Submersible remote operated vehicle tool interchange

Patent metadata

Field	Value
Publication number	US-11318624-B2
Application number	US-201916376622-A
Country	US
Kind code	B2
Filing date	Apr 5, 2019
Priority date	Apr 5, 2019
Publication date	May 3, 2022
Grant date	May 3, 2022

Abstract

A tool interchange for a submersible remote operated vehicle (ROV) arm includes a first interchange body that affixes to an ROV arm. A second interchange body is carried by the first interchange body to rotate on a rotation axis. The second interchange body includes a tool mount actuable between gripping an ROV tool to the second interchange body and releasing the ROV tool from the second interchange body. An inductive power coupling part is provided in the tool mount. The inductive power coupling part is presented outwardly in the tool mount opposite the first interchange body, resides on the rotation axis and is fixed with respect to the first interchange body while the second interchange body rotates. The inductive power coupling part is adapted to inductively communicate power with a corresponding inductor power coupling part of the ROV tool when the ROV tool is docked in the tool mount.

First claim

We claim:

1. A tool interchange for a submersible remote operated vehicle (ROV) arm, the tool interchange comprising:
a first interchange body that affixes to the ROV arm;
a second interchange body carried by the first interchange body to rotate on a rotation axis, the second interchange body comprising a tool mount actuable between gripping an ROV tool to the second interchange body and releasing the ROV tool from the second interchange body; and
an inductive power coupling part in the tool mount, the inductive power coupling part presented outwardly in the tool mount, fixed with respect to the first interchange body, and the rotation axis, the inductive power coupling part adapted to inductively communicate power with a corresponding inductor power coupling part of the ROV tool when the ROV tool is docked in the tool mount, where the inductive power coupling part is fixed so as not to rotatably move with the second interchange body.

2. The tool interchange of claim 1 , comprising a fiber-optic coupling part in the tool mount, residing on the rotation axis, and fixed with respect to the first interchange body, the fiber-optic coupling part adapted to communicate with a corresponding fiber-optic coupling part of the ROV tool when the ROV tool is docked in the tool mount.

3. The tool interchange of claim 2 , where the fiber-optic coupling part is adapted to communicate with the corresponding fiber-optic coupling part of the ROV tool when the parts are spaced apart.

4. The tool interchange of claim 2 , comprising a central housing fixed to the first interchange body and extending along the rotation axis, the central housing comprising the inductive power coupling part and the fiber-optic coupling part; and
where the second interchange body is carried to rotate around the central housing.

5. The tool interchange of claim 1 , where the inductive power coupling part comprises a resonant inductive power coupling part adapted to inductively communicate power with the corresponding inductive power coupling part of the ROV tool when the parts are spaced apart.

6. The tool interchange of claim 1 , where the tool mount comprises:
a perimeter wall defining a tool receiving receptacle within the wall; and
a latch on the perimeter actuable between a latched position, pivoted inward toward the rotation axis to grip the ROV tool into the tool receiving receptacle and an unlatched position, pivoted outward to release the ROV tool from the second interchange body.

7. The tool interchange of claim 6 , comprising a tool rotational alignment key adjacent the perimeter wall and extending into the tool receiving receptacle.

8. The tool interchange of claim 6 , comprising a plurality of hydraulic connector parts on the second interchange body within the tool receiving receptacle and radially outboard of the inductive power coupling part, the hydraulic connector parts adapted to communicate hydraulic pressure with corresponding hydraulic connector parts of the ROV tool and carried to rotate with the second interchange body.

9. The tool interchange of claim 8 , where the hydraulic connector parts are each spring biased to protrude outward of a surface of the tool receiving receptacle and to compress in mating engagement with the corresponding hydraulic connector parts on the ROV tool.

10. The tool interchange of claim 8 , comprising an annular manifold fixed with respect to the first interchange body and extending into the second interchange body, the annular manifold comprising:
a manifold body with a cylindrical outer surface;
a first hydraulic passage in the manifold body, the first hydraulic passage in fluid communication with a first corresponding hydraulic passage of the first interchange body and comprising a first sidewall port on the cylindrical outer surface;
a second hydraulic passage in the manifold body, the second hydraulic passage in fluid communication with a second corresponding hydraulic passage of the first interchange body and comprising a second sidewall port on the cylindrical outer surface; and
a seal on the manifold body between the first hydraulic passage and the second hydraulic passage, the seal sealing between the cylindrical outer surface and the second interchange body.

11. The tool interchange of claim 10 , comprising a latch control hydraulic passage in the second interchange body that is in fluid communication with the first hydraulic passage and isolated from the second hydraulic passage and where the second hydraulic passage is in fluid communication with a hydraulic connector part adapted to communicate hydraulic pressure with a corresponding hydraulic connector part of the ROV tool.

12. A method, comprising:
receiving an ROV tool at a tool mount of a tool interchange coupled to an ROV arm, the tool interchange comprising a first portion that carries a second portion to rotate on a rotation axis;
gripping the ROV tool to the second portion of the tool interchange in response to a signal; and
inductively communicating power between the ROV and the ROV tool through an inductive coupling the rotation axis and where the inductive coupling is rotatably fixed with respect to the first portion such that the inductive power coupling part does not to rotatably move with the second portion.

13. The method of claim 12 , comprising communicating signals between the ROV and the ROV tool through a fiber-optic coupling residing on the rotation axis.

14. The method of claim 13 , where communicating signals comprises communicating signals across a gap between a first fiber-optic coupling part of the tool interchange and second fiber-optic coupling part of the ROV tool.

15. The method of claim 12 , where inductively communicating power comprises inductively communicating power across a gap between a first inductive coupling part of the tool interchange and a second inductive coupling part of the ROV tool.

16. The method of claim 12 , where gripping the ROV tool comprises moving latches that are on the outermost perimeter of the tool interchange from an unlatched position inward to a latched position to grip the ROV tool, the method further comprising releasing the ROV tool, where releasing the ROV tool comprises moving the latches from the latched position outward to an unlatched position.

17. The method of claim 12 , comprising hydraulically communicating between the ROV and the ROV tool while the second portion rotates relative to the first portion.

18. A system for coupling an ROV tool to an ROV, comprising:
a first portion adapted to couple to the ROV;
a second portion coupled to the first portion and adapted to couple to the ROV tool, the second portion rotatable relative to the first portion on a rotation axis; and
an inductor fixed with respect to the first portion and the rotation axis, the rotation axis passing through the inductive coupling, the inductor adapted to inductively communicate power to the ROV tool as the second portion rotates on the first portion, where the inductive power coupling part is fixed so as not to rotatably move with the second portion.

19. The system of claim 18 , comprising a fiber-optic coupling part fixed with respect to the first portion and residing on the rotation axis, the fiber-optic coupling part adapted to communicate signals with the ROV tool across a gap.

20. The system of claim 18 , comprising an annular manifold that fluidically communicates a hydraulic passage in the first portion with a hydraulic passage in the second portion as the second portion rotates and regar

Assignees

• Fmc Tech Inc

Inventors

• Correll Richard Brian
• Klassen William P
• Kleppinger Clayton Paul
• Langley Philip David
• Schmaljohann Justin Daniel
• Bosler Ryan Mitchell
• Kesling William Dawson
• Ade Chris Alexander

Classifications

• B63G2008/002

  unmanned · CPC title

• B25J19/0041

  having rotary connection means · CPC title

• B25J15/0408 Primary

  Connections means · CPC title

• B63C11/52

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

• 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