Subsea Tool Changer Carousel Mechanism for ROV
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Solution Overview
Problem
Remotely operated vehicles (ROVs) and autonomous underwater vehicles (AUVs) face challenges in maintaining and exchanging tools underwater, as they often need to remain deployed for extended periods without manual intervention, limiting their ability to perform multitasking operations efficiently.
Innovation Solution
A subsea tool changer system that allows multiple tools to be carried and selected underwater, featuring a common power/drive interface, enabling tools to be selected, positioned, and stowed without breaking electrical or hydraulic connections, using a carousel and power drive mechanism with latches for secure tool exchange.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If tools are exchanged manually by returning to surface location, then tool exchange can be performed, but operational time is lost and productivity decreases
Solution Approach 1:
The system enables self-service tool exchange through automated mechanisms including a carousel that rotates to position tools, a gripper that automatically grasps and releases tools, and latches that secure tools without human intervention. The ROV can exchange tools independently while remaining submerged, eliminating the need to return to surface for manual tool changes
Solution Approach 2:
Multiple tools are pre-loaded onto the carousel before deployment. The carousel is rotated to position the required tool in advance, and the tool is secured with latches before the ROV begins its operational task. This preliminary preparation eliminates time delays during actual tool exchange operations
2Adaptability or versatility
If multiple tools are carried on a carousel, then tool selection flexibility improves, but device complexity increases
Solution Approach 1:
The system employs a universal power interface that all tools share, allowing different tools to be connected to the same electrical and hydraulic systems. The gripper mechanism serves multiple functions: grasping tools during exchange, holding them securely during operation, and releasing them when needed. This multi-functionality reduces the need for separate specialized mechanisms for each tool type
Solution Approach 2:
The tool exchange system is divided into independent functional modules: the carousel for tool storage and positioning, the gripper for tool manipulation, and the latches for tool securing. Each module operates independently but coordinates with others, allowing the system to handle multiple tool types without requiring complete system redesign for each tool configuration
3Duration of action of moving object
If tools are exchanged underwater without manual intervention, then operational duration extends, but reliability requirements increase
Solution Approach 1:
The system incorporates latches that securely fasten tools to the carousel before exchange operations begin. These latches provide a mechanical safety margin that prevents tool loss during the automated exchange process. The gripper is designed with force control to ensure secure grasping without damaging tools, providing a cushion against exchange failures
Solution Approach 2:
The automated tool exchange system incorporates sensors that detect tool presence on the carousel, verify proper tool engagement with the gripper, and confirm successful tool securing with latches. This feedback mechanism allows the control system to monitor each exchange step and detect anomalies, ensuring reliable operation over extended deployment periods
Data Source
AI summary
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.