WO2022071931A1 - Multi-outil de préhension pour effectuer de multiples fonctions sous la mer - Google Patents

Multi-outil de préhension pour effectuer de multiples fonctions sous la mer Download PDF

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Publication number
WO2022071931A1
WO2022071931A1 PCT/US2020/053395 US2020053395W WO2022071931A1 WO 2022071931 A1 WO2022071931 A1 WO 2022071931A1 US 2020053395 W US2020053395 W US 2020053395W WO 2022071931 A1 WO2022071931 A1 WO 2022071931A1
Authority
WO
WIPO (PCT)
Prior art keywords
tool
gripper
underwater vehicle
power source
motor
Prior art date
Application number
PCT/US2020/053395
Other languages
English (en)
Inventor
Torleif CARLSEN
Original Assignee
Oceaneering International, Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Oceaneering International, Inc filed Critical Oceaneering International, Inc
Priority to PCT/US2020/053395 priority Critical patent/WO2022071931A1/fr
Priority to EP20955473.2A priority patent/EP4025492A4/fr
Publication of WO2022071931A1 publication Critical patent/WO2022071931A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B41/00—Equipment or details not covered by groups E21B15/00 - E21B40/00
    • E21B41/04—Manipulators for underwater operations, e.g. temporarily connected to well heads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled

Definitions

  • FIGURES [0004] Various figures are included herein which illustrate aspects of embodiments of the disclosed inventions.
  • Fig. l is a block diagram of an embodiment of a gripper multi-tool used with a remotely operated vehicle
  • FIG. 2 is a block diagram of an embodiment of a gripper multi-tool used with an autonomous underwater vehicle
  • FIG. 3 is a plan view in partial perspective of an embodiment of a gripper multitool
  • FIG. 4 is a plan view in partial perspective of an embodiment of a gripper multitool
  • FIG. 5 is a plan view in partial perspective of an embodiment of a gripper multitool.
  • FIG. 6 is a further block diagram of an embodiment of a gripper multi -tool used with a remotely operated vehicle.
  • the invention is useful with, but not limited to, subsea autonomous work vehicles (AWV) but may be used with standard remotely operated vehicles (ROV) and other subsea vehicles that need to perform subsea intervention work such as autonomous underwater vehicles (AUV).
  • AAV subsea autonomous work vehicles
  • ROV remotely operated vehicles
  • AUV autonomous underwater vehicles
  • gripper multi-tool 1 can be used by manipulator 110 operatively connected to standard intervention ROV 100 or docked on or to an autonomous underwater vehicle (AUV) or autonomous work vehicle (AWV) 200 (Fig. 2).
  • Gripper multi-tool 1 may be used to enable performing multiple operations with the same tool, thus saving time, money and reducing operational risks.
  • gripper multi -tool 1 comprises one or more mechanical gripper jaws 10; one or more motors 20 operatively in communication with mechanical gripper jaws 10; one or more torque controllers 30 operatively in communication with motor 20 and operative on either or both of jaw force and rotary actuation torque; one or more cathodic protection (CP) probes 60, typically disposed on a furthest outer edge of at least one mechanical gripper jaw 10; tool interface 40 operatively connected to motor 20 and configured to selectively receive and/or discharge one or more tools 41 selected from a plurality of tools (generally referred to as callout “41” which is not shown in the figures but for which specific examples are illustrated as tool 43 (Fig.
  • CP cathodic protection
  • each tool 41 configured to perform a predetermined function from a set of predetermined functions; and one or more power supplies 50 (Fig. 2, Fig. 6) operatively in communication with the plurality of tools 40, torque controller 30, and motor 20.
  • mechanical gripper jaw 10 comprises a bifurcated set of opposing but cooperative mechanical gripper jaws 10a, 10b. In other embodiments, mechanical gripper jaw 10 comprises three or more opposing but cooperative mechanical gripper jaws.
  • motor 20 may comprise a variable speed motor which may be under the control of torque controller 30 and may further comprise one or more gears operatively with mechanical gripper jaws 10.
  • the predetermined function may comprise an intervention function and/or a cleaning function.
  • the predetermined function may comprise multiple functions and a plurality of tools 40 to perform these multiple functions.
  • tools 41 comprise light touch cleaning tool 42 (Fig. 5) or softline cutter 43 (Fig. 4).
  • tools 41 comprises guideline wire cutter 44 with feeder 45 that also serves as a super grinder.
  • tools 41 are configured to be selectively received and/or discharged by tool interface 40, e.g. such as where tool interface 40 comprises a ball detent or a similar catch/release mechanism.
  • Power source 50 may comprise a hydraulic power source, an electric power source, a seawater-based fluid system power source, or the like, or a combination thereof and may be a power source internal (52) to the gripper multi-tool such as a battery or a power source external (50) to the gripper multi -tool such as one associated with ROV 100, AUV, or AWV 200. If external, power source 50 comprises power source interface 51. If present, the battery may be recharged via power source interface 51.
  • CP probe 60 comprises a soft touch CP probe.
  • one or more cameras 70 and/or lights 72 may be present, and power and comms link 64 may be present and operatively in communication with cameras 70 and/or lights 62. If present, cameras 70 and/or lights 72 are typically placed proximate to gripper jaw 10.
  • torque feedback may be obtained from gripper multi-tool 1 and manipulator 110, eliminating a need for an external clutch for torque control.
  • gripper multitool 1 is deployed subsea, such as via an underwater vehicle (Fig. 1, Fig. 2), and receives and engages tool 41 into tool interface 40. Once engaged, tool 41 is effectuated by providing power to motor 20 and performing a predetermined function using tool 41. When performing the predetermined function has completed, tool 41 may be disengaged and removed from tool interface 40. If a further function is desired, a second tool 41 for accomplishing that further function can then be received and engaged into tool interface 40 and that further function then performed.
  • Gripper tool 1 is typically operatively connected to an underwater vehicle 100,200.
  • power source 50 comprises power source interface 51
  • power source interface 51 is typically operatively connected to the underwater vehicle which is then used to provide power to power source 50 via power source interface 51.
  • power may be supplied using internal power source 52.
  • gripper multi-tool 1 can therefore be used to accomplish multiple functions all with one gripper multi -tool 1, e.g. make a combined cleaning and seal replacement tool, allowing removal, cleaning, and inserting a new seal.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mining & Mineral Resources (AREA)
  • Ocean & Marine Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Environmental & Geological Engineering (AREA)
  • Fluid Mechanics (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne un multi-outil de préhension pour un véhicule sous-marin, ledit multi-outil de préhension comprenant une ou plusieurs mâchoires de préhension mécaniques ; un moteur ; un dispositif de commande de couple en communication fonctionnelle avec le moteur ; une sonde de protection cathodique (CP pour Cathodic Protection) disposée sur au moins une mâchoire de préhension mécanique ; une interface d'outil reliée de manière fonctionnelle au moteur et configurée pour recevoir et/ou décharger de manière sélective un outil choisi parmi une pluralité d'outils ; et une source d'alimentation en communication fonctionnelle avec la pluralité d'outils, le dispositif de commande de couple et le moteur. Un multi-outil de préhension est déployé sous la mer, par exemple par le biais d'un véhicule sous-marin, et reçoit et met en prise un outil choisi parmi une pluralité d'outils dans l'interface d'outil qui, une fois qu'elle est mise en prise et réalisée, est utilisée pour exécuter une fonction prédéterminée. Lorsque la fonction prédéterminée est terminée, l'outil peut être désolidarisé et retiré de l'interface d'outil et remplacé par un autre outil pour exécuter une autre fonction.
PCT/US2020/053395 2019-10-01 2020-09-30 Multi-outil de préhension pour effectuer de multiples fonctions sous la mer WO2022071931A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/US2020/053395 WO2022071931A1 (fr) 2020-09-30 2020-09-30 Multi-outil de préhension pour effectuer de multiples fonctions sous la mer
EP20955473.2A EP4025492A4 (fr) 2019-10-01 2020-09-30 Multi-outil de préhension pour effectuer de multiples fonctions sous la mer

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/US2020/053395 WO2022071931A1 (fr) 2020-09-30 2020-09-30 Multi-outil de préhension pour effectuer de multiples fonctions sous la mer

Publications (1)

Publication Number Publication Date
WO2022071931A1 true WO2022071931A1 (fr) 2022-04-07

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Family Applications (1)

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Country Status (1)

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WO (1) WO2022071931A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20220049584A1 (en) * 2019-08-19 2022-02-17 Kinetic Pressure Control, Ltd. Remote underwater robotic actuator

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6223675B1 (en) * 1999-09-20 2001-05-01 Coflexip, S.A. Underwater power and data relay
US20150086299A1 (en) * 2011-11-15 2015-03-26 Subsea 7 Limited Launch and Recovery Techniques for Submersible Vehicles and Other Payloads
US20150148949A1 (en) * 2013-11-26 2015-05-28 Elwha Llc Structural assessment, maintenance, and repair apparatuses and methods
WO2018016970A1 (fr) * 2016-07-19 2018-01-25 Kongsberg Ferrotech As Plateforme de lancement de véhicule sans pilote
WO2018056274A1 (fr) * 2016-09-23 2018-03-29 鉱研工業株式会社 Dispositif de carottage de fond marin et procédé de carottage
US20190224858A1 (en) * 2018-01-22 2019-07-25 Oceaneering International, Inc. Adaptive Tooling Interface

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6223675B1 (en) * 1999-09-20 2001-05-01 Coflexip, S.A. Underwater power and data relay
US20150086299A1 (en) * 2011-11-15 2015-03-26 Subsea 7 Limited Launch and Recovery Techniques for Submersible Vehicles and Other Payloads
US20150148949A1 (en) * 2013-11-26 2015-05-28 Elwha Llc Structural assessment, maintenance, and repair apparatuses and methods
WO2018016970A1 (fr) * 2016-07-19 2018-01-25 Kongsberg Ferrotech As Plateforme de lancement de véhicule sans pilote
WO2018056274A1 (fr) * 2016-09-23 2018-03-29 鉱研工業株式会社 Dispositif de carottage de fond marin et procédé de carottage
US20190224858A1 (en) * 2018-01-22 2019-07-25 Oceaneering International, Inc. Adaptive Tooling Interface

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20220049584A1 (en) * 2019-08-19 2022-02-17 Kinetic Pressure Control, Ltd. Remote underwater robotic actuator
US11639650B2 (en) * 2019-08-19 2023-05-02 Kinetc Pressure Control Ltd. Remote underwater robotic actuator

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