JP5889503B1 - Ship breakage sealing device and ship breakage sealing system - Google Patents

Abstract

[PROBLEMS] To quickly close a ship using a blocking means for remotely controlling a hull breakage or a damaged part of a ship. A ship opening and closing device is mounted on a main body, a moving mechanism provided on the main body and moving the main body, an arm provided on the main body, and a tip of the arm. A deployment part that is inserted into the hull of the hull and can be deployed inside the hull, a sealing member that is provided at the lower part of the main body and seals the breakage from the outside of the hull, and one end and the other end of the development part and the main body, respectively The wire connected to the part, the winding part that moves the main body to the position where the sealing member covers the fracture, by winding the wire after the deployment part is inserted into the fracture and deployed, and the fracture is sealed After the main body part moves to the position covered by the member, the main body part is moved toward the hull to provide a main body moving part that seals the breakage by the sealing member. [Selection] Figure 2

Description

  The present invention relates to a ship breakage sealing device and a ship breakage sealing system for blocking a breakage site generated in a ship hull.

  More particularly, the present invention quickly blocks outflow of harmful substances from the breach caused by ship collision or aging, and prevents the spread of marine pollution or flows from the hull breach. The present invention relates to a ship breakage sealing device and a ship breakage sealing system that can block inundation of seawater and prevent a ship from sinking.

  In general, the occurrence of hull breaks due to ship collisions is more serious in the case of oil tankers that carry oil and cargo ships that are operating with cargo, and the wider the range of breaks that occur in the hull, the greater the range. Quick recovery becomes difficult.

  In many cases, in the event of an accident, water is submerged from the hull breakage or a large amount of fluid (eg, oil) flows out. Access to a ship floating on the sea is not easy, and the work of blocking oil spills and inundation is dangerous.

  In the case of an oil spill, the oil fence is usually levitated around the hull where the breakage occurred to prevent the oil from spreading, but there is a limit to the prevention of substantial diffusion.

  Many ships are made of steel, have a streamlined structure to reduce friction with water, the size of the curved part varies depending on the position, and floats adhere to the hull surface during long voyages. is there.

  When a breakage occurs in the hull due to the collision of the ship, the periphery of the breakage part is irregularly deformed, and when oil spills, oil vapor is generated and there is a risk of explosion or harm to the human body. Further, the hull breakage often occurs in a curved part, and since the jet pressure of harmful substances from the damaged part is high, it is dangerous to approach the damaged part itself with a swaying hull.

  Conventional countermeasures for ship breaks have been to collect the spillage and bring the damaged ship to the coast to block the break. However, there is a limit to recovering fluid that has flowed out of a damaged ship, and the spillage continues while coming to the coast, which entails enormous costs for removing pollution and oil fences.

  When a breakage occurs due to damage to the hull due to collision or aging of the ship, marine pollution occurs and water inundation occurs on the ship. Several techniques for blocking such a hull breakage have been proposed (see, for example, Patent Documents 1 to 4). Among them, Patent Document 1 (Korean Patent Publication No. 10-112590) discloses: An apparatus and method for blocking oil spill from a ship is described.

Korean Patent Publication No. 10-112590 Korean Utility Model Gazette No. 20-0460997 Korean Utility Model Publication No. 20-2014-0005652 Korean Patent Publication No. 10-1050724

  When a large amount of oil is loaded like an oil tanker, the breakage of the hull due to a collision accident as described above is actually difficult to prevent diffusion of marine pollution using an oil fence, and the blocking time is delayed. The probability of secondary pollution to the coast increases.

  In addition, if a breakage occurs in the hull part adjacent to the machine room, not the hull part where the oil storage tank is located, the ship may sink due to inundation proceeding through the breakage. Economic loss may occur.

  In particular, in the case of the technique described in Patent Document 1, since the broken portion is blocked using a large oil spill prevention film, there is a problem in that the cost and work time required for it are greatly increased.

  In addition, the worker may install a shut-off device on his / her own. However, if harmful substances flow out from the breakage site, it may be difficult for the worker to approach due to high outflow pressure, and human work may not be possible. is there.

  Therefore, when oil or harmful substances are spilled due to a ship accident, it is difficult to approach a person or a shut-off device with a high spill pressure, and this needs to be improved. In other words, if the ship's breakage is first shut off and the spilled fluid is recovered, then secondary contamination can be effectively prevented, and costs such as removal of pollution and oil fences can be greatly reduced. be able to.

  One technical problem to be solved by the present invention is to quickly seal off the hull breakage and the damaged part of the ship using a blocking means that remotely controls the hull breakout and flooding of the harmful substance from the hull breakage. It is an object of the present invention to provide a ship opening and closing device that prevents accidents, provides worker safety and convenience, and minimizes marine pollution.

  In at least one embodiment of the present invention, a main body, a moving mechanism that is provided on the main body and moves the main body, an arm provided on the main body, and a state where the arm is attached to the tip of the arm. A deployment part that is inserted into the hull of the hull and can be deployed inside the hull, a sealing member that is provided at the lower part of the main body and seals the breakage from the outside of the hull, and one end and the other end of the development part and the main body, respectively The wire connected to the part, the winding part that moves the main body to the position where the sealing member covers the fracture, by winding the wire after the deployment part is inserted into the fracture and deployed, and the fracture is sealed Provided is a ship breakage sealing device including a main body moving part that seals a breakage by a sealing member by moving the main body part toward the hull after the main body part has moved to a position covered by the member.

  In at least one embodiment of the present invention, the ship breakage sealing device is further provided with a through portion for allowing a wire to pass therethrough, and the winding portion is deployed inside the hull. Then, the wire is wound up, and tension is generated in the wire between the developed portion and the main body developed inside the hull, thereby maintaining the position of the main body.

  In at least one embodiment of the present invention, the ship breakage sealing device further includes a fixed support portion that is provided on a side surface of the moving mechanism and supports the main body portion in a state where the main body portion is fixed to the hull.

  In at least one embodiment of the present invention, the fixed support portion includes a magnetism generating portion that generates magnetism and a cylinder portion that moves the magnetism generating portion to the hull side, and the cylinder portion moves the magnetism generating portion to the hull side. The main body is fixed to the hull by moving it.

  In at least one embodiment of the present invention, the arm unit includes a deployment control unit that controls the deployment unit to deploy and releases the connection between the deployment unit and the arm unit when the deployment unit is deployed inside the hull. .

  In at least one embodiment of the present invention, the deploying portion is inserted into the hull breakage and deployed inside the hull so that fluid can flow out of the hull breakage or hull breakage inside the hull. Block water intrusion through the mouth.

  In at least one embodiment of the present invention, the main body is movable upward or downward with reference to the vertical position of the moving mechanism.

  In at least one embodiment of the present invention, the arm unit includes an imaging device capable of capturing an image around the arm unit.

  In at least one embodiment of the present invention, the blocking member is elastic.

  In at least one embodiment of the present invention, the ship breakage sealing device described above, storage means for accommodating the ship breakage sealing device, and transfer means for transferring the ship breakage sealing device from the accommodation means to the hull are provided. Provide a ship breakage sealing system.

  According to the present invention, it is possible to quickly and effectively block a breakage generated in a hull due to grounding, hull aging and stress due to collision between ships at sea, weather deterioration, etc. The substance can be shut off quickly and effectively for the safety and convenience of workers, and the effect of minimizing marine pollution can be achieved.

It is the schematic of the ship breakage sealing system which concerns on the Example of this invention. It is the schematic of the ship breakage sealing apparatus which concerns on the Example of this invention. It is a front view which shows operation | movement of the ship breakage sealing apparatus which concerns on the Example of this invention. It is a front view which shows operation | movement of the ship breakage sealing apparatus which concerns on the Example of this invention. It is a front view which shows operation | movement of the ship breakage sealing apparatus which concerns on the Example of this invention. It is a perspective view of the expansion | deployment part of the ship breakage sealing apparatus which concerns on the Example of this invention. It is sectional drawing of the expansion | deployment part of the ship breakage sealing apparatus which concerns on the Example of this invention. It is sectional drawing of the expansion | deployment part of the ship breakage sealing apparatus which concerns on the Example of this invention. It is the schematic which shows the structure of the main-body part of the ship breakage sealing apparatus which concerns on the Example of this invention. It is the schematic which shows the operation state of the ship breakage sealing apparatus which concerns on the Example of this invention.

  Embodiments disclosed in the present specification will be described in detail with reference to the accompanying drawings described below, but the same or similar components are given the same reference numerals regardless of the reference numerals, and redundant descriptions thereof are omitted. It shall be. The suffix "part" for the components used in the description below will be given or mixed considering only the ease of creating the description, and will not have a meaning or role that distinguishes itself. . Further, in explaining the embodiments disclosed in the present specification, when it is determined that the specific description of the related known technology will disturb the gist of the embodiments disclosed in the present specification, the detailed description will be given. Omitted. Further, the accompanying drawings are provided so that the embodiments disclosed in the present specification can be easily understood, and the technical ideas disclosed in the present specification are not limited by the attached drawings, and the present invention is not limited thereto. It should be understood that all equivalents and alternatives included in the spirit and technical scope are included.

  The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this application, the singular forms “a, an” and “the” are intended to include a plurality of forms unless the context clearly dictates otherwise. Shall. Terms such as “include” and / or “including”, as used herein, indicate the presence of a specified feature, integer, step, action, element, and / or component. It will be understood that it should be understood that it does not exclude the presence or addition of one or more different features, integers, steps, actions, elements, components, and / or groups thereof.

  In this specification, terms such as “including” or “having” are intended to indicate the presence of a feature, number, step, action, component, part or combination thereof as described in the specification. Thus, it should be understood that the existence or additional possibilities of one or more different features, numbers, steps, actions, components, parts or combinations thereof are not excluded in advance.

  FIG. 1 is a schematic diagram showing a configuration of a ship breakage sealing system according to an embodiment of the present invention.

  As shown in FIG. 1, a ship breakage sealing system according to an embodiment of the present invention includes a storage means (100) and a ship breakage sealing apparatus (200).

  The accommodating means (100) is a movable casing, and accommodates the ship breakage sealing device (200) therein. The accommodating means (100) is, for example, installed at the upper part of the hull (H) and can be adjusted in height and moved left and right by a trigger (110) provided at the lower part, and an electromagnet part is provided at the lower part of the trigger (110). (111) is mounted, and the housing means (100) is fixedly supported on the hull (H).

  The ship breakage sealing device (200) is stored in the safety net (120), and is transferred from the accommodation means (100) to the hull (H) by the transfer unit (130). The safety net (120) is also provided with an electromagnet (not shown), and the vessel breakage sealing device (200) can be safely guided to the hull (H) even when the vessel flows. The ship breakage sealing device (200) exits from the safety net (120), reaches the hull breakage (C), and performs an operation of closing the breakage (C).

  FIG. 2 is a schematic view of a ship breakage sealing device (200) according to an embodiment of the present invention.

  The ship breakage sealing device (200) includes a main body (210), a caterpillar (220) provided in the main body (210), an arm (230) provided in the main body, and an arm (230). Camera part (240), deployment part (250) attached to gripper (231) of arm part (230), cylinder part (260) provided on the side surface of caterpillar (220), and body part (210) A sealing member (270) provided at a lower portion of the head. The caterpillar (220) is provided on both sides of the main body (210), for example. The arm part (230) is provided on the upper part of the main body part (210), for example. A camera part (240) is provided in the front-end | tip part of an arm part (230), for example.

  The main body (210) moves back and forth and left and right by driving the caterpillars (220) provided on both sides, and usually moves above the position of the caterpillar (220) as shown in FIG. In the present specification, “upward” is a direction away from a position in contact with the hull (H) in the caterpillar (220), and “downward” is in a direction toward a position in contact with the hull (H) in the caterpillar (220). It is.

  A main body side portion (211) connected to the side portion (221) of the caterpillar (220) is provided on both sides of the main body portion (210), and a central axis (212) included in the main body side portion (211). ) Is connected to a rotating cam (223) included in the side (221) of the caterpillar (220). As shown in FIG. 9, a winding motor (213) and a pulley (214) that winds a wire (W) connected through a through-hole formed in a side surface, and a wire ( A cylinder (215) is provided to pass W) through the hole (217) at the end of the rod (216).

  The winding motor (213) winds the wire (W) under the control of a control unit (not shown) connected wirelessly or by wire. The winding motor (213) winds the wire (W) after the unfolding portion (250) is inserted into the breakage (C) of the hull (H) and deployed, thereby closing the breakage (C) with a sealing member ( 270) is moved to the position covered by 270). Then, the winding motor (213) is configured such that when the deployment portion (250) is deployed inside the hull (H), the winding portion (250) is wound around the wire (W) and deployed inside the hull (H). A tension | tensile_strength is generate | occur | produced in the wire (W) between a part (210), and the position of a main-body part (210) is maintained. The control unit (not shown) includes a processor such as a CPU, for example.

  The caterpillar (220) includes a magnetism generator (permanent magnet or electromagnet) that generates a magnetic force. The caterpillar (220) can move along the surface of the hull (H) without falling from the hull by the magnetic force generated from the magnetism generator.

  The side part (221) formed on one side of the caterpillar (220) is provided with a drive motor (222) and a rotating cam (223) interlocking with the driving motor (222), and one side of the rotating cam (223) has a main body side part ( 211) is connected to the central axis (212).

  The drive motor (222) and the rotating cam (223) function as a main body moving part that moves the vertical position of the main body part (210), and the main body part reaches a position where the sealing member (270) covers the breakage (C). When (210) moves, the fractured portion (C) is blocked by the blocking member (270) by moving the main body (210) toward the hull (H). For example, the main body moving unit seals the fracture (C) by the sealing member (270) after the main body (210) has moved to a position where the sealing member (270) covers the fracture (C). Specifically, when the rotary cam (223) is rotated by driving the drive motor (222), the central axis (212) of the main body side portion (211) is interlocked, and the main body portion (210) as shown in FIG. Is lowered (hull side), thereby bringing the sealing member (270) into close contact with the outside of the fracture (C). That is, when a part of the main body portion (210) is lowered below the caterpillar (220), the sealing member is brought into close contact with the fracture (C), thereby sealing the fracture (C). The arm part (230) is formed with a gripper (231) to which the development part (250) is attached at the end, and after the development part (250) is inserted into the breakage (C) of the hull (H), The development part (250) is expanded to reduce the oil outflow pressure or change the outflow angle so that the main body part (210) can easily reach the fracture site. That is, the function of primarily preventing oil outflow from the breakage (C) of the hull (H) or inundation through the breakage (C) of the hull (H) by the development of the development part (250). Fulfill. The main body moving part may start moving the main body part (210) toward the hull (H) before the main body part (210) reaches the position where the sealing member (270) covers the fracture (C). Good.

  The camera unit (240) is provided at the distal end of the arm unit (230), and the arm unit (230) captures an accurate break (C) by photographing the periphery (for example, the front) of the arm unit (230). Makes it possible to confirm the position of

  The unfolding part (250) is an outflow blocking device having a folding shape such as an umbrella, for example, and is unfolded inside the fracture (C). The deployment unit (250) may be deployed, for example, like an automobile airbag. Furthermore, the development part (250) may be configured such that a plurality of hooks are connected to the wires, and when deployed, the development part (250) may be caught inside the hull (H). It is not possible, but it is possible to provide a hook inside to take up the wire (W).

  As shown in FIGS. 6 and 7, the unfolding portion (250) is connected to the upper portion (251) by a plurality of thin rods (252) such as umbrella bones and on the inner side is a screw rod connected to the upper portion (251). (253), a support portion (255) connected to a support rod (254) connected to the rod (252), and a support portion (255) upward. And a fixed part (257) formed at the lower part of the screw rod (253) and connected to the wire (W). The plurality of bars (252) may be connected to each other or may be connected to each other when deployed while maintaining a separated state.

  For example, in the case of an oil spill, the shape of the development part (250) is such that the oil ejection pressure from the fracture (C) is high, so that the shape of the folding anchor or the folded umbrella is the fracture (C ) Has the advantage that it can be inserted without losing high jet pressure.

  The gripper (231) of the arm part (230) functions as a deployment control unit having a configuration in which the deployment unit (250) is mounted and controlled. At the end of the gripper (231), a claw (231a) having a joint is configured to support the rotating nut (256), and a rotating part (231b) that rotates by the control of a control part (not shown) is fixed. It is configured to grasp and rotate the part (257). The deployment control unit includes a processor such as a CPU.

  Therefore, in the normal case, the rod (252) is maintained in a folded state, but in order to unfold it, the gripper (231) may rotate the rotating part (231b).

  When the rotating portion (231b) rotates, the fixed portion (257) and the screw rod (253) rotate, and the tip portion and the upper portion (251) of the screw rod (253) are separated, so the upper portion (251) rotates. do not do.

  Therefore, when the threaded rod (253) is rotated, the claw (231a) is lifted together with the rotating nut (256), and the support portion (255) is lifted upward, whereby the support rod (254) is expanded and the rod (252) is Expanded into a circle.

  In FIG. 8, the other example of the expansion | deployment part (250) which concerns on the Example of this invention is shown.

  8 has a plurality of thin rods (252) connected to the upper portion (251), a shaft rod (258) connected to the inner upper portion (251), and an upper end of the shaft rod (258). A support portion (255) to which a support rod (254) connected to the rod (252) is connected, a penetrating portion (259) for raising the support portion (255), and a shaft rod ( 258) and is formed of a fixed portion (257) to which the wire (W) is connected.

  At the end of the gripper (231) of the arm part (230), a claw (231a) having a joint is configured to support the penetrating part (259), and a cylinder part that moves backward by the control of the gripper (231). (231c) is configured to pull down the fixing portion (257).

  Therefore, in a normal case, the rod (252) is maintained in a folded state, but in order to unfold it, the cylinder portion (231c) may be driven backward.

  When the cylinder portion (231c) is lowered, the shaft rod (258) is lowered in conjunction with the cylinder portion (231c), the penetrating portion (259) pushes up the support portion (255), and thereby the support rod (254) is spread to expand the rod (252). ) Is expanded into a circle.

  The cylinder part (260) is provided on a side surface of the caterpillar (220), and a magnetism generation part (261) is provided below the cylinder part (260). The cylinder part (260) and the magnetism generating part (261) are fixed support parts for fixing the position of the main body part (210) to the hull. The fixed support portion supports the main body (210) in a state where the main body (210) is fixed to the hull (H). For example, the magnetism generating part (261) is composed of an electromagnet, and the cylinder part (260) moves the magnetism generating part (261) to the hull side, so that the ship breakage blocking device (200) is hulled by the function of the electromagnet. H) It functions to be fixed stably.

  The sealing member (270) is a member that seals the fracture (C) from the outside of the hull. The sealing member (270) is provided in the housing portion on the bottom surface of the main body portion (210) and is attached to the housing portion on the bottom surface of the main body portion (210). It is composed of an elastic member (271) and a rubber-based embossed part (272) attached to the elastic member (271) and in contact with the fracture (C).

  The ship breakage sealing device (200) configured in this way can be operated remotely via wireless or wired connection, and can be further connected from the accommodation means (100) with a tow wire. For example, the ship breakage blocking device (200) includes a control unit (not shown) that operates the caterpillar (220) and the winding motor (213) remotely via wireless or wired communication. The winding motor (213) receives a signal from the control unit, and starts winding the wire (W) based on the received signal.

  The operation of the ship breakage sealing system according to the embodiment of the present invention will be described with reference to FIG.

  First, the accommodating means (100) that accommodates the ship breakage blocking device (200) is moved and fixed to the hull (H) on the vertical line where the breakage (C) is located.

  Thereafter, the ship breakage blocking device (200) accommodated in the accommodating means (100) is pulled out via the transfer part (130) and is seated on the surface of the hull (H).

  At this time, the caterpillar (220) of the ship breakage blocking device (200) is magnetized and is attached to the hull (H) as shown in FIG. 3, and when the caterpillar (220) is driven, FIG. As shown to a), it moves to the position of the breakage (C).

  The movement of the ship opening / closing device (200) to the opening (C) is performed while viewing the video obtained through the camera unit (240) of the ship opening / closing device (200).

  When the ship breakage blocking device (200) reaches the vicinity of the breakage (C) as shown in FIG. 10 (b), oil is flowing out at the breakage site.

  As shown in FIG. 4, the ship breakage sealing device (200) drives the cylinder part (260), attaches the magnetism generation part (261) to the hull (H), and generates a magnetic force to break the ship breakage. The sealing device (200) is fixed stably.

  Thereafter, the arm part (230) is driven while confirming the image from the camera part (240), and the developing part (250) attached to the gripper (231) is inserted into the fracture (C).

  When the developing part (250) is inserted into the fracture (C), the gripper (231) rotates the rotating part (231b) as shown in FIG.

  The screw rod (253) is rotated by the rotation of the rotating portion (231b), the rotating nut (256) is raised, the support portion (255) is raised, the support rod (254) is expanded, and the rod (252) is circular. Expanded to

  As shown in FIG. 10 (c), when the rod (252) of the development part (250) is deployed, the fracture (C) is primarily sealed from the inside, and in the case of an oil spill, it flows out. The oil pressure decreases, and in the case of flooding, the pressure of seawater entering the hull decreases.

  As described above, when the rod (252) of the deployment unit (250) is deployed, the gripper (231) as the deployment control unit is connected to the deployment unit (250) of the claw (231a) and the rotation unit (231b). And the gripper (231) is positioned outside the rupture (C). For example, the gripper (231) moves the arm part (230) away from the developing part (250) after expanding the rotating part (231b), thereby moving the claw (231a) and the rotating part (231b). Release from the deployment section (250) to release the connection.

  Thereafter, as shown in FIG. 3, the ship breakage sealing device (200) raises the magnetic generation part (261) of the cylinder part (260) upward, and takes up the winding motor (213) inside the main body part (210). Is driven, and the wire (W) connected to the deployment part (250) is wound around the pulley (214), thereby moving the ship breakage sealing device (200) to the position of the breakage (C).

  When the wire (W) is completely wound up, the ship breakage sealing device (200) coincides with the breakage (C) portion as shown in FIG. 10 (d).

  At this time, as shown in FIG. 5, the ship breakage sealing device (200) fixes the magnetism generating part (261) of the cylinder part (260) to the hull (H) as necessary, and the side part of the caterpillar (220). The rotary cam (223) of (221) is driven so that the main body (210) moves with respect to the central axis (212) and falls downward.

  By the movement of the main body (210), as shown in FIG. 10 (e), the sealing member (270) attached to the bottom surface is brought into close contact with the fracture (C) site.

  When the sealing member (270) is brought into close contact, the cylinder (215) of the main body (210) is driven, the rod (216) is pulled, and the wire (W) applied to the hole (217) is latched.

  Through such an operation, the ship breakage sealing device (200) according to the embodiment of the present invention blocks the breakage (C) part, prevents oil from flowing out, and re-opens after the subsequent breakage restoration work. Will be used.

  In the embodiment of the present invention, the moving mechanism is described by taking the caterpillar (220) as an example. However, for example, a plurality of robot legs may be provided with a magnetism generator on the side of each robot leg. In either case, the main body (210) is movable upward or downward with reference to the vertical position of the moving mechanism.

  In the embodiment of the present invention, the winding unit automatically starts winding the wire (W) to the trigger when the deployment unit (250) is deployed inside the hull (H).

  In the embodiment of the present invention, the winding unit receives a signal from a control unit (not shown) when the deployment unit (250) is deployed inside the hull (H), and the wire (W ) Starts winding.

  In the embodiment of the present invention, the magnetism generating unit has been described by taking an electromagnet as an example in the embodiment. However, for example, a structure in which generation of magnetism is switched by a combination of a permanent magnet and a magnetic shielding mechanism may be used.

  As mentioned above, although this invention was demonstrated using embodiment, the technical scope of this invention is not limited to the range as described in the said embodiment. It will be apparent to those skilled in the art that various modifications or improvements can be added to the above embodiment. It is apparent from the scope of the claims that the embodiments added with such changes or improvements can be included in the technical scope of the present invention.

DESCRIPTION OF SYMBOLS 100: Accommodating means 110: Trigger 111: Electromagnet part 120: Safety net 130: Transfer part 200: Ship breakage sealing device 210: Main body part 220: Caterpillar 230: Arm part 231: Gripper 240: Camera part 250: Deployment part 260: Cylinder part 261: Magnetic generation part 270: Sealing member 271: Elastic member 272: Embossed part

Claims (10)

The main body,
A moving mechanism that is provided in the main body and moves the main body;
An arm portion provided in the main body portion;
A deployment portion that is inserted into the hull of the hull in a state of being attached to the tip of the arm portion, and can be deployed inside the hull;
A sealing member provided at a lower portion of the main body, and sealing the fracture from the outside of the hull;
One end and the other end of the wire connected to the development part and the main body part, respectively
A winding part that moves the main body part to a position where the sealing member covers the broken part by winding the wire after the developed part is inserted into the broken part and developed, and
After the main body portion has moved to a position where the sealing member covers the breakage, the main body moving portion that blocks the breakage by the sealing member by moving the main body portion toward the hull, and
Comprising
Ship opening and closing device. Provided at a lower portion of the main body portion, further comprising a through portion for allowing the wire to pass;
The winding unit winds up the wire when the developing unit is deployed inside the hull, and generates tension on the wire between the developing unit and the main body unit deployed inside the hull. , Maintaining the position of the main body,
The ship opening and closing device according to claim 1. A fixing support portion provided on a side surface of the moving mechanism and supporting the main body portion in a state where the main body portion is fixed to the hull;
The ship opening and closing device according to claim 1 or 2. The fixed support part has a magnetism generating part for generating magnetism and a cylinder part for moving the magnetism generating part to the hull side, and the cylinder part moves the magnetism generating part to the hull side. , Fixing the main body to the hull,
The ship opening and closing device according to claim 3. The arm unit includes a deployment control unit that controls to deploy the deployment unit, and releases the connection between the deployment unit and the arm unit when the deployment unit is deployed inside the hull.
The ship breakage sealing device according to any one of claims 1 to 4. The deployment part is inserted inside the hull of the hull and deployed inside the hull, so that fluid flows out from the hull of the hull inside the hull or through the hull of the hull. Blocking the inundation of the hull
The ship breakage sealing device according to any one of claims 1 to 5. The main body is movable upward or downward based on the vertical position of the moving mechanism.
The ship breakage sealing device according to any one of claims 1 to 6. The arm unit includes an imaging device capable of capturing an image around the arm unit.
The ship breakage sealing device according to any one of claims 1 to 7. The sealing member has elasticity;
The ship breakage sealing device according to any one of claims 1 to 8. The ship breakage sealing device according to any one of claims 1 to 9,
A storage means for storing the ship breakage sealing device;
Transfer means for transferring the vessel breakage sealing device from the accommodation means to the hull;
Comprising
Ship breakage sealing system.