EP3328725A1 - Unit for cleaning underwater structures and associated submersible cleaning assembly - Google Patents
Unit for cleaning underwater structures and associated submersible cleaning assemblyInfo
- Publication number
- EP3328725A1 EP3328725A1 EP16770036.8A EP16770036A EP3328725A1 EP 3328725 A1 EP3328725 A1 EP 3328725A1 EP 16770036 A EP16770036 A EP 16770036A EP 3328725 A1 EP3328725 A1 EP 3328725A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- drum
- scraping
- cleaning
- cleaning unit
- tool
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 60
- 238000007790 scraping Methods 0.000 claims abstract description 55
- 229910000831 Steel Inorganic materials 0.000 claims description 6
- 239000010959 steel Substances 0.000 claims description 6
- 229910052751 metal Inorganic materials 0.000 claims description 4
- 239000002184 metal Substances 0.000 claims description 4
- 230000003014 reinforcing effect Effects 0.000 claims description 2
- 229910052782 aluminium Inorganic materials 0.000 description 4
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 4
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 230000002787 reinforcement Effects 0.000 description 4
- 239000002689 soil Substances 0.000 description 4
- 230000001681 protective effect Effects 0.000 description 3
- 239000011347 resin Substances 0.000 description 2
- 229920005989 resin Polymers 0.000 description 2
- 241000242757 Anthozoa Species 0.000 description 1
- 235000014653 Carica parviflora Nutrition 0.000 description 1
- 241000195493 Cryptophyta Species 0.000 description 1
- 241000446313 Lamella Species 0.000 description 1
- 241000237502 Ostreidae Species 0.000 description 1
- 229910001315 Tool steel Inorganic materials 0.000 description 1
- 230000004913 activation Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000003647 oxidation Effects 0.000 description 1
- 238000007254 oxidation reaction Methods 0.000 description 1
- 235000020636 oyster Nutrition 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
- B63B59/06—Cleaning devices for hulls
- B63B59/08—Cleaning devices for hulls of underwater surfaces while afloat
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
Definitions
- the invention is in the field of remote controlled submersible vehicles.
- the invention relates more particularly to a submarine structure cleaning tool.
- underwater structure is meant and not limited to oil platforms, underwater anodes, hulls of ships or tankers, or lines of anchors.
- the surface of these underwater structures is subject to the appearance of dirt resulting from prolonged exposure in the sea. These soils are most often corals, algae or oysters.
- the invention thus provides a submersible cleaning tool adapted to be remotely controlled from the surface and capable of cleaning surfaces. underwater even with difficulty accessible and without damaging the constituent materials of these surfaces.
- the submersible cleaning unit of the invention is adapted to be driven by means of propulsion and remotely controlled, and is essentially characterized in that it is equipped with at least one rotary scraper system.
- marine fouling present on the surface of said underwater structure, which comprises at least one scraping tool mounted on a drum whose longitudinal axis defines the axis of rotation of said rotary scraping system, and in that the drum is adapted to be rotated and intended to be positioned parallel to the surface to be cleaned.
- the cleaning tool of the invention may also include the following optional features considered in isolation or according to all possible technical combinations:
- the cleaning unit comprises a hydraulic motor which is mounted in the axis of the drum at one of its two ends and fed by a hydraulic unit housed in the frame of said cleaning unit.
- the rotary scraping system and the hydraulic motor extend along a transverse end of the frame of the cleaning unit.
- scraping tools are arranged along the drum of the rotary scraping system.
- Each scraping tool is secured to a respective fin which is arranged on at least a portion of the periphery of said drum and which has a reinforcing zone at which said scraping tool is mounted through.
- the rotary scraping system comprises three scraping tools mounted along the drum, the three scraping tools being secured to the drum being positioned in angular offset of 120 ° on said drum.
- each scraping tool consists of a metal chain.
- the metal chain comprises three steel links of grade between 80 and 100, each link having a length of between 1 and 5 centimeters and a section of between 6 and 10 millimeters, and the rotational speed of the drum is between 500 and 900 rpm.
- the invention also relates to a submersible cleaning assembly of an underwater structure and which is essentially characterized in that it comprises a cleaning unit as described above, which is secured to an underwater robot equipped in particular with propulsion means and capturing means, and controlled remotely.
- the cleaning unit is mounted under the robot underwater.
- the hydraulic unit of the cleaning unit is electrically powered by the electrical circuit of the submarine robot.
- FIG. 1 is a schematic representation of the cleaning assembly of the invention immersed in the cleaning position and connected by a power cable via a pulley to a control platform and guidance.
- FIG. 2 is a diagrammatic representation in perspective and in elevation of the frame of the cleaning tool of the invention, illustrating in particular the rotary drum devoid of scraping tools in this figure,
- FIG. 3 is a schematic top view of the hydraulic power unit of the hydraulic motor for rotating the drum of the cleaning tool
- FIG. 4 is an enlarged view of FIG. 2 illustrating the transverse end of the cleaning tool provided with the partially illustrated scraping tool and the hydraulic motor for rotating the drum of the tool;
- FIG. 5 is a view similar to that of FIG. 4 on which is shown a scraping tool consisting of a chain with three steel links according to a first variant of the invention,
- FIG. 6 is an enlarged view of FIG. 5 taken along arrow VI and illustrating the three-link chain made of scraping tool steel of the cleaning tool according to the first variant
- FIG. 7 is an enlarged view of a scraping tool made of a resin blade according to a second embodiment.
- the cleaning assembly 1 of the invention comprises an underwater robot 2 under which is mounted a cleaning unit 3.
- Underwater robot means 2 a remote control vehicle (ROV - remotely operated vehicle) which is submersible in a body of water, here the sea 7, and which can be controlled remotely from a fixed platform 4 or a ship via a cable 5 mounted around a pulley 6.
- the submarine robot 2 is equipped with propulsion means and one or more unrepresented cameras that are electrically powered via the cable 5.
- the cable 5 also conveys data, these aspects being known to the user. a person skilled in the art with regard to the use of underwater robots 2 marketed.
- the cleaning unit 3 comprises a hydraulic unit 8 which will be described later and which is advantageously electrically powered by the electric circuit 9 of the submarine robot 2 thus avoiding the multiplication of the cables 5.
- the cleaning unit 3 is secured to the submarine robot 2 by welding, by buttoning or by any other means commonly used to assemble a technical unit to a submarine robot 2. Alternatively and not shown, the unit cleaning 3 is not reported to an underwater robot 2 but has its own means of propulsion and capture. One or more operators not shown provide guidance and control of the cleaning assembly 1 from the platform 4. It is also provided on the platform control means, recorders, analyzers and other hardware known to those skilled in the art ensuring the mechanical and electrical guidance of the underwater robot 2, the activation in operation of the cleaning tool 3 and the collection and processing of data.
- the cleaning assembly 1 is thus guided and placed from the platform 4 near the surface 10 of a submarine structure 11 to be cleaned.
- One end 12 of the cleaning unit 3 comprises a rotary scraping system which will be described later, which is positioned at an operating distance from the surface 10 and which is actuated in rotation from the platform to rid the surface 10 of the dirt present on the surface 10.
- the rotary scraping system is controlled inactive and the cleaning assembly 1 is raised to the surface on the platform 4.
- the cleaning unit 3 comprises a frame 15 substantially composed of two flanks 16 made of plastic, four sleepers 17 of aluminum profile and extends longitudinally by an aluminum nose 18 to the transverse end 12 of the cleaning unit 3.
- the nose 18 of the cleaning unit 3 comprises a first aluminum flank 19 and a second parallel flank 20, the latter flank 20 forming one of the faces of an aluminum protective duct 21 of the hydraulic motor 22. ( Figure 4) which rotates the rotary scraping system 23 extending transversely and at the longitudinal end of the nose 18 between the first side 19 and the protective duct 21.
- the rotary scraping system 23 comprises a drum 24 which is made of anti-corrosion steel, for example Dursteel® and whose main axis XX 'defines the axis of rotation of the rotary system 23.
- the two ends 25,26 of the drum 24 are mounted respectively on the conduit 21 and on the first side 20 via an elastic coupling 27 and two self-aligning bearings 26a arranged on either side of the drum 24.
- the self-aligning bearing aligner 26a is located between the elastic coupling 27 and the end 25 considered of the drum 24.
- the elastic coupling 27 and the self-aligning bearings 26a are all visible in Figure 3 and partially visible in Figures 2, 4 and 5
- the self-aligning bearings 26a are shown without support in FIG. 4, and with support in FIG. 5.
- the rotary scraping system 23 comprises three fins 28a, 28b, 28c on which are secured the scraping tools not shown in Figures 2 and 4 and which will be described later.
- the three fins 28a, 28b, 28c are regularly arranged along the drum 24 between two discs 29,30.
- the diameter of these two discs 29,30 is greater than the largest diameter of the fins 28a, 28b, 28c and the thickness of these discs 29,30 is sufficiently thin to prevent the blocking of the rotation of the drum 24 in case of contact between fine discs 29,30 and the surface to be cleaned.
- Each fin 28a, 28b, 28c partially surrounds the drum 24 by having a reinforcement 28a1, 28a2 made of a zone of greater thickness on which is formed a through hole 28a2, 28b2 intended to ensure the attachment of the scraping tool on the corresponding fin 28a, 28b, 28c.
- the three fins 28a, 28b, 28c, or the three reinforcements 28a1,28a2 of a corresponding fin 28a, 28b, 28c are arranged along the drum 24 angularly offset 120 ° C. This angular offset advantageously ensures a regular distribution of masses of scraping tools in motion to avoid unbalance.
- the hydraulic motor 22 is mounted at the end of the protective duct 21 in the axis XX 'of the drum 24.
- the hydraulic motor 22 is powered by a hydraulic unit 30 arranged on the frame 15 of the cleaning unit 3.
- the hydraulic unit 30 is composed of a pump unit 31 consisting of an electric motor 32 which is powered by the electrical circuit of the underwater robot not shown in this figure and which is connected with a pump 33 via an elastic coupling 34.
- the pump unit 31 is connected to an oil tank 35 and a pressure limiter 36.
- the hydraulic unit 30 comprises a pressure circuit part 37 and a part of circuit at atmospheric pressure 38.
- the hydraulic motor 22 is 11 cm 3 cylinder and the 3.1 cm 3 hydraulic pump.
- the hydraulic motor 22 rotates the drum 24 at a speed between 500 and 900 rpm according to the scraping tool used.
- the electric motor 32 drives the hydraulic pump 33 in operation which passes the oil contained in the tank 35 to said pump 33 which then sends the oil under pressure to the limiter 36 and, if the pressure is less than one threshold pressure, the hydraulic motor 22.
- the oil at atmospheric pressure returns to the reservoir 35.
- the pressure of the high pressure circuit 37 is adjusted to not exceed 190 Bar. If this pressure of 190 Bar is exceeded, a bypass circuit 39 between the limiter 36 and the tank 35 makes it possible to avoid damaging the hydraulic motor 22.
- the main advantage of implementing a hydraulic unit lies in the possibility of arranging the hydraulic motor 22 as close as possible to the rotary scraping system 30 and in the axis XX 'of the drum 24, this being made possible by the use of flexible cables within the hydraulic unit, which makes it possible to avoid the use of angle gear systems.
- the scraping tool 40 consists of a steel chain 40 'of grade between 80 and 100 consisting of three links 41 of diameter 8 millimeters and length of 3 centimeters.
- the three links 41 are secured to the drum 24 by means of a shackle 42 of stainless steel diameter 10 millimeters which is bolted to the reinforcement 28a 1 through the corresponding orifice 28a2.
- a single complete scraping tool 40 is shown in FIGS. 5 and 6, but it is understood that the rotary scraping system 23 comprises three scraping tools 40 identical to that previously described, each tool 40 being secured to a corresponding fin 28a.28b .28c.
- the drum 24 is rotated by the hydraulic motor 22 at a speed of 700 revolutions per minute.
- each scraping tool 40 extends perpendicular to the drum 24, which thus makes it possible to strike the surface to be cleaned when the drum is rotated by the hydraulic motor and the drum 40 position parallel to the surface to be cleaned.
- the scraping tool 40a may alternatively consist of a resin lamella 43 secured by bolting to the reinforcement 28a 1 of the corresponding fin 28a and thus positioned also perpendicularly to the drum 24.
- the scraping tool 40,40a may be a steel cable, a brush or a circular propeller. It is important that the scraping tool has both sufficient hardness to scrape and remove dirt from the surface to be cleaned but also a general flexibility to hit it without breaking against the surface to be cleaned when the drum 24 is in rotation and positioned parallel to the surface to be cleaned.
- the scraping tool is generally elongate in shape and extends perpendicularly or substantially perpendicular to the drum 24.
- the length of the scraping tool 40, 40a is also adjusted to optimize cleaning and is generally understood, considering the end. free of the scraping tool 40 to the cylindrical surface of the drum 24, between 10 and 20 centimeters. More generally, the length of the scraping tool is adjusted according to the friction generated by the scraping tools to not impede the good rotation of the drum according to the driving capacity of the hydraulic motor.
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1501663 | 2015-07-31 | ||
PCT/FR2016/051969 WO2017021627A1 (en) | 2015-07-31 | 2016-07-28 | Unit for cleaning underwater structures and associated submersible cleaning assembly |
Publications (2)
Publication Number | Publication Date |
---|---|
EP3328725A1 true EP3328725A1 (en) | 2018-06-06 |
EP3328725B1 EP3328725B1 (en) | 2019-10-23 |
Family
ID=56979591
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP16770036.8A Active EP3328725B1 (en) | 2015-07-31 | 2016-07-28 | Unit for cleaning underwater structures and associated submersible cleaning assembly |
Country Status (2)
Country | Link |
---|---|
EP (1) | EP3328725B1 (en) |
WO (1) | WO2017021627A1 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113110531A (en) * | 2021-04-19 | 2021-07-13 | 飞马滨(青岛)智能科技有限公司 | Automatic wall-adhering method for underwater robot and ship to be washed |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US487198A (en) * | 1892-11-29 | Apparatus for cleanxng shipsj bottoms | ||
US769434A (en) * | 1903-12-28 | 1904-09-06 | James Forrest | Device for cleaning bottoms of ships. |
WO2010048038A2 (en) * | 2008-10-20 | 2010-04-29 | Shell Oil Company | Methods and devices for cleaning subsea structures using ultrasound |
-
2016
- 2016-07-28 WO PCT/FR2016/051969 patent/WO2017021627A1/en active Application Filing
- 2016-07-28 EP EP16770036.8A patent/EP3328725B1/en active Active
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113110531A (en) * | 2021-04-19 | 2021-07-13 | 飞马滨(青岛)智能科技有限公司 | Automatic wall-adhering method for underwater robot and ship to be washed |
Also Published As
Publication number | Publication date |
---|---|
EP3328725B1 (en) | 2019-10-23 |
WO2017021627A1 (en) | 2017-02-09 |
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