Articulated boom and head for manipulating objects under water
First Claim
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1. An articulated boom and utility head for manipulating objects underwater, comprising:
- a free floating platform;
an articulated arm mounted at a first end thereof to said platform;
a remotely operable utility head mountable at a second end of said arm;
at least one sensor mounted to said articulated arm to provide information to a remote operator as said arm is remotely operated under water;
means for stabilizing said second end of said articulated arm so that said utility head, when mounted to said second end, maintains a substantially fixed position relative to an underwater object, independent of movement of said first end of said arm.
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Abstract
The articulated boom and utility head for manipulating objects underwater of the present invention includes an articulated arm mounted at a first end thereof to a free floating platform, and a remotely operable utility head mountable at a second end of the arm. At least one sensor for relaying sensed information from the sensor to a remote operator or processor is mounted to the articulated arm. The sensed information is transmitted in real time as the arm remotely operated under water.
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Citations
48 Claims
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1. An articulated boom and utility head for manipulating objects underwater, comprising:
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a free floating platform; an articulated arm mounted at a first end thereof to said platform; a remotely operable utility head mountable at a second end of said arm; at least one sensor mounted to said articulated arm to provide information to a remote operator as said arm is remotely operated under water; means for stabilizing said second end of said articulated arm so that said utility head, when mounted to said second end, maintains a substantially fixed position relative to an underwater object, independent of movement of said first end of said arm. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 47)
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20. An articulated boom and manipulatable utility head for underwater operation when deployed from a floating vessel, comprising:
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a plurality of boom segments, each boom segment of said plurality of boom segments pivotally mounted at ends thereof to adjacent boom segments, a first end of said articulated boom mountable to said floating vessel, a second end of said articulated boom, opposite said first end, adapted for mounting of said manipulatable utility head thereon, first actuators mounted between said adjacent boom segments for selective relative rotation of said adjacent boom segments relative to each other, second actuators cooperating with said second end of said boom and said utility head when mounted thereon for selective actuation of said utility head, at least one sensor mounted to said boom for relaying sensed information to a remote operator, said first and second actuators remotely actuable by control inputs from said operator. - View Dependent Claims (21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 48)
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Specification