JPH0733995Y2 - Unmanned underwater cleaning machine for the outer surface of a vertical long large-diameter circular tubular object - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention relates to an unmanned underwater cleaning machine for the outer surface of a vertically elongated large diameter circular tubular object such as an underwater structural member.

[Conventional technology]

For example, in order to clean the outer circumference of a steel pipe pedestal of a huge offshore structure standing on the seabed, a diver dives as shown in the perspective view of FIG. 4 or an underwater unmanned cleaner as described below. Is attached to the pedestal and cleaned remotely via an umbilical cable.

As this type of device, as shown in the plan view of FIG. 5, the unmanned aerial vehicle body 1 is provided with a pair of right and left gripping arms 8 and 8, and hydraulic cylinders 9 attached to the tips of the gripping arms 8 are opposed to each other.
The unmanned machine body 1 is attached to the pedestal 7 to be cleaned via the contact rolling guide member 10, and the brush rotator 4 for rotating the brush 6 is pressed against the pedestal 7 via the hydraulic cylinder 5 for cleaning. Here, to change the cleaning position, the hydraulic cylinder 9
And the front and rear thrusters 2 and / or the vertical thrusters 3 are operated to move the unmanned aerial vehicle body appropriately.

[Problems to be solved by the device]

However, with such a means, it is necessary to repeatedly release and fix the grip each time the cleaning location of the object to be cleaned is changed, and the operation of maintaining the position of the unmanned aerial vehicle is required along with the movement. Therefore, the operation is complicated.

The present invention has been proposed in view of such circumstances, and provides an unmanned underwater cleaner for the outer surface of a vertical long large diameter circular tubular object which is easy to operate and can quickly clean the surface to be cleaned. The purpose is to provide.

[Means for Solving the Problems]

To this end, the present invention is a submersible television camera in which a vertical long large-diameter circular tubular object, which is an object, is sandwiched by a pair of left and right gripping arms projecting at the front end so that the object itself is supported by the object. , Having a pair of front and rear thrusters and a vertical thruster and a rotating brush, the peripheral surface of the object is sequentially controlled in the clockwise, axial, counterclockwise, and axial directions by controlling the drive through an umbilical cable. In an unmanned aerial vehicle that cleans while moving, a plurality of left and right gripping arms protruding forward from the front of the unmanned aerial vehicle are respectively attached to a plurality of inner surfaces curved along the outer peripheral surface of the circular tubular object. Contact rolling guide members in which the spherical bodies are rotatably supported in the vertical and horizontal directions, and the center portions of the outer surfaces of the contact rolling guide members are the tips of the pair of gripping arms and are the same object. On both ends of the diameter Characterized in that comprises a vertical fulcrum pin pivotally supporting a position direction.

[Action]

According to such a configuration, once the unmanned aerial vehicle body is once attached to the object to be cleaned by the gripping arms, the thrust force of the pair of front and rear thrusters on the left and right acts in opposite directions to each other, so that the present device Since the surface to be cleaned is cleaned while rotating around the object to be cleaned in the clockwise direction and the counterclockwise direction, the entire circumference of the object to be cleaned can be cleaned at one time without changing the grip position.

In this way, for example, after cleaning one round in the clockwise direction, the unmanned machine body is slightly moved in the vertical direction in the conventional manner, and then the adjacent cleaning surfaces are cleaned in the same manner in one round in the counterclockwise direction.

By alternately changing the moving direction in this manner, the surface to be cleaned can be cleaned quickly and efficiently without unnecessarily winding the umbilical cable around the object to be cleaned.

〔Example〕

An embodiment in which the present invention is applied to the cleaning of steel pipe pedestals of an offshore structure will be described with reference to the drawings.
FIG. 2 is a perspective view showing the contact member of FIG. 1, and FIG.
It is a top view showing the state where the drone was rotated in the figure.

In the above figure, the same reference numerals as those in FIG. 5 indicate the same members as those in FIG. 5, respectively. The difference from FIG. 1 is that the contact rolling guide member of FIG. It has adopted the structure shown.

That is, 10 is a contact rolling guide member according to the present invention, which has three inner surfaces bent in a fold line shape, and each inner surface has four front, rear, left and right sides.
Each individual spherical body 11 is pivotally mounted so as to be rollable.

The brush 6 is pressed against the surface 7 to be cleaned by the hydraulic cylinder 5 for moving the brush forward and backward, and drives the brush rotating machine 4 to perform cleaning.

In such a structure, first, as shown in FIG.
The device is supported on the pedestal 7 and the brush 6 is driven in the same manner as before, and one of the front and rear thrusters 2, 2 is driven in the forward direction and the other is driven in the backward direction.

Then, since a clockwise moment is applied to the drone by the front and rear thrusters 2, 2, the drone rotates clockwise as shown in FIG. 3, so that if the drone makes one turn around the pedestal, , Brush can clean the outer circumference of the pedestal over 360 °.

In this way, when the brush goes around the pedestal, the vertical thruster 3 is driven to move the device slightly upward,
By rotating once counterclockwise in the substantially same manner and repeating this operation thereafter, it is possible to quickly clean the entire outer peripheral surface of the pedestal without unnecessarily winding the umbilical cable around the pedestal. It is possible.

During this time, the present device can smoothly and lightly move along the outer periphery of the pedestal by rolling the spherical body 11 of the contact rolling guide member 10.

[Effect of device]

In short, according to the present invention, by sandwiching the left and right sides of a vertical long large-diameter circular tubular object, which is an object, via a pair of left and right gripping arms protruding to the front end, the subject is supported by the same object and the underwater television. It has a camera, a pair of front and rear thrusters and a vertical thruster, and a rotating brush. By controlling the drive through an umbilical cable, the outer peripheral surface of the object can be rotated clockwise, axially, counterclockwise, or axially. In an unmanned aerial vehicle that is sequentially moved and cleaned, the unmanned aerial vehicle is attached to the front ends of a pair of left and right gripping arms protruding forward from the front of the unmanned aerial vehicle, and is attached to an inner surface that curves along the outer peripheral surface of the circular tubular object. A contact rolling guide member in which a plurality of spherical bodies are rotatably supported in the vertical and horizontal directions, and central portions of outer surfaces of the both contact rolling guide members are the tips of the pair of gripping arms and are the same object. Both diameters It has a vertical fulcrum pin that pivots in a position opposite to the vertical direction, which makes it easy to operate and can quickly clean the surface to be cleaned. The present invention is of great industrial benefit since it provides a cleaner.

[Brief description of drawings]

FIG. 1 is a plan view showing an embodiment in which the present invention is applied to cleaning a steel pipe pedestal of a marine structure, FIG. 2 is a perspective view showing an abutting member of FIG. 1, and FIG. It is a top view showing the state where the drone was rotated in the figure. FIG. 4 is an explanatory view showing a conventional cleaning procedure for a pillar of a marine structure, and FIG. 5 is a plan view showing a known unmanned cleaning machine used for cleaning of FIG. 1 ... Unmanned aircraft body, 2 ... Front and rear thrusters, 3 ... Vertical thruster, 4 ... Brush rotary machine, 5 ... Brush forward / backward hydraulic cylinder, 6 ... Brush, 7 ... Cleaning pedestal, 8a ...... Grip arm, 9 …… Grip hydraulic cylinder,
10 …… Contact rolling guide member, 11 …… Spherical body, 12 …… Vertical fulcrum pin

 ─────────────────────────────────────────────────── ─── Continuation of front page (72) Masanori Tajima 1-11-25 Higashiooi, Shinagawa-ku, Tokyo Goyo Construction Co., Ltd. Technical Research Laboratory (56) Reference JP-A-62-299492 (JP, A) JP-A-48-74002 (JP, A)

Claims (1)

[Scope of utility model registration request] 1. An underwater television camera in which a vertical long large-diameter circular tubular object, which is an object, is sandwiched by a pair of left and right gripping arms projecting at the front end so as to be supported by the object itself, It has a pair of front and rear thrusters and a vertical thruster, and also has a rotating brush. By controlling the drive through an umbilical cable, the outer peripheral surface of the target object is moved sequentially in the clockwise, axial, counterclockwise, and axial directions. While cleaning the unmanned aerial vehicle, the unmanned aerial vehicle is attached to the front ends of a pair of left and right gripping arms protruding forward from the front of the unmanned aerial vehicle, and a plurality of inner surfaces are curved along the outer peripheral surface of the circular tubular object. A contact rolling guide member in which a spherical body is rotatably supported in the vertical and horizontal directions, and outer surface center portions of the two contact rolling guide members are respectively the tip ends of the pair of gripping arms and are the same object. Opposite ends of diameter Unmanned underwater cleaner on the outer surface of the circular tube body, characterized in that it comprises a vertical fulcrum pin pivotally supporting the location.