JPS61218495A - Sticking device for submarine operation robot - Google Patents
Sticking device for submarine operation robotInfo
- Publication number
- JPS61218495A JPS61218495A JP5755285A JP5755285A JPS61218495A JP S61218495 A JPS61218495 A JP S61218495A JP 5755285 A JP5755285 A JP 5755285A JP 5755285 A JP5755285 A JP 5755285A JP S61218495 A JPS61218495 A JP S61218495A
- Authority
- JP
- Japan
- Prior art keywords
- suction pad
- suction
- robot body
- robot
- fixed
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
- B63B2021/003—Mooring or anchoring equipment, not otherwise provided for
- B63B2021/006—Suction cups, or the like, e.g. for mooring, or for towing or pushing
Landscapes
- Manipulator (AREA)
Abstract
Description
【発明の詳細な説明】
〔発明の技術分野〕
本発明は海中作業ロボットの固着装置、より詳しくは、
海底調査、沈没船の調査、または海底に敷設された石油
掘削機器類等の海洋構造物の保守、点検等に用いられる
海中作業ロボットの固着装置に関するものである。[Detailed Description of the Invention] [Technical Field of the Invention] The present invention relates to an anchoring device for an underwater working robot, more specifically,
This invention relates to an anchoring device for underwater robots used for seabed surveys, sunken ship surveys, and maintenance and inspection of offshore structures such as oil drilling equipment installed on the seabed.
一般に、従来の海中作業ロボットは、ロボット本体を固
着する装置としてグラバ−と称する把持装置を有してお
り、この把持装置番こより海洋構造物等の固着対象物の
一部を把む方式が採られている。しかしながら、かかる
方式によると固着できる場合及び形状が限定され、特に
平面とか半径の大きな円筒面などには固着できないとい
う問題があった。Generally, conventional underwater robots have a gripping device called a grabber as a device for securing the robot body, and a method is adopted in which this gripping device number is used to grip a part of the object to be secured, such as an offshore structure. It is being However, according to this method, the cases and shapes that can be fixed are limited, and there is a problem in that it cannot be fixed particularly to a flat surface or a cylindrical surface with a large radius.
前記のような事情から、本出願人は、ロボット本体に脚
と吸引装置を設け、この脚の先端に吸着パッドを設ける
とともに、この吸着パッド内と前記吸引装置を連通させ
るようにした固着装置を特願昭５９−１３００３７号と
して先に提案した。In view of the above-mentioned circumstances, the present applicant provided a robot body with legs and a suction device, provided a suction pad at the tip of the leg, and provided a fixing device that communicated the inside of the suction pad with the suction device. This was first proposed in patent application No. 130037/1983.
ところで、この吸着パッドによる固着方式においては、
ロボット本体に潮流等の外力が作用した場合、吸着パッ
ドが横スベリする状態が生じ、その結果ロボット本体の
定点保持がむつかしいばかりでなく、吸着パッドの耐久
性を損なうこと＼なっていた。By the way, in this fixation method using suction pads,
When external forces such as tidal currents act on the robot body, the suction pads tend to slide sideways, which not only makes it difficult to hold the robot body in a fixed position, but also impairs the durability of the suction pads.
本発明は前記したような従来の海中作業ロポソトの有す
る問題点を解消するためになされたものであって、固着
対象物が平面もしくは大きな半径を有する円筒面の場合
において、ロボット本体に外力が作用してもその固着位
置を保持するようにした海中作業ロボットの固着装置を
提供せんとするものである。The present invention has been made in order to solve the above-mentioned problems of conventional underwater work robots, and when the object to be fixed is a flat surface or a cylindrical surface with a large radius, external force acts on the robot body. An object of the present invention is to provide a fixing device for an underwater working robot that can maintain its fixed position even when the robot is in a fixed position.
゛ 〔発明の構成〕
本発明は前記目的を達成するために、ロホ・ノ１へ本体
に、固着対象物に固着可能であって、かつ先端に凹凸部
を有する複数本の脚と吸引装置を設けるとともに、通気
性のない可撓性材料よりなる吸着パッドを前記凹凸部を
囲繞するように配設し、かつ前記吸着パッド内を前記吸
引装置に連通させるようにしたものである。゛ [Structure of the Invention] In order to achieve the above-mentioned object, the present invention includes a plurality of legs and a suction device that can be fixed to an object to be fixed and that have uneven portions at the tips. At the same time, a suction pad made of a non-breathable flexible material is disposed to surround the uneven portion, and the interior of the suction pad is communicated with the suction device.
以下図面に基づき本発明による海中作業ロボットの一実
施例を説明する。An embodiment of an underwater working robot according to the present invention will be described below based on the drawings.
第１図において、ロボット本体１には、２本の脚２と吸
着ポンプの如き吸引装置３が設けられている。脚２ば間
接として球面軸受４，５か設ＬＪられており、その先端
部にゴムまたは通気性のないスポンジ等の所謂通気性の
ない可撓性材料よりなる吸着パッド６が設けられている
。In FIG. 1, a robot body 1 is provided with two legs 2 and a suction device 3 such as a suction pump. Spherical bearings 4 and 5 are provided as joints between the legs 2, and a suction pad 6 made of a so-called non-breathable flexible material such as rubber or non-breathable sponge is provided at the tip thereof.
具体的には、第２図ないし第４図に示されるように、脚
２には吸着パッド６内に開口する吸引孔７が設けられて
いるとともに、その先端には測部８を有する円板状部材
９が取付けられ、この円板状部材９の周辺にば測部８よ
り間隙ｌだけ下方に延在するように、吸着パッド６が取
付片１０により気密を保つように強固に取付けられてい
る。そして測部８には第３図に示すように歯型状の凹凸
部１１が形成されている。１２ば固着対象物である。Specifically, as shown in FIGS. 2 to 4, the leg 2 is provided with a suction hole 7 that opens into the suction pad 6, and a disc having a measuring portion 8 at the tip thereof is provided. A shaped member 9 is attached, and a suction pad 6 is firmly attached to the periphery of the disk-shaped member 9 so as to extend downward from the measuring portion 8 by a gap l, using a mounting piece 10 to maintain airtightness. There is. As shown in FIG. 3, the measuring portion 8 is provided with a tooth-shaped uneven portion 11. 12 is an object to be fixed.
前記構成において、今吸着パット６の下縁を固着対象物
１２の上面に当接させ、吸引装置３を作動させると、吸
着パッド６内の海水は吸引孔７から吸引装置３に吸引さ
れ、第４図に示すように吸着パット６の下部を間隙β分
だＬ−１外方に押し開げ、固着対象物１２の表面に密着
する。このとき測部８に設けられた歯型状の凹凸部１１
が固着対象物１２の表面に強く圧着されることとなる。In the above configuration, when the lower edge of the suction pad 6 is brought into contact with the upper surface of the object to be fixed 12 and the suction device 3 is activated, the seawater in the suction pad 6 is sucked into the suction device 3 through the suction hole 7, and the As shown in FIG. 4, the lower part of the suction pad 6 is pushed outward by a distance .beta. L-1, and is brought into close contact with the surface of the object 12 to be fixed. At this time, a tooth-shaped uneven portion 11 provided on the measuring section 8
is strongly pressed onto the surface of the object 12 to be fixed.
その結果、ロボット本体１に潮流等の外力が作用しても
その固着位置を保持することができるのである。As a result, even if external forces such as tidal currents act on the robot body 1, the fixed position can be maintained.
勿論、吸引装置３と吸着パッド６内とは、別に設けた可
撓性のパイプで連通させてもよく、また脚２や吸着パッ
ド６の形状は必要に応して種々変形さセることができる
。Of course, the suction device 3 and the interior of the suction pad 6 may be communicated through a separately provided flexible pipe, and the shapes of the legs 2 and the suction pad 6 may be modified in various ways as necessary. can.
以」−説明したように、本発明による海中作業ロボット
の固着装置によれば、吸着パッド６により固着対象物１
２にロボット本体を固着させるようにしたため、固着対
象物１２が平面または半径の大きな円筒面であっても固
着が可能であるばかりでなく、脚２の先端に歯型状の凹
凸部１１を設け、この凹凸部１１が固着対象物１２の表
面に強く圧着するため摩擦力が大となり、その結果ロボ
ット本体１に外力が作用しても、その固着位置を保持す
ることができるとともに吸着パノＦ６の耐久性をも向上
させることができるという効果がある。- As explained above, according to the fixing device for an underwater working robot according to the present invention, the suction pad 6 fixes the fixed object 1.
Since the robot body is fixed to the legs 2, it is possible to fix the object 12 even if it is a flat surface or a cylindrical surface with a large radius. Since the uneven portion 11 strongly presses against the surface of the object 12 to be fixed, the frictional force becomes large, and as a result, even if an external force is applied to the robot body 1, the fixed position can be maintained and the suction pano F6 can be It also has the effect of improving durability.
図面は、本発明による海中作業ロボットの固着装置の一
実施例を示すものであって、第１図は概略正面図、第２
図は脚先端部断面図、第３図は第２図のＡ部拡大図、第
４図は作用説明図である。
１・・・ロボット本体、２・・・脚、３・・・吸引装置
、４．５・・・球面軸受け、６・・・吸着パッド、７・
・・吸引孔、８・・・測部、９・・・円板状部材、１０
・・・取付片、１１・・・歯型状凹凸部、１３・・・固
着対象物。The drawings show an embodiment of the fixing device for an underwater working robot according to the present invention, and FIG. 1 is a schematic front view, and FIG. 2 is a schematic front view.
The figure is a sectional view of the tip of the leg, FIG. 3 is an enlarged view of section A in FIG. 2, and FIG. 4 is an explanatory diagram of the operation. DESCRIPTION OF SYMBOLS 1... Robot body, 2... Legs, 3... Suction device, 4.5... Spherical bearing, 6... Suction pad, 7...
... Suction hole, 8... Measurement part, 9... Disk-shaped member, 10
... Mounting piece, 11... Tooth-shaped uneven portion, 13... Fixing object.
Claims (1)
先端に凹凸部を有する複数本の脚と吸引装置を設けると
ともに、通気性のない可撓性材料よりなる吸着パッドを
前記凹凸部を囲繞するように配設し、かつ前記吸着パッ
ド内を前記吸引装置に連通させるようにしたことを特徴
とする海中作業ロボットの固着装置。A robot body is provided with a plurality of legs capable of fixing to an object to be fixed and having an uneven portion at the tip and a suction device, and a suction pad made of a non-breathable flexible material is provided to surround the uneven portion. 1. A fixing device for an underwater working robot, characterized in that the suction pad is arranged so as to communicate with the suction device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5755285A JPS61218495A (en) | 1985-03-23 | 1985-03-23 | Sticking device for submarine operation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5755285A JPS61218495A (en) | 1985-03-23 | 1985-03-23 | Sticking device for submarine operation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS61218495A true JPS61218495A (en) | 1986-09-27 |
Family
ID=13058965
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP5755285A Pending JPS61218495A (en) | 1985-03-23 | 1985-03-23 | Sticking device for submarine operation robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS61218495A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2001062584A3 (en) * | 2000-02-26 | 2002-01-03 | Mooring Internat Ltd | Seal for a suction cup and method for accommodating large movements in a mooring system |
| US6910435B2 (en) | 2000-02-26 | 2005-06-28 | Mooring Systems Limited | Mooring device |
| US6938570B2 (en) | 2001-04-17 | 2005-09-06 | Mooring Systems Limited | Mooring robot |
| US7293519B2 (en) | 2002-07-30 | 2007-11-13 | Cavotec Msl Holdings Limited | Mooring system with active control |
| US8408153B2 (en) | 2007-09-26 | 2013-04-02 | Cavotec Moormaster Limited | Automated mooring method and mooring system |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5220632U (en) * | 1975-07-31 | 1977-02-14 | ||
| JPS55148666A (en) * | 1978-09-29 | 1980-11-19 | Commissariat Energie Atomique | Carrying tool which can be moved by adhering action |
-
1985
- 1985-03-23 JP JP5755285A patent/JPS61218495A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5220632U (en) * | 1975-07-31 | 1977-02-14 | ||
| JPS55148666A (en) * | 1978-09-29 | 1980-11-19 | Commissariat Energie Atomique | Carrying tool which can be moved by adhering action |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2001062584A3 (en) * | 2000-02-26 | 2002-01-03 | Mooring Internat Ltd | Seal for a suction cup and method for accommodating large movements in a mooring system |
| JP2004500276A (en) * | 2000-02-26 | 2004-01-08 | ムアリング システムズ リミテッド | How to adjust large movements in mooring systems |
| US6910435B2 (en) | 2000-02-26 | 2005-06-28 | Mooring Systems Limited | Mooring device |
| US7055448B2 (en) | 2000-02-26 | 2006-06-06 | Mooring Systems Limited | Method for accommodating large movements in a mooring system |
| US6938570B2 (en) | 2001-04-17 | 2005-09-06 | Mooring Systems Limited | Mooring robot |
| US7293519B2 (en) | 2002-07-30 | 2007-11-13 | Cavotec Msl Holdings Limited | Mooring system with active control |
| US8215256B2 (en) | 2002-07-30 | 2012-07-10 | Cavotec Moormaster Limited | Mooring system with active control |
| US8408153B2 (en) | 2007-09-26 | 2013-04-02 | Cavotec Moormaster Limited | Automated mooring method and mooring system |
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