JPS62502746A - Remotely operated machines for cleaning, inspection and maintenance of underwater structures - Google Patents

Remotely operated machines for cleaning, inspection and maintenance of underwater structures

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Publication number
JPS62502746A
JPS62502746A JP50278986A JP50278986A JPS62502746A JP S62502746 A JPS62502746 A JP S62502746A JP 50278986 A JP50278986 A JP 50278986A JP 50278986 A JP50278986 A JP 50278986A JP S62502746 A JPS62502746 A JP S62502746A
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Japan
Prior art keywords
maintenance
cleaning
underwater
aforementioned
cleaning head
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Pending
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JP50278986A
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Japanese (ja)
Inventor
フイールダー，ニコラス　アルバート　ウイリアム
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ドウソン　オフシヨア　プロプライアタリ−　リミテツド
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Publication of JPS62502746A publication Critical patent/JPS62502746A/en
Pending legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02B—HYDRAULIC ENGINEERING
    • E02B17/00—Artificial islands mounted on piles or like supports, e.g. platforms on raisable legs or offshore constructions; Construction methods therefor
    • E02B17/0034—Maintenance, repair or inspection of offshore constructions

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Cleaning In General (AREA)

Abstract

(57)【要約】本公報は電子出願前の出願データであるため要約のデータは記録されません。 (57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

【発明の詳細な説明】 水中構造物の掃除、検査および保守のための遠隔操（ｆｆ１本発明は、突堤パイ ロン、および洋上採？Ｖ採力゛スプラントフォーム等の水中構造物の維持保守作 業を行う装置に関する。[Detailed description of the invention] Remote control (ff1) for cleaning, inspection and maintenance of underwater structures The present invention Ron, and offshore harvesting? Maintenance and maintenance work for underwater structures such as V-force plant foam related to equipment for performing work.

本発明の目的は、水中構造物の掃除、検査および保守をおこなう装置を提供する ことにあり、この装置は水中構造物にしっかりと取り付けることが可能であり、 一旦取りつけた後は、上記構造物上を自刃推進することができる。An object of the invention is to provide a device for cleaning, inspecting and maintaining underwater structures. In particular, the device can be securely attached to underwater structures; Once installed, it can be self-propelled over the structure.

本発明の＝形態は、水中において維持保守作業をおこなう装置であり１部分的に 環状のに円筒形の部材とのかみ合いを容易にするように前述の要素に取りつけた 支持要素、前述の本体から半径方向内向きに移動するように本体に取りつけた掃 除ヘッド、および円筒形の部材に沿って本体を軸方向に移動させる駆動装置から 成る。An embodiment of the present invention is a device that performs maintenance work underwater, and is partially attached to said element to facilitate engagement with the annular and cylindrical member. a support element, a sweeper mounted on the body for movement radially inward from said body; from the removal head and the drive device that moves the body axially along the cylindrical member. Become.

本発明の望ましい一特徴によると、前述の支持要素の少なくとも１つは、前述の 駆動装置によって駆動する。According to a preferred feature of the invention, at least one of the aforementioned support elements comprises the aforementioned Driven by a drive device.

本発明の別の望ましい特徴によると、前述の支持要素の少なくとも１つの取りつ け部は円筒形部材上での本体の角変位を容易にする。According to another advantageous feature of the invention, at least one attachment of the aforementioned support element is provided. The ridges facilitate angular displacement of the body on the cylindrical member.

本発明のさらに別の望ましい特徴によると、前述の掃除ヘッドは、前述の本体の 内周に沿って角変位可能なように本体に取りつける。According to yet another desirable feature of the invention, the aforementioned cleaning head comprises: It is attached to the main body so that it can be angularly displaced along the inner circumference.

本発明のさらに別の望ましい特徴によると、前述の掃除ヘッドは、前述の角変位 を容易にするように本体上に滑動可能なように支持したスライダーによって支持 する。According to yet another desirable feature of the invention, the aforementioned cleaning head has the aforementioned angular displacement. Supported by a slider that is slidably supported on the main body to facilitate do.

本発明のさらに別の望ましい特徴によると１前述の掃除ヘッドは、駆動装置と接 続するパンタグラフ状構成を介して前述のキャリヤーに取りつけ、掃除ヘッドの 半径方向の移動を容易にする。According to yet another preferred feature of the invention, 1 the cleaning head as described above is connected to a drive device; It attaches to the aforementioned carrier via a pantograph-like configuration that connects the cleaning head. Facilitates radial movement.

本発明のさらに別の望ましい特徴によると、前述の掃除へンドは回転式掃除要素 を配列したものから成り、前述の掃除要素の回転径路は重なる。According to yet another advantageous feature of the invention, said cleaning hand is provided with a rotary cleaning element. The rotation paths of the aforementioned cleaning elements overlap.

代替の望ましい一特徴によると、前述の掃除ヘッドは、軸方向に向けた軸によっ て旋回可能なように互いに接続した２つの支持部から成り、各支持部は少なくと も１つの掃除要本発明のさらに別の望ましい特徴によると、前述の支持アームは １本体と支持要素との間にリンクに似た平行四辺形を形成する。According to an alternative preferred feature, the cleaning head described above is provided with an axially oriented shaft. It consists of two supports connected to each other so as to be pivotable, each support having at least According to yet another desirable feature of the present invention, the aforementioned support arm comprises: 1 forming a link-like parallelogram between the body and the support element.

本発明のさらに別の望ましい特徴によると、この装置の浮力は実質的に零である 。According to yet another desirable feature of the invention, the buoyancy of the device is substantially zero. .

本発明のさらに別の望ましい特徴によると、この装置は１本体上に旋回可能なよ うに取りつけることが可能であり且つ観測装置ないしは工具を支持するようにし た補助連接アームと結合し、前述の補助連接アームは遠隔操作が可能である。According to yet another advantageous feature of the invention, the device is pivotable on one body. It can be attached to a camera and supports observation equipment or tools. The above-mentioned auxiliary articulation arm can be remotely operated.

本発明のさらに別の望ましい特徴によると、前述の装置は、海面上から支持され る０磴キャリヤーと結合し、前述のキャリヤーは前述の装置を使用していない時 に前述の装置を刀寺するようにしたものであり、このキャリヤーは前述の装置の 動力源を収容し且つ連結具によって前述の装置と連結される。According to yet another desirable feature of the invention, the aforementioned device is supported from above sea level. when the aforementioned device is not in use. This carrier is the same as the above-mentioned device. It houses the power source and is connected to the aforementioned devices by a coupling.

本発明のさらに別の望ましい特徴乙こよると、前述の装置し！、前述の装置と連 結が可能であり且つキャリヤーと実質的に円筒形の部材との間を前述の装置を運 ＆する遠隔操作車両と結合する。Yet another desirable feature of the present invention is that the above-mentioned device! , in conjunction with the aforementioned equipment. and carrying said device between the carrier and the substantially cylindrical member. & Combine with remotely controlled vehicles.

本発明のさらに別の望ましい特徴によると、前述の遠隔操作車両は検査装置を有 する。According to yet another preferred feature of the invention, the aforementioned remotely operated vehicle has an inspection device. do.

本発明のさらに別の望ましい特徴によると、前述の遠隔操作車両は、連結具によ ってキャリヤーと連結し、遠隔操作車両の運転に必要な動力を供給する。According to yet another preferred feature of the invention, the aforementioned remotely operated vehicle is equipped with a coupling device. It connects to the carrier and supplies the power necessary to operate the remotely controlled vehicle.

本発明は、下記の一つの具体的な実施態様の説明によって、さらに詳しく理解さ れるものと層、ねれる。この説明では、下記の添付図面を参照するが。The present invention will be better understood by the following description of one specific embodiment. Things and layers that can be layered. In this description, reference is made to the accompanying drawings below.

第１図は、支援船と結合した実施態様の装置の略図であり。FIG. 1 is a schematic diagram of an embodiment of the apparatus coupled to a support vessel.

第２図は、実施態様の掃除装置の使用状態を示す実質的な等周回であり。FIG. 2 is a substantially equal revolution showing the usage state of the cleaning device of the embodiment.

第３図は、実施態様の掃除装置の端面図であり。FIG. 3 is an end view of the cleaning device of the embodiment.

第４図は、掃除ヘッドとそのキャリヤー〇便Ｊ面図であり。Figure 4 is a J-side view of the cleaning head and its carrier.

第５図は、実施態様の掃除ヘッドの平面図であり、さらに第６図は、実施態様の 掃除ヘッドの側面図である。FIG. 5 is a top view of the cleaning head of the embodiment, and FIG. 6 is a top view of the cleaning head of the embodiment. It is a side view of a cleaning head.

このＩＮ財粗よ、バイロン、基閉尤洋上採油ないしは採ガスプラットフォームの 支持構造物等の実質的に円筒形の水中構造物の掃除、検査および保守をおこなう 装置である。This company, Byron, is building a closed offshore oil or gas platform. Cleaning, inspecting, and maintaining substantially cylindrical underwater structures such as support structures It is a device.

零貰溝回財粗よ、支援船１０．適切なケーブル１２を用いて支援船から吊り下げ たキャリヤー１１゜ケーブル１４によって船から吊り下げた第二キャリヤー１４ と結合する遠隔操作車両１３．および掃除保守装置１５から成る。キャリヤー１ １および１４は、遠隔操作車両１３および掃除装置１５内の？Ｉ］ｌｌＥモータ の運転に、ｉ１９なｉ＋ｈｌ王ポンプを備えており、またこれらのキャリヤーは それぞれ連結コード１６と１７によって各々の当該する装置と接続しており、そ れによって流体圧力が遠隔操作車両１３と掃除装置１５に送られ、各装置の機械 的な作動を行が一王モークを運転する。キャリヤー１１および１４上の油圧ポン プを運転するのに必要な電力は、支援船１０に接続された電気ケーブルによって 供給する。Lingyuogou Kaizai Co., support ship 10. Suspended from the support vessel using suitable cables 12 Second carrier 14 suspended from the ship by cable 14 Remotely operated vehicle coupled with 13. and a cleaning and maintenance device 15. carrier 1 1 and 14 in the remote control vehicle 13 and the cleaning device 15? I]llE motor For operation, it is equipped with i19 i + hl king pump, and these carriers are They are connected to their respective devices by connecting cords 16 and 17, respectively. This sends fluid pressure to the remote control vehicle 13 and the cleaning device 15, and the machine of each device. Ichio Moke is driven by a line that operates in a similar manner. Hydraulic pumps on carriers 11 and 14 The power required to operate the boat is provided by an electrical cable connected to the support vessel 10. supply

掃除装置１５はキャリヤー１１と連結し、船１０と水の間の掃除装置の移動を容 易にし、且つ掃除を行う構造物のすぐ近くに掃除装置１５の位置を定めるのを容 易にする。キャリヤー１１は、キャリヤーおよび洗浄装置が水面の波間を通る際 に遭遇する可能性がある様々な困難を剋艮するために、錘を用いる。同様に、第 二キャリヤー１４も、船と水の間の遠隔操作車両１３の運Ｒを容易にするが、同 様の理由で錘を用いる。キャリヤー１１を掃除を行う構造物の傍に位置決めした 後遠照操作車両１３を第二キャリヤーから切り離して、掃除装置１５に連結させ るが、この時、掃除装置１５はそのキャリヤー１１から切り離され、遠隔操作車 両１３によって洗浄を行う構造物上の所定位置にもってゆくことが可能となる。The cleaning device 15 is connected to the carrier 11 to accommodate movement of the cleaning device between the ship 10 and the water. and facilitates positioning the cleaning device 15 in close proximity to the structure to be cleaned. make it easier When the carrier 11 and the cleaning device pass through waves on the water surface, Use weights to overcome various difficulties that may be encountered. Similarly, the Two carriers 14 also facilitate the transport of remotely operated vehicles 13 between the ship and the water, but the same I use weights for various reasons. Carrier 11 was positioned near the structure to be cleaned. The rear remote lighting operation vehicle 13 is separated from the second carrier and connected to the cleaning device 15. However, at this time, the cleaning device 15 is separated from its carrier 11 and the remote control vehicle Both 13 allow it to be brought to a predetermined position on the structure to be cleaned.

掃除装置１５は１部分環状の本体２０から成り、この本体は複数個のスウィング アーム２１を有し、これらスウィングアームは旋回可能なように本体に取りつけ られ、実質的に本体から軸方向に延びる。これらスウィングアーム２１は、一対 の実質的に平行なアームから成り。The cleaning device 15 consists of a partially annular body 20, which has a plurality of swings. It has arms 21, and these swing arms are rotatably attached to the main body. and extends substantially axially from the body. These swing arms 21 are a pair consisting of substantially parallel arms of.

各アームは本体２０に旋回可能なように支持さ札　もう一方の端部はブラケット によって互いに連結し、このブラケットは車輪ｎとこの車輪用の油圧駆動モータ ２３を支持する。スウィングアームは１本体に対して半径方向に動くことができ 、スウィングアームのＩＪＪ（’ｌｌ’ｔよ油圧シリンダ２４によって行う。各 スウィングアームの油圧シリンダ２４は並列接続し、それによって油圧シリンダ に送られる圧力は実質的に均等に供給され、各スウィングアーム２１を実質的に 等しく移動させるので、！２２は第２図に示すように円筒形部材１８と等しくか み合い１円筒形部材１８は本体２０と実質的に同心上にあるようにかみ合う。少 なくとも車杉詑２０１個はステアリング装置と結合し、支持ブラケット上で軸２ ２が角変位をするので、円筒形部材上の本体２０も同じく角変位を行う。本体２ ０の内周には、掃除ヘッド２７を支えるスライダー２６を滑動可能なように支持 する軌道外を形成する。掃除ヘッドの支持部は、パンタグラフ式の構造であり、 この構造は、スライダー２６の一端で旋回可能なように支持した第一アーム２８ から成り、前述のスライダーは前述の第一アームの端部から延びるクランクアー ム２９を有し、前述のクランクアームは旋回可能なようにスライダー２６によっ て支持する。Each arm is rotatably supported by the main body 20, and the other end is a bracket This bracket connects the wheel n and the hydraulic drive motor for this wheel. I support 23. The swing arm can move radially relative to one body. , IJJ of the swing arm ('ll't be done by the hydraulic cylinder 24. Each The hydraulic cylinders 24 of the swing arm are connected in parallel, so that the hydraulic cylinders 24 The pressure sent to the Because it moves equally! 22 is equal to the cylindrical member 18 as shown in FIG. Mating 1 The cylindrical member 18 mates substantially concentrically with the body 20 . Small At least 201 car cedar shafts are connected to the steering device, and the shaft 2 is mounted on the support bracket. Since 2 undergoes an angular displacement, the body 20 on the cylindrical member also undergoes an angular displacement. Main body 2 A slider 26 supporting a cleaning head 27 is slidably supported on the inner periphery of the cleaning head 27. form an out-of-orbit. The support part of the cleaning head has a pantograph type structure, This structure includes a first arm 28 supported pivotably at one end of the slider 26. and the aforementioned slider has a crank arm extending from the end of the aforementioned first arm. The above-mentioned crank arm is rotatably supported by a slider 26. I will support you.

クランクアーム２９の端部は、水圧ラム３０の４を支持し、水圧ラムのもう→は 第二アームの一端に旋回可能なように取りつける。第二アームのもう一つの端部 は、第三アーム３２に旋回可能なように取りつけ、それによって、第一アーム２ ８の自由端は第三アーム３２の中間位置に旋回可能なように取りつける。第三ア ーム３２の自由端は掃除ヘッド２７を支持する。The end of the crank arm 29 supports 4 of the hydraulic ram 30, and the other side of the hydraulic ram is It is pivotably attached to one end of the second arm. The other end of the second arm is pivotally attached to the third arm 32, thereby allowing the first arm 2 to The free end of 8 is pivotably attached to the third arm 32 at an intermediate position. Third A The free end of the arm 32 supports the cleaning head 27.

水圧ラム３０を伸長すると、第一アーム２８と第三アーム３１の間に生じる変位 によって、掃除ヘッドはスライダ２６に接近し、水圧ラム３０を引き込むと、掃 除ヘッドはスライダ２６から半径方向に離れる。When the hydraulic ram 30 is extended, a displacement occurs between the first arm 28 and the third arm 31. The cleaning head approaches the slider 26 and retracts the hydraulic ram 30, causing the cleaning head to approach the slider 26 and withdraw the hydraulic ram 30. The removal head moves radially away from the slider 26.

図示した掃除ヘッドは、軸方向に向いへ軸３６および３７によって旋回可能なよ うに相互連結した３個の支持部材から成る。水圧ラム３９は、２つの最外部の支 持部おと３５の間に延び。The illustrated cleaning head is pivotable in the axial direction by shafts 36 and 37. It consists of three interconnected support members. The hydraulic ram 39 has two outermost supports. Extends between Mochibeo and 35.

支持部３．３４および３５を実質的に円形の一部を形成するように片寄らせる。The supports 3.34 and 35 are offset so as to form part of a substantially circular shape.

支持＄３．３４および３５は、複数個の回転掃除要素３８を支持し、各要素は油 圧モータ４０によって駆動さね。Supports 3.34 and 35 support a plurality of rotating cleaning elements 38, each element being oil-filled. It is driven by a pressure motor 40.

本体２０の回りで掃除ヘッド２７が角変位すると、掃除要素３８が掃除する領域 が重複するように構成する。回転式掃除要素３８は、水中構造物から海洋発生異 物を容易に取り除くことが出来るように望ましい形状とすることが出来る。Angular displacement of the cleaning head 27 around the body 20 causes the cleaning element 38 to clean the area Configure it so that it overlaps. The rotary cleaning element 38 cleans ocean-generated abnormalities from underwater structures. It can be of any desired shape so that objects can be easily removed.

洗浄ヘッドの代替案によると１重複する回転径路を有する複数個の掃除要素を、 実質的に円筒形部材１８上で軸方向に向いた単一の支持構造物に取りつけ、掃除 ヘッドが角変位すると、ひと掻き分の物質を掃除要素の単一アレイによって取り 除くようにしてもよい。According to an alternative cleaning head, a plurality of cleaning elements with overlapping rotational paths are provided. mounted on a single axially oriented support structure on substantially cylindrical member 18; When the head is angularly displaced, a single scrap of material is removed by a single array of cleaning elements. You may also remove it.

本体は、補助連接アーム（図示していない）と結合させてもよく、このアームは １本体の外側に旋回可能なように且つ遠隔操作が可能なように取りつけることが できる。補助アームの自由端は、ビデオカメラ、ないしは（萌除へンドまたはン 朝妾ヘッド等のツールを取りつけるようにし、前述のツールは１本体２０を支え る実勤臭二円筒形部材から離れた位置うこ菖る支持構造物の維持保守作業に用い ることが可能である。The body may be coupled with an auxiliary articulating arm (not shown), which 1. It can be mounted on the outside of the main body so that it can be rotated and remotely controlled. can. The free end of the auxiliary arm is connected to the video camera or A tool such as the Asako head is attached, and the aforementioned tool supports one main body 20. Used for maintenance work on support structures located away from the cylindrical member. It is possible to

別の代替形態によると、本体２０は、一対の部分的に環状のビーム部材から成り 、前述の部材は互いの間で角変位を行うことが可能であり、掃除ヘッドは１本の ビーム部材が支持し、さらに支持要素を有するスウィングアームはもう一方のビ ームによって支持することもできる。According to another alternative, the body 20 consists of a pair of partially annular beam members. , the aforementioned members are capable of angular displacement between each other, and the cleaning head consists of one The swing arm supported by the beam member and further having a support element is attached to the other beam member. It can also be supported by a frame.

さらに、支持要素は３本体を円筒形部材に沿って移動するようにこの部材上に本 体を支持するどのような望ましい装置を用いてもよい。同様に、掃除ヘッドおよ び掃除要素はどのようなものでも望ましい形態とすることが出来る。Furthermore, the support element is mounted on the cylindrical member so as to move the three bodies along this member. Any desired body support device may be used. Similarly, the cleaning head and The cleaning elements can be of any desired configuration.

本発明の範囲は、上記の実施態様の特定の範囲に限定されるものではない。The scope of the invention is not limited to the particular scope of the embodiments described above.

ヂ 国際調査報告 Ｅ　４５５２５９４　ＥＰ　１０５５４５　ＪＰ　５９０９０６８５　”ＮＬ　 ８２０３５０１も international search report E 4552594 EP 105545 JP 59090685”NL 8203501

Claims (15)

【特許請求の範囲】[Claims] １．水中維持保守装置で、部分的に環状の本体，本体の両側に延び且つ旋回可能 なように本体に取りつけられ且つ半径方向内向きに移動可能な複数個のアーム， 前述の本体が部分を取り囲む円筒形の部材とのかみ合いを容易にするように前述 のアームに取りつけた支持要素，半径方向内向きに移動するように本体に取りつ けた掃除ヘッド，および円筒形の部材に沿って本体を軸方向に移動させる駆動装 置から成るもの。1. Underwater maintenance equipment with a partially annular body that extends on both sides of the body and can pivot. a plurality of arms attached to the main body and movable radially inward, said body to facilitate engagement with a cylindrical member surrounding said portion; a supporting element attached to the arm of the body, attached to the body for radial inward movement; A girder cleaning head and a drive device that moves the main body axially along a cylindrical member. consisting of a position. ２．請求の範囲第１項記載の水中維持保守装置で，前述の支持要素の少なくとも １個が前述の駆動装置によって駆動されるもの。2. An underwater maintenance and maintenance device according to claim 1, wherein at least one of the aforementioned supporting elements is provided. One is driven by the aforementioned drive device. ３．請求の範囲第１項ないしは第２項記載の水中維持保守装置で，前述の支持要 素が円筒形部材上における本体の角変位を容易にするもの。3. An underwater maintenance and maintenance device according to claim 1 or 2, wherein the above-mentioned support element is The element facilitates angular displacement of the body on the cylindrical member. ４．前述の請求の範囲のいずれか一項に記載する水中維持保守装置で，掃除ヘッ ドを前述の本体に取りつけ，掃除ヘッドが本体の内周に沿って角変位可能なもの 。4. An underwater maintenance and maintenance device according to any one of the preceding claims, comprising a cleaning head; The head is attached to the above-mentioned main body, and the cleaning head can be angularly displaced along the inner circumference of the main body. . ５．請求の範囲第４項言載の水中維持保守装置で，前述の掃除ヘッドを，前述の 角変位を容易に行うように本体によって滑動可能なように支持したスライダーで 支持するもの。5. In the underwater maintenance and maintenance device as set forth in claim 4, the above-mentioned cleaning head is A slider that is slidably supported by the main body to facilitate angular displacement. What you support. ６．前述の請求の範囲のいずれか一項に記載する水中維持保守装置で，前述の掃 除ヘッドが，パンタグラフ的構造によって半径方向に移動することが可能であり ，前述の構造が掃除ヘッドの半径方向移動を容易にする駆動装置と結合するもの 。6. An underwater maintenance and maintenance device according to any one of the preceding claims, which The removal head can be moved in the radial direction by means of a pantograph-like structure. , in which the aforementioned structure is combined with a drive device that facilitates radial movement of the cleaning head. . ７．前述の請求の範囲のいずれカ一項に記載する水中維持保守装置で，前述の掃 除ヘッドが，複数個の回転洗浄ヘッドから成り，ヘッドの回転径路ず重複するも の。7. An underwater maintenance and maintenance device according to any one of the preceding claims, which The removal head consists of multiple rotating cleaning heads, and the rotation paths of the heads overlap. of. ８．請求の範囲第１項から第７項のいずれか一項に記載する掃除装置で，前述の 掃除ヘッドは，軸方向に向けた軸によって旋回可能なように互いに接続した２つ の支持部から成り，各支持部は少なくとも１つの掃除要素を支持し，前述の支持 具は一方に片寄らせて，掃除ヘッドが実質的に円筒形の部材と実質的に等しく接 触するようにするもの。8. A cleaning device according to any one of claims 1 to 7, which The cleaning head consists of two parts pivotably connected to each other by an axially oriented shaft. of supports, each support supporting at least one cleaning element, and each supporting part supporting at least one cleaning element; The tool is offset to one side so that the cleaning head is in substantially equal contact with the substantially cylindrical member. something that makes you touch it. ９．前述の請求の範囲のいずれカ一項に記載する水中維持保守装置で，前述のア ームが本体と支持要素の間のリンクに似た平行四辺形から成るもの。9. An underwater maintenance and maintenance device as claimed in any one of the above claims, which comprises: The arm consists of a parallelogram resembling a link between the body and the supporting element. １０．前述の請求の範囲のいずれか一項に記載する水中維持保守装置で，前述の 装置の浮力が実質的に零であるもの。10. An underwater maintenance and maintenance device as claimed in any one of the preceding claims, comprising: The buoyancy of the device is essentially zero. １１．前述の請求の範囲のいずれカ一項に記載する水中維持保守装置で，本体上 に旋回可能なように取りつけることが可能であり且つ観測装置ないしは工具を支 持するようにした補助連接アームを取りつけ可能であり，前述の補助連接アーム は遠隔操作が可能であるもの。11. An underwater maintenance and maintenance device as set forth in any one of the preceding claims, It can be rotatably mounted on the It is possible to attach an auxiliary connecting arm that holds the auxiliary connecting arm. can be controlled remotely. １２．前述の請求の範囲のいずれか一項に記載する水中維持保守装置で，前述の 装置が，　海面上から支持される錘付キャリヤーと結合し，前述のキャリヤーは 前述の装置を使用していない時に前述の装置を支持するようにしたものであり， このキャリヤーは前述の装置の動力源を収容し且つ連結具によって前述の装置と 連結されるもの。12. An underwater maintenance and maintenance device as claimed in any one of the preceding claims, comprising: The device is coupled to a weighted carrier supported from above the sea surface, said carrier being It is designed to support the aforementioned device when it is not in use. This carrier houses the power source of the aforementioned device and is connected to the aforementioned device by means of a coupling. things that are connected. １３．前述の請求の範囲のいずれか一項に記載する水中維持保守装置で，前述の 装置が，前述の装置と連結が可能であり且つキャリヤーと実質的に円筒形の部材 との間を前述の装置を運搬する遠隔操作車両と結合するもの。13. An underwater maintenance and maintenance device as claimed in any one of the preceding claims, comprising: the device is connectable with the aforementioned device and comprises a carrier and a substantially cylindrical member; and a remotely operated vehicle transporting the aforementioned equipment. １４．前述の請求の範囲のいずれか一項に記載する水中維持保守装置で，前述の 遠隔操作車両が検査装置を有するもの。14. An underwater maintenance and maintenance device as claimed in any one of the preceding claims, comprising: A remotely controlled vehicle equipped with an inspection device. １５．ここに添付図面を参照にして記載する水中維持保守装置。15. Underwater maintenance equipment described here with reference to the attached drawings.
JP50278986A 1985-05-03 1986-05-02 Remotely operated machines for cleaning, inspection and maintenance of underwater structures Pending JPS62502746A (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
AUPH042985 1985-05-03
AU0429 1985-05-03

Publications (1)

Publication Number Publication Date
JPS62502746A true JPS62502746A (en) 1987-10-22

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Family Applications (1)

Application Number Title Priority Date Filing Date
JP50278986A Pending JPS62502746A (en) 1985-05-03 1986-05-02 Remotely operated machines for cleaning, inspection and maintenance of underwater structures

Country Status (3)

Country Link
JP (1) JPS62502746A (en)
DK (1) DK1387A (en)
WO (1) WO1986006696A1 (en)

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Also Published As

Publication number Publication date
WO1986006696A1 (en) 1986-11-20
DK1387D0 (en) 1987-01-02
DK1387A (en) 1987-02-27

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