Apparatus and methods for inspecting and cleaning subsea flex joints

A remotely operated device for cleaning a subsea flexible pipe joint, the device comprising:

• a support assembly including a first inner capture cavity and a first access opening, wherein the first inner capture cavity is configured to receive a section of the subsea flexible pipe joint through the first access opening;
• a tool positioning assembly coupled to the support assembly, wherein the tool positioning assembly includes a rotating member disposed about a central axis;
• wherein the rotating member includes a second inner capture cavity and a second access opening, wherein the second inner capture cavity is configured to receive the section of the flexible pipe joint through the second access opening;
• wherein the tool positioning assembly is rotatable relative to the support assembly about the central axis;
• a cleaning assembly including a cleaning device configured to clean a portion of the flexible pipe joint axially spaced from the cleaning device when the cleaning device is disposed at a given position along the flexible pipe joint, wherein the cleaning device is axially moveable relative to the rotating member;
• and
• a clamping assembly coupled to the support assembly, wherein the clamping assembly has an open position disengaged with the section of the flexible pipe joint and a closed position engaging the section of the flexible pipe joint;
• wherein the cleaning assembly is radially moveable relative to the rotating member;
• wherein the tool positioning assembly is rotatably coupled to the support assembly with a roller assembly axially positioned between the rotating member and the support assembly;
• wherein the roller assembly includes a roller track coupled to the rotating member and a plurality of roller members coupled to the support assembly, each roller member being rotatable about an axis parallel to the central axis;
• wherein the roller track engages two or more of the plurality of roller members;
• wherein the roller track is disposed at a uniform track radius measured from the central axis;
• wherein a first set of the plurality of roller members are circumferentially spaced apart in a first row, each roller member in the first set being disposed at a uniform first radius measured from the central axis;
• wherein a second set of the plurality of roller members are circumferentially spaced apart in a second row, each roller member in the second set being disposed at a uniform second radius measured from the central axis;
• wherein the first radius is less than the track radius, and the track radius is less than the second radius.