JP4645980B2 - Underwater equipment gripping device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an underwater device gripping apparatus for gripping an underwater device for lifting. In particular, the present invention relates to an underwater device gripping device characterized by a gripping structure for underwater devices.
[0002]
[Prior art]
Underwater equipment is used for underwater work and observation. In order to land this underwater equipment underwater from the ship, and to lift it from the surface or underwater, an articulated crane installed on the deck of the ship and an underwater equipment gripping device suspended from the articulated crane by a cable are used. Use. FIG. 1 is a schematic diagram showing a state of use.
In order to facilitate landing and lifting, a shaft-like protruding member having an uneven portion in the middle protrudes from the outer wall surface of the underwater device 1.
When picking up the underwater device, the cable is extended from the articulated crane 5 and the underwater device gripping device 6 grips the underwater device 1 using the shaft-like protruding member 2 of the underwater device 1 drifting on the surface of the water or in the water. The underwater equipment gripping device 6 is lifted to the tip of the articulated crane 5 and the underwater equipment 1 is lowered onto the deck.
[0003]
Below, an example of the conventional underwater apparatus holding | gripping apparatus is demonstrated. FIG. 7 is a structural diagram of a conventional underwater device gripping apparatus.
The conventional underwater device gripping device 6 includes a support structure 10, a suspension cable 20, an engagement member 30, and a contact detection device 60.
The support structure 10 has four contact members that can contact the main body.
The suspension cable 20 is drawn downward from the articulated crane 5 and the terminal is bound to the upper part of the support structure.
The engaging member 30 is a member that engages with the concavo-convex portion, and the engaging member that is urged by the urging means engages the concavo-convex portion of the underwater device.
When the contact detection device 60 detects that the four contact members have contacted the wall surface of the main body of the underwater device, the claws of the engagement member engage the concavo-convex portion.
[0004]
[Problems to be solved by the invention]
In the case of the above-described underwater device gripping apparatus, when the underwater device is picked up in a rough wave state, the underwater device is subjected to wave fluctuations on the surface of the water or underwater, so that the posture changes. The individual abutting members could not abut on the side wall surface of the underwater vehicle, making it impossible to lift.
[0005]
The present invention has been devised in view of the above-described problems, and is intended to provide an underwater device gripping device that can safely lift and extract underwater devices even if the water surface is slightly rough, instead of the conventional underwater device gripping device. And
[0006]
[Means for Solving the Problems]
In order to achieve the above object, an underwater device gripping apparatus capable of gripping an underwater device having a protrusion having a concavo-convex portion according to the present invention includes an engagement member that can engage with the concavo-convex portion, and the engagement member Connected to the support structure, a support structure that comes into contact with the outer surface of the underwater device when the uneven portion is pulled, an engagement member moving means that is provided on the support structure and moves the engagement member And a hanging cable.
[0007]
According to the configuration of the present invention, the engaging member can be engaged with the uneven portion, and when the engaging member pulls the uneven portion, the support structure abuts on the outer surface of the underwater device, and the engaging member moves. Means is provided in the support structure to move the engagement member and the suspension cable is connected to the support structure,
When the engaging cable engages with the concavo-convex portion, the engaging member moving means moves the engaging member, and the suspending cable suspends the support structure while the engaging member pulls the concavo-convex portion. The support structure can be in contact with the outer surface of the underwater device to suspend the underwater device.
[0008]
Further, in the underwater device gripping device according to the present invention, the engaging member is rotatably engaged with the engaging member main body, the engaging member main body being fitted in a substantially reciprocating manner at the substantially center of the support structure. And an engaging cam having a claw that is fixed and engageable with the concavo-convex portion.
According to the configuration of the present invention, the engaging member main body is fitted to the substantially center of the support structure so as to be reciprocally movable, and an engaging cam having a claw capable of engaging with the concavo-convex portion includes the engaging member main body. So that it can rotate freely.
The engaging cam rotates and engages with the concavo-convex portion, and the engaging member moving means moves the engaging member that can reciprocate substantially to the center of the support structure. When the suspension cable suspends the support structure in a state in which the underwater device is pulled, the support structure can be brought into contact with the outer surface of the underwater device to suspend the underwater device.
[0009]
Further, in the underwater device gripping apparatus according to the present invention, the engagement member moving means includes a spring that biases the engagement member toward the underwater device, and a sheave rotatably fixed to the engagement member body. The suspension cable is provided on the support structure via the sheave.
According to the configuration of the present invention, a spring biases the engaging member toward the underwater device, a sheave is rotatably fixed to the engaging member main body, and the suspension cable is connected to the support structure via the sheave. Because it is provided in the body
The suspension cable engages with the concavo-convex portion, the engagement member moving means moves the engagement member, and the suspending cable pulls the concavo-convex portion, and the suspension cable is supported through the sheave. When the body is suspended, the support structure can be brought into contact with the outer surface of the underwater device to suspend the underwater device.
[0010]
Furthermore, in the underwater device gripping device according to the present invention, the support structure has a substantially annular outer wall having an elastic material portion formed in a portion that contacts the outer surface of the underwater device. .
With the configuration of the present invention, the substantially annular outer wall has an elastic material portion formed on a portion that contacts the outer surface of the underwater device.
When the engaging cable engages with the concavo-convex portion, the engaging member moving means moves the engaging member, and the suspending cable suspends the support structure while the engaging member pulls the concavo-convex portion. The support structure having an elastic material portion formed in a portion where the substantially annular outer wall contacts the outer surface of the underwater device can abut the underwater device by contacting the outer surface of the underwater device.
[0011]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. In each figure, common portions are denoted by the same reference numerals, and redundant description is omitted.
[0012]
The structure of the underwater device gripping apparatus according to the embodiment of the present invention will be described. FIG. 1 is a schematic diagram of use of an embodiment of the present invention. FIG. 2 is a schematic diagram of an embodiment of the present invention. FIG. 3 is a cross-sectional side view of an embodiment of the present invention. FIG. 4 is a partial detail view of an embodiment of the present invention.
[0013]
A work ship that lands or unloads the underwater equipment 1 includes a hull 4, an articulated crane 5, and an underwater equipment gripping device 6.
The underwater device 1 is, for example, a wired self-propelled underwater vehicle 1, and includes a main body 1, a wire 3, and a shaft-like protruding member 2. Wired is an electric cable that gives power and control signals to the main body, and connects the hull and the underwater device 1. The shaft-like projecting member 2 has an uneven portion in the middle, protrudes from the outer wall surface of the underwater device 1, and is connected so as to be swingable back and forth. For example, the shaft-like projecting member 2 is a cylinder connected to the main body by a rotating shaft, and the concavo-convex portion N is a disc having an outer diameter larger than the outer diameter of the cylinder fixed to the middle of the cylinder.
[0014]
The underwater device gripping device 6 is a device that grips the underwater device 1, and includes a support structure 10, a suspension cable 20, an engagement member 30, an engagement member driving unit 40, and a guide member 50.
[0015]
The support structure 10 has a contact surface on the lower surface that can contact the main body of the underwater device 1, and includes a support structure upper frame 11, a support structure column 12, a support structure lower frame 13, and an elastic member 14. . The support structure upper frame 11 is a disk-like structure having a hole in the center. The support structure lower frame 13 is a disc having a hole in the center. The support structure support columns 12 are arranged at a plurality of locations on the circumference, and the upper end is fixed to the support structure upper frame 11 and the lower end is fixed to the upper surface of the support structure lower frame 13. The elastic member 14 is a buffer made of an annular elastic material, and is fixed to the lower surface of the support structure lower frame 13. The lower surface of the elastic member 14 forms a contact surface that contacts the main body of the underwater device when the underwater device is gripped. For example, the elastic member is rubber.
[0016]
The suspension cable 20 is a cable for suspending the support structure. The suspension cable 20 is bundled at one end with the support structure upper frame 11 and extends downward. The suspension cable 20 is wound around a sheave 41 of the engagement member driving means 40 described later and is 180. It changes the direction and extends upward, and is connected to the crane cable lowered from the articulated crane 5 at the upper terminal.
[0017]
The engagement member 30 is a structure that can move up and down in the support structure by engaging the concavo-convex portion, and includes an engagement member main body 31, an engagement cam 32, an engagement cam stopper 33, and a double-acting air cylinder 34. It consists of a spring 35, an air pipe 36 and an air connector 37.
The engaging member main body 31 is a cylindrical structure guided in the horizontal direction so as to be movable up and down by the support structure, and is fitted into a hole provided in the central portion of the support structure upper frame 11 before and after The movement in the left-right direction is restricted. The engagement member main body 31 is restrained from moving in the lateral direction by the hole, and can move up and down. The engaging member main body has an upper stop position that stops when it hits the support structure when it moves upward, and a lower stop position that stops when it hits the support structure when it moves downward. When the engaging member 30 engages the concavo-convex portion and is positioned at the upper stop position, the contact surface contacts the outer wall surface of the underwater device 1 main body. The central part of the engaging member main body 31 has a through-hole H through which the shaft-like protruding member 2 can penetrate from below.
[0018]
The engagement cam 32 is a cam having a claw G, and can swing around a rotation shaft provided below. A plurality of engagement cams 32 are arranged around the through-hole H of the engagement member main body 31 with the claw G inside. When the engagement cam 32 rotates inward, the claw G enters the through-hole H and is caught by the concavo-convex portion N of the shaft-like protruding member 2. The engagement cam 32 is urged in a direction in which the claw G enters the through-hole by a spring 35 described later. When the claw G engages with the concavo-convex portion, the upper surface of the claw G is substantially perpendicular to the through gap H. The lower surface of the nail G is inclined from the tip to the base so that the base becomes thick. When the shaft-like projecting member 2 penetrates into the through-hole H from below, the concavo-convex portion N can move by pushing the claw G of the engagement cam 32 upward, but it engages with the engagement cam stopper 33 in the downward direction. It is blocked by the claw G of the cam 32 and cannot move.
[0019]
The double-acting air cylinder 34 is a cylinder in which the rod is shortened when air is introduced into the rod side, and the rod that introduces air into the head side is extended, and the tip of the rod is connected to the lower end of the engagement cam 32. When air is introduced to the head side, the rod extends, the engagement cam 32 tilts outward, and the claw G exits the through gap H. When air is introduced to the rod side, the rod is shortened and biased by the spring 35 so that the claw G enters the through gap H.
The air pipe 36 is a pipe that supplies air to the double-acting air cylinder 34.
The air connector 37 is a one-touch connector to which the air pipe 36 is connected.
When necessary, it can be connected to an air supply on board.
[0020]
The engagement member drive means 40 drives the engagement member 30 to be movable between an upper stop position and a lower stop position, and includes a spring 42 and a sheave 41.
The spring 42 is, for example, a compression spring, and biases the engagement member 30 toward the lower stop position. A compression spring is provided between the support structure upper frame 11 and the engagement member main body 31 to push the engagement member main body 31 toward the lower stop position.
The sheave is rotatably fixed to the engagement member main body.
When there is no tension in the suspension wire, the engagement member main body 31 is positioned at the lower stop position by being biased by the compression spring. When tension is generated in the suspension wire, the engagement member main body 31 moves to the upper stop position side.
[0021]
The guide member 50 is a cylindrical guide that guides in the vertical direction around the periphery of the wire. The guide member 50 includes an upper guide member 51 and a lower guide member 52. The upper guide member 51 has a trumpet shape that opens upward, and is connected to the upper end of the engagement member main body 31. The lower guide member 52 has a trumpet shape that opens downward, and is connected to the lower end of the engagement member main body 31.
The guide member 50 serves as a guide for paying out the wire while the underwater device is in operation, and serves as a guide for lowering the underwater device gripping device following the wire when the underwater device is picked up.
[0022]
Next, the operation of the underwater device gripping apparatus according to the embodiment of the present invention will be described separately for normal time and stormy weather. FIG. 5 is a diagram showing an operation mode during normal operation of the embodiment of the present invention. FIG. 6 is a diagram showing an operation mode during stormy weather according to the embodiment of the present invention.
[0023]
(A) Underwater equipment is drifting on the surface of the water or underwater. The wire extends from the tip of the articulated crane to the body of the underwater device, and enters the inside of the underwater device through the center of the shaft-like protruding member on the outer wall surface of the body. The outer wall surface where the shaft-like protruding member protrudes is horizontal.
The engaging member 30 is guided by the support structure 10 and is located at the lower stop position. The underwater device gripping device 6 descends along the wire. The shaft-like protruding member 2 penetrates into the through space H of the engaging member main body 31 from below. When the underwater device gripping device 6 is lowered, the uneven portion pushes the claw G of the engagement cam 32 from below and enters above the engagement cam 32.
[0024]
The articulated crane 5 lifts the suspension cable 20. When the engaging cam 32 engages the concavo-convex portion, the underwater device gripping device 6 lifts the underwater device 1 from above the water surface. When the weight of the underwater device starts to be applied to the suspension cable 5, the engagement member urging means (compression spring) holding the engagement member 30 at the lower stop position starts to shrink. When the underwater device 1 appears from the water surface, a sufficient weight is applied to the suspension cable 20, so that the engagement member urging means (string winding spring) contracts and the engagement member 30 is positioned at the upper stop position. When the engagement member 30 is located at the upper stop position, the contact surface of the support structure 10 contacts the outer wall surface of the underwater device, and the underwater device 1 is prevented from shaking.
The articulated crane 5 winds up the suspension cable 20 and fixes the lifted underwater device gripping device 6 and the underwater device 1 to the tip.
The articulated crane 5 lowers the underwater equipment 1 onto the ship.
By supplying air to the head side of the double-acting air cylinder 34, the rod extends, the claw G retracts from the through long hole, and the engagement of the shaft-like protruding member 2 is released.
[0025]
(B) Underwater equipment during stormy weather drifts on the surface of the water or in the water. The wire extends from the tip of the articulated crane to the body of the underwater device, and enters the inside of the underwater device through the center of the shaft-like protruding member on the outer wall surface of the body.
Since the water surface is rippled, the underwater equipment repeats pitching by being waved by waves. The outer wall surface of the projecting portion of the shaft-like projecting member has a steep slope.
The engaging member 30 is guided by the support structure 10 and is located at the lower stop position. The underwater device gripping device 6 descends along the wire.
Part of the contact surface of the support structure 10 hits the outer wall surface of the underwater device.
Before a part of the abutting surface hits the outer wall surface of the underwater device, the engaging member 30 penetrates into the through space H of the engaging member main body 31 from below. When the underwater device gripping device 6 is lowered, the uneven portion pushes the claw G of the engagement cam 32 from below and enters above the engagement cam 32.
Thereafter, the underwater equipment 1 is withdrawn on the ship by the same action as in normal times.
[0026]
By using the underwater device gripping device of the above-described embodiment, the underwater device can be easily gripped even in stormy weather, and the articulated crane can safely lift the underwater device onto the ship.
Further, the engaging member driving means has a simple structure composed of the engaging member urging means and the sheave, and is highly reliable, and the engaging member can be moved up and down without adding special power. .
In the case of a wired underwater device, the guide member can guide the wired connection.
Further, since the ring-shaped elastic material forms the contact surface, it can be reliably gripped even when the water sways in the horizontal direction by 360 degrees.
Moreover, since the spring is biased in the direction in which the concave and convex portions are engaged, the concave and convex portions of the underwater device gripping device can be reliably engaged.
[0027]
The present invention is not limited to the embodiments described above, and various modifications can be made without departing from the scope of the invention.
Although the engaging member biasing means has been described as a compression spring, the present invention is not limited thereto, and for example, a tension spring or an air cylinder may be used.
[0028]
【The invention's effect】
As described above, the underwater device gripping apparatus capable of gripping the underwater device having the protrusions having the uneven portions of the present invention has the following effects due to its configuration.
When the engaging cable engages with the concavo-convex portion, the engaging member moving means moves the engaging member, and the suspending cable suspends the support structure while the engaging member pulls the concavo-convex portion. The support structure can be in contact with the outer surface of the underwater device to suspend the underwater device.
Further, the engaging cam rotates to engage with the concavo-convex portion, the engaging member moving means moves the engaging member that can reciprocate substantially to the center of the support structure, and the engaging member If the suspension cable suspends the support structure in a state where the concavo-convex portion is pulled, the support structure can abut on the outer surface of the underwater device, and the underwater device can be suspended.
Further, the suspension cable is supported via the sheave while the engagement member is engaged with the uneven portion, the engagement member moving means moves the engagement member, and the engagement member pulls the uneven portion. When the structural body is suspended, the support structural body can be brought into contact with the outer surface of the underwater device to suspend the underwater device.
Further, the suspension cable engages the support structure in a state where the engagement member engages with the uneven portion, the engagement member moving means moves the engagement member, and the engagement member pulls the uneven portion. When suspended, a support structure having an elastic material portion formed in a portion where a substantially annular outer wall contacts the outer surface of the underwater device can contact the outer surface of the underwater device and suspend the underwater device.
Therefore, it is possible to provide an underwater device gripping device that can safely extract the underwater device even if the water surface is slightly rough.
[0029]
[Brief description of the drawings]
FIG. 1 is a schematic diagram of use of an embodiment of the present invention.
FIG. 2 is a schematic diagram of an embodiment of the present invention.
FIG. 3 is a side sectional view of an embodiment of the present invention.
FIG. 4 is a partial detail view of an embodiment of the present invention.
FIG. 5 is a diagram showing a normal operation mode of the embodiment of the present invention.
FIG. 6 is a diagram showing an operation mode during stormy weather according to an embodiment of the present invention.
FIG. 7 is a cross-sectional view of a conventional side and an operation mode diagram.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Underwater apparatus 2 Shaft-shaped protrusion member 3 Wired 4 Ship 5 Articulated crane 6 Underwater apparatus holding | grip apparatus 10 Support structure 11 Support structure upper frame 12 Support structure support | pillar 13 Support structure lower frame 14 Elastic member 20 Hanging cable 30 Engagement Member 31 Engagement member body 32 Engagement cam 33 Engagement cam stopper 34 Double acting air cylinder 35 Cylinder spring 36 Air piping 37 Engagement member moving means 41 Sheave 42 Spring 50 Guide member 51 Upper guide member 52 Lower guide member 60 Contact detection device G Claw N Concavity and convexity H Through gap

Claims (4)

An underwater device gripping device capable of gripping an underwater device provided with a projection having an uneven portion,
An engaging member capable of engaging with the concavo-convex portion;
A support structure that comes into contact with the outer surface of the underwater device when the engaging member pulls the uneven portion;
Engagement member moving means provided on the support structure for moving the engagement member;
A suspension cable connected to the support structure;
Underwater device gripping device characterized by having The engaging member includes an engaging member main body fitted in a substantially reciprocating manner at a substantially center of the support structure, and a claw that is rotatably fixed to the engaging member main body and engageable with the uneven portion. An underwater device gripping device according to claim 1, further comprising an engagement cam having the holding cam. The engaging member moving means includes a spring that urges the engaging member toward the underwater device, and a sheave fixed to the engaging member main body so as to be rotatable. 3. The underwater device gripping device according to claim 1, wherein the underwater device gripping device is provided on the support structure. The said structure for support has the substantially annular | circular shaped outer wall with the elastic raw material part formed in the part contact | abutted to the outer surface of the said underwater apparatus, The Claim 1 thru | or 3 characterized by the above-mentioned. Underwater equipment gripping device.

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