Manipulator end effector

Patent metadata

Field	Value
Publication number	US-10286566-B2
Application number	US-201615287051-A
Country	US
Kind code	B2
Filing date	Oct 6, 2016
Priority date	Oct 6, 2015
Publication date	May 14, 2019
Grant date	May 14, 2019

Abstract

In embodiments, a subsea manipulator tool changer comprises an ROV attachable standardized tool receiver and a tool, the subsea manipulator tool changer comprising a standardized tool latch and a standardized tool latch receiver whereby tools can be attached and detached subsea. In other embodiments, a system for changing tools while subsea comprises an ROV, a subsea manipulator tool changer, and a tool caddy configured to accept and release a tool where the tool comprises the standardized tool latch receiver.

First claim

The invention claimed is:

1. A subsea manipulator tool changer, comprising:
a. a remotely operated vehicle (ROV) attachable standardized tool receiver, comprising:
i. a first arm section comprising:
1. an inner annulus;
2. a predetermined set of tool controller pathways disposed at least partially within the first arm section;
3. a selectively attachable first end;
4. a tool interface movably disposed within the inner annulus;
5. an actuator operatively in communication with the tool interface; and
6. a second end disposed opposite the selectively attachable first end; and

ii. a second arm section disposed proximate the second end of the first arm section and comprising;
1. a standardized tool latch operatively in communication with the actuator; and
2. a first predetermined set of wet-matable tool actuator connectors operatively in communication with the predetermined set of tool controller pathways, the tool actuator connectors configured for use subsea; and

iii. a tool insertion guide disposed proximate the second end; and

b. a tool, comprising:
i. a tool insertion end configured to cooperatively mate with the ROV attachable standardized tool receiver, the tool insertion end comprising:
1. a standardized tool latch receiver configured to selectively and releasably mate with the standardized tool latch;
2. a tool insertion guide receiver configured to selectively and releasably receive the tool insertion guide; and
3. a first predetermined set of wet-matable tool actuator connector engagers configured to cooperatively mate with a predetermined subset of matching wet-matable tool actuator connectors of the first predetermined set of wet-matable tool actuator connectors; and

ii. an ROV manipulatable tool operatively in communication with a wet-matable tool actuator connector engager of the first predetermined set of wet-matable tool actuator connector engagers.

2. The manipulator tool changer of claim 1 , wherein the predetermined set of tool controller pathways comprises a hydraulic fluid pathway, an electrical current pathway, and/or a fiber optic pathway.

3. The manipulator tool changer of claim 1 , wherein the tool interface comprises:
a. a piston; and
b. a seal disposed about an outer surface of the piston.

4. The manipulator tool changer of claim 1 , wherein the tool insertion guide and the tool insertion guide receiver are configured such that when mated the first predetermined set of wet-matable tool actuator connector engagers cooperatively mate with a predetermined matching wet-matable tool actuator connector of the first predetermined set of wet-matable tool actuator connectors.

5. The manipulator tool changer of claim 1 , wherein the first predetermined set of wet-matable tool actuator connectors comprise quick disconnect connectors.

6. The manipulator tool changer of claim 5 , wherein:
a. the quick disconnect connectors comprise a hydraulic quick disconnect connector, an electrical quick disconnect connector, or a fiber optic quick disconnect connector; and
b. the first predetermined set of wet-matable tool actuator connector engagers comprise a complimentary hydraulic quick disconnect connector, an electrical quick disconnect connector, or a fiber optic quick disconnect connector.

7. The manipulator tool changer of claim 1 , wherein the ROV manipulatable tool comprises an end effector.

8. The manipulator tool changer of claim 1 , wherein:
a. the ROV attachable standardized tool system comprises a radio frequency identifier interrogator; and
b. the tool comprises a complimentary radio frequency identifier configured to communicate a tool type identifier to the radio frequency identifier interrogator.

9. The manipulator tool changer of claim 1 , wherein the tool interface comprises a piston operatively in communication with the actuator.

10. The manipulator tool changer of claim 1 , further comprising:
a. the standardized tool latch further comprises:
i. a plurality of pivotal arms configured to selectively engage a predetermined portion of the standardized tool latch receiver when fully inserted into the standardized tool latch receiver; and
ii. a latch post operatively in communication with the piston and the plurality of pivotable arms; and

b. the standardized tool latch receiver further comprises a channel configured to receive the selectively engagable arm.

11. The manipulator tool changer of claim 10 , wherein:
a. the tool interface comprises a piston operatively in communication with the actuator; and
b. the standardized tool latch further comprises:
i. an arm base operatively in communication with the piston and the plurality of pivotal arms; and
ii. an arm travel limiter operatively in communication with the piston and the plurality of pivotal arms.

12. The manipulator tool changer of claim 11 , wherein the arm base further comprises a floating washer configured to maintain contact at all times with each selectively engagable arm.

13. The manipulator tool changer of claim 11 , wherein the second arm section further comprises:
a. a rotary bore;
b. a rotary joint bore shaft disposed within the rotary bore;
c. a seal disposed intermediate the rotary joint bore shaft and the rotary bore;
d. a sleeve bearing disposed within the rotary joint bore shaft; and
e. a motor operatively in communication with piston and disposed at least partially within the sleeve bearing.

Assignees

• Oceaneering Int Inc

Inventors

• Williams Lance Michael

Classifications

• B63B35/00

  Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for · CPC title

• B25J15/0408 Primary

  Connections means · CPC title

• B63C11/52

  Tools specially adapted for working underwater, not otherwise provided for · CPC title

• B25J19/0066 Primary

  Means or methods for maintaining or repairing manipulators · CPC title

• B25J15/0483

  with head identification means · CPC title