US20150141224A1 - Subsea tool changer - Google Patents
Subsea tool changer Download PDFInfo
- Publication number
- US20150141224A1 US20150141224A1 US14/554,405 US201414554405A US2015141224A1 US 20150141224 A1 US20150141224 A1 US 20150141224A1 US 201414554405 A US201414554405 A US 201414554405A US 2015141224 A1 US2015141224 A1 US 2015141224A1
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- US
- United States
- Prior art keywords
- tool
- selectively removable
- power drive
- selectively
- changer
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Abandoned
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Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B41/00—Equipment or details not covered by groups E21B15/00 - E21B40/00
- E21B41/04—Manipulators for underwater operations, e.g. temporarily connected to well heads
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
- B23Q11/08—Protective coverings for parts of machine tools; Splash guards
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/15506—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling the tool being inserted in a tool holder directly from a storage device (without transfer device)
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
- E21B19/143—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole specially adapted for underwater drilling
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
- E21B19/146—Carousel systems, i.e. rotating rack systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
- B23Q3/15526—Storage devices; Drive mechanisms therefor
- B23Q2003/15528—Storage devices; Drive mechanisms therefor the storage device including means to project tools therefrom, e.g. for transferring them
- B23Q2003/1553—Storage devices; Drive mechanisms therefor the storage device including means to project tools therefrom, e.g. for transferring them by rectilinear projection
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/15503—Processes characterized by special sequencing of operations or the like, e.g. for optimizing tool changing time or capacity in tool storage
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/157—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools
- B23Q3/15713—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools a transfer device taking a single tool from a storage device and inserting it in a spindle
- B23Q3/1572—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools a transfer device taking a single tool from a storage device and inserting it in a spindle the storage device comprising rotating or circulating storing means
- B23Q3/15722—Rotary discs or drums
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T483/00—Tool changing
- Y10T483/10—Process
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T483/00—Tool changing
- Y10T483/11—Tool changing with safety means
- Y10T483/115—Guard
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T483/00—Tool changing
- Y10T483/17—Tool changing including machine tool or component
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T483/00—Tool changing
- Y10T483/17—Tool changing including machine tool or component
- Y10T483/1733—Rotary spindle machine tool [e.g., milling machine, boring, machine, grinding machine, etc.]
- Y10T483/179—Direct tool exchange between spindle and matrix
- Y10T483/1793—Spindle comprises tool changer
- Y10T483/1795—Matrix indexes selected tool to transfer position
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T483/00—Tool changing
- Y10T483/18—Tool transfer to or from matrix
- Y10T483/1809—Matrix including means to latch tool
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T483/00—Tool changing
- Y10T483/18—Tool transfer to or from matrix
- Y10T483/1818—Matrix including means to project tool for transfer
- Y10T483/1827—Rectilinear
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T483/00—Tool changing
- Y10T483/18—Tool transfer to or from matrix
- Y10T483/1873—Indexing matrix
- Y10T483/1882—Rotary disc
Definitions
- the disclosed tool changer allows deployment of multiple, selectable tools. More particularly, the disclosed tool changer allows deployment of multiple, selectable tools in a common housing where one or more of the multiple, selectable tools are selectable underwater such as by using a remotely operated vehicle (ROV) or autonomous underwater vehicle (AUV).
- ROV remotely operated vehicle
- AUV autonomous underwater vehicle
- ROVs and, at times, AUVs require tools when operating underwater, such as to work on pipelines, wellheads, and other structures while underwater. Most often, these tools are taken down or otherwise supplied one at a time, interactively, by returning the ROV or AUV to a surface location to allow manual exchange the tools.
- an ROV or AUV may have to stay deployed underwater for a long time, e.g. up to six months or more, and operate without any maintenance or direct operator intervention. This means that there is no one to manually change out ROV tools as is the normal oilfield practice.
- the disclosed subsea tool changer allows multiple tools such as those usable by an ROV to be carried subsea to support multitasking of during ROV dives (missions).
- the tools share a common power/drive interface that allows different tools to be selected, acquired, positioned, operated, and stowed without having to make and break electrical or hydraulic connections.
- FIG. 1 is a view in partial cutaway perspective of an exemplary embodiment of the subsea tool changer
- FIG. 2 is a view in partial cutaway perspective of a close-up of an exemplary embodiment a power drive illustrating exemplary latches in an extended position;
- FIG. 3 is a view in partial cutaway perspective of a close-up of an exemplary embodiment a power drive illustrating exemplary latches in a retracted position
- FIGS. 4-8 are views in partial cutaway perspective of an exemplary embodiment of the subsea tool changer illustrating a sequence of selecting a tool, with FIG. 5 a showing a block diagram of convention power components.
- subsea tool changer 1 comprises housing 10 ; carousel 20 rotatably mounted within housing 10 and adapted to receive a plurality of selectively removable tools 40 ; tool changer 30 adapted to select a predetermined one of the plurality of tools 40 from carousel 20 ; and power drive 45 adapted to provide a predetermined function to tool 40 that has been selected by tool changer 30 , power drive 45 further comprising first power drive interface 46 .
- tool 40 may be a plurality of tools 40 with one or more the tools 40 being selectively removable.
- Housing 10 is typically constructed of a material such as aluminum, glass reinforced plastic (GRP), or a plastic such as High Density Polyethylene (HDPE) or Ultra High Molecular Weight (UHMW) plastic. As illustrated in FIG. 1 , housing 10 may be substantially rectangular and have at least one substantially open end, e.g. end 12 , which allows for tool 40 to engage with a further device or otherwise be deployed outside housing 10 . Housing 10 may be fully or partially enclosed.
- GRP glass reinforced plastic
- HDPE High Density Polyethylene
- UHMW Ultra High Molecular Weight
- Carousel 20 is typically constructed of a material such as aluminum, GRP, or a plastic such as HDPE or UHMW plastic.
- carousel 20 further comprises one or more tool retainers 22 which are dimensioned and configured to selectively retain one of the selectively removable tools 40 .
- tool retainer 22 allows insertion and retraction of tool 40 into and/or out from tool retainer 22 .
- Tool changer 30 is adapted to select a desired tool 40 from a storage place within housing 10 .
- tools 40 are stored in tool retainers 22 .
- tool changer 30 comprises selectively extendable arm 32 .
- Power drive 45 provides selection, acquisition, positioning, operating, or stowing functions, or the like, or a combination thereof.
- Power drive 45 is typically pivotably attached to tool changer 30 such as at pivot 31 .
- First power drive interface 46 ( FIG. 2 ) is typically pivotably attached to selectively extendable arm 32 proximate end 33 which is disposed proximate an outer boundary of carousel 30 .
- Each tool 40 may further comprise a common second power drive interface 47 which is dimensioned and configured to selectively and operatively mate with first power drive interface 46 .
- Tools 40 will typically require electrical, hydraulic, or similar power, or a combination thereof.
- first power drive interface 46 operatively couples to second power drive interface 47 without having to make and break an electrical or hydraulic connection.
- one or more latches 48 are dimensioned and configured to secure a selected removable tool 40 to power drive 45 such as at first power interface 46 .
- latch 48 is selectively extendable and retractable ( FIG. 3 ).
- subsea tool changer 1 may comprise one or more onboard power sources 50 ( FIG. 5 a ), one or more external power interfaces 52 ( FIG. 5 ), or a combination thereof.
- Power sources 50 are operatively in communication with power drive 45 .
- External power interface 52 may be dimensioned and configured to interface with a power source from a remotely operated vehicle, an autonomously operated vehicle, or the like, or a combination thereof.
- external power interface 52 comprises electrical and/or hydraulic power interfaces or the like, or a combination thereof.
- a selectively removable tool 40 is positioned and secured onto carousel 30 which is rotatably disposed within housing 10 .
- tool changer 30 typically starts in the stowed position with tool changer 30 extended outward toward the front of housing 10 ( FIGS. 4-5 ).
- Carousel 20 is rotated so that the desired tool 40 is at a first position adjacent to tool changer 30 and the desired tool 40 to be selected ( FIG. 6 ).
- tool changer 30 is refracted at least partially into housing 10 to allow it to engage the selected removable tool 40 with first power drive interface 46 .
- power drive 45 is positioned into a position to where its first power drive interface 46 is facing tool 40 to be acquired, e.g. pivoted backwards.
- Tool changer 30 is retracted inward toward carousel 20 and the tool 40 to be acquired such that first power drive interface 46 is mated to tool 40 , e.g. into second power drive interface 47 .
- the mating is via a rotary mechanical connection and tool 40 is securely latched to power drive 45 , e.g. using latch 48 ( FIG. 3 ).
- a desired tool 40 is selected and power drive 45 pivoted, e.g. flipped backwards, so that first power drive interface 46 is facing a to-be-acquired tool 40 .
- Tool changer 30 is retracted inward toward carousel 20 and the to-be-acquired tool 40 such that first power drive interface 46 makes a mechanical rotary connection to the to-be-acquired tool 40 which is then securely latched to power drive 45 ( FIG. 6 ).
- Tool changer 30 is then extended outward to make room for the newly acquired tool 40 to be pivoted, e.g. flipped, to a forward/working position ( FIG. 76 ). With tool 40 flipped forward, it is ready for use ( FIG. 8 ) and tool changer 30 can be retracted or extended as necessary to facilitate using tool 40 .
- tool changer 30 is then extended outward towards an outer boundary of housing 10 to make room for power drive 45 and tool 40 to be pivoted to a forward working position.
- FIG. 7 When power drive 45 and tool 40 are pivoted forward, tool 40 is ready for use. In this working position, tool changer 30 can be retracted or extended as necessary to facilitate use of tool 40 .
- FIG. 8
- the sequence can be reversed to stow a previously selected tool 40 back into a storage place, e.g. a tool retainer 22 , and then select the next tool 40 .
Abstract
A subsea tool changer comprises a housing; a rotatable carousel rotatably mounted within the housing and adapted to receive a plurality of selectively removable tools; a tool changer that can select a predetermined one of the plurality of tools from the carousel; and a power drive adapted to provide a predetermined function to a tool selected by the tool changer, the power drive further comprising a first power drive interface. In typical use, a selectively removable tool is placed onto the rotatable carousel which is rotated so that a desired selectively removable tool is positioned adjacent to a tool driver which is then mated with the desired selectively removable tool. The tool changer and mated selected removable tool are moved outward toward an outer boundary of the housing and the tool changer extended at least partially outside the housing outward towards a predetermined tool working position. The tool changer is then pivoted to position the selected removable tool to its predetermined tool working position.
Description
- This application claims priority through U.S. patent application Ser. 12/403,038 filed Mar. 12, 2009, currently allowed, and through U.S. Provisional Application 61/035,957 filed Mar. 12, 2008.
- The disclosed tool changer allows deployment of multiple, selectable tools. More particularly, the disclosed tool changer allows deployment of multiple, selectable tools in a common housing where one or more of the multiple, selectable tools are selectable underwater such as by using a remotely operated vehicle (ROV) or autonomous underwater vehicle (AUV).
- ROVs and, at times, AUVs require tools when operating underwater, such as to work on pipelines, wellheads, and other structures while underwater. Most often, these tools are taken down or otherwise supplied one at a time, interactively, by returning the ROV or AUV to a surface location to allow manual exchange the tools.
- However, in certain situations, once on site at a remote location (potentially under ice), an ROV or AUV may have to stay deployed underwater for a long time, e.g. up to six months or more, and operate without any maintenance or direct operator intervention. This means that there is no one to manually change out ROV tools as is the normal oilfield practice.
- The disclosed subsea tool changer allows multiple tools such as those usable by an ROV to be carried subsea to support multitasking of during ROV dives (missions). The tools share a common power/drive interface that allows different tools to be selected, acquired, positioned, operated, and stowed without having to make and break electrical or hydraulic connections.
-
FIG. 1 is a view in partial cutaway perspective of an exemplary embodiment of the subsea tool changer; -
FIG. 2 is a view in partial cutaway perspective of a close-up of an exemplary embodiment a power drive illustrating exemplary latches in an extended position; -
FIG. 3 is a view in partial cutaway perspective of a close-up of an exemplary embodiment a power drive illustrating exemplary latches in a retracted position; and -
FIGS. 4-8 are views in partial cutaway perspective of an exemplary embodiment of the subsea tool changer illustrating a sequence of selecting a tool, withFIG. 5 a showing a block diagram of convention power components. - Referring now to
FIG. 1 ,subsea tool changer 1 compriseshousing 10;carousel 20 rotatably mounted withinhousing 10 and adapted to receive a plurality of selectivelyremovable tools 40;tool changer 30 adapted to select a predetermined one of the plurality oftools 40 fromcarousel 20; andpower drive 45 adapted to provide a predetermined function totool 40 that has been selected bytool changer 30,power drive 45 further comprising firstpower drive interface 46. - As will be understood by those of ordinary skill in these are,
tool 40 may be a plurality oftools 40 with one or more thetools 40 being selectively removable. -
Housing 10 is typically constructed of a material such as aluminum, glass reinforced plastic (GRP), or a plastic such as High Density Polyethylene (HDPE) or Ultra High Molecular Weight (UHMW) plastic. As illustrated inFIG. 1 ,housing 10 may be substantially rectangular and have at least one substantially open end,e.g. end 12, which allows fortool 40 to engage with a further device or otherwise be deployed outsidehousing 10.Housing 10 may be fully or partially enclosed. -
Carousel 20 is typically constructed of a material such as aluminum, GRP, or a plastic such as HDPE or UHMW plastic. In preferred embodiments,carousel 20 further comprises one ormore tool retainers 22 which are dimensioned and configured to selectively retain one of the selectivelyremovable tools 40. Usingtool retainer 22 allows insertion and retraction oftool 40 into and/or out fromtool retainer 22. -
Tool changer 30 is adapted to select a desiredtool 40 from a storage place withinhousing 10. In a preferred embodiment,tools 40 are stored intool retainers 22. In a preferred embodiment,tool changer 30 comprises selectivelyextendable arm 32. -
Power drive 45 provides selection, acquisition, positioning, operating, or stowing functions, or the like, or a combination thereof.Power drive 45 is typically pivotably attached totool changer 30 such as atpivot 31. First power drive interface 46 (FIG. 2 ) is typically pivotably attached to selectivelyextendable arm 32proximate end 33 which is disposed proximate an outer boundary ofcarousel 30. - Each
tool 40 may further comprise a common secondpower drive interface 47 which is dimensioned and configured to selectively and operatively mate with firstpower drive interface 46.Tools 40 will typically require electrical, hydraulic, or similar power, or a combination thereof. In a preferred embodiment, firstpower drive interface 46 operatively couples to secondpower drive interface 47 without having to make and break an electrical or hydraulic connection. - In preferred embodiments, one or more latches 48 (
FIG. 2 ) are dimensioned and configured to secure a selectedremovable tool 40 topower drive 45 such as atfirst power interface 46. In preferred embodiments,latch 48 is selectively extendable and retractable (FIG. 3 ). - In alternative embodiments, referring still to
FIG. 1 ,subsea tool changer 1 may comprise one or more onboard power sources 50 (FIG. 5 a), one or more external power interfaces 52 (FIG. 5 ), or a combination thereof. Power sources 50 are operatively in communication withpower drive 45. External power interface 52 may be dimensioned and configured to interface with a power source from a remotely operated vehicle, an autonomously operated vehicle, or the like, or a combination thereof. In typical embodiments, external power interface 52 comprises electrical and/or hydraulic power interfaces or the like, or a combination thereof. - In the operation of exemplary embodiments, for
subsea tool changer 1, as described above, a selectivelyremovable tool 40 is positioned and secured ontocarousel 30 which is rotatably disposed withinhousing 10. - Referring generally to
FIGS. 4-8 ,tool changer 30 typically starts in the stowed position withtool changer 30 extended outward toward the front of housing 10 (FIGS. 4-5 ). Carousel 20 is rotated so that the desiredtool 40 is at a first position adjacent totool changer 30 and the desiredtool 40 to be selected (FIG. 6 ). - In a preferred embodiment,
tool changer 30 is refracted at least partially intohousing 10 to allow it to engage the selectedremovable tool 40 with firstpower drive interface 46. For example,power drive 45 is positioned into a position to where its firstpower drive interface 46 is facingtool 40 to be acquired, e.g. pivoted backwards.Tool changer 30 is retracted inward towardcarousel 20 and thetool 40 to be acquired such that firstpower drive interface 46 is mated totool 40, e.g. into secondpower drive interface 47. In a typical method, the mating is via a rotary mechanical connection andtool 40 is securely latched topower drive 45, e.g. using latch 48 (FIG. 3 ). By way of further example and not limitation, a desiredtool 40 is selected andpower drive 45 pivoted, e.g. flipped backwards, so that firstpower drive interface 46 is facing a to-be-acquiredtool 40. (FIG. 6 )Tool changer 30 is retracted inward towardcarousel 20 and the to-be-acquiredtool 40 such that firstpower drive interface 46 makes a mechanical rotary connection to the to-be-acquiredtool 40 which is then securely latched to power drive 45 (FIG. 6 ).Tool changer 30 is then extended outward to make room for the newly acquiredtool 40 to be pivoted, e.g. flipped, to a forward/working position (FIG. 76 ). Withtool 40 flipped forward, it is ready for use (FIG. 8 ) andtool changer 30 can be retracted or extended as necessary to facilitate usingtool 40. - Once mated,
tool changer 30 is then extended outward towards an outer boundary ofhousing 10 to make room forpower drive 45 andtool 40 to be pivoted to a forward working position. (FIG. 7 ) Whenpower drive 45 andtool 40 are pivoted forward,tool 40 is ready for use. In this working position,tool changer 30 can be retracted or extended as necessary to facilitate use oftool 40. (FIG. 8 ) - When another
tool 40 is desired, the sequence can be reversed to stow a previously selectedtool 40 back into a storage place, e.g. atool retainer 22, and then select thenext tool 40. - 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 a illustrative method may be made without departing from the spirit of the invention.
Claims (10)
1. A method of providing a tool for subsea use, comprising:
a. placing a selectively removable tool onto a carousel rotatably mounted within a housing, the carousel comprising an upper surface exposed to the housing open interior, the selectively removable tool configured to selectively couple with and decouple from a power drive and be stowed into and extracted from a desired one of a plurality of tool retainers, the selectively removable tool comprising a common tool power interface, the power drive comprising:
i. a first power drive interface;
ii. a power drive tool mating end adapted to selectively engage and disengage the selectively removable tool and selectively couple the first power drive interface with and decouple the first power drive interface from the selectively removable tool's common tool power interface; and
iii. a power source interface operatively coupled to the first power drive interface, the power source interface adapted to operatively couple to a power source, receive power from the power source, and provide that power to the first power interface without the power source interface making and breaking its connection to the power source when the first power drive interface is selectively coupled and decoupled to the selectively removable tool's common tool power interface;
b. moving a selectively extendable tool changer movably disposed at least partially within the housing into a first position within the housing, the selectively extendable tool changer comprising:
i. a tool changer first end disposed within the housing; and
ii. a tool changer second end disposed opposite the tool changer first end towards the housing open side wall, the power drive pivotably connected to the tool changer second end, the tool changer adapted to:
1. selectively insert the power drive tool mating end into a selectively removable tool stowed in one of the plurality of tool retainers;
2. extract the power drive and the selectively removable tool from that tool retainer;
3. flip the extracted selectively removable tool and power drive from a first position to a second position that is substantially 180° from the first position with respect to the longitudinal axis of the extracted tool;
4. selectively flip the extracted selectively removable tool and power drive from the second position back to the first position; and
5. reseat the extracted selectively removable tool back into one of the plurality of tool retainers;
c. pivotably connecting the power drive to the tool changer second end;
d. rotating the carousel so that a desired one of the selectively removable tools is positioned adjacent to the tool driver, the desired one of the selectively removable tool stowed in one of a plurality of tool retainers;
e. mating the desired selectively removable tool with the tool driver by inserting the power drive tool mating end into the desired selectively removable tool;
f. extracting the power drive and the desired selectively removable tool from that tool retainer; and
g. flipping the extracted selectively removable tool and power drive from a first position to a second position that is substantially 180° from the first position with respect to the longitudinal axis of the extracted tool.
2. The method of providing a tool for subsea use of claim 1 , wherein mating the desired selectively removable tool with the tool driver by inserting the power drive tool mating end into the desired selectively removable tool further comprises extending the tool changer and the mated selected removable tool outward toward an outer boundary of the housing.
3. The method of providing a tool for subsea use of claim 1 , further comprising retracting the tool changer at least partially into the housing after flipping the extracted selectively removable tool and power drive from a first position to a second position.
4. The method of providing a tool for subsea use of claim 1 , further comprising extending the tool changer at least partially outside the housing outward towards a predetermined tool working position after flipping the extracted selectively removable tool and power drive from a first position to a second position.
5. The method of providing a tool for subsea use of claim 1 , further comprising:
a. rotating the carousel so that the flipped selectively removable tool is positioned adjacent to the tool driver when the selectively removable tool is to be disengaged from the tool driver;
b. mating the desired selectively removable tool with the tool driver by inserting the power drive tool mating end into the desired selectively removable tool;
c. selectively flipping the mated selectively removable tool and power drive from the second position back to the first position; and
d. reseating the extracted selectively removable tool back into one of the plurality of tool retainers.
6. The method of providing a tool for subsea use of claim 5 , further comprising pivoting the tool changer to position the selected removable tool to its predetermined tool working position.
7. The method of providing a tool for subsea use of claim 8 , wherein pivoting the tool changer to position the selected removable tool to its predetermined tool working position further comprises pivoting the tool driver to allow the selected removable tool to be positioned at least partially outside the housing.
8. The method of providing a tool for subsea use of claim 7 , further comprising:
a. pivoting the tool changer to position the selected removable tool to its stowable position;
b. retracting the tool changer at least partially inside the housing outward towards a predetermined tool storage position;
c. disengaging the selected removable tool from the drive interface;
d. extending the tool changer at least partially out from the housing;
e. retracting the tool changer and the mated selected removable tool inward toward an inner portion of the housing;
f. disengaging the desired selectively removable tool from the tool driver;
g. rotating the carousel so that the selected removable tool is positioned adjacent to a storage position; and
h. stowing the selectively removable tool into the storage position.
9. The method of providing a tool for subsea use of claim 1 , further comprising latching the mated selected removable tool.
10. The method of providing a tool for subsea use of claim 9 , further comprising:
a. using a mechanically rotatable connector to connect to a desired selectively removable tool; and
b. securely latching the desired selectively removable tool to the tool driver.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US14/554,405 US20150141224A1 (en) | 2008-03-12 | 2014-11-26 | Subsea tool changer |
Applications Claiming Priority (3)
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US3595708P | 2008-03-12 | 2008-03-12 | |
US12/403,038 US8900106B2 (en) | 2008-03-12 | 2009-03-12 | Subsea tool changer |
US14/554,405 US20150141224A1 (en) | 2008-03-12 | 2014-11-26 | Subsea tool changer |
Related Parent Applications (1)
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US12/403,038 Division US8900106B2 (en) | 2008-03-12 | 2009-03-12 | Subsea tool changer |
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US20150141224A1 true US20150141224A1 (en) | 2015-05-21 |
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US14/554,405 Abandoned US20150141224A1 (en) | 2008-03-12 | 2014-11-26 | Subsea tool changer |
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US12/403,038 Active 2032-09-01 US8900106B2 (en) | 2008-03-12 | 2009-03-12 | Subsea tool changer |
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WO (1) | WO2009114704A2 (en) |
Cited By (1)
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CN109367738A (en) * | 2018-10-10 | 2019-02-22 | 西北工业大学 | A kind of underwater AUTONOMOUS TASK robot and its operational method |
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WO2009114704A2 (en) * | 2008-03-12 | 2009-09-17 | Oceaneering International, Inc | Subsea tool changer |
AU2012249954A1 (en) * | 2011-04-26 | 2013-11-07 | Bp Corporation North America Inc. | System for ROV multitasking |
GB2524035A (en) | 2014-03-12 | 2015-09-16 | Neptune Subsea Engineering Ltd | A powered subsea tool assembly, to reinstate the intended functionality of a subsea tree valve actuator |
GB201516031D0 (en) | 2015-09-10 | 2015-10-28 | Neptune Subsea Engineering Ltd | Apparatus & method |
WO2017062583A1 (en) * | 2015-10-06 | 2017-04-13 | Oceaneering International, Inc. | Manipulator end effector |
US9840886B1 (en) * | 2016-06-22 | 2017-12-12 | Onesubsea Ip Uk Limited | Robotic manipulators for subsea, topside, and onshore operations |
AU2017367754B2 (en) | 2016-12-02 | 2023-09-21 | 1854081 Ontario Ltd. | Apparatus and method for preparing a blast hole in a rock face during a mining operation |
CN107539443B (en) * | 2017-10-12 | 2023-10-24 | 上海遨拓深水装备技术开发有限公司 | Scalable T5ROV tool basket |
US11648691B2 (en) * | 2018-01-22 | 2023-05-16 | Oceaneering International, Inc. | Adaptive tooling interface |
NO345254B1 (en) * | 2018-11-21 | 2020-11-23 | Vetco Gray Scandinavia As | Locking Mechanism Tool and System |
US11318624B2 (en) | 2019-04-05 | 2022-05-03 | Fmc Technologies, Inc. | Submersible remote operated vehicle tool interchange |
US11608148B2 (en) | 2019-04-05 | 2023-03-21 | Fmc Technologies, Inc. | Submersible remote operated vehicle tool change control |
US11559905B2 (en) | 2020-02-05 | 2023-01-24 | Nauticus Robotics Holdings, Inc. | Subsea manipulator |
WO2023028033A1 (en) * | 2021-08-23 | 2023-03-02 | Epiroc Drilling Solutions, Llc | Semi-automatic or automatic control of drilling tool changing system |
US11807349B1 (en) | 2022-09-16 | 2023-11-07 | Fmc Technologies, Inc. | Submersible remote operated vehicle vision assistance and control |
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Also Published As
Publication number | Publication date |
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US20090233774A1 (en) | 2009-09-17 |
US8900106B2 (en) | 2014-12-02 |
WO2009114704A9 (en) | 2010-02-18 |
WO2009114704A3 (en) | 2010-01-07 |
WO2009114704A2 (en) | 2009-09-17 |
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