JP2003291888A - Underwater sailing body - Google Patents
Underwater sailing bodyInfo
- Publication number
- JP2003291888A JP2003291888A JP2002096591A JP2002096591A JP2003291888A JP 2003291888 A JP2003291888 A JP 2003291888A JP 2002096591 A JP2002096591 A JP 2002096591A JP 2002096591 A JP2002096591 A JP 2002096591A JP 2003291888 A JP2003291888 A JP 2003291888A
- Authority
- JP
- Japan
- Prior art keywords
- main body
- underwater vehicle
- buoy
- ballast
- mother ship
- 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.)
- Granted
Links
Landscapes
- Testing Or Calibration Of Command Recording Devices (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、海底に敷設する海
底ケーブルの敷設ルート調査、海底ケーブル敷設後の状
況調査、或いは、海底地形の調査などに使用する水中航
走体に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an underwater vehicle used for surveying a route for laying a submarine cable laid on the seabed, surveying a situation after laying a submarine cable, or surveying a seabed topography.
【０００２】[0002]
【従来の技術】従来、海中における種々の調査を行うた
めに、調査に必要な機器を搭載した水中航走体を所定の
場所に自走させて調査することが行われている。これら
の水中航走体には、有索式と無索式とがある。有索式
は、水中航走体と母船とがケーブルで結合されているた
め、水中航走体の制御が容易であるが、ケーブルによっ
て調査範囲が制限されるという問題がある。2. Description of the Related Art Conventionally, in order to conduct various surveys in the sea, an underwater vehicle equipped with equipment necessary for the survey is self-propelled to a predetermined place for the survey. These underwater vehicles are of the roped type and the non-roped type. The cabled type facilitates control of the underwater vehicle because the underwater vehicle and the mother ship are connected by a cable, but the cable limits the survey range.
【０００３】一方、無索式の水中航走体は、計測機器を
内装し、母船から送信される音波信号によって所定の海
域を航走して計測および調査を行うようになっている。[0003] On the other hand, the unroped underwater vehicle is equipped with a measuring device, and is designed to travel in a predetermined sea area by a sound wave signal transmitted from a mother ship for measurement and investigation.
【０００４】[0004]
【発明が解決しようとする課題】ところで、この無索式
の水中航走体は、作業性の向上を計るために、計測や調
査を行なう海域に速やかに潜水したり、或いは、揚収海
域に速やかに浮上し、しかも、母船への揚収を安全、か
つ、容易に行なわねばならない。By the way, in order to improve the workability, this underwater vehicle without a rope is capable of promptly diving into the sea area where measurement or survey is carried out, or in the landing sea area. It must surface quickly and be safely and easily collected at the mother ship.
【０００５】本発明は、このような要望に十分に対応し
得る水中航走体を提供することを主たる目的とするもの
である。[0005] The main object of the present invention is to provide an underwater vehicle which can sufficiently meet such a demand.
【０００６】[0006]
【課題を解決するための手段】上記の目的を達成するた
め、請求項１に記載の発明に係る水中航走体は、本体の
上部に揚収アイを設けると共に、該揚収アイと本体に格
納したブイとを結合ロープによって結合し、かつ、前記
本体の下部に複数個のバラストを着脱可能に取り付け、
前記本体を母船に揚収するとき、前記本体からバラスト
を切り離すとともに、前記本体からブイを解放し、該ブ
イに結ばれている結合ロープを母船の荷役装置によって
捕捉することを特徴とする水中航走体である。In order to achieve the above-mentioned object, the underwater vehicle according to the invention as defined in claim 1 is provided with a collecting eye on the upper part of the main body, and the collecting eye and the main body are provided on the collecting eye. The stored buoy is connected with a connecting rope, and a plurality of ballasts are detachably attached to the lower part of the main body,
When the main body is stowed to the mother ship, the ballast is separated from the main body, the buoy is released from the main body, and the connecting rope connected to the buoy is captured by the cargo handling device of the mother ship. It is a running body.
【０００７】請求項２に記載の発明に係る水中航走体
は、本体上部にアンテナを配置してなる請求項１記載の
水中航走体である。An underwater vehicle according to a second aspect of the present invention is the underwater vehicle according to the first aspect, in which an antenna is arranged on an upper portion of the main body.
【０００８】請求項３に記載の発明に係る水中航走体
は、本体に状態表示灯を配置してなる請求項１及び２記
載の水中航走体である。An underwater vehicle according to a third aspect of the present invention is the underwater vehicle according to the first and second aspects, in which a status indicator lamp is arranged on the main body.
【０００９】請求項４に記載の発明に係る水中航走体
は、バラストを電磁石で形成し、該バラストを電源のオ
ン・オフ操作により本体に着脱させるようにしてなる請
求項１記載の水中航走体である。In the underwater vehicle according to the invention of claim 4, the ballast is formed of an electromagnet, and the ballast is attached to and detached from the main body by turning the power supply on and off. It is a running body.
【００１０】請求項５に記載の発明に係る水中航走体
は、本体内に配した左右一対の補強部材上にそれぞれ水
平面内で旋回可能なビームを取り付けるとともに、該ビ
ームの先端にピンを介して揚収アイを取り付けてなる請
求項１記載の水中航走体である。In the underwater vehicle according to a fifth aspect of the present invention, a beam capable of turning in a horizontal plane is mounted on each of a pair of left and right reinforcing members arranged in the main body, and a pin is provided at the tip of the beam. The underwater vehicle according to claim 1, further comprising a lifting eye.
【００１１】請求項６に記載の発明に係る水中航走体
は、アンテナをエポキシ樹脂製の耐圧容器で被覆してＬ
ＡＮ用のアンテナに構成してなる請求項２記載の水中航
走体である。In the underwater vehicle according to a sixth aspect of the present invention, the antenna is covered with a pressure-resistant container made of epoxy resin to form an L-shaped antenna.
The underwater vehicle according to claim 2, which is configured as an antenna for AN.
【００１２】請求項７に記載の発明に係る水中航走体
は、状態表示灯にバラスト取り外し機能を持たせるよう
に構成してなる請求項３記載の水中航走体である。An underwater vehicle according to a seventh aspect of the present invention is the underwater vehicle according to the third aspect, wherein the status indicating lamp has a ballast removing function.
【００１３】本発明によれば、母船から海上に吊り降ろ
された水中航走体は、母船からの制御信号を本体上部に
配置したＬＡＮアンテナで受信し、所定の海域まで自走
して潜水する。このとき、水中航走体の本体下部に設け
た複数のバラストのうち、最前部のバラストによって本
体にダウントリムが付与されるため、少ない動力により
所定の深海まで速やかに潜水する。According to the present invention, the underwater vehicle suspended from the mother ship on the sea receives the control signal from the mother ship by the LAN antenna arranged on the upper part of the main body, and self-propels to the predetermined sea area and dives. . At this time, among the plurality of ballasts provided in the lower part of the main body of the underwater vehicle, down-trimming is applied to the main body by the ballast at the foremost portion, so that diving to a predetermined deep sea is quickly performed with less power.
【００１４】一方、水中航走体を母船に揚収する時は、
先ず、複数のバラストを解放して浮上させる。そして、
本体が海面近傍に達した時に本体からブイを解放する。
その後、母船の荷役装置によってブイと本体とを結合し
ている結合ロープを捕捉して水中航走体を母船に揚収す
る。On the other hand, when the underwater vehicle is collected on the mother ship,
First, a plurality of ballasts are released and floated. And
Release the buoy from the body when it reaches near sea level.
After that, the cargo handling device of the mother ship captures the connecting rope connecting the buoy and the main body and collects the underwater vehicle on the mother ship.
【００１５】従って、所定の深海域から海面まで早急に
浮上することができ、作業性が向上する。特に、母船上
の荷役装置によってブイと本体とを連結している結合ロ
ープを捕捉して水中航走体を母船に揚収するから海域
が、多少、荒れていても母船への揚収が容易になる。Therefore, it is possible to quickly ascend from a predetermined deep sea area to the sea surface, and workability is improved. In particular, the cargo handling device on the mother ship captures the connecting rope that connects the buoy and the main body and collects the underwater vehicle on the mother ship, so it is easy to collect on the mother ship even if the sea area is a little rough. become.
【００１６】また、本体上部に配置したアンテナは、電
波を透過する耐圧構造に構成されているため、水中航走
体が深海域に潜水しても破損する恐れがないうえ、シー
ル性も向上させることができる。Further, since the antenna arranged on the upper part of the main body is constructed to have a pressure resistant structure for transmitting radio waves, there is no risk of damage even if the underwater vehicle dives into the deep sea area, and the sealing property is improved. be able to.
【００１７】更に、本体に配置した状態表示灯は、水中
航走体の電源を投入するための手動スイッチを備えてお
り、母船上でオン・オフ操作が行なわれ、かつ、所定の
深海域を過ぎるとバラストを解放するようになってい
る。Further, the status indicating lamp arranged on the main body is equipped with a manual switch for turning on the power of the underwater vehicle, and is turned on and off on the mother ship, and a predetermined deep sea area is reached. After that, it releases the ballast.
【００１８】[0018]
【発明の実施の形態】以下、図面を用いて本発明の実施
の形態を説明する。図１は、本発明に係る水中航走体の
一部断面を含む平面図、図２は、その縦断面図である。BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a plan view including a partial cross section of an underwater vehicle according to the present invention, and FIG. 2 is a vertical cross sectional view thereof.
【００１９】図１及び図２において、Ａは、水中航走体
であり、上部にアンテナ６及び状態表示灯７を有する垂
直尾翼８とが取り付けられている。図中、２は水平翼、
３は昇降舵、４はスラスタである。In FIGS. 1 and 2, A is an underwater vehicle, on which an antenna 6 and a vertical tail 8 having a status indicator lamp 7 are attached. In the figure, 2 is a horizontal wing,
Reference numeral 3 is an elevator, and 4 is a thruster.
【００２０】上記アンテナ６は、無線ＬＡＮアンテナと
して使用され、水中航走体Ａが海面上を航走するとき
は、母船Ｂ（図１４参照）からの無線信号を受信するよ
うになっている。その構造は、図３に示すように、ＬＡ
Ｎアンテナ６ａをエポキシ樹脂よりなる外装９と樹脂モ
ールド１０とによって被覆し、耐圧性の向上を計った構
造になっている。図中、１１は、同軸コネクタである。The antenna 6 is used as a wireless LAN antenna and is adapted to receive a wireless signal from the mother ship B (see FIG. 14) when the underwater vehicle A travels on the surface of the sea. Its structure is LA, as shown in FIG.
The N antenna 6a is covered with an exterior 9 made of an epoxy resin and a resin mold 10 to improve the pressure resistance. In the figure, 11 is a coaxial connector.
【００２１】この同軸コネクタ１１に接続する同軸ケー
ブル（図示せず）は、図４に示すように形成されてい
る。すなわち、この同軸ケーブル（図示せず）は、ケー
ブル（図示せず）をチューブ１３で被覆するとともに、
樹脂モールドよりなる耐圧部１４が構成され、その内部
に端子１５が配置されている。A coaxial cable (not shown) connected to the coaxial connector 11 is formed as shown in FIG. That is, this coaxial cable (not shown) covers the cable (not shown) with the tube 13, and
A pressure resistant portion 14 made of a resin mold is formed, and a terminal 15 is arranged therein.
【００２２】図５に示するように、状態表示灯７は、耐
圧容器１６の上部に透明アクリルよりなるドーム１７を
ボルト１８で取り付けるとともに、切り替えスイッチ１
９を配置し、内部に表示灯２０とＬＥＤ基盤２１とを配
置した構造になっている。２２は、コネクタを示してい
る。As shown in FIG. 5, in the status indicator lamp 7, the dome 17 made of transparent acrylic is attached to the upper part of the pressure container 16 with the bolts 18, and the changeover switch 1 is used.
9 is arranged, and the indicator lamp 20 and the LED board 21 are arranged inside. 22 has shown the connector.
【００２３】図２において、２３ａ〜２３ｃは、本体１
の下部に設けたバラストである。これらのバラスト２３
ａ〜２３ｃは、船首尾方向に所定の間隔を有するように
配置されている。In FIG. 2, reference numerals 23a to 23c denote the main body 1.
It is a ballast provided at the bottom of the. These ballasts 23
a to 23c are arranged so as to have a predetermined interval in the bow-stern direction.
【００２４】詳述すれば、第１のバラスト２３ａは、潜
行用のバラストとして船首近傍に配置され、水中航走体
Ａが深海域に潜水する場合、本体１にダウントリムを付
与する作用を持っている。この第１のバラスト２３ａ
は、水中航走体Ａが所定の水深に達すると、本体１から
解放されるようになっている。More specifically, the first ballast 23a is arranged near the bow as a ballast for diving, and has a function of giving down trim to the main body 1 when the underwater vehicle A dives into the deep sea area. ing. This first ballast 23a
Is released from the main body 1 when the underwater vehicle A reaches a predetermined water depth.
【００２５】第２のバラスト２３ｂは、浮上用のバラス
トとして第１のバラスト２３ａの真後ろに設けられ、水
中航走体Ａが深海域から海面に浮上する間に本体１から
解放され、本体１にアップトリムを付与するようになっ
ている。The second ballast 23b is provided directly behind the first ballast 23a as a ballast for levitation, and is released from the main body 1 while the underwater vehicle A floats from the deep sea area to the sea surface. It is designed to give up trim.
【００２６】第３のバラスト２３ｃは、調整用のバラス
トとして本体１の下部中央に設けられ、所定の深海域で
本体１の浮力を中正に保持する作用を持っている。そし
て、水中航走体Ａが浮上しようとする時は、浮上開始前
に本体１から解放される。The third ballast 23c is provided as a ballast for adjustment in the center of the lower portion of the main body 1 and has the function of maintaining the buoyancy of the main body 1 in the predetermined deep sea area. Then, when the underwater vehicle A is about to surface, it is released from the main body 1 before the surface starts to float.
【００２７】これらのバラスト２３ａ〜２３ｃは、いず
れも同じ構造であるから、第１のバラスト２３ａの構造
について説明する。図６に示すように、本体１に取り付
けられたケーシング２４内に均圧油２５を介して電磁石
２６が配置されている。図中、２７はシール用のＯリン
グ、２８は水中コネクタである。そして、図示しない制
御装置から水中コネクタ２８に与えられるオン・オフ信
号により電磁石２６が本体１に着脱可能になっている。Since the ballasts 23a to 23c have the same structure, the structure of the first ballast 23a will be described. As shown in FIG. 6, an electromagnet 26 is arranged in a casing 24 attached to the main body 1 with a pressure equalizing oil 25 interposed therebetween. In the figure, 27 is an O-ring for sealing, and 28 is an underwater connector. The electromagnet 26 can be attached to and detached from the main body 1 by an on / off signal given to the underwater connector 28 from a control device (not shown).
【００２８】図２に示すように、本体１の上部には、揚
収用アイ２９ａ，２９ｂとブイ３０とが設けられてい
る。この揚収用アイ２９ａ，２９ｂとブイ３０とは、ロ
ープ３１によって結合されている（図１０参照）。具体
的に説明すると、図７及び図８に示すように、本体１内
に配設した船首尾方向の左右一対の補強材３２ａ，３２
ｂの上部には、ビーム３４ａ，３４ｂが支持軸３３ａ，
３３ｂによって水平面内で旋回可能に取り付けられてい
る。そして、これらのビーム３４ａ，３４ｂの先端に
は、揚収用アイ２９ａがピン３５によって左右に傾動可
能に取り付けられている。後方の揚収用アイ２９ｂも前
方の揚収用アイ２９ａと同様に取り付けられている。３
６は、電池などを収納している圧力容器である。As shown in FIG. 2, on the upper part of the main body 1, there are provided collecting eyes 29a, 29b and a buoy 30. The collecting eyes 29a, 29b and the buoy 30 are connected by a rope 31 (see FIG. 10). More specifically, as shown in FIGS. 7 and 8, a pair of left and right reinforcing members 32a, 32 arranged in the main body 1 in the bow-stern direction.
At the upper part of b, the beams 34a, 34b are attached to the support shafts 33a,
It is mounted so as to be rotatable in the horizontal plane by 33b. A hoisting eye 29a is attached to the tips of the beams 34a and 34b by a pin 35 so as to be tiltable left and right. The rear collecting eye 29b is also attached similarly to the front collecting eye 29a. Three
Reference numeral 6 is a pressure vessel that houses batteries and the like.
【００２９】図９に示すように、ブイ３０は、浮力体で
構成されたブイ本体３７とガード３８とをボルト３９で
固定するとともに、ガード３８内にロープ３１を取り付
けたシリンダ４０を配置して構成されている。このブイ
３０は、図１０に示すように、本体１の船首部に形成さ
れた収納容器４２内に収納されている。そして、電磁弁
４４を操作してボンベ４３内の圧力ガスを減圧弁４５を
介して連結管４７からシリンダ４０内に噴射ことによっ
てブイ３０を本体１から解放するようになっている。As shown in FIG. 9, the buoy 30 has a buoy body 37 composed of a buoyant body and a guard 38 fixed by bolts 39, and a cylinder 40 having a rope 31 mounted therein is arranged in the guard 38. It is configured. As shown in FIG. 10, the buoy 30 is stored in a storage container 42 formed at the bow of the main body 1. The buoy 30 is released from the main body 1 by operating the electromagnetic valve 44 to inject the pressure gas in the cylinder 43 into the cylinder 40 from the connecting pipe 47 via the pressure reducing valve 45.
【００３０】図１１に示すように、母船Ｂには、荷役装
置４８が設けられている。この荷役装置４８は、船上ク
レーン４９と、フック５０が取り付けられた吊りロープ
５１と、フック５０に取り付けられた吊り具５２とによ
って構成されている。また、母船Ｂには、荷役装置４８
以外に、４つ叉フック５３を先端に取り付けたロープ５
４を備えている。上記吊り具５２は、図１２及び図１３
に示すように、シャックル５５と、カムクリート５６
と、左右のフック部５７ａ、５７ｂを有するフック本体
５７とにより構成されている。As shown in FIG. 11, the mother ship B is provided with a cargo handling device 48. The cargo handling device 48 includes an on-board crane 49, a suspension rope 51 to which a hook 50 is attached, and a suspender 52 attached to the hook 50. Further, the cargo handling device 48 is attached to the mother ship B.
In addition, the rope 5 with the four-fork hook 53 attached to the tip
It is equipped with 4. The hanging tool 52 is shown in FIGS.
Shackle 55 and cam cleat 56
And a hook main body 57 having left and right hook portions 57a and 57b.
【００３１】次に、上記水中航走体Ａの潜水及び揚収作
業について説明する。Next, the diving and collecting work of the underwater vehicle A will be described.
【００３２】先ず、水中航走体Ａの状態表示灯７に設け
られているスイッチ１９を操作して所要の機器の電源を
入力する。この時、調査する深海域の深度を入力してお
くと、水中航走体Ａが所定の深度以上に潜水したとき、
バラスト２３ａ〜２３ｃを自動的に解放するように制御
することができる。First, the switch 19 provided on the status display lamp 7 of the underwater vehicle A is operated to input the power of the required equipment. At this time, if you enter the depth of the deep sea area to be investigated, when the underwater vehicle A dives above a predetermined depth,
The ballasts 23a-23c can be controlled to automatically release.
【００３３】しかして、母船Ｂから海上に吊り降ろされ
た水中航走体Ａは、母船Ｂからの無線信号をアンテナ６
で受信し、海面上を走行する。そして、所定の海域に達
すると、潜水させる（図１４の位置ａ参照）。水中航走
体Ａが潜水を開始すると、母船Ｂからの信号は、無線信
号から音波信号に切り替えて制御される。この潜水中に
は、第１のバラスト２３ａが本体１にダウントリムを付
与する作用をする（図１４の位置ｂ参照）。Then, the underwater vehicle A suspended from the mother ship B on the sea transmits the radio signal from the mother ship B to the antenna 6
Receive at and drive on the sea surface. When it reaches a predetermined sea area, it is dived (see position a in FIG. 14). When the underwater vehicle A starts diving, the signal from the mother ship B is controlled by switching from a radio signal to a sound wave signal. During this dive, the first ballast 23a acts to give down trim to the main body 1 (see position b in FIG. 14).
【００３４】そして、水中航走体Ａが計測や調査を行う
所定の深海域に達すると、第１のバラスト２３ａが本体
１から切り離され、第２のバラスト２３ｂ及び第３のバ
ラスト２３ｃにより本体１の姿勢がほぼ水平に保持され
る。そして、本体１内に搭載した計測機器により計測や
調査作業が行なわれ、必要に応じて、その調査結果が母
船Ｂ上に伝送される（図１４の位置ｃ参照）。尚、図
中、６０は海底、６１は海底ケーブルを示している。When the underwater vehicle A reaches a predetermined deep sea area where measurement and survey are to be performed, the first ballast 23a is separated from the main body 1, and the main body 1 is separated by the second ballast 23b and the third ballast 23c. The posture is kept almost horizontal. Then, measurement and survey work are performed by the measuring device mounted in the main body 1, and the survey result is transmitted to the mother ship B as required (see position c in FIG. 14). In the figure, 60 indicates the seabed and 61 indicates the seabed cable.
【００３５】そして、水中航走体Ａを浮上させるとき
は、第３のバラスト２３ｃを解放した後、浮上させる。
そして、その浮上過程で第２のバラスト２３ｂを解放し
て本体１にアップトリムを付与させる（図１４の位置ｄ
参照）。When the underwater vehicle A is levitated, it is levitated after releasing the third ballast 23c.
Then, in the floating process, the second ballast 23b is released to give up trim to the main body 1 (position d in FIG. 14).
reference).
【００３６】水中航走体Ａが浮上し、海面近傍、例え
ば、海面下数十メートルの近傍に達すると（図１４の位
置ｅ参照）、ボンベ４３の圧力ガスを連結管４７を経て
ブイ３０を構成しているシリンダ４０内に噴出させ、ブ
イ３０を本体１から解放する（図１５参照）。When the underwater vehicle A floats and reaches near the sea surface, for example, near several tens of meters below the sea surface (see position e in FIG. 14), the pressure gas of the cylinder 43 is passed through the connecting pipe 47 to the buoy 30. The buoy 30 is released from the main body 1 by ejecting it into the configured cylinder 40 (see FIG. 15).
【００３７】しかる後に、水中航走体本体１とブイ３０
を連結しているロープ３１をロープ５４の先端に取り付
けられている４つ叉フック５３で引っ掛けて手元に引き
寄せた後、ブイ３０を母船Ｂに引き上げる（図１６参
照）。そして、吊り具５２のフック部５７ａ，５７ｂに
ロープ３１を掛け回して水中航走体Ａを母船Ｂに引き寄
せた後（図１７参照）、船上クレーン４９を操作して水
中航走体Ａを母船Ｂ上に揚収する（図１８参照）。After that, the underwater vehicle body 1 and the buoy 30
After hooking the rope 31 connecting the two with the four-forked hook 53 attached to the tip of the rope 54 and pulling it toward the hand, the buoy 30 is pulled up to the mother ship B (see FIG. 16). Then, after the rope 31 is hung around the hook portions 57a and 57b of the hanging device 52 to draw the underwater vehicle A to the mother ship B (see FIG. 17), the onboard crane 49 is operated to move the underwater vehicle A to the mother ship. Collect on B (see FIG. 18).
【００３８】[0038]
【発明の効果】上記のように、本発明は、自律航行する
水中航走体において、前記本体の上部に揚収アイを設け
ると共に、該揚収アイと本体に格納したブイとを結合ロ
ープによって結合し、かつ、前記本体の下部に複数個の
バラストを着脱可能に取り付け、前記本体を母船に揚収
するとき、前記本体からバラストを切り離すとともに、
前記本体からブイを解放し、該ブイに結ばれている結合
ロープを母船の荷役装置によって捕捉するように構成さ
れている。As described above, according to the present invention, in an underwater vehicle which autonomously navigates, a collecting eye is provided on the upper part of the main body, and the collecting eye and the buoy stored in the main body are connected by a connecting rope. Combined, and a plurality of ballasts are removably attached to the lower part of the main body, when the main body is picked up on a mother ship, while separating the ballast from the main body,
The buoy is released from the main body, and the connecting rope connected to the buoy is captured by the cargo handling device of the mother ship.
【００３９】本発明は、上記のように、本体下部に複数
個のバラストを着脱可能に取り付け、潜水時には、船首
部のバラストにより本体にダウントリムを付与させるこ
とから、所定の水深に速やかに潜水することができる。As described above, according to the present invention, a plurality of ballasts are detachably attached to the lower portion of the main body, and the down trim is imparted to the main body by the ballast of the bow at the time of diving. can do.
【００４０】また、本発明は、所定の深海域に達する
と、所定のバラストを解放して姿勢制御し、浮上時に
は、残りバラストを全て解放するとともに、本体にアッ
プトリムを付与するようにしたため、少ない動力により
速やかに浮上することが可能となる。Further, according to the present invention, when a predetermined deep sea area is reached, a predetermined ballast is released to control the attitude, and at the time of ascent, all the remaining ballast is released and an up trim is given to the main body. It is possible to quickly ascend with a small amount of power.
【００４１】その上、海面近傍においては、本体からブ
イを解放し、このブイに連結されている結合ロープを母
船に設けた荷役装置によって捕捉して揚収するようにし
たので、揚収作業が簡単、かつ、容易となり、多少の荒
天時においても揚収が可能となった。Moreover, in the vicinity of the sea surface, the buoy is released from the main body, and the connecting rope connected to the buoy is captured and collected by the cargo handling device provided on the mother ship. It became easy and easy, and it was possible to collect even in some stormy weather.
【図１】本発明に係る水中航走体の一部断面を含む平面
図である。FIG. 1 is a plan view including a partial cross section of an underwater vehicle according to the present invention.
【図２】本発明に係る水中航走体の縦断面図である。FIG. 2 is a longitudinal sectional view of an underwater vehicle according to the present invention.
【図３】本発明の水中航走体に装備されるアンテナの断
面図である。FIG. 3 is a cross-sectional view of an antenna equipped on the underwater vehicle of the present invention.
【図４】本発明の水中航走体に装備される同軸コネクタ
の断面図である。FIG. 4 is a cross-sectional view of a coaxial connector provided in the underwater vehicle of the present invention.
【図５】本発明の水中航走体に装備される状態表示灯の
一部側面を含む断面図である。FIG. 5 is a cross-sectional view including a part of a side surface of a status indicator lamp equipped on the underwater vehicle of the present invention.
【図６】本発明の水中航走体に装備されるバラストの断
面図である。FIG. 6 is a cross-sectional view of a ballast equipped in the underwater vehicle of the present invention.
【図７】図２のＣ―Ｃ断面図である。7 is a cross-sectional view taken along line CC of FIG.
【図８】図７の矢印Ｄ方向の矢視図である。FIG. 8 is a view in the direction of arrow D in FIG.
【図９】本発明の水中航走体に装備されるブイの断面図
である。FIG. 9 is a cross-sectional view of a buoy equipped in the underwater vehicle of the present invention.
【図１０】本発明の水中航走体の船首部の拡大図であ
る。FIG. 10 is an enlarged view of the bow of the underwater vehicle of the present invention.
【図１１】本発明の水中航走体を揚収する荷役装置の説
明図である。FIG. 11 is an explanatory view of a cargo handling device for collecting the underwater vehicle of the present invention.
【図１２】本発明の水中航走体を揚収する吊り具の平面
図である。FIG. 12 is a plan view of a suspender for collecting the underwater vehicle of the present invention.
【図１３】同吊り具の側面図である。FIG. 13 is a side view of the hanging device.
【図１４】本発明の水中航走体の潜水工程説明図であ
る。FIG. 14 is an explanatory view of a diving process of the underwater vehicle of the present invention.
【図１５】ブイを解放した時の説明図である。FIG. 15 is an explanatory diagram when a buoy is released.
【図１６】結合ロープを４つ叉フックで引っ掛けたとき
の説明図である。FIG. 16 is an explanatory diagram when the connecting rope is hooked by a four-forked hook.
【図１７】吊り具のフック部にロープを掛け回して水中
航走体を母船に引き寄せる説明図である。FIG. 17 is an explanatory view of pulling the underwater vehicle to the mother ship by wrapping a rope around the hook portion of the hanging device.
【図１８】船上クレーンを操作して水中航走体を母船上
に揚収する説明図である。FIG. 18 is an explanatory diagram for operating the onboard crane to pick up the underwater vehicle on the mother ship.
１ 本体 ２ 水平翼 ４ 推進器 ５ 水平尾翼 ８ 垂直尾翼 ２３ａ〜２３ｃ バラスト ２９ａ，２９ｂ 揚収アイ ３０ ブイ ３１ 結合ロープ ４８ 荷役装置 Ａ 水中航走体 Ｂ 母船 1 body 2 horizontal wings 4 propeller 5 Horizontal stabilizer 8 vertical tail 23a-23c ballast 29a, 29b Collection eye 30 buoys 31 binding rope 48 cargo handling equipment A underwater vehicle B mother ship
───────────────────────────────────────────────────── フロントページの続き (72)発明者 浅井 輝之 東京都目黒区中目黒２丁目１番23号 国際 ケーブル・シップ株式会社内 ─────────────────────────────────────────────────── ─── Continued front page (72) Inventor Teruyuki Asai 2-23 Nakameguro, Meguro-ku, Tokyo International Cable Ship Co., Ltd.
Claims (7)
の上部に揚収アイを設けると共に、該揚収アイと本体に
格納したブイとを結合ロープによって結合し、かつ、前
記本体の下部に複数個のバラストを着脱可能に取り付
け、前記本体を母船に揚収するとき、前記本体からバラ
ストを切り離すとともに、前記本体からブイを解放し、
該ブイに結ばれている結合ロープを母船の荷役装置によ
って捕捉することを特徴とする水中航走体。1. In an underwater vehicle that autonomously navigates, a collecting eye is provided on an upper part of the main body, the collecting eye and the buoy stored in the main body are connected by a connecting rope, and the lower part of the main body is connected. A plurality of ballasts are detachably attached, and when the main body is stowed to a mother ship, the ballast is separated from the main body and the buoy is released from the main body,
An underwater vehicle, wherein the connecting rope connected to the buoy is captured by a cargo handling device of a mother ship.
項１記載の水中航走体。2. The underwater vehicle according to claim 1, wherein an antenna is arranged on the upper part of the main body.
１及び２記載の水中航走体。3. The underwater vehicle according to claim 1, wherein a status indicator lamp is arranged on the main body.
を電源のオン・オフ操作により本体に着脱させるように
してなる請求項１記載の水中航走体。4. The underwater vehicle according to claim 1, wherein the ballast is formed of an electromagnet, and the ballast is attached / detached to / from the main body by an on / off operation of a power source.
それぞれ水平面内で旋回可能なビームを取り付けるとと
もに、該ビームの先端にピンを介して揚収アイを取り付
けてなる請求項１記載の水中航走体。5. A beam capable of turning in a horizontal plane is mounted on each of a pair of left and right reinforcing members disposed inside the main body, and a lifting eye is attached to the tip of the beam via a pin. Underwater vehicle.
被覆してＬＡＮ用のアンテナに構成してなる請求項２記
載の水中航走体。6. The underwater vehicle according to claim 2, wherein the antenna is covered with a pressure-resistant container made of epoxy resin to form a LAN antenna.
たせるように構成してなる請求項３記載の水中航走体。7. The underwater vehicle according to claim 3, wherein the status indicating lamp has a ballast removing function.
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| JP2002096591A JP4046154B2 (en) | 2002-03-29 | 2002-03-29 | Underwater vehicle |
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| JP2002096591A JP4046154B2 (en) | 2002-03-29 | 2002-03-29 | Underwater vehicle |
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|---|---|
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|---|---|---|---|
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