Underwater manipulator system

• US 4,648,782 A
• Filed: 05/27/1983
• Issued: 03/10/1987
• Est. Priority Date: 05/27/1983
• Status: Expired due to Term

• Current Assignee: Kraft, Brett W.
• Original Assignee: Kraft, Brett W.
• Inventors: Kraft, Brett W.
• Primary Examiner(s): Spar, Robert J.
• Assistant Examiner(s): Underwood, Donald W.
• Application Number:
  US06/498,878
• Time in Patent Office: 1,383 Days
• Field of Search: 414/1, 414/2, 414/4, 414/5, 414/730, 414/735, 414/917, 901/15, 901/22-26, 901/28, 901/29, 901/36-38
• US Class Current: 414/735
• CPC Class Codes: B25J 15/0266 actuated by articulated links
• CPC Class Codes: B25J 17/025 mounted in series
• CPC Class Codes: B25J 9/046 Revolute coordinate type
• CPC Class Codes: B25J 9/14 fluid
• CPC Class Codes: E21B 41/04 Manipulators for underwater operations, e.g. temporarily connected to well heads

Abstract

A manipulator device particularly adapted for deep-sea, submersible use utilizes a human-like arm and a novel shoulder arrangement mounted on a base through a base pivot. The manipulator is hydraulically powered and a hydraulic manifold forms a body of the shoulder arrangement and is situated adjacent an azimuth control actuator, an elbow control actuator and an upper arm control actuator all mounted to the body and rotatable with the body about the base pivot. The arm includes an upper arm swingably connected to the shoulder via the upper arm control actuator and a forearm swingably connected to the upper arm at an elbow joint and controlled by the elbow control actuator. A wrist assembly and appropriate actuators are mounted to a distal end of the forearm and a gripper assembly and associated actuators are connected to a distal end of the wrist assembly.

Claims

1. A manipulator device comprising:

(a) a base for connection to a manipulator support and having a base pivot;

(b) a shoulder arrangement mounted on said base through said base pivot and having an hydraulic power manifold forming a body of said shoulder arrangement, with said shoulder arrangement including an azimuth control means and actuator, an elbow control means and actuator; and

an upper arm control means and actuator all mounted to said body and rotatable therewith on said base pivot;

(c) an upper arm member swingably connected to said shoulder arrangement and operably connected to said upper arm control means and actuator;

(d) a forearm member swingably connected to said upper arm member at an elbow joint and operably connected to said elbow control means and actuator;

(e) a wrist assembly and actuators therefor mounted to a distal end of said forearm member;

(f) a gripper assembly and actuators therefor mounted to a distal end of said wrist assembly;

(g) a pivot mechanism connecting said upper arm to said shoulder arrangement;

(h) said pivot mechanism having opposite ends with said upper arm elevation control means and actuator connected to one end and said elbow elevation control means and actuator connected to the other end and respectively and selectively rotating said pivot mechanism;

(i) said pivot mechanism including a split shaft having coaxial half shafts with one half shaft rotatably connected to said upper arm elevation control means and the other half shaft rotatably connected to said elbow elevation control means; and

(j) said other half shaft having a lever arm secured thereto and extending outwardly and having said linkage rod pivotally connected thereto for push-pull movement as said other half shaft rotates.

2. The manipulator device as set forth in claim 1 including:

(a) a recentering mechanism situated between said half shafts and having confronting members respectively connected to said half shafts and having coordinating abutment lugs;

(b) said one half shaft positioning said confronting members and setting and resetting an extent of rotation of said other half shaft relative to said one half shaft.

3. A hydraulically powered manipulator device comprising:

(a) a base for connection to a manipulator support and having a base pivot;

(b) a shoulder arrangement mounted on said base through said base pivot and formed of a body comprising a hydraulic power manifold with control valves and actuators mounted on said manifold, said control valves and actuators including a shoulder azimuth control, elbow control, and upper arm control all mounted to said manifold and rotatable therewith on said base pivot;

(c) an upper arm member swingably connected to said shoulder arrangement and operably connected to said upper arm control;

(d) a forearm member swingably connected to said upper arm member at an elbow joint and operably connected to said elbow control;

(e) a wrist assembly and actuators therefor mounted to a distal end of said forearm member; and

(f) a gripper assembly and actuators therefor mounted to a distal end of said wrist assembly;

(g) said forearm member has a distal end including a rotary hydraulic actuator mounted therein and rotating a first shaft about a first axle;

(h) said wrist arrangement includes a first wrist member and a second wrist member;

(i) said first wrist member is connected to said shaft and swings about said first axis to provide pitch movement when said shaft rotates;

said first wrist member being characterized by the absence of any actuator mounted therein;

(j) said second wrist member has a rotary hydraulic actuator mounted therein and rotating about a second shaft and about a second axis to provide yaw movement, and second shaft being nonrotatably affixed to said first wrist member so that said second wrist member swings thereabout;

(k) said actuator of said forearm member and the actuator of said second wrist member each have a body portion with interior body chambers, a centrally mounted pinion connected to said shaft, two cylinder barrels with opposite closed ends and piston ends and two pistons extending from said respective barrels and driving two gear racks in said barrels;

(l) said closed ends of said barrels in said forearm member actuator point toward said elbow joint and said closed ends of said barrels in said second wrist member actuator point toward said gripper assembly, thereby providing a short coupled wrist assembly.

4. A wrist and forearm assembly for a hydraulically powered manipulator device comprising:

(a) a forearm member having a distal end including a rotary hydraulic actuator mounted therein and rotating a first shaft about a first axis; and

(b) a wrist arrangement including a first wrist member and a second wrist member;

(c) said first wrist member being connected to said first shaft and swinging about said first axis when said shaft rotates, said first wrist member being characterized by the absence of any actuator mounted therein;

(d) said second wrist member having a rotary hydraulic actuator mounted therein and rotating about a second shaft and a second axis, said second shaft being nonrotatably affixed to said first wrist member so that said second wrist member swings thereabout;

(e) the actuator of said forearm member and the actuator of said second wrist member each having a body portion with interior body chambers, a centrally mounted pinion to the respective said shaft, two cylinder barrels with opposite closed ends and piston ends and two pistons extending from said respective barrels and driving two gear racks in said barrels;

(f) said closed ends of said barrels in said forearm member actuator point in a first direction and said closed ends of said barrels in said second wrist member actuator point in a second direction, thereby providing a short coupled wrist assembly.

5. A manipulator device comprising:

(a) a base for connection to a manipulator support and having a base pivot;

(b) a shoulder arrangement mounted on said base through said base pivot and having a hydraulic power manifold forming a body of said shoulder arrangement, with said shoulder arrangement including an azimuth control means and actuator, an elbow control means and actuator, and an upper arm control means and actuator all mounted to said body and rotatable therewith on said base pivot;

(c) an upper arm member swingably connected to said shoulder arrangement and operably connected to said upper arm control means and actuator;

(d) a forearm member swingably connected to said upper arm member at an elbow joint and operably connected to said elbow control means and actuator;

(e) a wrist assembly and actuator therefor mounted to a distal end of said forearm member;

(f) an end effector mounted to a distal end of said wrist assembly;

(g) a pivot mechanism connecting said upper arm to said shoulder arrangement;

(h) said pivot mechanism having opposite ends with said upper arm elevation control means and actuator connected to one end and said elbow elevation control means and actuator connected to the other end and respectively and selectively rotating said pivot mechanism;

(i) said pivot mechanism including a split shaft having coaxial half shafts with one half shaft rotatably connected to said upper arm elevation control means and the other half shaft rotatably connected to said elbow elevation control means; and

(j) said other half shaft having a lever arm secured thereto and extending outwardly and having said linkage rod pivotally connected thereto for pushpull movement as said other half shaft rotates.

6. A hydraulically powered manipulator device comprising:

(a) a base for connection to a manipulator support and having a base pivot;

(b) a shoulder arrangement mounted on said base through said base pivot and formed of a body comprising a hydraulic power manifold with control valves and actuators mounted on said manifold, said control valves and actuators including a shoulder azimuth control, elbow control, and upper arm control all mounted to said manifold and rotatable therewith on said base pivot;

(c) an upper arm member swingably connected to said shoulder arrangement and operably connected to said upper arm control;

(d) a forearm member swingably connected to said upper arm member at an elbow joint and operably connected to said elbow control;

(e) a wrist assembly and actuators therefor mounted to a distal end of said forearm member; and

(f) an end effector mounted to a distal end of said wrist assembly;

(g) said forearm member has a distal end including a rotary hydraulic actuator mounted therein and rotating a first shaft about a first axle;

(h) said wrist arrangement includes a first wrist member and a second wrist member;

(i) said first wrist member is connected to said shaft and swings about said first axis to provide pitch movement when said shaft rotates;

said first wrist member being characterized by the absence of any actuator mounted therein;

(j) said second wrist member has a rotary hydraulic actuator mounted therein and rotating about a second shaft and about a second axis to provide yaw movement, and second shaft being nonrotatably affixed to said first wrist member so that said second wrist member swings thereabout;

(k) said actuator of said forearm member and the actuator of said second wrist member each have a body portion with interior body chambers, a centrally mounted pinion connected to said shaft, two cylinder barrels with opposite closed ends and piston ends and two pistons extending from said respective barrels and driving two gear racks in said barrels;

(l) said closed ends of said barrels in said forearm member actuator point toward said elbow joint and said closed ends of said barrels in said second wrist member actuator point toward said gripper assembly, thereby providing a short coupled wrist assembly.