EP0084811B1 - Unterwasser-Arbeitsgerät - Google Patents

Unterwasser-Arbeitsgerät Download PDF

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Publication number
EP0084811B1
EP0084811B1 EP83100231A EP83100231A EP0084811B1 EP 0084811 B1 EP0084811 B1 EP 0084811B1 EP 83100231 A EP83100231 A EP 83100231A EP 83100231 A EP83100231 A EP 83100231A EP 0084811 B1 EP0084811 B1 EP 0084811B1
Authority
EP
European Patent Office
Prior art keywords
gripper
underwater
tool
implement
tools
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired
Application number
EP83100231A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP0084811A3 (en
EP0084811A2 (de
Inventor
George Dipl.-Ing. Marsland
Heinz Marschner
Klaus Wiemer
Hubert Knoblauch
Thomas Weyer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Herion Systemtechnik GmbH
Original Assignee
ZF Herion Systemtechnik GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ZF Herion Systemtechnik GmbH filed Critical ZF Herion Systemtechnik GmbH
Publication of EP0084811A2 publication Critical patent/EP0084811A2/de
Publication of EP0084811A3 publication Critical patent/EP0084811A3/de
Application granted granted Critical
Publication of EP0084811B1 publication Critical patent/EP0084811B1/de
Expired legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/34—Diving chambers with mechanical link, e.g. cable, to a base
    • B63C11/36—Diving chambers with mechanical link, e.g. cable, to a base of closed type
    • B63C11/40—Diving chambers with mechanical link, e.g. cable, to a base of closed type adapted to specific work
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B41/00—Equipment or details not covered by groups E21B15/00 - E21B40/00
    • E21B41/04—Manipulators for underwater operations, e.g. temporarily connected to well heads

Definitions

  • the invention relates to an underwater tool according to the preamble of claim 1.
  • underwater work tools are required, for example, to work in the deep water (e.g. 150 m) on wrecks, drilling towers, pipelines etc. to enable effective and largely accident-proof work with and without diver escort.
  • deep water e.g. 150 m
  • Such an underwater working device is known from DE-Z «Marine technology», Issue 6/1981, p. 176/177 Fig. 4. This is designed as a self-supporting body with these penetrating flow channels and propellers arranged therein and with immersion cells.
  • This publication does not show the measures provided on this device principle for achieving a high degree of mobility and versatility with sufficient functional, load and accident safety, such as the type of gripper arm articulation and design as well as the placement of the rotating and Swivel axes are determined in relation to the focus.
  • an underwater device became known which can be placed on the sea floor with feet, but cannot be docked on large pipes due to the small gripper with gripper arms mounted in its own rotating towers.
  • the gripper arms have no common axes and are structurally unfavorable or spatially obstructive away from the center of gravity.
  • an underwater vehicle for collecting minerals has become known (EP 0 018 891), which is also equipped as a self-supporting body with these penetrating flow or propeller channels.
  • Its gripper device consists of bucket chain conveyors that can be moved laterally in front of two main hulls, which interact with a conveyor belt located between the hulls.
  • the vehicle in question is neither designed as a compact diving aid vehicle for self-balancing hover use, nor is it provided with a main gripper by which it would be docked on any pillars or structural parts and could be pivoted relative thereto.
  • US-A-2 987 893 also discloses an underwater vehicle in which a propeller drive is provided between self-supporting elongated hulls.
  • a propeller drive is provided between self-supporting elongated hulls.
  • One of the hulls also has a gripper arm, which is articulated in the tip of its bow, i.e. far outside the center of gravity of the vehicle, and which further increases the overall length of the vehicle.
  • the object of the invention is therefore to improve an underwater tool of the type mentioned in such a way that the arrangement of the main gripper in this case better suits the areas of application, even in confined spaces and high performance or weight requirements, with reduced risk of malfunction and accident becomes.
  • the main gripper has such a large access area to securely fix the underwater work tool directly by clasping large pipes or other thick objects.
  • the extreme size ratio of the gripper arms compared to the vibrating body compared to the prior art and their bearing arrangement mean that the gripper weights are supported cheaply when the device is moved with the aid of propeller drives and the vehicle can still be trimmed satisfactorily.
  • the connection area of the holding and supply cable remains largely independent of the occasional turning and tilting movements of the device, and the cable is exposed to minimal stresses due to such movements, because a swivel bracket, in the middle of which a cable entry chamber is installed, on the top of the hollow body is attached, the arms are rotatably mounted in the side walls of the hollow body.
  • the support point of the main gripper comes very close to the center of gravity, and the front wall of the implement body is now further stiffened by the bearing housing of the main gripper fastened in the recess, and the risk of jamming is now greatly reduced between the gripper and storage.
  • the device body according to the invention With an arrangement of the main gripper bearing in a stiffening recess near the center of gravity, it is achieved in particular that the sensitivity to impact (for example in comparison to the frame construction and hollow bodies with le digitally pre-flanged gripper) and the bending stiffness (even when using light metal) is improved.
  • the arrangement of the main gripper in a recess in the device body gives less cause for changes in the direction and size of the reaction forces or the flow influences and the tilting moments influencing them, so that the drive elements for trimming the working device need to be switched on less often or for less time.
  • favorable trim conditions can also be attributed to the fact that the arrangement according to the invention, which is particularly advantageous for optimal trimming, makes it possible for the horizontal and vertical lines of action of the flow channels in the device body to intersect in or near the center of gravity of the fully equipped working device.
  • the underwater work device can also be used directly as a “machine tool”, in that a diver no longer guides a tool by hand and, if necessary, supports himself against the equipment carrier, but rather now by means of support attached to the equipment carrier - Tool holder can be directly guided without a diver being in the immediate vicinity.
  • remote-controlled processing of parts is also possible, which are initially movable at the place of use, but must be held by the auxiliary gripper for processing (e.g. for absorbing reaction forces when processing components with tools, etc.) .
  • a rope winch can also be brought into the working position with the main gripper, with which e.g. Objects can be pulled up to the underwater work tool, or that it can also take over the transport or transfer of loads at the place of use as a kind of underwater crane.
  • the underwater work device presents itself as a device with which the type of work possibilities under water can be greatly expanded as well as the working hours can be shortened and the security can possibly be increased considerably with a diver as well as the devices and the processing parts.
  • Fig. 1 the underwater tool 1 is shown in the maneuvering state.
  • the entire device is both kept in operation and controlled to the place of use via a central tow and supply cable 10 from an above-ground base (not shown).
  • drive elements 9 e.g. propellers
  • in the various flow channels 11, which penetrate the device body 2 or are attached to it, can be started up and controlled as needed via remote control from the above-water base or from the diver on the device.
  • a device box 20 which can be opened from the outside and in which device connections 21 and device fishing lines 22 are located, can be used for the various processing tools 5 when used as diving Pick up auxiliary device.
  • the gripping arms 30 of the main gripper 14 work together via a common drive with the abutment 31, which can be pushed out of the device body between the gripping arms which can move in opposite directions in the direction of the object to be enclosed.
  • swiveling claws 32 can further improve the reliable application of the gripping arms 30.
  • a winch 34 is provided on a gripper cross member 33 connecting the two gripper arms 30 in front of their swivel bearings. When the main gripper 14 is rotated relative to the device body 2, the position of the winch 34 also changes.
  • the platform drive 37 here also consisting of hydraulic cylinders and swivel drives, can, depending on requirements, be operated by the diver on the platform 35 itself or by the device 1.
  • An approximately above the normal center of gravity of the device body 2 on both sides of the pivot bracket 38 is assembled with the cable entry chamber 39, in which the trailing and supply cable 10 ends on the device side, so that different cable entry angles can be set and the cable weight can be used in part as a trimming aid .
  • the diver will normally control the device 1 at the control panel 40, which is embedded in the device body 2 from above. He can lie on the device or take the control panel 40 out of the hollow body and control the device from a certain protective distance on a long transmission line.
  • Buoyancy bodies 41 can be accommodated in the flow cladding 23 and also in the empty spaces of the device body 2 which are not used for other purposes. Tilting moments that are not easily compensated for by buoyancy bodies 41 can advantageously also be compensated for with the aid of the cable length control 42, which is preferably installed in the cable entry chamber 39 itself, if, for example, a displacement occurs on the gripping tool 4 or on the device body 2 (e.g., by attaching additional devices 43) of the center of gravity is inevitable to a greater extent.
  • the underwater tool is also designed with devices for completely companion-free use as a machine tool.
  • parallel linear actuators 24 are attached to the device body 2 on both sides of the end wall 12 parallel to the vertical flow channels 11 arranged on both sides of the recess 13 on the device body 2.
  • These vertical linear actuators 24 can move a horizontal linear actuator 25, which is arranged between them vertically adjustable, closer or farther to the axis of rotation of the main gripper 14.
  • a tool support 26 can be moved laterally on the horizontal linear actuator 25 transversely to the main gripper 14 between the vertical linear actuators 24.
  • a tool holding arm 27 is preferably pivotally mounted on the tool support 26 and can be changed in the direction of a processing point located above the main gripper 14 with respect to its distance as well as its inclined position.
  • the tool arm 27 can automatically work together with an automatic tool changer 28, which is inserted behind it in the top of the device body 2 instead of a rotary console 36.
  • an auxiliary gripper 29 which is fastened outside the working area of the linear actuators, but can reach into this area, regardless of the machining process. During maneuvering, this auxiliary gripper 29 can remain folded back and locked completely parallel to the flow cladding of the implement 1 in such a way that it adjusts to the profile of the flow cladding 23 without any notable protrusions.
  • FIG. 3 schematically shows a preferred embodiment of the structure of the device body 2 in a side view.
  • the main gripper 14 is in these figures on the left side in the wide recess 13 with its bearing 17 pivotally attached up and down and also rotatable in the same.
  • the pressure chambers 18 located in the right of the recess 13 in the interior 16 are z. B. with the electrical system for the light sources 6 and the locating devices 7 or with the hydraulics for the drive elements 9 and for the auxiliary drives 19 (on grippers, platform, swivel bracket, etc.).
  • hydraulic oil tanks 44 are provided in further pressure chambers 18 on both sides of a vertical flow channel 11.
  • the horizontal flow channel 11 above the pressure chambers 18 near the bearing 17 of the main gripper 14 additionally stiffens the device body 2 in its upper region, on which, depending on the intended use of the implement 1, e.g. a rotary console 36 or an automatic tool changer 28 or similar device can be constructed in a modular manner.
  • These structures, e.g. B. 36 or 28 etc., are normally enclosed by the swivel bracket 38, which is both cable entry 39 and in the unfolded state carrying devices for the entire implement 1.
  • the swivel bracket 39 is mounted here above the recess 13, approximately at the highest point of the device body 2 in the side walls of the device body and can be swiveled to the longitudinal axis thereof.
  • FIG. 4 shows the structure of the device body 2 in a top view and an assembly opening for the drive element 9 arranged in the horizontal flow channel 11 is visible behind the cutout. To the right of this, approximately in the middle of the device body 2, two square covers of pressure chambers 18 for hydraulic valves for controlling the drives 9 and 19 are then visible. At the stern, the vertical flow channel 11 and on both sides of the same are further valve box pressure chambers 18 (via the hydraulic tank 44). 3 and 4 do not show the flow claddings 23 to be attached to the outside of the device body 2 or the buoyancy bodies combined therewith and the device boxes 20 which are still embedded therein.
  • the underwater working device 1 is fastened with its main gripper 14 mounted in the device body 2, for example on a pipe support, and is supplied with energy and monitored via the towing and supply cable 10, which does not need to perform any trim functions.
  • the device is attached to the add-on device attachment 43 (e.g. for welding work) and the diver has extended the platform 35 in order to be able to use the various processing tools 5 via the platform 35 and the rotary console 36 on the over the Main gripper 14 supported device body 2 to support.
  • the course of the work can also be observed from the above-water station with the aid of the light sources 6 and the locating devices 7 (sonar television cameras) which are installed in the working device 1.
  • the underwater work tool 1 is clamped in the opposite position to the arrangement of Fig. 3 to a horizontal tube with the main gripper 14, the winch 34 being used for holding or transporting components.
  • the diver has moved from the working device 1 via the foldable platform 35, which is extended vertically downwards and is provided with openings and ladder rungs, to a fixed point near the installation site, but away from the working device 1.
  • the diver can control the winch and possibly the platform via the control panel 40 which is removed from the device body 2 and which is connected to the control devices 8 and auxiliary drives 19 in the device body 2 via a corresponding long-distance line.
  • the smooth outer contour of the implement 1 and the versatile and very compact design of the implement body 2 are advantageous not only to avoid accidents and damage, but also due to the high rigidity of the implement body and the resulting high load-bearing capacity due to the Different moments acting on it, depending on the position of the grippers and the platform or the type and size of the reaction forces from the various machining tool inserts.

Landscapes

  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Mining & Mineral Resources (AREA)
  • Geology (AREA)
  • Fluid Mechanics (AREA)
  • Environmental & Geological Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Ocean & Marine Engineering (AREA)
  • Mechanical Engineering (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Earth Drilling (AREA)
  • Jib Cranes (AREA)
EP83100231A 1982-01-23 1983-01-13 Unterwasser-Arbeitsgerät Expired EP0084811B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE3202106A DE3202106C2 (de) 1982-01-23 1982-01-23 Unterwasser-Arbeitsgerät
DE3202106 1982-01-23

Publications (3)

Publication Number Publication Date
EP0084811A2 EP0084811A2 (de) 1983-08-03
EP0084811A3 EP0084811A3 (en) 1984-10-24
EP0084811B1 true EP0084811B1 (de) 1987-12-09

Family

ID=6153748

Family Applications (1)

Application Number Title Priority Date Filing Date
EP83100231A Expired EP0084811B1 (de) 1982-01-23 1983-01-13 Unterwasser-Arbeitsgerät

Country Status (5)

Country Link
US (1) US4620819A (ja)
EP (1) EP0084811B1 (ja)
JP (1) JPS58127818A (ja)
CA (1) CA1207603A (ja)
DE (2) DE3202106C2 (ja)

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NO154662C (no) * 1984-06-22 1986-11-26 Total Transportation Bemannet, autonomt undervannsfartoey.
US5039254A (en) * 1989-12-14 1991-08-13 Science Applications International Corporation Passive grabbing apparatus having six degrees of freedom and single command control
US5931442A (en) * 1997-11-14 1999-08-03 Cumpac, Inc. Submersible work vessel for installing a blow out preventer
GB2377412A (en) * 2000-11-03 2003-01-15 Lawborough Consultants Ltd Support vessel for self-burying mines
US6695539B2 (en) * 2001-10-19 2004-02-24 Shell Oil Company Apparatus and methods for remote installation of devices for reducing drag and vortex induced vibration
SG162644A1 (en) * 2009-01-07 2010-07-29 Sembcorp Marine Technology Pte Method of underwater mounting of propulsion drive system for a floating structure
US8619134B2 (en) * 2009-03-11 2013-12-31 Seatrepid International, Llc Unmanned apparatus traversal and inspection system
CN102079373A (zh) * 2009-11-27 2011-06-01 中国科学院沈阳自动化研究所 一种水下滑翔机用低功耗控制系统及其控制方法
EP2450562B1 (en) * 2010-11-09 2015-06-24 Openhydro IP Limited A hydroelectric turbine recovery system and a method therefore
JP5806568B2 (ja) * 2011-09-26 2015-11-10 川崎重工業株式会社 水中移動型検査装置及び水中検査設備
CN103863539B (zh) * 2014-03-12 2017-03-01 卢小平 一种仿生游动装置
CN103970144B (zh) * 2014-03-28 2017-02-22 哈尔滨工程大学 一种自主式水下机器人的水面操控系统
US9835013B2 (en) * 2015-03-03 2017-12-05 Deep Down, Inc. Apparatus and method for subsea strapping band attachment
DK178613B1 (en) * 2015-05-21 2016-08-22 Subcpartner As An underwater buoy installation system and kit, a method for assembling it, use thereof, and a method for installing a buoy
CN105521975B (zh) * 2016-01-29 2018-03-02 浙江大学宁波理工学院 水下网衣清洗机器人
DK201670301A1 (en) * 2016-05-09 2017-12-04 Subcpartner As A buoyancy module, a clamp for the buoyancy module, and a method of mounting the buoyancy module onto an underwater pipe
CN106976535A (zh) * 2017-03-20 2017-07-25 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） 一种rov用水下自更换、大批量作业工具库
CN107096738B (zh) * 2017-04-17 2020-04-24 宁波工程学院 一种水下基桩维护机器人
CN107264749B (zh) * 2017-06-21 2019-11-19 上海电机学院 一种水下取物机器人
CN107933860B (zh) * 2017-11-23 2023-11-07 广东合一新材料研究院有限公司 一种水下移动搭载平台
CN108263582A (zh) * 2017-12-30 2018-07-10 江苏密斯欧智能科技有限公司 一种水下机器人控制装置及方法
US10569423B1 (en) * 2018-11-28 2020-02-25 United States Of America As Represented By Secretary Of The Navy Spiral curve self-aligning docking device
CN109367640B (zh) * 2018-12-06 2020-08-28 山东大学 一种用于钻井平台导管架的自适应装置
CN112849373A (zh) * 2021-04-01 2021-05-28 广东海洋大学 一种水下小空间抓取机器人
CN114104230B (zh) * 2021-11-23 2022-11-08 深圳潜行创新科技有限公司 一种水下机器人
CN114670996B (zh) * 2022-05-31 2022-08-23 中国海洋大学 三体水下机器人

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US3381485A (en) * 1965-10-23 1968-05-07 Battelle Development Corp General purpose underwater manipulating system
US3418818A (en) * 1966-04-22 1968-12-31 Pan American Petroleum Corp Underwater power source
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GB1501981A (en) * 1975-03-15 1978-02-22 British Aircraft Corp Ltd Submersible vehicles
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Title
DE-Z. "Meerestechnik", Heft 6/1981 Seite 176, 177, Bild 4 *

Also Published As

Publication number Publication date
CA1207603A (en) 1986-07-15
EP0084811A3 (en) 1984-10-24
DE3202106A1 (de) 1983-09-29
JPS58127818A (ja) 1983-07-30
EP0084811A2 (de) 1983-08-03
DE3202106C2 (de) 1984-10-11
DE3374852D1 (en) 1988-01-21
US4620819A (en) 1986-11-04

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