Tool interface and method

The present invention relates to the field of tool interfaces, and in particular to robotic tool interfaces for use in manufacturing environments. In one of its aspects, the invention relates to a robotic tool interface for use in harsh environments such as marine/subsea applications, mining or in the nuclear industry.

The present invention relates to the field of tool interfaces, and in particular to robotic tool interfaces for the use in manufacturing environments . In one of its aspects, the invention relates to a robotic tool interface for use in harsh environments such as marine/subsea applications, mining or in the nuclear industry.

Robotic tools are used in a number of industries to carry out specific tasks. Typically, such tools are controlled remotely and they require a supply of hydraulic fluid, power and data communication to operate.

During a process or operation, different tools will often be required for different purposes, and it is usual practice to make available in situ for coupling to an available robotic arm when required. However, there are drawbacks associated with this in that to carry out a new task, the existing tools require changing out, requiring decoupling of the old tool and re-coupling of the new one. Although this may be an automated process in some industries, it is in any case both time consuming and inconvenient.

Further, each robotic tool may lack dexterity or the ability to carry out complex movements because it can be unfeasible to provide multiple inputs of hydraulic fluid. This also exacerbates the need in prior art techniques to change out and use a number of tools to perform a complex operation.

In the subsea industry, where remote operations are often carried out by an ROV, the tools required for operations are typically stored onboard and are often heavy items that can hamper the performance of the ROV, and in particular its buoyancy and balance in the water.

Further, existing techniques for interfacing power, hydraulics, and data communications to such robotic tools have limitations. Present interfacing techniques typically involve coupling power, data communications, and each hydraulic input/output tubing line individually through a simple manifold with opposing connections either side. Where it is required or desirable to supply or connect up a number of hydraulic lines to a tool, the manifold tends becomes unfeasibly large.

Further, it is particularly inconvenient to make these individual connections where a supply may need to be temporarily disconnected for maintenance purposes.

It is an aim of the invention to provide a method and apparatus for connecting tools to robotic apparatus that obviates or mitigates one or more disadvantages of available methods and apparatus.

It is an aim of the invention to provide a method and apparatus which allow multiple tools to be connected to robotic apparatus .

It is a further aim of the invention to provide a method and apparatus which allow tools to be connected and disconnected to robotic apparatus subsea.

According to a first aspect of the invention, there is provided an interface for connecting a tool to a robotic apparatus, the interface comprising: a first assembly attached to the robotic apparatus and a second assembly attached to the tool, the first and second assemblies being adapted to be coupled to one another, wherein the first and second assemblies are adapted to allow transmission between the robotic apparatus and the tool of at least one of: hydraulic fluid, electrical power, data or a control signal.

Preferably, the interface further comprises an electrical coupling arrangement. The electrical coupling arrangement may be arranged for transmission of

electrical power by mutual inductance between the first and second assemblies.

Preferably, the first assembly comprises a plurality of flow ports, and the second assembly comprises a plurality of flow channels, and the respective flow ports and flow channels are adapted to be in fluid communication to allow flow of hydraulic fluid between the robotic apparatus and the tool .

The flow ports may be located at different positions along a length of the interface.

The flow ports may be located at different positions around a circumference of the interface. The fluid flow ports may be located externally of the electrical coupling arrangement .

The first assembly may be adapted to prevent flow of fluid into and/or out of the flow ports when de-coupled from the second assembly.

The flow ports may be formed in a tubular hydraulic sleeve of the first assembly.

Preferably, the first assembly is provided with a first wiper sleeve adapted to slidably and/or sealably locate within the tubular hydraulic sleeve to cover the flow ports.

Preferably, the second assembly is adapted to prevent flow of fluid into or out of the flow channels when de- coupled from the first assembly.

Preferably, the flow channels are formed in an outer surface of a tubular hydraulic slip ring of the second assembly.

The second assembly may comprise a second wiper sleeve adapted to slidably and/or sealably locate around the hydraulic slip ring to cover the flow channels.

Preferably, the first assembly comprises a first fibre optic connector and the second assembly comprises a second fibre optic connector, and the first and second connectors are adapted to couple together to form a fibre optic coupling arrangement for transmission of data or a control signal between the robotic apparatus and the tool.

The fibre optic arrangement may be located centrally within the interface. The fibre optic arrangement may be integrated with an electrical coupling arrangement.

The first wiper sleeve may have an end adapted to receive a bull nose. The bull nose may be coupled to the hydraulic slip ring. The end of the wiper sleeve may be in the form of an annular ring, and, may be formed with a central recess or bore for receiving the bull nose. The first inductance coil may be located in the end of the first wiper sleeve, and may comprise wire wound around the annular ring. The second inductance coil may be located in the bull nose. The first wiper sleeve may be adapted to receive the bull nose in the recess to produce an mutual inductive coupling between the first and second coils, and thus an electrical coupling aloowing the

transmission of electrical power between the robotic apparatus and the tool .

According to a second aspect of the invention, there is provided a method of connecting a robotic apparatus and an interface comprising the steps of: coupling a first assembly attached to the robotic apparatus to a second assembly attached to the tool; and transmitting between the robotic apparatus and the tool of at least one of: hydraulic fluid, electrical power, data or a control signal.

The method may comprise the further step of transmitting electrical power between the robotic apparatus and the tool by mutual inductance between a first coil of the first assembly and a second coil of the second assembly.

The method may comprise the further step of transmitting data or a control signal between the robotic apparatus and the tool via a fibre optic connection.

The method may comprise the further step of transmitting hydraulic fluid and/or power between the robotic apparatus and the tool via flow ports of the first assembly in fluid communication with flow ports of the second assembly.

According to a third aspect of the present invention, there is provided apparatus for performing a robotic operation at a site location, the apparatus comprising: a robotic apparatus at the site location and controllable from a remote location; a plurality of tools at the site

location connectable to the robotic apparatus; wherein the robotic apparatus is operable to be coupled to, and allow activation of, each of the plurality of tools at the site location.

The robotic apparatus may comprise a robotic arm. The site location may be subsea. The robotic apparatus may a Remotely Operated Vehicle (ROV) . Alternatively or in addition, the robotic apparatus may be an autonomous underwater vehicle (AUV) .

The apparatus may be installed at a manufacturing facility.

Preferably, the apparatus comprises an interface between the tool and the robotic apparatus. The interface may allow transmission of electrical power between the tool and the robotic apparatus. The interface may allow data transmission between the robotic apparatus and the tool. The interface may allow transmission of a control signal between the robotic apparatus and the tool. The interface may allow hydraulic power to be transmitted between the robotic apparatus and the tool. As an advantage, this allows robotic tools to be fully controlled. Further, the interface allows these supplies to be provided as back up if existing supplies fail.

The interface may comprise a first assembly attached to the robotic apparatus, and a second assembly attached to the tool, the first and second assemblies adapted to be coupled together.

The first assembly may comprise a first inductance coil and the second assembly may comprise a second inductance coil, and electrical power may be transmitted between the robotic apparatus and the tool by mutual inductance between the first and second coils.

The first assembly may have a first electrical conductor surface and the second assembly may have a second electrical conductor surface, the second surface electrically may be connected to the first surface such that electrical power is transmitted between the robotic apparatus and the tool .

The first assembly may comprise a first fibre optic communication arrangement and the second assembly comprises a second fibre optic communication arrangement, and data is transmitted between the robotic apparatus and the tool via a physical connection of the first and second fibre optic communication arrangements.

The first fibre optic communication arrangement may comprise a first fibre optic connector, and the second fibre optic communication arrangement comprises a second fibre optic connector, wherein the first and second connectors connect for data communication between the robotic apparatus and the tool.

The first and second assemblies may be adapted to be coupled together to form a fluid seal between an interior and an exterior of the interface.

The first assembly may comprise a flow port, and the second assembly may comprise a flow channel, and the flow

port and the flow channel may be in fluid communication for flow of hydraulic fluid between the robotic apparatus and the tool .

The first assembly may comprise a second flow port and the second assembly may comprise a second flow channel, which is in fluid communication with the second flow port.

Preferably, the first assembly comprises a tubular hydraulic sleeve comprising a plurality of flow ports, and the second assembly comprises a tubular hydraulic slip ring located within the sleeve, the slip ring comprising a plurality of flow channels in fluid communication with respective flow ports.

The plurality of flow ports are may be located at different positions along a length of the hydraulic sleeve. The plurality of flow ports may be located at different positions along a length of the interface.

The hydraulic sleeve may comprise a sleeve body defining sleeve flow regions for flow of hydraulic fluid to and/or from the flow ports.

The hydraulic slip ring may comprise a slip ring body defining slip ring flow regions for flow of hydraulic fluid to and/or from the flow channels.

The flow ports may be distributed around a circumference of the hydraulic sleeve.

The flow ports may be formed in an internal wall of the hydraulic sleeve.

The first inductance coil may be located within the hydraulic sleeve. The second inductance coil may be located with in the hydraulic sleeve. The first and second fibre optic connectors may be located within the hydraulic sleeve. The first and second fibre optic connectors may be located within the first and second inductance coils. The first and second conductor surfaces may be formed circumferentially around the first and second fibre optic connectors .

The interface preferably comprises a locking mechanism locking the first and second assemblies together. The locking mechanism may comprise at least one piston adapted to lock the first and second assemblies to prevent movement of the first assembly relative to the second assembly. The piston may be hydraulically activated.

The piston may be oriented radially with respect to the axis of the first and second assemblies.

According to a fourth aspect of the invention, there is provided an interface for connecting a tool to an robotic apparatus, the interface comprising a first assembly attached to the robotic apparatus and a second assembly attached to the tool, the first and second assemblies being adapted to be coupled to one another, wherein the first assembly comprises a first inductance coil and the second assembly comprises a second inductance coil, and electrical power is transmitted between the robotic

apparatus and the tool by mutual inductance between the first and second coils.

Preferably the robotic apparatus is an ROV.

Preferably, the interface comprises an arrangement of fibre optics to enable transfer of data between the first and second assemblies.

Preferably, the interface is provided with a mechanism to releasably lock together the first and second assemblies.

Optionally, the interface allows transfer of pneumatic or hydraulic power between the first and second assemblies.

The tool changer will allow easy interfacing to multiple tools from the toolbox at depth without returning to the surface.

The tools maybe selected from a toolbox comprising one or more of: various grabbers; an anvil cutter; a disc grinder; a torque tool, inspection tooling.

According to a fifth aspect of the invention, there is provided a method of connecting a robotic apparatus and an interface comprising the steps of: - coupling a first assembly attached to the robotic apparatus to a second assembly attached to the tool, wherein the first assembly comprises a first inductance coil and the second assembly comprises a second inductance coil, and;

- transmitting electrical power between the robotic apparatus and the tool by mutual inductance between the first and second coils.

The present invention will allow the development of increasingly powerful and complex tooling capable of carrying out extremely sophisticated tasks.

The present invention allows several ROVs to work together in close proximity and share tools.

The present invention provides the ability to interface directly with subsea production manifolds where the ROV locks onto a tree directly without a tool and communicates to the tree via the interface. The invention allows the ROV to lock onto a tree to provide emergency hydraulic intervention.

It allows hydraulic power (pneumatic for land based systems) to be easily changed at depth as wiper system ensures the integrity of the hydraulic circuit is kept free from water ingress.

The aligned matching fiber optic ports ensure the data exchange is noise free and again there is no degradation by using copper conductors which will ultimately wear and be exposed to seawater.

The high frequency mutual induction system eliminates the problems associated with making/breaking electrical conduction connectors at depth and ensures the complete integrity of the end-effecter . The end-effecter can be in temporary charge mode when sitting in the toolbox.

There will now be described by way of example only embodiments of the invention, with reference to the following drawings, in which:

Figure IA is a cross-sectional representation of tool interface in a disengaged configuration in accordance with an embodiment of the invention;

Figure IB is a cross-sectional representation of the tool interface of Figure IA in a connected configuration; and

Figure 2 is a cross-sectional representation of an electrical coupling between first and second assemblies of a tool interface in accordance with an alternative embodiment of the invention.

Figure 3 is a perspective view of the hydraulic sleeve of the interface of Figure IA showing the flow ports.

Figure 4 is a perspective view of the hydraulic slip ring of the interface of Figure IA; and

Figure 5 is a side perspective view of the interlocking sleeve with recess for member/ "dog" in outer surface of second assembly of the interface of Figure IA.

We refer firstly to Figure IA showing a connection interface 100 for coupling a robotic apparatus to a pneumatic/hydraulic tool. In the present example, the robotic apparatus is in the form of a robotic arm, with

its upper part connected to a robotic manipulator for control of the arm.

The upper arm part may be formed from Aluminium, stainless steel, duplex or other suitable material.

The connection interface 100 has a first connecting assembly 102 connected to an end (lower part) of the arm, and a second connecting assembly 104 fitted to the tool, and these two assemblies are configured to interlock to provide electrical coupling, hydraulic connection, and a communications link e.g., for data or a control signal between the arm and the tool via the interface 100.

The first connecting assembly 102 has a tubular hydraulic sleeve 106 with internal galleries or channels manufactured and/or bored into the sleeve body, to permit hydraulic fluid, which may be input via hydraulic fittings 108, to flow through the hydraulic sleeve body and along a hydraulic sleeve wall 112 to a number of hydraulic ports as can be seen at 142 in Figure 3 in an inner surface of the hydraulic sleeve wall 112.

The hydraulic sleeve may be formed from Aluminium, stainless steel, duplex or other suitable material and provides rigidity to the interface and the first assembly.

The fist connecting assembly 102 is further provided with a generally cylindrical and part-tubular inner wiper sleeve 146, which is located within the hydraulic sleeve wall 112 and can slide along a main axis 130 of the assembly. in the disconnected configuration of Figure

IA, the inner wiper sleeve 146 is biased by an inner wiper biasing spring 107 toward the connecting end 105 of the first assembly, such that the hydraulic ports 142 are closed off to prevent fluid ingress into the hydraulic sleeve 106.

Further, the first connecting assembly 102 includes an outer tubular guide sleeve 114 connected to the hydraulic sleeve 106 around the hydraulic sleeve wall 112 defining an annular space 116, into which can be received a main tubular engaging sleeve 118 of the second connecting assembly 104. The outer sleeve 114 has a locating member 115 to assist in locating the first connecting assembly against the second connecting assembly for engagement across the interface.

The first connecting assembly also houses a locking mechanism 109 that functions to effect locking of the first assembly to the second assembly. The locking mechanism 109 is actuated to lock via its own hydraulic circuit, which is separate from the main tool interface hydraulics.

The second connecting assembly 104 comprises a main tubular interlocking sleeve 118, with an engaging wall 124 that is adapted to slot into the annular space 116 of the first assembly 102. The outer sleeve 114 and engaging wall 124 are provided with holes 119 a,b in the engaging wall 124 to engage with the locking mechanism when activated for connection of the interface.

Further, the second assembly has a hydraulic slip ring 120 located within and attached to the tubular

interlocking sleeve at the tool-end of the interface. The slip ring 120 is generally tubular and is formed such that there is an annular space 121 separating an inner surface of the engaging wall of the interlocking sleeve from an outer wall of the hydraulic slip ring 120. In this space, a tubular slip ring wiper sleeve 128 is located around the hydraulic slip ring 120, and can slide along the slip ring along axis 138. Upon sliding along the slip ring, this sleeve 128 also functions to wipe remove dirt, oil, grit and prevents hydraulic fluid from leaking into the environment from via the channels. The slip ring wiper sleeve 128 is biased by cover spring 134 in the un-connected configuration of Figure IA to cover hydraulic fluid channels 130 formed in the outer wall of the hydraulic slip ring 120. These channels 130 are provided with ports (see in more detail in Figure 4 at 500) to internal hydraulic flow channels or galleries manufactured into the slip-ring body and allowing fluid to flow from the flow channels into the ports, through the slip ring, and out via output hydraulic fittings 144 to the tool.

The channels are each fluidly separated from one another by seals provide around walls dividing the channels and are individually in fluid communication with the flow ports 142. The slip ring flow ports 500 are located around a circumference of the slip ring. No specific alignment of the slip ring 120 with respect to the hydraulic sleeve is required as the channels 130 are in fluid communication with the flow ports regardless of its rotational orientation, in the coupled configuration of the interface.

In the connected configuration as shown with further reference now to Figure IB, an end 190 of the slip ring wiper sleeve 128 abuts the sleeve wall 112 of the hydraulic sleeve 106, to keep the spring 134 in a compressed state, and the hydraulic slip ring 120 locates within the sleeve wall 112 with the hydraulic flow channels 130 aligned with the hydraulic ports 142 in the hydraulic sleeve wall 112.

Thus, in the configuration of Figure IB, the interface provides for hydraulic fluid communication across the interface 100 from the hydraulic input 108, via the sleeve wall 112, through the hydraulic ports 142, and through the hydraulic flow channels 130 to the tool.

Conversely, in the disconnected state of Figure IA, the wiper sleeve is allowed to extend out to cover the hydraulic port 142. Thus, the wiper sleeve 146 functions to prevent hydraulic fluid from escaping the hydraulic port 142 when the first and second assemblies 102, 104 are disconnected. Wiper sleeve 128 functions to prevent fluid ingress into the hydraulics of the second assembly and tool.

The wiper sleeves 128 and 142 are formed from HMWD, Teflon ® or other suitable material, for example, plastics and/or lightweight materials.

Further, the hydraulic slip ring 120 is provided with a bullnose 154 located at a connecting end 109 of the second assembly. When connected, the bullnose 154 is received in and abuts the wiper sleeve 146 forward to the connecting end 105. The bullnose 154 has a central nose

pin 158 that fits within a corresponding slot or recess in the centre of and end 160 of the wiper sleeve 146. The wiper end 160 locates around the nose pin 158 and has internal wire windings or an induction coil which is coupled to an electrical power source of the robotic apparatus through a wire 148 extending from the wiper sleeve cover 146 to the apparatus.

Further, the nose pin 158 is provided with an arrangement of wire windings or second induction coil electrically connected via a power output line 162 to the tool. In the connected configuration of Figure IA with the nose pin 156 located within the wiper end 160, there is mutual inductive coupling between the wiper end and the nose pin providing an electrical coupling between the robotic apparatus and the tool by mutual inductance. This electrical coupling may provide for transmission of a three phase electrical power.

In this configuration, there is no physical electrical contact between first and second connecting assemblies 102, 104. As the wire windings/ coils and wires carrying current are located within nose and wiper components, they are protected from external fluids e.g. water. In addition, there does not need to be exact alignment of the wiper sleeve covers 146 and the hydraulic slip ring in order for inductive coupling to be made. Further, rotational alignment is not required for the inductive coupling to function.

Further, it will be appreciated that in other embodiments, for example, where the tool has high power requirements, there may be provided an electrical

connection in the nose pin as shown in Figure 2. In Figure 2, the nose pin 158 is provided with electrical connector rings or surfaces 202, which when in the connected position align with corresponding connector rings or surfaces 204 in the connecting end of the wiper sleeve 146.

The electrical supply via the electrical coupling arrangement may be used to drive the tool directly, or may be used to charge an onboard battery of the tool, for example, such that the tool can perform its function independently after connection with the robotic apparatus .

The first assembly 102 also has a fibre optic line provided via cable 148 (also carrying electrical supply wires) including fibre optic cables extending from the robotic apparatus to the wiper sleeve 146. The wiper sleeve has a first fibre optic connector 156a fitted at the wiper sleeve end 160. The input cable 148 is flexible to allow for retraction and extension of the wiper sleeve 146 axially along the main axis 130. The wiper sleeve cover 146 is slidably fitted within the hydraulic sleeve wall 112 and functions to cover the hydraulic ports 142 in the unconnected state of the interface. This sleeve 146 also functions to wipe clean the flow ports as it moves past along and within the hydraulic sleeve, removing dirt, oil, grit and prevents hydraulic fluid from leaking into the environment.

In the second connecting assembly 104, a corresponding fibre optic connector 156 is provided in the bullnose 154. The fibre optic connectors 156 a, b are aligned

with the corresponding connectors 156 a in the first assembly 102, and allow data to be communicated across the fibre optic input through the connection provided by connectors 156 a, b and through a fibre optic cable 163 housed within the hydraulic slip ring 120. Thus, the interface when connected provides for data communication between the robotic apparatus and the tool .

Thus, with the first and second connecting assemblies 102, 104 engaged and interlocked, there is provided fibre optic connection via connectors 156 a, b, hydraulic connection through the hydraulic sleeve 106 and into a hydraulic slip ring 120, and inductive electrical coupling through the wiper end 160 of the wiper sleeve 146 and nose pin 158 of the bullnose 154. In this example, the hydraulic slip ring 120 and hydraulic sleeve delivers four hydraulic lines across the interface. The hydraulic lines are coupled through parts in the hydraulic sleeve distributed along the axis of the interface, providing a particularly compact interface for supply of hydraulics, power and communications. Further, it will be appreciated that in other embodiments further hydraulic supply lines can be coupled in this way by providing an extended sleeve length, and monitoring a compact configuration.

Thus, the present interface can provide supply for complex hydraulic tools through a number of lines via a robotic arm, and the providsion of flow ports in a hydraulic sleeve allows this to be provided in a compact manner .

In order to keep the first and second locking assemblies 102, 104 locked in position as shown in Figure IB, the first assembly 102 is further provided with opposing locking pistons 170a, b located housed in space 172 within the hydraulic sleeve 106. The locking pistons 170a, b are engagable to move radially outward to lock the engaging wall 124 of the interlocking sleeve, with the hydraulic sleeve 106. When engaged in position as in Figure IB, the piston ends extend through corresponding holes 119a, b in the engaging wall 124, and in the outer guide sleeve 114, thus preventing relative axial movement of the first and second assemblies along the main axis 130 of the interface. This locking arrangement functions to withstand high loads and prevents rotation of the respective connecting assemblies 102, 104.

The locking pistons 170a, b are controlled by a separate hydraulic circuit comprising an oil inlet 178 for the supply of oil, and outlets 180a, b for the expulsion of hydraulic fluid out from above the piston as they are driven by supplied oil through the space 172 to lock the assemblies. The supply and return flow of hydraulic oil can be switched to activate or de-activate locking pistons 170a, b accordingly. A separation washer 302 is provided in the space 172 between the two pistons 100 a,b to prevent full travel on either of the pistons across the space 172, while allowing input of oil through the inlet 178. This provides for smooth operation of the locking assembly.

The connection of the robotic apparatus to the tool via the interface 100 is carried out as follows. The tool or apparatus which is to be activated or controlled, is

provided with the second connecting assembly 104 attached to its body in an accessible location. The tool in this example is a subsea valve tree assembly requiring hydraulics, communications, and power in order to perform a well intervention operation. The second assembly 104 is initially in a configuration as indicated in Figure IB with the tubular slip ring wiper 128 slid and biased cover the hydraulic fluid channels 130, the cover spring 134 keeping the tubular cover 128 in place. The interlocking sleeve 118 extends with its engaging wall 124 beyond the connecting end of the bullnose 154.

The robotic apparatus is an arm of an ROV (although it will be understood that this may be any robotic arm connected to a robotic manipulator) , which is fitted with the first assembly 102, providing fibre optic communications, a source of hydraulic fluid and electrical power for the assembly 102. The assembly 102 is unconnected initially, and the wiper sleeve is biased by a spring (not shown) toward the connecting end of the assembly 102, the wiper sleeve covering the hydraulic ports 142 of the hydraulic sleeve 112 preventing fluid ingress. The locking pistons are in their disengaged position.

When it is desired to operate the tool, i.e. to initiate an intervention operation, the ROV is brought alongside the tool and the arm, fitted with the first assembly, is moved toward and into rough alignment with the engaging wall 124 of the second assembly 104. The engaging wall 124 locates first in the annular space 116 between the guide sleeve 114 and the hydraulic sleeve wall 112. Rotational alignment of the interlocking sleeve 118 with

the guide sleeve 114 is not required while the assemblies are brought together .

Once initial engagement has been achieved, the first assembly 102 is pushed toward the second assembly. As the assemblies are brought closer, the nose pin 158 and the bullnose 154 is brought into abutment with the inner wiper sleeve end 160 of the first assembly 102 the two assemblies remaining arbitrarily aligned. The nose pin 158 is received in the wiper sleeve end 148.

As the assemblies are pushed further together, the end 190 of the hydraulic sleeve wall 112 is brought into abutment with an end 192 of the tubular slip ring wiper sleeve 128. The slip ring wiper 128 is pushed against the spring 134 sliding the tubular wiper 128 away from the connecting end 109. Also, the inner wiper sleeve 146 being in abutment with the bullnose 154 and is pushed by the bullnose against the spring 107 overcoming the bias to the inner wiper sleeve along the main axis within the hydraulic sleeve 112.

On pushing the assemblies further together, the engaging wall 124 of the interlocking sleeve 118 is received within the annular space between the guide sleeve 114 and the sleeve 112 such that the region of the interface located within the wiper sleeve cover 146 and the tubular cover 128 is sealed from the exterior of the interface preventing fluid from entering into the interface and interfering with its operation.

As the assemblies are pushed into full engagement, the tubular sleeve 128 and the wiper sleeve 146 retract fully

and hydraulic flow channels 130 align with the hydraulic ports 142 of the hydraulic sleeve wall 112.

In addition, an outer surface of the interlocking sleeve 118 has a recessed cam or profiled surface 305 to guide the member or "dog" 115 into location in a complementary fit in the recess 303 along an outer surface 300 (see Figure 5) as the assemblies are pushed together. The profiled surface engages with the member 115 to urge the interlocking sleeve 118 and the guide sleeve 114 into alignment and to allow complete engagement of the two assemblies.

Further, this profiled arrangement assists to align the fibre optic connectors at the bullnose in the present example and aligns the assemblies to enable the locking mechanism to engage, but it will be appreciated that in other embodiments, there is provided a single central fibre optic connection in the nose pin 158, and that rotational alignment of the mating assemblies will not be necessary for providing connection across the interface. Moreover, in an embodiment of the invention specific rotational alignment of the first assembly with respect to the second is not required for connection.

When in full engagement as shown in Figure 1, the hydraulic ports are fully aligned with the hydraulic flow channels in the hydraulic slip ring 120, and with the interlocking openings 119a, b in the guide sleeve and the interlocking sleeve aligned.

The ROV then engages the auxiliary hydraulic circuit to engage the pistons and forcing them into the interlocked

position of Figure IB preventing the first and second assemblies from detaching. Once in full engagement, the hydraulic fluid is permitted to flow into the tool, which is configured to interpret and make use of the hydraulic fluid, power and communications to initiate the intervention operation via a pre-programmed microcontroller system installed on the tool.

Once the operation has been completed, or in other embodiments, where engagement is required only temporarily for initiating a future sequence of events that may be carried out automatically by the tool, the ROV disengages the locking pistons 170a, b and pulls the arm and first assembly 102 from the second assembly. The wiper sleeve 146 and cover 128 retract correspondingly to cover the hydraulic ports 142 and the hydraulic flow channels 130 of the hydraulic slip ring 120 removing and wiping clean the ports by virtue of sealing rings, closing off the ports and flow channels and preventing water ingress into either assembly before the first and second assemblies are fully pulled out and decoupled from each other.

The ROV with the first assembly attached to an arm, may then be steered to move alongside another subsea tool or apparatus, plug into it, allowing the second tool fitted with the second assembly to carry out another different operation. A micro-controller on the second tool may be configured to utilise the hydraulic, power, and communication supplies differently, although advantageously the interface can remain the same.

This allows an ROV to be deployed for long periods and allowing numerous operations to be carried out. Further, in another embodiment, the ROV itself may be fitted with a second interface member such that a second ROV can interface with the first ROV to repair it if required.

The present interface provides a number of advantages. One benefit is that it is universal in a sense that a robotic manipulator connected to the first assembly can be readily plugged in to mate with the second assembly installed on various tools for performing complex operation using a number of hydraulic input and output lines.

A simple engagement mechanism allows rapid and reliable engagement of the robotic arm to such a tool via the interface. Further, this in turn allows the robotic arm to engage and disengage with tools successively and without needing to set up separate systems of hydraulic supply for each tool.

In a further Application, the interface can be utilised in existing hydraulic supply systems for example as an auxiliary or backup supply of hydraulics, power and communications in the event of failure of the original system. This reduces downtime and saves cost.

In the subsea environment, the present interface provides a number of other benefits. It may act as a plug-in for power, hydraulics and communications. This removes the need to plug in a power/communications and hydraulic supply lines individually in a manual fashion, for example using a pair of grabs. Further, the device is

operable to full ocean depth, and ingress and dirt into the hydraulic system is shielded by the provision of the wiper sleeves and cover sleeve of the respective assemblies of the interface. This ensures, a high quality and accurate and dry connection of the various components. Further, the present interface is compact and a number of hydraulic input flow lines can be provided in a small space.

The ROV with the first assembly attached to an arm, may then be steered to move alongside another subsea tool or apparatus, plug into it, allowing the second tool fitted with the second assembly to carry out another different operation.

This allows an ROV to be deployed for long periods and allowing numerous operations to be carried out. Further, in another embodiment, the ROV itself may be fitted with a second interface member such that a second ROV can interface with the first ROV to repair it if required.

The present interface provides a number of advantages.

Interfacing and engagement of the assemblies is quick, allowing rapid connection to different tools. The arrangement of hydraulic fluid though ports located along a hydraulic sleeve is compact and can feasibly deliver fluid at 3000 psi through numerous hydraulic lines to operate complex robotic tools.

Further it is lightweight, allowing it to be readily used on ROVs.

The engagement mechanism allows rapid and reliable engagement of the robotic apparatus to such a tool via the interface .

In a further application, the interface can be utilised in existing hydraulic supply systems for example as an auxiliary or backup supply of hydraulics, power and communications in the event of failure of the original system. This reduces downtime and saves cost.

In the subsea environment, the device is operable to full ocean depth, and the provision of wiper sleeves removes dirt, grit from the ports and flow channels and prevents water from getting into the hydraulic ports and channels of the hydraulic sleeve and slip ring. Further, the present interface is compact and a number of hydraulic input flow lines can be provided in a small space.

Various modifications and additions may be made without departing from the scope of the invention herein described. In particular, pneumatic fluid may be used instead of or in addition to hydraulic fluid.