JPH0327349B2 - - Google Patents
Info
- Publication number
- JPH0327349B2 JPH0327349B2 JP60165830A JP16583085A JPH0327349B2 JP H0327349 B2 JPH0327349 B2 JP H0327349B2 JP 60165830 A JP60165830 A JP 60165830A JP 16583085 A JP16583085 A JP 16583085A JP H0327349 B2 JPH0327349 B2 JP H0327349B2
- Authority
- JP
- Japan
- Prior art keywords
- robot
- jet
- underwater
- pipe body
- long hole
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 239000012530 fluid Substances 0.000 claims description 5
- 238000002347 injection Methods 0.000 claims description 4
- 239000007924 injection Substances 0.000 claims description 4
- 230000002093 peripheral effect Effects 0.000 claims 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
Description
【発明の詳細な説明】
〔発明の技術分野〕
本発明は、海中において各種の作業を行う海中
作業ロボツトに関する。さらに詳しくは、前後左
右及び上下の全方向に移動可能な噴き出し口を有
する海中作業ロボツトに関する。DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to an underwater work robot that performs various operations under the sea. More specifically, the present invention relates to an underwater working robot having an ejection port that is movable in all directions, forward, backward, leftward, rightward, and up and down.
例えば、海中に設置された海底油田の各種の設
備の操作や、海底ケーブルの敷設、あるいは海底
に沈没した船舶の浮上のための作業等の各種の作
業には、海中作業ロボツトが使用されている。
For example, underwater work robots are used for various tasks such as operating various equipment in offshore oil fields installed underwater, laying submarine cables, and refloating ships sunk on the ocean floor. .
この海中作業ロボツトは、水中における安定性
を増すために、本体の重心と浮力の中心との距離
を大きくし、常に水平姿勢を維持するようになつ
ている。また、各種の作業を行わせるマニピユレ
ータはロボツトの前部に固定されているため、作
業部の操業範囲が極めて狭く、その作業範囲を大
きくするためには、ロボツト全体の方向、姿勢を
変えたり、ロボツトの浮沈によらなければならな
かつた。 In order to increase the stability of this underwater robot, the distance between the body's center of gravity and the center of buoyancy is increased so that it always maintains a horizontal position. In addition, since the manipulators that perform various tasks are fixed to the front of the robot, the operating range of the working section is extremely narrow.In order to increase the working range, it is necessary to change the direction and posture of the entire robot It had to depend on the ups and downs of the robot.
そこで、水中で全ての方向に移動するために、
上下用スラスタ、前後進用スラスタ、及び旋回用
スラスタ等の複数のスラスタ噴き出し口を設け、
これらの各スラスタ噴き出し口にそれぞれプロペ
ラ又はジエツト装置等の噴流発生装置を設け、各
スラスタ噴き出し口から噴流を交互に噴出させる
ことにより各方向の移動を行つていた。その結
果、ロボツト本体内部の構造が複雑になると共
に、ロボツト本体のコンパクト化が図れないとい
う問題があつた。 Therefore, in order to move in all directions underwater,
Equipped with multiple thruster outlets such as vertical thrusters, forward and backward thrusters, and turning thrusters,
Each thruster outlet is provided with a jet generating device such as a propeller or a jet device, and movement in each direction is achieved by alternately ejecting jets from each thruster outlet. As a result, the internal structure of the robot body becomes complicated, and the robot body cannot be made more compact.
本発明は、かかる従来の問題点を解消するため
になされたものであり、その目的は、噴流発生装
置によつて発生させた噴流の噴出方向を噴射口で
制御することにより、海中作業ロボツト内の噴流
発生装置の構造を簡単にし、ロボツト本体のコン
パクト化を図ることにある。
The present invention has been made to solve such conventional problems, and its purpose is to control the jet direction of the jet generated by the jet generating device using the jet nozzle, so that it can be used in underwater working robots. The purpose of this invention is to simplify the structure of the jet generating device and to make the robot body more compact.
前記目的を達成する本発明は、海中に在つて前
後左右及び上下の方向に移動可能な海中作業ロボ
ツトにおいて、少なくともロボツト本体の左右両
側に、噴流発生装置に接続させた主管体を配設す
ると共に、該主管体の側面に周方向に沿つた長孔
を設け、かつ該長孔に対応させて前記主管体に流
体噴射用開口を持つ単位管体を回動自在に嵌合さ
せた海中作業ロボツトの噴流方向可変装置であ
る。
To achieve the above object, the present invention provides an underwater working robot which is located in the sea and is movable in forward, backward, leftward, rightward, and upward and downward directions. , an underwater working robot in which a long hole is provided along the circumferential direction on the side surface of the main pipe body, and a unit pipe body having a fluid injection opening is rotatably fitted in the main pipe body in correspondence with the long hole. This is a jet flow direction variable device.
以下、図面により本発明の実施例について説明
する。
Embodiments of the present invention will be described below with reference to the drawings.
第１図は海中作業ロボツトの外観を示す斜視図
であり、ロボツト本体Ｒは、下部本体１と、下部
本体１に対して旋回できる半球状の上部部材２
と、上部部材２の子午線上に設けられた溝部３に
沿つて移動する作業部４から構成されている。 FIG. 1 is a perspective view showing the appearance of an underwater working robot. The robot body R includes a lower body 1 and a hemispherical upper member 2 that can rotate relative to the lower body 1.
and a working section 4 that moves along a groove section 3 provided on the meridian of the upper member 2.
下部本体１は、下部構造５と上部構造６から構
成され、下部構造５の内部には、ロボツト本体Ｒ
の安定性を向上させるために電池等の重量物が収
容されている。さらに、上部構造６の内部には、
制御機器を内蔵した耐圧容器が搭載されている。 The lower body 1 is composed of a lower structure 5 and an upper structure 6, and inside the lower structure 5 is a robot body R.
Heavy objects such as batteries are housed in order to improve the stability of the vehicle. Furthermore, inside the upper structure 6,
It is equipped with a pressure vessel with built-in control equipment.
前記上部構造６には、ロボツト本体Ｒを着座し
たり、固定させるための脚（図示せず）が設けら
れる。また、作業部４には、作業用のマニピユレ
ータ（図示せず）が取り付けられる。さらに、上
部本体２には、超音波通信アンテナ１４、超音波
視覚装置１５、位置検出トランスポンダ１６が装
備されている。 The upper structure 6 is provided with legs (not shown) for seating or fixing the robot body R. Further, a working manipulator (not shown) is attached to the working part 4. Furthermore, the upper body 2 is equipped with an ultrasonic communication antenna 14, an ultrasonic vision device 15, and a position detection transponder 16.
前記下部本体１には、ポンプのような噴流発生
装置１８に接続された主管体１９が配設されてい
る。この主管体１９は、第２図に示すように、全
体的にＵの字状をなしている。そして、その端部
には、前進用の噴流方向可変装置１７′が設けら
れている。また、主管体１９の側部には、上下・
左右運動用の噴流方向可変装置１７が２基ずつ設
けられている。 The lower main body 1 is provided with a main pipe body 19 connected to a jet flow generating device 18 such as a pump. The main tube body 19 has a U-shape as a whole, as shown in FIG. A forward jet flow direction variable device 17' is provided at the end thereof. Also, on the side of the main pipe body 19, there are
Two jet flow direction variable devices 17 for left and right movement are provided.
噴流方向可変装置１７は、第３図及び第４図に
示すように、主管体１９に回動自在に嵌合された
単位管体２１と、単位管体２１に設けられた開口
２０に対応するように前記主管体１９に設けられ
た長孔２６から構成されている。また、前記単位
管体２１に固定された一対のギヤホイール２２に
は、ピニオン２４がそれぞれ噛み合つており、電
動モーター２３によつて前記ピニオン２４が回動
すると、単位管体２１が矢印ａ及びｂの方向に回
動し、流体の噴射を停止したり、噴射方向を制御
することができるようになつている。前述した長
孔２６は主管体１９の周方向に沿つて設けられて
いる。また、図中、２５はギヤボツクスである。 As shown in FIGS. 3 and 4, the jet direction variable device 17 corresponds to a unit tube 21 rotatably fitted to the main tube 19 and an opening 20 provided in the unit tube 21. It is comprised of a long hole 26 provided in the main tube body 19 as shown in FIG. Further, pinions 24 are engaged with a pair of gear wheels 22 fixed to the unit tubular body 21, respectively, and when the pinion 24 is rotated by the electric motor 23, the unit tubular body 21 moves in the direction of the arrow a. By rotating in the direction b, it is possible to stop jetting the fluid and control the jetting direction. The long hole 26 described above is provided along the circumferential direction of the main tube body 19. Further, in the figure, 25 is a gearbox.
一方、噴流方向可変装置１７′は、第５図及び
第６図に示すように、主管体１９の端部と、該主
管体１９の端部に回転自在に嵌合されたキヤツプ
状の単位管体２９とから構成されている。主管体
１９の端部の止板２８には、２個の開口２７が設
けられている。また、単位管体２９の鏡板には、
流体噴射口としての２個の開口３０が設けられて
いる。単位管体２９には、一対のギヤホイール２
２が固定されており、これと噛み合うピニオン２
４が電動モーター２３によつて駆動されることに
より、単位管体２９が矢印ａ及びｂの方向に回動
し、開口２７を開閉するようになつている。そし
て、前進用スラスタとして作用する。また、図
中、２５はギヤボツクスである。 On the other hand, as shown in FIGS. 5 and 6, the jet flow direction variable device 17' includes an end portion of the main tube body 19 and a cap-shaped unit tube rotatably fitted to the end portion of the main tube body 19. It is composed of a body 29. Two openings 27 are provided in the stop plate 28 at the end of the main tube body 19. Moreover, on the end plate of the unit tube body 29,
Two openings 30 are provided as fluid injection ports. A pair of gear wheels 2 are attached to the unit pipe body 29.
2 is fixed, and the pinion 2 that meshes with this
4 is driven by the electric motor 23, the unit tube body 29 is rotated in the directions of arrows a and b, and the opening 27 is opened and closed. It also acts as a forward thruster. Further, in the figure, 25 is a gearbox.
前述した構成において、ロボツト本体Ｒを水平
方向に移動させたあと、下降させるフローは、第
７図ａに示す通りである。また、前進用の噴流方
向可変装置１７′の駆動フローは、第７図ｂに示
す通りである。 In the above-described configuration, the flow of moving the robot body R horizontally and then lowering it is as shown in FIG. 7a. Further, the driving flow of the forward jet direction variable device 17' is as shown in FIG. 7b.
第８図及び第９図は、第２番目の実施例であ
り、主管体１９をロボツト本体Ｒの全周に配設し
た場合である。 8 and 9 show a second embodiment, in which the main tube body 19 is disposed around the entire circumference of the robot body R. FIG.
第１０図及び第１１図は、第３番目の実施例で
あり、ロボツト本体Ｒの中央部に設けた噴流発生
装置１８にＵの字状の２本の主管体１９を配設し
た場合である。 FIGS. 10 and 11 show a third embodiment, in which two U-shaped main pipe bodies 19 are disposed in the jet generation device 18 provided in the center of the robot body R. .
第１０図及び第１１図は、第４番目の実施例で
あり、ロボツト本体Ｒの中央部に設けた噴流発生
装置１８に環状に構成された２本の主管体１９を
配設した場合である。 FIGS. 10 and 11 show a fourth embodiment, in which two annular main pipe bodies 19 are disposed in a jet generation device 18 provided in the center of the robot body R. .
上記のように、本発明は、海中に在つて前後左
右及び上下の方向に移動可能な海中作業ロボツト
において、少なくともロボツト本体の左右両側
に、噴流発生装置に接続させた主管体を配設する
と共に、該主管体の側面に周方向に沿つた長孔を
設け、かつ該長孔に対応させて前記主管体に流体
噴射用開口を持つ単位管体を回動自在に嵌合させ
たので、主管体に嵌合させた単位管体を回動させ
る簡単な操作で、噴流発生装置によつて発生させ
た噴流の噴出方向を制御できるようになつた。そ
の結果、海中作業ロボツト内の噴流発生装置の構
造を簡単にすることができ、さらにロボツト本体
をコンパクトにすることができるようになつた。
As described above, the present invention provides an underwater working robot that is located in the sea and is movable in the forward, backward, leftward, rightward, and up-down directions. , a long hole is provided along the circumferential direction on the side surface of the main pipe body, and a unit pipe body having a fluid injection opening is rotatably fitted in the main pipe body in correspondence with the long hole. It has become possible to control the direction of jet flow generated by the jet flow generation device by a simple operation of rotating the unit pipe body fitted to the body. As a result, the structure of the jet generator in the underwater robot can be simplified, and the robot body can be made more compact.
第１図は本発明にかかる噴流方向可変装置を持
つ海中作業ロボツトの斜視図、第２図は主管体の
平面図、第３図は上下左右運動用の噴流方向可変
装置の拡大図、第４図は第３図のＣ−Ｃ断面図、
第５図は前進用の噴流方向可変装置の拡大図、第
６図は第５図のＤ−Ｄ断面図、第７図ａ及び第７
図ｂは第１噴流方向可変装置の駆動フロー図、第
８図は本発明にかかる噴流方向可変装置を持つ海
中作業ロボツトの他の例を示す斜視図、第９図は
その主管体の平面図、第１０図は本発明にかかる
噴流方向可変装置を持つ海中作業ロボツトの更に
他の例を示す斜視図、第１１図はその主管体の平
面図、第１２図は本発明にかかる噴流方向可変装
置を持つ海中作業ロボツトの更に他の例を示す斜
視図、第１３図はその主管体の平面図である。
Ｒ……ロボツト本体、１８……噴流発生装置、
１９……主管体、２０，２７……開口、２１，２
９……単位管体、２６……長孔。
FIG. 1 is a perspective view of an underwater working robot having a jet direction variable device according to the present invention, FIG. 2 is a plan view of the main pipe body, FIG. 3 is an enlarged view of the jet direction variable device for vertical and horizontal movement, and FIG. The figure is a cross-sectional view taken along the line C-C in Figure 3.
Fig. 5 is an enlarged view of the forward jet direction variable device, Fig. 6 is a sectional view taken along line DD in Fig. 5, and Figs. 7a and 7.
Fig. b is a drive flow diagram of the first jet direction variable device, Fig. 8 is a perspective view showing another example of an underwater working robot having the jet direction variable device according to the present invention, and Fig. 9 is a plan view of the main pipe body thereof. , FIG. 10 is a perspective view showing still another example of an underwater working robot having a jet direction variable device according to the present invention, FIG. 11 is a plan view of its main pipe body, and FIG. FIG. 13 is a perspective view showing still another example of an underwater working robot having a device, and FIG. 13 is a plan view of its main pipe body. R...Robot main body, 18...Jet flow generator,
19... Main pipe body, 20, 27... Opening, 21, 2
9...Unit pipe body, 26...Long hole.
Claims (1)
可能な海中作業ロボツトにおいて、少なくともロ
ボツト本体の左右両側に、噴流発生装置に接続さ
せた主管体を配設すると共に、該主管体の側面に
周方向に沿つた長孔を設け、かつ該長孔に対応さ
せて前記主管体に流体噴射用開口を持つ単位管体
を回動自在に嵌合させた海中作業ロボツトの噴流
方向可変装置。1. In an underwater working robot that is underwater and is movable in forward, backward, leftward, rightward, and up-down directions, a main tube body connected to a jet flow generating device is disposed at least on both left and right sides of the robot body, and a peripheral body is installed on the side of the main tube body. A jet flow direction variable device for an undersea working robot, wherein a long hole is provided along the direction, and a unit pipe body having a fluid injection opening is rotatably fitted in the main pipe body in correspondence with the long hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16583085A JPS6228182A (en) | 1985-07-29 | 1985-07-29 | Device for varying direction of jet of submarine working robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16583085A JPS6228182A (en) | 1985-07-29 | 1985-07-29 | Device for varying direction of jet of submarine working robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6228182A JPS6228182A (en) | 1987-02-06 |
| JPH0327349B2 true JPH0327349B2 (en) | 1991-04-15 |
Family
ID=15819810
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP16583085A Granted JPS6228182A (en) | 1985-07-29 | 1985-07-29 | Device for varying direction of jet of submarine working robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6228182A (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS493380A (en) * | 1972-05-02 | 1974-01-12 | ||
| JPS5237678A (en) * | 1975-08-06 | 1977-03-23 | Shafer Valve Co | Hydraulic pressure motor |
-
1985
- 1985-07-29 JP JP16583085A patent/JPS6228182A/en active Granted
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS493380A (en) * | 1972-05-02 | 1974-01-12 | ||
| JPS5237678A (en) * | 1975-08-06 | 1977-03-23 | Shafer Valve Co | Hydraulic pressure motor |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6228182A (en) | 1987-02-06 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| EXPY | Cancellation because of completion of term |