Underwater Docking and Intervention Skid for Remotely Operated Mini Vehicles

Description

1 / 11 Underwater Docking and Intervention Skid for Remotely Operated Mini Vehicles Utility model field

[001] The present utility model falls within the technical field of equipment and submarine technologies, such as skids for Remotely Operated Vehicles (ROVs) intended for underwater operations. In particular, the present utility model refers to a docking and underwater intervention skid for mini ROVs. Fundamentals of the utility model

[002] In the context of subsea maintenance operations in deepwater oil industry production systems, the use of Remotely Operated Vehicles (ROVs) is essential. Equipped with robotic arms, the ROV is capable of performing a wide range of tasks, from the simplest, such as rotating handles to operate valves, to the most complex, such as installing bolts and nuts necessary for the maintenance and assembly of submerged equipment at depths inaccessible to humans.

[003] However, at shallower depths, i.e., shallow water depths, it is common to use human diving to perform maintenance activities on structures installed around the hull of a platform vessel. However, regardless of all the care that may be taken in planning the service, this type of work always brings a certain level of risk to the diver's life. The high hydrodynamic forces in shallow water depths are particularly noteworthy.

[004] Alternatively, ROVs have been used for the aforementioned operations at shallower depths. However, due to the confined space, Workclass type ROVs (20) are limited in terms of the work that can be carried out in close proximity to the platform (30), as illustrated in figure 1. Thus, access is very restricted and in Petition 870250013093, dated 02 / 18 / 2025, pp. 39 / 63 2 / 11 proximity to the platform (30), as well as high hydrodynamic forces acting in that section, considerably increase the difficulty of maintaining the ROV's position and stabilizing it in relation to the platform (30). Furthermore, any collisions of the workclass ROV (20) may cause damage to itself or compromise some equipment on the platform.

[005] To overcome the shortcomings of Workclass ROVs, mini ROVs, which are smaller than Workclass ROVs, have been considered for such operations in shallow LDA. However, these devices, being more compact, generally do not have manipulator arms or, when they do, they have limited power. Therefore, their use is mostly restricted to inspections and observations, not replacing the functions performed by human divers or Workclass ROVs in the most demanding tasks.

[006] Moreover, due to their size and space constraints, these mini ROVs generally comprise fewer manipulators, or weaker manipulators, as well as smaller docking resources with limited flexibility, thus hindering their docking in various positions and the performance of more complex maintenance activities.

[007] Therefore, a solution is needed to carry out maintenance and installation activities in shallow and deep waters in a safer and more efficient way, reducing risks for divers and overcoming the limitations of currently available resources and reduced docking flexibility of mini ROVs. State of the art

[008] In the state of the art, there are some documents focused on skids for ROVs intended for underwater operations. In particular, we highlight the following documents. Petition 870250013093, dated 02 / 18 / 2025, pp. 40 / 63 3 / 11

[009] Document US4705331 discloses a remotely operable gripper for attachment to a member disposed in a subsea environment for use with an ROV. More particularly, it refers to a remotely operable gripper usable with cathodic protection anodes or anode pairs to be attached to the submerged or underwater portion of a metallic structure. The gripper is removablely attached to the lower structure of an ROV. The ROV may include manipulator arms that can be remotely controlled and operated from a surface vessel.

[0010] Document US9835013 discloses an ROV for installing a band around a rigid subsea structure to properly secure umbilicals and associated flowlines. The ROV has a main body with at least one manipulator arm. Additionally, a band-installing system is located on a skid attached to the main body of the ROV.

[0011] The Total Marine Technology website (https: / / www.tmtrov.com / wpcontent / uploads / tmt_rov_and_tooling_handbook.pdf) reveals a compact electric / hydraulic ROV observation system consisting of an ROV and a skid, called “TMT Nomad Navigator”. The skid may include a manipulator arm and a two-function grab.

[0012] The Saab Seaeye website (https: / / www.saabseaeye.com / news / new-superskid-is-not-justfor-christmas) reveals a skid concept to add tooling capabilities to small ROVs. More specifically, the publication discloses that the skids can be equipped with a set of tools for a given scope of work, such as a torque tool, hot stack, manipulators, high-pressure water jet, and rotary brush for complementary cleaning work. This skid allows a small ROV to perform the tasks Petition 870250013093, dated 02 / 18 / 2025, pp. 41 / 63 4 / 11 typically performed by a Workclass hydraulic vehicle.

[0013] Notwithstanding the advances presented for ROV skids, the characteristics and advantages of the present utility model compared to the prior art will become clear from the detailed description below and with reference to the accompanying drawings, which are provided as a preferred, not limiting, embodiment. Brief description of the utility model

[0014] The present utility model relates to a docking and underwater intervention skid (10) for mini ROVs, comprising: a skid structure (1) composed of a set of bars; an advance and retraction cylinder (2), disposed in the central region of the skid structure (1), and fixed to the central fixing plates (1.1) of the skid structure (1); an articulated docking clamp (3), coupled to a front end of the cylinder (2), and composed of a claw (3.1), an articulation system (3.2) and an opening and closing system (3.3); at least one manipulator (4) fixed to respective front fixing plates (1.2) of the skid structure (1); a set of floats (5) coupled to the skid structure (1); and a set of fasteners (6) for coupling with a mini ROV, said fasteners (6) being disposed distributed in an upper part of the skid structure (1). Brief description of the figures

[0015] In order to complement the present description and obtain a better understanding of the characteristics of the present utility model, a set of figures is presented, where, in a non-limiting manner, its preferred embodiment is represented.

[0016] Figure 1 illustrates a schematic of a workclass ROV (20) approximated to a vessel structure (30).

[0017] Figure 2 illustrates a schematic of a mini Petition 870250013093, dated 02 / 18 / 2025, pp. 42 / 63 5 / 11 ROV, coupled to the underwater docking and intervention skid (10) of the present utility model, if brought close to a vessel structure (30).

[0018] Figure 3 illustrates a mini ROV, coupled to the underwater docking and intervention skid (10).

[0019] Figure 4 illustrates a perspective view of the underwater docking and intervention skid (10).

[0020] Figure 5 illustrates a second perspective view of the underwater docking and intervention skid (10).

[0021] Figure 6 illustrates a third perspective view of the underwater docking and intervention skid (10), with an optional claw float (5.1).

[0022] Figure 7 illustrates, in perspective view, an angular movement sequence of the articulated docking clamp with its gripper in vertical orientation.

[0023] Figure 8 illustrates, in perspective view, an angular movement sequence of the articulated docking clamp with its gripper in horizontal orientation.

[0024] Figure 9 illustrates, in top view, a sequence of angular movement of the articulated docking clamp with its gripper in vertical orientation.

[0025] Figure 10 illustrates, in top view, a sequence of angular movement of the articulated docking clamp with its gripper in horizontal orientation.

[0026] Figure 11 illustrates a first exemplary operation using the docking and underwater intervention skid (10) for mini ROVs.

[0027] Figure 12 illustrates a second exemplary operation using the docking and underwater intervention skid (10) for mini ROVs.

[0028] Figure 13 illustrates a third exemplary operation using the docking and underwater intervention skid (10) for mini ROVs. Detailed description of the utility model Petition 870250013093, dated 02 / 18 / 2025, pp. 43 / 63 6 / 11

[0029] The present utility model relates to a docking and underwater intervention skid (10) for mini ROVs as illustrated in figures 2 to 6.

[0030] In particular, as illustrated in Figure 2, the subsea docking and intervention skid (10) for mini ROVs enables the docking and intervention of a mini ROV on structures adjacent to a platform (30), these structures typically being pipelines or beams that make up the riser balcony of the platforms. These structures provide a kind of transition from the submerged section to the connecting elements of the pipelines with the existing pipelines on the platform. That is, it is in this region that the connection occurs between the pipelines previously built together with the platforms, which carry the produced oil to the topside systems, and the pipelines that will later be connected to the platform coming from the wells that have been drilled.

[0031] However, the structures adjacent to the platform are located in confined areas with shallow operating depths, where the influence of dynamics, currents, and waves strongly affects the ROVs, hindering operations and the necessary stability.

[0032] Therefore, a new form and arrangement of skid is proposed, which adds to smaller ROVs the functionalities of a Workclass ROV and a robust docking means, which allows the ROV to remain fixed to the work point, without being launched to other positions. And this also allows the ROV to perform operations on units that are not fixed to the seabed, but anchored.

[0033] Thus, it will be appreciated that the docking and underwater intervention skid (10) for mini ROVs advantageously enables the docking of a mini ROV to structures in confined areas, with different angles in relation to the underwater vessel (30). In addition, it assists in Petition 870250013093, dated 02 / 18 / 2025, pp. 44 / 63 7 / 11 conducting routine inspections and repair operations, significantly expanding the versatility and application possibilities of mini ROV equipment in various scenarios.

[0034] As mentioned above, the present utility model is particularly intended for use with mini ROVs (or observation ROVs). These mini ROVs enable access to hard-to-reach locations, which would be inaccessible to divers or larger ROVs. However, by themselves, these mini ROVs are not capable of delivering the functionalities necessary for the complete replacement of a diver or larger ROVs.

[0035] Thus, the proposed underwater docking and intervention skid (10) for mini ROVs is designed to be coupled to a commercial mini ROV (20), as illustrated in figure 3, adding to it the docking and intervention functionalities, even for highly complex operations, thus increasing the capacity of the commercial mini ROV (20) for a wider range of operations.

[0036] In its preferred configuration, as illustrated in greater detail in figures 3 to 6, the docking and underwater intervention skid (10) for mini ROVs comprises at least: a skid structure (1) composed of a set of bars; a forward and backward cylinder (2), located in the central region of the skid structure (1), and fixed to central mounting plates (1.1) of the skid structure (1); an articulated docking clamp (3), coupled to a front end of the cylinder (2), and composed of a claw (3.1), an articulation system (3.2) and an opening and closing system (3.3); at least one manipulator (4) fixed to respective front fixing plates (1.2) of the skid structure (1); Petition 870250013093, dated 02 / 18 / 2025, pp. 45 / 63 8 / 11 a set of floats (5) coupled to the skid structure (1); and a set of fasteners (6) for coupling with the mini ROV, said fasteners (6) being arranged distributed on an upper part of the skid structure (1).

[0037] The skid structure (1) consolidates and receives the desired components, elements and functionalities for the mini ROV (20). This is composed of a set of bars, preferably manufactured from corrosion-resistant materials such as stainless steel, aluminum alloys or polymers, and capable of withstanding the submerged environment.

[0038] The skid structure bar assembly (1) preferably has a rectangular prism shape with rounded corners. The fastening methods employed between its bars (and those elements fixed to it) may include any of welding, bolting, rivets, pins, among others, according to the specific cases. The skid structure bars (1) are preferably fastened to each other by welding.

[0039] The forward and backward cylinder (2) is preferably a hydraulic cylinder that applies a unidirectional force, either forward or backward. When actuated, it moves the articulated docking clamp (3) closer to or further away from the structures on which the ROV is to be docked.

[0040] Said advance and retraction cylinder (2) is disposed in a central region of the skid structure (1), being fixed to it by means of central fixing plates (1.1) of the skid structure (1). Preferably, the cylinder (2) is fixed to the skid structure (1) in a removable manner by screws, so as to facilitate its disassembly for maintenance.

[0041] The articulated docking clamp (3) enables the mini ROV (20), with the skid installed on it, to hold on Petition 870250013093, dated 02 / 18 / 2025, pp. 46 / 63 9 / 11 structures adjacent to the operation site and have positional stability to act in underwater interventions that require precision.

[0042] As illustrated in greater detail in figures 4 and 5, the aforementioned docking clamp (3) has an articulation system (3.2) to operate in positions not aligned with the front face of the ROV. More particularly, it allows the docking clamp (3) to operate in relation to a geometric axis (R) centered with the advance and retraction cylinder (2). Thus, it is possible to rotate around the axis or perform angular movements in multiple directions.

[0043] Figures 7, 8, 9 and 10 illustrate possible angular movements of the docking clamp (3) at specific angles (right angle 00(A), 450(B) or 900(C), as highlighted in Figure 7), with the clamp horizontal or vertical. However, it will be appreciated that the docking clamp (3) is not limited to the angular movements or rotations illustrated.

[0044] The aforementioned articulation system operation (3.2) is preferably enabled by a shaft equipped with a gear system preferably driven by hydraulic or electric motors, which converts the rotational movement of the motor into angular movement, allowing the gripper to be positioned precisely in the orientation required for the desired task.

[0045] In addition, the articulated docking clamp (3) also has an opening and closing system (3.3) for its gripper (3.1), which, combined with at least one manipulator (4), offers greater versatility in anchoring to structures and handling objects. Said opening and closing system (3.3) is preferably a parallel bar mechanism actuated by a secondary (linear) advance and retraction cylinder.

[0046] At least one manipulator (4) may be a hydraulic or electric manipulator, designed to perform Petition 870250013093, dated 02 / 18 / 2025, pp. 47 / 63 10 / 11 underwater interventions. This enables an ROV to manipulate objects, perform maintenance and repairs, inspections, or emergency interventions and precision operations in general. It is fixed to respective front mounting plates (1.2) of the skid structure (1) by means of welding, screws, rivets, pins, among others. Preferably being fixed in a removable manner to the skid structure (1) by screws, in order to facilitate its disassembly for maintenance.

[0047] It will be appreciated that although the docking and underwater intervention skid (10) for mini ROV can perform operations with only a single manipulator (4), if necessary, it can optionally comprise a pair of manipulators (4).

[0048] The float assembly (5) has the function of compensating for the additional weight of the skid on the mini ROV, ensuring the neutrality or controlled lightness of the assembly in the underwater environment. In addition, the float assembly (5) is preferably manufactured from high-strength, low-density materials, such as synthetic foams or composites, capable of withstanding high pressures in deep water environments. This ensures that the mini ROV maintains its maneuverability and operational efficiency even in adverse situations.

[0049] It will be appreciated that the float assembly (5) may be composed of a plurality of modular floating elements, these being respectively fixed inside or outside the skid structure (1). Optionally, and as illustrated in figure 6, a claw float (5.1) may be fixed to the claw (3.1) of the articulated docking clamp (3).

[0050] The aforementioned claw float (5.1) can assist in the neutrality of the skid and mini ROV assembly. Furthermore, it can assist in balance in a situation where the Petition 870250013093, dated 02 / 18 / 2025, pp. 48 / 63 11 / 11 cylinder (2) is advancing the articulated docking clamp (3) to meet a platform structure.

[0051] The fastener assembly (6) is distributed on the upper part of the skid structure (1). The fasteners (6) are preferably of the commercial type, consisting of eyelets with holes, designed for screw fastening to the mini ROV. This fastening method is designed to provide safety and stability during use, ensuring that the skid remains firmly and reliably attached to a mini ROV. Furthermore, it is a simple, efficient and quick way to install (or remove) the skid from a mini ROV.

[0052] Additionally, it will be appreciated that the set of fasteners (6) facilitates, for example, the exchange of mini ROVs or the quick removal of the ROV skid for inspection purposes or in other situations where the skid is not required, optimizing operating time and ensuring flexibility in tasks.

[0053] Finally, for better visualization and understanding of the advantages of the present utility model, figures 11, 12 and 13 illustrate different exemplary docking and intervention situations that are made possible for mini ROVs through their combined use with the proposed skid.

[0054] Thus, those skilled in the art will appreciate the knowledge presented here and will be able to reproduce the present utility model described in the preferred configuration, covered within the scope of the appended claims. Petition 870250013093, dated 02 / 18 / 2025, pp. 49 / 63

Claims

1 / 2 CLAIMS 1. Docking and underwater intervention skid (10) for mini ROVs, characterized in that it comprises: a skid structure (1) composed of a set of bars; an advance and retraction cylinder (2), disposed in the central region of the skid structure (1), and fixed to central fixing plates (1.1) of the skid structure (1); an articulated docking clamp (3), coupled to a front end of the advance and retraction cylinder (2), and composed of a claw (3.1), an articulation system (3.2) and an opening and closing system (3.3); at least one manipulator (4) fixed to respective front fixing plates (1.2) of the skid structure (1); a set of floats (5) coupled to the skid structure (1); and a set of fasteners (6) for coupling with the mini ROVs, said fasteners (6) being arranged distributed on an upper part of the skid structure (1).

2. Docking and underwater intervention skid (10) for mini ROVs, according to claim 1, characterized in that it comprises a pair of manipulators (4) respectively fixed to said front fixing plates (1.2) of the skid structure (1).

3. Docking and underwater intervention skid (10) for mini ROVs, according to claim 1, characterized in that the float assembly (5) comprises a claw float (5.1).

4. Docking and underwater intervention skid (10) for mini ROVs, according to claim 1, characterized in that the articulation system (3.2) consists of a geared shaft, actuated by hydraulic or electric motors.

5. Docking and underwater intervention skid (10) for Petition 870250013093, dated 02 / 18 / 2025, p. 50 / 63 2 / 2 mini ROVs, according to claim 1, characterized in that the opening and closing system (3.3) is a parallel bar mechanism actuated by a secondary forward and backward cylinder. Petition 870250013093, dated 02 / 18 / 2025, p. 51 / 63

Images