U.S. patent application number 15/348554 was filed with the patent office on 2017-05-04 for concentric cutting assembly, concentric cutting systems, and net penetration method.
The applicant listed for this patent is Adaptive Methods, Inc.. Invention is credited to Walter Allensworth, Jim Wiggins, Conrad Zeglin.
Application Number | 20170120996 15/348554 |
Document ID | / |
Family ID | 43411934 |
Filed Date | 2017-05-04 |
United States Patent
Application |
20170120996 |
Kind Code |
A1 |
Wiggins; Jim ; et
al. |
May 4, 2017 |
CONCENTRIC CUTTING ASSEMBLY, CONCENTRIC CUTTING SYSTEMS, AND NET
PENETRATION METHOD
Abstract
The problem of penetrating through nets and other objects is
solved by cutting the object using concentric cutters in which a
rotatable cutter having floating teeth rotates concentrically about
a stationary cutter having fixed teeth. The object is cut by a
severing action caused by the floating teeth of the rotatable
cutter sliding against the fixed teeth of the stationary cutter.
Embodiments of the invention include a UUV system for penetrating
through fishing nets and other objects, concentric cutting
assemblies for use in the UUV system and other systems, and a
method for penetrating through fishing nets and other objects. A
UUV system in accordance with an embodiment of the invention has a
concentric cutting assembly at the forward end and a propulsor at
the aft end. The concentric cutting assembly integrates seamlessly
within the UUV housing and is deployed from the forward end of the
UUV, enabling the UUV to quickly and efficiently penetrate through
objects blocking its path.
Inventors: |
Wiggins; Jim; (Thurmont,
MD) ; Zeglin; Conrad; (Rockville, MD) ;
Allensworth; Walter; (Poolesville, MD) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Adaptive Methods, Inc. |
Rockville |
MD |
US |
|
|
Family ID: |
43411934 |
Appl. No.: |
15/348554 |
Filed: |
November 10, 2016 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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14993744 |
Jan 12, 2016 |
9511832 |
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15348554 |
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14720057 |
May 22, 2015 |
9260169 |
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14993744 |
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14593718 |
Jan 9, 2015 |
9061361 |
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14720057 |
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14156697 |
Jan 16, 2014 |
8961079 |
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14593718 |
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12497285 |
Jul 2, 2009 |
8714889 |
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14156697 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
Y10T 83/9401 20150401;
F42B 19/005 20130101; Y10T 83/869 20150401; Y10T 408/895 20150115;
Y10T 83/0481 20150401; B63G 2008/002 20130101; Y10T 83/04 20150401;
Y10T 408/953 20150115; Y10T 408/03 20150115; Y10T 83/9324 20150401;
B26D 1/20 20130101; Y10T 83/9399 20150401; Y10T 83/7863 20150401;
F42B 12/02 20130101; B63G 8/001 20130101; B63G 8/39 20130101; Y10T
408/348 20150115; B23D 57/0084 20130101; Y10T 83/9321 20150401 |
International
Class: |
B63G 8/00 20060101
B63G008/00; B63G 8/39 20060101 B63G008/39; F42B 12/02 20060101
F42B012/02; B23D 57/00 20060101 B23D057/00; B26D 1/20 20060101
B26D001/20 |
Claims
1. A cutting assembly, comprising: a first cutter having a
plurality of fixed teeth; a second cutter axially aligned with and
able to rotate concentric with the first cutter; and at least one
floating tooth flexibly mounted to the second cutter, the at least
one floating tooth being kept substantially against at least one of
the plurality of fixed teeth when the second cutter rotates.
2. The cutting assembly of claim 1, wherein the second cutter
alternates rotating clockwise and counter-clockwise for a
predetermined time period.
3. The cutting assembly of claim 1, wherein the first and second
cutters have cylindrical bodies.
4. The cutting assembly of claim 3, wherein the second cutter can
rotate concentrically within the first cutter.
5. The cutting assembly of claim 3, wherein each of the at least
one floating tooth is attached to the second cutter such that each
floating tooth extends from and in a direction parallel to a center
axis of the cylindrical body of the second cutter.
6. The cutting assembly of claim 5, wherein the plurality of fixed
teeth extends from the cylindrical body of the first cutter and in
the direction parallel to the center axis of the cylindrical body
of the second cutter.
7. The cutting assembly of claim 3, further comprising a plurality
of mounted bearing plates for the purpose of keeping the first and
second cutters axially aligned.
8. The cutting assembly of claim 3, further comprising a plurality
of bearing plates mounted about the second cutter for the purpose
of keeping the first and second cutters axially aligned.
9. The cutting assembly of claim 3, further comprising a plurality
of bearing plates mounted about the first cutter for the purpose of
keeping the first and second cutters axially aligned.
10. The cutting assembly of claim 6, further comprising springs for
flexibly mounting each of the at least one floating tooth to the
second cutter.
11. The cutting assembly of claim 10, wherein the springs for
flexibly mounting each of the at least one floating tooth to the
second cutter are wavy springs.
12. The cutting assembly of claim 1, wherein the first and second
cutters have triangular bodies.
13. The cutting assembly of claim 1, wherein the first and second
cutters have square bodies.
14. The cutting assembly of claim 1, wherein the first and second
cutters are formed from carbon fiber.
15. The cutting assembly of claim 1, wherein the plurality of fixed
teeth are of substantially equal length.
16. The cutting assembly of claim 1, wherein the plurality of fixed
teeth are formed as blades having an angled cutting edge.
17. The cutting assembly of claim 1, wherein the plurality of fixed
teeth have rounded blade tips.
18. The cutting assembly of claim 1, wherein the plurality of fixed
teeth have a same unidirectional cutting edge.
19. The cutting assembly of claim 18, wherein the at least one
floating tooth has an angled cutting edge that opposes the
unidirectional cutting edge of the plurality of fixed teeth.
20. The cutting assembly of claim 1, wherein the at least one
floating tooth has a serrated cutting edge.
21. The cutting assembly of claim 1, wherein the plurality of fixed
teeth are longer than the at least one floating tooth.
22. A cutting assembly, comprising: dual concentric cylinders
comprising a rotatable inner cylinder within a non-rotatable outer
cylinder; a plurality of bearing plates mounted about the
non-rotatable outer cylinder for axially aligning the dual
concentric cylinders; a plurality of floating blades mounted about
the rotatable inner cylinder such that each floating blade
protrudes from the rotatable inner cylinder in a direction parallel
to a center axis of the dual concentric cylinders; a plurality of
stationary blades spaced apart along the non-rotatable outer
cylinder such that each stationary blade protrudes from the
non-rotatable outer cylinder in the direction parallel to the
center axis of the dual concentric cylinders, each stationary blade
having a same unidirectional cutting edge; and a plurality of
springs for mounting the plurality of floating blades about the
rotatable inner cylinder and for keeping the floating blades
substantially against the stationary blades as the rotatable inner
cylinder rotates within the non-rotatable outer cylinder.
23. The cutting assembly of claim 22, wherein plurality of the
floating blades have cutting edges angled in a direction that
causes the plurality of floating blades to act as shears when
rotating past the plurality of stationary blades.
24. The cutting assembly of claim 22, wherein the plurality of
floating blades are removable for easy maintenance.
25. The cutting assembly of claim 22, wherein the plurality of
bearing plates are adjustable in depth and tilt.
26. The cutting assembly of claim 22, wherein six bearing plates
are mounted in pairs about the non-rotatable outer cylinder for the
purpose of axially aligning the dual concentric cylinders.
27. An unmanned underwater vehicle, comprising: an outer hull; and
a cutting assembly located within the outer hull, the cutting
assembly comprising: a stationary cutter having a cylindrical body
and a plurality of fixed teeth extending from one end of the
stationary cutter; a floating cutter axially aligned with the
stationary cutter, the floating cutter being able to rotate
concentrically within the stationary cutter; and a plurality of
floating teeth flexibly arranged about and extending from one end
of the floating cutter, the plurality of floating teeth and the
plurality of fixed teeth extending in a same direction, and the
plurality of floating teeth being kept substantially against at
least one of the plurality of fixed teeth when the floating cutter
rotates.
28. The unmanned underwater vehicle of claim 27, wherein the
cutting assembly further comprises a microcontroller for
controlling a plurality of cutting assembly functions.
29. The unmanned underwater vehicle of claim 28, wherein the
plurality of cutting assembly functions includes setting a cutter
run time, a cutter retrieval time, and a cutter deployment
speed.
30. The unmanned underwater vehicle of claim 27, wherein the
cutting assembly further comprises a plurality of bearing plates
mounted about the stationary cutter for the purpose of keeping the
stationary and floating cutters axially aligned.
31. The unmanned underwater vehicle of claim 27, wherein the
cutting assembly further comprises an internal ring gear mounted on
an inside surface of the floating cutter, a motor and switch
assembly mounted to the stationary cutter, and an external gear
mounted to the motor and meshing with the internal ring gear for
rotating the floating cutter concentrically within the stationary
cutter.
32. The unmanned underwater vehicle of claim 27, wherein the
cutting assembly further comprises springs for flexibly arranging
each of the plurality of floating teeth about the floating
cutter.
33. The unmanned underwater vehicle of claim 32, wherein a
bi-directional cutting action results when the plurality of
floating teeth slides against the plurality of fixed teeth.
34. The unmanned underwater vehicle of claim 27, wherein the
cutting assembly further comprises a plurality of roller bearings
for extending and retracting the floating and stationary
cutters.
35. The unmanned underwater vehicle of claim 27, wherein the
cutting assembly further comprises a plurality of slide rails
mounted about an inside surface of the outer hull for extending and
retracting the floating and stationary cutters.
36. The unmanned underwater vehicle of claim 35, wherein the
cutting assembly further comprises an actuator in contact with the
stationary cutter and the outer hull, and an actuator controller
for controlling the actuator for extending and retracting the
floating and stationary cutters from a forward end of the outer
hull.
37. The unmanned underwater vehicle of claim 36, wherein the
actuator comprises a plurality of actuators.
38. The unmanned underwater vehicle of claim 27, wherein the
plurality of fixed teeth are substantially equally spaced about the
stationary cutter.
39. The unmanned underwater vehicle of claim 27, wherein the
floating and stationary cutters have thin walled cylindrical
bodies.
40. The unmanned underwater vehicle of claim 39, wherein three
floating teeth are arranged about the floating cutter such that no
more than one of the three floating teeth are cutting at the same
time.
41. The unmanned underwater vehicle of claim 27, wherein the
floating cutter has a triangular body that fits concentrically
within the cylindrical body of the stationary cutter.
42. The unmanned underwater vehicle of claim 27, wherein the
floating cutter has a square body that fits concentrically within
the cylindrical body of the stationary cutter.
43. The unmanned underwater vehicle of claim 27, wherein the
floating cutter has a Y-shaped body that fits concentrically within
the cylindrical body of the stationary cutter.
44. The unmanned underwater vehicle of claim 27, wherein the
floating cutter has a foam inner center for natural buoyancy.
45. The unmanned underwater vehicle of claim 27, wherein the
cutting assembly is stored in a space inside the unmanned
underwater vehicle between a forward looking sonar and the outer
hull.
46. A method of cutting an object using dual concentric cutters
comprising a first cutter having at least one floating tooth and a
second cutter having a plurality of fixed teeth, the method
comprising the steps of: rotating the first cutter concentrically
within the second cutter; moving the dual concentric cutters toward
the object; capturing the object with at least one of the plurality
of fixed teeth; and cutting the object using the at least one
floating tooth, the object being cut by a severing action caused by
the at least one floating tooth sliding against the plurality of
fixed teeth.
47. A method of penetrating an object by an underwater vehicle
using a cutting assembly comprising dual concentric cutters, the
method comprising the steps of: detecting the object in a path of
the underwater vehicle; deploying the cutting assembly such that
the dual concentric cutters extend out from a forward end of the
underwater vehicle; rotating a rotatable cutter of the cutting
assembly, the rotatable cutter having a plurality of spring-mounted
floating teeth; capturing the object with one or more fixed teeth
extending from a non-rotatable cutter of the cutting assembly;
cutting the object as at least one of the plurality of
spring-mounted floating teeth slides against the one or more fixed
teeth; and retracting the dual concentric cutters into the
underwater vehicle.
48. The method of claim 47, wherein the step of detecting the
object is determined by a speed signal provided by the underwater
vehicle.
Description
FIELD OF THE INVENTION
[0001] The invention relates generally to a cutting assembly, and
in particular to a system, method, and apparatus for cutting nets
and other objects.
BACKGROUND
[0002] The use of fishing nets and other objects in water bodies
can present a significant obstacle to marine vessels and underwater
vehicles, especially in littoral zones where fishing activity is
concentrated. Marine vessels and underwater vehicles can encounter
fishing nets in a variety of orientations and tensions. Some nets
are constructed with a light monofilament line and have simple
square patterns. Other nets are constructed with a heavy, braided
line and have complex patterns. Nets can also be anchored and
tightly strung, be loose and compliant, or float with weights
distributed on the bottom.
[0003] Unmanned underwater vehicles (UUVs) have contributed greatly
to the gathering of information in harbors and littoral waters
where other underwater vehicles such as submarines cannot travel or
be easily detected. For example, UUVs can carry out critical
missions in the areas of intelligence, surveillance,
reconnaissance, mine countermeasures, tactical oceanography,
navigation and anti-submarine warfare. Mission performances,
however, have been hindered by UUVs' inability to penetrate through
fishing nets and other objects while traveling underwater.
[0004] Presently, UUV mission areas are scanned for fishing nets
and other objects. Mission routes are selected so as to minimize
the probability of encountering objects even though the selected
route may not be the shortest or the most desired route. Yet, UUVs
may be called upon during mission critical situations to penetrate
waters in which there is a high probability of encountering fishing
nets and other objects. In these situations, a UUV may be forced to
stop and maneuver around obstacles encountered during its mission.
If a UUV gets entangled in a fishing net, divers may be required to
retrieve the UUV and cause significant operation delay. Operation
failure may result if the UUV is not retrievable or lost
altogether.
[0005] Accordingly, there is a need and desire for an apparatus,
system and method for easily and quickly penetrating through nets
and other objects.
BRIEF DESCRIPTION OF THE DRAWINGS
[0006] FIG. 1 is a diagram of a UUV system in accordance with an
embodiment described herein.
[0007] FIG. 2A is an external view of a concentric cutting assembly
in accordance with an embodiment described herein.
[0008] FIG. 2B is an internal view of a concentric cutting assembly
in accordance with an embodiment described herein.
[0009] FIG. 3 is a profile view of a concentric cutting assembly in
accordance with an embodiment described herein.
[0010] FIG. 4 shows an inside view of a concentric cutting assembly
in accordance with an embodiment described herein.
[0011] FIG. 5 is a schematic diagram of an electronic assembly of a
concentric cutting assembly in accordance with an embodiment
described herein.
[0012] FIG. 6 is a flow chart of a method for penetrating through a
net in accordance with an embodiment described herein.
[0013] FIG. 7A illustrates a concentric cutting assembly in an
armed state in accordance with an embodiment described herein.
[0014] FIG. 7B illustrates a concentric cutting assembly in a
deployed state in accordance with an embodiment described
herein.
[0015] FIG. 7C illustrates a deployed concentric cutting assembly
cutting a net in accordance with an embodiment described
herein.
[0016] FIG. 7D illustrates a concentric cutting assembly in a
retracted state in accordance with an embodiment described
herein.
DETAILED DESCRIPTION OF THE INVENTION
[0017] In the following detailed description, reference is made to
the accompanying drawings, which form a part hereof and illustrate
specific embodiments that may be practiced. In the drawings, like
reference numerals describe substantially similar components
throughout the several views. These embodiments are described in
sufficient detail to enable those skilled in the art to practice
them, and it is to be understood that structural and logical
changes may be made. Sequences of steps are not limited to those
set forth herein and may be changed or reordered, with the
exception of steps necessarily occurring in a certain order.
[0018] The problem of penetrating through nets and other objects is
solved by cutting the object using concentric cutters in which a
rotatable cutter having floating teeth rotates concentrically about
a non-rotatable cutter having fixed teeth. The object is cut by a
severing action caused by the floating teeth of the rotatable
cutter sliding against the fixed teeth of the non-rotatable
cutter.
[0019] Disclosed embodiments include a system for penetrating
through fishing nets and other objects, as well as various
apparatuses including a concentric cutting assembly for use in this
system. Embodiments of the concentric cutting assembly include an
inside cutter rotating concentrically within an outside cutter, the
inside cutter having floating teeth that slide against teeth fixed
to the outside cutter. Further, disclosed embodiments include
methods for penetrating through fishing nets and other objects.
[0020] The invention may be used to particular advantage in the
context of underwater vehicles traveling in areas with high fishing
activity. Therefore, the following example embodiments are
disclosed in the context of UUV systems. However, it will be
appreciated that those skilled in the art will be able to
incorporate the invention into numerous other alternative systems
that, while not shown or described herein, embody the principles of
the invention.
[0021] FIG. 1 shows a UUV system 130 in accordance with an
embodiment described herein. UUV 130 is integrated with a
concentric cutting assembly 100 at the forward end and a propulsor
140 at the aft end. UUV 130 may be, for example, a modified ANT
Glider Eyak 01 developed by Alaska Native Technologies, LLC or a
modified Remus 600 developed by Hydroid, Inc. In accordance with an
advantageous feature of this disclosed embodiment, concentric
cutting assembly 100 integrates seamlessly within UUV housing 110
as can be seen in FIG. 1. Seamless integration of concentric
cutting assembly 100 has the effect of minimizing drag as UUV 130
moves underwater and the effect of minimizing the power required
for concentric cutting assembly 100 to penetrate through nets and
other objects. In accordance with another advantageous feature of
this disclosed embodiment, concentric cutting assembly 100 is
deployed from the forward end of UUV 130, thus, enabling UUV 130 to
quickly and efficiently penetrate through objects blocking its
path.
[0022] FIG. 2A is an external view of concentric cutting assembly
100 integrated into UUV 130 in accordance with the embodiment
depicted in FIG. 1. FIG. 2B is an internal view showing the
components inside concentric cutting assembly 100 in accordance
with the embodiment depicted in FIG. 2A. Concentric cutting
assembly 100 includes two concentric cutters: non-rotatable cutter
280 and rotatable cutter 290. Non-rotatable cutter 280 can be a
composite cutter comprising outer cylinder 210 and fixed teeth 240.
Rotatable cutter 290 comprises inner cylinder 220 and floating
teeth 250.
[0023] Slide rails 200 are attached to the inside of UUV housing
110 as shown in FIG. 2B. Concentric cutters 280 and 290 move back
and forth along slide rails 200. Concentric cutters 280 and 290
move forward along slide rails 200 to engage and cut fishing nets
and other objects encountered by UUV 130 during a mission. After
the object is cut, concentric cutters 280 and 290 retract along
slide rails 200 into their original position inside UUV housing
110. Three slide rails 200 are used in the example embodiment of
FIG. 2B. If desired, particular embodiments may optionally include
only two slide rails, more than three slide rails, or any other
means for extending and retracting concentric cutters 280 and 290.
Those skilled in the art will appreciate that alternative
embodiments may employ roller bearings instead of slide rails. The
roller bearings can be contained within slots to prevent rotation
of non-rotatable cutter 280.
[0024] Outer cylinder 210 is mounted on slide rails 200. Inner
cylinder 220 rotates concentrically within outer cylinder 210. Six
bearing plates 230 are mounted to outer cylinder 210 (four of which
are visible in FIG. 2B). Bearing plates 230 serve two main
purposes: (1) to keep concentric cylinders 210 and 220 axially
aligned and (2) to keep floating teeth 250 in constant contact with
fixed teeth 240. Each bearing plate 230 can be adjusted in depth
and tilt. If desired, particular embodiments may optionally mount
bearing plates 230 to inner cylinder 220. Any desired number of
bearing plates may optionally be used, however, the present
inventors have found that six bearing plates are effective in
axially aligning concentric cylinders 210 and 220.
[0025] Concentric cylinders 210 and 220 of the disclosed embodiment
are made of carbon fiber, however, cylinders 210 and 220 can be
made of any other material with properties similar to carbon fiber,
such as, for example, titanium, stainless steel and carbon steel.
The present inventors have found that carbon fiber is sufficiently
strong to be used for penetrating nets and other objects and can be
easily fabricated.
[0026] As shown in FIG. 2B, outer cylinder 210 can be formed with
fixed teeth 240 protruding from one end in a direction parallel to
the center axis of outer cylinder 210. Fixed teeth 240 are each
formed as blades having substantially the same angled cutting edge
as each other. According to the embodiment of FIG. 2B, thirty-six
fixed teeth 240 are evenly spaced about outer cylinder 210. A
cutting assembly embodying the principles of the invention can have
any desired number of fixed teeth, however. Moreover, the fixed
teeth can each have different shapes than shown, as is known in the
art.
[0027] In accordance with an advantageous feature of the disclosed
embodiment, three floating teeth 250 are spring-mounted about one
end of the outer surface of inner cylinder 220. Similar to fixed
teeth 240, floating teeth 250 are formed as blades and have
substantially the same angled cutting edge as each other. Further,
floating teeth 250 extend from inner cylinder 220 along the same
direction as fixed teeth 240 such that the blades of floating teeth
250 are parallel to the blades of fixed teeth 240.
[0028] The present inventors have discovered that three floating
teeth are effective at severing nets and other objects. Using a
reduced number of floating teeth, compared to the number of fixed
teeth, has two important benefits. First, a reduced number of
floating teeth reduces the surface contact area formed by the
floating teeth sliding against the fixed teeth, which produces less
sliding friction between the cutting surfaces. Less sliding
friction requires less torque and, thus, less power is required to
run concentric cutting assembly 100. Second, peak power consumption
is minimized because the three floating teeth 250 can be positioned
around inner cylinder 220 such that no two pairs of floating teeth
and fixed teeth are ever cutting at the same time.
[0029] Fixed teeth 240 and floating teeth 250 are fabricated from
stainless steel in the embodiment of FIG. 2B. If desired,
particular embodiments may optionally fabricate teeth from
titanium, carbon steel, or any other metal with properties similar
to stainless steel. The inventors found that galling can roughen
the contact areas between fixed teeth 240 and floating teeth 250
after repeated use of concentric cutting assembly 100. A lubricant
such as AntiSeeze lube may optionally be placed between the cutting
surfaces to prevent material transferring from one surface to the
other surface and to reduce friction. Alternatively, a cutting
surface may be coated with a hardened material such as titanium
nitride (TiN), titanium aluminum nitride (TiAN) or titanium carbon
nitride (TiCN) to prevent material transfer. In addition, an
anti-friction coating such as molybdenum sulfite (MoST) may be
optionally placed over the hardened material to reduce
friction.
[0030] If UUV 130 does not have its own neutral buoyancy mechanism,
particular embodiments may optionally include foam 260 for neutral
buoyancy. Foam 260 can be positioned in the center of inner
cylinder 220 around center pipe 270. If desired, foam 260 can
alternatively be positioned in the rear of concentric cutting
assembly 100 if UUV 130 has a forward looking sonar located in the
center of inner cylinder 220.
[0031] FIG. 3 is a profile view of concentric cutting assembly 100
in accordance with the embodiment disclosed in FIG. 2B. In
accordance with an advantageous feature of the disclosed
embodiment, concentric cutting assembly 100 includes two
thin-walled concentric cutters 280 and 290. A thinly profiled
concentric cutting assembly 100 allows it to fit tightly between
UUV housing 110 and a forward looking sonar, if one exists in UUV
130. Although concentric cutting assembly 100 is less than one inch
thick in this example embodiment, it can be readily appreciated
that the thickness of concentric cutting assembly 100 can be
adjusted based on the space constraints of the particular UUV
system and other alternative systems.
[0032] In accordance with another illustrative feature of the
disclosed embodiment, floating teeth 250 are mounted to inner
cylinder 220 using low profile springs 300. Wavy springs such as
those manufactured by Smalley Steel Ring Company can be used to
keep the cutting assembly profile narrow. The inventors have found
that mounting floating teeth 250 to inner cylinder 220 using
springs 300 provide three main benefits. First, springs 300 keep
the cutting surfaces formed by floating teeth 250 and fixed teeth
240 tightly together. Tight cutting surfaces facilitate quick and
efficient cutting of nets and other objects. Second, springs 300
keep cylinders 210 and 220 tightly against each other. Third,
spring-mounted floating teeth 250 act like another set of bearings
to keep concentric cylinders 210 and 220 evenly apart and axially
aligned.
[0033] It will be appreciated that the size and shape of floating
teeth 250 and fixed teeth 240 are not limited to the example
embodiment depicted in FIGS. 2 and 3. In fact, any size and shape
of floating teeth 250 and fixed teeth 240 can be used so long as
each floating tooth 250 creates a bi-directional shearing action
when sliding against fixed teeth 240. Preferably, the blades of
fixed teeth 240 have the same or substantially the same cutting
angle. The present inventors have found that blades with a 30 to 70
degree angle, preferably a 55 degree angle, are effective at
cutting nets and other objects. It will be appreciated that the
cutting angle may need to be adjusted based on the objects to be
penetrated. For instance, blades with wide cutting angles are more
effective at cutting through thick fishing nets than blades with
narrower cutting angles. Moreover, the shearing action is more
effective if the cutting surface consists of the entire edge of the
blade. The present inventors have also discovered that fixed teeth
240 with rounded tips have the advantageous features of capturing
and holding the net in place while also preventing the rounded tips
from catching on the net itself as rotatable cutter 290 rotates to
cut the object. In contrast, floating teeth 250 preferably have
pointed tips for more effective cutting.
[0034] Another advantageous feature of the disclosed embodiment is
that rotatable cutter 290 is free floating--supported only by means
that keep it axially aligned with non-rotatable cutter 280. In the
example embodiment depicted in FIGS. 2 and 3, non-rotatable cutter
280 is cylindrical conforming to the shape of UUV housing 110 in
order for concentric cutting assembly 100 to seamlessly integrate
with UUV 130. However, it will be appreciated that rotatable cutter
290 may be shaped other than as a cylinder. If desired, particular
embodiments may optionally include a rotatable cutter shaped as an
equilateral triangle, square, Y-shaped, pentagon, or any other
shape so long as the rotatable cutter can rotate concentrically
within non-rotatable cutter 280 and be mounted with at least one
floating tooth.
[0035] If desired, non-rotatable cutter 280 can have a
non-cylindrical shape in systems in which the non-rotatable cutter
does not have to conform to the cylindrical shape of UUV system
130. In an alternative embodiment, for example, the concentric
cutters can be comprised of two concentric equilateral triangles in
which one, two, or three floating teeth are mounted to a respective
corner of the rotatable triangular cutter, and bearing plates are
aligned with the floating teeth for axially aligning the concentric
cutters. In yet another alternative embodiment, the concentric
cutters can be comprised of two concentric squares with one to four
floating teeth mounted to a respective corner of the rotatable
square cutter. It will be appreciated by those skilled in the art
that a rotatable cutter embodying the principles of the invention
can be any shape as long as it can rotate concentrically about a
non-rotatable cutter and has at least one floating tooth that is
kept tightly against at least one tooth fixed to the non-rotatable
cutter.
[0036] Rotatable cutter 290 can rotate clockwise or counter
clockwise continuously in one direction. Those skilled in the art
will appreciate that the direction of rotation does not matter as
along as floating teeth 250 slide against fixed teeth 240 to create
a shearing action that cuts fishing nets and other objects. In an
alternative embodiment, rotatable cutter 290 can be configured to
rotate in both directions. For instance, rotatable cutter 290 can
alternate rotating clockwise and counter clockwise for a
pre-determined time period.
[0037] FIG. 4 shows an inside view of concentric cutting assembly
100 in accordance with an embodiment described herein. A motor
system housed within motor housing 430 provides the means to rotate
inner cylinder 220. The motor system may be, for example, the Maxon
RE 40 brushed motor equipped with a planetary gearhead such as a
Maxon GP 42 gearhead. By mounting motor housing 430 to outer
cylinder 210, rotatable cutter 290 can start rotating at any
position with respect to non-rotatable cutter 280 and gain momentum
before concentric cutting assembly 100 contacts an object. Spur
gear 420 is mounted to the output shaft of the planetary gearhead
and mates with internal ring gear 410, which is mounted to inner
cylinder 220.
[0038] Actuator 400 moves concentric cutters 280 and 290 forward
through UUV housing 110 to penetrate nets and other objects and
retracts concentric cutters 280 and 290 after penetration. Actuator
400 may be, for example, a Firgelli Automations model ZYJ
05-11-12-3, which has a stroke length of 3'' and can move from
fully retracted to fully extended in 1.5 seconds and provide up to
50 lbs of actuation force to outer cylinder 210. Alternatively, an
Ultra Motion Digit HT17 High-Torque NEMA 17 stepper motor actuator
(Part No. D-A.083-HT17-4-2N0-RBC4S/RBC4S-SUW), which has comparable
speed to the Firgelli actuator, can be used to supply up to 40 lbs
of actuation force to outer cylinder 210. One contact point of
actuator 400 is mounted to outer cylinder 210 while the other
contact point of actuator 400 is mounted on the inside of UUV
housing 110 as shown in FIG. 4. If desired, particular embodiments
may optionally include multiple actuators without significantly
increasing the profile or thickness of concentric cutting assembly
100. The multiple actuators can be placed radially about outer
cylinder 210 and UUV housing 110.
[0039] Concentric cutting assembly 100 requires a power source and
a speed signal to operate. Both the power source and the speed
signal can be supplied by or be provided completely independent of
UUV 130.
[0040] FIG. 5 is a schematic diagram of an electronic assembly of
concentric cutting assembly 100 in accordance with an embodiment
described herein. Power is required to run the electronics housed
in electronics housing 500. Concentric cutting assembly 100 can be
configured to utilize the battery typically used by UUV 130 to
power propulsor 140 to power its own electronics. Electronics
housing 500 contains microcontroller 530, DC-DC converter 510,
motor relay 520 and actuator controller 540. As shown in FIG. 2B,
UUV housing 110 has a recess at the rear of concentric cutting
assembly 100. This recess is deep enough to fit electronics housing
500.
[0041] Microcontroller 530 controls concentric cutting assembly 100
functions including setting a cutter deployment speed for the speed
at which concentric cutters 280 and 290 are deployed, a cutter run
time for the length of time that rotatable cutter 290 rotates at
full speed, and a cutter retrieval time for the length of time it
takes to retract concentric cutters 280 and 290 after cutting.
[0042] Preferably, components such as motor housing 430, actuator
400 and electronics housing 500 are made waterproof. In this
disclosed embodiment, actuator 400 is waterproofed using a silicone
rubber boot. Further, motor housing 430 is machined from PVC with a
double "0" ring shaft seal. All housing joints are double sealed to
protect against water infiltration. Surrounding electronics housing
500 are four waterproof connectors 550. One waterproof connector is
located on each side of electronics housing 500.
[0043] FIG. 6 is a flow chart of a method for penetrating through a
fishing net in accordance with an embodiment described herein. At
step 600, microcontroller 530 waits for a speed signal from UUV
130. It should be appreciated by those skilled in the art that the
speed signal can be generated by UUV 130 using any known method of
speed detection. Speed sensors such as a pressure switch or a
paddle wheel can be used to measure the speed at which UUV 130 is
traveling.
[0044] According to the disclosed embodiment, UUV 130 is configured
to travel at 3.0 knots when carrying out a mission. An arming
threshold speed can be set at any speed between 0 and 3 knots,
preferably 2.5 knots, for the purpose of determining when to arm
concentric cutting assembly 100.
[0045] Upon receiving a speed signal from UUV 130, microcontroller
530 determines at step 610 whether UUV 130 is traveling at a speed
above the arming threshold speed. Concentric cutting assembly 100
remains disarmed until UUV 130 reaches the arming threshold speed
of 2.5 knots. If the speed signal value is above the arming
threshold speed, microcontroller 530 sends a control signal to arm
concentric cutting assembly 100 at step 620, if it is not already
armed. FIG. 7A illustrates concentric cutting assembly 100 in an
armed state with concentric cutters 280 and 290 inside UUV housing
110. The method returns to step 600 to wait for the next speed
signal from UUV 130.
[0046] When UUV 130 detects an obstacle in its path, its speed will
decrease. The same speed sensor used by UUV 130 to measure its
speed can also be used for object detection. For instance, when UUV
130 comes into contact with an obstruction, its speed will
decrease. Speed changes can be measured and provided to
microcontroller 530. A cutting activation threshold speed can be
set for the purpose of determining when to deploy concentric
cutting assembly 100. It should be appreciated by those skilled in
the art that UUV 130 can employ any known method of object
detection. At step 630, microprocessor 530 determines whether UUV
130 is traveling at a speed below the cutting activation threshold
speed of 2.0 knots.
[0047] If UUV 130 is traveling at a speed below the cutting
activation threshold speed, microcontroller 530 determines whether
concentric cutting assembly 100 is armed at step 635.
Microcontroller 530 sends a control signal to deploy concentric
cutters 280 and 290 at step 640 if concentric cutting assembly 100
is armed. During deployment, concentric cutters 280 and 290 extend
out of the forward end of UUV 130 along slide rails 200 as shown in
FIG. 7B. At the same time, rotatable cutter 290 starts rotating,
preferably in a counter clockwise direction. Rotatable cutter 290
is also preferably rotating at full cutting speed by the time
non-rotatable cutter 280 comes into contact with fishing net 750.
In this disclosed embodiment, rotatable cutter 290 has a full
cutting speed of 100 revolutions per minute (RPM).
[0048] At step 650, concentric cutting assembly 100 penetrates
through fishing net 750 using concentric cutters 280 and 290.
Non-rotatable cutter 280 captures and holds net 750 using at least
one fixed teeth 240. The present inventors have discovered that
holding the net or other object in place using non-rotatable cutter
280 has two primary benefits. First, UUV 130 is held still with
respect to net 750. In other words, rotatable cutter 290 will not
cause UUV 130 to rotate. Second, net 750 is held taut which
facilitates quicker and easier cutting.
[0049] Rotatable cutter 290 rotates for a predetermined length of
time, preferably 6 seconds. The length of time should be sufficient
for UUV 130 to penetrate net 750 using the shearing action caused
by floating teeth 250 sliding against fixed teeth 240. It will be
appreciated that the direction of rotation can be clockwise or
counter clockwise so long as a bi-directional shearing action
results from the rotation. FIG. 7C shows concentric cutting
assembly 100 using cutters 280 and 290 to penetrate through fishing
net 750.
[0050] UUV 130 continues with its mission after cutting net 750. At
step 660, concentric cutters 280 and 290 retract into their
original positions inside UUV housing 110 along slide rails 200. If
desired, concentric cutting assembly 100 may optionally be disarmed
at step 660. The process returns to step 600 to wait for the next
speed signal from UUV 130.
[0051] Disclosed embodiments will simplify and add flexibility to
UUV mission planning and execution. UUV operation remains
essentially unchanged until an object is detected. Once the object
is detected, the concentric cutting assembly will engage the
object, penetrate the object, and allow the UUV to carry out its
mission with minimal loss of time. Disclosed embodiments allow a
greater percentage of missions to be performed with a reduced risk
of UUV loss or damage.
[0052] The foregoing merely illustrate the principles of the
invention. For example, although the concentric cutters of the
illustrative embodiments consist of a single non-rotatable cutter
and a single rotatable cutter, it is possible for alternative
embodiments to incorporate more than one stationary cutter and more
than one rotating cutter. In addition, although the floating teeth
of the illustrative embodiment have a certain shape, other shapes,
materials and configurations are possible. In still other
alternative embodiments, UUVs may require a completely autonomous
concentric cutting assembly. The concentric cutting assembly in
these alternative embodiments can be attached to the outer surface
of the UUV and have a separate object detection sensor or speed
sensor and an independent power supply. Although the invention may
be used to particular advantage in the context of UUVs, those
skilled in the art will be able to incorporate the invention into
other underwater vehicles, marine vessels, and non-marine systems.
It will thus be appreciated that those skilled in the art will be
able to devise numerous alternative arrangements that, while not
shown or described herein, embody the principles of the invention
and thus are within its spirit and scope.
* * * * *