JPH1016884A - Diving work device for water floating structure bottom surface - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a diving work device for safely and efficiently performing under-water work and providing high execution reliability. SOLUTION: A work machine housing room 17 having an opening 19 in an upper side is provided inside a casing 10, water tight shutters 29 and 29 for opening/closing the opening 19 are provided, water stop rubber bags 21 for tightly sealing work voids 20 in the upper sides of the water tight shutters 29 and 29 being stuck to the lower surface of a float structure 1 are provided in the upper end of the casing 10, water discharging means for discharging water from the work voids 20 are provided and bulk tanks 12, 12,..., for tightly sticking the water stop rubber bag 21 to the float structure 1 by adjusting the bouyancy of the casing 10 are provided.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a diving operation apparatus for a bottom surface of a floating structure above water, which performs operations such as welding and painting underwater by remote control without using a diver.

[0002]

2. Description of the Related Art In the construction of steel floating structures, repair of large ships, etc., work such as welding and painting under the water surface is required. Conventionally, such work is performed by a diver. Underwater welding and the like were common.

[0003]

The above-mentioned underwater welding, underwater painting, etc., have a problem in the reliability of the construction, and the work by the diver is particularly difficult in safety and efficiency when the work object is large. There was a problem.

The present invention has been made in view of such a conventional problem,
The purpose of the present invention is to provide a submersible work device that can perform underwater work safely and efficiently and has high construction reliability.

[0005]

SUMMARY OF THE INVENTION The features of the present invention for solving the conventional problems as described above and achieving the intended purpose are as follows.
A box having an upper opening, a working machine accommodating chamber inside, and a water-stopping material at an opening edge for contacting a lower surface of a work object floating on water to stop water between the lower surface and the housing. A watertight shutter that opens and closes an upper opening of the working machine housing chamber, a drainage unit that drains water in a work void above the watertight shutter of the box, and a ballast tank that adjusts buoyancy of the box. That you have.

It is preferable that the water-stopping material is a rubber bag that expands and contracts by discharging liquid or gas into the water-stopping material.

The drainage means comprises an air supply device for pressurizing pressurized air into the working void, and a check valve provided in a drainage passage between the working void and the outside of the box, and opened by an increase in internal pressure. Is preferred.

Further, it is preferable that a propulsion device for moving the box by itself is provided on the outside of the box.

[0009] It is preferable that the work machine accommodating chamber accommodates a welding or painting machine for performing a welding or painting operation by moving the work implement along the lower surface of the work object when the watertight shutter is opened.

[0010]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, an embodiment of the present invention will be described with reference to the drawings. In the figure, 10 is a box, 12
Is a ballast tank, 17 is a working machine accommodation room, 14 is a compressor that forms an air supply device, 21 is a rubber bag that forms a water blocking material, 29 is a watertight shutter, 30 is a propulsion device, and 40 is welding that forms a work implement. Head.

As shown in FIGS. 1 to 4, the box 10 is formed in a substantially rectangular parallelepiped shape by using a steel material, and has a working machine accommodating chamber 17 formed therein. An opening 19 is provided above the working machine housing chamber 17, and watertight shutters 29, 29 are installed in the opening 19 so as to be openable and closable. When the watertight shutters 29, 29 are closed, the working machine housing chamber 17 is opened. Is to be sealed.

The walls 11, 11,... Of the casing 10 protrude above the watertight shutters 29, 29, and a work void (space) 20 is formed above the watertight shutters 29, 29 (opening 19). Have been. A rectangular annular water-stop rubber bag 21 is mounted on the entire periphery of the upper edge of the walls 11, 11... Of the casing 10 so as to surround the work void 20 (the opening 19). The bag 21 is inflated and contracted by supplying and discharging compressed air or pressurized water, and comes into close contact with and separates from the bottom surface of the floating structure 1 to be worked. The working void 20 is drained through a check valve 23 by the supply of compressed air.

.. And the floor 15 of the box 10 have a double-partitioned structure, and ballast tanks 12, 12,. The ballast tanks 12, 12,... Adjust the buoyancy by discharging and injecting ballast water through the injection / drain valve 13 by supplying and discharging compressed air. The contact and the separation are performed, and the attitude of the box 10 is controlled. The working machine housing chamber 17 is provided with a working void 20, a waterproof rubber bag 21, a compressor 14 for supplying compressed air to the ballast tanks 12, 12, and so on. The ballast tank 16
May allow buoyancy adjustment or may be a fixed ballast.

A plurality of propulsion devices 30, 30,... (Thrusters) each having a propulsion fan are provided on the outer surface of the box 10, and the box 10 is propelled by itself underwater, At this time, the posture of the box 10 is controlled. A plurality of outriggers 35 are fixed to the upper outer surface of the box 10 so as to protrude outward and upward. Wheels 36 are rotatably mounted on the upper end thereof. The box 10 is moved along the floating structure 1 by bringing the 36 into contact with the bottom surface of the floating structure 1. Further, the wheels 36, 36... Can protrude and retreat up and down via telescopic arms, and can control the attitude of the box 10. The driving of the propulsion device 30 and the like is performed by a hydraulic motor, and a hydraulic unit 39 is installed in the working machine housing chamber 17.

A welding head 40 is provided in the working machine accommodating chamber 17 via a traveling rail 49 fixed in parallel with the opening 19 so as to be movable.
At 0, a torch 41 is provided so as to protrude vertically and retreat. Further, a welding wire supply device 42 is installed in the working machine housing chamber 17 so that the welding wire is supplied from the reel to the torch 41 side.

The box 10 includes a ballast tank 1.
2, 12 ..., waterproof rubber bag 21, watertight shutter 2
9, 29, propulsion devices 30, 30, ..., outriggers 3
5, 35 ..., a control device for operating the welding head 40, etc.
A switchboard, etc. is installed, and welding work (torch 4
1) A high-sensitivity camera for monitoring the positioning, operation status, slag / spatter removal operation, etc.) is installed. Also,
A water pressure gauge for detecting the water depth of the box 10, an inclinometer for detecting the attitude, and a gyro are provided. In addition, the flood detector
In order to detect water intrusion from the waterproof rubber bag 21 during welding work, water intrusion from the watertight shutters 29, 29 during movement, and work preparation, the inside of the work void 20 and the work machine housing chamber 1 are detected.
7.

The box 10 is connected to a power generator, an operation panel, a compressor 4 and the like on the floating structure 1 through underwater cables 50 such as a power supply cable, a control cable, and a compressed air supply hose. Power is supplied from the floating structure 1 side to the box 10 side, air is supplied, and the like.
The position, posture, immersion, welding work information and other information are displayed on the monitor of the floating structure 1 and remotely operated. Therefore, the welding operation of the large floating structure or the bottom of the large area of the large ship can be safely performed.
Further, the inside of the working machine accommodating chamber 17 is forcibly supplied from the floating structure 1 side and ventilated in order to prevent a temperature rise during the welding operation.

In order to perform the welding work on the bottom of the floating structure 1 below the water surface by the diving work apparatus configured as described above, first, the box 10 is moved underwater to a predetermined work position.
At this time, as shown in FIG. 5, the position of the case 10 is detected by suspending the underwater laser transmitter 60 from the floating structure 1 in water to fix the target 6 fixed to the front, rear, and side surfaces of the case 10.
1 by reflecting a laser beam. In addition,
In the figure, 62 is a laser generator and 63 is an optical fiber.

When the box 10 is separated from the floating structure 1 and is to be swim underwater, the ballast tanks 12, 12
With little buoyancy caused by the propulsion devices 30, 30 ...
… Move in all directions with only one operation. On the other hand, when the box 10 is moved along the bottom surface of the floating structure 1, the waterproof rubber bag 21 is contracted and the wheels 36, 36 of the outriggers 35, 35,. Floating structure 1
Are moved by the thrusts of the propulsion devices 30, 30,. The wheels 36, 36 ...
The water-stopping rubber bag 21 is arranged so as to protrude above the water-stopping rubber bag 21 in a contracted state, and to be in a state of retreating below the water-stopping rubber bag 21 when the water-stopping rubber bag 21 is inflated. .

Next, at a predetermined working position, as shown in FIG. 7, compressed air is supplied into the ballast tanks 12, 12,. The air is supplied and expanded to bring it into close contact with the bottom surface of the floating structure 1, thereby supplying compressed air to the sealed work void 20 and the inside of the work void 20 via the check valve 23 (drain valve). Drain. If there is water from the contact surface between the waterproof rubber bag 21 and the floating structure 1, the buoyancy of the ballast tanks 12, 12,... Is further increased, and the waterproof rubber bag 21 is securely brought into close contact. As described above, since the buoyancy of the casing 10 is adjusted so as to make close contact with the bottom surface of the floating structure 1, a reliable working space can be relatively easily secured. In addition, if there is a dent in the portion to be welded, the water is drained from that portion, and after draining, water is prevented from entering from the dent portion by pressurized air.

After draining the inside of the working void 20, the watertight shutters 29, 29 are opened as shown in FIG. 8, and the torch 41 of the welding head 40 is operated from the working machine accommodating chamber 17 through the opening 19. Protrude into the void 20. Then, as shown in FIG. 9, the welding operation of the bottom of the floating structure 1 is performed while moving the welding head 40. Therefore, it is possible to perform the same dry-type welding as in the air, and it is possible to perform the construction while monitoring and controlling sequentially through the monitor on the floating structure 1 side.
Reliable and advanced construction is possible. The welding operation is controlled, for example, by using a groove shape storage method using a sensor to control the torch 41 by CP control.

Although the above-described embodiment shows a welding operation underwater, the same applies to a painting operation and other underwater operations. That is, in the underwater painting operation, the welding head 40 described above may be used as a painting head, and the welding wire supply device 42 may be used as a paint supply device. Further, a plurality of types of work may be performed simultaneously in parallel. Further, in deep water work, an increase in air pressure can counteract an increase in water pressure, so that it is possible to easily cope with deep water work.

[0023]

As described above, in the diving operation apparatus according to the present invention, the box is moved to the work target position with the watertight shutter closed, and the buoyancy of the ballast tank is increased to turn the box into the work target. By contacting and opening the watertight shutter and facing the work machine in the work machine housing room to the work target, welding and painting work under the water surface can be performed safely and efficiently without using a diver. Since the work is performed in an aerial atmosphere, the reliability of construction is improved.

[Brief description of the drawings]

FIG. 1 is a sectional view showing an example of an embodiment of a diving operation device according to the present invention.

FIG. 2 is a sectional view taken along line AA of FIG.

FIG. 3 is a view taken in the direction of arrow B in FIG. 1;

FIG. 4 is a schematic view showing a compressed air and ballast adjustment system of the diving operation device of FIG. 1;

FIG. 5 is a schematic diagram showing a position detection method of the diving operation device of FIG. 1;

FIG. 6 is a sectional view showing an operation procedure of the diving operation device of FIG. 1;

FIG. 7 is a sectional view showing an operation procedure of the diving operation device of FIG. 1;

FIG. 8 is a sectional view showing an operation procedure of the diving operation device of FIG. 1;

FIG. 9 is a cross-sectional view showing an operation procedure of the diving operation device of FIG.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Floating structure (work object) 10 Case 11 Wall 12 Ballast tank 13 Injection / drainage valve 14 Compressor 15 Floor 16 Ballast tank 17 Work machine accommodation room 19 Opening 20 Work void 21 Waterproof rubber bag (waterproof material) 23 Check valve 29 Watertight shutter 30 Propulsion device (thruster) 35 Outrigger 36 Wheel 39 Hydraulic unit 40 Welding head (work equipment) 41 Torch 42 Welding wire supply device 49 Running rail 50 Underwater cables 60 Underwater laser transmitter 61 Target 62 Laser generation Equipment 63 Optical fiber

Claims (5)

[Claims] 1. A water stopping device having an opening at an upper portion, a working machine accommodating chamber therein, and an opening edge for contacting a lower surface of a work object floating on the water to stop water between the lower surface and the casing. A housing having a material, a watertight shutter for opening and closing the upper opening of the working machine housing chamber, a drainage means for draining water in a work void above the watertight shutter of the box, and a buoyancy of the box. A diving operation device for a bottom surface of a floating structure above a water, comprising a ballast tank to be adjusted. 2. The rubber bag according to claim 1, wherein the water-stopping material expands and contracts by discharging liquid or gas into the water-stopping material.
A diving operation device for a bottom surface of a floating structure above a water. 3. The drainage means comprises an air supply device for pressurizing pressurized air into the working void, and a check valve provided in a drainage passage between the working void and the outside of the box, and opened by an increase in internal pressure. The diving operation device for a bottom surface of a floating structure above water according to claim 1 or 2, wherein 4. The diving operation device for a bottom surface of a water-floating structure according to claim 1, wherein the box is provided with a propulsion device for moving the box by itself outside the box. 5. A welding machine or a painting machine in which a work implement is moved along a lower surface of a work object when a watertight shutter is opened to perform welding or painting work in a work machine accommodation room. 5. A diving operation device for a bottom surface of a water-floating structure according to 4.