JPS62112807A - Underwater working device - Google Patents

Abstract

PURPOSE:To permit objects adhered to the surface of a wall to be scraped down by attaching a rough cleaning tool to a vertically movable weight. CONSTITUTION:A vertically movable weight 8 is fixed to a wire rope 7 to be freely wound up or sent out, and a rough cleaning tool 9 is attached to the weight 8. The tool 9 is vertically moved with the weight 8 by winding up or sending out the rope 7 to scrape down objects adhered to the surface 13 of a wall. Since the wall surface 13 can be wholly roughly cleaned up with good efficiency in advance, the attaching of an underwater unmanned working device for the following operations to the wall surface and the cleaning and finishing operation of the wall surface can be made easier.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention is applicable to harbor quays, water gates, dam concrete walls,
Underwater surface cleaning, external appearance and non-destructive inspection of ships, underwater structures, floating structures, etc. that are at least partially submerged in water;
The present invention relates to an underwater working device that is capable of removing deposits from a wall surface in advance when various operations such as maintenance and inspection are performed unmanned or using Diaper Assist.

[Prior Art] Port quay walls include walls made of steel sheet piles, concrete, and steel pipes, but they age and deteriorate under the influence of waves, corrosion, earthquakes, and the like. For this reason, in the past, underwater work such as inspection, maintenance and inspection of port facilities such as quays has been carried out mainly by skilled divers (hereinafter referred to as divers).

However, when a dipper is used for underwater work, it causes fatigue, limits on diving time, etc., and the work efficiency is poor. Especially as the water gets deeper, this problem not only becomes more pronounced, but also becomes more dangerous. In addition, the work is done under harsh natural conditions such as air temperature, water temperature, wind, etc., which places a heavy physical burden on the dialer. Work that involves repeated simple tasks, such as underwater wall cleaning work, can cause great mental pain.

On the other hand, when conducting underwater work such as surveying and inspecting the surface condition of harbor quay walls, inspectors conventionally obtain necessary information indirectly from the Diaper; Accurate information is difficult and rare to obtain.

In particular, when non-destructive testing is required, such as inspecting for cracks in walls or measuring corrosion in steel sheet piles, it is extremely difficult to expect specialized technical information from general divers. The same was true not only for non-destructive testing but also for underwater welding, etc., and the quality and accuracy of inspections, maintenance, etc. were not sufficient.

In addition, non-destructive inspections of submerged parts of offshore oil production facilities, etc., which have a serious impact on pollution and safety, are carried out by inspectors themselves who have acquired certification as divers and perform the inspection by diving. It is not common because there are only a few people with such special skills and it is not easy to train them. For this reason, it is desirable for underwater work such as inspection, maintenance, and inspection of underwater mooring facilities and splash zones to be carried out remotely by unmanned machines at sea or on land, without using dippers. Ta.

Therefore, the applicant of the present application installed a propulsion device for attaching the frame body to a vertical wall surface, and a cleaning device for the vertical wall surface, to a frame body that is operated from a car parked on the mother ship or on a quay and raised and lowered using wire ropes, etc. The present invention provides an underwater unmanned working device equipped with a cleaning tool unit and a tool handling mechanism freely equipped with an underwater television camera unit, an ultrasonic thickness δ1, a magnetic flaw detection device, etc., and the underwater unmanned working device is capable of cleaning vertical walls. , proposed various tests.

[Problems to be solved by the invention] However, creatures such as purple shellfish and seaweed adhere to a thickness of several centimeters or more on the vertical walls of harbor quays, and mud, etc. is deposited on this. . For this reason, when cleaning is performed by attaching the above-mentioned underwater unmanned working device to the vertical wall surface of a quay, the device is attached to the wall surface from above deposits such as shellfish, and attachment is not easy. In addition, when cleaning tools such as cutters, brushes, and high-pressure water jet nozzles are used to clean the seawater, the seawater becomes polluted, which impairs the visibility of the television camera, making it difficult to monitor the work status and resulting in blind operation. Furthermore, when removing a thick layer of deposits with a cleaning tool unit installed in an unmanned underwater work device, shellfish and other objects may detach from the wall surface and be carried by the water flow and become engulfed in the propulsion device, damaging the propeller, etc. There is a risk that if a wall adhesion R side is used that uses an impeller to suck out and adsorb water from inside the frame body, the impeller will be subject to severe wear due to collisions with shells.

In view of the above-mentioned circumstances, the present invention has been made with the object of making it possible to perform rough cleaning of deposits on vertical walls prior to cleaning and inspection using an underwater unmanned working device.

[Means for Solving the Problems] The present invention has a configuration in which a rough cleaning tool for scraping off deposits on a wall surface is attached to a weight that can be raised and lowered and is tied to a wire rope that can be wound up and let out. .

[Function] The rough cleaning tool moves up and down along with the wire rope that is wound or let out, and scrapes off the deposits that have adhered to the surface.

[Embodiments] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

Figures 1 to 6 show a working support mother ship 1 according to an embodiment of the present invention.
A crane 2 mounted on the crane 2 is equipped with a boom 3 that can rotate and raise and lower. A hook block 4 that can be raised and lowered is suspended from the tip of the boom 3, and a wire sheave 5 is suspended from the hook block 4. It is being Also, work support mother ship 1
The wire row 17, which is wound around the winch 6 mounted above and can be freely fed out, is wound around the wire sheave 5, changes direction, and extends downward. A rough cleaning tool 9 is detachably attached to the front surface of the weight 8.

The details of the rough cleaning tool 9 are shown in FIGS. 2 to 4, and the bracket 16 attached to the frame 10 is attached to the front of the weight 8, and the necessary cleaning tool 9 is attached to the bracket 16 from above to below and horizontally. The scrapers 11 are protruded forward and diagonally downward at intervals so that they can roughly clean the deposits adhering to the vertical wall surface 13 of the quay 12.For example, the upper several stages of the scrapers 11 are equipped with wire brushes. 14, and the lower several stages are nylon scrapers 15.Wire brush 14
The nylon scraper 15 is fixed to the frame 10 by adhesive or clamp, and the cross-sectional shape of each wire brush 14 and nylon scraper 15 is circular or square. The material for the scraper 11 is preferably one that is strong and has appropriate elasticity.

If the vertical wall surface 13 is made of a combination steel sheet pile 17 with an uneven shape as shown in FIG. 8, the planar shape of the tip of the scraper 11 should be an uneven shape as shown in FIG. 13 is a cell type using a steel pipe 18 as shown in FIG. 9, the planar shape of the tip of the scraper 11 is an arc shape as shown in FIG. 6, and when the vertical wall surface 13 is made of concrete and flat, The planar shape of the tip of the scraper 11 is made into a straight line as shown in FIG. 19 in Figure 1
is a fender. 1. During rough cleaning, the winch 6 lets out the wire 0-17, lowers the weight 8 and the rough cleaning tool 9 into the water, and lowers the boom 3.
The wire sheave 5 is made to protrude as far as possible toward the quay 12 side.
To prevent an underwater working device from separating from a vertical wall surface 13 even if a wire 0-17 extending downward from is fed out downward. In this case, the weight 8 tends to move toward the vertical wall surface 13 due to the stabilizing moment, so the scraper 11
The tip is pressed against the vertical wall surface 13. Therefore, by letting out or winding the wire row 17 with the winch 6, the rough cleaning tool 9 is moved to the vertical wall surface 1 through the weight 8.
3, the deposits on the vertical wall surface 13 are scraped off by the scraper 11.

After the rough cleaning tool 9 moves up and down the same place several times and the deposits are scraped off, the weight 8 and the rough cleaning tool 9 are moved laterally along the vertical wall surface 13 by the crane 4, and then attached again as described above. Scrape off the kimono.

In the case of such a work method, it is only necessary to raise and lower items that are difficult to damage, such as the weight 8 and the rough cleaning tool 9, using a single wire rope 7, so rough work can be done, and care is taken.
Cleaning can be carried out even when it is difficult to use the above-mentioned underwater unmanned work equipment due to severe sea conditions, increasing the operating rate.
It is also possible to clean above the water line. In addition, it is possible to carry out rough cleaning over a wide area with high efficiency, and there is no need for monitoring with television cameras, etc., and the contaminated water is washed away and dispersed before the subsequent final cleaning and inspection using underwater unmanned work equipment. , precipitates, restores water clarity, and improves visibility for television cameras.

Furthermore, rough cleaning reduces the burden of finishing cleaning,
Finishing can be done with high efficiency, there is less turbidity during finishing, and when the separated solids are pressed by propellers, etc., they will not collide with the force-generating groove or the suction force-generating mechanism such as the impeller, and cause damage. , the degree of freedom in selecting the attachment mechanism of the above-mentioned underwater unmanned working device is improved.

In addition, in the embodiments of the present invention, the case where the work is carried out from the mother ship has been explained, but the work can also be carried out by parking a car on the quay and climbing from the car. Of course, the present invention can also be applied to the present invention, and various other changes can be made without departing from the gist of the present invention.

[Effects of the Invention] According to the underwater work device of the present invention, the entire wall surface can be efficiently and roughly cleaned in advance, so when performing work using a subsequent underwater unmanned work device, the underwater work device can be cleaned in advance. It is easier to adhere to the wall and perform finishing cleaning work, there is less turbidity, and the visibility of the TV camera is better.
Moreover, various excellent effects such as rough cleaning on the water surface can be achieved.

[Brief explanation of drawings]

Figure 1 is an overall explanatory diagram of the underwater working device of the present invention, Figure 2 is a detailed diagram of the phase clearing 3i tool part in Figure 1, and Figure 3 (see Figure 2).
Figure 4 is a detailed view of the scraper of the coarse sake (11 tool), Figure 4 is a view taken in the direction of the IV-IV arrow in Figure 3, Figures 5, 6, and 7 are explanatory diagrams of the planar shape of the scraper, 8 and 9 are explanatory diagrams of examples of quay walls to which the underwater working device of the present invention is applied. In the figures, 1 is a work support mother ship, 4 is a crane, 5 is a wire sheave, 6 is a winch, and 7 1 is a wire rope, 8 is a weight, 9 is a phase cleaning unit, 11 is a scraper, and 13 is a vertical wall surface.

Claims (1)

[Claims] 1) An underwater working device characterized by having a rough cleaning tool for scraping off deposits on a wall surface attached to a liftable weight that is tied to a wire rope that can be wound up and let out.