System, apparatus and method for a hook end effector

Abstract

A system and method is included for coupling a submersible conveyance to a payload comprising a gripper and an adapter for coupling the hook to the gripper.

We claim: 
     
         1 . A system for coupling an submersible conveyance to a payload comprising:
 a hook having a base and at least one finger;   a gripper; and   an adapter for coupling said hook to said gripper.   
     
     
         2 . The system of  claim 1  where the gripper comprises a pair of jaws. 
     
     
         3 . The system of  claim 1  where the adapter has at least one groove adapted to accommodate at least one jaw of said gripper disposed within. 
     
     
         4 . The system of  claim 1  where the adapter has a pair of outwardly facing surfaces that generally extend in parallel planes. 
     
     
         5 . The system of  claim 1  where the adapter has an outwardly facing surface with at least one aperture dispose within. 
     
     
         6 . The system of  claim 1  where said finger and a clasp of said hook at least partially define a perimeter and where a centerline of a groove in the adapter does not intersect said perimeter. 
     
     
         7 . The system of  claim 1  where said finger and a clasp of said hook at least partially define a perimeter and where a line extending from a sidewall of a groove that accommodates at least one jaw of said gripper in the adapter, intersects said perimeter. 
     
     
         8 . The system of  claim 1  where an end of said finger and a clasp is coupled to a base. 
     
     
         9 . The system of  claim 1  where the adapter has an adapter centerline that extends from a center of a front side of the adapter to a center of a rear side of said adapter and where the adapter is wider on a farside of the adapter centerline that is farther from said hook than a nearside of the adapter that is closer to said hook. 
     
     
         10 . The system of  claim 9  where the farside of the adapter forms an apex that is aligned to a pivot point of the clasp to within ten percent of a length of said hook 
     
     
         11 .The system of  claim 9  where the nearside of the adapter that is closer to said hook has a jut that extends away from the centerline and is laterally within fifteen percent of the length of the hook to the pivot point of the clasp. 
     
     
         12 . The system of  claim 9  where the farside of the adapter does not overlap with said hook. 
     
     
         13 . The system of  claim 1  where the adapter has a receiver for receiving the hook and at least a portion of the receiver is complimentary in shape to a portion of said finger and a portion of a base of the hook. 
     
     
         14 . The system of  claim 1  where a minority of a sidewall of the adapter overlaps with said hook. 
     
     
         15 . The system of  claim 1  where the adapter is coupled to the hook at a first point along said finger within one third along the length of a phalanx of said finger from a base of said hook. 
     
     
         16 . A method for coupling and decoupling an submersible conveyance to a payload comprising:
 accommodating at least one jaw of a gripper with an adapter of a hook to couple said gripper to said hook;   moving said gripper that is coupled an submersible conveyance in proximity to a payload;   articulating said hook such that it couples to said payload.   
     
     
         17 . The method of  claim 16  where the step of accommodating at least one jaw of a gripper with an adapter of a hook to couple said gripper to said hook comprises opening said jaw of said gripper and disposing said jaw within a groove of said adapter. 
     
     
         18 . The method for coupling and decoupling an submersible conveyance to a payload further comprising decoupling said payload from said hook. 
     
     
         19 . A method of assembling an underwater coupling device comprising
 inserting a hook into a receiver of an adapter;   coupling said hook to said adapter; and   accommodating at least one jaw of a gripper with an adapter of a hook to couple said gripper to said hook.   
     
     
         20 . The method of assembling in  claim 19  where the step of coupling said hook to said adapter comprises coupling said hook at a first point along a finger of said hook within one third along a length of a phalanx of said finger from a base of said hook.