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doc Quasar Compact ROV System

CHAPTER 2.1

A-FRAME ASSEMBLY
OPERATION

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TABLE OF CONTENTS
Para Page

1 A FRAME ASSEMBLY OPERATION ................................................................................... 4

1.1 Controls and Indication ................................................................................................ 4
1.2 A-frame Transportation................................................................................................ 6
1.3 A-frame Operation ....................................................................................................... 6
1.4 Docking Head Operation General ................................................................................ 8
1.5 Docking Head Control – Launching Subsea Equipment .............................................. 8
1.6 Docking Head Control - Recovery of Subsea Equipment............................................ 9
1.7 Notes on Docking Subsea Equipment ......................................................................... 9
1.8 Problems Trying to Latch........................................................................................... 10

Figure Page

Figure 1 Deck Control Console – A-frame Assembly Controls ................................................... 4

Figure 2 Latch Control Indication ............................................................................................... 5
Figure 3 Typical A-frame turnbuckle Arrangement ..................................................................... 6
Figure 4 A-frame ........................................................................................................................7

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1 A FRAME ASSEMBLY OPERATION

WARNING

THE A-FRAME ASSEMBLY HAS BEEN DESIGNED AND RATED TO OPERATE IN ZONE II
CATEGORY 3 AREAS. EQUIPMENT RATED TO THIS CATEGORY IS INTENDED FOR USE
IN AREAS WHERE EXPLOSIVE ATMOSPHERES ARE UNLIKELY TO OCCUR, OR IF THEY
DO, INFREQUENTLY AND ONLY FOR SHORT PERIODS.
EQUIPMENT OF THIS CATEGORY ENSURES THE REQUISITE LEVEL OF PROTECTION
DURING NORMAL OPERATION.
NORMAL OPERATION IS DEFINED AS THE SITUATION WHEN THE EQUIPMENT AND
COMPONENTS PERFORM THEIR INTENDED USE WITHIN THEIR DESIGN PARAMETERS.
THE EQUIPMENT IS ONLY CLASSIFIED TO THIS RATING WHEN OPERATING WITH NO
FAULT CONDITIONS.

1.1 Controls and Indication

FUNCTION ID
PLATE

HYDRAULIC
MANIFOLD

CONTROL
LEVERS

Figure 1 Deck Control Console – A-frame Assembly Controls

The A-frame assembly controls are located on the deck control console. Joystick levers
mounted directly to the hydraulic manifold control the hydraulic functions. The joysticks will
spring back to a neutral position unless they have been moved to a ‘float’ function where fitted.

Docking Head Latch : Joystick lever to operate the latches in the docking head.

Engage : Operates the latch cylinders to close the latches.

Release : Operates the latch cylinders to release the latches.

Float : Push the lever through ‘Engage’ to ‘Float’ allows the latches to
move freely.

Docking Head Swing : Joystick lever to operate the docking head movement.

In : Operates the docking head swing cylinders to move the docking

head inboard.

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Out : Operates the docking head swing cylinders to move the docking
head outboard.

Float : Push the lever through ‘Engage’ to ‘Float’ allows the latches to
move freely.

WARNING
BEFORE OPERATING THE FLOAT FUNCTION ENSURE THAT THE AREA INTO WHICH
THE DOCKING HEAD AND ATTACHED SUBSEA EQUIPMENT WILL MOVE IS FREE FROM
PERSONNEL OR EQUIPMENT.
THE FLOAT FUNCTION CAN BE OPERATED WITH OR WITHOUT THE HPU RUNNING
WHICH MAY CAUSE THE DOCKING HEAD TO MOVE. ENSURE THAT THE FLOAT
FUNCTION IS DISENGAGED AND THE DOCKING HEAD IS LEFT IN A SAFE POSITION
WHILST PERSONNEL ARE IN THE VICINITY OF THE A-FRAME ASSEMBLY.

Docking Head Rotate : Rotates the docking head ‘CW’ or ‘CCW’.

A-frame Deploy : Operate the main A-frame cylinders move the A-frame ‘Out’-
board or ‘In’-board.

Indication for the latches is located on the deck control console.

Figure 2 Latch Control Indication

Latch Released : Amber lamp illuminates when the proximity switches on the A-
frame indicate that the latch is released.

Latch Engaged : Green lamp illuminates when the proximity switches on the A-
frame indicate that the latch is engaged.

WARNING
A LAMP OR PROXIMITY SWITCH FAULT MAY GIVE A FALSE INDICATION OF LATCH
STATUS. A SEPARATE MECHANICAL INDICATION IS ALSO PROVIDED ON THE
DOCKING HEAD.

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1.2 A-frame Transportation

The A-frame assembly is transported in fully collapsed position with the A-frame gantry fully in-
boarded, the docking head positioned so that the sheave almost touches the skid.

Before lifting the A-frame assembly in this position, turnbuckles must be fitted as shown in
Figure 3.

Hydraulic hoses can be coiled and stored under the skid floor grating.

GRATING

TURNBUCKLE

TURNBUCKLE

Figure 3 Typical A-frame turnbuckle Arrangement

1.3 A-frame Operation

Safe operation of the A-Frame Assembly relies in part upon the correct connection and
operation of the HPU and deck control console. Care should be taken to correctly re-connect
interconnecting electrical harnesses and hydraulic hose quick release couplings. All are clearly
labelled.

The A-Frame gantry is moved with a full load through an arc from 22° inboard to upto 45°
outboard. The operating speed of the A-frame hydraulic functions varies depending upon the
number any type of functions being operated simultaneously.

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A-FRAME GANTRY
INBOARD
A-FRAME GANTRY
FULLY OUTBOARD

Figure 4 A-frame
The A-frame controls are generally self explanatory. Care should be taken though to control the
speed of functions. Using the inboard and outboard procedure as an example:

1. Do not move the A-frame until the green HPU motor running light is illuminated.

2. Move the A-frame deploy lever forward (away from the operator) to outboard the A-
frame.

3. Adjust the angle of lever movement to suit the required speed of A-frame movement.

4. As the A-frame approaches the fully outboard position reduce the speed.

5. Return the lever to the neutral position.

During vehicle operations, the A-frame should be positioned fully outboard to provide maximum
clearance between this ship and the subsea equipment during launch and recovery.

The A-frame is in-boarded by following the outboard procedure in reverse, moving the lever in
the opposite direction (towards the operator) and exercising the same speed control as the lever
comes towards the inboard position.

A-frame movement can be stopped at any time by releasing the lever, which will return to its
neutral position.

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1.4 Docking Head Operation General

The docking head assembly is hydraulically supplied from the A-frame main manifold and is
controlled from deck control console.

The subsea equipment (ROV or TMS) can be latched into the docking head, regardless of
orientation during launch and recovery in order to take the load off the umbilical cable. However
it may be necessary to rotate the docking head so that the ROV will be correctly oriented to fit
through the A-frame legs.

Latching simplifies the over-boarding procedure, as the umbilical winch is only required to
remove excessive slack in the cable. The result is a smooth and rapid deployment and
recovery.

The docking head is fitted with damping cylinders which can also be driven to rotate the docking
head off its natural hanging position at low cable tensions. The umbilical path through the
docking head is curved to allow cable off-leads of up to 20°, during recovery of a mis-aligned or
'dead' vehicle.

1.5 Docking Head Control – Launching Subsea Equipment

WARNING
ENSURE VEHICLE IS NOT SECURED TO THE SKID BEFORE COMMENCING THE
FOLLOWING PROCEDURE. FAILURE TO RELEASE THE VEHICLE CAN RESULT IN
SEVERE OVERLOADING OF THE VEHICLE CHASSIS.

1. With the docking head positioned over the vehicle, set the swing damping control into
fixed, to prevent movement of the docking head as the vehicle is lifted off the deck.

2. Set the latches into float.

3. Pull in on the umbilical, lifting the subsea equipment into the docking head until the
latches engage on the subsea equipment lift point (indicated on the deck control console
and by visual markers on the docking head).

4. Once the latches have engaged pay-out the umbilical to provide slack cable between the
umbilical winch and the subsea equipment.

5. The A-frame can then be out-boarded, with the docking head latch / swing controls in
float to damp the movement of the subsea equipment. The operator must manage the
length of umbilical at the same time.

6. In order to release the latches, the weight of the ROV must be taken on the umbilical by
pulling in slightly on the winch.

7. Operate latch release until the latches release.

8. Pay-out the umbilical and lower the subsea equipment into the water.

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1.6 Docking Head Control - Recovery of Subsea Equipment

This procedure assumes that the A-Frame is fully outboard.

1. Ensure the latches are fully retracted.

2. Pick-up on the umbilical to lift the subsea equipment out of the water.

3. As the vehicle approaches the docking head bellmouth, the operators should slow the
speed of the winch.

4. Before the vehicle has fully entered the docking head, set the latches into float mode so
that the vehicle will engage itself in the docking head.

5. Continue pulling in on the winch.

6. Once the subsea equipment is fully engaged, confirm ‘latch’ indication.

7. Pay-out slightly on the umbilical winch to confirm the latches are engaged.

8. With the subsea equipment latched in, the A-frame can be in-boarded, and rotated if
necessary to fit through the gap. The operator should take up the umbilical slack.

9. In-boarded the docking head swing should be placed in neutral fixed position, and
adjusted to hold the subsea equipment parallel with the skid. Take care not to push
down too hard on the subsea equipment when landing the subsea equipment.

10. Normally the subsea equipment will be left attached to the docking head for security.

1.7 Notes on Docking Subsea Equipment

1. Never have the damping cylinders locked when moving the 'A' frame in or out.

2. Only lock the damping cylinders when lifting the subsea equipment with the A-Frame in
the in-board position.

3. Latch indicators will only illuminate if both latch switches are made. They are wired in
series.

4. The latches are pressure released spring applied and can also be driven closed.
Although the latches can be pressured to latch, it is better to let them spring into position
only.

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1.8 Problems Trying to Latch

1. If the ‘latch engaged’ light does not illuminate raise the subsea equipment a little more.
The latches will spring closed when they can.

2. If the closed indicator still does illuminate, lower the subsea equipment away from the
docking head and repeat the latching process.

3. In the event of latches failing to engage, the A-Frame can be carefully in-boarded with
the subsea supported on the umbilical.

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