JPH0516589U - Underwater work robot with obstacle removal device - Google Patents

Abstract

(57) [Summary] [Purpose] An underwater work robot with an obstacle removal device that can run along the surface of an underwater structure while removing running obstacles such as seaweed in the running direction. [Structure] Rollers 4 are attached to the four corners of the bottom surface of a relatively flat robot body 3, respectively, to have a traveling thrust along the wall surface 2 of the underwater structure and a suction force to the wall surface of the underwater structure 2, In an underwater work robot that performs inspection, repair work, etc. by running with a certain clearance on the wall surface of the underwater structure by remote control via the Equipped with means 6 and 7 for removing wall deposits.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to an underwater work robot with an obstacle removing device.

[0002]

[Prior Art]

 For example, as shown in FIG. 3 to FIG. 4, an underwater working machine or an underwater inspection machine which carries out underwater inspection, underwater repair, etc. while contacting the wall surface 1 of an underwater structure such as a petroleum stockpiling vessel and moving by propeller thrust or rotation of rollers 4. In the work robot 3, free movement is often hindered by adhered obstacles 2 such as oysters, barnacles, seagrass attached to the surface of an underwater structure.

[0003]

[Problems to be solved by the device]

 (1) Therefore, when the underwater robot moves by the roller with an electromagnet function, the rotation of the moving roller by the wheel system is obstructed by the oysters, barnacles, seaweeds, etc. adhering to the surface of the underwater structure, which makes it impossible to move forward. (2) Even if the diameter of the electromagnet type roller is increased and it is possible to move over an organism attached to an underwater structure, the adsorbing power of the electromagnet to the underwater structure is extremely reduced by the organism attached to the underwater, and the underwater working robot is May fall off underwater structures. (3) Not only do underwater working robots that move due to propeller thrust and suction using negative pressure interfere with their progress, and negative pressure does not work, but also work underwater structures suitable for underwater work and work. The required distance from the robot cannot be secured, and there are problems in performing proper inspections and performing certain underwater work.

The present invention has been proposed in view of the above circumstances, and is capable of traveling along the surface of an underwater structure while removing traveling obstacles such as shell algae in the traveling direction. An object is to provide an underwater work robot with a removal device.

[0005]

[Means for Solving the Problems] Therefore, according to the present invention, a roller is attached to each of the four corners of the bottom surface of a relatively flat robot main body so as to have a traveling thrust along the wall surface of the underwater structure and the underwater structure. In the underwater work robot, which has an attraction force for the wall surface of the underwater structure and can be remotely operated through a cable with a certain clearance on the wall surface of the underwater structure for inspection and repair work. It is characterized in that it is provided integrally with the front end of the vehicle and has means for removing the adhered material on the wall, which hinders traveling.

[0006]

[Action]

 According to such a structure, a power-driven rotary brush cutter for peeling off underwater adhered organisms is provided, and by driving this, the wall surface after removal of the adhered underwater organisms etc. and smoothing is easily traveled by the moving roller. It becomes possible to do.

[0007]

【Example】

 1 is a side view thereof, and FIG. 2 is a plan view of FIG. In the above drawing, the same reference numerals as those in FIGS. 3 to 4 denote the same members as those in FIGS. 3 to 4, respectively, and the major difference between the present invention and the structure of FIGS. The device is attached integrally. That is, 6 is a rotary brush cutter driven by a traveling motor 7 attached to the front end of the underwater work robot body 3. In such a structure, when the underwater work robot main body 3 descends along the wall surface 2, if the layer of the adhesion obstacle 2 is thick, the roller 4 with the electromagnet is generally obstructed by the adhesion organism 2 and the progress thereof is hindered. However, by rotating and removing the brush cutter 6 for removing organisms adhering to seawater according to the present invention, the adhered obstacles 2 that have grown densely and thickly are removed, so that the moving rollers 4 of the underwater work robot 3 are smoothed. It is possible to smoothly rotate and move the formed wall surface 1, and the work device 5 of the underwater work robot 3 can continuously perform stable and stable underwater inspection and other underwater work. Even in an underwater work robot that is attracted and moved by using negative pressure, etc., a stable underwater work can be performed by installing a cutter device for removing organisms attached to underwater structures at the front end integrally with the underwater work robot.

According to such a structure, the following effects can be obtained. (1) The underwater work robot can move freely along the surface of the underwater structure while removing adhered obstacles, etc., and no other device is required to remove the moving obstacle of the underwater work robot. (2) In this device, by removing the organisms attached to the wall surface and cleaning the moving surface of the underwater work robot, the robot moves while keeping the space between the underwater work robot and the surface of the underwater structure at a required position, and the attraction force of the electromagnet. It is possible to prevent the deterioration of the water pressure and set it in the installation range, and to prevent the falling off of the surface of the underwater structure due to the insufficient attraction of the electromagnet. (3) Even in an underwater work robot that propels thrust by a propeller, or an adsorption robot that uses negative pressure, it is possible to maintain a certain clearance appropriate for the work on the wall surface without being influenced by the layer thickness of the organisms with attachment obstacles. It becomes possible, and appropriate underwater work becomes possible continuously.

[0008]

[Effect of the device]

 Thus, according to the present invention, rollers are provided at each of the four corners of the bottom surface of the robot body, which is relatively flat, and has a traveling thrust along the wall surface of the underwater structure and an adsorption force to the wall surface of the underwater structure. In a submersible work robot that runs by remote control through a cable with a certain clearance on the wall surface of the underwater structure and performs inspection and repair work, etc., it is installed integrally at the front end of the robot body. Underwater work with an obstacle removal device that can run along the surface of an underwater structure while removing traveling obstacles such as seaweed in the traveling direction by providing a means for removing obstacles attached to the wall Since the robot is obtained, the present invention is extremely useful in industry.

[Brief description of drawings]

FIG. 1 is a vertical sectional view showing an embodiment of the present invention.

FIG. 2 is a front view of FIG.

FIG. 3 is a vertical cross-sectional view showing an underwater work robot that moves by a conventional electromagnet roller.

FIG. 4 is a front view of FIG.

[Explanation of symbols]

 1 Underwater Structure Wall 2 Adhesion Obstacle 3 Underwater Working Robot 4 Electromagnetic Roller 5 Underwater Working Device 6 Rotating Brush Cutter 7 Running Motor 8 Smoothed Underwater Structure Wall

Claims (1)

[Scope of utility model registration request] 1. A relatively flat robot body is provided with rollers at the four corners of the bottom surface, respectively, and has a traveling thrust force along the wall surface of the underwater structure and an attraction force to the wall surface of the underwater structure, via a cable. In an underwater work robot that runs by remote control with a certain clearance on the wall surface of the underwater structure to perform inspection and repair work, the wall surface that is integrally provided at the front end of the robot body and interferes with the running An underwater working robot with an obstacle removing device, which is equipped with a means for removing deposits.