EP3328725B1 - Einheit zur reinigung von unterwasserstrukturen und zugehörige tauchfähige reinigungsanordnung - Google Patents

Einheit zur reinigung von unterwasserstrukturen und zugehörige tauchfähige reinigungsanordnung Download PDF

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Publication number
EP3328725B1
EP3328725B1 EP16770036.8A EP16770036A EP3328725B1 EP 3328725 B1 EP3328725 B1 EP 3328725B1 EP 16770036 A EP16770036 A EP 16770036A EP 3328725 B1 EP3328725 B1 EP 3328725B1
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EP
European Patent Office
Prior art keywords
drum
cleaning unit
cleaning
scraping
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.)
Active
Application number
EP16770036.8A
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English (en)
French (fr)
Other versions
EP3328725A1 (de
Inventor
Maxime CERRAMON
Adrien TCHEKINIAN
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Searov Offshore
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Searov Offshore
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Publication of EP3328725A1 publication Critical patent/EP3328725A1/de
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Publication of EP3328725B1 publication Critical patent/EP3328725B1/de
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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 submersible remote-controlled vehicles.
  • the invention relates more particularly to a submarine structure cleaning tool.
  • Underwater structure is understood to mean, without limitation, oil platforms, underwater anodes, hulls of ships or tankers, or lines of anchors.
  • the invention thus aims at a submersible cleaning tool that can 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 unit further 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 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 including propulsion means and capturing means, and controlled remotely.
  • the cleaning unit is mounted under the submarine robot.
  • the hydraulic unit of the cleaning unit is electrically powered by the electric circuit of the submarine robot.
  • the cleaning assembly 1 of the invention comprises an underwater robot 2 under which is mounted a cleaning unit 3.
  • Underwater robot 2 means a remotely operated vehicle (ROV) 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.
  • ROV remotely operated vehicle
  • 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 carries data, these aspects being known to those skilled in the art. look at 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 underwater 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 an underwater robot 2. Alternatively and not shown, the cleaning unit 3 is not reported to a submarine robot 2 but has its own means of propulsion and capture.
  • One or more unrepresented operators provide guidance and commands for the cleaning assembly 1 from the platform 4.
  • the cleaning assembly 1 is thus guided and placed from the platform 4 close to 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 chassis 15 substantially composed of two flanks 16 made of plastic material, four sleepers 17 made of aluminum profile and is extended longitudinally by an aluminum nose 18 to the transverse end 12 of the unit cleaning 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 sidewall 19 and the protective duct 21.
  • the rotary scraping system 23 comprises a drum 24 which is made of anti-corrosion steel, for example made of 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 respectively mounted on the protective 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 car bearing -aligneur 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 on the figure 3 and partially visible on figures 2 , 4 and 5 .
  • the self-aligning bearings 26a are shown without support on the figure 4 , and with support on the figure 5 .
  • the rotary scraping system 23 comprises three fins 28a, 28b, 28c on which are fixed the scraping tools not shown on the 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 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 at an angular offset of 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 circuit electric submarine robot not shown in this figure and which is connected to a pump 33 via an elastic coupling 34.
  • the pump unit 31 is connected to an oil reservoir 35 and a pressure limiter 36.
  • the hydraulic unit 30 includes a pressurized circuit portion 37 and a portion of circuit at atmospheric pressure 38.
  • the hydraulic motor 22 has a displacement of 11 cm 3 and the hydraulic pump of 3.1 cm 3 .
  • 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 pressurized oil to the limiter 36 and, if the pressure is below a threshold pressure, the hydraulic motor 22. At the output of the hydraulic motor 22, the oil at atmospheric pressure returns to the reservoir 35.
  • the pressure of the high pressure circuit 37 is adjusted so as not to exceed 190 bar. In the event of exceeding this pressure of 190 bar, 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 avoids the use of angle gear systems.
  • the scraping tool 40 consists of a steel chain 40 'of grade between 80 and 100 composed 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 28a1 through the corresponding orifice 28a2.
  • a single complete scraping tool 40 is shown on the Figures 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,
  • 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 buttoning to the reinforcement 28a1 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.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Cleaning In General (AREA)

Claims (10)

  1. Tauchfähige Einheit zur Reinigung einer Unterwasserstruktur, die von Antriebsmitteln angetrieben und ferngesteuert wird, wobei die Reinigungseinheit mit mindestens einem rotierenden Abstreifsystem (23) von auf der Oberfläche (10) der Unterwasserstruktur (11) vorhandenen Wasserverschmutzungen (13) ausgestattet ist, das mindestens ein Abstreifwerkzeug (40, 40a) aufweist, das auf einer Trommel (24) angebracht ist, dessen Längsachse (XX') die Rotationsachse des rotierenden Abstreifsystems (23) definiert, wobei die Trommel (24) imstande ist, rotationsgesteuert zu sein und bestimmt ist, parallel zu der zu reinigenden Oberfläche positioniert zu sein, dadurch gekennzeichnet, dass sie einen Hydraulikmotor (22) aufweist, der in der Achse (XX') der Trommel (24) im Bereich von einem (25) ihrer zwei Enden (25, 26) angebracht ist und von einer Hydraulikgruppe (30) versorgt wird, die im Gestell (15) der Reinigungseinheit (3) untergebracht ist.
  2. Reinigungseinheit nach Anspruch 1, dadurch gekennzeichnet, dass sich das rotierende Abstreifsystem (23) und der Hydraulikmotor (22) entlang eines transversalen Endes (12) des Gestells (15) der Reinigungseinheit (3) erstrecken.
  3. Reinigungseinheit nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, dass mehrere Abstreifwerkzeuge (40, 40a) entlang der Trommel (24) des rotierenden Abstreifsystems (23) eingerichtet sind.
  4. Reinigungseinheit nach Anspruch 3, dadurch gekennzeichnet, dass jedes Abstreifwerkzeug (40, 40a) mit einem jeweiligen Flügel (28a, 28b, 28c) fest verbunden ist, der auf mindestens einem Teil des Umfangs der Trommel (24) eingerichtet ist und der eine Verstärkungszone (28a1, 28b1) aufweist, in dessen Bereich das Abstreifwerkzeug (40, 40a) durchgehend angebracht ist.
  5. Reinigungseinheit nach einem der Ansprüche 3 und 4, dadurch gekennzeichnet, dass das rotierende Abstreifsystem (23) drei Abstreifwerkzeuge (40) aufweist, die entlang der Trommel (24) angebracht sind, wobei die drei Abstreifwerkzeuge (40) mit der Trommel (24) fest verbunden sind, indem sie um 120° winklig versetzt auf der Trommel (24) positioniert sind.
  6. Reinigungseinheit nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, dass jedes Abstreifwerkzeug (40) aus einer Metallkette (40') besteht.
  7. Reinigungseinheit nach Anspruch 6, dadurch gekennzeichnet, dass die Metallkette (40') drei Glieder (41) aus Stahl mit einem Grade aufweist, der zwischen 80 und 100 liegt, wobei jedes Glied (41) eine Länge aufweist, die zwischen 1 und 5 Zentimeter liegt und einen Querschnitt, der zwischen 6 und 10 Millimeter liegt und dass die Rotationsgeschwindigkeit der Trommel zwischen 500 und 900 Umdrehungen pro Minute liegt.
  8. Tauchfähige Reinigungsanordnung einer Unterwasserstruktur, dadurch gekennzeichnet, sie eine Reinigungseinheit (3) nach einem der Ansprüche 1 bis 7 aufweist, die mit einem Unterseeroboter (2) fest verbunden ist, der insbesondere mit Antriebsmitteln und mit Auffangmitteln ausgestattet ist und ferngesteuert wird.
  9. Reinigungsanordnung nach Anspruch 8, dadurch gekennzeichnet, dass die Reinigungseinheit (3) unter dem Unterseeroboter (2) angebracht ist.
  10. Reinigungsanordnung nach einem der Ansprüche 8 und 9, dadurch gekennzeichnet, dass sie eine Reinigungseinheit (3) nach einem der Ansprüche 2 bis 8 aufweist, für welche die Hydraulikgruppe von dem Stromkreis (9) des Unterseeroboters (2) elektrisch versorgt wird.
EP16770036.8A 2015-07-31 2016-07-28 Einheit zur reinigung von unterwasserstrukturen und zugehörige tauchfähige reinigungsanordnung Active EP3328725B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1501663 2015-07-31
PCT/FR2016/051969 WO2017021627A1 (fr) 2015-07-31 2016-07-28 Unité de nettoyage de structure sous-marine et ensemble de nettoyage submersible associé

Publications (2)

Publication Number Publication Date
EP3328725A1 EP3328725A1 (de) 2018-06-06
EP3328725B1 true EP3328725B1 (de) 2019-10-23

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EP16770036.8A Active EP3328725B1 (de) 2015-07-31 2016-07-28 Einheit zur reinigung von unterwasserstrukturen und zugehörige tauchfähige reinigungsanordnung

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WO (1) WO2017021627A1 (de)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113110531B (zh) * 2021-04-19 2021-11-12 飞马滨(青岛)智能科技有限公司 一种水下机器人与待洗船只的自动贴壁方法

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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

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EP3328725A1 (de) 2018-06-06
WO2017021627A1 (fr) 2017-02-09

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