Gripper tool to perform multiple functions subsea

A gripper multi-tool for an underwater vehicle comprises one or more mechanical gripper jaws; a motor; a torque controller operatively in communication with the motor; a cathodic protection (CP) probe disposed on at least one mechanical gripper jaw; a tool interface operatively connected to the motor and configured to selectively receive and/or discharge a tool selected from a plurality of tools; and a power source operatively in communication with the plurality of tools, the torque controller, and the motor. Gripper multi-tool is deployed subsea, such as via an underwater vehicle, and receives and engages a tool selected from a plurality of tools into the tool interface which, once engaged and effectuated, is used to perform a predetermined function. When the predetermined function has completed, the tool may be disengaged and removed from the tool interface and replaced with a further tool to perform a further function.

BACKGROUND

The use of conventional intervention tooling subsea is not optimal with respect to operation: conventional tooling performs only one primary task, which most often prolongs the operation time as most operations require multiple work performed. An example is cleaning with subsequent cathodic probe (CP) measuring: anodes or structural parts are cleaned, then CP probed, to assess the galvanic potential. Another example is light brush cleaning with subsequent valve operation; normal practice is to operate a cleaning tool with the manipulator, then put this away to free up the gripper for the upcoming valve turning.

When looking at Autonomous Work Vehicles (AWV), one or more subsea tool changer mechanisms will likely be required, but these AWV operations will be extremely limited if the AWV has to be retrieved topside for tool changeout. With subsea tool change out, whether using a piloted or autonomous vehicle, there is an operational challenge. There is also typically considerable risk linked to tool changeout due to the limited control of its environment. When an underwater vehicle such as an AWV needs to dock off/on a new tool, it will be forced back to a tool storing hub, where one form of mechanical contact is required, which might lead to the AWV being stuck or damaged.

DESCRIPTION OF EXEMPLARY EMBODIMENTS

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).

In a first embodiment, referring generally toFIG.1andFIG.2, gripper multi-tool1can be used by manipulator110operatively connected to standard intervention ROV100or docked on or to an autonomous underwater vehicle (AUV) or autonomous work vehicle (AWV)200(FIG.2). Gripper multi-tool1may be used to enable performing multiple operations with the same tool, thus saving time, money and reducing operational risks.

In embodiments, referring now toFIG.3, gripper multi-tool1comprises one or more mechanical gripper jaws10; one or more motors20operatively in communication with mechanical gripper jaws10; one or more torque controllers30operatively in communication with motor20and operative on either or both of jaw force and rotary actuation torque; one or more cathodic protection (CP) probes60, typically disposed on a furthest outer edge of at least one mechanical gripper jaw10; tool interface40operatively connected to motor20and configured to selectively receive and/or discharge one or more tools41selected 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 tool43(FIG.4) and tool42(FIG.5)), each tool41configured to perform a predetermined function from a set of predetermined functions; and one or more power supplies50(FIG.2,FIG.6) operatively in communication with the plurality of tools40, torque controller30, and motor20.

In typical embodiments, mechanical gripper jaw10comprises a bifurcated set of opposing but cooperative mechanical gripper jaws10a,10b. In other embodiments, mechanical gripper jaw10comprises three or more opposing but cooperative mechanical gripper jaws.

In certain embodiment, motor20may comprise a variable speed motor which may be under the control of torque controller30and may further comprise one or more gears operatively with mechanical gripper jaws10.

The predetermined function may comprise an intervention function and/or a cleaning function. In other embodiments, the predetermined function may comprise multiple functions and a plurality of tools40to perform these multiple functions. In embodiments, tools41comprise light touch cleaning tool42(FIG.5) or softline cutter43(FIG.4). In a further embodiment, tools41comprises guideline wire cutter44with feeder45that also serves as a super grinder. As noted above, tools41are configured to be selectively received and/or discharged by tool interface40, e.g. such as where tool interface40comprises a ball detent or a similar catch/release mechanism.

Power source50(FIG.2,FIG.6) 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 ROV100, AUV, or AWV200. If external, power source50comprises power source interface51. If present, the battery may be recharged via power source interface51.

In certain embodiments, CP probe60comprises a soft touch CP probe.

Referring additionally toFIG.6, in embodiments one or more cameras70and/or lights72may be present, and power and comms link64may be present and operatively in communication with cameras70and/or lights62. If present, cameras70and/or lights72are typically placed proximate to gripper jaw10.

In certain embodiments, torque feedback may be obtained from gripper multi-tool1and manipulator110, eliminating a need for an external clutch for torque control.

In the operation of exemplary methods, referring back toFIG.3gripper multi-tool1is deployed subsea, such as via an underwater vehicle (FIG.1,FIG.2), and receives and engages tool41into tool interface40. Once engaged, tool41is effectuated by providing power to motor20and performing a predetermined function using tool41. When performing the predetermined function has completed, tool41may be disengaged and removed from tool interface40. If a further function is desired, a second tool41for accomplishing that further function can then be received and engaged into tool interface40and that further function then performed.

Gripper tool1is typically operatively connected to an underwater vehicle100,200. In these embodiments, where power source50comprises power source interface51, power source interface51is typically operatively connected to the underwater vehicle which is then used to provide power to power source50via power source interface51. Alternatively, or in combination with power source50, power may be supplied using internal power source52.

Accordingly, if tool41on ROV200or AWV100can perform multiple functions, operational time may be reduced using gripper multi-tool1, e.g. it can minimize tool change-out time and cost. In these and other exemplary uses, gripper multi-tool1can therefore be used to accomplish multiple functions all with one gripper multi-tool1, e.g. make a combined cleaning and seal replacement tool, allowing removal, cleaning, and inserting a new seal.

The foregoing disclosure and description of the inventions are illustrative and explanatory. Various changes in the size, shape, and materials, as well as in the details of the illustrative construction and/or an illustrative method may be made without departing from the spirit of the invention.