SYSTEM FOR ATTACHING A DEVICE TO AN OBJECT, AND ASSOCIATED SYSTEM FOR DEPLOYING THE DEVICE

Abstract

The present invention relates to a system for attaching a device to an object, comprising: an attachment device for attaching the device to an object, the attachment device having a trigger for triggering activation of the attachment device; a releasable coupling device for releasably coupling the attachment device to a deployment system. The releasable coupling device comprising: a housing; a trigger system, configured to trigger the attachment device trigger; and a retaining system, configured to releasably retain the attachment device. The releasable coupling device is configured such that: in a first configuration, the trigger system is in a disarmed state; in a second configuration, the trigger system is in an armed state, such that movement of the attachment device relative to the housing of the releasable coupling device activates the trigger of the attachment device; and in a third configuration, the retaining system releases the attachment device. The invention is particular of use in attaching an ordnance clearance charge to underwater ordnance. The invention further relates to an unmanned underwater vehicle comprising such an attaching system.

Claims

1. A system for attaching a device to an object, comprising: an attachment device for attaching the device to an object, the attachment device having a trigger for triggering activation of the attachment device; a releasable coupling device for releasably coupling the attachment device to a deployment system, the releasable coupling device comprising: a housing; a trigger system, configured to trigger the attachment device trigger; and a retaining system, configured to releasably retain the attachment device; wherein, the releasable coupling device is configured such that: in a first configuration, the trigger system is in a disarmed state; in a second configuration, the trigger system is in an armed state, such that movement of the attachment device relative to the housing of the releasable coupling device activates the trigger of the attachment device; and in a third configuration, the retaining system releases the attachment device.

2. A system for attaching a device to an object according to claim 1, wherein the trigger system comprises a trigger portion, slidable, relative to the housing, from a first position, in which the releasable coupling device is in the first configuration, to a second position, in which releasable coupling device is in the second configuration.

3. A system for attaching a device to an object according to claim 2, wherein the trigger system comprises an actuation portion, slidable, relative to the housing, between a first position, in which the releasable coupling device is in the first configuration, a second position, in which the releasable coupling device is in the second configuration, and a third position, in which releasable coupling device is in the third configuration.

4. A system for attaching a device to an object according to claim 3, wherein the trigger portion is slidable, relative to the actuation portion, from a first position, in which the releasable coupling device is in the first and second configurations, and a second position, in which the releasable coupling device is in the third configuration.

5. A system for attaching a device to an object according to claim 4, wherein the trigger portion is resiliently biased towards the first position relative to the actuation portion.

6. A system for attaching a device to an object according to any of claim 3, 4 or 5, wherein the actuation portion comprises a visual indicator arranged to indicate when the actuation portion is in its first position.

7. A system for attaching a device to an object according to any of claims 3 to 6, wherein the actuation portion is configured to be hydraulically moved from the first position to the second position.

8. A system for attaching a device to an object according to any of the preceding claims, wherein the retaining system comprises at least two retaining arms, each arm having a distal end and a proximal end, the arms configured to pivot about the proximal ends from a first position in which the distal ends engage and retain the attachment device, to a second position in which the distal ends release the attachment device.

9. A system for attaching a device to an object according to claim 8, wherein the distal end of each retaining arm comprises a hook configured to engage with a recess provided in an outer surface of the attachment device.

10. A system for attaching a device to an object according to claim 8 or 9, when dependent on any of claims 3 to 6, wherein the retaining system further comprises a trigger sleeve configured to pivotably retain the proximal ends of the at least two retaining arms, the trigger sleeve being slidable, relative to the housing, between a first position and a second position, such that upon the releasable coupling device being in the second configuration movement of the trigger sleeve from the first position to the second position causes the trigger portion to activate the trigger of the attachment device.

11. A system for attaching a device to an object according to claim 10, wherein the trigger sleeve is resiliently biased towards the first position.

12. A system for attaching a device to an object according to claim 10 or 11, wherein the retaining system further comprises a release sleeve slidable, relative to the trigger sleeve, from a first position in which the release sleeve acts on the at least two retaining arms to maintain the at least two retaining arms in their first position, to a second position in which the at least two retaining arms are in their second position.

13. A system for attaching a device to an object according to claim 12, wherein the actuation portion is configured such that, upon the actuation portion sliding from its second position to its third position, it acts on the release sleeve to move the release sleeve from its first position to its second position.

14. A system for attaching a device to an object according to claim 12 or 13, wherein the release sleeve comprises at least two linear cam surfaces, and adjacent each distal end of the at least two retaining arms is provided a follower, each linear cam surface being configured to act on a corresponding follower of a retaining arm, such that upon the release sleeve moving from its first position to its second position each retaining arm is moved from its first position to its second position.

15. An unmanned underwater vehicle comprising a system for attaching a device to an object according to any of the preceding claims.

Description

[0046] The invention will be further described, by way of example only, with reference to the accompanying drawings in which:

[0047] FIG. 1 shows a schematic cross-sectional perspective view of a system for attaching a device to an object according to the invention, the system in a first configuration;

[0048] FIG. 2 shows a schematic cross-sectional view of the system shown in FIG. 1;

[0049] FIG. 3 shows a schematic cross-sectional view of the system shown in FIG. 1, the system in an alternative arrangement;

[0050] FIG. 4 shows a schematic cross-sectional view of the system shown in FIG. 1, the system in a second configuration;

[0051] FIG. 5 shows a schematic cross-sectional view of the system shown in FIG. 4, the system in an alternative arrangement;

[0052] FIG. 6 shows a schematic cross-sectional view of the system shown in FIG. 1, the system in a third configuration;

[0053] FIG. 7 shows a schematic cross-sectional view of the system shown in FIG. 6, the system in an alternative arrangement;

[0054] FIG. 8 shows an exploded view of an alternative embodiment of a system for attaching a device to an object according to the invention;

[0055] FIG. 9 shows a perspective view of a system for attaching a device to an object according to the invention coupled to an unmanned underwater vehicle; and

[0056] FIG. 10 show a view of an alternative system for attaching a device to an object according to the invention coupled to an alternative unmanned vehicle.

[0057] FIG. 1 shows a schematic cross-sectional perspective view of a system 100 for attaching a device 102 to an object according to the invention. The device 102, in this example, comprises a trigger activated nail gun, the trigger extending from the back face 104 of the device 102. Further details of the device 102 are described below. A releasable coupling device 106 of the system 100 is referred to below as a trigger and release unit. The trigger and release unit 106 comprises a housing 108 configured to be attached to a vehicle (not shown) for delivering the device 102 to its intended location. The vehicle may be an unmanned underwater vehicle such as a remotely operated vehicle (ROV).

[0058] The housing 108 of the trigger and release unit 106 houses a trigger system 110, configured to trigger the attachment device 102 trigger. The housing 108 further houses a retaining system 112, configured to releasably retain the attachment device 102 within the housing.

[0059] The trigger system 110 comprises an actuation portion 114 and a trigger portion 116. The actuation portion 114 comprises a piston 118 sealed by an o-ring 120 within a cylinder 122 within the housing. A hydraulic fluid inlet 123 is provided in the housing to allow hydraulic fluid to be pumped into the cylinder 122 to act on the piston 118 of the actuation portion 114. The piston 118 of the actuation portion 114 is hollow, and configured to slidably receive the trigger portion 116. A resilient spring 124 is provided which acts on the end face 126 of the hollow portion of the actuation portion 114, and extends within a hollow portion of the trigger portion 116 and acts on a pin (not shown) located transverse to the longitudinal axis of the trigger portion 116. The spring 124 biases the trigger portion towards the attachment device 102, and the trigger thereof.

[0060] The retaining system 112 comprises four retaining arms 128, 130 (only two shown) pivotably mounted within a trigger sleeve 132. The retaining arms 128, 130 are pivotable from a first position (as shown) to a second position. The distal end of each retaining arm 128, 130 comprises a protrusion 134, 136. Upon the retaining arms being in the first position, the protrusions 134, 136 are configured to engage with an annular recess provided within the outer surface of the device 102. The trigger sleeve 132 is slidable within the housing from a first position (shown) to a second position. A resilient spring 138 is provided between an end face of the trigger sleeve and the housing to bias the trigger sleeve towards the first position.

[0061] The retaining system further comprises a release sleeve 140. The release sleeve is slidable within the trigger sleeve 132 from a first position in which the distal ends of the retaining arms are maintained in their first position, to a second position in which the distal ends of the retaining arms are rotated to their second position.

[0062] Further details of the trigger and release unit 106 will now be described with reference to

[0063] FIG. 2. The activation trigger 200 of the attachment device 102 can now be seen extending from the back face of the attachment device. The activation trigger 200 is operated by an external force pushing the trigger into the attachment device.

[0064] As can also be seen, the trigger portion 116 is formed of a hollow cylinder having a flange 202 at a distal end. The flange is configured to engage with the activation trigger 200 as will be described in detail below. The flange 202 is substantially circular.

[0065] The actuation portion 114 comprises both the actuation piston 118 and a further cylindrical portion 204 provided at a distal end of the cylindrical piston 118. The cylindrical portion 204 is configured to act on the release sleeve 140, to cause it to slide from the first position to the second position.

[0066] The release sleeve 140 can now be seen to comprise a plurality of inclined channels 204, 206, each configured to engage with corresponding pins provided at the distal ends of the retaining arms 128, 130. The inclined channels form linear cam surfaces, the pins being followers, which cause the retaining arms 128, 130 to rotate away from engagement with the recess of the attachment device 102 as the release sleeve is moved from the first position to the second position.

[0067] Operation of the trigger and release unit 106 will now be described with reference to FIGS. 2 to 7. In FIG. 2, the trigger and release unit 106 is in a first, unarmed, configuration. In this first configuration, the actuation portion 118 is in a first position whereby the trigger portion 116 and the flange 202 are spaced from the activation trigger 200. In this unarmed configuration, relative movement of the attachment device 102 into the housing cannot cause the flange 200 to act upon, and trigger, the activation trigger 200. This can be seen in FIG. 3, where the attachment device 102, together with the trigger sleeve 132 has been pushed into the housing (as indicated by arrow 300) and caused the springs 138 to compress. Upon release of the force pushing the attachment device 102 into the housing 108, the springs 138 return the trigger and release unit to the configuration shown in FIG. 2. As will now be appreciated, until the trigger and release unit is controllably moved into a second, armed, configuration the activation trigger 200 of the attachment device 102 cannot be triggered.

[0068] When the operator of the trigger and release unit 106 inputs a control signal to a controller (not shown) to place the trigger and release unit into a second, armed, configuration a predefined volume of hydraulic fluid is pumped through the inlet 123 into the cylinder 122. The actuation piston 1189 is thereby moved to the position shown in FIG. 4. As can be seen, the flange 200 of the trigger portion 116 now abuts the activation trigger 200, placing the trigger and release unit in the armed configuration. Now movement of the attachment device 102 in the direction of arrow 500 causes the springs 138 to compress and the flange 202 to act on the activation trigger 200 and activate the attachment device 102. It is noted that the trigger spring 124 has a spring coefficient such that the force required to compress the spring 124 is greater than the force required to activated the activation trigger 200.

[0069] Once the attachment device 102 is attached to the intended object it can be released from the trigger and release unit 106. To do so, the operator of the trigger and release unit 106 inputs a control signal to a controller (not shown) to place the trigger and release unit into a third, release, configuration to pump a second predefined volume of hydraulic fluid through the inlet 123 into the cylinder 122. This causes the actuation piston 118 to move to a third position as shown in FIG. 6. In doing so, the cylindrical portion 204 acts on the release sleeve to move it to its second position thereby rotating the retaining arms 128, 130 out of engagement with the recess in the outer surface of the attachment device. In addition, the trigger spring 124 is compressed to enable the trigger portion 116 to retract into the hollow portion of the actuation portion 118. As the retaining arms disengage, the trigger spring may then act to separate the attachment device from the trigger and release unit, as shown in FIG. 7.

[0070] The trigger and release unit 106 is now in a configuration ready to receive another attachment device 102. In order to prime the trigger and release unit to receive another attachment device 102, the actuation portion 118 is moved back to its first position (as shown in FIG. 2) by removing hydraulic fluid. The attachment device 102 is then pushed into the trigger and release unit 106 which pushes the release sleeve from its second position to its first position, rotating the retaining arms into their first position, and locking the attachment device into the trigger and release unit 106.

[0071] Another embodiment of a trigger and release unit 800 is shown in FIG. 8. As can be seen, the components of the trigger and release unit 800 are shown in an exploded view. The trigger and release unit 800 is similar to that shown in FIGS. 1 to 7, and comprises all of the features described with reference to those figures. It will also be appreciated that the trigger and release unit 800 operates in the same manner as trigger and release unit 106.

[0072] The trigger and release unit 800 comprises a housing 802 configured to be attached to a vehicle (not shown), via spring mounts 804, for delivering a device to be attached to an object to its intended location. The vehicle may be an unmanned underwater vehicle such as a remotely operated vehicle (ROV).

[0073] The housing 802 of the trigger and release unit 800 houses a trigger system, configured to trigger an attachment device trigger. The housing 800 further houses a retaining system, configured to releasably retain the attachment device within the housing 802.

[0074] The trigger system comprises an actuation portion 806 and a trigger portion 808. The actuation portion 806 comprises a piston 810 sealed by an o-ring 812 within a cylinder (not shown) within the housing 802. A hydraulic fluid inlet 814 is provided in the housing 802 to allow hydraulic fluid to be pumped into the cylinder to act on the piston 810 of the actuation portion 806. The piston 810 of the actuation portion 806 is hollow, and configured to slidably receive the trigger portion 808. The trigger portion 808 is formed of a hollow cylinder having a flange 812 at a distal end. In use, the flange is configured to engage with an activation trigger of the attachment device. The flange 812 is substantially circular.

[0075] A resilient spring 814 is provided which acts on the end face of the hollow portion of the actuation portion 806, and extends within a hollow portion of the trigger portion 808 and acts on a pin 816 located transverse to the longitudinal axis of the trigger portion 808. The spring 814 biases the trigger portion 808 towards the attachment device, and the trigger thereof.

[0076] The retaining system comprises four retaining arms 818, 820, 822, and 824 pivotably mounted within a trigger sleeve 826 in recesses 828, and 830 (recesses for retaining arms 822 and 824 not shown). The retaining arms 818, 820, 822, and 824 are pivotable from a first position to a second position. The distal end of each retaining arm 818, 820, 822, and 824 comprises a respective protrusion 832, 834 836 and 838. Upon the retaining arms being in the first position, the protrusions 832, 834 836 and 838 are configured to engage with an annular recess provided within the outer surface of the attachment device. The trigger sleeve 826 is slidable within the housing 802 from a first position to a second position. Resilient springs 840, 842, 844 and 846 are provided between an end plate 848 of the trigger sleeve and the housing to bias the trigger sleeve towards the first position.

[0077] The retaining system further comprises a release sleeve 850. The release sleeve is slidable within the trigger sleeve 826 from a first position in which the distal ends of the retaining arms are maintained in their first position, to a second position in which the distal ends of the retaining arms are rotated to their second position. The release sleeve 850 comprises a plurality of recesses in the outer, each configured to receive a spring 852 and ball bearing 854. The ball bearings are configured to form a bearing with the inner surface of the trigger sleeve 826 to enable the release sleeve 850 to smoothly slide within.

[0078] The actuation portion 806 comprises both the actuation piston 810 and a further cylindrical portion 856 provided at a distal end of the cylindrical piston 810. The cylindrical portion 856 is configured to act on the release sleeve 850, to cause it to slide from the first position to the second position. Similarly to the release sleeve, the outer surface of the cylindrical portion 856 comprises a plurality of recesses, each configured to receive a spring 858 and ball bearing 860. The ball bearings are configured to form a bearing with the inner surface of the trigger sleeve 826 to enable the cylindrical portion 856 to smoothly slide within.

[0079] The release sleeve 850 comprises a plurality of inclined channels (not shown) each configured to engage with corresponding pins 862 provided at the distal ends of the retaining arms 818, 820, 822, and 824. The inclined channels form linear cam surfaces, the pins being followers, which cause the retaining arms to rotate away from engagement with the recess of the attachment device as the release sleeve is moved from the first position to the second position.

[0080] As can be seen, a number of screws 862 are provided which screw into the outer surface of the trigger sleeve 826, and slide with slots 864. The screws and slots act to stop the trigger sleeve from moving further than designed.

[0081] Similarly, bolts 866 are provided, which in combination with nuts 868 act to prevent the release sleeve 850 from being removed from the housing. In addition, the bolts 866 act to indicate to a user which configuration the system is in. If the release sleeve is abutting the nuts 868, then the user knows that the system is in the release configuration, if the nuts are spaced from the release sleeve then the system is not in the release configuration.

[0082] The trigger and release unit 106, 800 is of particular use in attaching a clearance charge to underwater ordnance, such as mines, to be cleared. In this use case, a clearance charge is coupled to the attachment device. The clearance charge comprises a charge portion comprising a disruptor charge, such as a high-explosive. The clearance charge may also comprise a float for receiving a trigger signal to detonate the charge. In this use case, the trigger and release unit is coupled to an unmanned underwater vehicle. More than one trigger and release unit may be coupled to a single unmanned underwater vehicle to enable more than one ordnance to be cleared in any one sortie.

[0083] FIG. 9 shows the trigger and release unit 800 coupled to a telescopic arm 900 attached to an underwater ROV 902. The telescopic arm 900 enables the trigger and release unit 800 to be stowed within the ROV until the ROV makes the final approach to the ordnance to be cleared. The trigger and release unit 800 is coupled to a clearance charge 904. As can be seen, two further clearance charge systems, each with a trigger and release unit 800 are stowed within the ROV. As will now be appreciated, in use, when making the final approach to the ordnance to be cleared, the operator initiates a control signal to arm the trigger system of the trigger and release unit 800. Then the controller moves the ROV towards the ordnance and pushes the attachment device into contact with the ordnance which pushes the attachment device into the housing of the trigger and release unit to activate the trigger of the attachment device. Once attached, the operator then releases the attachment device, and therefore the clearance charge, from the trigger and release unit.

[0084] FIG. 10 shows a further example of three trigger and release units coupled to a single unmanned vehicle. In this example, the unmanned vehicle 1000 is an underwater remotely operated vehicle (ROV). The ROV is tethered, via tether 1002, to a surface vessel, such as a mine countermeasures vehicle. The ROV 1000 receives power and commands via the tether 1002. FIG. 10(a) shows the trigger release unit in the stowed position. That is to say, all three clearance charges are housed completely within the deployment unit and the trigger and release unit is shielded by the safety gates.

[0085] FIG. 10(b) shows a charge 1004 in one of the trigger and release units in the deployment position. The remote operator, situated on the surface vessel, has sent a command to the system controller to deploy the clearance charge. The linear actuator has therefore been activated, and the charge is moved forwards to the deployment position which in turns moves the safety gate, where provided, to the open position. In this configuration the charge is ready to be attached to the target ordnance.

[0086] FIGS. 10(c) and 10(d) show the clearance charge 1004 having been attached to a tethered mine 1006, and the ROV being manoeuvred away from the mine. Once the operator is satisfied that the charge 1004 is secured to the mine, the charge is released from the trigger and release unit by activating the position controlled piston to pump a further exact volume of hydraulic fluid to move the release sleeve to the second, released, position.

[0087] In use, the trigger and release unit 100, 800 combined with the unmanned vehicle 900, 1000, such as a remotely operated vehicle (ROV) may be operated as follows for different types of ordnance. It will of course be understood that the trigger and release unit and ROV may be operated in any other suitable manner:

Surface/Drifting Mine—Target Visual on Surface

[0088] Once the mine has been located, visual contact confirmed, and an approximate position established, the MCMV or Surface Support Craft, positions itself upwind and at approximately 150 m such that the target is clearly visual to a remote operator.

[0089] The ROV is made ready and the clearance charge is prepared in accordance with the recommended drill. The clearance charge is mounted within the trigger and release unit.

[0090] The ROV is launched with the clearance charge from the engaged side in accordance with Standard Operating Procedures (SOP's). When a tracking system, such as an acoustic tracking system (Sonar) is confirmed as operational, and on achieving a minimum range of 50 m from the MCMV, the ROV is taken in to manual control and brought to the surface. The remote operator confirms when the ROV is visual. At this point there will be approximately 100 m distance to run to the target ordnance.

[0091] The remote operator pilots the ROV towards the target giving approximate ranges. Some information may be received by the tracking system but this should be secondary to the visual primary means of closing the range to the target due to the potential ambiguity of such tracking systems information with the ROV at the surface.

[0092] When the ROV is approximately 30 m from the target, the ROV is stopped. When the remote operator has the target illuminated on the ROV Sonar, he maintains the range of ROV from target at no closer than 25 m. Consideration can be given to using a semi-automatic mode to maintain the constant range.

[0093] The MCMV, or surface support craft may then be manoeuvred to open the range from the target ordnance. The remote operator maintains the range of the ROV from the target ordnance at no closer than 25 m.

Shallow Moored Mine—Target not Visual on Surface

[0094] In this case, pre-requisites in terms of MCMV positioning are the same as for the engagement of a floating drifting mine which is visual.

[0095] The target ordnance is illuminated by the MCMVs sonar. The ROV vehicle is prepared as described above, and launched in a routine automatic run to engage the target ordnance. Again, the ROV is maintained at approximately 25 m from the target ordnance.

Procedure for Visual or Shallow-Moored Mines after ROV Reaches 25 m from Target Ordnance

[0096] The MCMV is manoeuvred to a safe operating distance, such as 500 m. On completion, the remote operator of the ROV closes the range to the target ordnance using the ROV tracking system. The target ordnance may be engaged using the tracking system only, but the remote operator may be assisted by a camera in the final stages of the engagement run. Following engagement and confirmation by the remote operator that the target is ordnance that requires neutralisation, the remote operator sends instructions to the trigger and release unit to arm the trigger portion by activating the position controlled piston to pump the volume of hydraulic fluid to move the trigger portion to the second, armed, position.

[0097] The remote operator then makes a final, slow speed, run to the target ordnance to attach the charge. At the same time, the attachment device is triggered by the force exerted by ROV pushing the attachment device onto the ordnance and moving the trigger sleeve to the second position, securing the charge to the target ordnance. Before initiating a retreat, the operator may use a camera on-board the ROV to check that the charge has been attached correctly. If the charge is attached correctly, it is released from the trigger and release unit by activating the position controlled piston to pump a further exact volume of hydraulic fluid to move the release sleeve to the second, released, position.

[0098] Once the ROV has made a complete retreat, the clearance charge may be remotely triggered to detonate, or it may be controlled by a remote line from the MCMV, such as NONEL shock tube, or it may operate on a timer system.

[0099] The ROV may then be recovered onboard the MCMV, or where the ROV comprises more than one trigger and release unit, a further ordnance may be targeted in the same way as described above.

[0100] Where more than one ordnance is targeted in a single sortie, the charges may be triggered to detonate only once all required charges have been deployed. The charges may be detonated simultaneously or, more preferably sequentially.

[0101] The embodiments and examples described above illustrate but do not limit the invention. It will be appreciated that other embodiments of the invention may be made and it is to be understood that the specific embodiments described herein are not intended to be limiting.