Page 538 - The ROV Manual - A User Guide for Remotely Operated Vehicles 2nd edition

Tooling and Sensor Deployment
CHAPTER CONTENTS
20
20.1 Manipulator-operated tooling.......................................................................................................537
20.2 Remotely operated (ROV-positioned) tooling and sensors...............................................................548
20.2.1 Tooling and sensor skids ....................................................................................... 548
20.2.2 Toolingdeploymentunit........................................................................................550
20.2.3 Remotely operated tooling (dual down line ROT) ..................................................... 551
20.2.4 Hydraulics...........................................................................................................552 20.2.4.1 Hydraulicrequirements..................................................................................552 20.2.4.2 Hydraulicpowerunits.....................................................................................552 20.2.4.3 Hydraulic valve packages ............................................................................... 552 20.2.4.4 Hydrauliccompensators.................................................................................554 20.2.4.5 Compensator/reservoir....................................................................................555
20.2.5 Electrical actuation .............................................................................................. 555
20.3 Conclusion .................................................................................................................................558
The final function of the intervention robot is to place the end effector into a point/orientation within the workspace to perform the work. As shown in Table 20.1, there are various types of pos- sible robot kinematics along with definitive reachable workspace parameters. These robots can either be a part of the main manipulator system integrated into the vehicle or integrated within a separate module for placing the end effector/tool in order to achieve the work function.
Tools have been developed for use by remotely operated vehicles (ROVs) and manipulators to cover essentially every underwater task necessary. In the offshore oil and gas industries, because of the depth of today’s intervention equipment forging beyond the reach of human intervention, indus- try standards have been established. The ISO 13628-8 standard is applicable to both the selection and use of ROV interfaces on subsea production equipment and provides guidance on design as well as the operational requirements for maximizing the potential of standard equipment and design principles. The information for subsea systems the standard offers will allow interfacing and actu- ation by ROV-operated systems, while the issues the standard identifies are those that have to be considered when designing interfaces on subsea production systems. The framework and detailed specifications set out will enable the user to select the correct interface for a specific application.
The American Petroleum Institute’s standard, ANSI/API RP 17H (R2009)—Recommended Practice for Remotely Operated Vehicle (ROV) Interfaces on Subsea Production Systems—is
The ROV Manual.
© 2014 Robert D Christ and Robert L Wernli. Published by Elsevier Ltd. All rights reserved.
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