Manipulators

The Deep Trekker™ two function grabber is an attachment that can be mounted to the ROVs. The grabber is equipped with an open/close motion, and a continuous bi-directional rotate motion. The grabber motion is controlled using the two shoulder joysticks as outlined in the sections getting started section for each ROV.

The mechanical design of the two-function grabber incorporates a self-locking feature. This is a beneficial feature if the objects you are grabbing are very heavy. Once the claws are locked closed, the rotational movement of the grabber will automatically lock. The rotational movement should only be used to position the angle of the claws prior to grabbing an object.

The maximum weight that the ROV can lift and self-maneuver with is relatively small. In a situation where you are using the ROV to retrieve a large or heavy object, the grabber is used to lock it to the ROV, and the user then retrieves the ROV and object together by pulling it back gently using the tether. This method reduces strain on the ROV and extends the battery life. Keep in mind that the density of the object will impact its weight underwater, so while very heavy objects may be retrieved while underwater, they will strain the tether once above the surface. Deep Trekker™ recommends retrieving the object and ROV from the surface manually to prevent tether damage. In situations where this is not feasible, the Grappling Hook should be considered. 

Grabber Attachments

There are number of interchangeable grabber attachments that can be used for various purposes

Removing an Attachment - All Tools, Excluding the Three Jaw Grabber Claw

• With the ROV powered on, and the grabber connected, rotate the grabber tool until the worm screw and teeth are fully visible. It may help to open the grabber tool completely, so that the grabber shaft is fully extended.

• Remove the two thumbscrews

• To free the grabber tool, slide the grabber tool straight down

Installing an Attachment – All Tools, Excluding the Three Jaw Grabber Claw

• With the ROV powered on, and the grabber connected, push up on the back left joystick to fully extend the worm screw.

• Slide the grabber tool onto the grabber from underneath, as shown. Align the bottom tooth with the bottom groove on the worm screw.

• Install the thumbscrews into the threaded holes at the sides of the grabber claw and make sure it is finger tight.

Installing an Attachment – Three Jaw Grabber Claw

• With the ROV powered on, and the grabber connected, push down on the back left joystick to fully retract the worm screw.

• Ensure the grabber claw’s shaft extension channel lines up with the opening.

• Slide the grabber claw onto the grabber from underneath, ensuring the grabber shaft interlocks with the grabber shaft extension. 

• Install the thumbscrews in the threaded holes at the sides of the grabber claw and make sure it is finger tight.

Claws:

Measuring Devices:

Recovery:

Cutting Tools

These are tools that replace the Grabber assembly

The Deep Trekker™ Revolution can be equipped with a Power Tool add-on which can be outfitted  by Deep Trekker service or a certified reseller with a rotating cutting/grinder tool. 

Warning: Please read the entire section for each Power Tool used. Follow all safety guidelines outlined in Safety Precautions while using any Power Tool. Take all necessary additional safety precautions outlined in this section to avoid serious injury.

Attaching the Power Tool

From the factory, your DT Revolution may ship with different foam pieces attached to the camera head. Note that you cannot attach the grabber at the same time as the power tool. You will need to remove these pieces prior to attempting to install the power tool, as the power tool requires a different set of foam. To attach the power tool, follow these steps:

• Power on the ROV. Aim the camera head upwards allowing it to rotate to gain access to the underside of the camera, about 135 degrees. Power off the ROV. Do not work on the ROV while it is on. Begin by removing any foam on the underside of the camera head. This foam is held in place with M3 hex-head screws. 

• Install the two Power Cutter mounts as shown using the included M3 X 70mm hex-head screws. 

• Connect the rotate motor (short harness) connector to the camera head, as shown. 

• Connect the two drive motor harnesses (identical black harnesses) to the ROV. To do this, route around the camera head shaft as shown in the image. Route both cables through the cutout on the left-hand side of the ROV as shown below. One harness is to be plugged into the center Auxiliary port and one must be routed around the ROV to the right-hand side and plugged into the center Auxiliary port (see System Overview for port locations). Follow the existing cable routing paths.

• Re-install the rear foam as it cannot be accessed after installing the tool. Next, attach the power tool by sliding it into place and using the included M4 X 70mm hex-head screws.

• Re-attach all included foam with hardware.

• Note that the rear of the ROV features circular counterweights that can be removed using the included cotter pins if ever the user wishes to detach the power tool. This will prevent shifting the center of gravity caused by the added weight of the power tool, preventing unwanted tilt.

Attachment

To attach the cutter attachment, simply push it onto the hub and rotate the hub until the drive is fully seated. You will know the drive is seated as the holes for the screws will not align until it is correctly seated. Next, if the holes are axially misaligned, rotate the sleeve until the holes are aligned. Fasten the tool in place with the M4 screws. To remove, simply remove the M6 screws and pull the tool off.

Operation

Prior to operation, steering and thruster gain should be set lower (between 2-4) in order to make it easier to control the amount of power behind the tool. Depending on the material, varying amounts of pressure should be applied using the thrusters while cutting. The HUD will show the power consumption of the tool on the left-hand side, reading from 0% to 100%. The user should aim for between 80-90% consumption for peak efficiency. When activated and spinning in water, the tool will read out 40-60% power. Note that power will be affected based on the amount of pressure the user places against the cutting surface with the cutter. If the user reaches 100%, the tool will pause for 1 second before restarting to prevent motor overload. If the motors are overloaded significantly, a fault will occur. The fault can be cleared, and work resumed. 

The operation of the grinder wheel will result in some forces which may cause the ROV to vary in attitude and position. One can control the ROV manually to oppose these forces while cutting, however, it is recommended to install a DVL if the user wishes to maintain full positional consistency and stability during operation.

Once the selected attachment has been properly attached and the ROV has been successfully deployed, the Power Tool can be enabled. The ROV will sense that the tool is attached. The Power Tool is controlled using the left-hand shoulder (also the “Grabber Joystick”). To enable the Power Tool, pull the grabber joystick downwards. This will cause a popup on the HUD that the user must confirm in order to enable the Power Tool.

Once enabled, the tool will stay enabled unless the tool is left idle for 1 minute. 

With the Power Tool enabled, the user can activate the Power Tool by pushing down on the grabber joystick and holding it. In order to reposition the Power Tool, simply move the ROV and camera head as required. In addition, the user can rotate the power tool about the center axis by pushing the grabber joystick left or right on the rear of the controller.

Grinder Wheel

If using a fiber disc, replace the grinder wheel between EVERY dive session. Layers can come apart after being wet which can lead to disintegration and possibly fatal injury when powered on. 

A grinder wheel can be attached to the Power Tool. we recommend using a steel grinding wheel to avoid having to replace after every dive.  This tool can be used as a regular grinder (with some exceptions) for underwater applications. Please read the following safety instructions prior to installing or using the Grinder Wheel. Recognize all hazard labels or stickers affixed to the tool and heed any warnings given. These precautions are given for your safety. Review them carefully before operating the tool and before performing general maintenance or repairs. Failure to do so may result in personal injury or equipment damage.

Supervising personnel should develop additional precautions relating to the specific work area and local safety regulations.

Acceptable Wheel Sizes:

• Arbor Size: 7/8”

• Diameter: 4”

• Thickness: Up to 3/8” (Grinding), 1/16” (Cutting)

• Speed Rating: Wheel must be rated 10000 RPM or greater

When using the grinder wheel, position the grinder near the workpiece but without contacting the cutting surface. Turn on the tool and initiate cutting motion, and only then contact the surface. Failure to do this may result in damage to the cutting wheel, unintended damage to the workpiece, or damage to the ROV.

WARNINGS!

• Do not operate this tool without first reading this manual

• Replace fiber grinder wheels between EVERY dive session. Layers can come apart after being wet which can lead to disintegration and fatal injury when powered on

• Do not inspect or clean the tool while the ROV is on. Accidental engagement of the tool can cause serious injury

• Do not operate a damaged, improperly adjusted or incompletely assembled tool

• Replace any grinder wheel less than 3.75” in diameter

• Take care to not bring the power tool near, or damage the tether

• Only use grinder wheels that meet the given specifications

• Check fastener tightness often and before each use

• Never operate the grinder near or around the tether. Any damage or cutting of the tether may permanently damage the ROV

• Do not tighten or loosen the wheel nut by impact. To tighten the wheel nut, hold the shaft as described above using a screwdriver to align the shafts

• Keep all parts of your body away from the wheel when the ROV is on

• Always keep critical tool markings, such as labels and warning stickers, legible

• Never start the grinder with the wheel in contact with a surface

• Never handle the ROV with the tool enabled

• Never operate the tool out of water

• Do not handle the ROV without ensuring the wheel has stopped

• Always inspect wheels for possible damage before installation

• Never transport or store the tool with the wheel mounted on the grinder

• Always clear the grinder guard of any dirt or debris that may affect its operation before and after use

• Minimize cocking, jamming, or wedging the wheel against surfaces during operation

• Cease using the grinding tool if the guard has become cluttered with debris during operation

• Never cause sparks in the vicinity of flammable materials

• Do not operate the tool with the wheel guard removed

• Do not start grinding until you have a clear work area

• Do not allow other persons near the ROV when starting or cutting

• Never operate the tool when you are tired or fatigued

• Do not use a wheel that is cracked or otherwise damaged

• Always use wheels that conform to the specifications given in the Operation section of this manual

• Do not reverse wheel rotation

• Use extreme caution when handling the tool after grinding, the wheel can be hot and have sharp edges, use your personal protective equipment

• Make sure adequate lighting is always available

• Never operate the tool if you are unsure that underwater utilities are not present

• Underwater gas utilities present an explosion hazard. Other underwater utilities may present other hazards

• Do not operate this tool in a potentially explosive environment. Do not grind on bodies or vessels containing combustible substances

• Any use of this tool outside those stated in this manual are forbidden

• Obey ANSI B7.1 and OSHA requirements