JPH0781672A - Underwater joining device for cable type unmanned submarine - Google Patents

Abstract

PURPOSE:To adjust a relative position between both and the direction particularly when both are connected to each other in an underwater joining device which can connect a launcher and a vehicle to each other in the water in a cable type unmanned submarine composed of the launcher and the vehicle. CONSTITUTION:In a cable type unmanned submarine where a launcher 1 and a vehicle 10 are, connected to each other by a thether cable 2, a cable terminal anchor metal fitting 7 is installed on an upper surface of the vehicle 10 through a gimbal structure body 9. A pair of rib stays 7a are arranged protrusively in a step part of the anchor metal fitting 7, and a pair of gripping arms 6 are installed on the launcher 1 so as to sandwich the rib stays 7a from both sides by being driven by a hydraulic cylinder 5, and when both are joined together, a relative position between the launcher 1 and the vehicle 10 and the direction are adjusted by the gripping arms 6.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an underwater connecting device capable of connecting a launcher and a vehicle in a water in an unmanned cable-operated unmanned submersible composed of a launcher and a vehicle. The present invention relates to an underwater connecting device for a cable-operated unmanned submersible that can be adjusted.

[0002]

2. Description of the Related Art Generally, a cabled unmanned submersible having a launcher and a vehicle as a set is known as a submersible model for unmanned ocean exploration. Then, conventionally, the underwater connection between the launcher and the vehicle has been performed by the underwater coupling device shown in FIG. That is, in FIG. 6, the launcher 1
The winch 13 for winding up the tether cable 12 is attached to the cable end, and the end portion of the tether cable 12 is bound to the cable terminal retention fitting 15 attached to the vehicle 10 via the gimbal structure 9.

Then, in the final process of winding the tether cable 12, the adjustment pin 16 provided on the cable end retention fitting 15
By pulling in along the entry guide 17 provided on the launcher 1, the underwater connection between the launcher 1 and the vehicle 10 is performed. Reference numerals 9a and 9b in FIG. 6 denote pivots forming the gimbal structure 9. The pivots 9b are pivotally supported by a mounting bracket 10a on the vehicle 10, while the pivots 9a are disposed orthogonally to the pivots 9b, The lower end of the tether cable end retention fitting 15 is pivotally supported on the pivot 9a.

[0003]

By the way, the conventional underwater coupling device as described above requires a large receiving member such as an entry guide on the launcher 1 side. On the other hand, since a submersible is required to be small and lightweight, such a structure cannot be said to be a desirable structure for a submersible. Further, at the time of coupling, in order to transmit the turning force by the thruster or the like on the vehicle 10 side to the launcher 1 side and act in the water as a unit, the pin 16 and the entry guide 17 in FIG. 6 have a structural strength capable of withstanding the turning force. Will be needed.
This adds weight and size,
In addition, there is a problem in that there is an inherent danger that excessive tension will be applied to the tether cable 12 in principle.

The present invention is intended to solve such a problem, in which a step portion is formed on a cable end retaining metal fitting attached to a vehicle and a rib stay is projected on the step portion, while a pair is formed. The engaging device having the gripping arms and their driving means is attached to the launcher, and the rib stays are sandwiched from both sides by the gripping arms, and at the same time, the gripping arms are brought into contact with the stepped portions, so that the launcher and the vehicle are connected. It is an object of the present invention to provide an underwater connecting device for a cable-operated unmanned submersible in which the connecting portion is small and light in weight by adopting a configuration capable of performing orientation alignment and relative position alignment.

[0005]

In order to achieve the above-mentioned object, the underwater connecting device for a guided unmanned submersible vehicle of the present invention comprises a launcher and a vehicle connected to the launcher via a tether cable. In a cable-operated unmanned submersible vehicle, a cable terminal retention fitting attached to the vehicle and connected to the end portion of the tether cable, a reel for winding up the tether cable attached to the launcher, and the launcher. Attached to the launcher and the vehicle at the time of coupling with the engagement device capable of engaging with the cable end retention fittings in a disengageable manner, the cable end retention fittings are formed with a step portion and at the same step portion. While the rib stay is projected, the rib stay is inserted into the engaging device when the launcher and the vehicle are coupled. While sandwiching the rib stay projecting from the cable end retracting metal fitting guided by the tether cable from both sides to align the direction of the launcher and the vehicle, the launcher and the vehicle are brought into contact with the step portion. Is characterized in that a pair of gripping arms for matching the relative positions of the gripping arms and driving means for the gripping arms are attached.

[0006]

In the above-described underwater connecting device for a cable-operated unmanned submersible vehicle of the present invention, a pair of gripping arms of the engaging device provided on the launcher when the launcher and the vehicle are connected to each other are provided on the vehicle. By sandwiching the upper rib stays from both sides, the launcher and the vehicle are aligned in the same direction, and at the same time, the gripping arm abuts the step formed on the cable end retention fitting to align the relative positions of the launcher and the vehicle. .

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An underwater connecting device for a cable-operated unmanned submersible as an embodiment of the present invention will be described below with reference to the drawings.
1 is a perspective view showing the whole, FIG. 2 is a side view of an essential part, FIG. 3 is a plan view of the same, FIG. 4 is a side view of a cable end retaining metal fitting, and FIG. 5 is a front view of the essential part. The unmanned submersible vehicle of this embodiment is also formed of a launcher 1 and a vehicle 10, and the launcher 1 and the vehicle 10 are connected by a tether cable 2. Then, the vehicle 10 is carried to a predetermined place in the water while being coupled to the launcher 1 by a coupling device described later,
Therefore, the thruster 13 mounted on the vehicle 10 after releasing the above-mentioned coupling is configured to be capable of self-propelled in water. The vehicle 10 is formed to have a medium positive floating amount.

A reel 3 for winding up the tether cable 2 and a sheave 8 are attached to the launcher 1. Reference numeral 12 is a hydraulic motor for rotating the reel 3 times, reference numeral 8a is a guide roller, and reference numeral 8b is a coil spring for urging the guide roller in the sheave 8 direction. Vehicle
A cable end retention fitting 7 is attached to the upper surface of 10 via a gimbal structure 9. Cable end retention bracket 7
A terminal portion of the tether cable 2 extended from the launcher 1 is bound to the.

As shown in FIGS. 4 and 5, the cable end retracting metal fitting 7 has a step portion 7d formed substantially at the center in the length direction, and a pair of rib stays 7a, 7a are opposed to the lower surface of the step portion 7d. It is projected at the position. Also, the cable end retention bracket 7
The lower portion 7b is formed with a hole 7c through which the pivot 9a of the gimbal structure 9 can be inserted. The gimbal structure 9 is composed of a substantially square frame 9c and a set of pivots 9a and 9b projecting orthogonally to the frame 9c. The frame 9c is mounted on the vehicle 10 via the pivot 9b. It is rotatably attached to the bracket 10a. Further, the lower end portion of the cable end retaining metal fitting 7 is rotatably attached to the frame body 9c via the pivot 9b.

On the side surface of the launcher 1, the hydraulic cylinders 5,
The rib stay 7a can be pinched from both sides by being driven by 5,
A pair of gripping arms 6 and 6 are slidably attached. The hydraulic cylinder 5 is attached to the launcher 1. Reference numeral 6a indicates a lock hole formed in the gripping arm 6, and a hydraulic cylinder 4 having a rod 4a which can be inserted into the lock hole 6a is attached to the launcher 1. Reference numeral 4b indicates a coil spring that biases the rod 4a toward the lock hole 6a.

In the above structure, the launcher 1 and the vehicle 10 are coupled by rotating the reel 3 by the hydraulic motor 12 to wind up the tether cable 2 and pulling the vehicle 10 to the coupling position of the launcher 1. During this approaching process, the thruster 13 of the vehicle 10
Is sometimes used. When the winding by the reel 3 is completed and the cable end retaining metal fitting 7 reaches the connecting position, the hydraulic cylinders 5, 5 are activated, and the grip arms 6, 6 move the rib stays 7a, 7a protruding from the cable end retaining metal fitting 7. Insert from both sides.

Although the direction of the launcher 1 and the direction of the vehicle 10 are not necessarily aligned due to the action of running water, the direction of the vehicle 10 is changed by the gripping operation of the rib stays 7a, 7a by the gripping arms 6, 6 described above. Will be corrected in the direction of. At the same time, the relative positions of the two in the front-rear direction and the left-right direction are aligned. At the time of this connection, the upper surfaces of the gripping arms 6 and 6 come into contact with the lower surface of the stepped portion 7d formed on the cable end retaining metal fitting 7 to align the vertical relative positions of the launcher 1 and the vehicle 10. To be done. Therefore, the gripping arm 6
Must be strong enough to support the load of the vehicle 10 when connected.

Then, the hydraulic cylinder 4 is operated to operate the rod 4a.
Is inserted into the lock hole 6a to lock the above-mentioned coupled state. Since the rod 4a is biased by the coil spring 4b, even if a failure occurs in the hydraulic cylinder 4, there is no possibility that the lock will loosen. When the launcher 1 and the vehicle 10 are coupled and both move as a unit, the cable terminal retracting metal 7 is attached to the vehicle 10 so that a slight relative rotation is allowed between the launcher 1 and the vehicle 10. They are connected to each other via a gimbal structure 9 having a tilting degree of freedom.

Further, since the vehicle 10 is set to have a medium positive floating amount, a large correction force is not required for the above correction at the time of connection. In this way, the launcher 1 and the vehicle 10 move as a unit after they are coupled. That is, the moving force and the turning moment of the thruster 13 of the vehicle 10 are transmitted to the entire launcher 1 through the gimbal structure 9 and the rib stays 7a of the cable end retention fittings 7, and the combination of the combination of the launcher 1 and the vehicle 10 is transmitted. The thrust of the thruster 13 can be applied in the forward direction, and the uniting action required in the operation can be performed.

As described above, in the underwater connecting apparatus for the cable-operated unmanned submersible of this embodiment, the tether cable 2 is not subjected to excessive tension in the connected state. Moreover, since an excessive force does not act on the cable end retention fitting 7, the weight and the size can be reduced. In addition, launcher 1 when connected
Since the relative position between the vehicle and the vehicle 10 is retained accurately, the device for picking up and storing the combined body can be efficiently used.

[0016]

As described in detail above, according to the underwater connecting device for a cable-operated unmanned submersible vehicle of the present invention, the following effects and advantages are obtained. (1) It is possible to obtain a highly accurate underwater coupling device that is relatively small and lightweight. In particular, it is remarkable when at least one of the submersible vehicles constituting the submersible unmanned vehicle is set to a substantially medium positive floating amount and correction force is not required at the time of connection. (2) At the time of connection, there is no fear that unreasonable force will be applied to the tether cable that connects the launcher and the vehicle, or the cable end retention bracket. (3) In the coupled state, integrated steering using the thrust and turning force of either the vehicle or launcher can be reasonably performed. (4) The accuracy of holding the relative position between the launcher and the vehicle in the coupled state is good, so that the device for collecting and storing the submersible drone can be used efficiently.

[Brief description of drawings]

FIG. 1 is a perspective view showing an underwater coupling device of a cable-operated unmanned submersible as an embodiment of the present invention.

FIG. 2 is a side view of the main part.

FIG. 3 is a plan view of the same.

FIG. 4 is a side view of the cable end retention fitting.

FIG. 5 is a front view of the relevant part.

FIG. 6 is a side view showing a conventional underwater coupling device for a cable-operated unmanned submersible.

[Explanation of symbols]

 1 Launcher 2 Tether Cable 3 Reel 4, 5 Hydraulic Cylinder 6 Grip Arm 7 Cable Terminal Retaining Metal 7a Rib Stay 7d Step 9 Gimbal Structure 10 Vehicle 13 Thruster

 ─────────────────────────────────────────────────── --- Continuation of the front page (72) Inventor Kenji Takahashi 1-1-1, Wadasaki-cho, Hyogo-ku, Kobe Sanritsu Heavy Industries Ltd. Kobe Shipyard

Claims (1)

[Claims] 1. A cabled unmanned submersible comprising a launcher and a vehicle connected to the launcher via a tether cable, the cable being attached to the vehicle and having a terminal portion of the tether cable attached thereto. A terminal retaining metal fitting, a reel for winding up the tether cable attached to the launcher, and a member which is attached to the launcher and can be detachably engaged with the cable terminal retaining metal fitting when the launcher and the vehicle are coupled. And a rib stay projecting from the stepped portion on the cable end retaining metal fitting, and the engagement device is attached to the engagement device when the launcher and the vehicle are coupled. The rib stay protruding from the cable end retention fitting guided by the tether cable inserted in the A pair of gripping arms for sandwiching the launcher and the vehicle from the both sides to align the directions of the launcher and the vehicle, and abutting against the stepped portion to align the relative positions of the launcher and the vehicle, and a driving means of the gripping arm. An underwater coupling device for a cable-operated unmanned submersible, which is installed.