Deployment apparatus having a tether arm for an inspection vehicle

Patent metadata

Field	Value
Publication number	US-10844562-B2
Application number	US-201916434676-A
Country	US
Kind code	B2
Filing date	Jun 7, 2019
Priority date	Dec 7, 2016
Publication date	Nov 24, 2020
Grant date	Nov 24, 2020

Abstract

A deployment system for an inspection vehicle operable in a housing having a liquid medium is disclosed in the present application. The deployment system includes a mount connectable to the housing through an aperture formed in a wall thereof. An extendable arm is connected to the mount and positioned within the housing. A tether is slidably coupled to the extendable arm and adapted to connect with the inspection vehicle. A control mechanism is operable to control deployment of the tether and the position of the extendable arm.

First claim

What is claimed is:

1. A deployment apparatus for a submersible inspection vehicle comprising:
a rotatable mount connectable to a housing that is configured to hold a liquid;
an extendable arm connected to the rotatable mount; and
a tether slidably coupled to the extendable arm and adapted to connect with the submersible inspection vehicle during operation,
wherein the submersible inspection vehicle is disposed within the housing and is configured to be deployed via the extendable arm.

2. The deployment apparatus of claim 1 , wherein the extendable arm includes a plurality of telescoping sections operable to extend and retract a distal end of the extendable arm.

3. The deployment apparatus of claim 1 , wherein the extendable arm includes a plurality of scissor jack links operable to extend and retract a distal end of the extendable arm.

4. The deployment apparatus of claim 1 , wherein the extendable arm includes a plurality of elongate articulating legs operable to move relative to one another.

5. The deployment apparatus of claim 4 further comprising a pivot joint connected between adjacent articulating legs.

6. The deployment apparatus of claim 5 , wherein the pivot joint is a spherical joint to permit angular rotation in any direction.

7. The deployment apparatus of claim 1 , further comprising an actuator system coupled to the extendable arm.

8. The deployment apparatus of claim 7 , wherein the actuator system includes at least one of an electronic actuator and a mechanical actuator.

9. The deployment apparatus of claim 7 , wherein the actuator system includes at least one of a pulley, a cable and a biasing member.

10. The deployment apparatus of claim 1 , wherein the mount is rotatable; and further comprising an electric motor operably coupled to the rotatable mount to control a position of the extendable arm.

11. The deployment apparatus of claim 1 , further comprising: a resting fixture adapted to engage with a wall of the housing; and an actuating rod extending through the resting fixture being operably connected to the extendable arm.

12. The deployment apparatus of claim 1 , further comprising a control system operable to release or retract the tether and control movement of the extendable arm during operation of the inspection vehicle.

13. The deployment apparatus of claim 1 , wherein the tether includes at least one of a mechanical, electrical and pneumatic connection operably coupled with the inspection vehicle.

14. A method for deploying an inspection vehicle within a housing at least partially filled with a liquid medium, the method comprising:
positioning a rotatable mount with an extendable arm proximate an access port located in a wall of the housing;
running, via a distal end of the extendable arm, a tether line between a control mechanism and the inspection vehicle;
rotating the arm with the rotatable mount to a desired angular location;
moving the distal end of the extendable arm to a desired distance from the rotatable mount; and
lowering the inspection vehicle into the liquid medium with the tether line.

15. The method of claim 14 further comprising sending control signals to the inspection vehicle through the tether line.

16. The method of claim 15 further comprising moving the vehicle through the liquid in response to the control signals.

17. The method of claim 16 further comprising moving the extendable arm in response to movement of the inspection vehicle.

18. The method of claim 14 , further comprising maneuvering the tether around components internal to the housing with the extendable arm.

19. A deployment system for an inspection vehicle comprising: a resting fixture configured to engage with a housing over an aperture formed in a wall of the housing; a mount extending from the resting fixture being configured to fit through the aperture; an extendable arm connected to the mount; a tether engaged along portions of the extendable arm, the tether connectable with the inspection vehicle; and a control mechanism operable to deploy the inspection vehicle from the extendable arm into a liquid medium within the housing.

20. The deployment system of claim 19 wherein the extendable arm includes a plurality of telescoping sections operable to extend and retract relative to the mount.

21. The deployment system of claim 19 , wherein the extendable arm includes a scissor jack mechanism to extend and retract relative to the mount.

22. The deployment system of claim 19 , wherein the extendable arm includes a plurality of elongate articulating legs.

23. The deployment system of claim 22 further comprising a pivot joint connected between adjacent articulating legs.

24. The deployment system of claim 19 , wherein the mount is rotatable relative to the housing.

25. The deployment system of claim 19 , further comprising an actuator system coupled to the extendable arm, the actuator system operable to move portions of the extendable arm.

26. The deployment system of claim 25 , wherein the actuator system includes at least one of an electronic actuator and a mechanical actuator.

27. The deployment system of claim 26 , wherein the electric actuator is one of a linear actuator and a rotating actuator.

28. The deployment system of claim 25 wherein the actuator system further comprises an actuator rod connected to the extendable arm.

29. The deployment system of claim 19 , wherein the control system is operable to move the extendable arm in response to movement of the inspection vehicle.

Assignees

• Abb Power Grids Switzerland Ag

Inventors

• Cole Gregory A
• Eakins William J
• Lasko Daniel T
• Shah Harshang
• Fuhlbrigge Thomas A
• Cheim Luiz V
• Patel Poorvi
• Zhang Biao
• Rossano Gregory F
• Sharma Saumya
• Choi Sangeun

Classifications

• B63G8/001

  Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations (self-propelled or direction controlled diving chambers with mechanical link to a base B63C11/42) · CPC title

• G21C17/013 Primary

  Inspection vehicles · CPC title

• Y02E30/30

  Nuclear fission reactors · CPC title

• E02B3/062 Primary

  Constructions floating in operational condition, e.g. breakwaters or wave dissipating walls (floating oil barriers E02B15/08; floating stream regulating devices E02B3/02) · CPC title

• F03B13/10

  Submerged units incorporating electric generators or motors · CPC title