Underwater gate valve servicing system and method

Abstract

Systems and methods for servicing a valve underwater. Robotics are configured for underwater deployment to open the body of a valve underwater to access an internal valve component. The robotics are configured to extract the internal component from the valve body underwater, to replace the internal component in the valve body underwater, and to close the valve body underwater.

Description

UNDERWATER GATE VALVE SERVICING SYSTEM AND METHOD Background

[0001] This disclosure relates to the field of mechanical valves. More specifically, the disclosure relates to techniques for servicing gate valves underwater using robotics.

[0002] Valves to control the transmission and flow of fluids have been in use for centuries. Gate valves are well known and applied in various industries. In oilfield operations (e.g., fracking applications), gate valves are commonly used to handle fluid flow at each well. Such valves are exposed to extremely harsh fluids (e.g., sand slurries) that significantly reduce the operational life of the gates. Conventional gate valves are designed with a stem and stem packing configuration, which is less than ideal for such applications. A typical gate valve applied in a fracking operation will require refurbishment approximately every two weeks during operation. This type of maintenance is time consuming and costly, often requiring shipment of the valve to a workshop for repair. The use of such valves in underwater applications adds to the complexity of servicing the valves. Shutting down fluid control operations to refurbish or service such valves can be very costly, especially in offshore applications. Thus, a need remains for improved techniques for servicing valves.Summary

[0003] One aspect of the present disclosure is a system for servicing a valve underwater, including robotics configured to open a body of a valve underwater to access an internal component of the valve. The robotics are configured to extract the internal component from the valve body underwater, to replace the internal component in the valve underwater, and to close the valve body underwater.

[0004] Another aspect of the present disclosure is a method of servicing a valve underwater. The method includes using robotics to open a body of a valve underwater to access an internal component of the valve, using the robotics to extract the internal component from the valve underwater, using the robotics to replace the internal component in the valve underwater, and using the robotics to close the valve body underwater.Description of the Drawings

[0005] FIG. 1 shows an oblique view of a gate valve embodiment according to this disclosure.

[0006] FIG. 2 shows another view of the gate valve of FIG. 1.

[0007] FIG. 3 shows the gate valve of FIG. 1 with the end caps removed according to this disclosure.

[0008] FIG. 4 shows a schematic of another gate valve embodiment according to this disclosure.

[0009] FIG. 5 shows a robotics device engaged with a gate valve according to this disclosure.

[0010] FIG. 6 shows a robotic gate engagement mechanism according to this disclosure.

[0011] FIG. 7 shows another robotic gate engagement mechanism according to this disclosure.

[0012] FIG. 8 shows another robotic gate engagement mechanism according to this disclosure.

[0013] FIG. 9A shows another robotic gate engagement mechanism in one state according to this disclosure.

[0014] FIG. 9B shows a plan view schematic of the robotic gate engagement mechanism of FIG. 9A in another state according to this disclosure.

[0015] FIG. 10 shows an oblique view of a robotics device embodiment engaged with a gate according to this disclosure.

[0016] FIG. 11 shows a side view of the robotics device and gate of FIG. 10.

[0017] FIG. 12 shows an oblique view of a robotics device embodiment engaged with a gate in one stage of operation according to this disclosure.

[0018] FIG. 13 shows an oblique view of the robotics device of FIG. 12 in another stage of operation.

[0019] FIG. 14 shows an oblique view of a robotics device embodiment engaged with a gate in one stage of operation according to this disclosure.

[0020] FIG. 15 shows a side view of the robotics device of FIG. 14 in another stage of operation.

[0021] FIG. 16 shows a schematic of a gate valve tree arrangement disposed underwater according to this disclosure.

[0022] FIG. 17 shows a schematic of a blowout previctorventer assembly disposed underwater according to this disclosure.Detailed Description

[0023] Illustrative embodiments are disclosed herein. In the interest of clarity, not all features of an actual implementation may be described. In the development of any such actual embodiment, numerous implementation- specific decisions may need to be made to achieve the design-specific goals, which may vary from one implementation to another but would nevertheless be a routine undertaking for persons of ordinary skill in the art having the benefit of this disclosure. Like reference numerals may identify like elements in the disclosed figures. The figures are not necessarily drawn to scale, and certain features may be shown exaggerated in scale or in generalized or schematic form in the interest of clarity and conciseness. As used herein, the word “robotics” will be understood to encompass all machines and mechanisms disclosed herein (including remotely operated vehicles) and any other conventional or subsequently developed machine means capable of performance in accordance with this disclosure.

[0024] FIG. 1 shows a gate valve 10 embodiment. The valve 10 has a main body 12, a first end 14, a second end 16, a first surface 18, and a second surface 20 opposite the first surface. A through bore 22 traverses through the body 12, providing an open passage between the first surface 18 and the second surface 20. The body 12 may be formed of any suitable material depending on the application (e.g., metal, composites, plastics, synthetic materials, etc.). Although FIG. 1 shows an embodiment configured with a generally planar body 12 design, embodiments may be implemented with bodies comprising other geometrical designs more suitable for the desired application. Other valve 10 configurations that may be used in embodiments of the present disclosure are described in Inti. Pat. Apps. WO2023 / 211705 and WO2024 / 118216, both assigned to the present assignee, and both incorporated herein in their entirety.

[0025] Some valve 10 embodiments may be configured with threaded holes 24 formed on each surface 18, 20 to receive mounting bolts for mounting of the valve 10 onto a fluidtransmission system as known in the art (see FIGS. 16, 17). Embodiments may also be configured with the holes 24 passing through the entire body 12 for engagement of the valve 10 to flange units using extended length bolts 29 (see FIG. 4). It will be appreciated by those skilled in the art that other embodiments may be configured for disposal of the valve 10 onto fluid lines or systems in various fashions depending on the application (e.g., welded onto a line, affixed with clamps, etc.).

[0026] Valve 10 embodiments may be configured with end caps 14A, 16A respectively mounted at the first 14 and second 16 ends of the main body 12. FIG. 2 shows a gate 10 embodiment with each end cap 14A, 16A having a series of holes 26 to receive a series of mounting bolts 28 to secure the end caps to threaded receptacles 30 in the main body 10. FIG. 3 shows the valve 10 with the mounting bolts 28 removed and the end caps 14A, 16A separated from the main body 12. With the end caps 14A, 16A removed, a passage 32 formed transverse to the through bore 22 can be seen in the main body 10. The transverse passage 32 extends across the main body 12 from one end 14 to the other 16.

[0027] FIG. 4 shows another valve 10 embodiment with the end caps 14A, 16A detached from the main body 12. In this embodiment, each end cap 14A, 16A has a slot or channel 34 formed transversely to the longitudinal axis of the main body 12. The main body 12 is also configured with channels 36 formed thereon. The main body 12 channels 36 and the end cap 14A, 16A channels 34 are aligned with one another such that when the end caps are respectively mated against the main body 12, an engagement bar 38 is used to maintain each cap in place. The embodiment of FIG. 4 shows the channels 34, 36 respectively formed with a series of teeth or projections running along the width of the body 12 and the caps 14A, 16 A. The engagement bars 38 are formed with a series of matching teeth or projections on each side for complementary engagement within the channels 34, 36 formed on the body 12 and caps 14A, 16A. Each engagement bar 38 is inserted from one side of the main body 12 to slide into place, securely locking the end caps 14A, 16A against the body 12. It will be appreciated by those skilled in the art that other embodiments may be implemented with the engagement bars 38 and channels 34, 36 formed with different complementary cross sections (e.g., I-beam, circular, semi-circular, stepped, etc.). Some embodiments may also be implemented with conventional fasteners disposed on the sides of the body 12 to secure the engagement bars 38 in place once the caps are mounted on thebody. It will be appreciated by those skilled in the art that other valve 10 embodiments may be implemented with end caps 14A, 16A configured for complete removal from the main body 12 (as shown herein) or for hinged opening to provide access to the valve internal components without separation of the end caps from the main body. All suitable end cap 14A, 16A designs may be used with implementations of the present disclosure. The valve 10 of FIG. 4 also shows a transparency view of a gate 40 disposed in the valve (further described below).

[0028] FIG. 5 shows a robotics device 44 embodiment of this disclosure. A frame 46 is coupled to a pair of end braces 48. The frame 46 is coupled to the braces 48 such that the frame can slide along each brace from one end of the brace to the other. A distal end 50 of each brace 48 is configured to engage an end of the valve 10 main body 12. An embodiment may be implemented with each distal end 50 of the braces 48 configured with a threaded section to thread into the matching threaded holes 26 formed in the main body 12 (see FIG. 2).

[0029] A robotic telescoping mechanism 52 is coupled to the frame 46. The mechanism 52 includes a housing cylinder 54 and a moveable member 56 configured to move in and out of the housing cylinder from one side of the frame 46. In one embodiment, the moveable member 56 is implemented with a plate 58 at the distal end to engage with the gate 40 end 41 (see FIG. 4) that is exposed once the end cap 14A or 16A has been removed. In some embodiments, a catch plate 60 is mounted at one end of one of the braces 48 (further described below).

[0030] Embodiments of the robotic telescoping mechanism 52 may be implemented for actuation via a number of suitable means. In some embodiments, the housing cylinder 54 may be implemented with a conventional double acting hydraulic cylinder as known in the art. With such an embodiment, a hydraulic fluid conduit (further described below) can be coupled to the end of the cylinder 54 opposite the end linking to the frame 46. Pressurized hydraulic fluid from a source is then injected to the double acting cylinder 54 to extend and retract the moveable member 56, which acts as a telescoping hydraulic piston in such an embodiment. Hydraulic fluid pressure may be provided via any suitable means as known in the art.

[0031] In some embodiments, the housing cylinder 54 may be implemented with a conventional linear actuator as known in the art. The actuator 54 can provide the motiveforce to extend and retract the moveable member 56 to pull or push the gate 40 along the transverse passage 32. Conventional actuators 54 may be used to implement the robotic telescoping mechanism 52 embodiments (e.g., EXLAR™ linear rotor screw actuators). Power and / or fluid pressure for the actuator 54 may be provided via any suitable means as known in the art. Other embodiments may be implemented with the housing cylinder 54 configured to provide an extendable and retractable telescoping member 52 via other means as known in the art (e.g., servo mechanism, double acting pneumatic piston, etc.).

[0032] Turning to FIG. 6, an embodiment of a robotic gate 40 engagement mechanism is shown. In this embodiment, the end surface 41 of the gate includes a threaded hole 66 formed therein to receive a mating bolt member 68 implemented at the distal end of the moveable member 56 of the robotics device 44. In such an embodiment, once the gate 40 surface 41 is exposed the bolt member 68 is brought into contact with the threaded hole 66 and the moveable member 56 is rotated to securely engage the member to the gate. Once engaged, the moveable member 56 may be actuated to telescopically extend or retract via any of the means disclosed herein, thereby moving the gate 40 in the desired direction within the transverse passage 32 in the valve 10. To release the gate 48, the moveable member 56 is actuated to reverse or unscrew the bolt member 68 out of the threaded hole 66 in the gate.

[0033] FIG. 7 shows another embodiment of a robotic gate 40 engagement mechanism. In this embodiment, the end surface 41 of the gate includes a keyed slot 70 formed therein to receive a matching key member 72 implemented at the distal end of the moveable member 56 of the robotics device 44. The keyed slot 70 is configured with a narrowed opening 74 at one side to permit the key member 72 to lock into engagement with the gate 40. For example, once the key member 72 is passed through the keyed slot 70, the moveable member 56 is slightly tilted, or lifted / lowered, such that the back side 76 of the key member 72 is securely engaged against the inner wall section 78 of the keyed slot 70. Once engaged, the moveable member 56 may be actuated to telescopically extend or retract via any of the means disclosed herein, thereby moving the gate 40 in the desired direction within the transverse passage 32 in the valve 10. To release the gate 48, the moveable member 56 is actuated to “pop out” the key member 72 from the keyed slot 70 in the gate.

[0034] FIG. 8 shows another embodiment of a robotic gate 40 engagement mechanism.In this embodiment, the end surface 41 of the gate includes a circular keyed slot 80 formedtherein to receive a matching circular key member 82 implemented at the distal end of the movable member 56 of the robotics device 44. The keyed slot 80 is configured with a narrowed opening 84 at one side to permit the key member 82 to lock into engagement with the gate 48, similar to the operation of the key-slot embodiment of FIG. 7. Once engaged, the moveable member 56 may be actuated to telescopically extend or retract via any of the means disclosed herein, thereby moving the gate 40 in the desired direction within the transverse passage 32 in the valve 10. To release the gate 48, the moveable member 56 is actuated to “pop out” the key member 82 from the keyed slot 80 in the gate.

[0035] FIG. 9A shows another embodiment of a robotic gate 40 engagement mechanism.In this embodiment, the distal end of the moveable member 56 is configured with a first electrode El disposed on the front side of a face plate 86. The end surface 41 of the gate 40 is similarly configured with a second electrode E2 disposed thereon. The two electrodes El, E2 are configured in shape and size to match one another when mated against each other. The pair of electrodes El, E2 are configured to selectively maintain the face plate 86 in an attractive state or a non-attractive state to the gate surface 41. FIG. 9A shows the electrodes El, E2 in the non-attractive state, which allows the face plate 86 to separate from the end surface 41 of the gate 40.

[0036] FIG. 9B shows an expanded plan view of the electrodes El, E2 in the attractive state, which creates a holding force F that keeps the face plate 86 securely engaged to the gate end 41. The electrical power needed to actuate the electrodes El, E2 into the attractive state is supplied via a first electrical lead LI passing through moveable member 56 to link electrode El to a power supply and a second electrical lead L2 passing through moveable member 56 to link electrode E2 to a power supply.

[0037] As shown in FIG. 9B, the first lead LI is coupled directly to the first electrode El. The second lead L2 is coupled to a first electrical contact Cl embedded to the mating surface of electrode El. The first contact Cl is embedded in the electrode El in such a manner to insulate it from electrical contact with first and second electrodes El, E2. Opposite from the first contact Cl is a second electrical contact C2 embedded within the surface of electrode E2. The second contact C2 is embedded in the second electrode E2 in such a manner to insulate it from electrical contact with first electrode El, while providing a current path to the second electrode E2.

[0038] When engagement of the gate 40 is desired, current is passed to the electrodes El, E2 via the leads LI, L2 to energize the electrodes to generate an electric field between the electrodes to actuate the attractive state between the face plate 86 and the gate end 41. When the current is turned off, the electric field collapses and the electrodes El, E2 switch to the non- attractive state to allow separation of the face plate 86 from the gate end 41. Embodiments of this disclosure can be implemented with conventional energizable electrodes El, E2 that require minimal voltage (e.g., millivolts) to provide very powerful electromagnetic adhesion means. Conventional electrodes are described in U.S. Patent references 10,554,154, 10,749,450, 10,998,835, 11,023,047, 11,036,295, 2024 / 0131676, and 2024 / 0213892. Once engaged in the attractive state, the moveable member 56 of the robotics device 44 may be actuated to telescopically extend or retract via any of the means disclosed herein, thereby moving the gate 40 in the desired direction within the transverse passage 32 in the valve 10. To release the gate 40, voltage to the electrodes El, E2 is switched off via the leads LI, L2.

[0039] In some embodiments, the face plate 86 is configured with a pair of guiding pins 90 extending outward from the outer surface. The guiding pins 90 are in alignment with a pair of receiving holes 92 formed on the end of the gate 40. When joined together, the face plate 86 and the gate 40 end surface 41 abut against one another guided in alignment by the respective pin 90 / hole 92 engagement to mate the electrodes El, E2 for activation.

[0040] FIG. 10 shows the gate 40 formed to fit within the passage 32 at a close tolerance yet allowing the gate to move or slide within the passage to open and close the valve 10. As further described in Inti. Pat. Apps. WO2023 / 211705 and WO2024 / 118216, some gate 40 embodiments are configured with a rectangular- shaped planar body 96. The gate 40 has an opening 98 formed near a first end to coincide with the geometric shape of the through bore 22 formed in the valve 10 body. The gate 40 provides a solid surface area 100 near a second end. FIG. 10 shows a seal assembly 102 disposed on the gate 40 in a seal trench surrounding the opening 98. The solid surface area 100 also has a seal assembly 104 disposed in a trench formed in the gate 40. Although not shown in FIG. 10, in some embodiments the opposite face of the gate 40 is also configured with matching seals in trenches. Some embodiments may also be implemented with one or more seals or bands106 disposed in grooves formed on the gate 40 near the gate ends to provide a wiper for the internal surface of the gate passage 32 as the gate moves back and forth therein.

[0041] When it is desired to service the valve 10 by replacement of an internal component (e.g., the gate 40, the seal assemblies 102, 104), a robotics device 44 embodiment is securely engaged to the gate 40 via the means disclosed herein. FIG. 10 shows the gate 40 being extracted as the telescoping mechanism 52 is activated to retract and apply a tension or pulling force on the gate 40 (to the right in FIG.10). FIG. 10 shows the moveable member 56 entirely recessed within the housing cylinder 54.

[0042] FIG. 11 shows a side view of the gate 40 of FIG. 10 when it is fully extracted from the valve 10 body 12. With embodiments configured with a catch plate 60 (see FIG. 5), the plate aids to support the weight of the gate 40 when fully extracted from the valve 10 passage 32. With the gate 40 fully extracted, the entire gate or individual seal assemblies 102, 104 can be removed and replaced as disclosed herein.

[0043] FIG. 12 shows a robotics device 44 embodiment engaged to a new gate 40 for replacement within the valve 10 passage 32. In this mode, the telescoping mechanism 52 is activated to extend and apply a compressive or pushing force against the gate 40 (to the left in FIG.12). FIG. 13 shows the new gate 40 fully inserted within the valve 10 body 12. At this stage, the robotics device 44 can be disengaged from the gate 40 end 41 as disclosed herein and the end cap 14 A, 16A replaced to return the valve 10 to operation. In this manner a gate 40 can be rapidly extracted and replaced in a valve 10, akin to a cartridge in a player. This provides a notable advantage compared to conventional valve designs, which typically require removal of the entire valve for repair or refurbishment.

[0044] With some valve 10 embodiments, it may be desirable to replace the seal assembly(ies) 102, 104 with the gate 40 partially inserted within the valve 10 body 12. For example, some seal assemblies 102, 104 may be damaged if passed across the through bore 22 due to the close tolerances and sharp through bore internal edges. With such valve 10 embodiments, it may be preferable to extend the robotic telescoping mechanism 52 to push the gate 40 through the passage 32 until the free gate end extends out from the other end 14 of the passage, as shown in FIG. 14.

[0045] FIG. 15 shows a side view of the telescoping mechanism 52 extended into the valve 10 passage 32 to push the gate 40 out from the opposite end 14 of the body 12. With thegate 40 extending out from the valve 10 body 12, a new seal 102, 104 can be mounted onto a newly replaced gate 40 or a worn seal can be replaced without replacing the gate. In this manner, the gate 40 can be pulled back into the valve 10 body 12 with new seals 102, 104 without having to expose the seals to the sharp through bore 22 internal edges. When the gate 40 is fully returned into the valve 10 body 12 (see FIG. 13), the robotics device 44 can be disengaged from the gate as disclosed herein and the end cap 14A, 16A replaced to return the valve 10 to operation.

[0046] FIG. 16 shows a series of gate valves 10A, 10B, 10C disposed in a tree arrangement on a wellhead over a wellbore 65 at the sea floor 67 as known in the art. As known in the art, the valve 10 tree arrangement can be coupled to a riser or other fluid conveyance systems for production of hydrocarbons (not shown). As previously described, the replacement of conventional valves in typical subsea applications can shut down operations for weeks or even months, resulting in significant delay and cost. The disclosed robotics device 44 embodiments provide a way to service the valves 10A, 10B, 10C without having to remove the valves from the operational system.

[0047] FIG. 16 shows a remotely operated vehicle (ROV) 69 deployed subsea from a vessel 71 at the sea surface. The ROV 69 is configured with multiple articulated arms 73 and includes a robotics device 44 linked thereon. One or more replacement gates 40 are also tethered to the ROV 69. When it is desired to service a valve 10A, 10B, 10C in the tree, for example valve 10B, valve 10A can be set to the closed position to close off fluid flow from the wellbore 65 through valves 10B. Once flow is shut off, the articulated arms 73 on the ROV 69 are actuated to remove the end cap(s) 14A, 16A (see FIG. 3) of valve 10B. Once the valve 10B body 12 is opened, the ROV 69 is used to engage the robotics device 44 to the valve for extraction and replacement of the gate 40 as disclosed herein. The ROV 69 can be implemented with a battery to provide electrical power as may be needed for operation of the robotics device 44 (e.g., linear actuator implemented embodiment, electrode plate implemented embodiment).

[0048] Some robotics device 44 embodiments may be implemented with a conventional Wet-Mate electrical connector disposed at the end of the cylinder 54 opposite the end linking to the frame 46, for connection to a matching connector disposed on the ROV 69 to convey electrical power to the robotics device 44 as needed (e.g., to power a linearactuator or electrodes). Other embodiments may be configured to provide electrical power to the robotics device 44 via a power cable extending from the vessel 71 to the ROV 69. The ROV 69 can also be implemented with a pressurized hydraulic fluid source (e.g., nitrogen pressurized fluid canister) to provide hydraulic fluid to a hydraulic cylinder 54 implemented robotics device 44 as disclosed herein. Some embodiments may also be configured to provide pressurized hydraulic fluid to the robotics device 44 via a conduit (e.g., a hose) extending from the vessel 71 to the ROV 69 for coupling to the robotics device 44. The multiple articulated arms 73 on the ROV 69 are used to manipulate the robotics device 44 and fluid / electrical couplings for extraction and insertion of the internal components in the valve(s) 10A, 10B, IOC as disclosed herein. In some embodiments, the articulated arms 73 on the ROV 69 arc configured to rotate to provide the rotating force to remove / install the bolts 28 from the end caps (see FIG. 2) and to rotate the braces 48 on the robotics device 44 to thread / unthread the bolt ends into the valve body 12 (see FIG. 5).

[0049] FIG. 17 shows a blowout preventer (BOP) assembly 200 disposed subsea in a frame 202 structure attached to a subsea wellhead 204. The BOP assembly 200 includes stacked conventional BOP units 206. The assembly is also implemented with a gate valve 10. A robotics system 208 is integrated with the assembly 200. The robotics system 208 includes a plurality of articulated arms 210 configured to perform multiple operations, including manipulation of a robotics device 44 as disclosed herein. Similar to the articulated arms 73 on the ROV 69 of FIG. 16, the articulated arms 210 are configured with jointed sections that allow the arms to move and rotate to various positions and directions. The base of each arm 210 is configured to move in a linear motion along rails 212 as known in the art.

[0050] In some embodiments, the BOP assembly 200 is equipped with a unitary module 214 consisting of a variable displacement pump, a subsea motor, and a variable frequency drive. The module 214 components are coupled together to provide a compact unit. The variable displacement pump in the module 214 is fluidly coupled to a hydraulic fluid reservoir 216 also mounted on the BOP assembly 200. A controller bottle 218 is also linked to the module 214 to house local electronics and processors for operational control of the system. One or more batteries may be housed in the controller bottle 218 or mounted independently as desired. One or more conduits 220 are coupled to the assembly200 to provide power, data / signal communications, and / or fluid transfer from a platform 222 at sea surface. The conduits 220 may include power lines to recharge the batteries (e.g., to provide a trickle charge when the system is idle, to maintain a set charge). In some applications, electrical power may also be supplied to the batteries and / or the system via an ROV coupling into an ROV receptacle on the robotic system 208. In some embodiments, hydraulic fluid may also be provided to the reservoir 216 via an ROV. For clarity of illustration, not all conduits (e.g., hoses, cabling) are shown in FIG. 17.

[0051] When it is desired to service the valve 10, the articulated arms 210 are actuated to remove the end cap(s) 14A, 16A from the valve 10 to open the valve 10 body 12. The articulated arms 210 are then used to retrieve a robotics device 44 from a storage box 220 disposed on the frame 202. The articulaeted arms 210 are actuated to manipulate the robotics device 44 and to extract / replace the gate 40 from the valve 10 as disclosed herein. Replacement gates 40 are held in a storage box 222 disposed on the frame 202. After a new gate 40 is inserted in the valve 10 body 12, the body is closed with the articulated arms and the valve is returned to operation. The robotics device 44 is then returned to the holding box 220. In some embodiments the robotics device 44 and / or replacement gates 40 are brought to the assembly 200 via an ROV (see FIG. 16) for manipulation by the articulated arms 210.

[0052] The controller bottle 218 may be implemented with conventional software for autonomous control of the articulated arms 210 to perform the gate 40 extraction / insertion operations disclosed herein. The software can be configured to activate performance of the valve 10 servicing at preset time intervals or when triggered via a remote signal from the platform 222. Fluid flow from the wellbore can be shut off by actuating a conventional BOP 206 unit to close the wellbore or via other means as known in the art (e.g., via conveyance of a plug from the platform 222).

[0053] An advantage of the disclosed robotic valve 10 servicing systems over conventional techniques is the ability to replace internal components in the field, without needing to remove the valve unit from the operational system. This is particularly beneficial in underwater applications. Another advantage is the minimal time (minutes) required to replace a gate 40 in a valve 10 via the swappable gate cartridges. And the disclosed valves10 do not require any packing or grease filling as used with conventional stemmed valve designs.

[0054] It will be appreciated that embodiments of this disclosure may be implemented for use in numerous applications and operations, in the oil and gas industry and in other fields of endeavor. For example, the disclosed robotics device 44 embodiments may be deployed for use at surface as well as underwater. It will be appreciated that embodiments may be implemented with conventional hardware components (e.g., conventional fasteners, seals, valve spools, etc.) and parts formed of suitable materials depending on the application (e.g., metal, composites, plastics, synthetic materials, etc.). For underwater applications, the materials and components can be waterproofed as known in the art. It will also be appreciated that embodiments may be implemented with control units locally or remotely linked to the robotics devices 44 as known in the art. The control unit(s) may comprise any suitable microcomputer, processor, controllers, memory, and associated electronics, and may be programmed to activate and operate the robotics devices 44 as disclosed herein. In some embodiments, the control unit can be programmed to perform autonomous and automatic actuation of the robotics device 44. Power for the robotics devices 44 may also be implemented, for example, using conventional batteries as known in the art. Although only a few examples have been described in detail above, those skilled in the art will readily appreciate that many modifications are possible in the examples. Accordingly, all such modifications are intended to be included within the scope of this disclosure.

Claims

ClaimsWhat is claimed is:

1. A system for servicing a valve underwater, comprising: robotics configured to open a body of a valve underwater to access an internal component of the valve; the robotics configured to extract the internal component from the valve body underwater; the robotics configured to replace the internal component in the valve body underwater; and the robotics configured to close the valve body underwater.

2. The system of claim 1 wherein the internal component comprises a seal.

3. The system of claim 1 wherein the internal component comprises a gate.

4. The system of claim 1 wherein the robotics comprises a linear actuator configured to link to the internal component.

5. The system of claim 1 wherein the robotics comprises a hydraulic cylinder configured to link to the internal component.

6. The system of claim 1 wherein the robotics comprises an electrode configured to link to the internal component.

7. The system of claim 1 wherein the internal component comprises a gate configured to transition between a position to permit fluid flow through the valve and a position to restrict fluid flow through the valve.

8. The system of claim 1 further comprising a fluid source to provide pressurized fluid to the robotics.

9. The system of claim 1 wherein the robotics is configured to open a cap on the valve body.

10. A method of servicing a valve underwater, comprising: using robotics to open a body of a valve underwater to access an internal component of the valve;using the robotics to extract the internal component from the valve underwater; using the robotics to replace the internal component in the valve underwater; and using the robotics to close the valve body underwater.

11. The method of claim 10 wherein using the robotics to access the internal component comprises opening a main body of the valve.

12. The method of claim 10 wherein the internal component comprises an electrode disposed thereon.

13. The method of claim 10 further comprising providing a fluid source to the robotics.

14. The method of claim 10 further comprising providing an electrical current to the robotics.

15. The method of claim 10 comprising using the robotics to open a cap on the valve to respectively extract and / or replace the internal component from / in the valve.

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