Subsea manipulator
A subsea manipulator for a remotely operated underwater vehicle (ROV) that includes at least one linear, oil-filled electric actuator to control a motion of the manipulator in a subsea environment is disclosed. The remotely operated underwater manipulator includes an electric actuator for each axis of motion of the manipulator, and an end effector that includes a rotational joint and a tool motor for controlling a tool affixed to the end effector. A method for changing the tool of the manipulator in a subsea environment is disclosed.
1. A manipulator for a remotely operated underwater vehicle (ROV) comprising:
at least one linear oil-filled electric actuator to control a motion of the manipulator in a subsea environment, wherein a pressure of the oil is maintained to be at least 1 psi higher than outside the actuator.
2. A manipulator for a remotely operated underwater vehicle (ROV) comprising:
an electric actuator for each axis of motion of the manipulator, wherein the electric actuator is an oil-filled linear actuator;
an end effector comprising a rotational joint and a tool motor for controlling a tool affixed to the end effector; and
a fluid compensator that maintains a pressure of the oil to be at least 1 psi higher than outside the actuator.
3. The manipulator of claim 2 , wherein the oil-filled linear actuator actuates using an electric motor that rotationally drives a nut of a roller screw.
4. The manipulator of claim 3 , wherein each of the electric actuator and the tool motor includes a position sensor for determining the current position of the electric actuator.
5. The manipulator of claim 2 , wherein the tool motor is a rotary electric actuator that actuates using an electric motor that rotationally drives an input of the tool.
6. The manipulator of claim 5 , wherein the tool comprises a rotational input that causes jaws to open or close.
7. The manipulator of claim 2 , wherein the end effector changes tools by interacting the rotational joint of the end effector with an external tool.
8. The manipulator of claim 2 , wherein the tool is selected from one of the following: a two finger gripper, a four finger gripper, parallel jaws, class 1-4 torque tool, hub cleaner, parrot cutter, hard line cutter, and soft line cutter.
9. The manipulator of claim 2 , wherein the manipulator comprises at least six electric actuators.
10. The manipulator of claim 2 , further comprising: at least one camera mounted to the end effector.
11. The manipulator of claim 2 , wherein the manipulator is controlled using coordinated joint control.
12. The manipulator of claim 11 , wherein the coordinated joint control includes Cartesian control, or force and impedance control of the manipulator.
13. The manipulator of claim 11 , wherein the manipulator changes tools in a subsea environment, without direct human contact to the ROV.
14. The manipulator of claim 11 , further comprising: a spatial sensing system that operates in conjunction with the coordinated joint control to autonomously control the manipulator.
15. The manipulator of claim 2 , wherein strain measurements are used to sense and control a force of the actuator.
16. A method of changing a tool on a manipulator in a subsea environment, the method comprising:
engaging a split spring engagement ring clamp of an end effector with an external tool;
loosening the tool from the end effector;
disposing the tool in a tool storage location and removing the tool from the end effector;
selecting a new tool from the tool storage and disposing the end effector into the new tool;
engaging the split engagement ring clamp of the end effector with the external tool and tightening the new tool onto the end effector; and
disengaging the split engagement ring clamp of the end effector from the external tool.
17. The method of claim 16 , wherein the tool is selected from one of the following: a two finger gripper, a four finger gripper, parallel jaws, class 1-4 torque tool, hub cleaner, parrot cutter, hard line cutter, and soft line cutter.
18. The method of claim 16 , wherein the end effector changes tools by interacting a rotational joint of the end effector with an external tool.
19. The method of claim 16 , wherein the tool is actuated by a rotary electric actuator that rotationally drives an input of the tool.