JPS62113692A - Underwater working device - Google Patents

Abstract

PURPOSE:To improve safety of work, by a method wherein an underwater unmanned working device is elevated along a wire rope. CONSTITUTION:A composite pipe 22 is wound around a cable hose winder 21 disposed on an aid mother ship 3 for working so as to allow unwinding and winding of the pipe, and the end part of the composite pipe 22 is connected to a frame body 26 of an underwater unmanned working device. The composite pipe 22 feeds a powe to the various actuators of an underwater unmanned working device 25, and serves to suspend and elevate the underwater unmanned working device 25. Further, the underwater unmanned working device 25 can be elevated along a wire rope 12 stretched by dint of a weight 19, and is secured to a wire rope 12 through a wire clamper 29.

Description

[Detailed Description of the Invention] [Industrial Application Fields] The present invention is applicable to harbor quays, water gates, dam concrete walls,
Underwater surface cleaning, 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 allows various operations such as maintenance and inspection to be performed safely and quickly, with high precision, and with good quality, either unmanned or in combination with a diameter 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 surveying, maintenance and inspection of port facilities such as quays has mainly relied on 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 hanging a wall cleaner underwater, can cause great mental pain.

On the other hand, when conducting underwater work such as surveying and inspecting the surface condition of a harbor quay wall, inspectors conventionally obtain necessary information indirectly from a dialer, but they can make judgments based on underwater television footage captured by a handheld dialer. , it was difficult to obtain accurate information.

In particular, when non-destructive testing is required, such as when inspecting for cracks in walls or measuring the amount of 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 conduct the inspection by diving. It is not common because the number of people with such special abilities is small 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.

[Problems to be solved by the invention] Therefore, when mechanizing the above-mentioned underwater work, it is necessary to
A device must be superior in terms of safety and performance, taking into consideration the effects of external forces such as waves, the effects of tides, and the effects of objects floating on the sea surface, but no device that meets this demand has yet been proposed.・In view of these circumstances, the present invention has been developed to make underwater work unmanned, mechanized, improve work safety, free humans from work in poor environments, improve underwater inspection accuracy and quality, and use skilled dippers and non-destructive equipment. This was done with the aim of resolving the constraints on construction work due to the lack of diaphragms with inspection and other skills.

[Means for Solving the Problems] The present invention provides a wire rope that hangs approximately parallel to a wall surface and is given tension by a weight sunk to the bottom of the water, and a wire clamper that can be moved up and down along the wire rope. An underwater unmanned working device equipped with various tools for cleaning and inspection, which can be fixed in position to a wire rope through a wire rope and attached to a wall surface by a propulsion device, and an underwater unmanned working device that supplies power to the underwater unmanned working device and is attached to a wall surface by a propulsion device. It is equipped with a tube that can be raised and lowered to take up and unwind.

[Function] The underwater unmanned work device is attached to the wall surface by the propulsion device and is wound up and moved up and down along the wire rope that is tensioned by the freely retractable tube, and the wall surface is cleaned by the cleaning tool, and it is also non-destructive. In the case of inspection, the underwater unmanned working device is fixed to a tensioned wire rope via a wire clamper, and then the work is carried out.

[Example] Hereinafter, an example of the present invention will be described with reference to the accompanying drawings.

1 to 5 show an embodiment of the present invention, in which underwater work on a quay wall surface 1 can be carried out from a work support mother ship 3 moored to a quay top surface 2.

A crane 4 such as a caterpillar crane is installed on the work support mother ship 3, and the crane 4 has a swivel platform 5 that can rotate freely.
, a boom 6 that can be raised and raised freely, a hook block 7 that is suspended from the tip of the boom 6 and that can be raised and lowered, and the like.

Further, a frame 9 of a heap compensator 8 is installed in the work support mother ship 3, and wire sheaves 10 and 11 are rotatably attached to the front and rear upper portions of the frame 9, and are wound around the wire sheaves 10 and 11. wire row 11
2, a weight 14 is suspended between the wire sheaves 10 and 11 via the wire sheave 13 so as to be movable up and down;
One end of the wire loaf 112 is wrapped around the winch 15 installed on the mother ship 3, and the (l!! end side of the wire loaf 12 is wrapped around the wire sheave 16 installed on the lower part of the frame 9, changing direction and moving toward the mother ship. It extends along the deck 3, is wrapped around another wire sheave 17 installed on the mother ship 3, changes direction and extends diagonally upward, and is wrapped around a wire sheave 718 suspended from the hook block 7. It extends downward and is secured to a weight 19 dropped into the water.

The weight of the weight 14 of the heap compensator 8 is about 70% of the weight 19, so that the weight 19 will not be lifted from the water bottom 20 even if the work support mother ship 3 is shaken.

Further, the weight 19 is used to expand the wire row 112, and can be set to an appropriate value depending on the current, water resistance of the underwater unmanned working device 25, etc., which will be described later.
The weight in water is approximately 1 ton.

A cable/hose bundle such as a cable hose or a composite pipe 22 is fed out to a cable hose winding machine 21 equipped with a slip ring disposed on the work support mother ship 3, and is freely wound around the composite pipe 22. The wire sheath 718 is wrapped around a sheave 24 suspended via a bracket 23 at the lower part of the wire sheath 718, changes direction and extends downward, and its end is connected to the frame body 26 of the underwater unmanned working device 25.

A composite pipe 22 such as a cable hose is an underwater unmanned work device 25
This is for supplying power to the various actuators of the underwater unmanned working device 25 and lifting and lowering the underwater unmanned working device 25.

The details of the underwater unmanned working device 25 will be explained with reference to FIGS. 2 to 5. The underwater unmanned working device 25 is fixed to the wire loaf 12 by being raised and lowered by an actuator 27 such as a fluid pressure cylinder at the upper part of the frame body 26. A wire clamper 29 equipped with a wedge 28 as shown in FIG. is installed. The underwater unmanned working device 25 is designed to be able to move up and down along the wire row 112 stretched by the weight 19, and is fixed to the wire row 12 via the wire clamper 29, so that it is protected from waves and waves during work. It is not moved by the current.

It is desirable that the vertical distance between the wire clamper 29 and the wire holder 30 be as large as possible, and this is to prevent the underwater unmanned working device 25 from being tilted by the wire clamper 29 and the wire holder 30.

Slide frames 32 are provided at at least three (four in this embodiment) portions of the frame body 26 and are movable horizontally along the plane of the frame body 26 by actuators 31 such as fluid pressure cylinders. The slide frame 32 is provided with a front-rear slide mechanism 33 that includes an actuator such as a fluid pressure cylinder and is movable in the front-rear direction with respect to the plane of the frame body 26. A bracket 34 whose position can be adjusted in the horizontal direction by an actuator 36 such as a fluid pressure cylinder is attached to the tip, and a rotatable and horizontally provided running roller 35 is disposed on the bracket 34. A drive motor 37 such as a fluid pressure motor for the traveling roller 35 is disposed on the bracket 34 . The running roller 35 is connected to the underwater unmanned working device 25.
and the quay wall surface 1 at a predetermined interval, and guides the underwater unmanned working device 25 up and down along the quay wall surface 1.
The outer periphery is formed to have a thin thickness so that it can bite into deposits such as mud and the outer periphery can easily come into contact with the quay wall surface 1. Furthermore, in the case of the quay wall surface 1 or a combination steel sheet pile with an uneven shape as shown in FIG. However, in the case of a flat wall surface such as a concrete wall surface, it is not necessary to perform position correction in the horizontal direction.

On the left and right sides of the center portion of the side road opposite to the running roller of the frame body 26,
A propulsion device 38 is provided to push the underwater unmanned working device 25 toward the quay wall surface 1 side, and the propulsion device 38 includes a drive motor 39, a propeller 40. It is equipped with a water flow guide cylinder 41 and the like. This propulsion device 38 may be one or more, and may be a water jet type instead of a propeller type.

A plurality of tool handling devices 42 each including a swash-shaped manipulator or the like are installed on the upper part of the frame body 26 . That is, a frame 43 is fixed to the upper part of the frame body 26 toward the side where the running rollers 35 and the like are disposed, and a support slide mechanism 44 equipped with an actuator such as a fluid pressure cylinder is attached to the frame 43. A support arm 45 that can move in a direction perpendicular to the surface of the main body 26 is arranged so as to be able to swing with respect to a vertical plane, and a support arm 46 is pivotally attached to the tip of the support arm 45. The support arm 46 is arranged so as to be able to swing with respect to a vertical plane by a drive motor 47 such as a fluid pressure motor attached to the support arm 45, and can be rotated, expanded and contracted by an actuator (not shown) at the tip of the support arm 46. A vertical shaft 48 that can rotate and expand and contract is attached, and a bracket 49 is fixed to the tip of the vertical shaft 48.
Various tools can be detachably installed on the holder. In this embodiment, as tools, an underwater television camera unit 50 is attached to one of the two tool handling devices 42, and an ultrasonic thickness gauge 51 is attached to the other one. has been done. The underwater television camera unit 50 includes a television camera 52, an underwater floodlight 53,
Elevation and axis lines to adjust the posture of the television camera 52 and underwater floodlight 53! The ultrasonic thickness gauge 51 is attached to the bracket 49 via a bracket 56 and is attached to the surface of the frame body 26. A support slide mechanism 57 equipped with an actuator such as a fluid pressure cylinder and capable of moving in orthogonal directions, a bracket 58 attached to the tip of the support slide mechanism 57, and a drive motor pivotally attached to the bracket 58 for elevation. Bracket 60 which can be lifted up and down by 59. An ultrasonic thickness sensor 63 and the like are attached to a bracket 61 fixed to the bracket 60 and can be rotated by a rotation drive motor 62.

A quay wall surface 1 is provided on the traveling roller 35 side of the frame body 26.
In the case of a combined steel sheet pile as shown in FIG. 4, a cleaning tool unit 64 is provided for cleaning the convex surface 1a thereof. The cleaning tool unit 64 is connected to the frame body 26 by an actuator 65 such as a hydraulic cylinder.
Slide mechanism 6 that can move left and right along the surface
6, the slide mechanism 66 is equipped with a front and rear slide support groove 67 that can be moved back and forth with respect to the quay wall surface 1 by an actuator such as a fluid pressure cylinder, and the front end of the front and rear slide support mechanism 67 is equipped with a A bracket 69 that can be rotated left and right by a drive motor (not shown) is attached to the fixed bracket 68, and a drive motor 70 attached to the bracket 69 is connected to the drive motor 70.
A convex surface cleaning tool 71 such as a cutter, brush, etc., which can be rotated by a screwdriver, is attached. A convex surface cleaning tool 71 is also attached. Convex surface cleaning tool 7
1 is designed so that proper pressing can be achieved by force against the convex surface 1a of the quay wall 1 by the front and rear slide support mechanism 67, and even if there is an unevenness on the convex surface 1a by turning left and right, the unevenness is removed. can be imitated.

When the quay wall surface 1 is a combination steel sheet pile as shown in FIG. A cleaning tool unit 72 is installed.The cleaning tool unit 72 is equipped with a front-rear slide support mechanism 73 that can move back and forth with respect to the quay wall surface 1 using an actuator such as a fluid pressure cylinder. A bracket 74 fixed to the tip of the mechanism 73 is pivoted to a bracket 75 which can be rotated up and down by an actuator (not shown). A concave surface cleaning tool 77 such as a cutter, a brush, etc., which can be rotated by the concave surface cleaning tool 7 is attached.
7 is designed to be properly pressed against the concave surface 1b of the quay wall 1 by force by a front-rear slide support mechanism 73, and although not shown, it can also be pressed in the left and right direction according to the irregularities of the concave surface 1b. It is now possible to imitate it. Further, in this example, two sets of the concave surface cleaning tools 69 can cover the width direction of the concave surface 1b.

Above the cleaning tool unit 64 installation position of the frame body 26, a cleaning tool unit 78 is provided for cleaning the left and right hypotenuses 1C, respectively, when the quay wall surface 1 is a combination steel sheet pile as shown in FIG. Two units will be installed. The cleaning tool unit 78 is equipped with a rotating frame 80 that can be rotated left and right by an actuator 79 such as a fluid pressure cylinder, and the rotating frame 80 has a rotating frame 80 that can move forward and backward relative to the quay wall surface 1 by an actuator such as a fluid pressure cylinder. A front and rear sliding support mechanism 81 that can move is attached,
A drive motor 8 is installed at the tip of the front and rear slide support mechanism 81.
2, a bracket 83 which can be pivoted in the horizontal direction is pivotally mounted, and a drive motor 84 attached to the bracket 83 is attached with an oblique side cleaning tool 85 such as a cutter, brush, etc., which can be rotated by the drive motor 84. It is being Further, the oblique side cleaning tool 85 has a front and back slide support mechanism 8.
1 to adjust the front and back position, and actuator 79
By activating the , proper pressing force can be applied to the oblique side.

The weight of the underwater unmanned work device 25 with each of the above devices attached is:
The weight shall be such that it can easily sink below the median buoyancy. here,
Neutral buoyancy refers to the buoyancy at which an object neither rises nor sinks.

In FIG. 1, 86 is the water surface, 87 is a control device, and 88 is a hydraulic power source unit.

Next, the operation of the above device will be explained.

Pay out wire 〇-112 using winch 15,
Pass it through the wire clamper 29 and wire holder 30 provided on the frame body 26 of the underwater unmanned work device 25, connect the weight 19 to the tip of the wire row 112, operate the crane 4, winch 15, and cable hose winder 21, Wire 〇-112, composite pipes such as cable hoses 2
Unmanned underwater work device 25, weight 19 by sending out the second class
lower into the water, let the weight 19 land on the bottom 20 of the water, set it as close to the quay wall surface 1 as possible, and then lower the winch 15.
Activate to wind wire 〇-112, and weight 1
4 is lifted and a predetermined tension is applied to the wire row 112.

Next, one or two propulsion devices 38 of the underwater unmanned working device 25 are installed.
The propeller 40 is driven to rotate, and the underwater unmanned working device 25 is brought close to and attached to the quay wall surface 1. When the underwater unmanned work device 25 approaches the quay wall surface 1, each actuator is driven to cause the traveling roller 35 to protrude forward, and each cleaning tool unit 64, 72, 78 is retreated toward the frame body 26 side, and When various tools such as a television camera 50, an ultrasonic thickness gauge 51, a high-pressure water jet nozzle, and a non-destructive inspection tool are attached to the tool handling device 42, these tools are also moved back toward the frame body 26.

When the underwater unmanned working device 25 approaches the quay wall surface 1, it operates the tool handling device 42, monitors the quay wall surface 1 with the television camera 52, and when the quay wall surface 1 is made of a combination steel sheet pile, slides the quay wall surface 1 by the actuator 31. The frame 32 is moved in the left and right direction to adjust the left and right distance between the running rollers 35.
Adjust the horizontal direction angle and degree of the running roller 35 by
d or a recessed portion, and the quay wall surface 1 serves as a guide for raising and lowering the underwater unmanned working device 25, and also supports the underwater unmanned working device 25 so that it does not shift left or right due to wave force and tidal current force. If it is flat like a concrete quay,
The position of the traveling roller 35 is adjusted so that the distance between the underwater unmanned working device 25 and the quay wall surface 1 is at an appropriate position, and the traveling roller 35 comes into contact with the quay wall surface 1 at right angles, and the frame body 26
The position is corrected so that the distance between the quay wall surface 1 and the quay wall surface 1 is maintained constant.

By driving each drive motor 70, 76, 84, the cleaning tools 71, 77, 85, which are provided in two sets, are rotated in opposite directions to the left and right so that the underwater unmanned working device 25 does not shift to the left or right. The underwater unmanned working device 25 is properly pressed to a predetermined location on the quay wall surface 1 with force.
The quay wall surface 1 is cleaned while moving up and down along the direction. When cleaning the quay wall surface 1, the cable hose winding machine 21 is driven, and the underwater unmanned working device 25 is raised and lowered by a composite pipe 22 such as a cable hose using the stretched wire rope 12 as a guide to carry out the work. conduct. The wire clamper 29 also operates the actuator 27 to loosen the wedge 28.

Further, while monitoring the cleaning process with the television camera 52, the upper and lower cleanings are repeated until the required cleaning quality is obtained. As shown in FIG. 4, when the quay wall surface 1 is made of a combination of steel sheet piles, cleaning of the oblique side 1C is performed in two steps, dividing it into an upper half and a lower half of the oblique side 1C.

In the case where the quay wall surface 1 is a combination steel sheet pile with a full cylindrical shape as shown in FIG. This is done by installing a high-pressure water jet nozzle instead of the cleaning tool 85.

The appearance inspection of the cleaned area is carried out by a television camera 52, and the corrosion inspection of the steel sheet piles is carried out by placing an ultrasonic thickness sensor 63 in contact with the inspection area of the quay wall surface 1 and measuring by remote control from the work support mother ship 3. However, in the case of non-destructive testing such as corrosion inspection and crack inspection, the wedge 28 of the wire clamper 29 is activated by the actuator 27 to extend the underwater unmanned working device 25 so that the underwater unmanned working device 25 does not move up and down and back and forth. The unmanned underwater working device 25 is fixed to the wire row 112 that is attached to the wire row 112 and pressed against the quay wall surface 1 by the propulsion device 38, and the unmanned underwater working device 25 and the quay wall surface 1 are
Due to the frictional force between the underwater unmanned working devices 2 and 5, the underwater unmanned working devices 2 and 5 are fixed so as not to move even when wave force or tension is applied. In this way, in the case of non-destructive testing, the underwater unmanned working device 2
5 to the wire row 112, for example, when measuring the plate thickness by bringing an ultrasonic element into contact with the concave surface 1b of the combined steel sheet pile, and when detecting cracks, etc. using a magnetic flaw detection device that is attracted by an electromagnet. During an inspection, various tools, a television camera 52, etc. may be inserted inside the concave surface 1b, due to the effects of water resistance such as undulations, failure of the propulsion device 38, or when the propulsion device 38 is stopped due to power cutoff due to electrical leakage. This is because if the underwater unmanned working device 7 moves while the underwater unmanned working device 7 is working, the tool may come into contact with or collide with the oblique side 1C of the quay wall surface 1, which may cause a damage accident when the tool breaks. Therefore, a mechanical heap compensator 8 using a weight 14 applies tension to the wire row 112, and also applies tension to the wire 0-112 even during a power outage, and the wire clamper 2
9, the underwater unmanned working device 25 is securely fixed to the wire row 112 to prevent accidents. .

After cleaning and inspecting the entire height of a predetermined location, the various tools and traveling rollers 35 are retreated from the quay wall surface 1, the underwater unmanned working device 25 is moved horizontally by one pitch by the crane 4, and the various tools and traveling rollers 35 are moved horizontally by one pitch. is brought into contact with the quay wall surface, and the quay wall surface 1 is cleaned and inspected in the same manner as described above. Note that the inspection may be performed after first cleaning the entire area.

Figure 7 shows a quay wall surface 1 to which the underwater working device of the present invention is applied.
Another example is a cell type in which steel pipes 89 are connected. Cleaning, inspection, maintenance, etc. are also performed on the cell-type quay wall surface 1 using the working equipment shown in (e) above.

It should be noted that the present invention is not limited to the above-mentioned embodiments, and the inspection of the cleaning surface can be carried out even when the dipper is grabbed by an unmanned underwater work device, and the inspection of the cleaning surface can also be carried out even when the unmanned underwater work device is mounted on a car on a quay. It goes without saying that various changes can be made without departing from the gist of the present invention.

[Effects of the Invention] Since the underwater working device of the present invention has the above-described configuration, it can achieve various excellent effects as described below.

<I> Works such as cleaning, external and nondestructive inspection, maintenance, and inspection of quay wall surfaces can be performed unmanned, safely, quickly, and with high precision and trade.

<n) The weight of the weight to sink to the bottom of the water and the weight for the heap compensator, depending on the underwater weight of the weight to sink to the bottom of the water and the combined force of the tidal force and wave force applied to the unmanned underwater work device, the kneading pipe of the cable hose, etc. Since the weight of the underwater unmanned working device can be easily adjusted, the tension of the wire rope for guiding the underwater unmanned working device can be increased, and the position holding function of the underwater unmanned working device can be easily achieved. Therefore, since the thrust of the propulsion device can be reduced, the underwater unmanned working device can be downsized.

<[1] Even in the event of a power outage, the wire rope tension can be maintained by the heap compensator, and the clamping of the wire clamper can be maintained, so that the underwater unmanned work equipment can move away from the quay wall and be struck against the quay wall by waves, etc., allowing unmanned underwater work to continue. It is highly safe because accidents that damage the device and the various tools equipped with it can be prevented.

N. Evacuation, collection and retreat can be easily carried out during sudden weather changes, and the storage space on the work support mother ship or vehicle is small.

(V) When unmanned underwater work equipment requires a large amount of power, it is unavoidable that the diameter of the composite pipe such as a cable hose for power supply becomes thicker. The water resistance increases, making it extremely difficult to maintain the position of the underwater unmanned work equipment, but the weight that is lowered to the bottom of the water is increased, and the underwater unmanned work equipment descends after steaming sufficient tension on the wire rope. , can be easily applied to large water depths.

■ When working on the water surface, the stretched wire rope can support the reaction force when working with various tools, so the work can be done safely and reliably on the water surface.

Even if the underwater weight of the unmanned underwater work device changes due to tool exchange, there is no need to adjust its buoyancy.

[Brief explanation of drawings]

FIG. 1 is an overall explanatory diagram of the underwater working device of the present invention, FIG. 2 is a front view of the underwater unmanned working device in the underwater working device of FIG. 1, and FIG. 3 is a view taken from the ■-■ direction in FIG. 2. , Figure 4 is the second
5 is a detailed explanatory view of a wire holder that engages with the wire rope guiding the underwater unmanned working device shown in FIG. 2, and FIGS. It is an explanatory view of another example of the quay wall surface. In the figure, 1 is the quay wall surface, 3 is the work support mother ship, 4 is the crane, 8 is the heap compensator, 19 is the weight, 21 is the cable hose winder, 22 is a composite pipe such as a cable hose, and 25 is the underwater unmanned work device. , 38 is a propulsion device, 42
64.72.78 indicates a tool handling device, and 64.72.78 indicates a cleaning tool unit.

Claims (1)

[Claims] (1) A wire rope that hangs approximately parallel to the wall surface and is given tension by a weight that has sunk to the bottom of the water, and that can be moved up and down along the wire rope, fixed in position to the wire rope via a wire clamper, and propelled. An unmanned underwater working device equipped with various tools for cleaning and inspection that can be attached to the wall surface by the device, and a tube that can be rolled up and unwound to supply power to the unmanned underwater working device and raise and lower the unmanned underwater working device. Underwater work equipment characterized by: