Manipulator End Effector

摘要

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.

主权项

1. A subsea manipulator tool changer, comprising:
a. A remotely operable 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; and6. a second end disposed opposite the selectively attachable first end; andii. 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; and2. 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; andiii. 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; and3. 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 actuators; andii. 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.