JP3924807B2 - Underwater moving device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention is a submersible for use in cleaning waterways for water intake and drainage of thermal power plants, cleaning of ship screws, inner surface inspection of reactor pressure vessels, and other underwater operations on other offshore structures. The present invention relates to a mobile device.
[0002]
[Prior art]
For example, in a thermal power plant or the like, a relatively long water channel is provided between the sea and the power plant in order to take in and drain the cooling seawater. Of shellfish algae. Therefore, in order to remove these marine organisms, an underwater moving device that travels freely along the surface of the water channel is required.
[0003]
As this type of underwater movement device, a thrust fan is provided on the back side of the device main body, and the thrust fan is rotated to generate a jet, thereby pressing the ventral portion of the device main body against the horizontal road surface of the water channel. In this state, a driving wheel provided on the ventral side of the apparatus main body is used to run on the surface of a horizontal waterway.
[0004]
[Problems to be solved by the invention]
However, in the above-mentioned underwater mobile device, since the remote control is performed by connecting the control device on the ground and the underwater device main body with a cable, when the cable is entangled with an obstacle in the water There is a possibility that the device body cannot be moved.
[0005]
In view of the above circumstances, an object of the present invention is to provide an underwater mobile device that can reliably recover a device main body even when a cable is entangled with an obstacle or the like.
[0006]
[Means for Solving the Problems]
[0007]
The present invention, in the apparatus main body which is movable in the water connected via a cable to an external control panel, Rutotomoni attached a tension sensor that detects the tension applied to the cable, the apparatus main body, the cable connector comprising a releasing mechanism for urging the the withdrawal direction, between the tension sensor and the cable connector attached to the apparatus main body, and connected by tension detection ropes encased a switching inclusive, tension detection from the tension sensor An arithmetic control device is provided that sends an alarm signal to the tension alarm device when the difference between the signal and the tension value set in the setting device increases.
The incised tension detection cord is cut when excessive tension is applied by the buoyancy generated in the apparatus body or the force of the separation mechanism,
When the value of the tension detection signal exceeds the upper limit tension value, the arithmetic and control unit is configured to send an alarm signal to the tension alarm device to issue an alarm and stop the device body. It relates to an underwater mobile device.
[0009]
[0010]
[0011]
[0012]
According to the above means, the following operation can be obtained.
[0013]
[0014]
The tension sensor attached to the inside of the device body detects the tension acting on the cable, and the arithmetic control unit compares the tension detection signal from the tension sensor with the tension value set in the setting device, and the difference between the two increases. When an alarm occurs, an alarm signal is sent to the tension alarm device to issue an alarm.
[0015]
In this case, the tension detection cable can be cut when an excessive tension is applied by connecting the tension sensor attached to the inside of the apparatus body and the cable with a tension detection cable having a cut. .
[0016]
[0017]
[0018]
[0019]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[0020]
1 to 6 show an example of an embodiment of the present invention.
[0021]
The underwater mobile device itself to which the present invention is applied may be of any mechanism / structure. For example, as shown in FIG. 1 and FIG. It is assumed that a device main body 5 having a thruster 2 that generates a jet and a driving wheel 3 and a driven wheel 4 that protrude to the ventral side is attached.
[0022]
Further, a seal skirt 8 that can be adsorbed to a wall surface 7 in the water 6 may be attached to the outer periphery of the apparatus main body casing 1.
[0023]
Furthermore, for example, ultrasonic flaw detection may be performed by attaching an ultrasonic probe 9 or the like to the apparatus main body casing 1.
[0024]
Note that 10 is an experimental water tank, 11 is a control panel placed outside the water tank 10, 12 is a cable connecting the control panel 11 and the apparatus body 5, and 13 is provided in the apparatus body 5. 6 is a ballast tank in which the buoyancy of the apparatus main body 5 is adjusted, 14 is a water injection valve attached to the ballast tank 13, and 15 is an exhaust valve attached to the ballast tank 13.
[0025]
In the present invention, a compressed air tank 16 is provided inside the apparatus main body 5, and a compressed air supply path including a floating air supply valve 17 such as an electromagnetic valve is provided between the compressed air tank 16 and the ballast tank 13. 18 is connected. Further, a drainage flow path 20 having a check valve 19 for preventing water 6 from entering the ballast tank 13 is attached to the ballast tank 13.
[0026]
Next, a male connector 21 is attached to the tip of the cable 12 from the control panel 11 placed outside, and the male connector 21 can be inserted into and removed from the apparatus main body 5 and the male connector 21 is detached. A female connector 23 having a release mechanism 22 such as a spring to be attached is attached.
[0027]
Further, an engagement hole 24 is formed on the side surface of the male connector 21, a through hole 25 that matches the engagement hole 24 is formed in the female connector 23 of the apparatus main body 5, and the rod 26 passes through the through hole 25 in the apparatus main body 5. A locking device 27 such as an air cylinder that can be inserted into and removed from the engagement hole 24 is attached, and is always opened between the port 28 on the head side of the locking device 27 and the compressed air tank 16 and is closed by an opening / closing signal 29. An open air supply path 31 provided with an air shut-off valve 30 is connected.
[0028]
Further, a watertight chamber 32 is provided at the insertion portion of the cable 12 with respect to the apparatus main body 5, and a connector guide 34 for guiding insertion of the male connector 21 from the cable hole 33 to the female connector 23 is attached to the cable hole 33 of the watertight chamber 32. A watertight lid 36 urged in a direction to close the cable hole 33 by a closing mechanism 35 such as a spring is attached to the watertight chamber 32 so as to be openable and closable, and is always closed between the watertight chamber 32 and the compressed air tank 16. Then, a watertight air supply path 39 provided with an air supply valve 38 which is opened by an open / close signal 37 is connected.
[0029]
Then, the tension sensor 40 is attached to the apparatus main body 5, and a tension detection cable 42 such as a wire is formed between the tension sensor 40 and the male connector 21. The tension detection cable 42 is formed with a cut 41 that can be cut when excessive tension is applied. Install.
[0030]
Further, the tension detection signal 43 from the tension sensor 40 is inputted to the control panel 11 placed outside, and the upper limit tension value 45, the lower limit tension value 46 and the tension set in the setting device 44 capable of setting the upper and lower limit values. The value of the detection signal 43 is compared, and when the value of the tension detection signal 43 exceeds the upper limit tension value 45, an alarm signal 48 is sent to the excessive tension alarm device 47 and the power switch 49 of the device body 5 is immediately turned on. A stop signal 50 for turning OFF is sent. When the value of the tension detection signal 43 falls below the lower limit tension value 46, an alarm signal 52 is sent to the tension alarm device 51, and confirmation is made when each of these alarms is issued. When the confirmation signal 54 prompting the input of the button 53 is input and output and the separation switch 55 is pressed, the levitation air supply valve 17, the air shut-off valve 30, or the air supply valve according to the separation signal 56 Open / close signal to 38 Providing arithmetic and control unit 58 to send the 57,29,37.
[0031]
Reference numeral 59 denotes a display device connected to the arithmetic control device 58, and 60 denotes a pressure gauge attached to the compressed air tank 16.
[0032]
Next, the operation will be described.
[0033]
The exhaust valve 15 is opened on the ground in advance, and a required amount of water is injected into the ballast tank 13 through the water injection valve 14, and the exhaust valve 15 and the water injection valve 14 are closed to work on the buoyancy of the apparatus body 5. Adjust to match the depth of the water 6 to be adjusted.
[0034]
Then, the apparatus body 5 is gradually submerged in the water 6 while feeding the cable 12.
[0035]
When the cable 12 is sent to a required length, the thruster 2 is driven by operating the control panel 11 to send a signal or power to the device body 5 via the cable 12 to drive the device body 5. A jet is generated on the back side, and the apparatus main body 5 is moved in the water 6.
[0036]
For example, in FIG. 1, since the thruster 2 is attached to the apparatus main body 5 on the left and right, the apparatus main body 5 can be translated to the ventral side by driving both thrusters 2 simultaneously. Further, by driving only one of the thrusters 2, the apparatus main body 5 can be turned to the right or left. The thruster 2 is not necessarily attached to the left and right of the apparatus main body 5.
[0037]
Then, when the above operation is performed and the apparatus main body 5 is attached to the wall surface 7, the apparatus main body 5 is caused to travel along the wall surface 7 using the drive wheels 3.
[0038]
At this time, if the seal skirt 8 is not provided, the apparatus main body 5 cannot be kept attached to the wall surface 7 unless the thruster 2 is continuously driven. Since the seal skirt 8 seals between the apparatus main body 5 and the wall surface 7 when the main body 5 is attached to the wall surface 7, the apparatus main body 5 and the seal are sealed to such an extent that the low output thruster 2 is intermittently driven. The inside of the portion surrounded by the skirt 8 and the wall surface 7 is in a negative pressure or vacuum state, so that the apparatus main body 5 can be reliably adsorbed to the wall surface 7.
[0039]
In this manner, the apparatus main body 5 travels along the wall surface 7 and is used for various operations such as performing an ultrasonic flaw detection with the ultrasonic probe 9 attached to the apparatus main body 5.
[0040]
By the way, when the cable 12 or the like connecting the apparatus main body 5 and the control panel 11 placed outside is entangled or caught on an obstacle in the water 6, the apparatus main body 5 cannot be moved. Also, recovery is difficult.
[0041]
Therefore, in the present invention, the tension sensor 40 is attached to the apparatus main body 5 so that the tension acting on the male connector 21 is constantly detected by the tension sensor 40 via the tension detection cable 42 such as a wire.
[0042]
The tension detection signal 43 detected by the tension sensor 40 is input to the control panel 11 placed outside, and the upper limit tension value 45 and the lower limit set in the setting unit 44 by the arithmetic and control unit 58 provided in the control panel 11. The tension value 46 is compared.
[0043]
As a result, when the value of the tension detection signal 43 exceeds the upper limit tension value 45, an alarm issuing signal 48 is sent to the excessive tension alarm device 47 to issue an alarm, and a stop signal is sent to the power switch 49 of the apparatus body 5. 50, the power switch 49 of the apparatus main body 5 is immediately turned off, and the apparatus main body 5 is stopped.
[0044]
Alternatively, if the value of the tension detection signal 43 is lower than the set lower limit tension value 46, the alarm alarm signal 51 is sent to the tension alarm device 51 to issue only an alarm.
[0045]
When these alarms are issued, the arithmetic and control unit 58 first outputs a confirmation signal 54 to prompt the confirmation button 53 to be input.
[0046]
When the confirmation button 53 is input, the arithmetic and control unit 58 further presses the disconnect switch 55, and then the levitation air supply valve 17, the air shut-off valve 30 and the air supply valve 38 provided in the apparatus main body 5 are used. Open / close signals 57, 29, 37.
[0047]
Then, first, in the levitation air supply valve 17, the levitation air supply valve 17 is opened by the open / close signal 57, and the compressed air in the compressed air tank 16 is sent to the ballast tank 13 through the compressed air supply path 18. The water 13 inside the ballast tank 13 is discharged from the drainage flow path 20 provided with the check valve 19, and a large buoyancy is generated in the apparatus main body 5.
[0048]
At the same time, the air shutoff valve 30 is closed by the open / close signal 29, the supply of the compressed air in the compressed air tank 16 to the head side port in the lock device 27 such as an air cylinder is stopped, and the rod of the lock device 27 26 is contracted and the locked state of the male connector 21 is released.
[0049]
Then, the male connector 21 is detached from the female connector 23 by the buoyancy generated in the apparatus main body 5 or by the force of the separation mechanism 22 such as a spring provided in the female connector 23.
[0050]
At this time, since the notch 41 is formed in the tension detecting cord 42 such as a wire, the tension detecting cord 42 is easily cut off from the notch 41 by applying an excessive tension, and the male connector 21 is surely secured. Will be withdrawn.
[0051]
Further, the open / close signal 37 opens the air supply valve 38, and the compressed air in the compressed air tank 16 is sent to the watertight chamber 32 through the watertight air supply passage 39, and the water 6 in the watertight chamber 32 is discharged to the outside. The compressed air sent into the watertight chamber 32 becomes back pressure, and the cable hole is formed by the watertight cover 36 released from the locked state by the male connector 21 together with the urging force of the closing mechanism 35 such as a spring. 33 is supported to prevent the water 6 from entering the apparatus main body 5 from the cable hole 33 after the male connector 21 is detached.
[0052]
Thus, the apparatus main body 5 is detached from the cable 12 by remote operation, and is lifted to the water surface by buoyancy and collected.
[0053]
It should be noted that the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the scope of the present invention.
[0054]
【The invention's effect】
As described above, according to the underwater moving device of the present invention, the device main body can be reliably recovered even when the cable is entangled with an obstacle or the like.
[Brief description of the drawings]
FIG. 1 is a schematic perspective front view of an example of an embodiment of the present invention.
FIG. 2 is a schematic side cross-sectional view of the underwater moving device of FIG.
FIG. 3 is a partially enlarged view of FIG. 2;
4 is a schematic enlarged cross-sectional view of a cable connection portion of the underwater moving device in FIG. 1. FIG.
FIG. 5 is a schematic enlarged view of the tension detection line of FIG. 1;
6 is a control system diagram of FIG. 1. FIG.
[Explanation of symbols]
5 Device body 11 Control panel 12 Cable 40 Tension sensor 41 Notch 42 Tension detection cable 43 Tension detection signal 44 Setter 45 Tension value (upper limit tension value)
46 Tension value (lower limit tension value)
47 Tension alarm device 48, 52 Alarm signal 51 Tension alarm device 58 Arithmetic control device

Claims (1)

Inside the external apparatus main body which can be moved in the water connected via a cable to the control panel, Rutotomoni attaching a tension sensor that detects the tension applied to the cable, the apparatus main body, the cable connector to the removing direction comprising a releasing mechanism for urging, between the tension sensor and the cable connector attached to the apparatus main body, and connected by tension detection ropes encased a switching inclusive, setter and tension detection signal from the tension sensor An arithmetic control device that sends an alarm signal to the tension alarm device when the difference from the tension value set in
The incised tension detection cord is cut when excessive tension is applied by the buoyancy generated in the apparatus body or the force of the separation mechanism,
When the value of the tension detection signal exceeds the upper limit tension value, the arithmetic and control unit is configured to send an alarm signal to the tension alarm device to issue an alarm and stop the device body. Underwater moving device.

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