JPS63173787A - Diving machine for hoisting heavy article - Google Patents

Abstract

PURPOSE:To improve the efficiency in the heavy article hoisting work by installing a demountable type opening/closing hook which can be separated on the top edge of an expandable arm and hoisting the opening/closing hook and the heavy article by a cable after the heavy article is nipped by the opening/closing hook. CONSTITUTION:When a heavy article 20 is hoisted, said heavy article 20 is certainly caught by a demountable type opening/closing hook 8, and the hydraulic pressure in a hydraulic cylinder 14 is discharged through a vent valve. After the hydraulic pressure is discharged, a ratchet 13 is fitted with the hook of a ratchet wheel 12, and the free turn is restrained, and the opening/closing hook 8 is locked in the heavy article 8 holding state. When a diving machine 1 retreats a little, the demountable type opening/closing hook 8 is pulled, and a supporting shaft 22 pushes a pin pressing element 11, and the supporting shaft of the demountable type opening and closing hook 8 is slipped off from the top edge of an expandable arm. Therefore, the heavy article can be hoisted by taking up a cable 9 by a cable reel.

Description

[Detailed description of the invention] [Industrial application field] The present invention relates to a submersible for lifting and recovering heavy objects.

[Conventional technology]

Conventional submersible machines with manipulators use an opening/closing claw attached to the tip of the manipulator to collect objects and store them in a collection container attached to the submersible, and then the submersible floats to the surface.
Alternatively, the submersible floats to the surface while holding it with a manipulator, and retrieves the collected material onto the mother ship.

[Problem that the invention seeks to solve]

However, with this type of submersible machine equipped with a manipulator, the submersible floats up while holding the collected object.
Retrieving a large object requires a large propulsion capacity during levitation, and a high-strength manipulator that can withstand a large amount of weight, which not only increases costs but also requires a technical solution. Many points occur.

The present invention has been proposed in view of the above circumstances, and an object of the present invention is to provide a low-cost submersible for lifting and retrieving heavy objects that can also retrieve heavy objects.

[Means for solving problems]

To this end, the present invention (in a diving machine having a manipulator) includes a removable opening/closing claw that is detachably attached to the tip of the bending and extending arm, and a detachable opening/closing claw that is attached to the detachable opening/closing claw and automatically locks the opening/closing claw when separated. It is characterized by comprising an opening/closing pawl locking means for locking, and a cable whose one end is fixed to the removable opening/closing pawl and the other end is wound around a reel attached to the submersible.

[For production]

With this structure, the opening/closing claw can be separated from the bending and extending arm while the opening/closing claw securely holds the heavy object, and the cable brought by the surfaced submersible can be hoisted up by the support vessel and the opening/closing claw can be used to remove the heavy object. This makes it possible to retrieve items onto the support ship.

〔Example〕

One embodiment of the present invention will be explained with reference to the drawings. Fig. 1 is an overall side view showing a state in which a heavy object to be recovered is being gripped, and Fig. 2 shows the tip of the manipulator shown in Fig. 1. FIG. 2 is a partially enlarged longitudinal sectional view.

First, in Fig. 1, 1 is equipped with a floodlight and a TV camera 2 at the rear end, a floodlight and TV right camera in two parts of the front end, a propulsion device 4 in the middle, and a bending arm and an extension arm in the lower part. The submersible machine according to the present invention is equipped with a manipulator 7 each having a removable opening/closing claw 8. 5 is a cable reel attached to the submersible machine 1, and the cable 9 extends along the manipulator 7 via a guide sheave 6 and is removable. It is connected to the opening/closing claw 8.

Next, in FIG. 2, 10a is a disc spring that is inserted into a hole drilled in the diametrical direction in the cylindrical part 21 at the tip of the bending/extending arm of the manipulator, and biases the pin indenter 11 toward the center, and 10b is a removable type. Disc springs 10c are inserted in a pair of hydraulic cylinders 14.14 provided in the main body of the opening/closing claw 8 and bias the clasps 13.13 toward the ratchet wheel 12, respectively, and 10c is provided in the central oil hole of the bending/extending arm. The plate inserted into the oil chamber is pushed back and urges a hydraulic leakage stopper 17, which will be described later, in the closing direction. 15 are pressure equalizing holes drilled at opposite ends of the hydraulic cylinders 14 and 14, respectively;
Reference numeral 6a indicates an oil passage provided at the tip of the bending/extending arm, and 16b indicates an O IJ song fitted to the opening/closing pawl support shaft 22 fitted into the cylindrical end portion 21 of the bending/extending arm.

In such a device, in order to lift and collect the heavy object 20, first, as shown in FIG.
After firmly gripping the cylinder 14, the hydraulic pressure inside the hydraulic cylinder 14 is released through a vent valve (not shown).

Normally, hydraulic pressure is applied inside the hydraulic cylinder 14 through oil passages 16a and 16b, so the clasp 13 is in a retracted state, but when the hydraulic pressure is released, the disc spring 1
Since the clasp 13 fits into the pawl of the ratchet wheel 12 with the elasticity of 0b and restricts its free rotation, the opening/closing pawl 8 is locked while securely gripping the heavy object 20. When the clasp 14 is moved, external seawater enters the hydraulic cylinder through the pressure equalization hole 15, allowing the clasp 14 to move.

Next, when the submersible 1 moves slightly backward, the removable opening/closing claw 8 is pulled, and its support shaft 22 pushes the pin indenter 11 against the disc spring 10a.
The support shaft of the removable opening/closing claw 8 is pushed outward in the radial direction against the force, and the support shaft of the removable opening/closing claw 8 comes out of the cylindrical portion at the end of the bending/extending arm. At that time, the hydraulic leakage stopper F is attached to the disc spring 10C at the cylindrical end of the bending and extending arm.
It is pushed by the force of , and it closes the oil hole as a plug.

In this way, after separating the removable opening/closing claw 8, the submersible μm surfaces while unwinding the cable 9 using the cable reel 5, so that the maritime support ship can lift and retrieve the submersible 1 and bring it back with the surfaced diving board. The suspended cable 9 is taken out and hoisted up using the support ship's hoisting equipment to remove the heavy object 20.
to be recovered.

〔Effect of the invention〕

According to such a device, the following effects can be achieved.

(1) Without being constrained by the performance of submersibles and manipulators, the strength of the cable and the lifting and retrieving capabilities of support vessels make it possible to lift and retrieve heavy objects that were impossible to retrieve using conventional diving. Become.

(2) By simply making some modifications to existing submersibles and their manipulators, their ability to lift and retrieve heavy objects can be dramatically increased.

In short, according to the present invention, in a diving machine having a manipulator, a removable opening/closing claw is attached to the tip of the bending arm in a separable manner, and the opening/closing claw is attached to the detachable opening/closing claw and automatically locks the opening/closing claw when separated. By including an opening/closing claw locking means for locking, and a cable whose one end is fixed to the removable opening/closing claw and the other end is wound around a reel attached to the diving machine, it is possible to lift and retrieve heavy objects. The present invention is extremely useful industrially because it provides a low-cost submersible for lifting and retrieving heavy objects.

[Brief explanation of the drawing]

FIG. 1 is an overall side view showing an embodiment of the present invention, and FIG. 2 is a partially enlarged longitudinal cross-sectional view showing the tip of the manipulator shown in FIG. 1. 1. Submersible machine, 2. 3. Floodlight and camera, 4. Propulsion device, 5. Cable reel, 6. Guide sheave, 7
...Manipulator, 8.Removable opening/closing claw, 9.Cable, 10 a, b, c = disc spring, 11..Pin indenter, 12..Ratchet wheel, 13..clasp,
14...Hydraulic cylinder, 15...Pressure equalization hole, 16a, b
・・Oil passage, 17・・Hydraulic leak prevention plug, 18・・Q IJ
Song 19...Cable clasp, 20...Heavy item, 21...
・Tip cylindrical part, 22...Opening/closing claw support shaft Representative Patent attorney Masa Tsukamoto Figure 1 Figure 2

Claims (1)

[Claims] In a diving machine having a manipulator, a removable opening/closing claw detachably attached to the tip of a bending/extending arm, and an opening/closing claw locking means attached to the detachable opening/closing claw for automatically locking the opening/closing claw when separated. and a cable having one end fixed to the removable opening/closing claw and the other end wound around a reel attached to the submersible.