JPS62299492A - Underwater work device - Google Patents

Abstract

PURPOSE:To efficiently perform underwater work for an overhung structure, by providing main propellers for an underwater work surface in its forced attaching direction and the second propellers for movement in vertical and lateral directions while a float for tilting a main unit, when it is arranged in the water, for the work surface. CONSTITUTION:Wheels 13a-d, which run being forced to be attached to a work surface in the water, and a blasting device 19 are mounted to a main unit frame 11, and it provides main propellers 14, 15 for the underwater work surface in its forced attaching direction, propeller 16 for movement in the vertical direction and a propeller 17 for movement in the lateral direction. And when the main unit frame 11 is arranged in the water, the main unit frame 11, which arranges in its upper a float 11b, is tilted for the underwater work surface by utilizing buoyancy of the frame 11 and each propeller 14-17. By this constitution, the main unit frame can be easily positioned approaching the overhung work surface of a ship body bottom plate or the like, and positioning work or the like in the water, utilizing a diver or the like in the past, can be omitted.

Description

Detailed Description of the Invention 3. Detailed Description of the Invention (Field of Industrial Application) The present invention relates to an underwater working device used for maintenance, inspection, and repair of underwater parts of underwater structures, ships, and the like.

<Prior Art> A conventional underwater working device will be explained based on FIGS. 4 and 5. A propeller 2 is provided in the center of a main body 1 made of a buoyant body, and three wire brushes 4 are provided in the main body 1 around the propeller 2 for cleaning a work surface 3a of a workpiece 3. . The main body 1 includes a buoyancy tank 5 that controls the attitude of the main body 1.
is provided, and the attitude of the main body 1 is appropriately controlled by adjusting the valve 6 of the buoyancy tank 5. Also, the main body 1 has a work surface 3.
A driving wheel 7 that rolls on a is attached, and the main body 1 is suspended by a hanging tool 8.

When this underwater working device is placed underwater, a remote or submerged dipper 9 adjusts the valve 6 of the buoyancy tank 5 in order to align the surface of the wire brush 4 with the working surface 3a. Next, the propeller 2 presses the wire brush 4 onto the work surface 3a,
The main body 1 is moved by the driving wheels 7, and the work surface 3a is cleaned by the wire brush 4. If the position of the main body 1 shifts due to grinding reaction force or the like during work, the shift can be corrected by operating the dialer 9 or by remotely operating the hanging tool 8.

<Problems to be Solved by the Invention> In the underwater working device described above, when the main body 1 is misaligned, it is necessary to operate the dipper 9 or the hanging tool 8. Further, this underwater work device has difficulty in working on slopes and bottom surfaces. Therefore, with conventional underwater work equipment, it is sometimes extremely difficult to position the equipment in close proximity to various structures, and it is also difficult to correct positional deviations that occur during work. In particular, when positioning on an overhanging structure or the bottom of a structure, it takes time and money to provide support using the dipper 9, and there are problems in that the work is dangerous.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide an underwater working device that can be positioned close to any working surface of an underwater structure.

Means for Solving the Problems> In order to achieve the above object, the present invention has a structure in which a main body frame is provided with a running wheel on one side that can be crimped onto an underwater work surface, and a work tool is held on the main body frame. At least a pair of main propulsors are provided that generate propulsive forces in a direction perpendicular to one surface, and at least one pair of secondary propulsors are provided that generate propulsive forces in mutually orthogonal directions in a plane substantially parallel to the one surface of the main body frame. The main body frame is provided with a container, and a floating body is provided at one end of the main body frame for tilting the one surface and an underwater working surface when the main body frame is placed in water.

Function: The floating body tilts one side of the main frame with respect to the underwater work surface, bringing the main frame closer to the work surface. The main thrusters are operated in opposite directions so that one side of the main body frame is parallel to the work surface, and when one side of the main body frame is parallel to the work surface, the main thrusters are operated in the same direction to make the work surface parallel to the work surface. Pressing one side of the main body frame presses the running wheel onto the work surface. When moving the main body frame, the second propulsion type is operated appropriately to move the main body frame along the work surface.

Embodiment> FIG. 1 shows a front view of an underwater working device according to an embodiment of the present invention, FIG. 2 shows a side view thereof, and FIG. 3 shows an explanation of its operation.

A rotary table 12a is provided on one side 11a of the main body frame 11.
Running wheels 13a to 13d are provided via wheels 12b to 12b, and a pair of main propulsors 14 and 15 are provided to the main body frame 11 to generate a propulsive force in a direction perpendicular to the surface 11a. Vertical propulsion Il as a second propulsion device that generates! 16 and left and right propellers 17 are provided. Also, both ends (first
Stoppers 18m and 18b are provided at the upper and lower ends in the figure, and a water blast type cleaning device 19 as a working tool is attached to the main body frame 11. Furthermore, a floating body 11b is attached to the main body frame 11. 2 in the diagram
0 is a power distribution box, 21 is a cable, 22 is a cable floating body, and 23 is an underwater television camera.

Next, the operation of the underwater working device having the above structure will be explained based on FIG. 3. First, the underwater working equipment that was put into the water was floating body 11.
b automatically floats tilted in the water in the state shown in Figure 3 (8).

When working on the elevation 32 of the structure 31, the main propulsion device 14
, 15, drive the vertical and horizontal propellers 16 and 17 to bring the underwater working device close to the elevation 32. Elevation 32 as we approach
is confirmed using the underwater television camera 23. The lower end stopper wheel 18b approaches the elevation 32 first (the state shown in FIG. 3 (5)). At this point, move the upper main thruster 14 in the pushing direction.
The lower main propulsion device 15 is driven in the opposite direction with a slight force to apply rotational moment to the main body frame 11. As a result, the stopper wheels 18 a and 18 b become parallel to the vertical surface 32 , and in this state, the main propulsors 14 and 15 are attached to the main body frame 11 .
By driving the wheels 13a to 13b so as to propel them toward the vertical surface 32, the running wheels 13a to 13b can be pressed against the vertical surface (the state shown in FIG. 3 tq). As a result, the main body frame 11 can be freely moved along the vertical surface 32, and the surface of the vertical surface 32 can be polished by the cleaning device 19.

When working on the bottom surface 33 of the structure 31, the vertical propeller 1
6 to lower the main body frame 11 to position (6) in FIG.
5, the main body frame 11 is brought closer to the bottom surface 33 while checking the bottom surface 33 with the underwater television camera 23, and the stopper wheel 18m is brought into contact with the bottom surface 33 (state (5) in FIG. 3). In order to apply a rotational moment that directs the main body frame 11 toward the bottom surface 33, the upper main propulsion device 14 is first driven in a slight direction, and then driven in the forward direction to press the main body frame 11 against the bottom surface 33. As a result, the running wheels 13a to 13d are crimped to the bottom surface 33 so that the underwater working device can perform predetermined work.

During a given work, the main propulsion unit 1 is used to support the reaction force generated by the work and maintain an appropriate working distance, and also to obtain frictional force by sticking to the wall and allowing for free positioning and movement.
4.15 continues the opening operation of the work.

The above-mentioned underwater working device can be easily positioned on any structural surface by operating the main propellers 14 and 15, and the vertical and lateral propellers 16 and 17, so that work can be continued. Ru.

<Effects of the Invention> The underwater working device of the present invention can be positioned close to any working surface of an underwater structure, so it can improve work efficiency and work safety in various works on underwater structures. Improvements can be made.

[Brief explanation of the drawing]

FIG. 1 is a front view of an underwater working device according to an embodiment of the present invention, FIG. 2 is a side view thereof, FIG. 3 is an explanatory diagram of its operation, and FIG.
The figure is a front view of a conventional underwater working device, and FIG. 5 is a side view thereof. In the drawing, 11 is the main body frame, 11m is one side, 11b is a floating body, 13a to 13d are running devices, 14.15 is a main propulsion device, 16 is a vertical propulsion device, 17 is a left and right propulsion device, and 19 is a cleaning device. It is.

Claims (1)

[Claims] A main body frame, which is provided with a running wheel on one side that can be pressed against a working surface in water and holds a working tool, is provided with at least a pair of main propulsors that generate a propulsion force in a direction perpendicular to one surface of the main body frame, The main frame is provided with at least a pair of second propulsors that generate propulsion forces in directions orthogonal to each other in a plane substantially parallel to one surface of the frame, and when the main body frame is placed underwater, work between the first surface and the underwater operation is provided. An underwater working device having a floating body provided at one end of the main body frame for tilting the plane.