Abstract: The invention provides a subsea torque tool (10) for a subsea vehicle system (such as an ROV), a drive head selection mechanism (30), and a method of use. The tool comprises a tool housing and a plurality of torque drive heads (22, 24, 26). The drive mechanism (17, 18, 20, 28) is operable to rotate the plurality of torque drive heads, and the drive head selection mechanism is used to select a drive head to impart a torque to a subsea device. The drive head selection mechanism comprises a rotary actuator (14, 32), and rotation of the rotary actuator effects axial movement of at least one of the plurality of drive heads between an operative position and an inoperative position. In another aspect, the drive head selection mechanism comprises an actuator operable from the exterior of the torque tool. In a preferred embodiment, the drive heads are sockets (22, 24, 26), and the selection mechanism comprises a rotary actuator and a cam mechanism.

Abstract: A check valve assembly (100, 200) is provided for subsea applications. The check valve assembly comprises a housing (102, 202), having an inlet port (106, 206) and an outlet port (108, 208) forming an internal fluid passageway through the housing; a valve member (112, 212), moveable within the internal fluid passageway between a first position, where fluid flow through the internal fluid passageway is prevented, and a second position, where fluid flow through the internal fluid passageway is permitted; a biasing member (110, 210), adapted to urge the valve member into the first position at a predetermined cracking force, and a pressure interface (116, 216). The pressure interface operatively links the valve member and an external fluid of a region exterior of the check valve assembly so as to provide a supplemental force, proportional to the ambient pressure of the external fluid, adapted to urge the valve member towards the first position.

Abstract: A stab connector for providing a fluid flow path between a first fluid reservoir and a second fluid reservoir, comprising a stab body coupleable to a receptacle in fluid communication with the second fluid reservoir and moveable inside the receptacle between a sealing position, in which fluid flow in the fluid flow path between the first fluid reservoir and the second fluid reservoir is prevented, and a flow position, in which the fluid flow in the fluid flow path between the first fluid reservoir and the second fluid reservoir is permitted.

Abstract: A torque tool (10) for a subsea vehicle (such as a Remotely Operated Vehicle), a motor assembly (16), and a method of use are described. The torque tool comprises a tool housing, at least one torque drive head, and a drive mechanism operable to rotate the at least one torque drive head. The drive mechanism comprises a first hydraulic motor (17) having a first torque output and a second hydraulic motor (18) having a second torque output. The first and second hydraulic motors are operable to drive a common drive shaft (15). A preferred embodiment comprises a hydraulic motor interface device comprising a first interface surface on one side of the device configured to couple a hydraulic fluid supply to the first motor, and a second interface surface on an opposing side of the device configured to couple a hydraulic fluid supply to the second motor.

Abstract: A control system for an articulated manipulator arm, the manipulator arm having at least three degrees of freedom, the control system including a master controller moveable to replicate the at least three degrees of freedom of the manipulator arm; the control system determining the rate of movement of the master controller in each direction replicating a degree of freedom of the manipulator arm and controlling actuation of the manipulator arm so that the rate of movement of the manipulator arm in each of the at least three degrees of freedom is proportional to the rate of movement of the master controller in each direction replicating a degree of freedom of the manipulator arm.

Abstract: A stab connector for providing a fluid flow path between a first fluid reservoir and a second fluid reservoir, comprising a stab body coupleable to a receptacle in fluid communication with the second fluid reservoir and moveable inside the receptacle between a sealing position, in which fluid flow in the fluid flow path between the first fluid reservoir and the second fluid reservoir is prevented, and a flow position, in which the fluid flow in the fluid flow path between the first fluid reservoir and the second fluid reservoir is permitted.