JPH0418785Y2 - - Google Patents

Description

[Detailed Description of the Invention] Industrial Application Field This invention relates to a mooring line cutting device used for cutting mooring lines mooring measuring instruments, buoys, etc. underwater.

Prior art and its problems Underwater moored floating bodies such as measuring instruments and buoys that are moored underwater need to be raised to the sea surface and retrieved from time to time for maintenance or data collection. For this reason, conventionally, a rope cutter or separator operated by remote control was provided at the middle part or the upper and lower ends of the mooring rope, thereby separating the underwater mooring fiber floating body from the rope. However, since such rope cutters or separators are installed underwater for long periods of time, the environmental resistance required for the equipment is also strict, and malfunctions that occur when the floating structure is being inserted into the water or while it is being moored may cause the floating structure to be damaged. There was also a high possibility that it would become detached from the cord.

For this reason, a mooring line cutting device has been proposed that is thrown into the water to cut the mooring rope when necessary, but conventional devices operate before being thrown into the water or even in shallow water depths. There is a high risk of malfunction and care must be taken when handling.

The purpose of this invention is to solve the above problems, to be able to reliably cut the mooring line by being thrown into the water only when necessary, and to prevent the mooring line from being activated before being thrown into the water or in shallow water depths. The purpose of the present invention is to provide a tethering rope cutting device that does not require any tethering.

Means for Solving the Problems The tethered rope cutting device according to this invention consists of a main body that is attached to an underwater robot, a chisel holder that is provided on the main body and forms a rope holding part, and one end of the chisel holder. A guide that extends diagonally to the front side, a pair of upper and lower cable retaining plates that are provided on the main body in front of the chisel holder so as to be movable back and forth and are biased backward by a spring, and a pair of upper and lower rope holding plates that are attached to the left and right sides of the cable holding part. It has trip pins that straddle both sides and hold the cable retaining plate in a position forward and away from the chisel holder,
The mooring rope that has approached the main body is guided to the rope holding part by the guide, and at this time the trip pin is bent by the tension of the mooring rope, and as the trip pin is bent, the rope retaining plate moves rearward and the rope is removed. The rope holding device is designed to press and hold the upper and lower parts of the mooring line in the holding part against the front of the chisel holder.The movement of the plunger causes the chisel to collide with the front of the chisel holder. , a cutting device designed to cut the mooring rope held by the upper and lower rope holding plates of the rope holding device at a portion between the rope holding plates; and a cutting device configured to move a plunger using an electric signal to operate the cutting device. The control device has a piston that is movable in and out of the main body so that its outer surface receives water pressure and is urged outward by a spring, and when the water pressure is less than a set value, the piston moves outward by the spring. When the water pressure exceeds a set value, the piston is moved inward against the spring by the water pressure to allow the plunger to move. 1, a piston that is movable in and out of the main body so that its outer surface receives water pressure and is biased outwardly by a spring, and a switch that turns on and off the power of the control device. When the water pressure is lower than the set value, the piston is moved outward by the spring and the switch is not activated, turning off the power to the control device, and when the water pressure exceeds the set value, the piston is moved against the spring by the water pressure. A second safety device 80 is provided which is moved inward and actuates a switch to turn on the control device.

In this specification, the term mooring rope is used as a general term for ropes, chains, etc. used for mooring underwater fiber floating bodies underwater.

Function The mooring rope cutting device is attached to an underwater robot, thrown into the water, and moved by the navigation of the underwater robot.

When the underwater robot approaches the mooring rope and moves forward, the mooring rope is guided to the rope holding part by the guide of the rope holding device, and the trip pin is bent by the tension of this mooring rope, and the rope is attached to the rope holding plate. is moved rearward by a spring, and the two upper and lower parts of the mooring rope in the rope holding section are pressed and held against the front surface of the chisel receiver. When the mooring line is held by the line holding plate, the control device activates the plunger of the cutter by means of an electric signal, for example based on a signal from the mother ship, thereby:
The chisel collides with the front of the chisel receiver and breaks the mooring rope between the upper and lower rope holding plates.

When the water pressure acting on the piston of the first safety device is lower than the set value, the piston prevents the plunger of the cutter from moving, resulting in the cutter being accidentally activated in air or in shallow water. Never.

When the water pressure acting on the piston of the second safety device is lower than the set value, the piston turns off the power to the control device without activating the switch.
The control device will not operate accidentally in air or at shallow depths.

Embodiments Hereinafter, embodiments of this invention will be described with reference to the drawings.

1 and 2 show an underwater mooring floating body 11 that is moored by mooring ropes 10, and an underwater robot 1.
2 shows a pair of tether cutting devices 13 and 14 in use, which are attached to the front left and right sides of the vehicle. Further, FIGS. 3 and 4 show the right-hand tether cutting device 14 in an enlarged manner, and FIGS. 5 to 10 show each part thereof in an enlarged manner. In addition, since the left-hand mooring rope cutting device 13 and the right-hand mooring rope cutting device 14 are simply opposite in their left-right relationship, only the right-hand rope cutting device 14 will be described.

The rope cutting device 14 has a main body 15 that is detachably attached to the front part of the robot 12, and a rope holding device 1.
6, a cutter 17, a control device 18 for the cutter 17, a water pressure sensing type safety device (first safety device) 19, etc. are provided.

The main body 15 of the cutting device 14 includes a right protrusion 15b integrally formed at the front end of a base 15a extending obliquely to the left front, and an upper protrusion 15c on the front half.
and a lower projecting portion 15d are integrally formed, and further a circular brim-like portion 15e is integrally formed at the front end thereof.

A mounting bracket 20 having a triangular shape when viewed from above is fixed to the rear left side of the main body base 15a, and a short cylindrical insertion portion 21 is provided on the rear end surface. On the other hand, a circular hole 23 is formed in the front end face of a seat 22 provided at the front of the robot 12, and the insertion portion 21 of the mounting bracket 20 is tightly fixed in this hole 23. Note that a key 24 is provided on the outer periphery of the insertion portion 21 to prevent rotation. Also, robot 1
2 includes a hydraulic cylinder 25 for removing the cutting device, and this cylinder 25 is connected to a hydraulic system (not shown).

The cable holding device 16 is such that the cutting device 14 is connected to the mooring cable 10.
This is to automatically hold the cable 10 by using the tension when it approaches the cable 10, and is constructed as follows.

A chisel receiver 26 is fixed to the rear end surface of the main body base 15a, projecting to the right and extending slightly forward, and a guide 27 extending obliquely to the right front is integrally formed at the upper and lower center of the right front end of the chisel receiver 26. There is. A portion surrounded by the rear end portion of the main body base 15a and the chisel receiver 26 serves as a cable holding portion 28.

Holes 29 and 30 with open rear ends are formed in a continuous manner at the rear of the chisel receiver 26 and the main body base 15a, and a long bottomed guide hole 31 whose front end is closed is located in the center of the bottom of the hole 30 of the main body base 15a. is formed. A guide tube 33 having a guide hole 32 having the same diameter as this guide hole 31 is connected to the hole 29 of the chisel receiver 26 and the main body base 1.
It is fitted so as to straddle the hole 30 of 5a,
A first plunger 34 is inserted into these guide holes 31 and 32 so as to be movable back and forth. This plunger 34 is shorter than the entire length of the guide holes 31 and 32, and a compression coil spring 35 is provided between the front end surface of the plunger 34 and the bottom of the guide hole 31 to bias the plunger 34 backward.

A bottomed plunger insertion hole 36 is formed in the rear end surface of the first plunger 34, and a second plunger 37 is inserted into this hole 36 so as to be movable back and forth. The second plunger 37 is shorter than the insertion hole 36, and a compression coil spring 38 is provided between the second plunger 37 and the bottom of the hole 36 on the front end surface of the plunger 37 to bias the plunger 37 backward. A plurality of radial ball accommodation holes 39 are formed in the rear peripheral wall of the plunger insertion hole 36 of the first plunger 34, and each hole 39 has an outer diameter slightly larger than the thickness of the peripheral wall of the insertion hole 36. A ball 40 having a ball 40 is fitted into each ball 40. The rear end of the first plunger 34 is located on the inner surface of the guide tube 33.
An annular recess 41 is formed which coincides with the ball receiving hole 39 when aligned with the rear end of the ball. Furthermore, an elongated hole 42 that is long from front to back is formed on the right side of the intermediate peripheral wall of the plunger insertion hole 36. An annular recess 43 is formed in the middle part of the second plunger 37, and a pin support hole 44 is bored in the front part to pass through the annular recess 43 from side to side. When the rear end of the second plunger 37 matches the rear end of the first plunger 34, the recess 43 of the second plunger 37
The pin support hole 44 faces the front part of the elongated hole 42. Further, the sum of the thickness of the peripheral wall of the plunger insertion hole 36 of the first plunger 34 and the depth of the recess 43 of the second plunger 37 is slightly larger than the diameter of the ball 40. A pin receiving member 45 that spans the long hole 42 of the first plunger 34 is fitted into the pin support hole 44 of the second plunger 37 .

Pin insertion holes 46 and 47 are formed in a straight line on the front part of the right side wall of the chisel receiver 26 and on the right side of the rear peripheral wall of the guide hole 31 of the main body base 15a, passing through these in the left-right direction. hole 46,4
7 matches the pin receiving member 45 when the rear ends of the first and second plungers 34, 37 match the rear ends of the guide tube 33.

A bottomed guide hole 48 is formed in the rear end surface of the upper projecting portion 15c and the lower projecting portion 15d of the main body 15, respectively. Elongated holes 49 are formed in the upper and lower circumferential walls of the guide hole 31 of the main body base 15a and in the walls between the guide hole 31 and the guide holes 48 of the upper and lower overhangs 15c and 15d, extending back and forth across these. At the rear of the upper wall of the upper projecting part 15c and the lower wall of the lower projecting part 15d, there are notches 5 which are slightly wider than the elongated hole 49 and long from front to back.
0 is formed. Upper and lower overhangs 15c, 15
A moving rod 51 is fitted into the guide hole 48 of d so as to be movable back and forth. Each movable rod 51 has approximately the same length as the guide hole 48, and at the front end of each rod 51 is a rope holding plate 5 that moves back and forth up and down the rear of the main body base 15a.
2 is fixed. Further, a bottomed spring housing hole 53 is formed in the front end surface of each moving rod 51, and between the bottom of this hole 53 and the bottom of the guide hole 48, the moving rod 51
A compression coil spring 54 is also provided to urge the cable retaining plate 52 backward. A connecting rod 55 is attached to the front part of the first plunger 34 so as to pass through it vertically. The upper and lower ends of this connecting rod 55 pass through the elongated hole 49 and connect to the upper and lower movable rods 51.
is connected to the front of the First plunger 34
When the rear end is aligned with the rear end of the guide tube 33, the connecting rod 55 is located at the front end of the elongated hole 49, the movable rod 51 is almost retracted into the guide hole 48, and the cable retaining plate 52 is It is located at a standby position immediately behind the upper and lower overhangs 15c and 15d.

Normally, the cable retaining plate 52 is placed in the standby position.
The rear end of the first plunger 34 is brought into alignment with the rear end of the guide tube 33 against the springs 35 and 54, and the rear end of the second plunger 37 is brought into alignment with the rear end of the second plunger 37 against the spring 38.
The rear end of the plunger 34 is aligned with the rear end of the plunger 34.
Also, from the right side of the chisel receiver 26, insert the pin insertion hole 4.
A trip pin 56 is inserted into the pins 6 and 47, and its left end is fitted into the pin receiving member 45.
This prevents the second plunger 37 from moving. Also, at this time, the ball 40
is pushed outward by the second plunger 37,
It fits between the hole 39 of the first plunger 34 and the recess 41 of the guide tube 33, thereby preventing the first plunger 34 from moving. Note that the right end portion of the pin 56 is folded back twice to prevent the pin 56 from moving further to the left. The rope holding device 16 also includes plungers 34 and 37.
A safety plug 57 may be provided in order to prevent malfunction by fixing the switch in the position as described above.

The cutter 17 is for cutting the mooring rope 10 held by the rope holding device 16, and is configured as follows.

The block 5 is located behind the right protrusion 15d of the main body 15.
8 is fixed, and a stepped hole 59 is formed in this block 58 to pass through it back and forth.
A chisel 60 is attached to the large diameter portion 59a at the rear of this hole 59.
A cartridge 61 for chisel injection is fitted in the small diameter portion 59b at the front. An acute-angled blade portion 60a is formed at the rear end of the chisel 60, and this blade portion 60a faces the upper and lower center portions of the front surface of the chisel receiver 26. Further, a stepped horizontal hole 62 is formed in the front left side surface of the main body 15 and reaches the right projecting portion 15b. Holes 63 and 64 continuous with 59 are bored in a straight line. The firing pin 65 is located in the rear hole 63, and the firing pin 65 is located in the front hole 64.
is fitted with a third plunger 66, and an electric detonator 6 is installed in front of the hole 64 on the front side of the right side projecting portion 15b.
7 is installed. Note that the cutter 17 includes:
A safety plug 70 may be provided spanning the annular groove 68 on the outer periphery of the firing pin 65 and the groove 69 on the inner periphery of the hole 63 to prevent malfunction.

The water pressure sensing safety device 19 is for enabling the cutter 17 to operate when the water pressure exceeds a set value, and is configured as follows.

A piston 71 is fitted into the stepped horizontal hole 62 of the main body 15 so as to be movable left and right. The piston 71 has a pressure-receiving disk portion 71b having a larger outer diameter integrally formed at the left end of a shaft portion 71a, and its overall length is shorter than the horizontal hole 62. A stopper 72 is fitted into a portion near the left end of the horizontal hole 62, and the disc portion 71b
A compression coil spring 73 is provided between the piston 71 and the intermediate step 62a of the horizontal hole 62 to bias the piston 71 leftward. A hole 74 is formed in a portion near the right end of the shaft portion 71a and extends through the shaft portion 71a back and forth.
4 is fitted with a fourth plunger 75. Further, the shaft portion 71a is provided with a shear pin 76 that is inserted from the right end surface and passes through the plunger 75. Then, the disk portion 71b of the piston 71
When no water pressure is acting on the piston 71
The disk portion 71b is moved by the spring 73 to the left end position where it comes into pressure contact with the stopper 72, and the fourth plunger 75 is located to the left of the third plunger 66. When the water pressure acting on the disc part 71b increases, the piston 71 moves to the right against the spring 73, and when the water pressure exceeds a predetermined set value, the piston 71 moves so that the disc part 71b moves to the right side of the horizontal hole 62. Part 62
Move to the rightmost operating position where it comes into pressure contact with b, and press the fourth
plunger 75 mates with third plunger 66 .

A cylindrical case 77 is fixed to the front surface of the brim portion 15e of the main body 15, and a control device 18 is provided in this case.

The control device 18 is for operating the cutter 17 based on commands from the ship, etc.
Control device main body 78 and battery 7 provided in 7
8. Water pressure switch (second safety device) 80 provided on the top surface of the case 77, acoustic signal receiving device 81
and an acoustic signal identification code setting plug 82.

The water pressure switch 80 is for preventing the control device main body 78 from being powered on unless the water pressure exceeds a set value, and is configured as follows (see FIG. 8).

A cylinder 83 is fixed to the upper surface of the case 77,
The upper part of the cylinder 83 passes through the case 77 and projects slightly upward. A stepped hole 84 is formed in the cylinder 83 and passes through it vertically.
A piston 85 is fitted in such a way that it can move up and down. This piston 85 is connected to the lower large diameter portion 84 of the hole 84.
A pressure-receiving shaft portion 85 that receives water pressure is placed above and below the small diameter portion 84b of the hole 84 above and below the disc portion 85a that fits into the disk portion 85a.
b and the operating shaft portion 8 protruding downward from the large diameter portion 84a.
5c are integrally formed. A stopper/spring receiver 86 is screwed into the lower end of the large diameter portion 84a of the hole 84, and this spring receiver 86 and the disk portion 85a
A compression coil spring 87 is provided between the pistons 85 and 87 to bias the piston 85 upward. The upper end of a U-shaped support member 88 is fixed to the lower end of the cylinder 83, and a micro switch 89 is attached to the center of this member 88. When no water pressure is acting on the pressure-receiving shaft portion 85b, the piston 85 is moved by the spring 87 so that the disk portion 85a moves to the stepped portion 84c of the hole 84.
The operating shaft portion 85c moves to the upper end position where it comes into pressure contact with the
is upwardly away from the micro switch 89.
Therefore, the micro switch 89 does not operate, and the power to the control device main body 78 is turned off. When the water pressure acting on the pressure receiving shaft section 85b increases, the piston 85 moves downward against the spring 87, and when the water pressure exceeds a predetermined set value, the operating shaft section 85c pushes the micro switch 89 downward. For this reason,
The micro switch 89 is activated and the power to the control device main body 78 is turned on. In addition, water pressure switch 8
0 may be provided with a safety plug 90 that fixes the pinion 85 at the upper end position to prevent malfunction. In this case, one end of the safety plug 90 is connected to the front part of the robot 12 by a wire 91 or the like.

The acoustic signal identification code setting plug 82 is provided so that the code for identifying the acoustic signal received by the receiving device 81 can be easily switched from the outside.

When the control device 18 is operated by an acoustic signal from a ship, it is necessary to distinguish the acoustic signal transmitted by the mother ship from the signals of other ships. To do this, a code for the acoustic signal is determined for each ship, and the coded acoustic signal is transmitted, and an identification code changeover switch is installed in the control device body 78, etc., so that the code can be identified according to the code of the acoustic signal of the mother ship. All you have to do is set the code. However, in this case, it is necessary to remove the case 77 and switch the switch every time the mother ship is changed, and it is also impossible to confirm from the outside which code is set.

The plug 82 is provided to enable easy switching and confirmation of the identification code from the outside, and is constructed as follows (see FIGS. 9 and 10).

A socket 92 is attached to the upper surface of the case 77 so as to pass through it vertically. This socket 92 is provided with a plurality of terminals 93, and these terminals 93 are connected to the code switching circuit of the control device main body 78. Plug 82 is socket 92
It has the same number of terminals 94 corresponding to the terminals 93, respectively, and predetermined ones of these terminals 94 are connected to each other. By fitting the plug 82 into the socket 92, a code corresponding to the connection state of the terminal 94 is set. The cutting device 14 is prepared with a plurality of types of plugs 82 having different connection states of the terminals 94, and each type of plug 82 corresponds to only one separate cord.
For example, if six types of cords are used, six types of plugs 82 are prepared. And plug 8
By replacing 2, you can easily change the code from the outside. Further, the plug 82 is colored differently depending on the type of cord, and the set cord can be easily confirmed from the outside by the color. Note that the socket 92 and the plug 82 have a watertight structure.

The underwater robot 12 is connected to a guidance cable 95 fed out from the mother ship, and can freely navigate under the sea according to commands from the mother ship. An underwater TV camera 96 is mounted on the front of the robot 12.

When lifting and recovering the underwater moored floating body 11, first, the cutting devices 13 and 14 are attached to the robot 12 on the mother ship, and the robot 12 is thrown into the sea. In addition,
If safety plugs 57, 70, and 90 are provided, set them in their predetermined positions to prevent malfunctions before throwing them into the sea, and leave only the safety plug 90 of the water pressure switch 80 just before throwing it into the sea. Remove the other safety plugs 57 and 70. Cutting devices 13, 14
After the robot 12 equipped with the robot 12 is put into the sea, the mother ship and the robot 12 are sailed while searching for the floating body 11 using a detector mounted on the mother ship.

When the floating body 11 is found, the robot 12 is first advanced so that the guide 27 of one of the cutting devices 11 touches the rope 10, and the rope 10 is placed along the guide 27 into the rope holding section 28. When the mooring rope 10 is guided by the guide 27 and enters the rope holding section 28, it hits the trip pin 56, and the pin 56 is bent by the tension of the mooring rope 10. Therefore, pin 56
The left end portion of the pin receiving member 45 comes off, and the second plunger 37 becomes freely movable relative to the first plunger 34, so that the second plunger 37 is moved rearward by the spring 38. When the second plunger 37 moves backward, its recess 4
3 matches the ball accommodation hole 39 of the first plunger 34, and the ball 40 is pushed into this recess 43 and comes out from the recess 41 of the guide tube 33, so that the first plunger 34 can move freely. .
For this reason, the first plunger 34, the upper and lower moving rods 51 and the cable retaining plate 52 connected to the first plunger 34,
is moved in the direction by the springs 35 and 54, and the rope holding plate 52 is moved in the upper and lower 2 directions of the mooring rope 10 in the rope holding part 28.
The part is pressed against the front of the chisel holder 26 and held.

Once the mooring line 10 is held in this way, this is confirmed by the TV camera 96, and then the hydraulic cylinder 25 is operated by remote control from the mother ship to disconnect the cutting device 14 from the robot 12.
The robot 12 is moved to a position sufficiently away from the cutting device 14. The cutting device 14 is a robot 12
When the safety valve 90 is disconnected from the water pressure switch 80, the safety plug 90 is pulled by the wire 91 and removed from the water pressure switch 80, and the water pressure switch 80 is activated. And the cutting device 14
When the water depth in which the water pressure switch 80 is located is shallower than the set value, that is, when the water pressure acting on the water pressure switch 80 is lower than the set value, the micro switch 89 does not operate, the power to the control device body 78 remains off, and the control device 18 is inoperable. Conversely, when the water depth, that is, the water pressure is above the set value, the micro switch 89 is activated, the power to the control device main body 78 is turned on, and the control device 18 becomes operable. Further, when the water depth is shallower than the set value, the piston 71 of the water pressure sensing safety device 19 does not move to the rightmost operating position, and the fourth plunger 75 is not aligned with the third plunger 66, resulting in disconnection. device 17 is inoperable. Conversely, when the water depth is greater than the set value, the piston 71 moves to the rightmost operating position, and the fourth plunger 75 moves to the third
plunger 66, so that the cutter 17 is ready for operation.

Once the robot 12 leaves the cutting device 14, a coded acoustic signal is transmitted from the mothership to activate the cutting device 14. When the cutter 14 is located at a deeper position than the set water depth, the code of the acoustic signal received by the receiver 81 is compared with the identification code set as described above, and if they match, Control device main body 78
An ignition current is caused to flow through the electric detonator 67 in response to a command from the detonator. As a result, the gunpowder inside the detonator 67 explodes,
The pressure of the gas causes the third plunger 66 to move rearward at high speed. When the cutting device 14 is at a deeper position than the set water depth, the third plunger 66 collides with the fourth plunger 75 and cuts the shear pin 76, and the fourth plunger 75 collides with the firing pin 65. do. As a result, firing pin 6
5 hits the cartridge 61, and the cartridge 6
1 was on fire, but 60 was fired. Then, the chisel 60 collides with the top and bottom center of the front surface of the chisel receiver 26, cutting the mooring rope 10. When the mooring line 10 is cut, the floating body 11 floats to the sea surface, and the cutting device 14 separates from the mooring line 10 due to its own weight and sinks to the seabed.

Note that if one cutting device 14 is separated from the robot 12 as described above, the remaining cutting device 1
3 to cut the other tethers in the same way.

In the above cutting device 14, the safety plugs 57, 70,
By setting 90 in a predetermined position,
The rope holding device 16, the control device 18 and the cutter 17 can be operated in any state in the air before being thrown into the sea.
can be prevented from operating. However, even without the safety valves 57, 70, and 90, the water pressure sensing safety device 19 and the water pressure switch 80 are provided, so that the control device 18 or disconnection device can be operated in air or at a shallow depth. 17 will not operate accidentally. That is, the cutter 14
If it is in the air or at a position shallower than the set water depth, the micro switch 89 of the water pressure switch 80 will not operate as described above, and the power to the control device main body 78 will remain off. Therefore, even if an acoustic signal is transmitted from the mother ship, the control device 18 will not operate. In addition, if the cutter 14 is in the air or at a position shallower than the set water depth, the safety device 19
The piston 71 has not moved to the right end operating position, and the third plunger 66 faces a portion of the shaft portion 71a of the piston 71 other than the hole 74. Therefore, even if the electric detonator 67 ignites for some reason, the third plunger 66 will collide with the shaft portion 71a of the piston 71 and stop, and the fourth plunger 75 will not be pushed backward. Therefore, the firing pin 65 does not strike the cartridge 61 to eject the gun 60. In this manner, the above-mentioned cutting device 14 is provided with a double safety mechanism of the water pressure switch 80 and the water pressure sensing safety device 19 in order to prevent the cutting device 17 from operating at a water depth shallower than the set value. ing.

Furthermore, in the case of the above-mentioned cutting device 14, even if the water reaches a deeper position than the set water depth, the safety plug 90 will not come off unless it is separated from the underwater robot 12. Therefore, the control device main body 78 The power remains off and the control device 18 does not operate. However, this safety plug 90 is not always necessary. Further, the means for separating the cutting device 14 from the robot 12 is not limited to that of the above embodiment, and the cutting device 14 may be operated without being separated from the robot 12.

In the above embodiment, the cutting device 11 is activated by an acoustic signal from the mother ship, but the control device 18 may be provided with a timer 97 and this may be used to activate the cutting device 11. In this case, the timer 9
It is desirable to provide a time limit setting plug 98 similar to the acoustic signal identification code setting plug 82 so that the time of 7 can be easily set and confirmed from the outside.
Further, in the above embodiment, the rope holding device 16 is attached to the mooring rope 1.
Although the TV camera 96 confirms that 0 is maintained, the cable holding device 16 may be provided with an appropriate detector for confirmation.

The configuration of other parts of the cutting device 14 is not limited to that of the above embodiment, and can be modified as appropriate. For example, the guide 27 may be extendable.

Effects of the invention According to the mooring line cutting device of this invention, as mentioned above, the mooring rope can be cut reliably by being thrown into the water only when necessary, and also before being thrown into the water. It will not operate accidentally in shallow water.

[Brief explanation of drawings]

The drawings show an embodiment of this invention, and FIG. 1 is a side view of a rope cutting device attached to an underwater rope floating body and an underwater robot, FIG. 2 is a plan view of the same, and FIG. A partially cutaway plan view showing an enlarged portion of the device; FIG. 4 is a sectional view taken along the line - in FIG. 3;
FIG. 5 is a horizontal cross-sectional view showing a further enlarged main part of the rope cutting device, FIG. 6 is a cross-sectional view along the line shown in FIG. 5, FIG. The figure is an enlarged vertical cross-sectional view of the water pressure switch.
Figure 9 is an enlarged side view showing the acoustic signal identification code setting plug removed from the socket;
FIG. 0 is a view taken along the arrow in FIG. 9. 10...Mooring rope, 12...Underwater robot, 1
3, 14...Tethering rope cutting device, 15...Main body, 1
6... Cable holding device, 17... Cutting device, 18... Control device, 19... Water pressure sensing type safety device (first safety device), 26... Chisel receiver, 27... Guide,
28... Cable holding part, 35... Spring, 52... Cable retaining plate, 54... Spring, 56... Trip pin, 6
0... chisel, 66... plunger, 71... piston, 73... spring, 80... water pressure switch (second safety device), 85... piston, 87...
Spring, 89...Micro switch.

Claims (1)

[Claims for Utility Model Registration] A main body 15 attached to the underwater robot 12, a chisel receiver 26 provided on the main body 15 and forming a cable holding part 28, and a chisel receiver 26 extending laterally and forwardly from one end of the chisel receiver 26. A guide 27 that extends diagonally, a pair of upper and lower cable holding plates 52 that are movably provided in the front part of the main body 15 in front of the chisel receiver 26 and are biased backward by springs 35 and 54, and a cable holding plate 52. Trip pins 56 are provided on both left and right sides of the section 28 to hold the rope holding plate 52 at a position forward and away from the chisel receiver 26, and the mooring rope 10 approaching the main body 15 is guided by the guide 27. At this time, the trip pin 56 is bent by the tension of the tether 10, and as the trip pin 56 is bent, the tether retaining plate 52 moves rearward,
The chisel 60 is moved by the movement of the rope holding device 16 and the plunger 66, which are configured to hold the two upper and lower parts of the mooring rope 10 in the rope holding part 28 against the front surface of the chisel receiver 26. By colliding with the front surface of the receiver 26, the rope holding device 1
The mooring rope 10 held by the upper and lower rope holding plates 52 of 6
A cutter 17 configured to cut the cord at a portion between the rope holding plates 52, and a control device 1 configured to move the plunger 66 and operate the cutter 17 by an electric signal.
8. A piston 71 is provided on the main body 15 so as to be movable in the inner and outer directions so that its outer surface receives water pressure, and is urged outward by a spring 73. When the water pressure is lower than a set value, the piston 71 is moved by the spring 73. The plunger 66 of the cutter 17 is moved outward by the
A first safety device prevents the movement of the plunger 66, and when the water pressure exceeds a set value, the piston 71 is moved inward against the spring 73 by the water pressure to allow the plunger 66 to move. 19, and a piston 85 provided movably in the inward and outward directions in the main body 15 so that its outer surface receives water pressure and is biased outwardly by a spring 87; and a control device 18.
It has a switch 89 that turns on and off the power of the
When the water pressure is lower than the set value, the piston 85 is moved outward by the spring 87, and the control device 18 is turned off without operating the switch 89.
A second safety device is configured such that when the water pressure exceeds a set value, the piston 85 is moved inward against the spring 87 by the water pressure, actuating the switch 89 and turning on the power to the control device 18. A tether cutting device comprising: 80.