JPS62253596A - Self navigation type marine unmanned machine for salvage - Google Patents

Abstract

PURPOSE:To certainly refloat a salvaged body by connecting a teaser cable supplied from a mother vessel to a marine unmanned machine used for saving a submerged vessel and installing a propulsion mechanism to allow said unmanned machine to navigate to the salvaged body and connecting the mother vessel to the salvaged body through a towing cable. CONSTITUTION:After a cable system unmanned navigation body 1 sails to a submerged vessel 4 as a salvaged body by a propulsion mechanism 1a, an engagingly locking mechanism 23 is engaged with the submerged vessel 4, and a teaser cable 2 is extended between a mother vessel 3 and the submerged vessel 4. A fitting metal ware 6 is guided by the teaser cable 2, and the fitting metal mare 6 having a towing cable 5 and suspension cable connector 9 re engaged with each other, In other words, the mother vessel 3 and the submerged vessel 4 are connected together by the towing cable 5 through the cable system unmanned navigation body 1, which can be towed onto the mother vessel 3 by pulling up the towing cable 5. Therefore, the submerged vessel 4 can be certainly salvaged.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a self-propelled underwater unmanned vehicle for evacuation and retrieval, and is particularly suitable for use in a rescue and retrieval device for submersibles (including sunken debris on the seabed). [Conventional technology] Regarding a self-propelled underwater unmanned vehicle for evacuation and retrieval, as shown in Figs. The rescue buoy 52 with the guide rope 54 is detached from the interior of the submersible vessel 51 and floated to the surface, thereby informing the mother ship 53 on the sea of its position.

Then, the rescue buoy 52 is recovered to the mother ship 53, and the fitting alloy 56 connected to the recovery cable 55 is lowered using the guide rope 54 anchored to the rescue buoy 52 as a guide. 56 and the lifting hardware 57 are fitted together, the lifting and retrieving cable 55 is wound up, the submersible 51 is floated, and the submersible is lifted and retrieved.

In addition, the number 58 in the figure indicates the storage part of the rescue buoy 52.

[Problem that the invention seeks to solve]

However, although such a conventional rescue and recovery device for a submersible is effective for the submersible 51 diving at shallow depths,
The following problems exist for the submersible 51 that dives at great depths.

(1) In order to float the rescue buoy 52 from the deep seabed S' to the sea surface W, a long guide cable 54 commensurate with the depth is required, and this guide cable 54 naturally receives water current and generates a resistance force. However, since this force acts in the direction of pulling the rescue buoy 52 into the water, it is necessary to make the buoyancy of the rescue buoy 52 considerably large.

(2) In order to solve the above fjS1 item, large rescue buoy 5
2, the submersible itself becomes large and the submersible 5
This results in the loss of the mobility of 1.

The present invention is an attempt to solve the above-mentioned problem, by making it possible to reliably perform recovery without having to provide a rescue buoy to a submersible as an object to be recovered. The purpose of the present invention is to provide a self-propelled underwater unmanned vehicle for lifting and retrieving, which allows the submersible to be miniaturized.

[Another way to solve the problem of m points]

Therefore, the self-propelled underwater unmanned vehicle for lifting and recovering of the present invention is a self-propelled underwater unmanned vehicle that is connected to a teaser cable from a mother ship and is equipped with a propulsion mechanism. A fitting alloy is provided with a fitting alloy, which is connected to the tip of the lifting bed from the above-mentioned Q[) and can be lowered while being guided by the teaser cable, and the same 1 thorny metal fitting is IK-fitted to the above-mentioned underwater. A connector for connecting the unmanned aircraft to the hoisting and storage floor is provided, and an information transmission path for transmitting the engagement state of the engaging metal to the mother ship is incorporated in the teaser cable. .

[For production]

In the above-described self-propelled underwater unmanned vehicle for lifting and recovering the present invention, after the underwater unmanned vehicle navigates to the target object by the propulsion mechanism, the engaging metal is engaged with the target object to connect the mother ship and the target object. A teaser cable is RFL-strung between the object and the object.

Then, the teaser cable guides the fitting alloy, and the fitting alloy with the cable and the connector are engaged, that is, the mother ship and the object to be lifted are connected to the lifting platform via an underwater drone. The underwater unmanned vehicle can be retrieved to the mother ship by connecting the two and raising the second retrieval bed.

〔Example〕

Hereinafter, embodiments of the present invention will be explained with reference to the drawings.
Figures 1 to 4 show the rescue and recovery situation of a submersible using a self-propelled underwater unmanned vehicle for evacuation and recovery as an embodiment of the present invention. FIG. 3 is a vertical cross-sectional view showing the fitted state of the alloy and the connector, FIG. 3 is a vertical cross-sectional view of the locking mechanism, FIG. Inside, tjS The same reference numerals as in FIGS. 5 and 6 indicate almost the same things.

As shown in FIG. 1, the rescue and recovery device for a submersible in this embodiment is designed to connect a mother ship 3 floating on the sea surface W and a submersible 4 seated on the seabed S. A guide cable connecting device for connecting a teaser cable 2 as a guide cable between the mother ship 3 and the submersible vessel 4;
It consists of a lifting cable tying device D2 for erecting a lifting bed 5 between the mother ship 3 and the submersible n[)4 by means of a guide rope 2 guided by a tying device D2.

As shown in FIGS. 1 and 4, the guide rope connecting device D1 is a self-propelled cable equipped with a propulsion device N41a that dives toward the submersible vessel 4 as a submerged object (recovered object). It consists of an unmanned vehicle (hereinafter referred to as "unmanned vehicle J") 1 and a teaser cable 2 whose tip end is connected to the unmanned vehicle 1 and whose base end is fed out from a mother ship 3. .

In addition, Yang collection connection equipment f! 1D 2 is a teaser stretched between the unmanned vehicle 1 and the mother ship 3 after the unmanned vehicle 811 has been secured to the submersible vessel 4 by the guide rope connecting device and fixed by the anchoring device VT23 described later. With cable 2 as the id,
It is composed of a fitting alloy 6 that descends from the mother ship 3, and a hoisting and receiving bed 5 whose tip is anchored to the fitting alloy 6 and is paid out from the ship 3.

In addition, there is no one! ! 1 and the RA ship 3 are equipped with a controller 7f rotary switch 1 winch 8. teaser cable 2
．． Lifting cable connector (hereinafter referred to as "connector")9. Power is supplied and signals are exchanged via the lifting electric 'R10.

In addition, as shown in Figure 1$2, an enlarged tube part 6a that can be fitted into the connector 9 is formed at the tip of the fitting alloy 6 in the lifting and storage bed coupling device D2. The electric wire (information transmission path) 2u of the teaser cable 2 is sufficiently flexible, and the lifting electric wire l! has sufficient tensile strength. 10 is coupled to the electric wire 10a, and a tension member tab of the same type [10] is firmly coupled to the connector 9.

A required weight 13 is attached to the expanded tube 1s6a at the tip of the Chichi alloy 6, and the teaser cable 2 is passed through the center hole 6b as a guide to secure the fitting alloy 6 which is not suspended from the mother ship 3. The tip portions 14a of the pair of claws 14 are opened around the shaft portion 14b by the conical portion 9a of the connector 9, and are closed by the spring 15 after passing the maximum diameter, and the stepped portion 9b of the connector 9 is opened around the shaft portion 14b. Tip of n14
It engages with a and enters the payment state.

In addition, the locking [1i12
3, as shown in FIG. A pair of supported locking-fitting alloys (engaging alloys) 18 and a second locking-fitting alloy 1
8 from the open state to the locked state shown in FIG. 3.

This locking fit alloy drive 8! The mechanism 24 includes a hydraulic rotating machine 27, a drive shaft 20 rotationally driven by the hydraulic rotating machine 27, a threaded shaft portion 21 formed in the driving pongee 20 in the right-handed and left-handed directions, and the same threaded shaft. It is comprised of a pair of pieces 22 whose internal threads are screwed into the part 21 and which are locked to one end of each locking-fitting alloy piece 18.

In addition, the reference numeral 11 in the figure is a crane, 12 is a winch, and 1
G indicates a stopper.

Further, hardware (not shown) for hoisting the submersible vessel 4 from the mother ship 3 to land on the water or lifting it up is separately provided on the submersible vessel 4, and this lifting hardware and the locking hardware 17
It is also possible to use both.

Although the case where the submersible vessel 4 is raised and recovered from the seabed has been described, the present invention is not limited to the submersible vessel 4, but also applies to marine structures, stationary structures, etc. that are installed on the seabed for a certain period of time and posted when necessary. By attaching the locking hardware 17 to the upper part of the outside of the structure, it can be easily collected.

Since the self-propelled underwater unmanned beach for Yang retrieval as an embodiment of the present invention is configured as described above, when the submersible vessel 4 is rescued and retrieved, first, the guide cable connection system f2! D.

Nijowa, unmanned B! A teaser cable 2 attached to a submarine 1 is let out from a mother ship 3, the unmanned aircraft 1 is submerged, and a submersible 4, which is a submerged object on the ocean floor, is searched for.

Next, after the drone 1 had 4% of the submersible,
From the state shown in FIG. 3, after confirming the mating state with the TV power/unit 19 provided on the unmanned aircraft 1, the hydraulic rotation constituting the suspension alloy drive mechanism 24 drives the 27, The drive shaft 20 is rotated to move the pair of cores 22 that are threaded with the threaded shaft portion 21 toward the center of each other, and the pair of locking fitting alloy members 18 are made in the ITI direction. , whereby the locking hardware 17 forming the locking mechanism 23
and the locking fitting alloy 18 are in a fitted state.

In the extended state of the teaser cable 2 due to the locking mechanism 23, the cylindrical fitting alloy 6 constituting the tie-down fitting vi Dz is lowered by its own weight using the teaser cable 2 connected thereto as a guide. Then, the lifting cable 5 connected to the fitting alloy 6 is let out from the winch 12.

Since the required weight 13 is provided on the expanded tube end portion 6a of the fitting alloy 6, the fitting alloy 6, which is suspended using the teaser cable 2 as an aid, is attached to the pivot support 7ff1x.
The tip i portion 14a of the claw 14, which is pivotally supported by the hook 4b, is driven by the conical portion 9a of the connector 9, and is closed by the spring 15 when it passes the maximum diameter, resulting in a fitted and locked state.

In this way, from the mother ship 3 to the submersible vessel 4, the lifting cable 51 fitting alloy 6. claw 14. lifting cable connector 9.
Lifting cable 10 with tension member IQb, unmanned rH
, Locking and locking hardware 18. A hoisting and retrieving cable connecting rocky structure D2 made of locking hardware is constructed, and the force from the winch 12 is transmitted through this hoisting and retrieving cable connecting mechanism D2, so that the submersible vessel 4 can be hoisted and retrieved to the mother ship 3.

According to this embodiment, the following effects and advantages can be obtained.

(1) A rescue buoy device for the submersible is no longer necessary, the submersible can be made smaller, its underwater maneuverability can be improved, and it is easier to lift and retrieve young fish during normal diving.

(2) The connecting part between the rope of the rescue drone and the unmanned beach is made of high tensile strength electrical wire, so the submersible can be easily pulled up by connecting the recovery cable, and the cable is short and large. Because the teaser cable has flexible sections, it is possible to operate the unmanned aircraft without any 1LtII.

〔Effect of the invention〕

As detailed above, according to the self-propelled underwater unmanned vehicle of the present invention, the self-propelled underwater unmanned vehicle is connected to the teaser cable of the mother ship and is equipped with a propulsion mechanism.
A fitting alloy which is provided with an engaging alloy that can engage with the object to be lifted and retrieved, and which is connected to the tip of the hoisting cable of the mother ship and can be lowered while being guided by the teaser cable; In addition, a connector for connecting the underwater unmanned vehicle to the lifting cable is provided, and an information transmission path for transmitting the engagement state of the engaging metal to the mother ship is incorporated in the teaser cable. With a simple structure, the following effects and advantages can be obtained.

(1) There is no need to equip a rescue buoy device with a submersible or other object to be salvaged (this makes it possible to downsize underwater unmanned vehicles).

(2) The fitting alloy connected to the tip of the salvage device from the mother ship descends while being guided by the teaser cable and is mated with the connector to be well connected to the underwater unmanned vehicle. Since the aircraft and the object to be hoisted are engaged with each other via the engagement metal, even if the object to be hoisted is a large submarine, the stowage operation can be carried out easily and reliably.

(3) The teaser cable has a built-in information transmission path that transmits the engagement status of the above-mentioned engagement metals to the mother ship, so it is easy to confirm the engagement between the underwater unmanned vehicle and the object to be lifted on the mother ship. can do.

(4) A 1m underwater unmanned vehicle can be used for rescue operations of multiple submersibles, making it efficient.

[Brief explanation of drawings]

Figures m1 to 4 show the rescue and recovery situation of a submersible using a self-propelled underwater unmanned vehicle for evacuation and recovery as an embodiment of the present invention. FIG. 3 is a longitudinal sectional view showing the fitted state of the object and the connector, FIG. 3 is a longitudinal sectional view of the locking mechanism, FIG. 4 is a schematic diagram for explaining its function, and FIGS. Fig. 55 is a schematic diagram showing the rescue buoy release situation, and Fig. 6 is a schematic diagram showing the rescue and recovery situation of the submersible. 1... Cabled unmanned vehicle (drone), 1a... Propulsion abt
, 1b... recess, 2... teaser cable, 2a... electric wire, 3... mother ship, 4... submersible, 5... hoisting and retrieving cable, 6...
Fitting alloy, 6a...Tip expanded tube part, 6b...Central hole part, 7
・・Controller, 8.・Winch with rotary gear a-inch,
9... Cable connector for hanging, 9a... Conical part, 9b
・・Stepped part, 10・・Hanging wire, 10m・・Electric wire, 10
b... Tension member, 11--Crane, 12...
Winch, 13... Weight, 14... Claw, 14a...
Tip, 14b...shaft, 15...spring, 1G...stopper, 17...locking hardware, 18...locking fitting alloy (locking alloy), 18a...shaft, 19...TV camera, 20
・・Drive shaft, 21・・Nenoshaft part, 22・・Koma, 23・
- Locking mechanism, 24...Lock fitting alloy drive mechanism, 27...
Hydraulic rotating machine, Dl...Guide rope connecting device, D2...Lifting and retrieving cable connecting device, S...Sea floor, W...Sea surface. Sub-agent fl-Buried soil Yoshihiko Iinuma Figure 1 Figure 2 Figure 3

Claims (1)

[Claims] A self-propelled underwater unmanned vehicle connected to a teaser cable from the mother ship and equipped with a propulsion mechanism, which is equipped with an engagement metal that can engage the object to be lifted and retrieved, and is connected to the tip of the lift cable from the mother ship. A fitting alloy member that can be lowered while being guided by the teaser cable, and a connector that is fitted with the fitting alloy member and connects the underwater unmanned vehicle to the lifting cable, and the teaser cable is provided with , a self-propelled underwater unmanned vehicle for lifting and retrieving, characterized in that an information transmission path for transmitting the engagement state of the engagement metal to the mother ship is incorporated.