The present invention relates to the field of underwater remotely operated vehicle structures and the like, being more particularly concerned with the recovery both by suction and by coring of bottom and sub-bottom materials, artifacts and samples and the like, with the aid of common robotic or similar rotatable and three-dimensionally orientable mechanical arms and similar structures.
The art of remotely recovering underwater bottom artifacts and samples has now been well-developed by oceanologists, oceanographers, limnologists and lake researchers and others. Underwater suction hoses and sample recovery bottles are in frequent use as described, for example, in a publication disclosing the use of suction in the Ocean Explorer Webmaster of NOAA (2003), and also suction sampler apparatus of Harbor Branch Oceanographic Institute. Similarly, coring apparatus is in wide use as described, for example, in websites of the Serpent Soc and in a paper of I. R. Hudson et al, “Collaboration in Deep-sea Biodiversity”, etc. appearing in the proceedings of the Society of Petroleum Engineers Conference of March 29–31, 2004.
There are, none-the-less, special circumstances where such prior art techniques do not lend themselves to adequate real-time research results; including the lack of the capability for facile and almost instantaneous underwater interchange at will of suction and of coring operations as the attempted recovery of certain bottom or sub-bottom objects and materials is undertaken; or the switching back and forth between suction and coring may be desirable, for example, as stubborn or especially friable objects may require—all without having to surface the equipment (carried, for example, by an ROV vehicle or the like) as for purposes of equipment modification, adjustment, supplementation or substitution. Such circumstances have been particularly encountered by us in connection with a discovered marine bed and other deposits of various sizes in bottom layers recently found in freshwater Loch Ness in Scotland and described in an article entitled “Proof Positive—Loch Ness Was An Ancient Arm Of The Sea”, by Robert H. Rines and Frank M. Dougherty, Journal of Scientific Exploration, Vol. 17, No. 2, 2003, p. 317–323, and with newly discovered friable organisms living at extreme depths therein (Sparks 2001, Vol. 1, 2001, page 3, Academy of Applied Science).
It is to these and related special problems, accordingly, that the present invention is primarily directed, though it provides tools for other and more general similar applications as well.
Accordingly, it is a principal object of the invention to provide a new and improved underwater arm-controlled bottom artifact and sample suction recovery and automatically interchangeable bottom coring apparatus that shall not be subject to the above and other limitations of the prior art; but that, to the contrary, provides novel underwater interchangeably operative suction and coring systems remotely operated by the same common arm and remote-control structures, and with facility for repeatedly interchanging the operations, at will.
A further object is to provide a novel interchangeable suction and coring apparatus of more general use as well.
Other and further objects will be described hereinafter and are more fully delineated in the appended claims.
In summary, however, in one of its principal applications, the invention embraces a mechanically rotatably and horizontally and vertically adjustably positionable deploying manipulator arm carrying a recovery system for enabling underwater bottom artifact and sample recovery and the like, and also for optionally or interchangeably enabling bottom coring operations, having, in combination, an adjustably rotational and positionable longitudinally extending arm terminating in jaw or claw fingers; a suction tube having a longitudinal terminal section and mounted along and to the arm and having a mouth extending longitudinally beyond the fingers; and a bottom coring tube positioned rearward of the suction tube mouth and held by the fingers to extend transversely to the arm with a coring mouth thereof transversely spaced from the arm, such that, with the arm positioned substantially longitudinally parallel to the bottom, the coring tube is substantially vertically oriented withits mouth facing the bottom so as to be driven by the arm into the bottom to obtain a core of bottom and sub-bottom material; and with the arm rotated about its longitudinal axis to elevate the coring tube to extend transversely to the bottom, while the suction tube is interchangeably rotationally lowered to bring its mouth towards the bottom to suck in objects thereupon or therein, and vice versa.
Preferred and best-mode designs are hereinafter more fully described in detail.
The invention will now be described in connection with the accompanying drawings,
Referring to
The manipulator system A terminates in a longitudinal arm section A1 having a wrist joint section A11 carrying a terminal jaw, claw or clamp fingers J, also remotely operable and controlled from the tender, as is also well-known.
In accordance with the present invention, a preferably flexible pump-connected suction hose ST (desirably transparent so that contents can be observed by the video cameras V) is attached as at point P1 to and along the longitudinal arm section A1 and at P2 to the wrist section A11 which is angularly adjustable relative to A1 and terminally carries the jaw or claw fingers J. The hose ST terminally mounts a rigid suction tube S, and in the position of
A convenient jaw mounting for the core tube C is a top sealing cover C1. The opposite coring mouth CM of the core tube C may preferably be circumferentially beveled or sharpened at C11 (more particularly shown in
When it is desired to interchange from the coring mode to the bottom section mode, the arm suction A1 is rotated about its longitudinal axis to elevate the coring tube C from the bottom B and interchangeably rotationally to lower the suction tube S to orient its mouth SM to point towards the bottom B as shown in
With the positioning of the ROV and the rotation of the arm sections A1–A11 orienting the suction tube S downward vertically toward the bottom B,
If this operation is not producing the desired results, or supplementary results are indicated, such as sub-bottom layer recovery, etc., the invention, as earlier explained, enables a rapid automatic underwater interchange back from such suction recovery mode of
The mouth CM of the coring tube C is preferably fitted with a resilient closure flap, such as an internal slit rubber disc or spring-controlled flap F,
Both the coring tube C and the suction tube S may further be sealed before the ROV surfaces by operating the arm sections A1–A11 to jam the respective mouths SM and CM against resilient pad(s), not shown, mounted on the vehicle structure.
Thus, in one position of the arm sections A1, A11,
Preferably, as also illustrated in the drawings, the distances of the suction tube mouth SM and the coring tube mouth CM from their respective mountings to the arm sections A1–A11 are substantially the same; and, as before explained, the tubes are preferably positioned substantially nearly orthogonal to one another, though they may be at a somewhat lesser or greater angle, if desired.
Where desired, filters to catch materials may be inserted within the suction tube S. A useful porous filter has been found to be an inner lining of hose or stocking fabric mesh H or the like,
Further modifications will also occur to those skilled in this art, and such are considered to fall within the spirit and scope of the invention as defined in the appended claims.
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Number | Date | Country | |
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20050229439 A1 | Oct 2005 | US |