates through outlet 1832 (… Figure 31 The upper drill chamber 1851 is in fluid communication with the automatic vent valve assembly 1900 via a female connection portion 1610. Figure 30 ) and / or male connector 1140 ( Figure 30 It is in fluid communication with the upper drill chamber 1851. In any case, the air flowing out of the hull and into the upper drill chamber 1851 is configured to be automatically discharged to the outlet 1832 via the inlet exhaust line 1901.

[0119] The automatic exhaust valve assembly 1900 includes an inlet shaft 1920 in fluid communication with an inlet exhaust line 1901 and a head portion 1930 in fluid communication with the inlet shaft 1920, through which air from the inlet exhaust line 1901 is configured to be exhausted. The inlet shaft 1920 and the head portion 1930 are pivotally connected to a frame 1100 and / or the inlet exhaust line 1901 via a fluid pivot coupling 1910, allowing the inlet shaft 1920 and the head portion 1930 to be aligned to their shallowest position via an external float member 1940 while maintaining fluid communication. In at least one embodiment, the inlet exhaust line 1901 includes a rigid fluid line and / or a flexible fluid line. In at least one embodiment, the inlet shaft 1920 includes a rigid fluid shaft and / or a flexible fluid shaft. In at least one embodiment, the fluid pivot coupling 1910 includes a hydraulically rotating toggle.

[0120] Main reference Figure 38 The head portion 1930 includes an external float assembly 1940 configured to facilitate the head portion 1930 toward a pressure equilibrium position (e.g., the shallowest point in the ocean) when the underwater drilling system 1000 is attached to the hull. The head portion 1930 also includes an internal valve chamber 1950 and a shuttle valve body 1960 movable up and down within the internal valve chamber 1950. The internal valve chamber 1950 includes a chamber wall 1951 defining a chamber cavity 1952. The shuttle valve body 1960 is capable of free movement within the chamber cavity 1952 and relative to the chamber wall 1951. Figure 38 As can be seen, the head portion 1930 includes a fluid inlet through which waste liquid and air can enter the chamber 1952 from the inlet shaft 1920.

[0121] The shuttle valve body 1960 includes an internal float member 1961 and an internal passage 1962, the internal passage including a passage wall 1963. The passage 1962 is configured to allow fluid and / or air to flow freely through it from the chamber 1952. The shuttle valve body 1960 also includes an upper vent head 1964, which includes a vent 1965 defined therein, the vent being configured to allow air in the passage 1962 to flow through it and into the upper portion of the chamber 1952. The head portion 1930 also includes a base plate 1931 and a vent top plate 1970, the vent top plate including a vent 1971, the vent being configured to be sealed and released by a flange plug 1966 of the shuttle valve body 1960, as discussed in more detail below.

[0122] Air and / or waste fluid are configured to flow into chamber 1952 during automatic venting from the drill duct. Because waste fluid is denser than air, it is configured to accumulate at the bottom of chamber 1952, while air passes through the waste fluid into chamber 1952, ascends into passage 1962, and enters the upper portion of chamber 1952 through vent 1965. The waste fluid is configured to push shuttle valve body 1960 upward within chamber 1953. When the pressure buildup from the air escaping into the upper portion of chamber 1952 exceeds the pushing force applied to shuttle valve body 1960 via internal float member 1961, the air pressure pushes shuttle valve body 1960 downward. This downward movement of shuttle valve body 1960 causes flange plug 1966 to move from top plate 1970, thereby allowing trapped air to be discharged through vent 1971 into the ocean and / or ambient air. In at least one instance, any air encountered inside the hull during drilling of the main borehole is configured to be continuously vented from the system via an automatic vent valve assembly 1900.

[0123] In at least one instance, a check valve (or non-return valve) prevents waste liquid from flowing into the head portion 1930. In such an instance, the automatic vent valve assembly 1900 operates in a manner similar to that described above; however, the air pressure buildup in the upper part of the chamber cavity 1952 only needs to exceed the air pressure buildup below the shuttle valve body 1960 to cause the shuttle valve body 1960 to move downward to release the trapped air. In at least one instance, when the chamber cavity 1952 is filled with air, the shuttle valve body 1960 is configured to slide to the bottom head portion 1930, and the air is released through the vent 1971. In any case, waste liquid is prevented from escaping from the automatic vent valve assembly.

[0124] Once removed from the installed connecting flange assembly 1600, the remainder of the underwater drilling system 1000 can be transported back to the surface, for example by an ROV, to reinstall the float assembly 1005, reload the additional connecting flange assembly, clean and / or flush the waste box assembly 1800, and prepare for the installation of the next connecting flange assembly. In at least one instance, the float assembly 1005 is reinstalled back onto the frame 1100 before the above steps occur. In at least one instance, another connecting flange assembly is aligned with the male coupling portion 1140 of the frame 1100, and the locking assembly 1160 locks the male coupling portion 1140 and the new connecting flange assembly.

[0125] The fluid actuators disclosed herein may include any suitable fluid actuator, such as rotary hydraulic actuators, linear hydraulic actuators, rotary pneumatic actuators, linear pneumatic actuators, hydraulic drilling rigs, and / or pneumatic drilling rigs. In at least one instance, any fluid actuator disclosed herein may be replaced by an electric actuator, such as a rotary electric actuator, a linear electric actuator, and / or an electric drilling rig.

[0126] The fluid used within the fluid actuator may include any suitable actuator fluid, such as hydraulic fluid and / or air.

[0127] Figure 39 This is a schematic diagram of a control system 4000, which includes a surface component 4100 and a subsea component 4200 of a drilling rig assembly 4220. The surface component 4100 and the subsea component 4200 cooperate to allow a user, for example, to operate the drilling rig assembly 4220 from a ship. The surface component 4100 is positioned, for example, on a ship and is configured to send electrical power to the subsea component 4200, send and receive hydraulic fluid, and send and receive data signals. The subsea component 4200 includes a transport center 4210 configured to transport the drilling rig assembly 4220 from the ship to the drilling site and also control fluid flow, electrical signals, and data signal transmission between the surface component 4100 and the drilling rig assembly 4220. For example, once the transport center 4210 is positioned, for example, on the seabed near the drilling site, the drilling rig assembly 4220 is removed from the transport center 4210 and positioned at the target drilling location on the shipwreck.

[0128] The surface component 4100 includes a control interface 4110, a power control box 4120, and a hydraulic power unit 4130, configured to supply electrical power, hydraulic fluid, and data signals to the submersible component 4200. The control interface 4110 may include, for example, a computer. An operator uses the control interface 4110 to send commands in the form of data signals to the power control box 4120, which then transmits the commands and power to the submersible component 4200. The hydraulic power unit 4130 is positioned in the hydraulic circuit of the system 4000 to control the flow of hydraulic fluid through the submersible component 4200. The surface component 4100 also includes an optional system comprising a pump 4140 configured to deliver fluid to a borehole location to eject debris from the borehole. All electrical and fluid transmission between the surface component 4100 and the submersible component 4200 is achieved via transmission cables and hoses. Data signals may be transmitted via, for example, Ethernet cables, fiber optic cables, and / or coaxial cables.

[0129] Transport center 4210 is moored to surface component 4100 and drilling rig assembly 4220 to control the transmission of electrical, hydraulic fluid, data signals, and electrical signals between surface component 4100 and drilling rig assembly 4220. Transport center 4210 includes valve housing 4211 and isolated electrical compartment (or cavity) 4212. Valve housing is configured to house non-fluid-sensitive transmission components, and isolated electrical compartment is configured to house fluid-sensitive transmission components. Valve housing 4211 includes internal fluid valves and electronics such as proportional valves, pressure relief valves, pressure sensors, valve control modules, and solid-state relays. Isolated electrical compartment 4212 includes a dry environment for housing control circuitry 4213, such as a programmable logic controller (PLC). PLC 4213 is connected to the electronics within valve housing 4211, such as relays, sensors, and valve control modules. The programmable logic controller 4213 is also connected to the surface component to send and receive data signals to and from the control interface 4110, enabling the programmable logic controller 4213 to communicate with the control interface 4110 to receive instructions from and transmit information to the control interface 4110. Instructions can be received from the control interface 4110, instructing the programmable logic controller 4213 to activate relays and / or regulating valves within the valve housing 4211 using a remote control module. Information corresponding to information collected by sensors within the valve housing 4211 can be transmitted to the control interface 4110.

[0130] The control circuitry may include a microcontroller comprising one or more processors (e.g., a microprocessor, a microcontroller) coupled to at least one memory circuit. The memory circuit stores machine-executable instructions that, when executed by the processor, cause the processor to perform the machine instructions to implement the various processes described herein. The processor may be any of many single-core or multi-core processors known in the art. The memory circuit may include volatile and non-volatile storage media. The processor may include an instruction processing unit and an arithmetic unit. The instruction processing unit may be configured to receive instructions from the memory circuit.

[0131] The drilling rig assembly 4220 includes several components, some of which require electrical, electrical signal, fluid, and / or data transmission. The drilling rig assembly 4220 includes a mounting system comprising multiple magnets 4221, which may be, for example, electromagnets, to secure the drilling rig assembly 4220 to a magnetic material (e.g., a ship's hull), as further described herein. The electromagnets 4221 receive power from a power control box 4120 via a valve box 4211. To activate the electromagnets 4221, power can be supplied when a command from the control interface 4110 is sent to the programmable logic controller 4213 to switch a relay in the valve box 4211 to the open state. Similarly, to deactivate the electromagnets 4221 and remove the drilling rig assembly 4220 from the hull, power can be cut off when a command from the control interface 4110 is sent to the programmable logic controller 4213 to switch a relay in the valve box 4211 to the closed state.

[0132] The drilling rig assembly 4220 also includes a drilling system, as discussed in more detail herein, comprising a linear actuator system 4223 and a drill bit drive system 4224 configured to move up and down by the linear actuator system 4223 and configured to drill a self-tapping drill bit assembly into the hull. The linear actuator system 4223 may include, for example, a hydraulic cylinder requiring hydraulic fluid to flow in and out of the cylinder to move it, thereby causing the drill bit drive system 4224 to move up and down. The hydraulic fluid is configured to flow between the hydraulic power package 4130, the valve box 4211 in the transport center 4210, and the hydraulic cylinder. To control the position of the drill bit drive system 4224, a valve control module in the valve box 4211 can adjust the valve configuration within the valve box 4211 according to instructions received from the programmable logic controller 4213 to regulate fluid flow to the hydraulic cylinder to actuate it. The position of the drill bit drive system 4224 can be monitored by monitoring the pressure in the hydraulic cylinder fluid circuit using a pressure sensor in valve box 4211. The monitored pressure can be transmitted to control interface 4110, allowing the operator to be informed of the position of the drill bit drive system 4224 during operation of the drill assembly 4220.

[0133] The drill bit drive system 4224 is configured to drill a self-tapping drill bit assembly into the hull. The drill bit drive system 4224 may include a hydraulic drill rig, for example, requiring hydraulic fluid to flow in and out of the hydraulic drill rig to drive it and thus rotate the self-tapping drill bit assembly clockwise and counterclockwise. The hydraulic fluid is configured to flow between the hydraulic power package 4130, the valve box 4211 in the transport center 4210, and the hydraulic drill rig. To control the rotation of the hydraulic drill rig, a valve control module in the valve box 4211 can adjust the valve configuration within the valve box 4211 based on instructions received from the programmable logic controller 4213 to regulate fluid flow to the hydraulic drill rig to actuate it. The pressure required to drive the drill bit assembly into the hull can be monitored by monitoring the pressure in the hydraulic drill rig's fluid circuit using pressure sensors in the valve box 4211 to determine the amount of resistance experienced by the hydraulic drill rig during drilling. The monitored pressure can be sent to the control interface 4110, allowing the operator to adjust the drill bit drive system 4224 and / or the linear actuator system 4223 accordingly. For example, the operator can reduce the speed of the hydraulic drill and / or increase the drill bit drive system 4224 to reduce the resistance experienced by the hydraulic drill.

[0134] The drilling assembly 4220 includes various other components. For example, the drilling assembly 4220 includes: an underwater camera 4225 to allow an operator to see the drilling location; an underwater light 4226 to illuminate the drilling location for camera visibility; and one or more proximity sensors 4222 configured to determine the relative position of the drilling assembly 4220 to the hull and / or the relative position of the drill assembly to the hull during drilling. The underwater camera 4225, the underwater light 4226, and the one or more proximity sensors 4222 require power from the transport center 4210. The underwater camera 4225 needs to transmit data signals between the underwater camera 4225 and the control interface 4110 so that an operator can see the drilling location through the control interface 4110. The one or more proximity sensors 4222 require electrical and / or data signal transmissions so that the programmable logic controller 4213 can send the relative positions between the components to the control interface 4110.

[0135] The various components 4000 of the system may include analog and / or digital components. For example, when using analog sensors, there is no need to send and receive digital data from the analog sensors, thus simplifying the system 4000. When using digital sensors, it is necessary to send and receive digital data from the digital sensors. In all cases, both analog and digital components are used; however, any suitable arrangement of analog and digital components can be employed. Some analog components can provide greater simplicity to the system. For example, some digital components can provide higher accuracy than their analog counterparts. Furthermore, where digital components are used, the analog-to-digital conversion required for the signals can be performed in a converter installed on the ship, further simplifying the system containing digital components.

[0136] The drilling assembly 4220 may also include a water jet nozzle 4227 configured to receive fluid (e.g., water) from the pump 4140 to jet away debris at the drilling location. This system bypasses the transport center 4210 and control interface 4110 to increase the simplicity of the system 4000; however, for example, the water jet nozzle 4227 and pump 4140 may be integrated with other components to increase the controllability of the water jet nozzle 4227 and pump 4140.

[0137] Any transmission lines (e.g., electrical cables and fluid hoses) in System 4000 can be attached to and detached from the components to which they are connected, allowing for quick and / or easy replacement of components if replacement and / or repair is required. System 4000 may also include a variety of non-removable transmission lines to reduce the possibility of leakage caused by some detachable / attachable interfaces. System 4000 may include both detachable / attachable and non-removable transmission lines.

[0138] Example

[0139] Example group 1:

[0140] Example 1 - An underwater drilling assembly includes: a drilling assembly; a connecting flange assembly configured to be attached to a hull via the drilling assembly, wherein the connecting flange assembly includes a plurality of guide lugs; and a frame supporting the drilling assembly. The frame includes a lower platform including attachment legs extending therefrom, wherein the attachment legs are configured to attach the underwater drilling assembly to the hull. Each attachment leg includes a fluid actuator including an output shaft, an extendable leg assembly attached to the output shaft, and a suction cup base attached to the extendable leg assembly via a ball joint; and a guide flange including a groove configured to receive one of the guide lugs of the connecting flange assembly.

[0141] Example 2-Example 1 underwater drilling assembly, wherein the expandable leg assembly includes an upper leg portion and a lower leg portion, the upper leg portion being attached to and movable by the output shaft, and the lower leg portion being spring-loaded against the upper leg portion to allow retraction movement of the upper leg portion relative to the lower leg portion when the output shaft retracts.

[0142] Example 3-Example 1 or 2 of an underwater drilling assembly, wherein the expandable leg assembly further includes a housing body including a groove defined therein, wherein the lower leg portion includes a plunger attached to the lower leg by a pin, wherein the pin extends radially outward from the plunger and is received within the groove.

[0143] Example 4 - Example 1, 2 or 3: an underwater drilling assembly in which the housing is fixedly attached to the lower platform.

[0144] Example 5 - Example 1, 2, 3 or 4 underwater drilling assembly, wherein the connecting flange assembly includes guide fins, wherein the housing includes a guide bracket extending from the lower end of the housing, wherein the guide bracket includes a groove, wherein the guide fins are positionable within the groove to guide the frame relative to the connecting flange assembly.

[0145] Example 6 - Example 1, 2, 3, 4 or 5 of an underwater drilling assembly, wherein the lower leg portion includes a plunger, wherein the plunger includes a head slidably supported within the upper leg portion, and wherein a helical spring is located between the head and the bottom of the upper leg portion.

[0146] Example 7 - Example 1, 2, 3, 4, 5 or 6 of an underwater drilling assembly, wherein the fluid actuator includes a hydraulic actuator.

[0147] Example 8 - Example 1, 2, 3, 4, 5, 6 or 7 of an underwater drilling assembly, wherein the lower leg portion includes a spherical portion extending therefrom, wherein the suction cup base includes a socket, and wherein the spherical portion is located within the socket.

[0148] Example 9 - An underwater drilling assembly frame includes a frame and a plurality of legs configured to secure the frame to a hull, wherein each leg includes a suction cup base, a piston, an outer post fixedly attached to the frame, and an inner post positioned within the outer post, wherein the inner post includes an upper tube and a lower leg, the upper tube being fixedly attached to the piston, the lower leg being vertically constrained relative to the suction cup base, wherein the piston is actuable to extend the upper tube relative to the lower leg to pull the upper tube away from the hull.

[0149] Examples 10-9 show underwater drilling assembly frames, wherein the lower leg is spring-loaded against the upper tube.

[0150] Example 11-Example 9 or 10: an underwater drilling assembly frame in which the outer post includes a groove defined therein, and the lower leg includes a plunger attached to the lower leg by a pin, wherein the pin extends radially outward from the plunger and is received within the groove.

[0151] The underwater drilling assembly frame of Examples 12-9, 10, or 11 further includes a flange mountable to a hull, wherein the flange includes guide fins, wherein the outer post includes a guide bracket extending from the lower end of the outer post, wherein the guide bracket includes a groove, wherein the guide fins are positionable within the groove to guide the frame relative to the flange.

[0152] Example 13-Examples 9, 10, 11 or 12: an underwater drilling assembly frame, wherein the lower leg includes a plunger, wherein the plunger includes a head slidably supported within the upper tube, and wherein a helical spring is located between the head and the bottom of the upper tube.

[0153] Example 14 - Example 9, 10, 11, 12 or 13: underwater drilling assembly frame in which the piston can be actuated by a hydraulic actuator.

[0154] Example 15-Examples 9, 10, 11, 12, 13 or 14: an underwater drilling assembly frame in which the lower leg includes a ball extending therefrom, the suction cup base includes a socket, and the ball is positioned within the socket.

[0155] Example 16 - A method for attaching an underwater drilling assembly to a hull, wherein the underwater drilling assembly includes a frame, a drilling assembly attached to the frame, and a connecting flange assembly including a gasket, wherein the frame includes a plurality of legs, each leg including a suction cup base and an extendable leg assembly, the method comprising lowering the underwater drilling assembly onto the hull and pressing the gasket against the hull to provide a seal with the hull via the connecting flange assembly, positioning each suction cup base of the plurality of legs against the hull, initiating a suction force to secure each suction cup base to the hull, actuating a fluid actuator of each leg to pull an upper leg portion of the extendable leg assembly of each leg to increase the holding force of the plurality of legs, attaching the connecting flange assembly to the hull, and drilling a hole in the hull.

[0156] The methods of Examples 17-16, wherein actuating a fluid actuator of each leg to pull the upper leg portion of the expandable leg assembly of each leg includes pulling the upper leg portion upward relative to the hull and the lower leg portion of the expandable leg assembly.

[0157] The method of Examples 18-16 or 17, wherein actuating a fluid actuator of each leg to pull the upper leg portion of an expandable leg assembly of each leg includes applying a pulling force to a suction cup base, the pulling force being less than the suction force applied by the suction cup base.

[0158] The method of Examples 19-16, 17 or 18, which further includes actuating spring mechanisms within the legs to allow each leg to move independently vertically relative to the hull.

[0159] Example group 2:

[0160] Example 1 - An underwater drilling assembly includes a frame, a drilling assembly supported by the frame, and a self-tapping stud actuated by the drilling assembly. The self-tapping stud includes a cutting body, self-tapping threads configured to secure the stud to a hull, a shank, and a driveable head. The underwater drilling assembly also includes a connecting flange assembly attachable to the hull via the self-tapping stud. The connecting flange assembly includes a washer, a central hole, and an outer edge including a receiving structure, wherein the washer is positioned between the outer edge and the hull. The receiving structure includes a sealing sleeve and a receiving cavity, wherein the self-tapping stud is configured to pass through the receiving cavity when the self-tapping stud is actuated by the drilling assembly to secure the outer edge to the hull, and wherein the sealing sleeve seals the receiving cavity when the self-tapping stud passes through the sealing sleeve.

[0161] Example 2-Example 1 underwater drilling assembly, wherein the self-tapping stud includes a discontinuity, which is configured to isolate mechanical failure of the self-tapping stud to the discontinuity.

[0162] Example 3 - Example 1 or 2 of an underwater drilling assembly, wherein the discontinuity is positioned to ensure that if the self-tapping stud fails, the discontinuity is located within the receiving cavity.

[0163] Example 4 - an underwater drilling assembly of Example 1, 2 or 3, wherein the receiving cavity is configured to contain debris leakage during the actuation of the self-tapping connection stud into the hull.

[0164] The underwater drilling assembly of Example 5 - Example 1, 2, 3 or 4 also includes multiple self-tapping studs, and wherein the outer edge includes multiple receiving structures.

[0165] Example 6 - Example 1, 2, 3, 4 or 5: an underwater drilling assembly in which the drilling assembly can rotate relative to the frame to drive each self-tapping stud into the hull.

[0166] Example 7 - Example 1, 2, 3, 4, 5 or 6 of an underwater drilling assembly, wherein the frame includes a plurality of sleeve structures attached to the frame, and wherein each of the self-tapping studs is held in an initial position by one of the plurality of sleeve structures.

[0167] Example 8 - Example 1, 2, 3, 4, 5, 6 or 7 of an underwater drilling assembly wherein the receiving structure includes a self-sealing sleeve to seal the internal chamber of the receiving structure against ambient water when a self-tapping connection stud is actuated through the self-sealing sleeve and into the receiving structure.

[0168] Example 9 - Example 1, 2, 3, 4, 5, 6, 7 or 8: an underwater drilling assembly in which the outer edge includes a first predetermined orifice, a washer includes a second predetermined orifice aligned with the first predetermined orifice, and a self-tapping stud can be actuated through the first and second predetermined orifices to engage the hull.

[0169] Example 10 - A fastening system for an underwater drilling assembly, wherein the fastening system includes a fastener and a port assembly, the port assembly including a gasket and a body that can be positioned against a hull. The body includes an outer edge, a sealing sleeve, and a receiving enclosure, wherein a receiving gap is defined by the receiving enclosure and the sealing sleeve, wherein the fastener is movable through the sealing sleeve, the receiving gap, and the gasket, and wherein the receiving gap is sealed when at least a portion of the fastener is positioned within the receiving gap.

[0170] Fastening systems of Examples 11-10, wherein the fasteners include discontinuous portions, are configured to isolate mechanical failures of the fasteners to the discontinuous portions.

[0171] Fastening systems of Examples 12-10 or 11, wherein the accommodating void is configured to accommodate debris leakage during fastener actuation into the hull.

[0172] The fastening system of Example 13-Examples 10, 11 or 12 further includes a plurality of fasteners, and wherein the outer edge includes a plurality of receiving enclosures aligned with the plurality of fasteners.

[0173] Fastening systems of Examples 14-10, 11, 12 or 13, wherein the outer edge includes a first predetermined orifice, wherein the washer includes a second predetermined orifice aligned with the first predetermined orifice, and wherein the fastener can be actuated to engage the hull through the first and second predetermined orifices.

[0174] Example 15 - A method for extracting fluid from a vessel using an underwater drilling assembly, the method comprising positioning the underwater drilling assembly on the hull of the vessel, actuating a leg assembly of the underwater drilling assembly to attach the underwater drilling assembly to the hull, driving at least one self-tapping stud through a connecting flange assembly including a receiving housing of the underwater drilling assembly into the hull using a fluid drill of the underwater drilling assembly to secure the connecting flange assembly to the hull, drilling a hole in the vessel using the fluid drill within an internal void defined in the connecting flange assembly, sealing the contents of the hole drilled by the fluid drill to ambient water using the connecting flange assembly, disengaging a portion of the underwater drilling assembly from the connecting flange assembly, and extracting fluid through the connecting flange assembly and the hole drilled by the fluid drill.

[0175] The methods of Examples 16-15, wherein driving at least one self-tapping stud with a fluid drill of an underwater drilling assembly further include driving the at least one self-tapping stud into a receiving housing to seal the internal contents of the receiving housing from ambient water, and driving the at least one self-tapping stud into a hull until the at least one self-tapping stud is fully secured to the hull, wherein the receiving housing contains the internal contents of the receiving housing throughout the driving of the at least one self-tapping stud.

[0176] The method of Examples 17-15 or 16, wherein the at least one self-tapping stud includes a starting position and an ending position, wherein at the starting position any part of the self-tapping stud is not located in the corresponding receiving cavity, and at the ending position discontinuous parts of the self-tapping stud are located in the corresponding receiving cavity.

[0177] The methods of Examples 18-15, 16 or 17 also include driving another self-tapping stud into the hull by using a fluid drill of an underwater drilling assembly through another housing.

[0178] Example group 3:

[0179] Example 1 - An underwater drilling assembly includes a drilling assembly, a connecting flange assembly configured to be attached to a hull, wherein the connecting flange assembly includes an upper flange and a female connecting portion, and a frame supporting the drilling assembly. The frame includes a lower platform, attachment legs extending from the lower platform and configured to attach the underwater drilling assembly to the hull, a male connecting portion attached to the lower platform, wherein the male connecting portion is configured to be received by the female connecting portion, wherein the male connecting portion includes a lower flange, and a locking assembly attached to the frame, wherein the locking assembly is configured to lock and unlock the upper and lower flanges to engage and disengage the male connecting portion and the female connecting portion.

[0180] Example 2-Example 1 underwater drilling assembly, wherein the locking assembly includes a locking ring configured to be rotated to engage and disengage the upper flange and the lower flange.

[0181] Example 3-Example 1 or 2 of an underwater drilling assembly, wherein a locking ring includes a plurality of radial locking lugs, wherein a lower flange includes a plurality of slots configured to receive the radial locking lugs, and wherein the locking ring is rotatable relative to the upper flange to axially lock the male coupling portion and the connecting flange assembly.

[0182] Example 4 - Example 1, 2 or 3 of an underwater drilling assembly, wherein the locking assembly further includes a hydraulic actuator configured to rotate the locking ring relative to the frame, the male coupling portion and the connecting flange assembly.

[0183] Example 5 - Example 1, 2, 3 or 4 of an underwater drilling assembly, wherein the male connection portion includes a sealing ring configured to fluidly seal the male connection portion and the female connection portion.

[0184] Example 6 - Example 1, 2, 3, 4 or 5 of an underwater drilling assembly wherein the connecting flange assembly further includes a guide post extending therefrom, the guide post being configured to engage an attachment leg to prevent relative rotation between the connecting flange assembly and the lower platform.

[0185] Example 7 - Example 1, 2, 3, 4, 5 or 6 of an underwater drilling assembly, wherein the male connection portion includes a machined outer surface and the female connection portion includes a machined inner surface, the machined inner surface being configured to engage with the machined outer surface.

[0186] Example 8 - Example 1, 2, 3, 4, 5, 6 or 7 of an underwater drilling assembly, wherein the male connection portion includes a chamfered tube edge that can be received within the female connection portion.

[0187] Example 9 - A component comprising: a frame defining a first hole; a connecting flange defining a second hole, wherein an axis passes through the first hole and the second hole, and wherein a drill bit is movable along the axis; and a locking device mounted to the frame, wherein the locking device is rotatable about the axis between a locked position and an unlocked position, wherein in the locked position the connecting flange is secured to the frame, and in the unlocked position the connecting flange is disengaged from the frame, such that the frame can be pulled away from the connecting flange when the connecting flange is fastened to the hull.

[0188] Components of Examples 10-9, wherein the locking device includes a locking ring configured to be rotated to engage and disengage the connecting flange and the frame.

[0189] The components of Examples 11-9 or 10, wherein the locking ring includes a plurality of radially extending locking lugs, wherein the connecting flange includes a plurality of slots configured to receive the radial locking lugs, and wherein the locking ring is rotatable relative to the frame and the connecting flange to axially lock the frame and the connecting flange together.

[0190] The components of Examples 12-9, 10, or 11 further include a hydraulic actuator configured to rotate the locking ring relative to the frame and the connecting flange.

[0191] Components of Examples 13-9, 10, 11 or 12, wherein the frame includes a male connector, the male connector including a seal configured to fluidly seal the frame and the connecting flange.

[0192] Components of Examples 14-9, 10, 11, 12 or 13, wherein the frame includes a plurality of legs, and wherein the connecting flange further includes a guide post extending therefrom, the guide post being configured to engage the plurality of legs to prevent relative rotation between the connecting flange and the frame.

[0193] Components of Examples 15-9, 10, 11, 12, 13 or 14, wherein the frame includes a male connector having a machined outer surface, wherein the connecting flange includes a female connector having a machined inner surface configured to engage with the machined outer surface.

[0194] Components of Examples 16-9, 10, 11, 12, 13, 14 or 15, wherein the male connector includes a chamfered tube edge that can be received within the female connector.

[0195] Example 17 - A method for extracting fluid from a shipwreck using an underwater drilling assembly, the underwater drilling assembly including a frame, a drilling assembly attached to the frame, and a connecting flange assembly, the method comprising: attaching the connecting flange assembly to the frame using a hydraulic actuator; lowering the underwater drilling assembly to the exterior of the shipwreck; actuating a leg assembly of the underwater drilling assembly to hold the frame of the underwater drilling assembly to the exterior; driving at least one self-tapping stud through the connecting flange assembly and into the exterior using a fluid drill bit of the underwater drilling assembly to secure the connecting flange assembly to the exterior; drilling a hole in the shipwreck using the fluid drill bit within an internal cavity defined in the connecting flange assembly; sealing a chamber defined within the connecting flange assembly to ambient water using the connecting flange assembly; disengaging the connecting flange assembly from the frame using the hydraulic actuator; and extracting fluid through the connecting flange assembly and the hole drilled by the fluid drill bit.

[0196] The methods of Examples 18-17, wherein disengaging the connecting flange assembly from the frame using the hydraulic actuator includes rotating a locking ring from a locked position to an unlocked position such that the frame can be separated from the connecting flange assembly when the locking ring is moved to the unlocked position.

[0197] The method of Examples 19-17 or 18, wherein the locking ring includes a plurality of radial locking lugs extending inwardly therefrom, and wherein disengaging the connecting flange assembly from the frame with the hydraulic actuator includes rotating the radial locking lugs to align them with corresponding lug slots defined in the connecting flange assembly.

[0198] The method of Examples 20-17, 18 or 19 further includes, after rotating the radial locking lug to align it with the corresponding lug slot, lifting the frame vertically from the connecting flange assembly such that the radial locking lug passes through the corresponding lug slot.

[0199] Example group 4:

[0200] Example 1 - A method for flushing a drill cavity within an underwater drilling system, wherein the underwater drilling system includes a connecting flange assembly configured to be attached to a hull, wherein the connecting flange assembly includes an upper connecting portion, a lower connecting portion, and a cutter gate, and wherein the method includes: placing the underwater drilling system against the hull; securing the underwater drilling system to the hull; drilling self-tapping studs into the hull to secure the connecting flange assembly to the hull; pressurizing the drill cavity to test a first seal between the connecting flange assembly and the hull; advancing a main drill rod toward the hull to drill a main hole in the hull; retracting the main drill rod through the hull; closing the cutter gate of the connecting flange assembly to provide a second seal between the upper and lower connecting portions; and discharging fluid from the drill cavity into a waste container.

[0201] The method in Example 2-Example 1 also includes detaching the upper connection portion from the lower connection portion.

[0202] The method of Example 3-Example 1 or 2 further includes actuating the main drill pipe to agitate the fluid within the upper connection portion during the discharge of fluid from the drill duct.

[0203] Example 4 - the method of Example 1, 2 or 3, wherein pressurizing the drill cavity includes advancing the main drill pipe into the drill cavity.

[0204] Example 5 - An underwater drilling system includes: a frame including an upper connector; a connecting flange to be attached to a hull, wherein the connecting flange includes a lower connector including a knife gate actuable to provide a seal between the lower connector and the upper connector, wherein the upper connector is separable from the lower connector; and a drill chamber including an upper drill chamber defined in the upper connector and a lower drill chamber defined in the lower connector. The underwater drilling system further includes a waste container fluidly connected to the drill chamber via the upper connector and a pump configured to discharge fluid from the upper drill chamber into the waste container.

[0205] Examples 6-5 are underwater drilling systems in which the pump is configured to pump water into the upper drilling chamber to discharge fluid within the upper drilling chamber.

[0206] Example 7-Example 5 or 6 underwater drilling systems, wherein the waste container includes a check valve configured to prevent waste fluid contained in the waste container from flowing into the upper drill chamber.

[0207] The underwater drilling system of Examples 8-5, 6 or 7 further includes an air vent valve located between the upper drill chamber and the waste box.

[0208] Example 9-Examples 5, 6, 7 or 8: an underwater drilling system in which the waste container includes a transparent housing.

[0209] Examples 10-5, 6, 7, 8 or 9 are underwater drilling systems in which the upper drilling chamber includes a first capacity and the waste container includes a second capacity greater than the first capacity.

[0210] Examples 11-5, 6, 7, 8, 9 or 10: underwater drilling systems in which the second capacity is at least three times the first capacity.

[0211] Example 12 - An underwater drilling system comprising: a frame including a base; a connecting flange pre-attached to the base, wherein the connecting flange includes a female connector, a chamber defined in the connecting flange, and a gate, wherein the chamber includes an upper chamber and a lower chamber, the gate being actuable to provide a seal between the upper chamber and the lower chamber, wherein the frame is separable from the female connector; a container in fluid communication with the upper chamber; and a pump for discharging fluid from the upper chamber into the container.

[0212] Examples 13-12 are underwater drilling systems in which the pump is used to pump water into the upper chamber to purge fluid from the upper chamber.

[0213] Example 14-Example 12 or 13 underwater drilling system, wherein the container includes a check valve to prevent waste fluid contained in the container from flowing into the upper chamber.

[0214] The underwater drilling system of Examples 15-12, 13 or 14 further includes an air purging valve located between the upper chamber and the container.

[0215] The underwater drilling system of Examples 16-12, 13, 14 or 15, wherein the container includes a transparent shell.

[0216] Submersible drilling systems of Examples 17-12, 13, 14, 15 or 16, wherein the upper chamber includes a first capacity, and wherein the container includes a second capacity, the second capacity being greater than the first capacity.

[0217] Submersible drilling systems of Examples 18-17, wherein the second capacity is at least three times the first capacity.

[0218] Example group 5:

[0219] Example 1 - An underwater drilling system includes a drilling assembly, a frame supporting the drilling assembly, a connecting flange assembly configured to be attached to a hull by the drilling assembly, wherein the connecting flange assembly includes a drill cavity defined therein, and an automatic vent valve assembly in fluid communication with the drill cavity, wherein the automatic vent valve assembly is attached to the frame via a fluid pivot coupling, and wherein the automatic vent valve assembly includes an automatic vent valve and an external float component.

[0220] Example 2-Example 1 underwater drilling system, wherein the fluid pivot joint includes a hydraulic rotary elbow.

[0221] Example 3-Example 1 or 2 of an underwater drilling system, wherein the automatic vent valve assembly further includes a body portion defining an internal fluid chamber and an air release orifice, and an internal shuttle valve body including an internal float, wherein the internal float is configured to allow the internal shuttle valve body to move relative to the body portion to seal and release the air release orifice.

[0222] Example 4 - Example 1, 2 or 3 underwater drilling system, wherein the internal shuttle valve body includes an internal tube and an upper vent head, the internal tube including an open bottom in fluid communication with the internal fluid chamber.

[0223] Example 5 - Example 1, 2, 3 or 4 underwater drilling system, wherein the upper vent head includes a plug configured to seal and unseal the air release orifice.

[0224] Example 6 - Example 1, 2, 3, 4 or 5 underwater drilling systems, wherein the air release orifice is defined in the top plate of the main body.

[0225] The underwater drilling system of Example 7-Examples 1, 2, 3, 4, 5 or 6 further includes a waste box in fluid communication with the drill cavity, and wherein the automatic venting valve assembly is located upstream of the waste box, such that air is configured to be released through the automatic venting valve assembly before reaching the waste box.

[0226] Example 8 - A venting assembly for use with an underwater drilling system, the venting assembly including an input pipe fluidly in communication with a drill cavity and a head assembly, the head assembly including: a frame including an upper vent; a first float; an internal chamber fluidly in communication with the input pipe and the upper vent; and a shuttle movable within the internal chamber such that air pressure is configured to push the shuttle away from the upper vent to automatically release the seal and escape through the upper vent.

[0227] The exhaust assemblies of Examples 9-8, wherein the input pipe further includes a pipe having a fluid pivot coupling configured to allow the first float to bias the head assembly toward a balanced pressure position.

[0228] Exhaust assemblies of Examples 10-8 or 9, wherein the frame includes a chamber wall defining an inner chamber extending between a lower plate and an upper plate of the frame.

[0229] An exhaust assembly of Examples 11-8, 9 or 10, wherein the shuttle includes a second float that engages with the chamber wall, and wherein the second float provides an external seal between the upper portion of the inner chamber and the lower portion of the inner chamber.

[0230] Exhaust assemblies of Examples 12-8, 9, 10, or 11, wherein the upper vent includes a first upper vent, wherein the shuttle includes an internal tube including a second upper vent in fluid communication with an upper portion of the internal chamber and an opening bottom in fluid communication with a lower portion of the internal chamber.

[0231] Exhaust assemblies of Examples 13-8, 9, 10, 11 or 12, wherein the upper plate includes a first upper plate, and wherein the shuttle further includes a second upper plate, the second upper plate being configured to seal the first upper vent when the shuttle is in the uppermost position and to release the seal of the first upper vent when the shuttle is not in the uppermost position.

[0232] The exhaust assembly of Examples 14-8, 9, 10, 11, 12 or 13, wherein a gap is defined between the second float and the first upper plate when the shuttle is in the uppermost position.

[0233] Example 15 - A method for automatically venting air from a borehole cavity of an underwater drilling assembly, wherein the underwater drilling assembly includes a frame, a drilling assembly mounted to the frame, and a flange assembly for drilling a hole in a hull through the drilling assembly via the flange assembly, wherein the borehole cavity is defined in the flange assembly, the method comprising attaching the underwater drilling assembly to the hull; drilling a hole in the hull through the flange assembly; venting air from the borehole cavity via an automatic venting valve assembly, the automatic venting valve assembly including an external float, an internal chamber, and a shuttle movable within the internal chamber to seal and deseal a top plate of the automatic venting valve assembly when an air pressure greater than the fluid pressure applied to the shuttle within the internal chamber is generated; and sealing the flange assembly.

[0234] The methods of Examples 16-15, wherein venting air from the drill cavity further includes passing air through the internal tube of the shuttle.

[0235] Although several forms have been described and illustrated, the applicant does not intend to limit the scope of the appended claims to these details. Numerous modifications, variations, alterations, substitutions, combinations, and equivalents of these forms can be implemented without departing from the scope of this disclosure, and such modifications, variations, and alterations will be apparent to those skilled in the art. Furthermore, the structure of each element associated with a described form can alternatively be described as a means for providing the function performed by that element. Additionally, where the materials of certain components are disclosed, other materials may be used. Therefore, it should be understood that the foregoing description and the appended claims are intended to cover all such modifications, combinations, and variations falling within the scope of the disclosed forms.

[0236] The above detailed description illustrates various forms of devices and / or processes using block diagrams, flowcharts, and / or examples. As long as these block diagrams, flowcharts, and / or examples contain one or more functions and / or operations, those skilled in the art will understand that each function and / or operation in these block diagrams, flowcharts, and / or examples can be implemented individually and / or collectively by various hardware, software, firmware, or virtually any combination thereof. Those skilled in the art will recognize that certain aspects of the forms disclosed herein can be implemented, wholly or partially, equivalently in an integrated circuit, as one or more computer programs running on one or more computers (e.g., programs running on one or more computer systems), as software running on multiple processors (e.g., multiple programs running on one or more microprocessors), firmware, or virtually any combination thereof, and that designing circuits and / or writing software and / or firmware code according to this disclosure will be entirely within the skill of those skilled in the art. Furthermore, those skilled in the art will understand that the mechanisms of the subject matter described herein are capable of being distributed in various forms as one or more program products, and that the illustrative forms of the subject matter described herein apply regardless of the specific type of signal-bearing medium actually used to perform the distribution.

[0237] Instructions used to program logic to execute various public aspects can be stored in the system's memory, such as dynamic random access memory (DRAM), cache, flash memory, or other memory. Furthermore, instructions can be distributed via a network or other computer-readable media. Therefore, machine-readable media can include any mechanism for storing or transmitting information in a machine-readable (e.g., computer-readable) form, but is not limited to floppy disks, optical disks, CD-ROMs and magneto-optical disks, read-only memory (ROM), random access memory (RAM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), magnetic cards or optical cards, flash memory, or tangible machine-readable storage for transmitting information over the Internet via electrical, optical, acoustic, or other forms of propagation signals (e.g., carrier waves, infrared signals, digital signals, etc.). Therefore, non-transient computer-readable media includes any type of tangible machine-readable medium suitable for storing or transmitting electronic instructions or information in a machine-readable (e.g., computer-readable) form.

[0238] As used in any aspect herein, the term "control circuitry" can refer to, for example, hardwired circuitry, programmable circuitry (e.g., a computer processor, including one or more individual instruction processing cores, processing units, processors, microcontrollers, microcontroller units, controllers, digital signal processors (DSPs), programmable logic devices (PLDs), programmable logic arrays (PLAs), or field-programmable gate arrays (FPGAs)), state machine circuitry, firmware storing instructions executed by the programmable circuitry, and any combination thereof. Control circuitry can be embodied collectively or individually as circuitry forming part of a larger system, such as integrated circuits (ICs), application-specific integrated circuits (ASICs), system-on-a-chip (SoCs), desktop computers, laptop computers, tablet computers, servers, smartphones, etc. Therefore, as used herein, "control circuitry" includes, but is not limited to, electrical circuitry having at least one discrete circuit, electrical circuitry having at least one integrated circuit, electrical circuitry having at least one application-specific integrated circuit, electrical circuitry forming a general-purpose computing device configured by a computer program (e.g., a general-purpose computer configured by a computer program that at least partially performs the processes and / or devices described herein, or a microprocessor configured by a computer program that at least partially performs the processes and / or devices described herein), electrical circuitry forming a memory device (e.g., in the form of random access memory), and / or electrical circuitry forming a communication device (e.g., a modem, a communication switch, or an optoelectronic device). Those skilled in the art will recognize that the subject matter described herein can be implemented in analog or digital modes or some combination thereof.

[0239] As used in any aspect herein, the term "logic" can refer to an application, software, firmware, and / or circuit configured to perform any of the operations described above. Software can be embodied as software packages, code, instructions, instruction sets, and / or data recorded on a non-transitory computer-readable storage medium. Firmware can be embodied as code, instructions, or instruction sets and / or data that are hard-coded (e.g., non-volatile) in a memory device.

[0240] As used in any part of this document, the terms “component,” “system,” “module,” etc., may refer to a computer-related entity, whether it is hardware, a combination of hardware and software, software, or software in execution.

[0241] As used in any aspect herein, "algorithm" refers to a consistent sequence of steps that leads to a desired result, where "step" refers to an operation on a physical quantity and / or logical state, which may, but does not necessarily, take the form of an electrical or magnetic signal that can be stored, transmitted, combined, compared, and otherwise manipulated. These signals are commonly referred to as bits, values, elements, symbols, characters, terms, numbers, etc. These similar terms may be associated with appropriate physical quantities and are merely convenient labels applied to these quantities and / or states.

[0242] The network may include a packet-switched network. Communication devices may be able to communicate with each other using the selected packet-switched network communication protocol. An example communication protocol may include the Ethernet communication protocol, which may allow communication using Transmission Control Protocol / Internet Protocol (TCP / IP). The Ethernet protocol may conform to or be compatible with the Ethernet standard entitled "IEEE 802.3 Standard" published by the Institute of Electrical and Electronics Engineers (IEEE) in December 2008, and / or a newer version of that standard. Alternatively or additionally, communication devices may be able to communicate with each other using the X.25 communication protocol. The X.25 communication protocol may conform to or be compatible with standards issued by the International Telecommunication Union-Telecommunication Standardization Sector (ITU-T). Alternatively or additionally, communication devices may be able to communicate with each other using the Frame Relay communication protocol. The Frame Relay communication protocol may conform to or be compatible with standards issued by the International Telegraph and Telephone Consultative Committee (CCITT) and / or the American National Standards Institute (ANSI). Alternatively or additionally, transceivers may be able to communicate with each other using the Asynchronous Transfer Mode (ATM) communication protocol. The ATM communication protocol may conform to or be compatible with the ATM standard entitled "ATM-MPLS Network Interconnection 2.0" published by the ATM Forum in August 2001, and / or a newer version of that standard. Of course, different and / or subsequently developed connection-oriented network communication protocols are also envisioned here.

[0243] Unless otherwise clearly indicated from the foregoing disclosure, it should be understood that in the foregoing disclosure, discussions using terms such as “processing,” “computing,” “operation,” “determining,” “displaying,” etc., refer to the actions and processes of a computer system, or similar electronic computing devices, which manipulate and transform data represented as physical (electronic) quantities in computer system registers and memories into other data represented as physical quantities in computer system memories or registers or other such information storage, transmission, or display devices.

[0244] This document may refer to one or more components as “configured as,” “configurable as,” “operable as,” “adaptable,” “capable of,” “compliant with,” etc. Those skilled in the art will recognize that “configured as” can generally encompass active state components and / or inactive state components and / or standby state components, unless the context requires otherwise.

[0245] Those skilled in the art will recognize that, in general, the terms used herein, especially those used in the appended claims (e.g., the text of the appended claims), are typically intended as “open” terms (e.g., the term “comprising” should be interpreted as “including but not limited to,” the term “having” should be interpreted as “having at least,” the term “including” should be interpreted as “including but not limited to,” etc.). Those skilled in the art will further understand that if there is an intent to introduce a specific number of introduced claim statements, such intent will be explicitly stated in the claims, and without such a statement, such intent does not exist. For example, to aid understanding, the appended claim below may contain the use of the introductory phrases “at least one” and “one or more” to introduce claim statements. However, the use of such phrases should not be construed as implying that introducing a claim statement with the indefinite article “a” or “an” would limit the claim statement containing such an introduction to a claim containing only one such statement, even if the same claim includes the introductory phrases “one or more” or “at least one” and indefinite articles such as “a” or “an” (e.g., “a” and / or “an” should generally be interpreted as meaning “at least one” or “one or more”); the same applies to the use of definite articles to introduce claim statements.

[0246] Furthermore, even if the specific number of claims is explicitly stated, those skilled in the art will recognize that such a statement should generally be interpreted as meaning at least the stated number (e.g., the simple statement "two statements" without other modifiers generally means at least two statements, or two or more statements). Additionally, in cases where the convention of "at least one of A, B, and C" is used, this construction is generally intended to be in the conventional sense that those skilled in the art will understand (e.g., "a system having at least A, B, and C" will include, but is not limited to, systems having a single A, a single B, a single C, A and B together, A and C together, B and C together, and / or A, B, and C together). In cases where the convention of "at least one of A, B, or C" is used, this construction is generally intended to be in the conventional sense that those skilled in the art will understand (e.g., "a system having at least A, B, or C" will include, but is not limited to, systems having a single A, a single B, a single C, A and B together, A and C together, B and C together, and / or A, B, and C together). Those skilled in the art will further understand that, generally, extractive terms and / or phrases representing two or more alternatives, whether in the specification, claims, or drawings, should be understood to include one, any one, or both of the terms, unless the context otherwise requires. For example, the phrase “A or B” will generally be understood to include the possibility of “A” or “B” or “A and B”.

[0247] Regarding the appended claims, those skilled in the art will appreciate that the operations described herein can be performed in any order. Furthermore, although the various operation flowcharts are presented sequentially, it should be understood that the various operations can be performed in a different order than shown, or can be performed in parallel. Examples of such alternative orderings may include overlapping, interleaving, interruption, reordering, incremental, preparatory, supplementary, simultaneous, reverse, or other variations of ordering, unless the context otherwise specifies. Moreover, terms such as “in response to,” “related to,” or other past tense adjectives are generally not intended to exclude such variations, unless the context otherwise specifies.

[0248] It is important to note that any reference to "an aspect," "one aspect," "an example," "an example," etc., implies that a particular feature, structure, or characteristic described in connection with that aspect is included in at least one aspect. Therefore, the phrases "in an aspect," "in one aspect," "in an example," and "in an example" appearing throughout the specification do not necessarily refer to the same aspect. Furthermore, a particular feature, structure, or characteristic may be combined in one or more aspects in any suitable manner.

[0249] Any patent application, patent, non-patent publication, or other disclosure mentioned in this specification and / or in any application data sheet is incorporated herein by reference to the extent that the incorporated material does not contradict this document. Therefore, and to the extent necessary, the disclosure expressly set forth herein supersedes any conflicting material incorporated herein by reference. Any material or portion thereof that is to be incorporated herein by reference but conflicts with existing definitions, statements, or other disclosures set forth herein will be incorporated only to the extent that it will not cause conflict between the incorporated material and existing disclosures.

[0250] In summary, the numerous benefits arising from adopting the concepts described herein have been described. The foregoing description of one or more forms is for illustrative and descriptive purposes. It is not exhaustive, nor is it limited to the precise forms disclosed. Modifications or variations may be made in light of the foregoing teachings. One or more forms have been chosen and described to illustrate principles and practical applications, thereby enabling those skilled in the art to utilize the various forms and make various modifications suitable for intended use. The submitted claims are intended to define the overall scope.

Claims

1. An underwater drilling assembly, comprising: Drilling assembly; A connecting flange assembly configured to be attached to the hull via a drilling assembly, wherein the connecting flange assembly includes a plurality of guide posts (1642). as well as A frame supporting the drilling assembly, wherein the frame includes: A lower platform, the lower platform including attachment legs extending therefrom, wherein the attachment legs are configured to attach an underwater drilling assembly to the hull, and wherein each attachment leg includes: A fluid actuator, the fluid actuator including an output shaft; An expandable leg assembly attached to the output shaft; The suction cup base is attached to the expandable leg assembly via a ball-and-socket joint; and Guide lug (1390), the guide lug including a groove portion configured to receive one of the guide posts of the connecting flange assembly.

2. The underwater drilling assembly of claim 1, wherein the expandable leg assembly comprises: The upper leg portion is attached to the output shaft and is movable by the output shaft; and The lower leg portion is spring-loaded against the upper leg portion to allow the upper leg portion to retract relative to the lower leg portion when the output shaft retracts.

3. The underwater drilling assembly of claim 2, wherein the expandable leg assembly further includes a housing member including a groove defined therein, wherein the lower leg portion includes a plunger attached to the lower leg by a pin, wherein the pin extends radially outward from the plunger and is received within the groove.

4. The underwater drilling assembly of claim 3, wherein the outer housing component is fixedly attached to the lower platform.

5. The underwater drilling assembly of claim 4, wherein the guide lug extends from the lower end of the housing member, and wherein the guide post is positionable within the groove portion to guide the frame relative to the connecting flange assembly.

6. The underwater drilling assembly of claim 2, wherein the lower leg portion includes a plunger, wherein the plunger includes a head slidably supported within the upper leg portion, and wherein a helical spring is located between the head and the bottom of the upper leg portion.

7. The underwater drilling assembly of claim 1, wherein the fluid actuator comprises a hydraulic actuator.

8. The underwater drilling assembly of claim 2, wherein the lower leg portion includes a spherical portion extending therefrom, wherein the suction cup base includes a recess, and wherein the spherical portion is located within the recess.

9. A submersible drilling assembly frame, comprising: frame; and Multiple attachment legs, the multiple attachment legs being configured to secure the frame to the hull, wherein each attachment leg includes: Suction cup base; piston; An outer post is fixedly attached to the frame, wherein the outer post includes a guide lug extending from the lower end of the outer post, wherein the guide lug includes a groove portion; An inner column positioned within the outer column, wherein the inner column comprises: The upper leg portion is fixedly attached to the piston; and The lower leg portion, which is vertically constrained relative to the suction cup base, wherein the piston can be actuated to extend the upper leg portion relative to the lower leg portion to pull the upper leg portion away from the hull; and A flange that can be installed onto a ship hull, wherein the flange includes a guide post, and wherein the guide post can be positioned within the groove portion to guide the frame relative to the flange.

10. The underwater drilling assembly frame of claim 9, wherein the lower leg portion is spring-loaded against the upper leg portion.

11. The underwater drilling assembly frame of claim 10, wherein the outer post includes a groove defined therein, wherein the lower leg portion includes a plunger attached to the lower leg portion by a pin, wherein the pin extends radially outward from the plunger and is received within the groove.

12. The underwater drilling assembly frame of claim 10, wherein the lower leg portion includes a plunger, wherein the plunger includes a head slidably supported within the upper leg portion, and wherein a helical spring is located between the head and the bottom of the upper leg portion.

13. The underwater drilling assembly frame of claim 9, wherein the piston is actuated by a hydraulic actuator.

14. The underwater drilling assembly frame of claim 9, wherein the lower leg portion includes a ball extending therefrom, wherein the suction cup base includes a socket, and wherein the ball is positioned within the socket.

15. A method for attaching an underwater drilling assembly to a ship hull, wherein the underwater drilling assembly includes a frame, a drilling assembly attached to the frame, and a connecting flange assembly including washers and a plurality of guide posts, wherein the frame includes a plurality of attachment legs, wherein each attachment leg includes a suction cup base and an expandable leg assembly, and wherein the frame further includes a guide lug, the guide lug including a groove portion configured to receive one of the guide posts of the connecting flange assembly, the method comprising: The underwater drilling assembly is lowered onto the hull and the gasket is pressed against the hull to provide a seal with the hull via the connecting flange assembly; Position each of the plurality of attachment legs against the hull; Initiate suction to secure each suction cup base to the hull; Actuate the fluid actuator of each attachment leg to pull the upper leg portion of the expandable leg assembly of each attachment leg to increase the holding force of the plurality of attachment legs; Attach the connecting flange assembly to the hull; and Drill holes in the hull.

16. The method of claim 15, wherein actuating the fluid actuator of each attached leg to pull the upper leg portion of the expandable leg assembly of each attached leg comprises pulling the upper leg portion upward relative to the hull and the lower leg portion of the expandable leg assembly.

17. The method of claim 16, wherein actuating the fluid actuator of each attached leg to pull the upper leg portion of the expandable leg assembly of each attached leg comprises applying a pulling force to the suction cup base, the pulling force being less than the suction force applied by the suction cup base.

18. The method of claim 15, further comprising actuating a spring mechanism within the attachment leg to allow each attachment leg to move independently vertically relative to the hull.

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