Manipulator apparatus for gripping submerged objects

Abstract

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

• 👤 A Rosfelder

Bibliographic Details