U.S. patent number 3,720,433 [Application Number 05/076,345] was granted by the patent office on 1973-03-13 for manipulator apparatus for gripping submerged objects.
Invention is credited to Andre M. Rosfelder.
United States Patent |
3,720,433 |
Rosfelder |
March 13, 1973 |
MANIPULATOR APPARATUS FOR GRIPPING SUBMERGED OBJECTS
Abstract
A resilient, plate-like body member is secured to an articulated
manipulator frame in position to be moved by the frame into a
pressurized, gripping contact with the object to be manipulated.
The body member carries a plurality of closely spaced suction cups
which directly engage and grip the object and, to augment the
gripping action as well as permit release of the suction grip of
the cups, the body member is provided interiorly with a main
hydraulic circuit extending in network fashion into relatively
close proximity with each suction cup. A separate hydraulic conduit
communicates the central portion of each cup with the hydraulic
circuit and the circuit leads to a valve movable from a closed to
an open position in which the hydraulic circuit as well as the cups
which it serves are exposed to the sea water environment. The
suction grip is achieved by pressing the body member into
engagement with the object. Release of the object is achieved by
opening the valve to admit environmental water which relieves the
suction grip. A pump also may be coupled to the main hydraulic
circuit through the valve to increase the gripping action. To
accommodate irregularly shaped objects, the resilient body member
can be made to conform by using a plurality of cells that can be
expanded or contracted by pressurized fluid to produce a desired
bend. To avoid the loss of suction from cups not in contact with
the object, the cups each may be provided with an automatic valve
having a balanced piston actuated by a pin only when the cup
engages the object.
Inventors: |
Rosfelder; Andre M. (La Jolla,
CA) |
Family
ID: |
22131407 |
Appl.
No.: |
05/076,345 |
Filed: |
September 29, 1970 |
Current U.S.
Class: |
294/188;
294/65 |
Current CPC
Class: |
B66C
1/0243 (20130101); B66C 1/0212 (20130101) |
Current International
Class: |
B66C
1/00 (20060101); B66C 1/02 (20060101); B66c
001/02 () |
Field of
Search: |
;294/64R,64A,64B,65
;61/69 |
References Cited
[Referenced By]
U.S. Patent Documents
Foreign Patent Documents
Primary Examiner: Blunk; Evon C.
Assistant Examiner: Stoner, Jr.; Bruce H.
Claims
I claim
1. Manipulator apparatus for gripping submerged objects
comprising:
an articulated gripper arm frame member,
a resilient plate-like body member carried by said frame
member,
a plurality of closely-spaced rubber-light suction means carried by
said body member for directly engaging the object to be
manipulated,
a main hydraulic circuit formed within the body member in proximity
with each suction cup,
a separate hydraulic conduit communicating the central portion of
each cup with said hydraulic circuit,
conduit means communicating said main circuit with the water
environment of said apparatus,
a valve disposed in said conduit means,
a plurality of longitudinally-spaced cells formed within the body
member near one of its face surfaces, and
means for applying pressure to said cells whereby the shape of the
cells is varied for producing a curvature of body member,
said suction means being formed for exerting a suction grip on said
object when pressed into engagement with it and said valve being
openable to admit environmental water for relieving said suction
grip to permit release of the object.
2. The apparatus of claim 1 further including low pressure means
communicated through said valve with said main hydraulic circuit
for increasing the gripping force of said suction means.
3. The apparatus of claim 2 wherein said cell pressure means
expands said cells.
4. The apparatus of claim 2 wherein said cell pressure means
contracts said cells.
5. The apparatus of claim 2 wherein said cell pressure means is a
pump and the pump communicates with said cells through said main
hydraulic circuit.
Description
The invention described herein may be manufactured and used by or
for the Government of the United States of America for governmental
purposes without the payment of any royalties thereon or
therefor.
BACKGROUND OF THE INVENTION
The present invention relates to manipulators for the handling and
recovering of objects from the sea bottom and, in particular, to
suction-type gripper members for securely engaging and manipulating
these objects.
Manned and unmanned deep-sea submersibles presently are used for a
variety of purposes included among which is the task of handling
and recovering objects resting on the sea bottom. To accomplish
this task, the submersibles are provided with manipulators which
project outwardly and are provided with gripping arms frequently
having the shape and articulation of a crab's claw. Although
considerable success has been experienced with these manipulators,
it nevertheless has been found that the contact between their hard
polished surfaces and the object results in slippage which renders
the recovery task far more difficult and time-consuming.
Improvement of the gripping action of course can be achieved by
increasing the frictional engagement of the manipulator and it is
known that one way of improving the friction is provided by the use
of suction cups which nature has implemented in the octopus.
However, due particularly to the high hydrostatic pressures
experienced at the depths in which the submersibles operate, it
becomes quite difficult to free the object after the suction grip
has been applied.
It therefore is a primary object of the present invention to
provide a manipulator adapted for deep sea submersibles, the
manipulator having a suction-type gripping action and further being
provided with means assuring rapid relief of the suction when
release of the object is desired.
Another object is to provide a manipulator of the type described in
the foregoing object, the manipulator employing the water pressure
of the sea-water environment to achieve the release.
Still another object is to provide a suction-type liner member for
use with existing submersible manipulators.
A further object is to provide a novel manipulator utilizing a
frame-supported resilient member to carry the suction cups, the
resilient member being provided with means for varying its
curvature in conformity with the curvature of the object to be
gripped.
Yet another specific object is to provide a special suction cup for
use with the manipulators.
These and other objects are achieved by utilizing a resilient,
plate-like body member capable of being attached to a manipulator
frame as a liner or of being secured as an independent plate member
having its own reinforcement for achieving the strength and
rigidity necessary to produce the gripping force. The resilient
body member carries a plurality of closely spaced suction cups each
of which has its central portion communicated with a main hydraulic
circuit that leads to a valve which may be within the submersible
or, if desired, can be remotely controlled from the submersible.
Preferably, although not necessarily, a suction pump or other
suitable low-pressure means, communicates with the main hydraulic
circuit through the valve. When the manipulator is to be engaged
with the object, its articulated frame can be moved to press the
suction cups of the body member into tight contact with the object,
the water in the suction cups then escaping from the sides of the
cups and also escaping through holes or passages provided in the
body member. During this initial engagement, the valve may be
closed, although preferably the suction grip is improved by opening
the valve and subjecting the suction cups to the low pressure
produced by the vacuum pump or other low pressure means. When
release of the object is desired, the valve is opened to admit sea
water the pressure of which then is applied to the suction cups
through the main hydraulic lines to relieve the suction. Opening of
the valve to the sea water, of course, closes the pump circuit.
In one embodiment the body member is provided with its own
reinforcement so as to function as an independent gripper rather
than as a liner for existing manipulator frame. However, resiliency
is retained and means also are provided to permit the resilient
body member to conform to the curvature of the object being
gripped. The means for producing the conformity most suitably
includes a plurality of cells each coupled to a pressure line which
exerts high or low pressures to expand or contract the cells. The
cells are disposed near one or the other face of the body member of
the plate-like body member so that the expansion or contraction
reduces or expands this particular face to provide the desired
curvature. Other features of the invention, such as a suction cup
mechanism for preventing loss of suction when one of the cups is
not engaged with the object, will be described subsequently.
BRIEF DESCRIPTION OF THE DRAWINGS
The invention is illustrated in the accompanying drawings of
which
FIG. 1 diagrammatically illustrates a manipulator frame suitable
for use in the present invention, the frame carrying a suction-type
gripper member;
FIG. 2 is a diagrammatic illustration of one type of the
suction-type gripper member suitable for use preferably as a liner
to cover the clamping surfaces of the existing manipulators;
FIG. 2a is a top plan view of the gripper member shown in FIG.
2;
FIG. 3 is a cross section of FIG. 2 taken along lines 3--3 of FIG.
2;
FIG. 4 is another diagrammatic illustration of a suction-type
gripper member especially adapted for use with a manipulator frame
of the type shown in FIG. 1, this member utilizing expandable cells
to permit the gripper member to conform to a curvature of the
object to be gripped;
FIG. 5 is a view similar to FIG. 4 showing the cells in their
expanded state;
FIG. 6 is a view similar to FIG. 4 showing another cellular
arrangement capable of producing a desired curvature;
FIG. 7 is a view similar to FIG. 6 showing the cells of FIG. 6 in a
contracted state; and
FIG. 8 is a sectional view also in diagrammatic form showing a
special type of suction cup.
DETAILED DESCRIPTION OF THE INVENTION
Referring to the drawings, the manipulator of FIG. 1 includes an
elongate arm or column 1 which, as will be appreciated, extends
outwardly from the skin or hull of a submersible, the column
telescopically supporting a frame member 2 which can be of any
configuration although, as shown, it includes primary support arms
3 and 4 coupled through joints to shorter support arms 6 and 7
which, in turn, carry a gripper member generally identified in FIG.
1 by numeral 8. The whole arrangement is articulated to the extent
that reciprocation of members 3 and 4 relative to column 1 causes
the gripper member to close about an object to be manipulated or to
open and release it. As will be appreciated, the illustrated
manipulator is intended to be exemplary only and, of course, a wide
variety of configurations may be used depending upon the primary
purpose which the manipulator is intended to fulfill.
The present invention principally is concerned with improving the
frictional engagement of gripper member 8 and, as has been stated,
the improvement essentially resides in the use of suction devices
and the control of the suction of these devices. It also has been
stated that the gripper member used for the manipulator either can
be employed as a liner or existing grippers or as an independent
member attached to a frame such as frame 2 of FIG. 1. When used as
a liner, the gripper member can be formed in the manner illustrated
in FIGS. 2, 2a and 3 in which it will be seen that the member
includes a resilient plate-like body member 11 which can be secured
along one face such as face 12, to the gripping surfaces of
existing manipulators. The other face portion 13 of member 11
carries a plurality of closely spaced suction cups 14 which
function in the usual manner to grip any object against which they
are firmly pressed. Interiorly, body member 11 is formed with a
hydraulic circuit extending as a passage 16 throughout the length
of the frame. Preferably, the circuit is formed as a network to the
extent that, in addition to the longitudinal passages, the circuit
includes transverse passages 17 which intercommunicate with passage
16 as shown in FIG. 2a.
Each of the suction cups, in turn, is communicated with main
hydraulic circuit 16 by a short passage or conduit 18 extending, as
shown, from passage 16 exteriorly through the central portion of
each of the cups. A valve 19 controls the fluid flow within
hydraulic circuit 16 and, as shown, this valve is coupled to the
resilient liner or plate by a conduit 20. Obviously, valve 19
either can be mounted interiorly of the submersible or, if desired,
it can be mounted exteriorly with suitable provision for remote
control. In the illustrated form of the invention valve 19 is a
three-way valve adapted to communicate circuit 16 either with sea
water through an inlet 21 or with a low pressure means, such as a
vacuum pump 22 coupled to the valve by a conduit 23. Depending upon
the purposes for which the manipulator apparatus is designed, the
pump could be replaced by a low pressure tank such as an
atmospheric chamber or by an evacuating piston. Again, it will be
understood that the apparatus of the present invention is
illustrated in a simple, diagrammatic manner and that the physical
location of the members, as well as the design of each member,
becomes a matter of choice depending upon existing
circumstances.
Operation of the apparatus illustrated in FIGS. 1-3 commences by
moving the submersible which carries column 1 into proximity with
the object to be manipulated or recovered. Frame 2 of the
manipulator then is driven in any appropriate manner to produce a
closing movement of gripper member 8 about the object. Assuming for
present purposes that resilient plate 11 is employed as a liner for
gripper member 8, the closing movement of gripper causes suction
cups 14 to press against the object to produce a firm suction grip.
During this operation, valve 19 is closed both to sea water and the
pump. Obviously, water must escape from the interior of cups 14 as
the cups are being pressed into engagement with the object and to
facilitate the escape, plate 11 can be provided with openings or
passages 24 in the manner shown in FIGS. 2a and 3. The escape of
the water from cups 14 is facilitated since the water can pass
through openings 24 which, as shown, extend through or perforate
the gripper member. A firm grip can be produced without the use of
a pump or other lower pressure means. However, the use of the pump
augments the grip and this is recommended at least for certain
applications. Its function is conventional to the extent that its
use produces a low pressure side for cups 14. The low pressure
combined with the high hydrostatic pressure of the water
environment is capable of achieving a very firm gripping action.
When the pump is used, the valve is rotated to communicate conduits
20 and 23 with the main hydraulic circuit.
The achievement of the gripping action is a significant feature of
the present invention but it also presents some difficulty when it
is desired to relieve the pressure and release the object from the
manipulator. Thus, the manner in which the high hydrostatic
pressure acting on the suction cups is overcome to achieve the
release is an important feature of the invention. Briefly, release
of the object is accomplished by rotating valve 19 so as to
communicate hydraulic circuit 16 with the external sea water
environment admitted through inlet 21. The sea water pressure then
is transmitted through the hydraulic circuit and passages 18 to
cups 14 to balance the hydrostatic pressure and permit the object
to readily be released.
FIGS. 4 and 5 provide another embodiment incorporating two
additional, although related, features. First, it is to be noted
that body member 11 of this embodiment is formed with a flexible
reinforcement member 26 which may be a loose metallic cloth, a
chain mat or an arrangement of rigid interlocked plates. Such a
reinforcement of plate member 11 permits the plate to be used as an
independent gripper member as contrasted with its use as a liner.
Thus, referring to FIG. 1, the embodiment of FIG. 4, instead of
being used as a liner for a metal gripping member such as gripping
member 8, in effect is substituted in its entirety for the gripping
member so that it is attached directly to legs 6 and 7 of the
manipulator frame. Most suitably, these legs of the frame are
attached directly to reinforcing member 26.
FIGS. 4 and 5 also show a series of longitudinally spaced cells 27
intercommunicated by a passage 28 one end of which is communicated
with a source of fluid pressure which, in practice, can be provided
by pump 22, although, if desired, a separate pump or equivalent
mechanism can be utilized. The purpose of the cellular structure is
to provide a gripper member capable of conforming to the curvature
of an object to be gripped. A desired curvature can be produced by
applying fluid pressure to fill and expand cells 27 as the suction
cups are being evacuated through hydraulic circuit 16 and, since
cells 27 are disposed in relatively close proximity to outer face
12 of resilient body member 11, expansion of the cells, as shown in
FIG. 5, increases the length of this outer face and produces the
curvature shown in FIG. 5.
FIGS. 6 and 7 is an alternative stricture employing the same
principles as those described with respect to FIGS. 4 and 5.
However, in FIGS. 6 and 7, cells 27 are disposed in proximity to
face 13 of resilient body member 11 and instead of employing a
separate passage 28, the structure employs the suction of pump 22
acting through hydraulic circuit 16 to cause the cells to contract
in the manner shown in FIG. 7.
It also may be desirable to avoid a loss of suction from the
suction cups which, due to surface irregularities, are not in
contact with the object. As shown in FIG. 8, the suction cups may
be provided with an automatic valve having a balanced piston 31
spring pressed into a seating engagement with a valve seat provided
by a cylinder 32. Cylinder 32, in turn, is coupled to hydraulic
circuit 16 by a conduit 33. To permit piston 31 to be unseated, the
piston is provided with an extension pin 34 projecting outwardly
through the central portion of each cup 14 a sufficient distance to
cause the pin to engage the object as the cup is moved into contact
with it. Consequently, as long as the cup does not engage the
object, the piston remains seated to prevent suction loss through
the cup. Conversely, as the cup is forced into contact with the
object, the piston is physically forced rearwardly to communicate
the cup with the low pressure of the pump.
The advantages of the present invention should be apparent. First,
it permits the achievement of a firm suction grip to essentially
eliminate slippage. Secondly, it provides a simple but effective
manner of relieving the gripping pressure when it is desired to
release the object. Other distinct advantages are provided by the
ability of the gripper to conform to curvatures or irregularities,
as well as the ability of the gripper members to prevent loss of
suction pressure when they are not physically engaged with the
object.
Obviously many modifications and variations of the present
invention are possible in the light of the above teachings. It is
therefore to be understood that within the scope of the appended
claims the invention may be practiced otherwise than as
specifically described.
* * * * *