ISO 13628-8-2002 Petroleum and natural gas industries - Design and operation of subsea production systems - Part 8 Remotely Operated Vehicle (ROV) interfaces on.pdf

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1、 Reference number ISO 13628-8:2002(E) ISO 2002INTERNATIONAL STANDARD ISO 13628-8 First edition 2002-12-15 Petroleum and natural gas industries Design and operation of subsea production systems Part 8: Remotely Operated Vehicle (ROV) interfaces on subsea production systems Industries du ptrole et du

2、gaz naturel Conception et exploitation des systmes de production immergs Partie 8: Vhicules commands distance pour linterface avec les matriels immergs ISO 13628-8:2002(E) PDF disclaimer This PDF file may contain embedded typefaces. In accordance with Adobes licensing policy, this file may be printe

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5、uitable for use by ISO member bodies. In the unlikely event that a problem relating to it is found, please inform the Central Secretariat at the address given below. ISO 2002 All rights reserved. Unless otherwise specified, no part of this publication may be reproduced or utilized in any form or by

6、any means, electronic or mechanical, including photocopying and microfilm, without permission in writing from either ISO at the address below or ISOs member body in the country of the requester. ISO copyright office Case postale 56 CH-1211 Geneva 20 Tel. + 41 22 749 01 11 Fax + 41 22 749 09 47 E-mai

7、l copyrightiso.org Web www.iso.org Published in Switzerland ii ISO 2002 All rights reservedISO 13628-8:2002(E) ISO 2002 All rights reserved iiiContents Page Foreword. v Introduction . vi 1 Scope 1 2 Normative references . 1 3 Terms, definitions and abbreviated terms . 1 3.1 Terms and definitions. 1

8、3.2 Abbreviated terms. 2 4 Intervention philosophy and functional requirements 2 4.1 General. 2 4.2 Intervention by ROV 3 4.3 ROV intervention task configurations 4 4.4 Subsea facilities system design 10 5 Design performance . 13 5.1 General. 13 5.2 Materials. 13 5.3 Load capability 13 5.4 Operating

9、 force or torque. 13 5.5 Lifting devices . 13 5.6 Quality control. 13 5.7 Temperature ratings . 14 5.8 Colours and marking 14 6 Design considerations 14 6.1 General. 14 6.2 Conceptual design 14 6.3 Detailed design 16 6.4 Desired design features . 18 6.5 Undesirable design features 20 7 ROV interface

10、s and subsea systems 21 8 Operational considerations . 24 9 Indicator systems 24 10 Material selection 25 10.1 General. 25 10.2 Selection criteria . 25 11 Documentation 25 11.1 General. 25 11.2 Equipment design. 26 11.3 Testing 26 11.4 Information feedback 26 12 ROV interfaces 26 12.1 General. 26 12

11、.2 Stabilization . 26 12.3 Handles for use with manipulators . 32 12.4 Handles for use with TDUs. 34 12.5 Rotary (low torque) interface . 35 12.6 Rotary (high-torque) interface . 37 12.7 Linear (push) interface Types A and C.38 ISO 13628-8:2002(E) iv ISO 2002 All rights reserved12.8 Linear (push) in

12、terface type B41 12.9 Rotary docking 42 12.10 Hot stab hydraulic connection type A 69,0 MPa (10 000 psi) working pressure45 12.11 Hot stab hydraulic connection type B.46 12.12 Rotary fluid coupling.49 12.13 CCO interface.51 12.14 Lifting mandrels.56 12.15 Electrical and hydraulic jumper handling.57

13、Annex A (informative) Summary of work class ROV specifications .63 Annex B (informative) Access .64 Annex C (informative) Manipulator operating envelopes .65 Annex D (informative) Alternative designs for end-effectors.66 Annex E (informative) Flowline tie-in systems 68 Bibliography69 ISO 13628-8:200

14、2(E) ISO 2002 All rights reserved vForeword ISO (the International Organization for Standardization) is a worldwide federation of national standards bodies (ISO member bodies). The work of preparing International Standards is normally carried out through ISO technical committees. Each member body in

15、terested in a subject for which a technical committee has been established has the right to be represented on that committee. International organizations, governmental and non-governmental, in liaison with ISO, also take part in the work. ISO collaborates closely with the International Electrotechni

16、cal Commission (IEC) on all matters of electrotechnical standardization. International Standards are drafted in accordance with the rules given in the ISO/IEC Directives, Part 2. The main task of technical committees is to prepare International Standards. Draft International Standards adopted by the

17、 technical committees are circulated to the member bodies for voting. Publication as an International Standard requires approval by at least 75 % of the member bodies casting a vote. Attention is drawn to the possibility that some of the elements of this document may be the subject of patent rights.

18、 ISO shall not be held responsible for identifying any or all such patent rights. ISO 13628-8 was prepared by Technical Committee ISO/TC 67, Materials, equipment and offshore structures for petroleum, petrochemical and natural gas industries, Subcommittee SC 4, Drilling and production equipment. ISO

19、 13628 consists of the following parts, under the general title Petroleum and natural gas industries Design and operation of subsea production systems: Part 1: General requirements and recommendations Part 2: Flexible pipe systems for subsea and marine applications Part 3: Through flowline (TFL) sys

20、tems Part 4: Subsea wellhead and tree equipment Part 5: Subsea umbilicals Part 6: Subsea production control systems Part 7: Completion/workover riser systems Part 8: Remotely Operated Vehicle (ROV) interfaces on subsea production systems Part 9: Remotely Operated Tool (ROT) intervention systems ISO

21、13628-8:2002(E) vi ISO 2002 All rights reservedIntroduction This part of ISO 13628 is a revision, major amendment and expansion of Annex C of API 1)17D 1 . The recommended practices for the selection and use of ROV interfaces have generally selected one interface for a specific application. The incl

22、usion of a particular approach or recommendation does not imply that it is the only approach or the only interface to be used for that application. In determining the suitability of standardization of ROV intervention interfaces for installation, maintenance or inspection tasks on subsea equipment,

23、it is necessary to adopt a general philosophy regarding subsea intervention. This intervention philosophy is more fully described within this part of ISO 13628, as are the associated evaluation criteria used in selecting the interfaces incorporated into these recommendations. This part of ISO 13628

24、is not intended to obviate the need for sound engineering judgement as to when and where its provisions are to be utilized, and users need to be aware that additional or differing details may be required to meet a particular service or local legislation. With this part of ISO 13628, it is not wished

25、 to deter the development of new technology. The intention is to facilitate and complement the decision processes, and the responsible engineer is encouraged to review standard interfaces and re-use intervention tooling in the interests of minimizing life-cycle costs and increasing the use of proven

26、 interfaces. This part of ISO 13628 does not cover intervention by remote operated tools (ROTs), which are dedicated tools deployed on drill pipe or guidelines. Instead, it focuses upon defining the requirements of ROV interfaces with subsea production systems, with further reference to ROT interfac

27、es only being made where deemed appropriate. The interfaces on the subsea production system can apply equally to ROTs and ROVs. 1) American Petroleum Institute, 1220 L Street NW, Washington D.C. 20005, USA. INTERNATIONAL STANDARD ISO 13628-8:2002(E) ISO 2002 All rights reserved 1Petroleum and natura

28、l gas industries Design and operation of subsea production systems Part 8: Remotely Operated Vehicle (ROV) interfaces on subsea production systems 1 Scope This part of ISO 13628 gives functional requirements and guidelines for ROV interfaces on subsea production systems for the petroleum and natural

29、 gas industries. It is applicable to both the selection and use of ROV interfaces on subsea production equipment, and provides guidance on design as well as the operational requirements for maximising the potential of standard equipment and design principles. The auditable information for subsea sys

30、tems it offers will allow interfacing and actuation by ROV-operated systems, while the issues it identifies are those that have to be considered when designing interfaces on subsea production systems. The framework and detailed specifications set out will enable the user to select the correct interf

31、ace for a specific application. 2 Normative references The following referenced document is indispensable for the application of this document. For dated references, only the edition cited applies. For undated references, the latest edition of the referenced document (including any amendments) appli

32、es. ISO 10423, Petroleum and natural gas industries Drilling and production equipment Wellhead and christmas tree equipment 3 Terms, definitions and abbreviated terms For the purposes of this document, the following terms, definitions and abbreviated terms apply. 3.1 Terms and definitions 3.1.1 func

33、tional requirement minimum criterion which shall be satisfied in order to meet a stated objective or objectives NOTE Functional requirements are performance oriented and are applicable to a wide range of development concepts. 3.1.2 guideline recommendation of recognized practice to be considered in

34、conjunction with applicable statutory requirements, industry standards, standard practices and philosophies ISO 13628-8:2002(E) 2 ISO 2002 All rights reserved3.1.3 manufacturer company responsible for the manufacture of the interface 3.1.4 operator company which physically operates the ROV (delivery

35、 system) 3.1.5 remotely operated tool ROT dedicated tool that is normally deployed on lift wires or drill string NOTE Lateral guidance can be by guide wires, dedicated thrusters or ROV assistance. 3.1.6 remotely operated vehicle ROV free-swimming submersible craft used to perform tasks such as valve

36、 operations, hydraulic functions and other general tasks NOTE ROVs can also carry tooling packages for undertaking specific tasks such as pull-in and connection of flexible flowlines and umbilicals, and component replacement. 3.2 Abbreviated terms CCO Component change-out FAT Factory acceptance test

37、 FMECA Failure mode effect and criticality analysis HIPPS High integrity pipeline protection system MQC Multi quick connect MTBF Mean time between failures ROV Remotely operated vehicle ROT Remotely operated tool SCM Satellite control module TDU Tool deployment unit 4 Intervention philosophy and fun

38、ctional requirements 4.1 General When designing interfaces for use on subsea production systems an intervention philosophy needs to be established. The intervention philosophy should address the activities to be carried out, the method of intervention for each task, the type of tool, the method of s

39、tabilization of the ROV by docking or positioning for the effective performance of its intervention tasks, and access requirements. The intervention philosophy should take into account the various intervention tasks, rationalizing them so that a consistent method is adopted, as a number of tasks may

40、 be performed consecutively. ISO 13628-8:2002(E) ISO 2002 All rights reserved 3Once the tasks to be carried out have been identified the ROV intervention method should be established. Figures 1 to 34 show a variety of ROV systems and interfaces. 4.2 Intervention by ROV ROVs are free-swimming submers

41、ible craft that can be used to perform tasks such as valve operations, hydraulic functions, and other general tasks. ROVs can also carry tooling packages in order to undertake specific tasks such as tie-in and connection functions for flowlines, umbilicals and rigid pipeline spools, and component re

42、placement. ROVs are essentially configured for carrying out intervention tasks in five ways: with manipulators for direct operation of the interface; with a manipulator-held tool; with TDUs; dual down line method (with ROTs); with tool skids or frames. Interface tooling, so far as possible, should b

43、e designed to operate with a range of ROVs and not be limited in application to one design only, thus allowing the use of ROVs and intervention vessels of opportunity. Figure 1 shows typical ROVs. a) ROV with manipulators b) Twin-point docking tool delivery system c) Underslung tool skid d) Single-p

44、oint docking tool delivery system Figure 1 Typical work class ROV operationally configured ISO 13628-8:2002(E) 4 ISO 2002 All rights reservedFigure 2 shows ROV and interfaces on a typical tree. Figure 2 Interfaces on typical tree 4.3 ROV intervention task configurations 4.3.1 ROV intervention with m

45、anipulators A manipulator is a mechanical arm complete with joints allowing degrees of freedom (see Figure 1). The arm or arms are connected to the ROV vehicle frame. The more joints that the arm has, the more degrees of freedom and consequently the more versatile the arm. At the end of the arm ther

46、e is a gripper, usually consisting of two or three fingers that allow handles, objects and structural members to be grasped for the purpose of carrying out an activity or to stabilize the ROV. Where a ROV is engaged in performing tasks, it can have two manipulator arms, one used for stabilising the

47、ROV itself and the second for carrying out the function or task. Manipulator systems operated by ROV vary considerably in their functionality and controllability. For tasks to be performed on a subsea production system using ROV manipulators or manipulator-held tooling, the following number of issue

48、s require special consideration: location of the interface such that it is within the manipulator capability in terms of reach, i.e. the working envelope (see Annex C for details of typical manipulator envelopes); pliancy between the tool body and the handle by which the manipulator holds the tool,

49、to provide dexterity during insertion or pull-out of the tool, such that the manipulators wrist angle does not have to move precisely in tandem with the insertion or pull movement of the rest of the arm (see Figure 19 for an example of design pliancy in the wire rope extension between a hot stab body and the manipulator handle); ISO 13628-8:2002(E) ISO 2002 All rights reserved 5 weight of any removable components such that they are within the manipulator capability in terms