[0001] The present invention relates to apparatus for movably mounting a workhead on a structure
of circular cross-section. Such apparatus are particularly useful for cleaning and
descaling the exterior of cylindrical structures such as pipe lines and the jackets
of off-shore oil rigs.
[0002] In our published European Patent Application No. 0 00080 8 there is described apparatus
for cleaning and descaling the exterior of a cylindrical structure such as a pipe
line. The apparatus comprises an annulus mounted on and surrounding the structure
and means for driving the annulus along the structure in either direction. The annulus
has mounted thereon an arm member which projects from the annulus parallel to the
structure and which member carries a nozzle for producing high pressures which nozzle
is reciprocable along the arm. The arm member is rotatable around the annulus. By
the above described apparatus the exterior of the structure can be cleaned and descaled.
[0003] The arm member described above may have a reach of some six feet ( 2 meters) and
to provide adequate support the annulus needs to be of considerable length. Furthermore,
it is important that the nozzle is maintained at a predetermined stand-off distance
from the cylindrical structure. The above described apparatus is particularly suitable
for use on cylindrical structures which are straight. Indeed its construction with
the projecting rotatable boom and reciprocating nozzle makes it unsuitable for use
on cylindrical structures which incorporate bends. It is unsuitable because it cannot
be manoeuvered along cylindrical structures incorporating bends, and even if it could
the boom could not be rotated around the annulus to treat the concave sections of
the structure.
[0004] The cylindrical structures such as pipe lines and the jackets of off-shore oil rigs
frequently incorporate bends. The bends may be smooth arcuate curves or curves made
up by one or more straight cylindrical sections welded together at angles. Indeed
the pipe from the well head may utilise a double S-bend for expansion purposes.
[0005] Because the above described apparatus is relatively large it has to be fitted in
position by divers, whilst being supported by a crane until it is located on the cylindrical
structure. It would be advantageous if such apparatus could be located in position
without the use of divers.
[0006] The present invention aims to provide an apparatus for movably mounting a workhead
on a structure of circular cross-section be they straight or curved and an apparatus
suitable for cleaning and descaling cylindrical structures be they straight or curved.
[0007] It is a further aim of the invention to provide apparatus which can be fitted in
position without the use of a crane.
[0008] According to the present invention there is provided apparatus for movably mounting
a work head on a structure of circular cross-section, comprising an annulus defined
by two or more members which are engagable co-operably and movable between an open
position which allows the annulus to be fitted onto the structure, and a closed position
in which the annulus surrounds the structure, means for locating the annulus on the
structure and for moving it axially along the length thereof, said means comprising
three or more support legs mounted on the annulus at spaced circumferential locations
with at least some of said legs being movable in a radial direction relative to the
annulus by actuating means to locate the annulus on the structure, and each supporting
leg being provided with drive means which are controllable independently for moving
the annulus along the structure in a plane normal to the axial centre line of the
structure, the work head being mounted on the annulus for circumferential movement
with respect to the structure.
[0009] Preferably two work heads are provided which are mounted diametrically opposite one
another on a circumferentially reciprocable mounting plate carried by the annulus.
Preferably the annulus comprises a plurality of bouyancy chambers to increase the
displacement of the apparatus in relation to its weight to give it a predetermined
neutral bouyancy. More preferably, the annulus is defined by three arcuate members,
with two of said members being pivotally secured to the third. Actuating means is
provided for moving said two members pivotally with respect to the third to open and
close the annulus to allow it to be fitted onto and removed from the structure of
circular cross-section. Further actuating means is preferably provided to lock the
free ends of the two members together in the closed position by means of an overthrow
clamp or the like. The actuating means preferably comprise hydraulic rams. In one
embodiment said third member is provided with a mounting lug to enable it to be held
by a remotely operated vehicle (ROV).
[0010] Each support leg preferably comprises two axially spaced wheels or rollers which
engage the exterior surface of the structure. One or both of the wheels or rollers
may be driven. The circumference of the wheels or rollers are provided with a rubber
or plastics coating which exhibits high frictional qualities to provide a good grip
on the structure. Preferably, each support leg is movable radially by actuating means
to centralise the annulus on said structure. The radial movement is preferably actuated
hydraulically by means of an equal flow system which ensures that the annulus is positioned
centrally. A mechanical locking mechanism may be provided to lock in support legs
in the applied position so that the annulus remains in position in the event of failure
of the hydraulic system. A spring mounting system may be employed to compensate for
small variations in the diameter of the structure. The use of axially spaced wheels
or rollers, approximately l foot (30 cm) apart ensures stability of the annulus on
the structure. An endless band may be fitted onto the axially spaced wheels or rollers
to give an improved grip in certain circumstances. The number of support legs will
be determined by the diameter of the structure. Typically four legs will be provided,
but the larger sizes may have six or eight.
[0011] The third arcuate member of the annulus is preferably at least l80° of arc and its
axial end is defined by the mounting plate which carries the two work heads. A drive
mechanism is disposed within the third member and comprises an endless chain entrained
around sprockets and carrying a pin which is co-operable with a slot in a carriage
to which the mounting plate is secured. The carriage runs on rails within said third
member and rotation of the chain causes the carriage to be reciprocated through an
arc of some l80°. A second carriage is provided diametrically opposite the first and
connected thereto by means of the mounting plate. The second carriage thus moves in
synchronism with the first on rails formed in the other two arcuate members of the
annulus. The two work heads are secured to a respective one of the carriages. The
use of two work heads enables the full 360° of the structure to be operated on. The
work heads are reciprocated through an arc of slightly more than l80° to ensure complete
coverage.
[0012] The apparatus of the invention is particularly suitable for cleaning and descaling
structures of circular cross-section. The work heads incorporate nozzles by means
of which a high pressure water jet or other abrasive material can be trained onto
the surface of the structure. The jet can be a pencil jet or a fan jet. Preferably,
the nozzle is mounted for rotation in a housing so as to describe a circular path.
By this means, movement of the two work heads circumferentially through l80° or slightly
more treats the entire circumference of the structure and over an axial length corresponding
to the diameter of circle described by the jet from the nozzle. The drive means of
the annulus is then used to move the annulus along the structure so that a further
section can be treated.
[0013] In an alternative embodiment, the work head includes a combined camera and lighting
system which is mounted to be rotatable through l80°, and a twin jet nozzle disposed
between the camera and the annulus and mounted so as to be tiltable through 90°. Thus,
the camera is mounted for pan and tilt.
[0014] The apparatus is particularly suitable for treating curves in such structures since
the axial length of the apparatus is small. That is to say the distance between the
location point (the support legs) and the work heads is short. The stand-off distance
can be maintained by a follower mounted on the work head and controlling the position
of the nozzle. The follower typically comprises a spherical end which contacts the
surface of the cylindrical structure and which is coupled to the nozzle to determine
its position from the structure. The arrangement is resiliently biased into contact
with the structure. The facility of being able to drive each of the wheels independently
enables the attitude of the annulus to be maintained as it moves along a curved section
of the structure. That is to say the wheels on the outside of the curve have to travel
further than those on the inside. Control of the apparatus is performed remotely by
way of an umbilical cord. A camera is employed to monitor the position of the apparatus
so that the operator can move the appropriate controls to maintain the desired attitude
of the apparatus, ie. with the annulus in a plane normal to the axis of the structure.
[0015] By incorporating bouyancy chambers in the apparatus, conveniently as part of the
annulus, the apparatus can have neutral bouyancy. This makes it easy to manoeuver
into position by a remotely operated vehicle. By using a camera for monitoring purposes,
and remote control of the actuating means for opening and closing the arcuate members
of the annulus, an ROV can be used to position the apparatus on and surrounding the
cylindrical structure. The locking mechanism and the actuation of the support legs
are likewise operable remotely to position the apparatus on the structure before the
ROV releases it. The ability to use an ROV for manoeuvering the apparatus into position
avoids the need to use divers. This is particularly advantageous when the apparatus
is required to work at considerable depths where saturation diving would be involved.
[0016] It is further proposed to add thrusters to the apparatus to convert it into a self-propelled
remotely operated vehicle. Preferably, three thrusters are incorporated in the annulus,
one in each of the arcuate members.
[0017] The apparatus according.to the invention may carry work heads having a variety of
different functions, for example:- water jet nozzles; shot blast nozzles; abrasive
blast; paint applicators (brush or spray); non-destructive testing equipment; abrasive;
steel cutting heads; remotely controlled articulated robot arm.
[0018] The present invention will now be described further, by way of example only, with
reference to the accompanying drawings, in which:-
Fig. l is a simplified perspective view illustrating one embodiment of apparatus according
to the present invention;
Fig. 2 is a simplified elevational view showing the apparatus mounted on a structure
of circular cross-section;
Fig. 3 is an end view looking in the direction of arrow A in Fig. 2;
Fig. 4 is an end view looking in the direction of arrow B in Fig. 2; and
Fig. 5 is an end view corresponding to that of Fig. 4 but illustrating the annulus
in its open position, and
Fig. 6 is a simplified perspective view according to an alternative embodiment of
the invention.
[0019] Referring to the drawings there is shown apparatus for mounting on a structure of
circular cross-section such as off-shore pipelines and the like. The apparatus comprises
an annulus which is made up of three arcuate members in the illustrated embodiment.
Two of the arcuate members l,2 are pivotally attached to the third 3 for example by
respective pivot pins 4,5 seen in Figs. 3, 4 and 5
[0020] The third arcuate member 3 extends over an arc slightly in excess of l80°, whilst
the first and second arcuate members l,2 have an arc of slightly less than 90° each.
The first and second arcuate members are pivotable between open and closed positions
by any suitable actuator means, but conveniently the actuator means comprises a respective
hydraulic ram. One ram is coupled between the first member l and the third member
3, and the other ram is secured between the second member 2 and the third member 3.
The free ends of the first and second arcuate members l,2 lie adjacent one another
when in the closed position and preferably abut with each other so that the three
members define a continuous annulus. Figs. 3 and 4 show the annulus in the closed
position, whilst Figs. l and 5 show the annulus in the open position. A locking member,
not illustrated, is provided to lock the ends of the first and second members together
when in the closed position. This preferably comprises an over-throw clamp which
is actuated by a further hydraulic ram.
[0021] The arcuate members of the annulus carry support legs 6 which serve to locate the
annulus on a pipe and to move it along the pipe. The legs are also mounted for radial
movement with respect to the annulus and are illustrated in their withdrawn position
in Fig l. Figs. 3, 4 and 5 show them in extended positions. In the illustration, each
of the first and second arcuate members carries a respective support leg 6, whilst
the third member 3 carries two support legs 6. Thus, in the illustration, four support
legs are provided, spaced circumferentially at 90° to one another. An equal flow hydraulic
system is conveniently utilised to move the support legs radially. The purpose of
the support legs is two fold:- Firstly to locate the annulus centrally on the structure,
and secondly to propel the annulus in either direction along the structure. To achieve
these objectives, the ends of each leg carries two spaced apart rollers 8 which contact
the exterior surface of the structure. The rollers are spaced apart in the axial direction
of the structure so as to impart stability to the annulus and prevent twisting thereof
on the structure. One or both of the rollers of each leg are rotatably driven, conveniently
by a hydraulic motor. The rollers of each leg are driven independently so that the
movement at each leg can be controlled independently. This is necessary to manoeuver
the apparatus along curved structures, where the rollers at the larger radius have
to travel further than those at the smaller inner radius if the annulus is to be maintained
in the desired attitude in a plane normal to the axis of the structure. The rollers
are preferably provided with a plastics or rubber tread to aid their grip on the structure.
[0022] An endless band may be placed around the rollers where it is felt this would give
an improved grip. Each roller may be replaced by one or more wheels.
[0023] The above described construction enables the apparatus to be moved along the structure
in either direction. The purpose of attaching such an apparatus to a structure of
this nature is to be able to perform operations of numerous types on the structure.
One type of operation which has to be tackled is that of cleaning and descaling the
structure. This is one type of operation for which the apparatus is particularly suited.
To perform such operations a work head - typically a nozzle for directing water at
high pressure at the structure - has to be capable of being moved around the structure.
[0024] In the illustrated embodiment this is achieved by forming a circular track on the
annulus and having two work heads disposed diametrically opposite one another which
work heads are each reciprocable through an arc of some l80°. By this means the complete
circumference of the structure can be operated on. More particularly, the arcuate
members l, 2 and 3 incorporate concentric rails, shown diagramatically as 9 and l0
in the drawings. The third arcuate member 3 incorporates a drive mechanism which comprises
an endless chain entrained around two sprockets. This is preferably accommodated within
the annulus at one axial end thereof. The sprockets are disposed diametrically opposite
one another and the chain is constrained to follow an arcuate path by the inner and
outer radial walls of the third arcuate member. The chain carries a pin member which
engages in a slot in one of two carriages. The said one carriage is constrained axially
by the rails 9,l0 and circumferentially by the inner and outer walls of the arcuate
member 3. Rotation of the chain causes the pin to move and its co-operation with the
carriage causes the carriage to reciprocate through an arcuate path as defined by
the path of the chain. As the pin passes round the sprockets, the pin moves across
the slot in the carriage. This changes the speed of the carriage at the end points
where the change of direction occurs.
[0025] A mounting plate is secured to the driven carriage and a second carriage is secured
to the mounting plate diametrically opposite the first. The mounting plate is arcuate.
By means of the mounting plate the second carriage is caused to follow the reciprocal
movements of the first carriage. The second carriage runs on a track formed by the
first and second arcuate members. A respective work head is mounted on each of the
carriages.
[0026] Each carriage preferably comprises a plate member having four wheels or rollers journalled
for rotation thereon. The wheels or rollers run on the circular track and take the
axial thrust load generated by the work heads.
[0027] The described construction gives rise to a short axial length between the support
legs 6 and the work heads. This enables the apparatus to move round bends in the structure
whilst allowing operations, such as cleaning and descaling to be performed on the
bends. The work heads may carry nozzles for high pressure water cleaning; shot blast;
abrasive blast or paint applicators by brush or spray. It is further envisaged that
the work heads may be provided with abrasive steel cutting heads or probes for use
in non-destructive testing.
[0028] There will now be described details of apparatus for use in cleaning and descaling
for which the apparatus of the invention is particularly suited. In such apparatus,
each work head has a nozzle for directing a high pressure water jet with or without
any additional abrasive material on to the external surface of the structure. The
nozzle has to be positioned at a predetermined distance from the exterior surface
of the structure. A positioning device is provided for this purpose which conveniently
comprises a spherical member l5 secured to the mounting for the nozzle and biased
into contact with the exterior surface. The positioning device is movable in the radial
direction to accommodate variations in the distance between the exterior of the structure
and the annulus as the work head is moved circumferentially. By this simple means,
the nozzle is maintained at a predetermined stand-off distance from the exterior surface
of the structure. The nozzle can produce a pencil jet or a fan jet. A pencil jet is
preferred for high pressure water cleaning, but to increase the area covered during
the circumferential movement, the nozzle is arranged to be rotatable so as to describe
a circular path. This means that an axial band on the structure is operated on during
circumferential movement of the work head. This is advantageous because not only does
it speed up the operation, but it also means that the movement of the apparatus in
the axial direction by way of the drive means in the support legs is less critical.
It will be appreciated that this "band cleaning" simplifies the procedure when bends
are involved because overlap between bands ensures that all sections of the bend can
be thoroughly cleaned.
[0029] A further feature of the invention which has not yet been described is the provision
of bouyancy chambers within the annulus. The members of the annulus are provided with
sealed chambers l8 between the support legs which effectively increase the displacement
of the apparatus disproportionately in relation to the weight so that the apparatus
is given a predetermined bouyancy or even a variable bouyancy. This enables the apparatus
to be manoeuvered more easily under water by remotely operated vehicles ROV's. These
vehicles cannot handle heavy objects and so if the bouyancy can be set at a fixed
level for a particular depth of operation the apparatus can be manoeuvered into position
using such vehicles and thus avoid the use of divers.
[0030] For handling purposes the annulus is illustrated as having a T-shaped mounting slot
20 for engagement by a correspondingly shaped member of an ROV. The hole 2l serves
to receive a hydraulically actuated locking pin. The shape of the mounting member
may be varied to suit other designs or may simply comprise a conveniently shaped projecting
lug which can be grabbed by the jaws of an articulated arm. As a further development,
it is proposed that the apparatus be provided with its own thrusters, so that it can
be self-propelled.
[0031] In positioning the apparatus onto the structure it will be understood that cameras
will be utilised to monitor the operation. These may be mounted directly on the apparatus
itself or be those of the ROV. The apparatus is controlled remotely and for this purpose
an umbilical cord connects with the apparatus from the remote control station, be
it a surface vessel or the oil rig - depending on the nature of the structure involved.
The umbilical cord has the necessary hydraulic and electrical lines to provide the
required control signals and power supply to the various motors.
[0032] The apparatus is manoeuvered up to the structure in a direction substantially normal
to the axis thereof, with the first and second arcuate members in the open position
as illustrated in fig. l. The support legs 6 are preferably fully withdrawn at this
stage. Thus, the apparatus is manoeuvered so that the structure is positioned within
the third arcuate member 3. The hydraulic rams controlling the first and second members
l,2 are then remotely operated to move these members into their closed position, whereupon
the hydraulic ram controlling the overthrow lock is actuated so that the ends of the
members l and 2 are held closed. Hydraulic fluid is then admitted to the rams controlling
the position of the support legs 6 and this causes them to move radially inwardly.
An equal flow system is employed to ensure that each of the legs moves the same distance
so that the annulus is centralised on the structure. The rollers thus contact the
structure to locate the annulus. The drive means to the rollers incorporates a brake
mechanism which prevents rotation of the rollers when the drive motor is not operating.
Thus, the loading of the legs against the structure ensures that the annulus remains
in position. A mechanical locking mechanism is conveniently employed to locate the
support legs in the extended position so that the annulus remains located in the event
of hydraulic failure. The legs may be resiliently mounted so that small variations
in the surface configuration do not result in a loss of grip by the support legs.
Once the legs have been extended the ROV can be disconnected from the mounting point.
[0033] By operating the drive motors of the support legs 6 the annulus can be caused to
move in either direction along the structure. By controlling the drive motors of each
leg individually the annulus can be manoeuvered round bends in the structure.
[0034] In order to perform the described cleaning and descaling operation water under high
pressure is fed into the nozzle at each of the two work heads, the nozzles are rotated
to describe the circular path, and the work heads are reciprocated circumferentially
through the arc determined by the path of the endless chain. In practice the arc covered
by each nozzle is just in excess of l80° to ensure that the two nozzles together cover
the full 360° of the structure. Thus, an axial band is cleaned by the described method.
The apparatus is then moved axially along the structure and the reciprocal movement
of the work heads repeated. Thus, the apparatus works its way along the structure,
and around any bends which it encounters. It will be noted that the axial length of
the appratus is short so that it can be easily manoeuvered round bends.
[0035] The embodiment of apparatus for cleaning and descaling has the advantage that it
is of short axial length which enables it to be moved along structures which are curved
to perform cleaning and descaling on such structures. The independent control of the
support leg drive means enables the apparatus to be manoeuvered along the structure
and round curves. The use of bouyancy chambers enables the apparatus to be easily
manoeuvered into position by means of an ROV.
[0036] An apparatus of the above described type can also be used for performing other operations
on such structures simply be attaching the appropriate type of work head. It is also
envisaged that the annulus could be provided with an articulated work arm. Such an
articulated work arm could carry a non-destructive testing probe or a camera for checking
welded joints on such structures. The articulated arm being remotely operated. The
articulated arm could be attached to the circumferentially movable work head or secured
to another part of the annulus. The annulus preferably has secured thereto a camera
for monitoring movement of the annulus and operations being performed by the work
heads.
[0037] Referring now to Fig. 6 there is shown another embodiment of the invention which
is of the same basic construction of the apparatus described with reference to Fig.
l. However, it differs in the construction and mounting of the work heads and in the
provision of built-in thrusters. These features will be described further hereinafter.
It will be understood that the earlier described embodiments could be provided with
the thruster system or jet and/or camera system described hereafter.
[0038] The same reference numberals as used in the description of Fig. l have been used
in Fig. 6 and the description of Fig. l applies to the construction of Fig. 6 in these
respects.
[0039] The work heads ll and l2 each comprise two jet nozzles l00,l02 which are mounted
on a member l04 which is movable through approximately 90° with respect to a mounting
member l06. The mounting member l06 is secured to the drive means for moving the work
head on the l80° arcuate path. The member l04 is movable in a plane which is perpendicular
to the plane of movement of the mounting member l06.
[0040] A combined camera l08 and light ll0 is mounted in a housing ll2 on the member l04.
The housing ll2 is mounted for movement through approximately l80° with respect to
the member l04 and in a plane parallel to a plane passing though the two jet nozzles
l00,l02. The fact that the member l04 is tiltable means that the camera and light
are likewise tiltable. The possible movements of the camera enables the operator to
view the job being cleaned (for example) and to make an appraisal of the position
of the apparatus when approaching the tubular structure.
[0041] The apparatus also includes three thrusters, each of which is mounted in the annulus.
A main thruster l20 is mounted in the third arcuate part 3 and comprises a rotor disposed
within a tubular sleeve l22 and driven by a motor. The motor may be driven in either
direction so that thrust is generated in either the direction of the arrow A or the
direction of the arrow B. The sleeve passes through the annulus. Two positional thrusters
l24,l26 are also provided one in each of the first and seocnd arcuate parts l and
2. These are likewise received in a tubular sleeve which passes through the member
and the rotors are driven by reversible motors.
[0042] The thrusters l20,l24,l26 are employed to manoeuver the appartus into position about
a tubular structure. The neutral bouyancy enables this to be done with only low powered
thruster and being self-propelled, a diver is not reqired. Accordingly, the device
can be easily manoeuvered into position. The first and second members will usually
be in the position illustrated in Fig. 6 when manoeuvering is taking place.
1. An apparatus for movably mounting a work head (ll,l2) on a structure of circular
cross-section, comprising an annulus defined by two or more members (l,2,3) which
are engagable co-operably and movable between an open position which allows the annulus
to be fitted onto the structure, and a closed position in which the annulus surrounds
the structure, means (6) for locating the annulus on the structure and for moving
it axially along the length thereof, said means (6) comprising three or more support
legs (6) mounted on the annulus at spaced circumferential locations with at least
some of said legs (6) being movable in a radial direction relative to the annulus
by actuating means to locate the annulus on the structure, characterised in that each
supporting leg (6) is provided with drive means (8) which are controllable independently
for moving the annulus along the structure in a plane normal to the axial centre line
of the structure, the work head (ll,l2) being mounted on the annulus for circumferential
movement with respect to the structure.
2. Apparatus according to claim l, characterised in that the annulus is defined by
three arcuate members (l,2,3) with two of said members (l,2) being pivotally secured
to the third (3).
3. Apparatus according to claim l, characterised in that actuating means is provided
for moving said two members (l,2) pivotally with respect to the third (3) to open
and close the annulus to allow it to be fitted onto and removed from the structure
of circular cross-section.
4. Apparatus according to claim 2 or 3, characterised in that actuating means is provided
to lock the free ends of the two members (l,2) together in the closed position by
means of an overthrow clamp or the like.
5. Apparatus according to claim 4 and 5, characterised in that said actuating means
and the lock actuating means each comprise hydraulic rams
6. Apparatus according to any preceding claim, characterised in that each support
leg (6) comprises two axially spaced wheels or rollers (8) which engage the exterior
surface of the structure and one or both of the wheels or rollers (8) may be driven.
7. Apparatus according to any preceding claim, characterised in that each support
leg (6) is movable radially by actuating means to centralise the annulus on said structure
and the radial movement is actuated hydraulically by means of an equal flow system
which ensures that the annulus is positioned centrally.
8. Apparatus according to claim 7, characterised in that a mechanical locking mechanism
is provided to lock the support legs (6) in position on said structure.
9. Apparatus according to claim 6, 7 or 8, characterised in the a spring mounting
system is employed on each support leg (6) to compensate for small variations in the
diameter of the structure.
l0. Apparatus according to any preceding claim, characterised in that two work heads
are provided which are mounted diametrically opposite one another on a circumferentially
reciprocable mounting plate carried by the annulus.
11. Apparatus according to claim l0, characterised in that the third arcuate member
(3) of the annulus is at least l80° of arc and its axial end is defined by the mounting
plate which carries the two work heads (ll,l2).
12. Apparatus according to claim ll, characterised in that a drive mechanism is disposed
within the third member (3) and comprises an endless chain entrained around sprockets
and carrying a pin which is co-operable with a slot in a carriage on which is mounted
one of the two work heads (ll,l2) and to which the mounting plate is secured.
13. Apparatus according to claim l2, characterised in that the carriage runs on rails
(9,l0) within said third member (3) and rotation of the chain causes the carriage
to be reciprocated through an arc of some l80°.
14. Apparatus according to claim l3, characterised in that a second carriage on which
is mounted the other work head (ll,l2) is provided diametrically opposite the first
and is connected thereto by means of the mounting plate such that the second carriage
thus moves in synchronism with the first on rails (9,l0) formed in the other two arcuate
members (l,2) of the annulus.
15. Apparatus according to any preceding claim, charactetised in that the work heads
(ll,l2) incorporate nozzles by means of which a high pressure water jet or other abrasive
material can be trained onto the surface of the structure.
16. Apparatus according to claim l5, characterised in that each nozzle (ll,l2) is
mounted for rotation in a housing so as to describe a circular path.
17. Apparatus according to any preceding claim, characterised in that each work head
(ll,l2) comprises a combined camera and lighting system which is mounted so as to
be able to view the work done and the work ahead of the apparatus.
18. Apparatus according to any preceding claim, characterised in that the annulus
comprises a plurality of bouyancy chambers (l8) to increase the displacement of the
apparatus in relation to its weight to give it a predetermined neutral bouyancy.
19. Apparatus according to any preceding claim, characterised in that thrusters (l20,l24,l26)
are connected to the apparatus to allow it to operate as a self-propelled remotely
operated vehicle.
20. Apparatus according to claim l9, characterised in that the thrusters (l20,l24,l26)
are incorporated in the annulus, one in each of the members (l,2,3).