JPS6294500A - Underwater working machine - Google Patents

Abstract

PURPOSE:To obtain a sufficient operation even on an irregular surface of an underwater structure by providing an urged expansion device adapted to be expanded and contracted in accordance with the irregularity of the surface of the underwater structure and having at the top end a working member which works following the configuration of the surface. CONSTITUTION:The machine body 1 is moved by rotation of wheels 3, a traverse rail 6 is moved up and down along a guide rail 5 or a frame member 7 is moved transversely along the traverse rail 6 to execute wide-ranging operations such as cleaning, inspection and repair of an underwater structure 4 by a working member 11. If there is a depression on the surface of the underwater structure 4, an expansion device 9 is expanded to permit the working member 11 to enter the depression, while if there is a projection on the surface of the underwater structure 4, the inclined portion 8 of the expansion device 9 comes in abutment against the projection to be pressed, so that the expansion device 9 is contracted against the urging force and the working member 11 is moved along the projection. This assures facility and effective operation.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to underwater work equipment for cleaning, inspecting, repairing, etc. the surfaces of underwater objects such as marine structures, river structures, ships, etc. It is.

[Prior Art] When cleaning, inspecting, or repairing the surface of an underwater structure such as a marine structure, a river structure, or a ship, the work equipment for cleaning, inspecting, or repairing the surface of the underwater structure is Work was carried out by moving it along the surface.

[Problems to be Solved by the Invention] When there are irregularities on the surface of an underwater structure, working tools may not be able to follow the irregularities, making it impossible to perform sufficient work. For example, when cleaning the surface of an underwater structure by spraying high-pressure water from a nozzle, if there is a recess on the surface of the underwater structure, the nozzle will move away from the surface of the underwater structure, and the resistance of the water will cause the high-pressure water to If the spray speed suddenly decreases and the cleaning effect decreases, or if there is a depression on the surface of an underwater structure when cleaning with a brush, the brush may not be able to sufficiently clean the inside of the depression.

The present invention provides an underwater working device in which even if the surface of an underwater structure has unevenness, a working tool can follow the unevenness and perform sufficient work.

[Means for Solving the Problems] The present invention includes a main body of an underwater working machine that moves along the surface of an underwater structure, and a submersible working machine that is attached to the main body and has a laterally inclined portion that moves along the surface of the underwater structure. a telescoping device biased toward the
This underwater working device is characterized by comprising a working tool attached to the tip of the telescopic device.

[Function] The telescoping device expands and contracts in accordance with the unevenness of the surface of the underwater structure, and the work implement operates by following the shape of the surface of the underwater structure.

[Example] Hereinafter, one embodiment of the present invention will be described with reference to the drawings.

In Figures 1 and 2, 1 is the main body of the underwater working machine, and at the four corners of its surface (the left side in Figure 1), there are extendable or retractable legs 2 such as hydraulic cylinders in front. It is projected towards. A wheel 3 is attached to the tip of the telescopic leg 2.
is attached, and the wheels 3 can be adjusted in their direction and rotated by a drive device such as a hydraulic motor (not shown). The extension and contraction of the telescoping legs 2 and the adjustment and rotation of the wheels 3 are remotely controlled by a water surface support boat (not shown) or a hydraulic cable drawn from land. The main body 1 is further provided with a thrust device (not shown) such as a propeller that causes water to flow to the rear of the main body 1 (to the right in FIG. 1).
The main body 1 is pushed forward to press the wheels 3 against the surface of the underwater structure 4.

Adjust the direction of the wheel 3 pressed against the surface of the underwater structure 4 and turn it. By moving the body 1, the main body 1 can be moved in any direction along the surface of the underwater structure 4.

A guide rail 5 is fixed to the main body 1 in the vertical direction, and a horizontal rail 6 moves up and down along the guide rail 5 while keeping it horizontal. The frame body 7 can now move along the horizontal rails 6. Movement of the horizontal rail 6 and the frame body 7 is performed by remotely controlling a built-in drive device from the support ship or from land.

A telescopic device 9 having a pantograph-type inclined portion 8 as shown in FIG. 3 is attached to the front surface of the frame body 7.

The expansion/contraction device 9 is biased with a weak force in the direction of expansion by means such as a spring (not shown). A support plate 10 is attached to the tip of the telescopic device 9, and a working tool 11 is supported on the support plate 10 so that it can be moved in and out by remote control. The illustrated embodiment shows a nozzle that sprays high-pressure water for cleaning as the working tool 11, and a hose 12 for supplying high-pressure water is led from a support ship or land. The work equipment 11 includes an underwater television camera for inspection;
Repair robots and the like are used.

The work implement 11 can be moved by moving the main body 1 by rotating the wheels 3, moving the horizontal rail 6 up and down along the guide rail 5, or moving the frame body 7 laterally along the horizontal rail 6. The underwater structure 4 can be cleaned, inspected, repaired, etc. over a wide range of areas. If there is a recess on the surface of the underwater structure 4, the telescoping device 9 will extend and the working tool 1
1 enters the recess, and when there is a protrusion on the surface of the underwater structure 4, the inclined portion 8 of the telescoping device 9 hits the protrusion and is pushed, and the telescoping device 9 contracts against the urging force. , work equipment 11
will move following the protrusion. FIG. 4 shows a state in which the surface of the underwater structure 4 is an inclined surface and the working implement 11 is projected from the support plate 10, and FIG. 5 shows a state in which the surface of the underwater structure 4 is a vertical plane. The figure shows the work implement 11 being retracted so that it slightly protrudes from the support plate 10. In addition, if the work tool 11 is a nozzle that sprays high-pressure water for cleaning, use a flexible material at the tip of the nozzle to prevent vibrations caused by the high-pressure water spray, as shown in Figure 6. This makes it possible to automatically clean a wide area, and if the nozzle can be moved in and out, the nozzle can always be positioned at the optimum position even on inclined surfaces.

The telescoping device 9 is not a pantograph type, but a telescoping mechanism having an inclined guide member may be used.

[Effects of the Invention] The present invention has the effect that the telescoping device expands and contracts in accordance with the unevenness of the surface of the underwater structure, so that the work implement follows the shape of the surface of the underwater structure, making it easy to use and perform work efficiently. There is.

[Brief explanation of drawings]

Fig. 1 is a side view of one embodiment of the present invention, Fig. 2 is a front view of Fig. 1 seen from the left, Fig. 3 is a perspective view of the telescoping device, and Fig. 4
6 through 6 are side views showing how the working tool is used. In the figure, 1 is a main body, 4 is an underwater structure, 8 is an inclined part, 9 is a telescoping device, and 11 is a working tool. Patent application Hitoshi Kawajima Harima Heavy Industries Co., Ltd.

Claims (1)

[Claims] 1) A main body of an underwater working machine that moves along the surface of an underwater structure, an expansion and contraction device that is attached to the main body and has a laterally inclined portion and is biased toward the surface of the underwater structure; An underwater working device characterized by comprising: a working tool attached to the tip of a telescoping device.