Subsea Gripper Multi-Tool with Rapid Exchange Mechanism
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Solution Overview
Problem
Conventional subsea intervention tooling is inefficient as it can only perform one primary task at a time, leading to prolonged operation times and increased risks during tool changes, especially for autonomous work vehicles (AWVs) that require frequent tool changes without being able to retrieve them topside.
Innovation Solution
The development of a gripper multi-tool system that can be used with subsea vehicles, including AWVs, ROVs, and AUVs, allowing for multiple operations to be performed with the same tool, reducing the need for frequent tool changes and minimizing operational risks.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If conventional single-function tooling is used, then each tool can be optimized for its specific task, but operation time increases and productivity decreases due to multiple tool changes
Solution Approach 1:
The gripper tool is designed as a universal multi-functional device that can perform cleaning operations, cathodic protection probing, and valve operations sequentially without requiring tool changes. The tool includes interchangeable end effectors that can be rapidly swapped to perform different functions, eliminating the need to retrieve and change tools at the surface hub, thereby significantly reducing operation time and improving productivity.
Solution Approach 2:
The gripper tool is segmented into modular components including a main body, interchangeable end effectors, and a rapid exchange mechanism. This segmentation allows different functional modules (cleaning tool, CP probe, valve tool) to be independently selected and rapidly exchanged on the gripper, enabling multi-functionality while maintaining optimized performance for each specific task.
2Adaptability or versatility
If frequent tool changes are performed subsea, then different operations can be performed, but operational risk increases due to limited control of the tool change environment
Solution Approach 1:
The tool interface is pre-configured with a rapid exchange mechanism that allows pre-prepared end effectors to be quickly swapped on the gripper tool. This preliminary preparation of interchangeable tools eliminates the need for complex tool change operations at the surface hub, reducing the risk associated with subsea tool changes while maintaining operational flexibility.
3Adaptability or versatility
If AWV retrieves tool at tool storing hub, then tool can be changed, but AWV may be stuck or damaged due to mechanical contact requirements
Solution Approach 1:
The tool change operation is extracted from the AWV's operational cycle by implementing a rapid exchange mechanism on the gripper tool itself. This allows tools to be changed on the AWV without requiring it to dock at a tool storing hub, eliminating the mechanical contact risks and potential damage to the AWV while maintaining tool change capability.
Data Source
AI summary
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.