Page 551 - The ROV Manual - A User Guide for Remotely Operated Vehicles 2nd edition

548 CHAPTER 20 Tooling and Sensor Deployment
20.2 Remotely operated (ROV-positioned) tooling and sensors
20.2.1 Tooling and sensor skids
Tooling and sensor skids allow the operator to configure an ROV, from observation class to work class, with just about any additional manipulators, tools, hydraulics, sensors, etc., that may be neces- sary to perform a specific task. These skids fall under Category 5 of the ISO 13628-8 standardized ROV configurations. The value of the skid is that the basic vehicle does not need to be rearranged to attach or install the additional hardware—that is, as long as the skid interfaces have been built into the basic system. The hydraulic power unit (HPU) can either be integrated into the skid (so that only electrical power must be provided to the skid for operation) or the skid may be powered from the vehicle’s hydraulic system.
Several examples of tooling and sensor skids are provided. The skid in Figure 20.16 provides a dual manipulator system within the skid.
The Hydro-Lek tool skid (Figure 20.17), which is a turnkey package, incorporates a manipulator arm and cutter that can access a hose or cable at any angle and is controlled via Hydro-Lek Control System components, hoses, and telemetry.
Many skids are configured to take down their own “tool box” or set of deployable sensors. The skid shown in Figure 20.18, being installed on Schilling’s HD ROV, has a deployable tool bin that the manipulator can interact with to use the tool or sensor required for the task at hand.
Some of the more useful skids have the power located and mounted on the skid with the actual end effector operated in manipulator-held tooling mode. The most common examples of these types of tools are cleaning skids using high-pressure water or air cavitation as the abrasive agent.
FIGURE 20.16
Dual manipulator skid.
(Courtesy Sub-Atlantic.)