In This Chapter: 1 RigMaster Overview...page 9

Transcription

1 Installation In This Chapter: 1 RigMaster Overview...page 9 2 User-supplied Equipment...page 9 3 Installing the Slave Arm...page 9 4 Installation Startup & Test... page 13 1 RigMaster Overview The RigMaster's five functions are base yaw, shoulder pitch, boom extend and retract, wrist rotate, and jaw open and close. Movement of each joint is achieved using a linear or rotary actuator. RigMaster hydraulic hose connections consist of ten control lines which are connected to the base, shoulder, boom, wrist, and jaw actuators, and one line for the wrist case drain. 2 User-supplied Equipment The following equipment, if not ordered as options from the factory, is required to complete the installation of the slave arm and provide for its control and operation: A hydraulic power source. A hydraulic control manifold. Two relief valves each for all arm functions. Cross-port check valves All hardware, hoses, and fittings for connecting to the slave arm s hydraulic hose fittings. 3 Installing the Slave Arm 3.1 Preparing the Slave Arm Mounting Platform 1. Determine a suitable mounting location for the slave arm guided by the dimensional requirements of the following drawings: Rigmaster Slave Arm, Range of Motion on page 115, sheet 3 of the RigMaster slave arm drawing in the Drawings & Part Lists chapter. Figure 1, Stow dimensions on page 10. Figure 2, Minimum distance to bulkhead hose fittings on page Page 9

2 Installation Figure 1 Stow dimensions Figure 2 Minimum distance to bulkhead hose fittings 2. Create a sturdy mounting platform that will provide a flat surface for the three mounting holes in the base as shown in Figure Move the slave arm to the mounting platform. Lower the base onto the platform and align the mounting holes in the base and mounting platform. Page 10 Installing the Slave Arm

3 Installation Figure 3 Slave arm mounting dimensions 4. A minimum of three 1/2-20 UNF-2B hex-head cap screws and lockwashers are required to attach the base to the mounting platform. The installation of a fourth fastener, at the rear of the base, is optional (see Figure 3).! Caution Mounting fasteners must be long enough to engage a minimum of 1.2 cm (0.5-in) of the base. Lubricate the threads of the fasteners with AquaShield (Aqualube) and add the lock washers. Install the fasteners through the mounting platform and into the RigMaster base. Torque the fasteners to 102 Nm (75 ft/lbs). 3.2 Installing the Control & Drain Hoses Ten hoses are supplied for connecting RigMaster functions to your control manifold or intermediate bulkhead fittings. The eleventh hose provides case drain from, and compensation to, the wrist assembly. This line must be connected to the return system. Note: IMPORTANT INSTALLATION DIMENSIONS: 1. Bulkhead hose fittings must be located no closer than 610 mm (24-in.) from the slave arm as shown in Figure Minimum bend radius for slave arm hoses is 51 mm (2-in.). 3. If control hose lengths exceed 6 meters (20 ft), consult Customer Service for information about increasing the hose diameter to maintain adequate pressure and flow. A hydraulic schematic diagram of the RigMaster manipulator system can be found in the Drawings & Part Lists chapter. The table below lists the control and drain hose connections at the slave arm, and identifies actuator functions, hose codes, and actuator movements. The slave arm hydraulic hoses are fitted with female -4 JIC fittings for connecting all user-supplied hydraulics Installing the Slave Arm Page 11

4 Installation Slave Arm Actuator/ Function Azimuth yaw Shoulder pitch Boom Wrist rotate a Jaw Wrist Drain b Joint Travel Hose Code Left 1A Extend Right 1B Retract Up 2A Extend Down 2B Retract Out 3A Extend In 3B Retract Actuator Movement N/A 4A Rotate CCW N/A 4B Rotate CW Open 5A Extend Close 5B Retract N/A C N/A a. Forearm and wrist roll CW/CCW movements are referenced from behind the slave arm. b. The maximum wrist drain/return pressure is 350 psi. If the wrist drain/return line passes through a filter or is manifolded with other equipment returns, check the return pressure when all equipment is running to be sure it does not exceed the maximum.! Caution The wrist drain/return relief valve cracking pressure range is psi. If pressure exceeds psi above ambient, the relief valve will crack and release hydraulic fluid into the environment. For a description of how the supplied hydraulic hoses are connected to the manipulator, see the section entitled Hydraulic Hose Replacement of the Maintenance & Service chapter. 3.3 Installing Relief Valves Pressure relief valves must be installed on all control lines to protect slave arm components from the abnormally high pressures generated by overloads or collisions. The fluid release relieves excessive pressure on seals, and reduces stress on mechanical and hydraulic components. When normal working pressures return, the affected relief valves close and allow normal operation to resume. Without relief valves, slave arm components and seals are forced to directly absorb pressures and stresses above their rated working capacity; the result can be damage or breakdown.! Caution Operating the slave arm without relief valves on all control lines can result in damage to components. 1. Adjust the cracking pressure of the A and B line relief valves to the figures shown on the slave arm hydraulic schematic (with 025- prefix) in the Drawings & Part Lists chapter. The cracking pressure may be set closer to the operating pressure of the system, if desired, but be sure the reseal pressure is also above the normal operating pressure range of the system. If it is not, the valve may not reseal during normal operation and the actuator will respond erratically. Page 12 Installing the Slave Arm

5 Installation Note: Do not set the cracking pressure higher than 4500 psi. 2. Connect the relief valves at any point between the hydraulic control manifold and the slave arm hose connections. Note: If a circuit has a restrictor, throttle, or flow control valve, install the relief valve between the actuator and the flow control valve. An illustration of relief valve connections is found on Sheet 1 of the RigMaster slave arm drawing (upper right-hand corner) and the hydraulic schematic in the Drawings & Part Lists chapter. The to tank port on each relief valve allows relieved fluid to be returned to the hydraulic power unit reservoir. 3.4 Installing Check Valves Adding cross-port check valves to the azimuth, shoulder, and boom functions is recommended. A check valve can be installed to the wrist function but may not be effective due to internal leakage of the wrist motor. Do not install a check valve to the jaw function as a hydraulic failure will leave the jaw locked in place (if the jaw is clamped on structure it cannot be disengaged). 4 Installation Startup & Test This section describes procedures for initially checking, starting up, and testing the slave arm after all system components have been installed and interconnected. 4.1 Confirm Before First Startup Before you operate the slave arm, confirm the following: Installation instructions have been completed for the slave arm and all other system components. Individual control valves and hoses are securely connected to the appropriate slave arm hoses for each actuator function. Control hoses are routed and supported/secured to eliminate snagging, kinking, and damage during slave arm operation. A relief valve is installed on the base yaw, shoulder pitch, and boom extend/retract control hose lines. The wrist drain hose is connected to the hydraulic system return. Hydraulic supply and return hoses/fittings are correctly connected and securely tightened to the user s control manifold. Submersible models only. Compensator hoses/fittings for user s hydraulic system are correctly connected and securely tightened. (The slave arm does not require compensation.) 4.2 First Startup! Caution If the wrist drain/return line exceeds 600 psi above ambient, hydraulic fluid will be released into the environment from the relief valve. 1. Clear all personnel or equipment from within the slave arm s range of motion Installation Startup & Test Page 13

6 Installation 2. Remove any installation supports from the slave arm. 3. Activate the hydraulic power unit (HPU). 4. Check and confirm: Hydraulic supply pressure is within the range listed in the System Specifications chapter. Hydraulic return or tank pressure is 350 psi or less. If the hydraulic return passes through a filter or is manifolded with other equipment returns before returning to the tank, check the return pressure when all equipment is running to be sure it does not exceed the maximum. No leaks from hoses, fittings, components. 5. Following the manufacturers recommendations, bleed air from the HPU and manifold components. 4.3 Testing Functions 1. Briefly operate control valves and verify that they are correctly matched to slave arm functions. Correct any misconnected hoses. Label the hydraulic controls to match the slave arm s functions and movements. Note: Air in hydraulic lines or components may cause very rapid or jerky slave arm movement. 2. Adjust the restrictor valves, if present, to produce the maximum rate of travel desired for each slave arm function. 3. Purge the slave arm s hydraulic system of air by driving each linear actuator through its full range of travel several times. Installation of your RigMaster Slave Arm is finished. Proceed to the Operation chapter. Page 14 Installation Startup & Test