Abstract:
An improved multi-bolt and nut torque wrench for installing and removing bolts or nuts from flanged joints or the like which includes a plurality of torque stations having a plurality of high torque wrenches for engaging the heads of the bolts or nuts during a high torque phase of removal or installation; a plurality of low-torque motors operatively engaged with the wrenches for rotating the bolts or nuts during the low torque phase of removal or installation; a source of hydraulic fluid for driving the low-torque motors during the low-torque phase, and driving the high-torque wrenches during the high torque phase; and a mechanism for switching between the two phases depending on the torque needed.

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This is a continuation of U.S. patent application Ser. No. 13/235,928, filed Sep. 19, 2011 (issuing as U.S. Pat. No. 8,157,018 on Apr. 17, 2012), which was a continuation of U.S. patent application Ser. No. 12/434,861 filed May 4, 2009 (issued as U.S. Pat. No. 8,020,626 on Sep. 20, 2011), which application was a non-provisional of U.S. Provisional Patent Application Ser. No. 61/050,067, filed May 2, 2008. Each of these applications are incorporated herein by reference. Priority of each of these applications is hereby claimed. 
    
    
     STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH OR DEVELOPMENT 
     Not applicable. 
     REFERENCE TO A “MICROFICHE APPENDIX” 
     Not applicable. 
     BACKGROUND 
     The present invention relates to torquing systems. More particularly, in one embodiment the present invention relates to an improved torque wrench system having multiple torque stations providing for the makeup and removal of a plurality of threaded bolts or nuts. In one embodiment the improved torquing system includes both high torque and low torque phases of the makeup or removal process. In one embodiment both high speed and low speed phases are provided. 
     In the makeup or break down of large structures, such as, for example rig risers, the sections of the riser are flanged together with bolts threadably engaging the flanges on the end of each section, and made up very tightly to complete the structure. There are numerous other types of structures which use this same system of makeup, i.e., very large bolts through flanges connecting sections of structures. 
     Flanged riser joints use specially designed bolts that must be torqued to a precise preload. Typically, flanged riser connectors in the offshore drilling industry use six (6) bolt flanges with each bolt straddling an auxiliary line position. During the operation of running the blow out preventer or “BOP” (e.g., initially installing the BOP and riser), an upper flange of a riser joint in the riser string can be landed and supported on the riser spider (e.g., with the spider dogs in an extended state). A new riser joint can stabbed or placed on top of the supported riser joint and the plurality of riser bolts can be turned down and torqued thereby making up the connection. This process can be repeated as many times as needed until the riser string reaches the sea floor and can be attached to the wellhead. 
     In a typical rig riser structure the flanged sections of the risers include six (6) holes radially spaced apart in about sixty (60) degree increments (around the 360 degree bolt circle of the riser section flanges). The riser string typically extends from the drilling rig above the surface of the water to the wellhead located at sea floor. In deepwater installations the depth of water typically exceeds 5,000 feet. Riser sections are typically provided in 75 foot lengths, yielding a minimum of 67 riser sections or joints and 67 multiplied by 6 (or 402) bolts which must be properly tightened or made up (when installing the riser) or loosened or broken out (when removing the riser). 
     Presently, when installing or removing riser sections or joints, torque wrenches are manually positioned and operated to individually tighten or loosen each of the six bolts for each riser section or joint. In an effort to speed up the process two torque wrenches operated by two operators can be used addressing two bolts at the same time. However, each operator must individually position and operate his torque wrench on the head of each bolt when tightening or loosening. The operator continues around the flange until all six bolts have been torqued. Additionally, after completing each bolt, the operator must manually remove the torque wrench from the made up bolt and position the torque wrench on the next bolt. After all bolts are torqued down, the spider dogs are retracted and the riser string (e.g., plurality of riser joints and BOP) is lowered to allow the placement and make-up of the connection to the next riser joint section. 
     This manual process is time consuming and slows down both the initial installation along with the removal of the riser. Additionally, the operators of these torque wrenches can become tired slowing down the process, making mistakes, damaging equipment, and/or causing injury. Due to increasing rig day rates and improved HSE requirements, it is desirable to create a tool that can preload each riser flange connection quicker and without human presence at the well center. This would improve rig operational efficiency as well as safety performance. In a typical yearly operation of a drilling rig the riser string can be retrieved (tripping out) and installed (tripping in) between two and twenty four times. 
     While certain novel features of this invention shown and described below are pointed out in the annexed claims, the invention is not intended to be limited to the details specified, since a person of ordinary skill in the relevant art will understand that various omissions, modifications, substitutions and changes in the forms and details of the device illustrated and in its operation may be made without departing in any way from the spirit of the present invention. No feature of the invention is critical or essential unless it is expressly stated as being “critical” or “essential.” 
     BRIEF SUMMARY 
     One embodiment of the method and apparatus solves the problems confronted in the art in a simple and straightforward manner. What is provided is an improved method and apparatus for robotically and simultaneously installing or removing a plurality of bolts from the flanged joints of a rig&#39;s riser or the like wherein the apparatus includes a plurality of torque stations each having positionable variable torque wrenches for engaging the heads of the plurality of bolts and rotating the bolts during two torque phases including a low-torque phase (which has lower torques but higher rotational speeds), and a high-torque phase (which has higher torques but lower rotational speeds). 
     In one embodiment is provided a plurality of torque wrenches for rotating a plurality of bolts; a positioning mechanism for positioning and removing each wrench on, with, and/or off of the bolts during each successive cycle of tightening or loosening, and a source of fluid for driving each torque wrench. 
     In one embodiment is provided a hydraulically actuated riser spider that sits on the floor of the drilling rig such as on top of the gimbal or rotary table. In one embodiment the spider will have a wrench system attached to the spider (which can be welded or bolted on top of the spider). 
     In one embodiment the wrench system can include a plurality (e.g., six or eight) torquing stations and their operating systems. In one embodiment hydraulics to the riser spider and wrench system can come from a control panel that is located adjacent or next to the spider and wrench system (e.g., on the drill floor). In one embodiment the control panel for the wrench system can be located remote from the torquing stations. In one embodiment the control panel can be located in the drillers shack. 
     In one embodiment the wrench system can be placed on the spider and be moved with the spider to and from the riser. In one embodiment the wrench system can sit on the spider. In one embodiment the wrench system is connected to (e.g., bolted) to the spider. 
     In one embodiment operation of the wrench system (and/or spider) will require a single individual standing at the control panel, which can be strategically positioned to observe operation of the tool. In one embodiment no technicians will be required to be on the wrench system and/or spider and/or around the riser joint during flange make-up or break-out. In one embodiment the control panel for the wrench system can be located remote from the torquing stations. In one embodiment the control panel can be located in the driller&#39;s shack. 
     In one embodiment the spider can include retractable bearing surfaces that will hold the upper flange of a riser joint section, and transmit the weight of the riser string and BOP stack to the gimbal top plate or rotary table. 
     Makeup 
     In one embodiment the wrench system can comprise six (6) torque stations with the ability to preload all six riser bolts simultaneously during make-up. In one embodiment each torque station will torque each riser bolt to substantially the same torque value. In one embodiment each bolt will be torqued to within an acceptable range of a specified make-up torque value. In one embodiment the acceptable range is within about 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24 and/or 25 percent of each other. In various embodiments the acceptable range is between about any two of the above specified percentages. 
     In one embodiment a record (which can be computer generated) can be kept for the makeup value of each bolt in the riser string. 
     In one embodiment the make up sequence for each riser joint can include the following steps: (a) extending the spider legs (which can be controlled by the control panel) to support a riser string; (b) lowering the riser string until the top flange lands on spider dogs; (c) activating the torquing sequence of the wrench system from the control panel; (d) having the plurality of torquing stations engaging their respective bolts; (e) having the plurality of torquing stations spinning down their respective bolts from the lower flange on the upper riser section to the upper flange on the lower riser section; (f) having the plurality of torquing stations torquing down their respective bolts to a desired torque or torque range; (g) having the plurality of torquing stations disengaging the plurality of bolts and providing clearance for the riser string to be lowered, supported by the spider, and a new riser joint to be stabbed on top of the riser string; (h) lowering the made up portion of the riser string and stabbing a new riser joint on top of the lowered riser string; and (i) extending the spider legs to support the riser string. 
     In one embodiment the during step “d” the plurality of torquing stations move from retracted positions to radially extended positions. In one embodiment the plurality of torquing stations in step “d” move from upper positions to lower positions. In one embodiment the move from retracted to radially extended positions occurs before the move from upper positions to lower positions. 
     In one embodiment steps “c” through “g” are completed within less than a set period of time. In one embodiment the set period of time is less than 5, 4.5, 4, 3.5, 3, 2.5, 2, 1.5, and 1 minutes. In various embodiments the set period of time is between any two of the above specified periods of time. 
     In one embodiment when first radially extended the upper part of the torque wrench is located within a projected circle of a flotation unit attached to the upper riser section, but also located between the floatation unit and the head of the bolt. In this way the torque wrench clears the floatation attachment without damaging same. 
     In one embodiment in step “d” the plurality of torquing stations simultaneously first engage the plurality of bolts. In one embodiment in step “d” at least of the plurality of torquing stations first engage the plurality of bolts at a different time then at least one of the other of the plurality of torquing stations. 
     In one embodiment during step “e” each bolt can freely vertically drop between the threads of the upper flange section and lower flange section of the two riser sections being attached. In one embodiment during this free drop the head of the bolt can remain engaged with the drive socket. In one embodiment the rotational speed of the drive socket can remain constant during the free drop of the bolt. In one embodiment the vertical speed of the drive socket can remain constant during the free drop. 
     In one embodiment during step “e” the spinning down can include a high speed/low torque rotation of the bolts, and during step “f” the torquing down can include a low speed/high torque rotation of the bolts, where high torque is substantially higher than low torque, and high speed is substantially higher than low speed. 
     In one embodiment step “e” can include first and second rotational high speeds, where the second rotational high speed is higher than the first rotational high speed, and both first and second rotational high speeds are substantially higher than the low speed of step “f.” In one embodiment the first rotational high speed is 15, 20, 25, 30, 35, 40, 45, 50, 55, 60, 65, 70, and/or 75 percent of the second rotational high speed. In various embodiments the first rotational high speed is between about any two of the above specified percentages in relation to the second rotational high speed. 
     In one embodiment the rate of vertical speed of the drive socket head of each torquing station changes with the rotational speed of the drive socket. In one embodiment the rate of vertical speed of the drive socket is synchronized with the rotational speed of the drive socket. In one embodiment step “e” can include first and second vertical high speeds, where the second vertical high speed is higher than the first high speed, and both first and second vertical high speeds are substantially higher than the low vertical speed of step “f.” In one embodiment the first vertical high speed is 15, 20, 25, 30, 35, 40, 45, 50, 55, 60, 65, 70, and/or 75 percent of the second vertical high speed. In various embodiments the first vertical high speed is between about any two of the above specified percentages in relation to the second vertical high speed. 
     In one embodiment first and second rotational high speeds of step “e” can be switched based on the height of the drive socket of each torquing station. In one embodiment first and second rotational high speeds of step “e” can be switched based on the height of the bolt being spun down. In one embodiment the switch can be based on the bolt engaging at least two threads of in the lower flange of the two sections of riser joints being attached. In one embodiment the switch from first to second high speeds can occur simultaneously with a plurality of torquing stations (or with all torquing stations). In one embodiment there can be a pause between the switch from first to second rotational high speeds of all torquing stations. In various embodiments the pause can be ½, ¾, 1, 1½, 2, 3, 4, and 5 seconds. In various embodiments the pause can be between any two of the above specified time periods. 
     In one embodiment the switch from step “e” to step “f” can be switched based on the height of the drive socket of each torquing station. In one embodiment the switch from step “e” to step “f” can be based on the height of the bolt being spun down. In one embodiment the switch can be based on the shoulder of the bolt engaging the upper flange of the two sections of riser joints being attached. In one embodiment the switch from step “e” to step “f” can occur simultaneously with a plurality of torquing stations (or with all torquing stations). In one embodiment there can be a pause between the switch from step “e” to step “f” for all torquing stations. In various embodiments the pause can be ½, ¾, 1, 1½, 2, 3, 4, and 5 seconds. In various embodiments the pause can be between any two of the above specified time periods. In one embodiment during the pause the rotational control of the drive sockets are relaxed so as not to attempt to rotate the bolts. In one embodiment the vertical location controls of the drive sockets are relaxed. In one embodiment the radial positioning controls are relaxed. 
     In one embodiment step “f” can simultaneously start with a plurality of torquing stations (or with all torquing stations). In one embodiment step “f” can simultaneously start with one half of the torquing stations (e.g., torquing stations  110 A-C) and then simultaneously start the second half of the torquing stations (e.g., stations  110 D-F). In one embodiment step “f” can simultaneously start with two of the torquing stations (e.g., torquing stations  110 A-B), and then simultaneously start with a second two of the torquing stations (e.g., stations  110 C-D), and then simultaneously start with a third two of the torquing stations (e.g., stations  110 E-F). 
     In one embodiment each of the torquing stations can continue in step “f” until the individual torquing station reaches a desired make up torque for its respective bolt. In one embodiment the desired make-up torque can be based on the stalling hydraulic pressure sent to the low speed high torque system of the particular torquing station. 
     In one embodiment the switch from step “f” to step “g” can occur simultaneously for each of the torquing stations. In one embodiment the switch from step “f” to step “g” can occur simultaneously for a plurality of the torquing stations. In one embodiment the switch from step “f” to step “g” can occur separately for each of the torquing stations, and can be based on the individual torquing stations torquing up its respective bolt to the desired torque. 
     In one embodiment, a warning signal is sent if one or more torquing stations are not able to torque up its respective bolt to a desired torque. In one embodiment this warning signal is sent after a set period of time after the particular torquing station entered high torque mode (i.e., step “f”). 
     In one embodiment the during step “f” the plurality of torquing stations move from extended positions to radially retracted positions. In one embodiment the plurality of torquing stations in step “f” move from lower positions to upper positions. In one embodiment the move from lower to upper positions occurs before the move from radially extended to radially retracted positions. In one embodiment, after raising a specified vertical height both radial retraction and raising of the drive socket can occur at a torquing stations. In one embodiment the set height is based on adequately clearing the station&#39;s respective head of its made up bolt. 
     In one embodiment during step “h” the riser string can be supported by the draw works of the rig or the top drive of the rig. 
     In one embodiment steps “a” through “i” are repeated until enough riser joints or sections are connected to the riser string so that the string can be attached to a well head. 
     Break-Out 
     In one embodiment the break out (or riser retrieval) sequence for each riser joint can include the following steps: (a) extending the spider legs/dogs (which can be controlled by the control panel) to support a riser string; (b) raising the riser string until an upper flange lands on spider dogs; (c) activating the torquing sequence of the wrench system from the control panel; (d) having the plurality of torque stations engaging their respective bolts; (e) having the plurality of torque stations breaking out their respective bolts from the upper flange on the lower riser section to the lower flange on the upper riser section; (f) having the plurality of torque stations spinning up bolts from the lower flange; (g) having plurality of torque stations lifting their respective bolts to the upper flange; (h) having the plurality of torque stations spinning their respective bolts into a storage position on the upper flange; (i) having the plurality of torque stations disengaging the plurality of bolts and providing clearance for the riser string to be raised; (j) retrieving the disconnected riser section; (k) raising the remaining portion of the riser string; and (l) extending the spider legs/dogs and supporting the remaining portion on the spider legs/dogs. 
     In one embodiment the during step “d” the plurality of torquing stations move from retracted positions to radially extended positions. In one embodiment the plurality of torquing stations in step “d” move from upper positions to lower positions. In one embodiment the move from retracted to radially extended positions occurs before the move from upper positions to lower positions. In one embodiment, for at least a portion of step “d” the move vertical and radial movement occur simultaneously. 
     In one embodiment steps “c” through “i” are completed within less than a set period of time. In one embodiment the set period of time is less than 5, 4.5, 4, 3.5, 3, 2.5, 2, 1.5, and 1 minutes. In various embodiments the set period of time is between any two of the above specified periods of time. 
     In one embodiment when radially extended the upper part of the torque wrench is located within a projected circle of a flotation unit attached to the upper riser section, but also located between the floatation unit and the head of the bolt. In this way the torque wrench clears the floatation attachment without damaging same. 
     In one embodiment in step “d” the plurality of torquing stations simultaneously first engage the plurality of bolts. In one embodiment in step “d” at least of the plurality of torquing stations first engage the plurality of bolts at a different time then at least one of the other of the plurality of torquing stations. 
     In one embodiment, during step “d” each of the drive sockets at their respective torquing stations can rotate at a first high rotational speed until dropping down to a first vertical height as determined by a height sensor. In one embodiment a first vertical height of the socket head corresponds to the drive socket being located on the bolt head. 
     In one embodiment each drive socket is rotated at the first rotational speed until the drive socket reaches a second vertical height at which time the high speed low torque motor is stopped and hydraulically relaxed. At this same time vertical movement of the drive socket head is stopped and the hydraulic motor driving the vertical positioning screw is hydraulically relaxed for a set period of time. In one embodiment the set period of time can be ½, ¾, 1, 1½, 2, 3, 4, and 5 seconds. In various embodiments the set period of time can be within a range of between any two of the above set periods of time. 
     In one embodiment steps “d” and “f” can include first and second rotational high speeds, where the second rotational high speed is higher than the first rotational high speed, and both first and second rotational high speeds are substantially higher than the low speed of step “e.” In one embodiment the first rotational high speed is 15, 20, 25, 30, 35, 40, 45, 50, 55, 60, 65, 70, and/or 75 percent of the second rotational high speed. In various embodiments the first rotational high speed is between about any two of the above specified percentages in relation to the second rotational high speed. 
     In one embodiment if a first vertical height of drive socket is not achieved within a set period of time at a particular torquing station, at least one locating high torque stroke is made on the drive socket to assist in locating the drive socket on the bolt head and a further check on the vertical height of the socket head is made to determine engagement of the bolt head by the drive socket. In one embodiment after the first iteration of the locating drive stroke is made and the locating high torque stroke is not achieved for the drive socket, a second iteration of locating drive stoke is made and the vertical height of the drive socket is checked. In various embodiment multiple iterations of locating high torque strokes can be made along with checks of the vertical heights of the drive sockets, until engagement of the bolt head is determined. 
     In various embodiments, before each locating high torque stroke is made, vertical movement of the drive socket is stopped. In one embodiment the vertical control system is also relaxed before each locating high torque stroke is made. 
     In various embodiments, before each locating high torque stroke is made, rotation of the drive socket is stopped. In one embodiment the high speed rotational motor is also relaxed before each locating high torque stroke is made. In one embodiment pressure is maintained on the rotational motor to assist in positioning each drive socket after it has located the head of its particular riser bolt. 
     In various embodiments, before each locating high torque stroke is made, the radial positioning system for the drive socket is relaxed. 
     In one embodiment, a warning signal is sent if one or more torquing stations are not able to be located on their respective bolt head within a set period of time (i.e., step “d”), or within a set number of high torque locating strokes. 
     In one embodiment, after reaching the first vertical height, the vertical positioning screw moves the drive socket to a second vertical height and holds the drive socket at this height. In one embodiment at the time the vertical positioning screw is stopped, the drive socket head enters a high torque break-out mode (step “e”). 
     In one embodiment during the high torque break out mode (step “e”), the high torque cylinder is cycled for a set number of cycles. In one embodiment the set number of cycles can be 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 30, 35, 40, 45, and 50. In various embodiments the set number of cycles can be within a range of between any two of the above set number of cycles. In one embodiment after its last cycle, the high torque system fully retracts. In one embodiment full retraction is determined by a timing sequence using the high torque hydraulic cylinder, such as extension hydraulic pressure for a set period of time which can be ½,¾, 1, 1½, 2, 3, 4, and 5 seconds. In various embodiments the set period of time can be within a range of between any two of the above set periods of time. 
     In one embodiment each of the drive sockets are started in the high torque mode simultaneously (step “e”). In one embodiment step “e” can simultaneously start with a plurality of torquing stations (or with all torquing stations). In one embodiment step “e” can simultaneously start with one half of the torquing stations (e.g., torquing stations  110 A-C) and then simultaneously start the second half of the torquing stations (e.g., stations  110 D-F). In one embodiment step “e” can simultaneously start with two of the torquing stations (e.g., torquing stations  110 A-B), and then simultaneously start with a second two of the torquing stations (e.g., stations  110 C-D), and then simultaneously start with a third two of the torquing stations (e.g., stations  110 E-F). 
     In one embodiment each of the torquing stations can continue in step “e” until the individual torquing station reaches a desired rotation of the respective bolt being broken out. In one embodiment the desired turn can be based on a number of strokes of the high torque system. 
     In one embodiment during the high torque mode the drive socket is not moved vertically upward. In this embodiment vertical movement of the drive head is taken up by a vertical angular turning of the torque wrench body. In one embodiment this differential vertical angular turning of the torque wrench body is relieved when the bolt leaves the threads of the lower flange, and is located in the gap between the upper and lower flanges, and is being raised by the lifting fork. In one embodiment the arms of the lifting fork are about set distance below the tip of the drive socket. In one embodiment the set distance is ¼, ⅜, ½, ⅝, ¾, ⅞, 1, 1¼, 1⅜, 1½, 1⅝, 1¾, 1⅞, 2 inches. In various embodiments the set distance can be within a range of between any two of the above specified distances. 
     In one embodiment the high torque mode is switched to low torque mode after a specified lower back pressure is achieved on the high torque system. In one embodiment a check can be made on the low torque high speed to see if it stalls when breaking out the bolt. In one embodiment the stalling condition is determined based on reaching a specified back pressure for the motor. In one embodiment the stalling condition is determined upon falling below a specified flow rate through the motor. 
     In one embodiment the switch from high torque to low torque modes for each of the modules are done simultaneously. 
     In one embodiment the rate of vertical movement of each drive socket head remains constant during vertical lifting of the drive sockets during break out. In one embodiment the rotational speed of the drive socket head remains constant during vertical lifting. 
     In one embodiment at a set vertical height the lifting fork is extended. In one embodiment full extension of the lifting fork is determined by a timing sequence using the lifting fork hydraulic cylinder(s), such as extension hydraulic pressure for a set period of time which can be ½,¾, 1, 1½, 2, 3, 4, and 5 seconds. In various embodiments the set period of time can be within a range of between any two of the above set periods of time. 
     In one embodiment the lifting fork remains extended until the drive socket head reaches a second vertical height at which height the lifting fork is retracted. In one embodiment full retraction of the lifting fork is determined by a timing sequence using the lifting fork hydraulic cylinder(s), such as by retraction hydraulic pressure for a set period of time which can be ½,¾, 1, 1½, 2, 3, 4, and 5 seconds. In various embodiments the set period of time can be within a range of between any two of the above set periods of time. 
     In one embodiment rotation of the drive socket is stopped simultaneously with the start of retraction of the lifting fork. 
     In one embodiment after start of retraction of the lifting fork, the drive socket is sent to a home position for retracted vertical and retracted horizontal positioning. 
     In one embodiment the retracted vertical mode is achieved before the start of retraction in a horizontal mode. In one embodiment the drive socket is not spun either in high speed or in high torque during retraction. In one embodiment retraction vertically is checked by a vertical height sensor. In one embodiment retraction horizontally is by a pre-set time period. The horizontal radially retracted home position can be checked by a timing sequence using the body slide cylinders, such as retraction hydraulic pressure for a set period of time which can be 1, 2, 3, 4, 5, 6, 7, 8, 9, and 10 seconds of retraction pressure. In various embodiments the set period of time can be within a range of between any two of the above set periods of time. Fully retracted positions can be controlled by fully retracted body slide cylinders, or by a retraction catch, or a combination of the two. In one embodiment there can be an adjustable body retraction stop for each body module in the retraction step. 
     In one embodiment the rate of vertical speed of the drive socket head of each torquing station changes with the rotational speed of the drive socket. In one embodiment the rate of vertical speed of the drive socket is synchronized with the rotational speed of the drive socket. 
     In one embodiment the during step “i” the plurality of torquing stations move from extended positions to radially retracted positions. In one embodiment the plurality of torquing stations in step “i” move from lower positions to upper positions. In one embodiment the move from lower to upper positions occurs before the move from radially extended to radially retracted positions. In one embodiment, after raising a specified vertical height both radial retraction and raising of the drive socket can occur at each torquing stations. In one embodiment the set height is based on adequately clearing the station&#39;s respective head of its broken out bolt. 
     In one embodiment during steps “j” and “k” the broken out riser flange is removed, and the riser is raised until a new flange is revealed to be broken out. In one embodiment the above specified steps are repeated for newly revealed flange connection. 
     In one embodiment the above specified steps are repeated until the length of riser has been removed. 
     In one embodiment during step “k” the riser string can be supported by the draw works of the rig or the top drive of the rig. 
     In one embodiment steps “a” through “l” are repeated until the entire riser is retrieved. 
     General Operation 
     Multiple Bolts Simultaneously 
     In one embodiment the method includes simultaneously tightening (making up) or loosening (breaking out) a plurality of bolts. 
     In one embodiment a plurality of at least 3, 4, 5, and/or 6 bolts are simultaneously tightened or loosened. 
     In one embodiment is provided a plurality of independently operated torque drivers. In one embodiment a plurality of at least 3, 4, 5, or 6 torque drivers are provided. 
     In one embodiment the plurality of bolts are in a bolt circle. In one embodiment the plurality of bolts are symmetrically and radially spaced apart by about 60 degrees each. 
     In one embodiment the plurality of bolts will or have connected two riser sections or joints of a riser string. 
     In one embodiment a plurality of drivers are provided each individually positionable both generally laterally and/or vertically. 
     In one embodiment a plurality of at least 3, 4, 5, and/or 6 drivers are positionable together to tighten (make up) or loosen (break out) respective bolts. 
     Method Steps at Individual Torque Stations 
     In one embodiment the method includes the driver moving vertically upward or downward when the bolt is being loosened or tightened. 
     In one embodiment a visual check is made of the existence and/or position of each bolt to be tightened (make up) or loosened (break out). If the visual check is satisfied the making up or breaking out sequences can begin. 
     Tightening (or Making Up) 
     In one embodiment a second section of riser is positioned next to a first section of riser, the second section of riser including a plurality of bolts. 
     In one embodiment a plurality of drivers are moved horizontally closer to a respective plurality of bolts to be tightened (made up). 
     In one embodiment a plurality of drivers are moved vertically closer to the respective plurality of bolts to be tightened (made up). 
     In one embodiment a plurality of drivers are turned to tighten the respective plurality of bolts to be tightened (made up). 
     In one embodiment a plurality of high speed/low torque systems control the turning of the respective plurality of bolts to be tightened. In one embodiment control can be switched between high and low torque systems as many times as needed or desired. 
     In one embodiment a plurality of low speed/high torque systems can transition to control over the turning of the respective plurality of bolts to be tightened. In one embodiment control can be switched between high and low torque systems as many times as needed or desired. 
     In one embodiment a plurality of drivers are moved vertically downward with the respective plurality of bolts to be tightened (made up) as the bolts move downward. 
     In one embodiment a plurality of drivers are moved vertically downward at a different vertical speeds with the respective plurality of bolts to be tightened (made up) as the bolts move downward. 
     In one embodiment each driver can be independently controlled in both controlling driver (high or low speed), and speed of vertical movement. 
     In one embodiment the first and second sections of risers are lowered and a third riser joint or section is positioned next to the second riser joint or section, and the third riser joint or section including a plurality of bolts to be made up. 
     In one embodiment the above tightening steps are repeated until a riser string spans from adjacent the sea floor (e.g., wellhead or blow out preventers) to the rig or platform. 
     In one embodiment the method includes the step of allowing a bolt to drop a distance while the bolt head is still retained in the driver. In one embodiment multiple bolts are allowed to drop a distance. 
     In one embodiment, after each of the plurality of bolts have been spun down so that shoulder to shoulder contact exists, each torque station simultaneously begins the final high torque makeup of their respective bolts. Simultaneously performing the final high torque make-up is believed to provide a more uniform make up connection between the riser sections or joints (e.g., keeping the flanges of the riser joints or section more parallel). 
     In one embodiment, at each torque station, the tightening cycle for each bolt is stopped after a desired torque on the bolt is reached (e.g., the high torque driver system stalls based on supply pressure), and the driving system is removed from the bolt. 
     In one embodiment the method includes the driver moving vertically downward when the bolt is being tightened. 
     In one embodiment, the retraction and disengagement of the driving system at each torque station includes the step of raising the driver so that it can at least clear the bolt head and moving away the driver radially from the bolt. 
     In one embodiment the vertical height of the system is limited to prevent the system from damaging the floatation/insulation found on each riser section or joint. 
     Loosening (or Breaking Out) 
     In one embodiment a plurality of drivers are moved horizontally closer to a respective plurality of bolts to be loosened (broken out) from second and first sections of riser. 
     In one embodiment a plurality of drivers are moved vertically closer to the respective plurality of bolts to be loosened (broken out). 
     In one embodiment a plurality of drivers are turned to loosen the respective plurality of bolts to be loosened (broken out). 
     In one embodiment a plurality of high speed/low torque systems control the turning of the respective plurality of bolts to be loosened. In one embodiment control can be switched between high and low torque systems as many times as needed or desired. 
     In one embodiment a plurality of low speed/high torque systems can transition to control over the turning of the respective plurality of bolts to be loosened. In one embodiment control can be switched between high and low torque systems as many times as needed or desired. 
     In one embodiment a plurality of drivers are moved vertically upward with the respective plurality of bolts to be loosened (broken out) as the bolts move upward. 
     In one embodiment a plurality of drivers are moved vertically upward at a different vertical speeds with the respective plurality of bolts to be loosened (broken) as the bolts move upward. 
     In one embodiment each driver can be independently controlled in both controlling driver (high or low speed), and speed of vertical movement. 
     In one embodiment the method includes the step of using a fork to lift a bolt to a vertical distance while the bolt head is still retained in the driver. 
     In one embodiment the driving cycle of each bolt is stopped after a desired height of the bolt is reached (e.g., the head of the bolt reaches a specified storage height), and the driving system is disengaged from the bolt. 
     In one embodiment the first riser section or joint is retrieved, and the remaining riser string is raised to reveal another riser section or joint to be retrieved, along with another plurality of bolts to be loosened. 
     In one embodiment the above retrieval steps are repeated until each riser section or joint in the riser string is retrieved. 
     In one embodiment the removal of the driving system includes the step of raising the driver so that it can at least clear the bolt head and moving away the drive radially from the bolt. 
     In one embodiment the method includes the driver moving vertically upward when the bolt is being loosened. 
     In one embodiment, at each torque station, the loosening cycle for each bolt is stopped after a desired height for the bolt is reached (e.g., a specified storage height for the bolt), and the driving system is disengaged and retracted from the bolt for the next loosening cycle. 
     In one embodiment, the retraction and disengagement of the driving system at each torque station includes the step of raising the driver so that it can at least clear the bolt head and move away the driver radially from the bolt. 
     In one embodiment the vertical height of the system is limited to prevent the system from damaging the floatation/insulation found on each riser section or joint. 
     Type of Control 
     In one embodiment a plurality of torque drivers are robotically controlled. In one embodiment a plurality of at least 3, 4, 5, and/or torque drivers are controlled. In one embodiment the control is simultaneous. 
     In one embodiment a plurality of torque drivers are computer controlled. In one embodiment a plurality of at least 3, 4, 5, and/or torque drivers are controlled. In one embodiment the control is simultaneous. 
     In one embodiment a plurality of torque drivers are automatically controlled. In one embodiment a plurality of at least 3, 4, 5, and/or torque drivers are controlled. In one embodiment the control is simultaneous. 
     In one embodiment a plurality of torque drivers are remotely controlled. In one embodiment a plurality of at least 3, 4, 5, and/or torque drivers are controlled. In one embodiment the control is simultaneous. 
     Items Which Are Controlled 
     Position Of Driver 
     In one embodiment the control includes controlling the position of the driver. In one embodiment each of the plurality of torque drivers are positionable laterally (or radially towards or away from its respective bolt) and/or vertically (toward or away from its respective bolt). 
     In one embodiment each torque driver has a controlled vertical downward motion when tightening (making) up bolt. In one embodiment the controlled vertical motion of the driver is performed by a lifting and lower mechanism. 
     In one embodiment the lifting and lowering mechanism approximates the vertical movement of the bolt being tightened or loosened. In one embodiment each torque driver can move vertically substantially same as bolt which is engaged by the torque driver. 
     In one embodiment the vertical distance moved by the bolt is approximated by calculating the number of turns of the bolt and the pitch of the threads for the bolt. In this manner the vertical movement can be calculated by multiplying the number of turns of the bolt by the pitch. In one embodiment, at each torque station, the vertical speed of the driver is slightly greater than the vertical speed of the bolt being tightened, and motor controlling vertical movement of the driver stalls when it overshoots the vertical distance traveled by the bolt, and restarts when the bolt again moves ahead of the driver. In this manner the driver can be continuously maintained on the head of the bolt during tightening. 
     In one embodiment, at each torque station, the vertical speed of the driver is slightly lower than the vertical speed of the bolt being lowered, and motor controlling vertical movement of the driver can be speeded up when the bolt overshoots the vertical distance traveled by the driver. In this manner the driver can be continuously maintained on the head of the bolt during loosening. 
     In one embodiment the driver is slidingly connected to rig floor such that it can move in a substantially horizontal direction. In one embodiment a track system is used to guide movement of the driver. In one embodiment a linear bear or rod and bushing system is used. 
     Rotational Speed and Torque on Driver 
     In one embodiment at each torque station is provided torque drivers with both a high torque driving system and a low torque driving system. In one embodiment the low torque driving system drives at a faster rotational speed compared to the high torque driving system. In one embodiment both high torque driving system and low torque driving system are operatively connected to same driver for bolt. 
     In one embodiment the low torque driver system can have a plurality of driving speeds (such as fast, medium, and slow speeds), where the plurality of speeds are faster than the driving speed of the high torque driving system. 
     In one embodiment the both the high speed/low torque system and low speed high torque system are simultaneously operatively connected to the driver. In this vein when the high speed/low torque assembly is operating the driver, the low speed/high torque system will not inhibit movement of the driver because of a reverse ratcheting effect. Similarly, when the low speed/high torque system controls the driver (e.g., the high speed/low torque motor has stalled or been set to a non-energized state), the high speed/low torque system allows operation of the low speed/high torque assembly by turning along with the driver being turned by the low speed/high torque assembly. 
     In one embodiment each wrench includes a high speed/low torque motor controlling the high speed/low torque phase. 
     In one embodiment the rotational speed of the high speed/low torque driver is about 100 revolutions per minute. In one embodiment the high speed driver can have a programmable lower speeds such as 5 or 10 percent of the max speed. 
     In one embodiment each wrench includes a low speed/high speed torque wrench controlling the low speed/high torque phase. 
     In one embodiment one or more of the wrenches include mechanisms for automatically switching between the high speed/low torque phases and the low speed/high torque phases based on the individual torque requirements of the plurality of bolts being tightened or loosened. 
     Both Systems Energized Simultaneously 
     In one embodiment, both the high speed/low torque system can be energized simultaneously with the low speed/high torque system (because neither driving system in a non-operating state, or in a reduced operating state, will not interfere with the other driving assembly in the operating state). 
     In this embodiment switchover between the two systems depends on which system is controlling rotation of the bolt at any given instant. 
     In one embodiment both high and low torque drivers continue for substantially all of the processes when tightening (making up) or loosening (breaking out) a plurality of bolts. 
     Switchover by Height 
     In one embodiment transition between the high torque driver and low torque driver occurs when height of driver reaches a predetermined position. 
     In one embodiment both high and low torque drivers continue for predetermined amounts of process for (making up) or loosening (breaking out) a plurality of bolts. 
     In one embodiment the predetermined amount for continuance of high with low is one predetermined amount and the predetermined amount for continuance of low with high is a second predetermined amount. 
     Switchover by Pressure 
     In one embodiment the back pressure of the high speed/low torque motor can be sensed to determine a switchover point to the low speed/high torque system. This is a switchover can be made when the high speed/low torque motor is determined to be in a stalled condition. 
     In one embodiment the back pressure of the low speed/high torque assembly can be sensed to determine a switchover point to the high speed/low torque system. This is a switchover can be made when the back pressure in the low speed/high torque system is determined to be below a specified minimum pressure. In one embodiment the high speed low torque system can be energized/pressurized (but in a stalled condition) even when the low speed/high torque system is controlling the driver, but the low speed/high torque system is set to non-energized condition when it is determined that the high speed/low torque motor is no longer in a stalled condition (e.g., the back pressure from the high speed/low torque motor drops below a specified stalled pressure). 
     In one embodiment the stalling of the high speed/low torque motor in a particular wrench of the plurality of wrenches causes a transition to the low speed/high torque phase for such particular wrench. 
     In one embodiment falling below a specified resistance torque on the low speed/high torque wrench causes a transition to the high speed/low torque phase. 
     Structure of Wrenches 
     In one embodiment, at each torque station, the torque driver can comprise:
         a body having a high torque wrench assembly, the high torque assembly being operatively connected to a main driver;   a high torque wrench assembly, the high torque assembly being operatively connected to the main driver and rotating the main driver; and   the driver being adjustable both in lateral and vertical directions, the lateral direction being substantially perpendicular to the vertical direction.       

     In one embodiment each torque driver includes a low torque assembly, the low torque assembly being operatively connected to the main driver and rotating the main driver, wherein the maximum torque of the low torque assembly is less than the maximum torque of the high torque assembly and the speed of the low torque assembly is greater than the speed of the high torque assembly. 
     One Way/Two Way Torque Wrench 
     In one embodiment a plurality of one way high torque wrench drivers are used. 
     In one embodiment to switch from tightening for (making up) or loosening (breaking out) body of toque wrench can be flipped. 
     In one embodiment a plurality of two way torque wrenches are used to avoid the necessity of turning the plurality of torque wrench bodies between loosening and tightening modes. 
     Fork Lift For Lifting Bolt During Loosening (or Breakout) 
     In one embodiment a bolt lifting mechanism is operatively connected to each driver. 
     In one embodiment the bolt lifting mechanism is slidingly connected to body of torque wrench. 
     In one embodiment the bolt lifting mechanism is controlled through a piston, or through a plurality of pistons. 
     In one embodiment the bolt lifting mechanism vertically travels with body of torque wrench. 
     In one embodiment the bolt lifting mechanism is a fork 
     Final Torque 
     In one embodiment a check is made regarding the final torque on each bolt (e.g.,  32 A-F) during the tightening process. Such final torque can be calculated based on the back pressure (e.g., the stalling or back pressure of the hydraulic piston  740 ) during the high torque phase. In one embodiment a check is made against a minimum torque (such as by a calculation of the torque from the stalling or back pressure) and if the minimum torque is not achieved on one or more of the pistons  740 A-F and cylinders  700 A-F a warning signal is made. In one embodiment a record is kept of the torquing on each bolt during the make up (and/or break out procedure) for a substantial portion (or the entire riser). 
     In one embodiment a maximum of 40,000 foot pounds of torque can be obtained. In one embodiment the final torque of the driver is about 18,000 foot pounds. 
    
    
     
       BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS 
       For a further understanding of the nature, objects, and advantages of the present invention, reference should be had to the following detailed description, read in conjunction with the following drawings, wherein like reference numerals denote like elements and wherein: 
         FIG. 1  is a top view of the rig floor with the spider dogs in an extended state supporting the riser string with the upper flange of a riser joint exposed. 
         FIG. 2  is a perspective and sectional view of the spider showing the spider dogs in an extended state. 
         FIGS. 3 through 10  show various sequence steps in a make up process for one of the torque stations. 
         FIG. 3  is a top view showing one embodiment of the torque wrench system during make up with all six of the torque stations ( 110 A-F) in horizontally retracted states (and station  110 A in a partially broken out view). 
         FIG. 4  is a top view showing one embodiment of the torque wrench system during make up with all six of the torque stations ( 110 A-F) in horizontally extended states (and station  110 A in a partially broken out view). 
         FIG. 5A  is a schematic side view one of the torque stations ready for the beginning of a make up or break out sequence as the driver socket is completely retracted horizontally and moved to its highest vertical position which will clear a bolt previously placed in a storage condition for a riser joint along with being below the lowest point of the insulation or floatation for the upper riser section or joint.  FIG. 5B  is a top view of the torque station of  FIG. 5A  shown in partially broken out view. 
         FIG. 6A  is a schematic side view the torque station of  FIG. 5  where the driver socket has moved horizontally over a bolt and is rotating for tightening, the driver socket is also moving downwardly, and is about to engage the bolt head.  FIG. 6B  is a top view of the torque station of  FIG. 6A  shown in partially broken out view. 
         FIG. 7A  is a schematic side view of the torque station of  FIG. 5  where driver socket has engaged the bolt and begun to spin down the bolt through the upper flange and into the gap.  FIG. 7B  is a top view of the torque station of  FIG. 7A  shown in partially broken out view. 
         FIG. 8A  is a schematic side view of the torque station of  FIG. 5  after the driver socket has spun down the bolt, and the bolt is now allowed a free fall through the gap between the flanges, and the head of the bolt has vertically dropped in relation to the drive socket.  FIG. 8B  is a top view of the torque station of  FIG. 8A  shown in partially broken out view. 
         FIG. 9A  is a schematic side view of the torque station of  FIG. 5  after the driver socket has spun down the bolt, allowed a free fall of the bolt through the gap between the flanges, and spun down the bolt to the lower flange by about two threads in the lower flange.  FIG. 9B  is a top view of the torque station of  FIG. 9A  shown in partially broken out view. 
         FIG. 10A  is a schematic side view of the torque station of  FIG. 5  after the driver socket has spun down the bolt until shoulder to shoulder contact between the upper flange and the bolt head has occurred, and the torque station to go into a high torque mode where the piston and drive gear controls rotation of the driver. After the desired make up torque is achieved the driver socket will be moved upward and retracted to the position shown in  FIG. 5  and be ready for the next make up cycle.  FIG. 10B  is a top view of the torque station of  FIG. 10A  shown in partially broken out view. 
         FIGS. 11 through 21  show various sequence steps in a break out process for one of the torque stations. 
         FIG. 11  is a top view showing one embodiment of the torque wrench system during break out with all six of the torque stations ( 110 A-F) in horizontally retracted states (and station  110 A in a partially broken out view). 
         FIG. 12  is a top view showing one embodiment of the torque wrench system during break out with all six of the torque stations ( 110 A-F) in horizontally extended states (and station  110 A in a partially broken out view). 
         FIG. 13  is a schematic side view one of the torque stations ready for the beginning of a break out sequence as the driver socket is completely retracted horizontally and moved to its highest vertical position which will clear the bolt being broken out along with being below the lowest point of the insulation or floatation for the upper riser section or joint. 
         FIG. 14  is a schematic side view one of the torque stations moving to a locating position for the drive socket on the bolt head and showing how the drive socket has been radially extended and also moved vertically down before being located above the head of the bolt to be broken out. 
         FIG. 15  is a schematic side view of the torque station of  FIG. 13  illustrating the step of locating the drive socket on the bolt head for break out. Both low torque rotation along with high torque stroking is schematically shown for locating the drive socket on the bolt head prior to the high torque break out step. 
         FIG. 16  is a schematic side view of the torque station of  FIG. 13  where the driver socket is engaged with the bolt, and the bolt has shoulder to shoulder contact with the upper flange, and the driver socket or socket is beginning the breakout process so that the torque station will go into the high torque mode with the drive gear. 
         FIG. 17  is a schematic side view of the torque station of  FIG. 13  where the driver tip or socket has partially broken out the bolt, spun out the bolt to where a free spinning mode has been entered because the threads of the bolt are between the threads in the upper and lower flanges. 
         FIG. 18  is a schematic side view of the torque station of  FIG. 13  where the lifting fork has engaged the freely spinning bolt and begun lifting the bolt so that its threads can engage the threaded portion of the upper flange. 
         FIG. 19  is a schematic side view of the torque station of  FIG. 13  where the lifting fork has lifted the bolt enough to now engage the threaded portion of the upper flange, and the lifting fork can later retract. 
         FIG. 20  is a schematic side view of the torque station of  FIG. 13  where the lifting fork has retracted and the bolt has been additionally spun up compared to its position in  FIG. 19 , and is now located in the bolt&#39;s vertical position for retrieval of the section riser. 
         FIG. 21  is a schematic side view of the torque station of  FIG. 13  where the driver socket has stopped rotating and has been vertically raised above the head of the bolt. 
         FIG. 22  is a schematic side view of the torque station of  FIG. 13  where the driver socket is completely retracted both vertically and horizontally and ready for the start of the next break out cycle. 
         FIG. 23  is a front perspective view of a torque station where the wrench is set for tightening, and shown in a horizontally retracted position with the drive socket in the top most vertical position, and also showing the lifting fork in a retracted position. 
         FIG. 24  is a front perspective view of the torque station of  FIG. 23  now shown in a horizontally extended position, and the lifting fork is also shown in an extended position. 
         FIG. 25  is a rear perspective view of the torque station of  FIG. 23  now shown in a horizontally extended position. 
         FIG. 26  is a side perspective view of the wrench and elevator portion of the torque station of  FIG. 23  where the wrench is set for tightening, and the lifting fork is shown in an extended position. 
         FIG. 27  is a side perspective view of the wrench and elevator portion of  FIG. 26  but shown from the opposite side. 
         FIG. 28  is a top perspective view of the elevator portion shown in  FIG. 26 . 
         FIG. 29  is a bottom perspective view of the elevator portion shown in  FIG. 26  however with the lifting fork cylinders omitted for clarity. 
         FIG. 30  is an exploded perspective view of the high torque wrench portion. 
         FIG. 31  is a top perspective view of a portion of the high torque driver of the wrench of  FIG. 30 . 
         FIG. 32  is an exploded perspective view of the high torque driver of the wrench of  FIG. 30 . 
         FIG. 33  is a enlarged top view illustrating the cylinder and piston arrangement of the high torque driver of  FIG. 30 . 
         FIG. 34  is a top view of the high torque driver of the wrench of  FIG. 30  where the piston is in a completely retracted position. 
         FIG. 35  is a top view of the high torque driver of the wrench of  FIG. 30  where the piston is in the middle of a stroke. 
         FIG. 36  is a top view of the high torque driver of the wrench of  FIG. 30  where the piston is in a completely extended position. 
         FIG. 37  is a perspective view of a drive socket which can be operatively connected to the high speed low torque driver along with the high torque low speed driver. 
         FIG. 38  is a top view of the socket of  FIG. 37 . 
         FIG. 39  is a bottom view of the socket of  FIG. 37 . 
         FIGS. 40 and 41  are respectively top and bottom views of the high torque driver shown in  FIG. 30 . 
         FIG. 42  is a top perspective view of the sliding housing, reaction bar, and vertical lifting and lowering mechanism of  FIG. 23 . 
         FIG. 43  is a bottom perspective view of the sliding housing, reaction bar, and vertical lifting and lowering mechanism of  FIG. 23 . 
         FIG. 44  is a top perspective view of the base for the sliding housing of  FIG. 30 . 
         FIG. 45  is a schematic diagram of the hydraulic circuits controlling the high torque driver, low torque driver, vertical lifting and lowering mechanism, sliding housing, and lifting fork during make up mode. 
         FIG. 46  is a schematic diagram of the hydraulic circuits controlling the high torque driver, low torque driver, vertical lifting and lowering mechanism, sliding housing, and lifting fork during break out mode. 
         FIG. 47  is a schematic diagram of the hydraulic circuits for the hydraulic power unit. 
         FIG. 48  is a schematic side view of the step of making up a riser string of lowering a second riser section onto a first riser section where the first riser section along with the rest of the riser string is supported by the spider. 
         FIG. 49  is a closeup side view of where the second riser section has been placed on top of the first riser section showing a plurality of riser bolts ready to be tightened with the spider supporting the riser string and a plurality of torque modules are located in their home position. 
         FIG. 50  is a side view schematically indicating that the plurality of torque modules shown in  FIG. 49  have extended are making up the plurality of riser bolts while the riser string is being supported by the spider. 
         FIG. 51  is a side view schematically indicating that the plurality of torque modules have completed the make up of the plurality of riser bolts and such modules are retracting to their home position. 
         FIG. 52  shows the now made up joint between the second and first riser sections is being lowered by the rig lifting elevator after the spider has been retracted. 
         FIG. 53  is a side view of the now made up joint between the second and first riser sections is being lowered by the rig lifting elevator (which supports the string by attachment to the upper flange of the second riser section) after the spider has been retracted. 
         FIG. 54  is a side view of the elevator supporting the riser string by the upper flange of the second riser section and located this upper flange in the spider for support. 
         FIG. 55  is a close up view of the elevator supporting the riser string by the upper flange of the second riser section and having placed the upper flange on the spider for support. 
         FIG. 56  is a close up view of the elevator being removed from the upper flange of the second riser section. 
         FIG. 57  is a perspective view of all six torque modules in their home positions and set up in the break out mode. 
     
    
    
     DETAILED DESCRIPTION 
     Detailed descriptions of one or more preferred embodiments are provided herein. It is to be understood, however, that the present invention may be embodied in various forms. Therefore, specific details disclosed herein are not to be interpreted as limiting, but rather as a basis for the claims and as a representative basis for teaching one skilled in the art to employ the present invention in any appropriate system, structure or manner. 
     U.S. Pat. Nos. 7,146,880; 6,553,873; and 6,382,059 are incorporated herein by reference. 
     U.S. patent application Ser. No. 09/525,465, filed Mar. 13, 2000 is incorporated herein by reference. 
     Plurality of Wrenches 
     Hydraulic wrench apparatus  100  can comprise a plurality of torque stations each of which can include dual high and low torque wrenches (e.g.,  110 A,  110 B,  110 C,  110 D,  110 E, and  110 F) for tightening (making up) or loosening (breaking out) a plurality of bolts. 
     Each wrench (e.g.,  110 A,  110 B,  110 C,  110 D,  110 E, and  110 F) can be constructed in a substantially similar manner and, therefore, only one wrench  110  will be described below. 
     As indicated by vertical arrows  64  and  63  and horizontal arrows  60  and  61 , each wrench  110  (and driver  1000 ) can be robotically moved in both vertical and horizontal directions allowing the wrenches to be cycled in and out during successive tightening or loosening activities of bolts in different sections of a riser  40 . 
     Generally, each wrench  110  can include a wrench  400  which is adjustably mounted in a sliding housing  140 . Wrench  400  can be adjusted vertically relative to sliding housing  140  as schematically indicated by arrows  64  and  63 . Additionally, sliding housing  140  can be adjustably mounted on a base  300 . Sliding housing  140  can be adjusted horizontally relative to base  300  as schematically indicated by arrows  60  and  61 . In this manner driver tip or socket  1010  of wrench  400  can be both vertically and horizontally adjustable when tightening or loosening a bolt  32 . 
     In a preferred embodiment hydraulic wrench apparatus  100  will include six (6) torque wrenches (e.g.,  110 A,  110 B,  110 C,  110 D,  110 E, and  110 F) spaced radially apart in sixty degree increments around the bolt circle of two riser sections. 
     Structural Components 
       FIGS. 1 through 47  show one embodiment of wrench  100  having a plurality of torque stations. 
       FIG. 1  is a top view of the rig floor  20  with the spider dogs in an extended state supporting the riser string  40  with the upper flange  47  of a riser joint  46  exposed. 
       FIG. 2  is a perspective and sectional view of the spider  50  showing the spider dogs in an extended state. 
       FIGS. 3 and 4  are top views showing one embodiment of the torque wrench system  100  in horizontally retracted and extended states in a make up mode. Preferably, all six stations ( 110 A,  110 B,  110 C,  110 D,  110 E and  110 F) will simultaneously extend and retract. 
       FIGS. 5 through 10  show various sequence steps for one of the torque stations  110  during make up. Because all six torque stations ( 110 A,  110 B,  110 C,  110 D,  110 E and  110 F) are substantially the same and operate similarly, only one representative torque station  110  will be described in detail. However, it should be understood that the detail description of the one applies equally to all six. 
       FIGS. 11 and 12  are top views showing one embodiment of the torque wrench system  100  in horizontally retracted and extended states in a break out mode. Preferably, all six stations ( 110 A,  110 B,  110 C,  110 D,  110 E and  110 F) will simultaneously extend and retract. 
       FIGS. 13 through 22  show various sequence steps for one of the torque stations  110  during break out. Because all six torque stations ( 110 A,  110 B,  110 C,  110 D,  110 E and  110 F) are substantially the same and operate similarly, only one representative torque station  110  will be described in detail. However, it should be understood that the detail description of the one applies equally to all six. 
       FIGS. 23 through 44  are perspectives view of various components of one of the torque stations  110  in multiple positions and performing multiple functions. 
       FIG. 23  is a front perspective view of a torque station  110  where the wrench  400  is set for tightening, and shown in a horizontally retracted position (direction of arrow  61 ) with the driver tip  1010  in the top most vertical position (schematically in the direction of arrow  64 ), and also showing the lifting fork  1400  in a fully retracted position (in the direction of arrow  61 ). 
       FIG. 24  is a front perspective view of torque station  110  now shown in a horizontally extended position (direction of arrow  60 ), and the lifting fork  1400  is also shown in an extended position (direction of arrow  60 ). 
       FIG. 25  is a rear perspective view of torque station  110  now shown in a horizontally extended position (direction of arrow  60 ). 
       FIG. 26  is a side perspective view of the wrench portion  400  of torque station  110  where the wrench  400  is set for tightening, and the lifting fork is shown in an extended position (arrow  1402 ).  FIG. 27  is a side perspective view of the wrench portion  400  but shown from the opposite side. 
       FIG. 28  is a top perspective view of the high speed/low torque driver  1200  of wrench  400 , and shown operatively connected to driver  1000  by means of belt  1220 . Idler pulleys  1222  can maintain proper tension of belt  1220 .  FIG. 29  is a bottom perspective view of high speed/low torque driver  1200  showing motor  1210  which is operatively connected to driver  1000  through belt  1220 . Although not shown one or more hydraulic cylinders and pistons can be operatively connected to fork  1400  to extend it (arrow  1402 ) or retract it (arrow  1404 ). Tracks  1252 ,  1254 ,  1256 , and  1258  of housing  1230  slidably connected to tracks  192 ,  194 ,  196 , and  198  of sliding housing  140  allowing housing  1230  to vertically slide (arrows  64  and  63 ) relative to sliding housing  140  (see  FIGS. 23-25 ). 
       FIG. 30  is an exploded perspective view of a portion of the high torque driver  590  of wrench  400 .  FIG. 31  is an assembled perspective view of the high torque driver  590 .  FIG. 32  is a perspective exploded view of the high torque driver  590 . 
       FIG. 37  is a side perspective view of driver  1000  which can include tip or socket  1010 , opening  1020  for bolt  32 , and a maximum depth of penetration  1030  for the head of bolt  32 .  FIGS. 38 and 39  are respectively top and bottom views of the driver  1000 . 
       FIG. 40  is a perspective view of wrench body  406  used in torque station  110 .  FIG. 41  is another perspective view of wrench body  406  taken from the opposite side as that shown in  FIG. 40 . 
       FIG. 42  is a front perspective view of the sliding housing  140 , reaction bar  500 , and vertical lifting and lowering mechanism  1300 .  FIG. 43  is a bottom perspective view of sliding housing  140 , reaction bar  500 , and vertical lifting and lowering mechanism  1300 .  FIG. 44  is a top perspective view of base  300  for sliding housing  140 . 
     The individual components and their operations will be described in more detail below. 
     Wrench  110  can comprise a body  406  including a cylinder  700  for hydraulically reciprocating a piston  740  and piston rod  750 . Piston  740  being operably connected to a driver  1000 . The connection between the piston  740  and driver  1000  can be a ratcheting mechanism comprising a drive gear  600 . 
     The high torque phase can be achieved by activation of hydraulic cylinder  700  pivotally connected to wrench body  406  by pivot pin  734 . Piston rod  750  is connected to piston rod tip  760  which, in turn, is respectively pivotally connected to first and second drive plates  800 , 810  at bores  850 ,  852 . First and second drive plates  800 , 810  are pivotally connected to drive pawl  900  through bores  860 , 870 . Drive pawl  900  is operatively connected to drive gear  600  by a plurality of angular gear teeth  610  and drive pawl springs  920 . Drive plate extension  820  biases springs  920  against drive pawl  900 . Driver  1000  is connected to drive gear  600  through correspondingly shaped opening  620 . Extension of piston rod  750  rotates first and second drive plates  800 , 810 ; thereby rotating drive pawl  900 , thereby engaging drive gear  600  and turning driver  1000  rotating driver tip or socket  110  and finally engaging bolt  32 . 
     Drive bushings/bearings  880  and  882  are operatively connected to driver  1000  through bores  881  and  883 . Drive bushings  880  and  882  fit into bores  460  and  470  of wrench body  406 . Drive bushing/bearings  880  and  882  reduce friction and act as a bearing surface during rotation of driver  1000  for both high speed and high torque phases. 
     Wrench  400  can include a reaction bar  500  which provides a reacting force in opposition to the torque applied by driver  1000  on bolt  32 . Driver  1000  can be operably connected to a driver tip or socket  1010  which itself connects to threaded fastener  32 . In one embodiment there can be further included exchangeable socket tips mountable on driver  1000  for engaging a head of a threaded fastener  32  which are of different sizes. 
     Sliding housing  140  can slide radially, laterally, or horizontally relative to base  300  (in the directions of arrows  60  and  61 ). Sliding housing  140  can comprise top  142 , bottom  144 , front  146 , and rear  146 . Sliding housing can include first and second side walls  152 ,  154 , which are connected by horizontal braces  180  and  170 . On the bottom  144  can be plurality of foot connectors  154 ,  155 ,  156 , and  157 , each of which can include a sliding bore. 
     Sliding housing  140  can include reaction bar or shaft  500  which spans between brace  170  and removable brace  160 . 
     Side wall  150  can include tracks  192  and  194 . Substantially opposite of tracks  192  and  194  can be tracks  196  and  198  located on side wall  152 . Male tracks  192 ,  194 ,  196 , and  198  can slidably connect wrench  400  located on top of housing  1230  (in a vertical direction and cooperating with female tracks  1252 , 1254 ,  1256 , and  1258 ) to sliding housing  140 . Wrench  400  will also slide vertically relative to reaction bar or shaft  500  through cooperating bore  498 . 
     Sliding housing  140  can be adjustably mounted on a base  300  through foot connectors  154 ,  155  and  156 ,  157  being slidably connected to shafts  352  and  354 . Sliding housing  140  can be adjusted horizontally relative to base  300  as schematically indicated by arrows  60  and  61 . A pair of hydraulic cylinders and pistons (not shown) can be connected to sliding housing  140  and rear plate  358  such that extension of the cylinders pushes sliding housing  140  in the direction of arrow  60  (at least until the fully extended position where front plate  356  can stop further movement in the direction of arrow  60 ) and retraction of the cylinders pulls sliding housing  140  in the direction of arrow  61 . In one embodiment a maximum forward movement adjustment mechanism (such as a set screw) can be provided on front plate  356  to limit the amount of horizontal movement of sliding assembly (and driving tip or socket  1010 ) in the direction of arrow  60 . For example, forward movement in the direction of arrow  60  can be stopped when foot  156  and/or  157  hits forward plate  356 . In one embodiment the distance of forward movement in the direction of arrow  60  can be controlled by measuring the amount of extension of the hydraulic cylinders pushing sliding housing  140 . 
     Vertical lifting and lowering mechanism  1300  can comprise motor  1310  and screw  1330 . Hydraulic motor  1310  can be operatively connected to screw  1330 . Screw  1330  can be operatively connected to wrench  400  through threaded area  1242  of housing  1230 . Rotating in the direction of arrow  1332  (clockwise) would lower wrench  400  (in the direction of arrow  63 ), while rotating in the opposite direction (i.e., in the direction of arrow  1334  or counterclockwise) would raise wrench  400  (in the direction of arrow  64 ). Although not shown in the drawings, in one embodiment vertical lifting and lowering mechanism can comprise a cylinder and piston arrangement operatively connected to wrench  400  where extension of the cylinder raises wrench  400  (in the direction of arrow  64 ) and retraction of the cylinder lowers wrench  400  (in the direction of arrow  63 ). However, given the small clearance between wrench  400  and base  300  when wrench  400  is in its lowest position a telescoping arrangement may be required or the piston connection being made at the rear of wrench body  406 . 
     In one embodiment a bolt lifting mechanism  1400  is provided. Bolt lifting mechanism  1400  can comprise lifting fork  1410  and plate  1420 . Lifting fork  1410  can be slidingly connected to wrench  400  via housing  1230  by plate  1420  sliding in between tracks  1430  and  1432 . A pair of hydraulic cylinders and pistons (not shown) can be connected to plate  1420  and extension of the cylinders pushes fork  1410  in the direction of arrow  1402  (at least until the fully extended position where fork  1410  is blocked from further movement in this direction such as by contacting bolt  32 ) and retraction of the cylinders pulls fork  1410  in the direction of arrow  1404 . In one embodiment a maximum forward movement adjustment mechanism (such as a set screw) can be provided to limit the amount of horizontal movement of fork  1410  in the direction of arrow  1402 . In one embodiment the distance of forward movement in the direction of arrow  1402  can be controlled by measuring the amount of extension of the hydraulic cylinders pushing fork  1410 . 
     High and Low Torque Portions 
     Each wrench  110  can have both high torque and low torque driving mechanisms. Each wrench  110  can have a high speed/low torque portion  1200  for speeding up the tightening or loosening process until a higher torque is required/desired. When a higher torque is desired each wrench  110  can include a low speed/high torque portion  590  which can address final make-up torquing up of bolts  32  or the initial break out torque for breaking out bolts  32 . 
     In one embodiment the high and low torque portions of each wrench  110  can be switched during a cycle of tightening or loosening a bolt  32 . In one embodiment the switch from high to low or low to high torque options can be based on height. In one embodiment the height can be measured using a height sensor  1350  for elevator  1200  which height sensor can be commercially available. In one embodiment the height sensor  1350  can be a linear variable detection transducer. 
     In one embodiment the high and low torque portions of each wrench  110  can be switched as many times as needed when tightening or loosening a bolt  32 . The operations of each will be described below. 
     In one embodiment the high and low torque portions of each wrench  110  can be simultaneously energized. During requirements of low torque, the high speed portion  1200  takes over because it spins driver tip or socket  1010  faster than the low speed/high torque  590  portion. In this case drive gear  600  merely spins faster than low speed/high torque  590  portion attempts to turn drive gear  600  (by pawl  900  performing a ratcheting motion against biasing members  920  as drive gear  600  turns faster than piston  740  and pawl  900  attempt top turn drive gear  600 ). During requirements of high torque, the motor  1210  from the high speed portion  1200  “stalls” and the high torque  590  takes over (albeit at a slower rotational speed). In this manner each wrench  110  can transition between high and low torque modes as frequently and as many times as needed during either tightening (making up) or loosening (breaking out) a bolt  32 . 
     Torque wrench  110  can comprise a driver  1000  with tip or socket  1010  configured to engage a threaded connector  32  such as a bolt or nut. Socket head  1010  also comprises a plurality of faces or socket teeth radially positioned. Hydraulic wrench assembly  110  further comprises a hydraulic cylinder  700 . Hydraulic cylinder  700  is configured to extend and retract a drive pawl  900  which is positioned to engage ratchet teeth  610  upon extension of pawl  900 . When pawl  900  engages ratchet teeth  610 , driver  1000 , driver tip or socket  1010 , and threaded connector  32  are rotated upon further extension of pawl  900 , which will either tighten or loosen threaded connector  32  depending upon the direction of rotation of driver  1000 . Pawl  900  may retracted and extended again, further rotating driver  1000  and driver tip or socket  1010 , and threaded connector  32  until the desired torque is reached or until threaded connector  32  is adequately loosened. 
     Torque wrench  110  further comprises a high speed/low torque driver  1200  which can include a hydraulic motor  1210  which is mechanically coupled to driver  1000  (such as through a belt, toothed belt, or chain connection) so that operation of high speed driver  1200  will result in driver  1000  along with driver tip or socket  1010 , and threaded connector  32  being rotated at a relatively high rotational speed. Typically, high speed/low torque driver  1200  will rotate at about 100 rpm and will be configured to provide about 500 ft lbs of torque to threaded connector  32 . Driver  1200  can be used until threaded connector is snug, a condition that will be apparent when motor  1210  stalls, and driver  1000  stops turning. 
     In one embodiment high Speed/low torque driver  1200  will stop turning when the reaction force or torque from tightened bolt  32  equals the torque placed by driver  1200  (e.g., piston  740 , piston rod  750 , drive plates  800 , 810 , and pawl  900  on drive gear  600 ). This state can be called “stalled” or “being torqued out.” Hydraulic motor  1210  stalls out and acts as blockage in the hydraulic line feeding it. As the pressure builds up, the pressurized fluid causes hydraulic motor  1210  to rotate which allows the fluid to pass and prevents the pressure from building up further. However, if resistance from threaded connector  32  prevents motor  1210  from rotating, the pressure will continue to increase until either that obstacle is overcome and motor  1210  rotates allowing some of the fluid to pass or until relief is obtained elsewhere (such as by the high torque portion  590  taking over). As bolt  32  gets tighter, it will provide more and more resistance to rotation of motor  1210 . As threaded connector  32  gets tighter and tighter, the pressure in the hydraulic line will be increased ever higher. 
     In one embodiment both the high speed/low torque  1200  and low speed/high torque driver  590  portions are continuously hydraulically energized. During “low torque” phases of turning bolt  32  the high speed motor  1210  will “stall” and the high torque driver  590  will continue to turn bolt  32  either until bolt  32  is made up to an acceptable torque or the torque on bolt  32  drops and the high speed motor  1210  will again take over. In one embodiment when the back pressure from motor  1210  reaches a stalled condition operation is switched to low speed/high torque wrench  410 . 
     Reaction Torque 
     During both high speed and high torque phases reaction bar  500  will provide the reaction force to counteract the reaction torque generated by either tightening or loosening bolt  32 . During operation a reaction torque (or force) equivalent to the torque applied by torque wrench  110  will be generated when removing or tightening bolt  32 . This reaction torque must be compensated for, such as by having reaction bar  500  transmit such torque to the structure of the rig  20  and/or riser  40 . 
     In one embodiment the reaction torque from bolt  32  is transferred to driver  1000  and wrench body  406  to reaction bar  500 , and from reaction bar  500  to braces  160  and  170 , to feet  155  and  157 , to shafts  352  and  354 , and to base  300 . In one embodiment base  300  is connected to spider  50  which itself can be connected to the floor of rig  10  (even if by friction) and such reaction torque is transferred to the floor of rig  10 . 
     In one embodiment bases  300 A-F are interconnected (but sitting on the floor of rig  10  without being bolted down), and the reaction torque is ultimately transferred from each of the bolts  32 A-F to one or more of the other bolts  32 A-F, and to the upper and/or lower riser sections  42  and  46  through the flanges  43  and  47 . 
     Control Units 
     In one embodiment a single control unit  80  is used for torque modules  110 A-F. In one embodiment a control unit is used to control multiple wrenches (e.g., 2, 3, 4, 5 and/or 6). In one embodiment each wrench (e.g.,  110 A-F) has its own control unit. 
     General Sequence Steps 
       FIGS. 3 through 10  show various sequence steps in a make up process for one of the torque stations. 
       FIGS. 11 through 22  show various sequence steps in a break out process for one of the torque stations. 
     Each process will be described below for one embodiment. 
     Make-Up Sequence 
       FIGS. 3 through 10  show various sequence steps in a make up process for one of the torque stations. Only one of the torque stations  110  is shown as all six follow substantially the same process—although each station  110  can act independently of the other stations for the described steps unless specified otherwise. 
       FIG. 3  is a top view showing one embodiment of the torque wrench system during make up with all six of the torque stations ( 110 A-F) in horizontally retracted states (and station  110 A in a partially broken out view). 
       FIG. 4  is a top view showing one embodiment of the torque wrench system during make up with all six of the torque stations ( 110 A-F) in horizontally extended states (and station  110 A in a partially broken out view). 
       FIG. 5A  is a schematic side view one of the torque stations  110  ready for the beginning of a make up or break out sequence as the driver socket is completely retracted horizontally (arrow  61 ) and moved to its highest vertical position (arrow  64 ) which will clear a bolt  32  previously placed in a storage condition for a riser joint  42  along with being below the lowest point of the insulation or floatation (schematically indicated by numerals  44 ) for the upper riser section or joint  42 .  FIG. 5B  is a top view of the torque station of  FIG. 5A  shown in partially broken out view. 
       FIG. 6A  is a schematic side view of torque station  110  where drive socket  1010  has moved horizontally (arrow  60 ) over a bolt  32  and is rotating for tightening (arrow  66 ), the drive socket or tip  1010  is also moving downwardly (arrow  63 ), and is about to engage the head of bolt  32 .  FIG. 6B  is a top view of the torque station  110  shown in partially broken out view. 
       FIG. 7A  is a schematic side view of torque station  110  where drive socket or tip  1010  has engaged the bolt  32  and begun to spin down the bolt  32  through the upper flange  47  and into the gap  49 .  FIG. 7B  is a top view of the torque station  110  shown in partially broken out view. 
       FIG. 8A  is a schematic side view of the torque station  1105  after the drive socket  1010  has spun down the bolt  32 , and the bolt  32  is now allowed a free fall through the gap between the flanges  43  and  47 , and the head of the bolt  32  has vertically dropped in relation to the drive socket  1010 . Free fall occurs and bolt  32  drops a distance such as 1 inch but its head remains in socket  1020  of tip  1010  because of excess capacity depth  1030 .  FIG. 8B  is a top view of the torque station  110  shown in partially broken out view. 
       FIG. 9A  is a schematic side view of the torque station  1105  after the drive socket  1010  has spun down the bolt  32 , allowed a free fall of the bolt  32  through the gap  49  between the flanges  43  and  47 , and further spun down the bolt  32  to the lower flange  47  by about two threads in the lower flange  47 .  FIG. 9B  is a top view of the torque station  110  shown in partially broken out view. 
       FIG. 10A  is a schematic side view of the torque station  110  after the drive socket  1010  has spun down the bolt  32  until shoulder to shoulder contact between the upper flange  43  and the bolt head has occurred, and the torque station  110  goes into a high torque mode where the piston  740  and cylinder  700  control rotation of the driver  1000 . After the desired make up torque is achieved the driver tip  1010  will be moved upward and retracted (arrows  64  and  61 ) to the position shown in  FIG. 5  and be ready for the next make up cycle. 
     Now the general method for one embodiment will be described for the make up mode. 
     In the beginning all six modules ( 110 A-F) are in the fully retracted position (which can be called the home position). Previous to module  110  extension, there can be a safety check to make sure that all six modules ( 110 A-F) are in the home position before a make-up routine can be started. The home position can be both a vertical home position (arrow  64 —which can be checked by the vertical height sensor  1350 ) along with a horizontal radially retracted home position (arrow  60 —which can be checked by a timing sequence using the body slide cylinders  362  and  364 , such as retraction hydraulic pressure for a set period of time which can be 1, 2, 3, 4, 5, 6, 7, 8, 9, and 10 seconds of retraction pressure). Fully retracted positions can be controlled by fully retracted body slide cylinders  362  and  364 , or by a retraction catch (e.g., rear plate  358 ), or a combination of the two. In one embodiment there can be an adjustable body retraction stop (e.g., rear plate  358 ) for each body module ( 110 A-F) in the retraction step. 
     Pressing the start button (e.g., located on control panel  80 ) for make up causes all six modules ( 110 A-F) to be radially extended in the directions of arrow  61  (by the body slide cylinders  362  and  364  extending) and causing the modules ( 110 A-F) to radially extend (arrows  61 A-F) such that the individual drive sockets ( 1010 A-F) will be positioned over the individual bolts ( 32 A-F). Radial extension of modules ( 110 A-F) occurs on both a timing control along with a radial extension stop (e.g., extension adjusters  357  on front plate  356 ). In one embodiment there can be an adjustable body extension stop  357  for each body module  140  in the extension step. In one embodiment radial extension (in the direction of arrow  61 ) can be checked by a timing sequence using the body slide cylinders ( 362  and  364 ), such as extension hydraulic pressure for a set period of time which can be 1, 2, 3, 4, 5, 6, 7, 8, 9, and 10 seconds of extension pressure. 
     In one embodiment, after a set period of time following the release of hydraulic pressure to each of the body slide cylinders ( 362  and  364 ), each of the drive socket  1010  is lowered (in the direction of arrow  63 ). In one embodiment the set period of time can be ½,¾, 1, 1½, 2, 3, 4, and 5 seconds. In various embodiments the set period of time can be within a range of between any two of the above set periods of time. 
     In one embodiment, at the beginning of the lowering step ( FIG. 6A ), each drive socket  1010  can be rotated (in the direction of arrow  66 ) using the high speed/low torque driver  1200  at a first rotational speed (which is lower than a second rotational speed). In various embodiments the relative rotational speeds can be 5, 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60, 65, 70, 75, 80, 85, 90, 95, and 100 percent of each other. In various embodiments the relative rotational speeds can be within a range of between any two of the above specified percentages. 
     In one embodiment the first rotational speed (in the direction of arrow  66 ) of each individual drive socket ( 1010 A-F) is continued until a set height (H 2  shown in  FIG. 9A ) of the individual drive socket head is reached. In one embodiment the switch from first to second vertical speeds (in the direction of arrow  63 ) corresponds with the bolt  32  dropping between the threaded sections of the two riser flanges (gap  49 ) and entering the threaded section of the lower riser flange  47 . In one embodiment this set height of the drive socket  1010  is based on the riser bolt  32  being threadably engaged with the threads of the lower riser flange joint  47 . In one embodiment this height is based on an engagement of at least 2 threads. In one embodiment each of the six modules  110  are individually controlled based on the height H of the individual drive sockets  1010 . 
     In one embodiment the rate of vertical movement (in the direction of arrow  63 ) of each drive socket ( 1010 A-F) has a first vertical speed and a second vertical speed during vertical drop (in the direction of arrow  63 ) of each drive socket ( 1010 A-F). In one embodiment the first vertical speed can be lower than a second vertical speed). In various embodiments the relative vertical speeds can be 5, 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60, 65, 70, 75, 80, 85, 90, 95, and 100 percent of each other. In various embodiments the relative vertical speeds can be within a range of between any two of the above specified percentages. In one embodiment the switch from the first vertical speed to the second vertical speed can be simultaneous with the switch from the first rotational speed to the second rotational speed. 
     In one embodiment each of the drive sockets ( 1010 A-F) are checked to determine that a lower specified vertical height (H 3  shown in  FIG. 10A ) has been achieved before a high torque mode is entered with each of the drive sockets ( 1010 A-F). In one embodiment a set period of time is waited from the last drive socket reaching its specified ending vertical height (H 3 ) before high toque mode is entered. In one embodiment the set period of time can be ½,¾, 1, 1½, 2, 3, 4, and 5 seconds. In various embodiments the set period of time can be within a range of between any two of the above set periods of time. 
     In one embodiment each of the drive sockets ( 1010 A-F) respectively spin down its riser bolt ( 32 A-F) until a snug condition is achieved between the riser bolt and the joint before a high torque mode is simultaneously entered with each of the drive sockets ( 1010 A-F). In one embodiment a snug connection between the riser bolt and the joint is less than about 600, 500, 400, 300, 200, 100, 50, 25, and 0 foot pounds of torque between the riser bolt and the joint connection. In various embodiments each of the riser bolts is within the same range of between about any two of the above specified torques. In one embodiment a set period of time is waited from the last bolt reaching its snugging torque before high toque mode is entered. In one embodiment the set period of time can be ½,¾, 1, 1½, 2, 3, 4, and 5 seconds. In various embodiments the set period of time can be within a range of between any two of the above set periods of time. 
     In one embodiment each of the drive sockets ( 1010 A-F) are started in the high torque mode simultaneously. In one embodiment each of the drive sockets ( 1010 A-F) are continued in the high torque mode until a pre-set back pressure is achieved (and the high torque mode hydraulically stalls). 
     In one embodiment the set period of time can be 1, 2, 3, 4, 5, 6, 7, 8, 9, and 10 seconds of extension pressure. In various embodiments the set period of time can be within a range of between any two of the above set periods of time. 
     In one embodiment the final make-up torque between each of the riser bolts ( 32 A-F) for a particular riser joint are within less than about 10, 9, 8, 7, 6, 5, 4, 3, 2, 1, ½ percent of each other&#39;s make-up torques. In various embodiments the final make-up torques can be within a range of between about any two of the above specified percentages. 
     In one embodiment a set period of time is specified for each of the drive cylinders ( 700 A-F) of the drive sockets ( 1010 A-F) to reach the preset torquing pressure, and if not met a warning signal is sent out. In one embodiment along with the warning sign the system is shut down for diagnostic checking. 
     In one embodiment where each of the drive sockets ( 1010 A-F) reach and maintain the pre-set back pressure each of the drive sockets ( 1010 A-F) are then sent back to the home position (retracted vertically in the direction of arrow  64  and horizontally in the direction of arrow  60 ). In one embodiment the retracted vertical mode is achieved before the start of retraction in a horizontal mode. In one embodiment the drive socket  1010  is not spun either in high speed or in high torque during retraction. In one embodiment retraction vertically is checked by a vertical height sensor  1350 . In one embodiment retraction horizontally (in the direction of arrow  60 ) is by a pre-set time period. The horizontal radially retracted home position can be checked by a timing sequence using the body slide cylinders  362  and  364 , such as retraction hydraulic pressure for a set period of time which can be 1, 2, 3, 4, 5, 6, 7, 8, 9, and 10 seconds of retraction pressure. In various embodiments the set period of time can be within a range of between any two of the above set periods of time. Fully retracted positions can be controlled by fully retracted body slide cylinders  362  and  364 , or by a retraction catch (rear plate  358 ), or a combination of the two. In one embodiment there can be an adjustable body retraction stop (e.g., adjustable fasteners in rear plate  358 ) for each body module ( 110 A-F) in the retraction step. 
     In one embodiment the made up riser flange ( 43  and  47 ) is lowered, and a new section of riser  42 ′ is placed on the riser (on top of riser section  42 ) for make-up. In one embodiment the above specified steps are repeated for attaching the new section of riser ( 42 ′ being attached to  42 ). 
     In one embodiment the above specified steps are repeated until the length of riser  40  spans from the sea floor (well head or blow out preventer) to the rig or platform. 
     Break-Out Sequence 
     To place torque module  110  in the breakout mode (i.e., to loosen bolt  32 ) compared to the make up mode, wrench  400  will have to be flipped over so that bottom  420  is now above top  410 . This can be accomplished relatively easily by removal of brace  160 , and sliding upward in the direction of arrow  64  wrench  400 . Bores  460 , 470  will allow wrench  400  to slide over driver shaft of driver  1000 . Bore  490  will allow wrench  400  slide over screw  1330 . Bore  498  will allow wrench  400  to slide over reaction shaft or bar  500 . High speed/low torque driver  1200  can maintain its position. Once flipped over (i.e., bottom  420  being above top  410 ), wrench  400  can again be placed on high speed/low torque driver  1200  with bores  460 , 470  again going over shaft of driver  1000 , bore  490  over screw  1330 , and bore  498  over reaction shaft or bar  500 . Brace  160  is again placed over reaction bar or shaft  500 . 
       FIGS. 11 through 22  show various sequence steps in a break out process for one of the torque stations  110 . Only one of the torque stations  110  is shown as all six follow substantially the same process—although each station  110  can act independently of the other stations for the described steps unless specified otherwise. 
       FIG. 11  is a top view showing one embodiment of the torque wrench system during break out with all six of the torque stations ( 110 A-F) in horizontally retracted states (and station  110 A in a partially broken out view showing various individual components).  FIG. 12  is a top view showing one embodiment of the torque wrench system during break out with all six of the torque stations ( 110 A-F) in horizontally extended states (and station  110 A in a partially broken out view). 
       FIG. 13  is a schematic side view one of the torque stations  110  ready for the beginning of a break out sequence as the driver socket  110  is completely retracted horizontally and moved to its highest vertical position (arrow  64 ) which will clear the particular bolt  32  being broken out along with being below the lowest point of the insulation or floatation for the upper riser section or joint (schematically shown by lines  44 ). This position can be called the home position. 
       FIG. 14  is a schematic side view one of the torque stations  110  moving (schematically indicated by arrows  63  and  60 ) to a locating position for the drive socket  1010  on the bolt  32  head and showing drive socket  1010  after being partially radially extended (in the direction of arrow  60 ) to now move within a projected cylinder of the insulation  44  (schematically shown by dashed line  44 ′), and also moved vertically down (in the direction of arrow  63 ) to height H 1  before being positioned above the head of its respective bolt  32  to be broken out. At height H 1 , drive socket  1010  can begin to be rotated at a first speed in the direction of arrow  68 . In one embodiment height H 1  will be about ½ inch above the top of the head of bolt  32 . Also at H 1 , the downward speed of drive socket  1010  can be reduced (such as to 1, 2, 3, 4, 5, 6, 7, 8, 9 and/or 10 inches per minute) during the time it is being located on bolt  32 . 
       FIG. 15  is a schematic side view of the torque station  110  illustrating the step of locating (and engaging) the drive socket  1010  on the bolt  32  head for break out. As will be described below both low torque rotation using motor  1210  (schematically indicated by arrow  68 ) along with locating high torque stroking (schematically indicated by arrows  772  an  774 ) can be used during the locating step for drive socket  1010  before beginning the high torque break out step. As will be described below location of drive socket  1010  on bolt  32  can be determined when drive socket  1010  drops (in the direction of arrow  63 ) from height H 2  ( FIG. 15 ) to height H 3  ( FIG. 16 ). 
       FIG. 16  is a schematic side view one of the torque stations  110  where the drive socket  1010  is located on bolt  32 , bolt  32  has shoulder to shoulder contact with the upper flange  43 , and the drive tip or socket  1010  is beginning the breakout process in high torque mode (arrows  772  and  774 ) so that the torque station  110  will go into the high torque mode with the drive gear  600 . 
       FIG. 17  is a schematic side view of torque station  110  where the drive tip or socket  1010  has partially broken out the bolt  32 , spun out the bolt (arrow  68 ) to where a free spinning mode has been entered because the threads of the bolt  32  are in gap  49 —between the threads in the upper  43  and lower  47  flanges. In this figure arrow  68  schematically indicates the spinning out of bolt  32 . 
       FIG. 18  is a schematic side view of torque station  110  where lifting fork  1400  has engaged the freely spinning bolt  32  (arrow  1402 ) and begun lifting (arrow  64 ) the bolt  32  so that its threads can engage the threaded portion of upper flange  43 . In this figure arrow  68  schematically indicates the free spinning of bolt  32 . 
       FIG. 19  is a schematic side view of torque station  110  where lifting fork  1400  has lifted (arrow  64 ) the bolt  32  enough to now engage the threaded portion of the upper flange  43 , and the lifting fork can later retract. In this figure arrow  68  schematically indicates the spinning out of bolt  32 . 
       FIG. 20  is a schematic side view of torque station  110  where lifting fork  1400  has retracted (arrow  1404 ) and the bolt  32  has been additionally spun up (arrow  64 ) compared to its position in  FIG. 19 , and is now located in the bolt&#39;s vertical position for retrieval of the section riser  42  (H s  or Hstorage). In this figure arrow  68  schematically indicates the final spinning out of bolt  32  to its storage position in flange  43 . 
       FIG. 21  is a schematic side view of the torque station  110  where the drive socket  1010  has stopped rotating and has been vertically (arrow  64 ) raised above the head of the bolt  32  (H cl  or Hclearance). At this point the threaded portion of bolt  32  can be protected by flange  32  during storage. Also at this point there still is clearance under the floatation or insulation of the riser joint or section  42 . 
       FIG. 22  is a schematic side view of torque station  110  where the drive tip or socket  1010  is completely retracted horizontally (arrow  61 ) and ready for the start of the next break out cycle. 
     In one embodiment ( FIGS. 9 and 16 ) the height H to the driving tip or socket  1010  is positioned above the maximum height of the tightened head of bolt  32  to be loosened. Vertical positioning of driving tip or socket  1010  can be accomplished by using vertical lifting and lowering mechanism  1300 . Horizontal positioning of driving tip or socket  1010  can be accomplished using adjustable sliding housing  140 . In one embodiment both vertical and horizontal movement is accomplished simultaneously to reduce the amount of time before loosening can be started (and reduce the overall cycling time). 
     Risers  40  are made up of a plurality of riser sections  42 ,  46 , etc) and typically come in standard sizes and specifications so that bolts  32  in a tightened condition will be at a known maximum height. Additionally, the maximum height of bolt  32  when loosened can be calculated. Accordingly, the minimum height H ( FIG. 16 ) for driving tip or socket  1010  can be calculated relatively easily before loosening can begin. Additionally, the maximum height of the top of wrench  400  at the end of the loosening cycle should be below the bottom of the insulation or floatation  44  found on the riser  40  section being broken (otherwise the wrench  400  or torque station  110  could damage the insulation or floatation  44 ). The distance between the insulation or floatation  44  and the riser flange (e.g., flange  43  of upper riser section  42  shown in  FIG. 9 ) typically is made to a specified distance and the maximum height can be easily determined. Although not shown in the drawings, in one embodiment a physical vertical limit is placed on the maximum height of high torque driver  590  to make sure that driver (or body  406  of wrench  400 ) does not rise above a specified level. In one embodiment this physical limit is a limiting brace on sliding housing  140 . 
     Now the general method will be described for one embodiment in break out mode. 
     In the beginning all six modules ( 110 A-F) are in the fully retracted position (horizontally in the direction of arrow  61  and vertically in the direction of arrow  64 —which can be called the home position). Previous to body  140  extension, there can be a safety check to make sure that all six modules ( 110 A-F) are in the home position before a make-up routine can be started. The home position can be both a module vertical home position (in the direction of arrow  64 —which can be checked by the vertical height sensor  1350 ) along with a horizontal radially retracted home position (in the direction of arrow  60 —which can be checked by a timing sequence using the body slide cylinders  362  and  364 , such as retraction hydraulic pressure for a set period of time which can be 1, 2, 3, 4, 5, 6, 7, 8, 9, and 10 seconds of retraction pressure). Fully retracted positions can be controlled by fully retracted body slide cylinders  362  and  364 , or by a retraction catch (e.g., rear plate  358 ), or a combination of the two. In one embodiment there can be an adjustable body retraction stop (e.g., limiter  359 ) for each body module ( 110 A-F) in the retraction step. 
     Pressing the start button (e.g., located on control panel  80 ) for break-out causes all six modules ( 110 A-F) to be radially extended (in the direction of arrow  60  by the body slide cylinders  362  and  364  extending) and causing the modules ( 110 A-F) to radially extend (arrows  60 A-F) such that the individual drive sockets ( 1010 A-F) will be positioned over the individual bolts ( 32 A-F). Radial extension of modules ( 110 A-F) occurs on both a timing along with a radial extension stop (e.g., extension adjusters  357  on front plate  356 ). In one embodiment there can be an adjustable body extension stop ( 357 A-F) for each body module ( 140 A-F) in the extension step. In one embodiment radial extension (in the directions of arrows  60 A-F) can be checked by a timing sequence using the body slide cylinders ( 362 A-F and  364 A-F), such as extension hydraulic pressure for a set period of time which can be 1, 2, 3, 4, 5, 6, 7, 8, 9, and 10 seconds of extension pressure. 
     In one embodiment, during horizontal extension (in the directions of arrows  60 A-F) of each of the body slide cylinders ( 362 A-F and  364 A-F), each of the drive sockets ( 1010 A-F) can be lowered (in the direction of arrow  63 ). In one embodiment rotation of the drive sockets ( 1010 A-F) at a first rotational speed (in the direction of arrow  68 ) begins when the individual drive socket ( 1010 A-F) reaches a first vertical height (H 1 ). In one embodiment, the first rotational speed can be lower than a second rotational speed during actual spin out of bolts ( 32 A-F). In various embodiments the relative rotational speeds can be 5, 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60, 65, 70, 75, 80, 85, 90, 95, and 100 percent of each other. In various embodiments the relative rotational speeds can be within a range of between any two of the above specified percentages. In one embodiment at the time of beginning rotation of the drive socket ( 1010 A-F) the horizontal body slide cylinders ( 362 A-F and  364 A-F) are hydraulically relaxed. 
     In one embodiment each drive socket  1010  is rotated at the first rotational speed (in the direction of arrow  68 ) until the drive socket  1010  reaches a second vertical height (H 2  as shown in  FIG. 15 ) at which time the high speed low torque motor  1200  is stopped and hydraulically relaxed. In one embodiment the second vertical height H 2  is such that drive socket  1010  is about 1½, 1, or ½ inches over the bolt  32  head. At this same time vertical movement (in the direction of arrow  63 ) of the drive socket  1010  is stopped and the hydraulic motor  1310  driving the vertical positioning screw  1330  is hydraulically relaxed for a set period of time. In one embodiment the set period of time can be ½, ¾, 1, 1½, 2, 3, 4, and 5 seconds. In various embodiments the set period of time can be within a range of between any two of the above set periods of time. 
     In one embodiment, after the set period of time, the vertical positioning screw  1300  attempts to move the drive socket  1010  to a third vertical height H 3  and holds the drive socket  1010  at this height H 3 . In one embodiment H 3  is about 1½, 1, or ½ inches in the direction of arrow  63  compared to H 2 . 
     In one embodiment if the third vertical height H 3  of drive socket  1010  is not achieved within a set period of time at a particular torquing station, at least one locating high torque stroke (schematically indicated by arrows  772  and  774  in  FIG. 15 ) is made on the drive socket  1010  to assist in locating the drive socket  1010  on the bolt  32  head and a further check on the vertical height of the drive socket  1010  is made to determine engagement of the bolt  32  head by the drive socket  1010 . In one embodiment the vertical positioning screw  1300  continues to attempt to pull down (in the direction of arrow  63 ) the drive socket  1010  while the locating high torque stroke is made. In one embodiment the set period of time can be ½,¾, 1, 1½, 2, 3, 4, and 5 seconds. In various embodiments the set period of time can be within a range of between any two of the above set periods of time. 
     In one embodiment after the first iteration of the locating drive stroke is made and the locating high torque stroke is not achieved for the drive socket  1010 , a second iteration of locating drive stoke is made and the vertical height (H) of the drive socket  1010  is checked to determine if the drive socket has dropped to height H 3  (and been properly located on the bolt  32  head). In various embodiment multiple iterations of locating high torque strokes can be made along with checks of the vertical heights of the drive socket  1010 , until engagement of the bolt  32  head is determined. In one embodiment the vertical positioning screw  1300  continues to attempt to pull down the drive socket  1010  while the locating high torque stroke is made. In various embodiments, before each locating high torque stroke is made, vertical movement of the drive socket  1010  is stopped. In one embodiment the vertical control system is also relaxed before each locating high torque stroke is made. In various embodiments, before each locating high torque stroke is made, rotation of the drive socket  1010  is stopped. In one embodiment the high speed rotational motor  1310  is also relaxed before each locating high torque stroke is made. In various embodiments, before each locating high torque stroke is made, the radial positioning system ( 362  and  364 ) for the drive socket  1010  is also relaxed. In one embodiment, a warning signal is sent if one or more torquing stations are not able to be located on their respective bolt head within a set period of time (i.e., step “d”), or within a set number of high torque locating strokes. 
     In one embodiment at the time the vertical positioning screw  1300  is stopped, the drive socket  1010  enters a high torque break-out mode (using high torque driver  590 ) and schematically indicated in  FIG. 16 . In one embodiment the high torque mode is cycled (strokes of wrench  400 ) for a set number of stroking cycles. In one embodiment the set number of cycles can be 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 30, 35, 40, 45, and 50. In various embodiments the set number of cycles can be within a range of between any two of the above set number of cycles. In one embodiment after its last cycle, the high torque system (piston  740  and rod  750 ) fully retracts. In one embodiment full retraction is determined by a timing sequence using the high torque hydraulic cylinder, such as extension hydraulic pressure for a set period of time which can be ½,¾, 1, 1½, 2, 3, 4, and 5 seconds. In various embodiments the set period of time can be within a range of between any two of the above set periods of time. 
     In one embodiment each of the drive sockets ( 1010 A-F) are started in the high torque mode simultaneously. In this embodiment proper location of each of the six drive sockets is made ( FIGS. 15 to 16 ) before the high torque break out mode for any one of the drive sockets is started. 
     In one embodiment the high torque mode is switched to low torque mode after a specified lower back pressure is achieved on the high torque system  590 . In one embodiment a check can be made on the low torque high speed system  1200  to see if it stalls when breaking out the bolt  32 . In one embodiment the stalling condition is determined based on reaching a specified back pressure for the motor  1210 . In one embodiment the stalling condition is determined upon falling below a specified flow rate through the motor  1210 . 
     In one embodiment during the high torque breakout mode the drive socket  1010  is not moved vertically upward (in the direction of arrow  64 ) by vertical screw  1330 . Instead, in this embodiment vertical movement (in the direction of arrow  64 ) of the drive socket  1010  is taken up by a vertical angular turning (in the direction of arrow  70 ) of the torque wrench body  590 . In one embodiment this differential vertical angular turning of the torque wrench body  590  is relieved when the bolt  32  leaves the threads of the lower flange  47 , and is located in the gap  49  between the upper  43  and lower  47  flanges, and is being raised by the lifting fork  1410 . In one embodiment the arms of the lifting fork  1410  are located a set distance below the tip of the drive socket ( 1010 A-F). In one embodiment the set distance is about ¼, ⅜, ½, ⅝, ¾, ⅞, 1, 1¼, 1⅜, 1½, 1⅝, 1¾, 1⅞, 2 inches. In various embodiments the set distance can be about within a range of between any two of the above specified distances. 
     In one embodiment the switch from high torque to low torque modes for each of the modules ( 110 A-F) are done simultaneously. In one embodiment the switch is individually done for each of the modules. 
     In one embodiment the rate of vertical movement (in the direction of arrow  64 ) of each drive socket  1010  remains constant during vertical lifting (in the direction of arrow  64 ). 
     In one embodiment the rotational speed (in the direction of arrow  68 ) of the drive socket  1010  remains constant during vertical lifting (in the direction of arrow  64 ). 
     In one embodiment a set vertical height (H LF1  shown in  FIG. 17 ) the lifting fork  1410  is extended (in the direction of arrow  1402 ). In one embodiment full extension of the lifting fork  1410  is determined by a timing sequence using the lifting fork hydraulic cylinder(s)  1440 , such as extension hydraulic pressure for a set period of time which can be ½,¾, 1, 1½, 2, 3, 4, and 5 seconds. In various embodiments the set period of time can be within a range of between any two of the above set periods of time. 
     In one embodiment the lifting fork  1410  remains extended until the drive socket  1010 A-F) reaches a second vertical height in the direction of arrow  64  (H LF2  shown in  FIG. 18 ) at which height the lifting fork  1410  is retracted (in the direction of arrow  1404 ). In one embodiment full retraction of the lifting fork  1410  is determined by a timing sequence using the lifting fork hydraulic cylinder(s)  1440 , such as by retraction hydraulic pressure for a set period of time which can be ½,¾, 1, 1½, 2, 3, 4, and 5 seconds. In various embodiments the set period of time can be within a range of between any two of the above set periods of time. 
     In one embodiment rotation of the drive socket  1010  in the direction of arrow  68  is stopped simultaneously with the start of retraction (in the direction of arrow  1404 ) of the lifting fork  1410 . 
     In one embodiment after start of retraction (in the direction of arrow  1404 ) of the lifting fork  1410 , the drive socket  1010  is sent to a home position for retracted vertical (in the direction of arrow  64 ) and retracted horizontal (in the direction of arrow  61 ) positioning. 
     In one embodiment the retraction in a vertical mode (raising drive socket  1010  in the direction of arrow  64 ) is achieved before the start of retraction in a horizontal mode (in the direction of arrow  61 ). In one embodiment the drive socket  1010  is not spun either in high speed or in high torque during retraction. In one embodiment retraction vertically (in the direction of arrow  64 ) is checked by a vertical height sensor  1350 . In one embodiment retraction horizontally (in the direction of arrow  61 ) is by a pre-set time period. The horizontal radially retracted home position can be checked by a timing sequence using the body slide cylinders ( 362  and  364 ), such as retraction hydraulic pressure for a set period of time which can be 1, 2, 3, 4, 5, 6, 7, 8, 9, and 10 seconds of retraction pressure. In various embodiments the set period of time can be within a range of between any two of the above set periods of time. Fully retracted positions can be controlled by fully retracted body slide cylinders, or by a retraction catch, or a combination of the two. In one embodiment there can be an adjustable body retraction stop  358  (e.g., adjustment screws  359 ) for each body module  140  in the retraction step. 
     In one embodiment the broken out riser joint  42  is removed, and the remaining riser string (lower riser joints  46  etc.) is raised until a new flange is revealed to be broken out. In one embodiment the above specified steps are repeated for newly revealed flange connection between two riser joint sections. 
     In one embodiment the above specified steps are repeated until the length of riser has been removed. 
     Tightening or Make Up Sequence 
     Various additional embodiments are described below for the make up mode. 
     In one embodiment ( FIGS. 5 and 6 ) the height H to the driving tip or socket  1010  is such that it is positioned above (giving a clearance Hcl) the maximum height of the non-tightened head of bolt  32  which will be tightened by wrench  110 . 
     Vertical positioning of driving tip or socket  1010  can be accomplished by using vertical lifting and lowering mechanism  1300  which includes elevator  1200 . Horizontal positioning of driving tip or socket  1010  can be accomplished using adjustable sliding housing  140  and control cylinders  362  and  364 . 
     Risers  40  are made up of a plurality of riser sections  42 ,  46 , etc., and typically come in standard sizes and specifications so that bolts  32  in a non-tightened condition will be at a known maximum height. Accordingly, the minimum height H ( FIGS. 5 and 6 ) for driving tip or socket  1010  can be calculated relatively easily. Additionally, the maximum height of the top of wrench  400  should be below the bottom of the insulation found on the riser section being make up (otherwise the wrench  400  could damage the insulation). The distance between the insulation and the riser typically is made to a specified distance and the maximum height can be easily determined 
     Driving tip or socket  1010  can be moved horizontally in the direction of arrow  60  until driving tip or socket  1010  is directly over the head of bolt  32 . 
     Vertical lifting and lowering mechanism  1300  (with elevator  1400 ) can begin to lower driving tip or socket  1010  downward in the direction of arrow  63 . 
     For tightening driving tip or socket  1010  is turned clockwise in the direction of arrow  66 . 
     Initially, turning in the direction of arrow  66  can be at a relatively slow speed until driving tip or socket  1010  engages the head of bolt  32 . 
     After engagement the speed of driving tip or socket  1010  can be increased using the high speed/low torque driver  1200  to initially tighten bolt  32 . 
     As bolt  32  is tightened it will move vertically downward (in the direction of arrow  63 ). To compensate for such downward movement, vertical lifting and lowering mechanism  1300  can also lower wrench  400 . The amount of lowering of wrench  400  (and drive tip or socket  1010 ) can be calculated based on the rotational speed with which bolt  32  is being turned by driver tip or socket  1010 . Because the pitch of bolt  32  will be known, the amount of vertical movement can be calculated once the rotational speed of bolt  32  is known. The rotational speed of bolt  32  can be approximated by the nominal rotational speed of the high speed/low torque driver  1200  (which this controls) or the low speed/high torque driver  590  (when this controls). In this manner engagement between driver tip or socket  1010  can be achieved during the entire tightening process. In one embodiment a height sensor  1350  can be used which tracks movement of elevator  1300  (and therefore drive tip or socket  1010 ). 
     In one embodiment motor  1310  can be set to rotate lifting screw  1330  such that lifting screw  1330  tends to move housing  1230  (and driver tip or socket  1010 ) more rapidly downwardly in the direction of arrow  63  than bolt  32  (being tightened by tip  1010 ) moves downwardly. In this embodiment, when bolt  32  does not drop as fast as lifting screw  1330  attempts to move downwardly housing  1230  of high speed/low torque driver  1200 , the head of bolt  32  will prevent tip  1010  (and housing  1230 ) from being moved downward in the direction of arrow  63 , and motor  1310  of vertical lifting and lowering mechanism will stall based on the resistance to screw  1330  trying to pull down housing  1230  when bolt  32  and tip  1010  is holding up housing  1230 —at least until bolt  32  is tightened enough (i.e., rotated by tip  1010 ) to allow tip  1010  and housing  1230  to also move downwardly in the direction of arrow  63  thereby freeing motor  1310  to again start turning screw  1330  and lowering housing  1230  and tip  1010 . It is anticipated that repetitive “cycles” of starting and stalling of motor  1310  during this torquing down sequence of bolt  32  will be seen. 
     In various commercially available riser constructions, the bolt  32  is not completely threaded from its tip to its head and there exists a non-threaded portion. With these non-completely threaded bolts and risers there will exist during a part of the tightening process where the entire threaded portion of bolt  32  is between the threaded portions of the threaded portions of upper and lower riser sections  42  and  46 . At this point the bolt  32  will freely drop an amount (approximately one inch) until it engages the threaded portion of the lower riser section  46 . To address this partial free fall, driver tip or socket  1010  can have an excess socket depth so that when bolt  32  experiences such free fall, the head of bolt  32  is still retained (albeit by an amount less than the free fall), but a sufficient amount so that proper engagement can be continued during the remainder of the tightening process. Immediately, after engagement of bolt  32  with the lower riser section  44  only a small amount of torque will be needed. 
     During the tightening of bolt  32  in the flange  47  of lower riser section  46 , the free fall distance of the bolt  32  could be made up by wrench  400  using vertical lifting and lowering mechanism  1300  lower driving tip or socket  1010 . This can be done either by having wrench  400  lowered at a faster rate then bolt  32  is being moved downward by tightening. Alternatively, a lowering step of wrench  400  could be used where mechanism  1300  lower wrench  400  a distance (e.g., the free fall distance of bolt  32 ) while driving tip or socket  1010  is not rotating (or rotating at a very slow speed). 
     Typically, even after bolt  32  engages the threaded portion of flange  47  of lower riser section  46 , the low torque portion of wrench  400  can continue to tighten bolt  32  (and the high torque portion will not be needed) until shoulder to shoulder contact is achieved between the head of bolt  32  and the flange  43  of the upper riser section  42 . 
     In one embodiment the wrench  400  switches to high torque based on the height of drive socket  1010 . In one embodiment, when ever a high torque portion is needed (e.g., the driving torque for bolt  32  exceeds the recommended torque for low torque driving portion), wrench  400  can transition from the low torque to the high torque driver. In one embodiment, wrench  400  can switch from low torque to high torque (and vice versa) as many times and as frequently as needed by bolt  32 . For example, there may be some debris in the threaded portion of flange  43  of upper riser section  42  which increases the amount of torque required to turn bolt  32 . If this occurs then wrench  400  can transition to the high torque portion and turn bolt  32  until the debris is cleared at which time the torque required to drive bolt  32  decreases and wrench  400  transitions back to the low torque driver such as until shoulder to should contact between bolt  32  and riser section is achieved when again wrench  400  transitions to the high torque portion to complete the tightening process. 
     Driving tip or socket  1010  can be continued to be turned in the direction of arrow  66  (moving bolt  32  in the direction of arrow  63 ) until a specified height is achieved of drive tip  1010  (such height approximating shoulder-to-shoulder contact between the head of bolt  32  and the flange  43  of the upper riser section  42 ). After this point a higher torque is expected to be required in making up bolt  32  and the high torque/low speed portion of wrench  400  can take over rotating driver tip or socket  1010  in the direction of arrow  66  thereby torquing down bolt  32  until the desired torque is achieved. 
     After the desired “make up” torque on bolt  32  is achieved driver tip or socket  1010  can be disengaged from bolt  32  where vertical lifting and lowering mechanism  1300  raises driver tip or socket  1010  (in the direction of arrow  64 ) and driver tip or socket  1010  is also moved horizontally in the direction of arrow  61  so that none of the components of wrench  400  will fall within a hypothetical cylinder extending from the outside of the flanges  43 ,  47  of upper and lower riser sections  42  and  46 . To decrease cycling time driver tip or socket  1010  can be moved horizontally in the direction of arrow  61  shortly after it clears the head of bolt  32  (compared to raising wrench  400  to its maximum height before horizontal movement in the direction of arrow  61  is started). 
     After adequate clearance between riser  40  and wrench  110  is achieved (such as when torque modules  110 A-F have been completely retracted), the riser sections are lowered so that a new riser section is placed on previously upper riser section  46  (and now riser section  46  becomes the new lower riser section and the newly placed riser section becomes the new upper riser section), and the making up process begins again using the above referenced steps. 
     It is expected that the entire cycle time from first starting the torque wrench  110  in the direction of arrow  60 , tightening bolts  32 , and moving torque wrench out of the way and ready for the next tightening cycle will be less than three minutes. In various embodiments the entire cycle time from the start of a tightening sequence for all six bolts on a single flange level to completion of tightening sequence on the flange level is less than about 30, 40, 50, 60, 70, 80, 90, 100, 110, 120, 130, 140, 150, 160, 170, 180, 190, 200, 210, 220, 230, 240, 250, 260, 270, 280, 290, 300, 310, 320, 330, 340, 350, and/or 360 seconds. In various embodiments a range between about any to of the above referenced times can be used. In various embodiments these timing limits can be maintained for greater than 5, 10, 15, 20, 30, 40, 50, 60, and more flange levels in installing or tripping in the riser string. 
     Loosening or Break Out Sequence 
     Various additional embodiments are described below for the break out mode. 
     Driving tip or socket  1010  can be moved horizontally in the direction of arrow  60  until driving tip or socket  1010  is directly over the head of bolt  32 . 
     Driving tip or socket  1010  can be turned in the direction of arrow  68  (i.e., counter-clockwise) for loosening. Vertical lifting and lowering mechanism  1300  can lower driving tip or socket  1010  downward in the direction of arrow  63 . 
     Initially, turning in the direction of arrow  68  can be at a relatively slow speed until driving tip or socket  1010  engages the head of bolt  32 . Typically, after engagement a high torque will be needed to break out shoulder to shoulder contact between the head of bolt  32  and the flange  43  of the upper riser section  42 . 
     In one embodiment the high torque/low speed portion of wrench  400  is prevented from operating until a desired minimum height of driving tip or socket head  1010  is achieved. This embodiment can resist stripping out of the head of bolt  32 . In this embodiment the driving tip or socket  1010  can be turned slowly at a low torque until the desired minimum depth of engagement between driving tip or socket  1010  and bolt  32  is achieved. 
     With adequate engagement between driving tip or socket  1010  and bolt  32 , the high torque/low speed portion of wrench  400  can be used to “break out” bolt  32  from its shoulder to shoulder engagement. Typically a high torque mode is required for this initial “break out” During the high torque mode wrench  400  rotates driving tip or socket  1010  in the direction of arrow  68  (moving bolt  32  in the direction of arrow  64 ) until shoulder-to-shoulder contact is relieved/removed between the head of bolt  32  and the flange  43  of the upper riser section  42 . 
     Shortly after breaking out the shoulder to shoulder contact, it is expected that a lower torque will be required to continue turning bolt  32  in the direction of arrow  68 , and the high speed/low torque driver  1200  can take over loosening of bolt  32 . Additionally, the high speed/low torque driver  1200  can turn bolt  32  rotationally faster compared to the high torque/low speed portion of wrench  400 . 
     As bolt  32  is loosened it will move vertically upward (in the direction of arrow  64 ). To compensate for such upward movement, vertical lifting and lowering mechanism  1300  can also raise wrench  400 . The amount of raising of wrench  400  (and driver tip or socket  1010 ) can be calculated based on the rotational speed with which bolt  32  is being turned by driver tip or socket  1010 . Because the pitch of bolt  32  will be known, the amount of vertical movement can be calculated once the rotational speed of bolt  32  is known. In this manner engagement between driver tip or socket  1010  and bolt  32  can be maintained during the entire loosening process. 
     In various commercially available riser constructions, the bolt  32  is not completely threaded from its tip to its head and there exists a non-threaded portion. With these non-completely threaded bolts and risers there will exist during a part of the loosening process where the entire threaded portion of bolt  32  is between the threaded portions of the threaded portions of upper and lower riser sections  42  and  46 . At this point the bolt  32  will “freely spin” and no longer rise. In one embodiment the “break out” portion is completed once the “free spin” condition is reached because bolt  32  no longer threadably connects upper and lower riser sections. However, if bolt  32  is left in the “free spin” state its threads can be damaged when riser section  42  is moved and relocated. Accordingly, it is preferred that bolt  32  is continued to be unloosed until it threads into upper riser section  42  so that the threads of bolt  32  will be protected. To address the “free spin” condition of bolt  32 , lifting fork  1400  can be used to lift bolt  32  until bolt  32  starts threading into the threaded portion of the upper riser section  42 . Lifting fork  1400  can move in the direction of arrow  1402  until fork  1400  engages the head of bolt  32 . Lifting fork  1400  and wrench  1400  can continue to be raised by vertical lifting and lowering mechanism  1200  until the threaded portion of bolt  32  begins to engage the threaded portion of the upper riser section  42 . To address this partial free spinning state of bolt  32  and re-engagement with the upper riser section, driver tip or socket can be slowed to avoid cross threading the upper riser section  42 . Immediately, after engagement of bolt  32  with the upper riser section  42  only a small amount of torque will be needed. 
     Driver tip or socket  1010  continues to loosen bolt  32  until a desired position for a “state of breakout” is obtained for bolt  32 . After the desired state of breakout is for bolt  32  is achieved driver tip or socket  1010  is disengaged from bolt  32  where vertical lifting and lowering mechanism  1300  raises driver tip or socket  1010  in the direction of arrow  64  and driver tip or socket  1010  is also retracted or moved horizontally in the direction of arrow  61  so that none of the components of wrench  400  will fall within a hypothetical cylinder extending from the outside of the flanges  43 ,  47  of upper and lower riser sections  42  and  46 . 
     After clearance is achieved from the upper riser section  42  is removed and lower riser section raised so that a new riser section is seen connected to previously lower riser section  46  (and now riser section  46  becomes the new upper riser section and the newly raised riser section becomes the new lower riser section), and the breaking out process begins again using the above referenced steps. 
     It is expected that the entire cycle time from first starting the torque wrench  110  in the direction of arrow  60 , loosening bolt  32 , and moving torque wrench out of the way and ready for the next loosening cycle will be less than sixty seconds. 
     In one embodiment motor  1310  can be set to rotate lifting screw  1330  at a slower rate such that lifting screw  1330  tends to move housing  1230  (of high speed/low torque driver  1200 ) upwardly a little more slowly in the direction of arrow  64  than bolt  32  (being loosened by tip  1010 ) tends to move upwardly tip  1010  and housing  1230 . In this embodiment, when bolt  32  rises faster than lifting screw  1330  attempts to move up housing  1230 , the head of bolt  32  will push tip  1010  (and housing  1230 ) upward in the direction of arrow  64 , tending to cause screw  1330  to also rotate faster, turning and speeding up motor  1310  to catch up to the height of bolt  32 . In this embodiment it is anticipated that the threading of screw  1330  will not lock up with the interconnecting threading for housing  1230 . 
     In one embodiment motor screw  1330  can be turned at a rotational speed which will approximate the vertical lift of bolt  32 . If screw  1330  is actually turning faster and causing driver tip or socket  1010  to move upwardly (in the direction of arrow  64 ) faster than bolt  32  is moving, driver tip or socket  1010  has enough excess socket depth compared to the head of bolt  32  that driver tip socket  1010  will maintain adequate contact with the head of bolt  32  during the entire upward movement of bolt  32 . For example, the head of bolt  32  may have a nominal head depth of 3⅜ inches so that when driver tip or socket  1010  is fully placed on the head of bolt  32  3⅜ inches of head will be inside of driver tip or socket  1010 . If during the lifting cycle screw  1330  raises housing  1230  (and driver tip or socket  1010 ) an extra 1 or 2 inches compared to the height in which bolt  32  is raised, 2⅜ or 1⅜ inches of the head of bolt  32  will still remain in driver tip or socket  1010 . 
     It is expected that the entire cycle time from first starting the torque wrench  110  in the direction of arrow  60 , loosening bolt  32 , and moving torque wrench out of the way and ready for the next loosening cycle will be less than sixty seconds. In various embodiments the entire cycle time from the start of a loosening sequence for all six bolts on a single flange level to completion of loosening sequence on such flange level is less than about 30, 40, 50, 60, 70, 80, 90, 100, 110, 120, 130, 140, 150, 160, 170, 180, 190, 200, 210, 220, 230, 240, 250, 260, 270, 280, 290, 300, 310, 320, 330, 340, 350, and/or 360 seconds. In various embodiments a range between about any to of the above referenced times can be used. In various embodiments these timing limits can be maintained for greater than 5, 10, 15, 20, 30, 40, 50, 60, and more flange levels in retrieving tripping out the riser string. 
     Initial Engagement Between Driver and Head of Bolt 
     After driver or socket head  1010  has been placed directly over bolt  32  such that the centerline of rotation of driver or socket  1010  lines up with the center of rotation of bolt  32 , there may still be a non-alignment between the driving portions of driver or socket  1010  and the driven portions of the head of bolt  32 . There is a risk (albeit small) that rotating at such a high speed when initial contact between driver or socket  1010  and the head of bolt  32  will damage one or both if the driving surfaces of both are not properly aligned during first contact. 
     Accordingly, in one embodiment an alignment sequence can be used to facilitate initial engagement with driver or socket head  1010  and bolt  32  where the effective rotational speed of driver or socket  1010  is substantially reduced. Normal high speed rotational speed of high speed/low torque driver  1200  can exceed about 100 revolutions per minute, e.g., about 100, 105, 110, 115, 120, 125, 130, 135, 140, and 150 revolutions per minute. The alignment sequence can include high speed/low torque driver  1200  turning driver or socket  1010  at a relatively low speed until proper engage is achieved. This low alignment speed can be less than an average of 50, 45, 40, 35, 30, 35, 30, 25, 20, 15, 10, 9, 8, 7, 6, 5, 4, 3, 2, and/or 1 revolution per minute. 
     The slower alignment speed with high speed/low torque driver  1200  can be achieved by controlling the speed of motor  1210 , such as by placing motor  1210  in a low speed phase. 
     Additionally, the slower alignment speed with high speed/low torque driver  1200  can be achieved by only intermittently supplying pressurized hydraulic fluid to motor  1210  (or supplying pressurized hydraulic fluid in spurts). Another option is to make motor  1210  a variable speed motor. Such an engagement mode can be maintained until a proper engagement between driver or socket  1010  with bolt  32 . 
     Proper engagement can be determined using a variety of means such as: (a) calculating a vertical movement of driver or socket head  1010  and/or measuring resistance to additional vertical dropping of driver or socket head  1010  when driver or socket head is restrained from additional dropping by the bolt head; (b) measuring backpressure in the hydraulic pressure of to motor  1210 ; and/or (c) measuring resistance to vertical dropping of driver or socket head  1010  (and connected wrench  400 ). 
     In one embodiment the effective vertical height of the head of bolt  32  is 3⅜ inches. In one embodiment a vertical drop of driver or socket  1010  a specified amount (e.g., 1, 1½, 2, 2½, 3, 3½, and/or 4 inches)(or 10, 20, 30, 40, 50, 60, 70, 80, 90, 95, and 100 percent or the depth of the head of bolt  32 ) over the head of bolt  32  is determined to be effective engagement and high speed/low torque driver  1200  can increase to its normal high rotational speed mode. 
     In one embodiment changes in the back pressure to motor  1210  can be used to determined proper engagement. It is anticipated that resistance to the turning of driver or socket  1010  will vary before proper engagement (where the driving faces of both driver or socket  1010  and the driven faces of the head of bolt  32 ) meet compared to driver or socket merely spinning on top of the head of bolt  32 . This difference in back pressure can be used to determine proper engagement. 
     In one embodiment changes in backpressure to motor  1310  of vertical lifting and lowering mechanism can be used to determine proper engagement. If proper engagement is not obtained between driver or socket  1010  and bolt  32  (where the driving faces of both driver or socket  1010  and the driven faces of the head of bolt  32 ), bolt  32  will resist downward movement of wrench  400  and increase resistance to vertical lifting and lowering mechanism  1300 , which can cause motor  1310  to stall. This difference in back pressure can be used to determine proper engagement. 
     In one embodiment one or more (or all three) of the above means can be used to determine proper engagement. 
     In various embodiments the above referenced initial engage steps can be used in both the make up and break out sequences. 
     Schematic Diagrams for Components and Hydraulic Flow 
       FIGS. 45 through 47  include schematic diagrams of the hydraulic circuits controlling the high torque driver system  590 , low torque driver  1200 , vertical lifting and lowering mechanism  1300 , sliding system for sliding housing  140  (cylinders/pistons  362  and  364 ), and lifting fork mechanism  1400 . 
       FIGS. 45  (make up) and  46  (break out) show fluid flow and control for the low speed/high torque portion  590 . In one embodiment, automatic reciprocation of piston  740  (distinguished from manual reciprocation of prior art wrenches) is obtained. Basically, piston  740  can be automatically reciprocated between extended and retracted states inside (e.g., between first interior wall  712  and second interior wall  712  of hydraulic cylinder  700 ). 
     In one embodiment cylinder  700  can contain interior extension  713  and retraction  715  hydraulic ports. Cylinder  700  can have an interior chamber length L (between first  712  and second  714  interior walls), and piston  740  can have a width D corresponding to the interior chamber size of cylinder  700 . In one embodiment fluid source lines  713  and  715  can be located on side walls  712  and  714 . In other embodiments fluid source lines  713  and  715  can be spaced apart a desired length (such as between interior walls  712  and  714 ). 
     In the start of the extension/advance mode for piston  740  and rod  750  (i.e., movement in the direction of arrow  774 ) piston  740  can be located to the rear of cylinder  700  ( FIG. 34 ). Hydraulic fluid can flow into from port  713  causing piston  740  to move in the direction of arrow  774 . As piston  740  moves (in the direction of arrow  774 ) past port  722 , port  722  will see hydraulic pressure causing the flow direction mechanism schematically shown in the figures to switch flow from fluid source line  713  to fluid source line  715  causing the piston  740  and rode  750  to enter the retraction mode and move in the direction of arrow  772 . 
     The retraction mode can be controlled on a timing basis which can be flow through port  715  for a set period of time which can be 1, 2, 3, 4, 5, 6, 7, 8, 9, and/or 10 seconds of retraction pressure. In various embodiments the set period of time can be between any two of the specified periods of time. 
     During make up the above steps of entering the extension/advance mode and retraction mode continue until piston  740  stalls from reaching a specified back-pressure. This is preferably the backpressure which causes a desired torque on bolt  32 . 
     During break out the above steps of entering the extension/advance mode and retraction mode can continue for a specified number of strokes. 
     For extension in the high torque cylinder  700 , pressure is sent to the extension port  713  causing piston  740  to move in the direction of arrow  774  until pressure is read in the pilot port  722  (this will occur when the piston  740  passes up the pilot port  722  to see the hydraulic fluid inside the cylinder  710 ). Once the pilot port  722  sees pressure the system reverses hydraulic fluid flow to now send fluid through the retraction port  715  for a set period of time which can be 1, 2, 3, 4, 5, 6, 7, 8, 9, and 10 seconds of retraction pressure. Flow through retraction port  715  will cause piston  740  to move in the direction of arrow  772 . 
     On make-up this process (alternating stroking of piston  740  and rod  750  in the directions of arrows  774  and  772 ) is repeated until a pre-specified pressure is reached on the extension port with the pilot port having a reduced pressure (low to zero). 
     On break-out this process (alternating stroking of piston  740  and rod  750  in the directions of arrows  774  and  772 ) can be repeated for the set number of cycles. 
     Overall Side View in of Steps In Making Up (Tripping in) Multiple Sections of a Riser 
       FIGS. 48 through 57  schematically show various steps in making up individual joints of a riser  40 . 
       FIG. 48  is a schematic side view of the step of making up a riser  40  string of lowering (in the direction of arrow  63 ) a second riser section  45  onto a first riser section  46  where the first riser section  46  along with the rest of the riser  40  string is supported by the spider  50 . 
       FIG. 49  is a close up side view of where the second riser section  45  has been placed on top of the first riser section  46  showing a plurality of riser bolts  32 A-F ready to be tightened with the spider  50  supporting the riser  40  string and a plurality of torque modules  110 A-F are located in their home position. 
       FIG. 50  is a side view schematically indicating that the plurality of torque modules  110 A-F have extended (radially in the direction of arrow  60 ) are making up the plurality of riser bolts  32 A-F while the riser string  40  is being supported by the spider  50 . 
       FIG. 51  is a side view schematically indicating that the plurality of torque modules  110 A-F have completed the make up of the plurality of riser bolts  32 A-F and such modules are retracting (radially in the direction of arrow  61 ) to their home position. 
       FIG. 52  shows the now made up joint (flanges  43  and  47 ) between the second  42  and first  46  riser sections is being lowered (in the direction of arrow  63 ) by the rig lifting elevator  22  after the spider  50  has been retracted (in the direction of arrows  54 ). 
       FIG. 53  is a side view of the now made up joint (flanges  43  and  47 ) between the second  42  and first  46  riser sections is being lowered (in the direction of arrow  63 ) by the rig lifting elevator  22  (which supports the riser  40  string by attachment to the upper flange  45  of the second riser section  42 ) after the spider  50  has been retracted. 
       FIG. 54  is a side view of the elevator  22  supporting the riser string  20  by the upper flange  45  of the second riser section  42  and located this upper flange  45  in the spider  50  for support. Arrows  52  schematically indicate that the spider  50  has closed to support riser string  40  by supporting upper flange  45 . 
       FIG. 55  is a close up view of the elevator  22  supporting the riser string  40  by the upper flange  45  of the second riser section  42  and having placed the upper flange  45  on the spider  50  for support. 
       FIG. 56  is a close up view of the elevator  22  being removed (schematically indicated by arrow  64 ) from the upper flange  45  of the second riser section  42 . Riser string  40  (along with second riser section  42 ) is supported by spider  50 . 
       FIG. 57  is a perspective view of all six torque modules  110 A-F in their home positions and set up in the break out mode on spider  50 . Radial arrows  60  and  61  schematically indicate extension and retraction of each of the modules. Upper and lower arrows  62  and  63  schematically indicated upward movement and lower movement of individual drive sockets  1010 A-F for each of the modules. 
     Rotational Counter 
     In one embodiment a rotational counter can be used to count the number (and possibly the direction) of revolutions of driver tip or socket  1010  after driver tip or socket  1010  engages the head of bolt  32 . Because the pitch of the threads on bolt  32  are known the distance of vertical movement of bolt  32  can be determined. This distance of vertical movement of bolt  32  can be made up by vertical lifting and lowering mechanism  1300  in combination with height sensor  1350 . The counter of rotations of bolt  32  can be for one or more portions of the vertical movement of bolt  32 . Different portions can be analyzed because of the step where bolt  32  freely spins between the upper and lower flanges ( 43  and  47 ) and/or drops between these two upper and lower flanges ( 43  and  47 ). 
     In one embodiment a rotational counter can be used to count the number (and possibly the direction) of revolutions of vertical lifting and lowering screw  1330  (and/or motor  1310 ) to calculate the vertical movement of driver tip or socket  1010 . Because the pitch of the threads on screw  1330  are known the distance of vertical movement of bolt housing  1200  (and tip or socket  1010 ) can be determined. This distance of vertical movement can be used to control lifting and lowering mechanism  1300  during various steps in the various sequences. 
     LIST OF REFERENCE NUMERALS 
     The following is a list of reference numerals used in the present application: 
     
       
         
               
               
             
               
               
             
           
               
                   
               
               
                 Reference Numeral 
                 Description: 
               
               
                   
               
             
             
               
                   
               
             
          
           
               
                 10 
                 perspective view of preferred embodiment 
               
               
                 20 
                 rig 
               
               
                 22 
                 lifting elevator for rig 
               
               
                 32 
                 bolt 
               
               
                 40 
                 riser 
               
               
                 42 
                 riser section 
               
               
                 43 
                 flange 
               
               
                 44 
                 floatation/insulation material for riser section 
               
               
                 45 
                 upper flange 
               
               
                 46 
                 riser section 
               
               
                 47 
                 flange 
               
               
                 48 
                 projection of cylinder 
               
               
                 49 
                 gap 
               
               
                 50 
                 spider 
               
               
                 52 
                 arrow (extension) 
               
               
                 54 
                 arrow (retraction) 
               
               
                 60 
                 arrow 
               
               
                 62 
                 arrow 
               
               
                 64 
                 arrow 
               
               
                 66 
                 arrow 
               
               
                 68 
                 arrow 
               
               
                 70 
                 arrow 
               
               
                 80 
                 control panel/hydraulic fluid source 
               
               
                 100 
                 wrench system 
               
               
                 110 
                 wrench 
               
               
                 140 
                 sliding housing 
               
               
                 142 
                 top 
               
               
                 144 
                 bottom 
               
               
                 146 
                 front 
               
               
                 148 
                 rear 
               
               
                 150 
                 side wall 
               
               
                 152 
                 side wall 
               
               
                 154 
                 foot connector 
               
               
                 155 
                 foot connector 
               
               
                 156 
                 foot connector 
               
               
                 157 
                 foot connector 
               
               
                 160 
                 brace 
               
               
                 170 
                 brace 
               
               
                 180 
                 brace 
               
               
                 190 
                 tracks 
               
               
                 192 
                 track 
               
               
                 194 
                 track 
               
               
                 196 
                 track 
               
               
                 198 
                 track 
               
               
                 300 
                 base 
               
               
                 310 
                 top 
               
               
                 320 
                 bottom 
               
               
                 330 
                 front 
               
               
                 331 
                 radial tabs 
               
               
                 332 
                 connecting pins 
               
               
                 334 
                 connecting pins 
               
               
                 340 
                 rear 
               
               
                 350 
                 guide system 
               
               
                 352 
                 guide shaft 
               
               
                 354 
                 guide shaft 
               
               
                 356 
                 front plate 
               
               
                 357 
                 extension adjusters 
               
               
                 358 
                 rear plate 
               
               
                 359 
                 retraction adjusters 
               
               
                 360 
                 positioning system for base 
               
               
                 362 
                 hydraulic cylinder and piston 
               
               
                 363 
                 rod 
               
               
                 364 
                 hydraulic cylinder and piston 
               
               
                 3654 
                 rod 
               
               
                 400 
                 wrench 
               
               
                 406 
                 wrench body 
               
               
                 410 
                 top 
               
               
                 420 
                 bottom 
               
               
                 440 
                 first end 
               
               
                 450 
                 second end 
               
               
                 452 
                 arrows 
               
               
                 460 
                 top opening for driver 
               
               
                 470 
                 bottom opening for driver 
               
               
                 480 
                 opening for cylinder pivot rod 
               
               
                 490 
                 opening for vertical lifting and lowering screw 
               
               
                 498 
                 bore for reaction bar 
               
               
                 500 
                 reaction bar 
               
               
                 510 
                 first end 
               
               
                 520 
                 second end 
               
               
                 590 
                 high torque driver 
               
               
                 600 
                 drive gear 
               
               
                 610 
                 plurality of angular teeth 
               
               
                 620 
                 opening in drive gear for drive pin 
               
               
                 700 
                 reciprocating cylinder 
               
               
                 702 
                 arrows 
               
               
                 706 
                 arrows 
               
               
                 708 
                 arrows 
               
               
                 710 
                 cylinder 
               
               
                 712 
                 first interior wall 
               
               
                 713 
                 extension port 
               
               
                 714 
                 second interior wall 
               
               
                 715 
                 retraction port 
               
               
                 720 
                 cylinder yoke 
               
               
                 722 
                 pressure port 
               
               
                 730 
                 opening for pivot pin 
               
               
                 734 
                 pivot pin 
               
               
                 740 
                 piston 
               
               
                 750 
                 piston rod 
               
               
                 760 
                 tip for piston rod 
               
               
                 770 
                 arrow 
               
               
                 772 
                 arrow 
               
               
                 774 
                 arrow 
               
               
                 778 
                 pivot 
               
               
                 800 
                 first drive plate 
               
               
                 810 
                 second drive plate 
               
               
                 820 
                 drive plate extension 
               
               
                 825 
                 spacer 
               
               
                 830 
                 bore in first drive plate for drive gear 
               
               
                 840 
                 bore in second drive plate for drive gear 
               
               
                 850 
                 bore in first drive plate for piston rod tip 
               
               
                 852 
                 bore in second drive plate for piston rod tip 
               
               
                 860 
                 bore in first drive plate for drive pawl 
               
               
                 870 
                 bore in second drive plate for drive pawl 
               
               
                 880 
                 first bushing 
               
               
                 881 
                 opening 
               
               
                 882 
                 second bushing 
               
               
                 883 
                 opening 
               
               
                 884 
                 plurality of connectors 
               
               
                 900 
                 drive pawl 
               
               
                 910 
                 pivot tips for drive pawl 
               
               
                 920 
                 drive pawl biasing member (e.g., springs) 
               
               
                 1000 
                 driver 
               
               
                 1010 
                 driver tip 
               
               
                 1012 
                 axis of rotation 
               
               
                 1020 
                 opening for head of bolt 
               
               
                 1030 
                 depth of opening 
               
               
                 1040 
                 driver shaft 
               
               
                 1042 
                 first end 
               
               
                 1044 
                 second end 
               
               
                 1046 
                 cross sectional shape 
               
               
                 1050 
                 high speed connection area 
               
               
                 1052 
                 plurality of teeth for high speed connector 
               
               
                 1200 
                 high speed/low torque driver 
               
               
                 1210 
                 motor 
               
               
                 1220 
                 belt 
               
               
                 1222 
                 tension pulleys 
               
               
                 1230 
                 housing 
               
               
                 1232 
                 first end 
               
               
                 1234 
                 second end 
               
               
                 1236 
                 top 
               
               
                 1238 
                 bottom 
               
               
                 1240 
                 opening for vertical lifting and lowering screw 
               
               
                 1242 
                 threaded area for vertical lifting and lowering 
               
               
                   
                 screw 
               
               
                 1250 
                 plurality of tracks 
               
               
                 1252 
                 track 
               
               
                 1254 
                 track 
               
               
                 1256 
                 track 
               
               
                 1258 
                 track 
               
               
                 1300 
                 vertical lifting and lowering mechanism 
               
               
                 1310 
                 motor 
               
               
                 1330 
                 vertical lifting and lowering screw 
               
               
                 1332 
                 arrow 
               
               
                 1334 
                 arrow 
               
               
                 1350 
                 height sensor 
               
               
                 1360 
                 moving indicator for sensor 
               
               
                 1370 
                 depth to known origin/level/standard 
               
               
                 1400 
                 screw lifting mechanism 
               
               
                 1402 
                 arrow 
               
               
                 1404 
                 arrow 
               
               
                 1410 
                 lifting fork 
               
               
                 1420 
                 plate 
               
               
                 1430 
                 track 
               
               
                 1432 
                 track 
               
               
                 1440 
                 driving hydraulic cylinder and piston or pair of 
               
               
                   
                 driving cylinders and pistons 
               
               
                   
               
             
          
         
       
     
     It will be understood that each of the elements described above, or two or more together may also find a useful application in other types of methods differing from the type described above. Without further analysis, the foregoing will so fully reveal the gist of the present invention that others can, by applying current knowledge, readily adapt it for various applications without omitting features that, from the standpoint of prior art, fairly constitute essential characteristics of the generic or specific aspects of this invention set forth in the appended claims. The foregoing embodiments are presented by way of example only; the scope of the present invention is to be limited only by the following claims.