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WO2004065068A1 - Outil dynamometrique - Google Patents

Outil dynamometrique Download PDF

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Publication number
WO2004065068A1
WO2004065068A1 PCT/GB2004/000283 GB2004000283W WO2004065068A1 WO 2004065068 A1 WO2004065068 A1 WO 2004065068A1 GB 2004000283 W GB2004000283 W GB 2004000283W WO 2004065068 A1 WO2004065068 A1 WO 2004065068A1
Authority
WO
WIPO (PCT)
Prior art keywords
torque tool
motor
tool according
gearbox
torque
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/GB2004/000283
Other languages
English (en)
Inventor
James Peter Mcdonald
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Subsea 7 Ltd
Original Assignee
Subsea 7 Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Subsea 7 Ltd filed Critical Subsea 7 Ltd
Publication of WO2004065068A1 publication Critical patent/WO2004065068A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B21/00—Portable power-driven screw or nut setting or loosening tools; Attachments for drilling apparatus serving the same purpose
    • B25B21/002—Portable power-driven screw or nut setting or loosening tools; Attachments for drilling apparatus serving the same purpose for special purposes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K21/00—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets
    • H02K21/12—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets
    • H02K21/22—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets with magnets rotating around the armatures, e.g. flywheel magnetos
    • H02K21/227—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets with magnets rotating around the armatures, e.g. flywheel magnetos having an annular armature coil
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K2201/00—Specific aspects not provided for in the other groups of this subclass relating to the magnetic circuits
    • H02K2201/12—Transversal flux machines

Definitions

  • the present invention relates to an apparatus for providing torque, particularly, but not exclusively for use underwater.
  • Such operations are conventionally carried out by Remotely Operated Vehicles (ROV's) using a torque tool.
  • ROV's Remotely Operated Vehicles
  • TDU Tool Deployment Unit
  • the torque tool is gripped by the end effector of a manipulator arm of the ROV, where the ROV transports the tool to the work site.
  • the torque tool is manoeuvred by the TDU or manipulator arm so that its end effector is positioned over or connected to the item (such as a nut, spindle etc.) that is to be rotated.
  • the torque is then applied by control of a rotary drive mechanism contained within the torque tool, and supplied with power from the ROV.
  • the conventional torque tools are hydraulically driven, and consequently are deficient in torque at low speeds, this typically being a characteristic of hydraulic motors of a design suitable for these applications. They are not therefore ideally suited to providing the high torque needed to overcome such resistance as might arise from a damaged thread, tight seals on a valve spindle etc. This is particularly so when starting or finishing a rotating operation since the drive is essentially static.
  • the torque tool further comprises a gearbox either integral with or coupled to the electrical transverse flux motor such that actuation of the electrical transverse flux motor results in rotation of the coupling mechanism via the gearbox.
  • the item to be driven is underwater and preferably, the electrical transverse flux motor is encased in a housing which is preferably a sealed housing.
  • a torque tool for driving an underwater item to be rotated, the torque tool comprising :- an electrical motor; a gearbox either integral with or connected to the electrical motor; at least the electrical motor being encased in a sealed housing; and a coupling mechanism for coupling with the item to be driven, such that actuation of the electrical motor results in rotation of the coupling mechanism via the gearbox.
  • the electrical motor is an electrical transverse flux motor and the gearbox is preferably an epicyclic gearbox although the gearbox may alternatively be a cycloidal gearbox or any other suitable gearbox.
  • the gearbox is also encased in a sealed housing, which is preferably the same sealed housing as that encasing the electrical transverse flux motor.
  • a shaft output of the gearbox protrudes from the sealed housing and is connected to the coupling mechanism outside of the housing.
  • the electric motor comprises a rotational output shaft that is connected to, or itself comprises, a rotational input shaft of the gearbox.
  • the gearbox comprises a rotational output shaft that is connected to, or itself comprises, a rotational input shaft of the coupling mechanism.
  • the longitudinal axis of the rotational output shafts of the electric motor and the gearbox are coincident with one another.
  • the longitudinal axis of the rotational input shafts of the gearbox and the coupling mechanism are coincident with one another.
  • the longitudinal axis of the rotational output shafts and the longitudinal axis of the rotational input shafts are also coincident with one another.
  • the housing is provided with a cooling means which may in preferred embodiments comprise one or more cooling fins or the like.
  • the sealed housing is filled with a fluid, which is preferably a lubricating fluid such as oil.
  • a fluid which is preferably a lubricating fluid such as oil.
  • the housing is provided with a lubrication fluid pressure compensation system which maintains the pressure of the lubrication fluid within the housing at, close to, or just above the ambient pressure outside of the housing.
  • the housing comprises a seal system to prevent ingress of water into the housing from the outside environment and/or to prevent loss of oil to the outside environment.
  • the coupling mechanism is further provided with a selective latching and/or rotational locking mechanism in order to ensure the torque tool and the item to be driven are secured to one another whilst the item is being driven.
  • the selective latching and/or rotational locking mechanism provides a support against which the torque generated by the torque tool can react.
  • the item to be driven is provided with formations to facilitate said selective latching and/or rotational locking.
  • the transducer device is connected at one end to the gearbox and at the other end to a portion of the coupling mechanism that reacts the applied torque, and more preferably, the said portion of the coupling mechanism is the selective latching and/or rotational locking mechanism.
  • the transducer device is subjected to the full reaction torque.
  • the coupling mechanism is adapted to accommodate the item to be driven which may be a nut or spindle etc.
  • the coupling mechanism may connect to components of subsea equipment such as a wellhead in order to actuate said components.
  • Embodiments of the invention have the advantage that the electrical transverse flux motor has a much better torque characteristic at low speeds than other motors.
  • embodiments of the invention have the advantage that they provide a wider range of torque than previously possible for the same size/weight of other units.
  • embodiments of the invention have the advantage that the torque and/or the rotation angle/turns can be very accurately applied.
  • embodiments of the invention have the advantage that an electric tool will be more compatible with the all-electric workclass ROV s that are planned to replace the earlier hydraulic based models.
  • FIG. 1 shows a first embodiment of an electric torque tool 1 in accordance with the present invention as comprising a transverse flux motor 2 at it's core.
  • the transverse flux motor 2 has a resolver 5 built into the drive end of the motor 2. The purpose of the resolver 5 will be detailed subsequently.
  • the TFM (transverse flux motor) 2 has a magnetic flux path with sections where the flux is transverse to the rotation plane.
  • Figure 2 shows a representative three dimensional flux path for the TFM motor 2, in which the flux flow path flows through the rotor 60, and the stator 62.
  • the flux flow path is generated by a combination of the magnetic flux created by an electrical current flowing through the stator windings 64 and the magnetic flux provided by the permanent magnets 66 provided on the rotor 60.
  • an LFM motor such as an induction or DC machine
  • the lines of flux follow a two dimensional pattern in planes perpendicular to the motor shaft.
  • the TFM motor 2 is also known as VRPM (variable reluctance permanent magnet) motor 2, and a part cut-away perspective view of the internal components of the TFM 2 is shown in Figure 3.
  • the lines of flux follow a more complicated dimensional pattern which results in the decoupling of the space occupied by the armature winding.
  • the unusual characteristic of this TFM motor 2 is that the rotor 60 is on the outside and the stator 62 is in the centre.
  • the TFM motor 2 with the same power rating is one third to one fifth in size and weight compared to conventional LFM motors.
  • This TFM motor 2 uses a resolver 5 (as seen in Figure 1) as the signal generator for a commutation controller. Because the resolver 5 does not rely on optical signal processing, it can operate successfully in an oil filled environment. Such oil filling provides a pressure balancing capability which means the motor 2 can be used at deep depths without the need for pressure resistant housings, and complex high pressure shaft seals, as will be detailed subsequently. The oil filling also improves the motor 2 cooling, and advantage can be taken of this to use the motor 2 in an overload mode for short term application (e.g. to overcome the initial stiction of a valve operating shaft) . As seen in Fig. 8, seals 68 are provided on either side of the latching sleeve 166 between the latching sleeve 166 and the torque tool housing 12 in order to prevent oil from passing therebetween due to any residual pressure difference across the torque tool
  • the electronic commutation also facilitates software control of the motor 2. Consequently, the parameters of tool 1 operation - such as torque to be applied, the direction of application, and the angular rotation to be achieved - are readily pre- set, and the tool 1 output delivered accordingly.
  • a motor output shaft 3 projects outwardly from the motor 2 and is connected to the input shaft of an epicyclic gearbox 4 which is mounted in a gearbox case 10.
  • an epicyclic gearbox 4 is preferred in this embodiment, a cycloidal gearbox or any other suitable gearbox could be used instead.
  • the epicyclic gearbox 4 (sometimes also known as a sun and planet gear) is especially suitable for high torque applications due to all of the radial forces occurring in the gearbox 4 being balanced. Different drive ratios can be achieved with the same gearbox 4 by fixing the appropriate elements of the different parts of the gear mechanism, as discussed below.
  • a final ratio may be obtained by fixing the ring and allowing the sun gear and the planet carrier to rotate.
  • N R (N s + 2N P ) .
  • N R + Ns) / # of Planets must be an Integer.
  • the epicyclic gearbox 4 provides high torque at very low speed, which is highly desirable in this embodiment .
  • a gearbox output shaft 7, which provides the rotational output of the epicyclic gearbox 4, is coupled to the innermost end of an end effector 6 which, in use, is coupled to the item to be driven/rotated 31.
  • the gearbox 4 in essence, is used to magnify the torque output from the motor 2 , as generated at an end effector 6.
  • the gearbox case 10 is connected to one end of an annular torque transducer 11, the other end being connected to the nose piece 9. This configuration ensures that the torque transducer 11 is subjected to the full reaction torque.
  • the purpose of the annular torque transducer 11 is to provide an indication via a signal line of the torque being generated at the gearbox output shaft 7, as will be detailed subsequently.
  • the nose piece 9 comprises an open outermost end (the right hand end as presented in Figure 1) such that there is an annular gap or space between the outermost surface of the end effector 6 and the inner bore of the nose piece 9.
  • This annular space is provided in order to accept an annular receptacle 32 provided about the item to be driven 32, such that the receptacle 32 safely guides the nose piece 9 and thus the end effector 6 into engagement with the item 31.
  • a longitudinally extending key 33 is provided on the upper most side of the receptacle, the key 33 being for engagement into a longitudinally extending slot formed along the inner bore of the nose piece, wherein the key 33 and slot co-operate to ensure the item 31 and the end effector 6 are rotationally aligned prior to and during engagement occurring therebetween.
  • the co-operation between the key 33 and the slot provides the distinct advantage that the applied torque can be fully reacted by the tool 1/receptacle 32 combination.
  • a TDU (not shown) is connected to the TDU connection 16 and the TDU provides precision movement of the tool in x, y, and z directions, and thus ensures the accurate alignment required for trouble free engagement of the end effector 6 with the item to be driven 31.
  • the electric torque tool 1 will more usually be gripped by the jaws (not shown) of an end effector of a manipulator arm (not shown) provided on the ROV.
  • Chambers or spaces 17 and 18 within the cylindrical cover 12 and the transducer 11 are interconnected and oil filled, the oil being retained at the output shaft 7 by a lip seal 19.
  • a compensator 20 is connected to the chamber 17 by a tube 21, its function being to ensure that the torque tool 1 is always full of oil at just above ambient sea pressure, and thus is pressure balanced. Consequently the tool 1, unlike an atmospheric unit, can be used at deep depths without the need for the . containment provided by the cylindrical cover 12 etc., or the shaft seal 19, to be capable of resisting high pressure.
  • This has the advantage that the tool weight can be kept to an acceptable low level - i.e. it can be readily accommodated by an ROV (not shown) . It also ensures that friction losses through the shaft seal 19 are very low, thus ensuring that the delivery of torque to the end effector 6 is as close as possible to that indicated by the torque transducer 11.
  • the compensator 20 comprises a piston (A) sealed by a rolling diaphragm (B) within a cylindrical container (C) , which is closed at both ends. Also contained within the cylinder (C) is a compression spring (D) that bears on one side of the piston (A) .
  • the spring end of the cylinder (B) has a central opening (E) that provides a connection to the surrounding sea. The other end is fully closed and connected by the pipe 21 to the tool 1.
  • the space or chamber (F) which is oil filled, is' also at sea pressure. As this space or chamber (F) is connected to the tool 1 by the pipe 21 it follows that the oil in the spaces or chambers 17, 18 is also at sea pressure.
  • the resolver 5 is used to measure the rotor angle for an electronic motor control system 22, which is located on the ROV, and which replaces the more conventional carbon brushes as a means of providing motor commutation.
  • the resolver 5 continuously monitors the rotor angular position at any given time.
  • the control system (described subsequently) translates this information into the position of the rotor magnets relative to the stator poles. The latter are then switched sequentially north/south to ensure the rotor rotates at the required speed and in the required direction.
  • the resolver 5 therefore provides accurate information on the motor 2 rotation, thus enabling accurate control of the end effector 6.
  • the motor 2, resolver 5, torque transducer 11, and the various controls are interconnected by the cables 23, 24, 25, 26, and 27.
  • Cable 27 is in the form of an umbilical from the ROV to a surface control suite (not shown) mounted on an ROV support ship/vessel (not shown) at the sea surface.
  • the cables 23, 24, 25 are connected to the tool 1 by a waterproof connector 28 which extends through the cylindrical cover 12 from the outside and through a rear sidewall of the pierced cylindrical frame 14, into the chamber 17. Power is supplied to the tool 1 from the ROV via cable 29, and the control box 22 mounted on the ROV, the control box 22 providing the necessary commutation and direction of rotation signals etc to the tool 1.
  • the core elements of the tool control system are the commutation system 22 located in the control box 22 and the surface control suite/console 30 located on the ROV support vessel.
  • the control system 22, 30 is arranged to: a. Provide a means of setting and accurately generating the required torque profile; b. To provide an automatic shut off when a pre-set torque figure is achieved; c. Setting of the required direction of rotation, and number of turns; d. Protect the system from damage; e. Provide interlocks as required; f . Provide manual by-pass operations as required; g. To indicate during the operation: (1) . The actual and set direction of rotation; (2) . The set torque; (3) . The torque being applied; (4) . The number of turns of the end effector; (5) .
  • the operation of the torque tool 1 on an ROV will now be described.
  • the torque tool 1 is initially held in the TDU, which is flexibly connected to the outer cover 14 of the tool 1 via the TDU connection 16 or is alternatively held in the jaws of the manipulator arm, as appropriate.
  • the ROV transports the tool 1 to the work site and once there, the ROV pilot positions the ROV so that it can be docked onto the equipment being worked on.
  • the pilot uses the TDU or manipulator arm to manoeuvre the end effector 6 over the item 31 to be driven (e.g. drive shaft end, bolt/nut etc.) .
  • This action also engages the nose piece 9 with the receptacle 32, these being locked together by the key 33 so that the applied torque can be fully reacted by the tool 1/receptacle 32 combination.
  • the pilot sets the required torque setting and tool rotational direction on the control console 30 and initiates the turning operation.
  • Embodiments of the invention have a number of advantages over existing torque tool systems. For example, maximum torque can be obtained when it is needed most - i.e. when the driven component is static or nearly so.
  • an electric toque tool 1 is more compatible with the all-electric ROV s that are replacing the earlier hydraulic based models.
  • the accuracy with which the applied torque is measured is improved by re-configuring the tool assembly, so that all the reaction torque is applied to the transducer 11 instead of some of it being "lost” , as occurs in conventional hydraulic torque tools.
  • the torque tool 50 comprises a latching mechanism 51 which includes a pair of latches 53 arranged opposite one another about the outer circumference of the nose piece 49 of the torque tool 50.
  • the latches 53 are pivotally mounted to the nose piece 49 by means of a plurality of respective pivots 55 such that, ordinarily, the latches 53 would be free to partially rotate about an axis perpendicular to the radius of the nose piece 49 at the location of the respective pivots 55.
  • the outer most end of the latches 53 i.e. the end distal from the pivot 55
  • each latch 53 is provided with a two lobed cam 61 and a driving disc 63 is arranged to lie in between the two lobes of the cam 61.
  • the inner most face of the driving disc 63 is coupled to a sleeve 65 which is mounted in a longitudinally moveable manner to the nose piece 49 and the sleeve 65 has an outwardly projecting shoulder 166 at its inner most end.
  • An annular ring electro-magnet 67 is secured to the nose piece 49 and is located about the sleeve 65 such that the sleeve 65 is moveable through the centre of the electro-magnet 67.
  • An annular ring armature 69 is fixed to the sleeve 65, at the shoulder 166. Operation of the magnet 67 is such that the armature 69 is moved towards the magnet 67, along the longitudinal axis away from the torque tool 50.
  • An item (not shown) to be driven by the torque tool 1 is housed within a receptacle 71 where the receptacle comprises a cylindrical member 73 which encircles the item and acts as protection therefor.
  • the cylindrical member 73 has a pair of apertures 75 formed in its sidewall opposite o e another.
  • the finger cam 59 engages its upper surface on the lower most surface of the cylindrical member 73, and this engagement causes the latch 53 to rotate outwardly about its pivot 55.
  • This rotation causes the thumb cam 57 to move into or penetrate the aperture 75 cut in the sidewall and pass under the rim of the aperture 75.
  • the two lobed cam 61 is rotated
  • the transducer 11 used to sense the torque is not mounted directly in the revolving output shaft, but instead is configured to measure the "static" reaction torque.
  • the hydraulic motor is fixed to the tool casing by its "hard” (i.e. relatively stiff) feed and return connections, some of this reaction torque is “lost” in the deflection of these connections. Consequently the measured output is lower than the actual by some 5%.
  • the connections to the electric motor 2 are "soft” (i.e. flexible), the stiffness of the motor 2 to casing 12 connection problem is avoided, and the error eliminated.
  • the means of locking the tool nose 9 to the receptacle 32 can be a key as shown or a similar device, or any suitable interlocking shape e.g. hexagonal.
  • the end effector 6 can be configured to suit the required connection with the driven item 31.
  • the oil compensation 20 can be connected into the ROV s compensation system, rather than an individual arrangement.
  • the torque transducer 11 can be any suitable annular unit.
  • the gearbox 4 is preferably epicyclic, but could be a cycloidal gearbox or any other unit of the required performance .
  • the TDU 16 can be replaced by a manipulator (robot) arm (not shown) ; this typically gives more flexibility in use, but may require higher operator skill .
  • the longitudinal axis of the rotational output shafts of the electric motors and the gearbox 4 need not be co-axial if for instance an offset shaft is utilised.
  • the electronic motor commutation system 22 may be housed within the same housing 12 as the motor 2 which reduces the cabling length required and the attendant radiated electrical interference.
  • embodiments in accordance with the present invention may be incorporated into other equipment and the outer end of the gearbox output shaft 7 can be coupled directly to components thereof, in order to allow actuation of those components directly as and when necessary.
  • such embodiments of the apparatus may be semi-permanently installed into the equipment in such a way that it can be easily replaced if necessary. If the equipment is located in the subsea environment the replacement operation may be carried out by e.g. an ROV.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)

Abstract

L'invention a trait à un appareil (1) permettant d'entraîner un objet devant être mis en rotation, tel qu'un écrou ou un arbre fileté. Ledit appareil comprend un moteur électrique à flux transversal (2) et un mécanisme de couplage (6) destiné à coupler le moteur avec l'objet devant être entraîné, de façon que la mise en rotation du moteur (2) entraîne la rotation du mécanisme de couplage (6) et ainsi celle de l'objet devant être entraîné. L'appareil (1) selon l'invention est particulièrement approprié pour entraîner, sous l'eau, des objets tels que des boulons/écrous.
PCT/GB2004/000283 2003-01-24 2004-01-23 Outil dynamometrique Ceased WO2004065068A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB0301607A GB0301607D0 (en) 2003-01-24 2003-01-24 Apparatus
GB0301607.8 2003-01-24

Publications (1)

Publication Number Publication Date
WO2004065068A1 true WO2004065068A1 (fr) 2004-08-05

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ID=9951701

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/GB2004/000283 Ceased WO2004065068A1 (fr) 2003-01-24 2004-01-23 Outil dynamometrique

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GB (1) GB0301607D0 (fr)
WO (1) WO2004065068A1 (fr)

Cited By (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8053944B2 (en) 2010-03-15 2011-11-08 Motor Excellence, Llc Transverse and/or commutated flux systems configured to provide reduced flux leakage, hysteresis loss reduction, and phase matching
US8222786B2 (en) 2010-03-15 2012-07-17 Motor Excellence Llc Transverse and/or commutated flux systems having phase offset
US8395291B2 (en) 2010-03-15 2013-03-12 Electric Torque Machines, Inc. Transverse and/or commutated flux systems for electric bicycles
WO2015118335A3 (fr) * 2014-02-05 2015-11-19 Forum Energy Technologies (Uk) Limited Outil d'application de couple, mécanisme de sélection de douille, et procédés d'utilisation
WO2015118334A3 (fr) * 2014-02-05 2015-11-19 Forum Energy Technologies (Uk) Limited Outil de couple, ensemble moteur et procédés d'utilisation
CN105298444A (zh) * 2015-11-02 2016-02-03 江苏科技大学 一种旋转式线性覆盖工具
CN105298442A (zh) * 2015-11-02 2016-02-03 江苏科技大学 一种移动旋转式线性覆盖工具
NO20141062A1 (no) * 2014-09-02 2016-03-03 Aker Solutions As Verktøy for fjerning av et momentmellomstykke
WO2017066848A1 (fr) * 2015-10-22 2017-04-27 Total Marine Technology Pty Ltd Outil dynamométrique sous-marin
WO2017153580A1 (fr) * 2016-03-11 2017-09-14 Onesubsea Ip Uk Limited Système d'actionneur électrique sous-marin
WO2020086232A1 (fr) * 2018-10-26 2020-04-30 Forum Us, Inc. Outil dynamométrique avec ensemble de verrouillage
CN112012684A (zh) * 2020-06-16 2020-12-01 海洋石油工程股份有限公司 一种应用于深海水下阀门扭矩工具的锁紧装置
US11040421B2 (en) 2018-10-26 2021-06-22 Forum Us, Inc. Torque tool with electric motors
CN114084321A (zh) * 2021-11-15 2022-02-25 哈尔滨工业大学（威海） 一种应用于深海rov的多功能旋转型作业工具
US11448242B2 (en) 2018-10-08 2022-09-20 Robert Bosch Gmbh Hydraulic system for use under water with a hydraulic actuating drive
US11448243B2 (en) * 2017-04-19 2022-09-20 Robert Bosch Gmbh Electrohydraulic system for use under water, comprising an electrohydraulic actuator
USD968491S1 (en) * 2019-10-21 2022-11-01 Aimco High torque tool
GB2612325A (en) * 2021-10-27 2023-05-03 Aker Solutions As Torque tool
CN118100537A (zh) * 2024-04-22 2024-05-28 深圳硅山技术有限公司 电机

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Publication number Priority date Publication date Assignee Title
CN115675801B (zh) * 2022-10-31 2024-06-11 上海理工大学 一种水下电动机械臂回转机构

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US3664438A (en) * 1970-08-26 1972-05-23 Us Navy Underwater rock core sampling device and method of use thereof
US5540495A (en) * 1993-12-23 1996-07-30 Krauss Maffei Aktiengesellschaft Injection assembly for an injection molding machine
US5918201A (en) * 1996-10-25 1999-06-29 Gpx Corporation System and method for monitoring tool cycles

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Publication number Priority date Publication date Assignee Title
US3385250A (en) * 1966-08-08 1968-05-28 Clifford F. Raule Apparatus for connection to submerged objects
US3664438A (en) * 1970-08-26 1972-05-23 Us Navy Underwater rock core sampling device and method of use thereof
US5540495A (en) * 1993-12-23 1996-07-30 Krauss Maffei Aktiengesellschaft Injection assembly for an injection molding machine
US5918201A (en) * 1996-10-25 1999-06-29 Gpx Corporation System and method for monitoring tool cycles

Cited By (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8222786B2 (en) 2010-03-15 2012-07-17 Motor Excellence Llc Transverse and/or commutated flux systems having phase offset
US8395291B2 (en) 2010-03-15 2013-03-12 Electric Torque Machines, Inc. Transverse and/or commutated flux systems for electric bicycles
US8053944B2 (en) 2010-03-15 2011-11-08 Motor Excellence, Llc Transverse and/or commutated flux systems configured to provide reduced flux leakage, hysteresis loss reduction, and phase matching
AU2015213893B2 (en) * 2014-02-05 2019-06-27 Forum Energy Technologies (Uk) Limited Torque tool, socket selection mechanism, and methods of use
WO2015118335A3 (fr) * 2014-02-05 2015-11-19 Forum Energy Technologies (Uk) Limited Outil d'application de couple, mécanisme de sélection de douille, et procédés d'utilisation
WO2015118334A3 (fr) * 2014-02-05 2015-11-19 Forum Energy Technologies (Uk) Limited Outil de couple, ensemble moteur et procédés d'utilisation
US10442043B2 (en) 2014-02-05 2019-10-15 Forum Energy Technologies (Uk) Limited Torque tool, socket selection mechanism, and methods of use
NO20141062A1 (no) * 2014-09-02 2016-03-03 Aker Solutions As Verktøy for fjerning av et momentmellomstykke
AU2016343299B2 (en) * 2015-10-22 2022-07-14 Total Marine Technology Pty Ltd Subsea torque tool
WO2017066848A1 (fr) * 2015-10-22 2017-04-27 Total Marine Technology Pty Ltd Outil dynamométrique sous-marin
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