KR102019053B1 - Telescopic boom crane and launch and recovery apparatus for rov lars thereof - Google Patents

Abstract

According to an embodiment of the present invention, a telescopic boom crane for launching and recovering a remotely operated vehicle (ROV) comprises: a pair of rope guides fixed on a ship to guide a rope; cantilevers coupled to lower portions of the pair of guides; arms coupled to be rotated on one side of the cantilevers on which the rope guides are guided on the cantilevers; a pair of pneumatic cylinders provided on preset positions of upper portions of the arms, and provided for the arms in a length corresponding to a length to one end of the arms; a guide unit connected to one side of the arms to horizontally guide the arms; a winding unit which is fixed and connected by the guide unit and a connection unit, has an ROV support unit horizontally connected to a support shaft vertically provided with the arms, and launches and recovers the ROV coupled to a lower side of the ROV support unit; and a first winch including a plurality of guide rollers connected to the winding unit by the rope on a lower side of the winding unit and sequentially and alternately arranged while having height differences vertically in a first direction, wherein the rope sequentially turns on the plurality of guide rollers to be connected to a second winch.

Description

Telescopic Boom Crane and Remote Submersible Retractor Using It {TELESCOPIC BOOM CRANE AND LAUNCH AND RECOVERY APPARATUS FOR ROV LARS THEREOF}

The present invention relates to a telescopic boom crane used for remote submersible forwarding, and more particularly, to a telescopic boom crane through a telescopic boom crane that can be moved back and forth and up and down by performing a remote submersible retracting boom crane and It relates to a remote submersible true-recovery device using the same.

Typically, remote submersibles (ROVs) are operated for underwater exploration or for installation, repair and rescue missions in deep waters inaccessible to divers. Remote submersibles (ROVs) are designed to deploy equipment that is released to the sea by sea, using wire-drums and structures (A-frames) located on offshore facilities or ships.

Recently, commercially available remote submersibles (ROVs) have been operating for installation, maintenance, and image acquisition of drilling equipment installed on the sea floor in the depths of 3000m deep. These remote submersibles (ROVs) are equipped with specially designed cameras, lights and a number of robotic arms to withstand the deep water pressure of the deep sea. have.

Developed for specific purposes, the remote submersible (ROV) has its own propulsion power, is compactly connected to the ship on the water via a cable, and the pilot controls the remote submersible (ROV) remotely from a control monitor installed on the ship. Done.

However, in general, there is a limit to the method of arranging a submarine to operate a remote submersible (ROV) by using a structure (A-frame) and a wire drum located on a ship or a wire drum. have. This is because when a remote submersible (ROV) is placed outside of a submarine designed structurally in a wired line, the space is limited, the speed is reduced due to the resistance of the projecting structure during operation, and the wire drum is fixedly arranged in the water. This is because there is a problem that can not exclude the effects of noise and corrosion that occur when.

In addition, in general, the structure (A-Frame) located in the marine installations or ships have a problem that the operating range is limited by the shape of the structure, the structure and the wire is operated, respectively.

The technical problem to be achieved by the present invention is to easily roam the remote submersible (ROV) by widening the operating range of the rotatable recovery when roving the remote submersible (ROV) in a ship (A-Frame) located in the sea equipment or vessel. It is to provide a telescoping boom crane and a remote submersible retractor using the same.

The technical problem to be achieved by the present invention is not limited to the technical problem mentioned above, and other technical problems not mentioned above may be clearly understood by those skilled in the art from the following description. There will be.

In order to achieve the above technical problem, an embodiment of the present invention, a pair of rope guide fixed to the vessel to guide the rope; A cantilever beam coupled to a lower portion of each of the pair of guides; An arm rotatably fastened at one side of each of the cantilever beams in which the rope guides are guided in the cantilever beams; A pneumatic cylinder provided at each of the arms provided at a predetermined position on the upper portion of the arm and having a length corresponding to a length up to one end of the arm; A guide part connected to one side of the arm to guide the arm in a horizontal direction; A remote submersible support is fixedly connected by the guide part and the connection part, and is horizontally connected to a support shaft provided in a vertical direction with the arm, and is for regressing the remote submersible coupled to the lower side of the remote submersible support. Winding; And a plurality of guide rollers connected to the winding part through the ropes and sequentially and alternately arranged with the height difference up and down along a first direction at a lower side of the winding part, wherein the ropes are provided with the plurality of guide rollers. A telescoping boom crane is provided, comprising a first winch that pivots a guide roller sequentially to be connected with a second winch.

In an embodiment of the present invention, the winding unit may include: a first pulley rotatably formed to move the rope by rotation; At least two support connecting parts extending outward from a lower end of the winding part and connected to the remote submersible support part; And a driving part formed below the support shaft, wherein the driving part is connected to the support connection part to adjust the height of the support connection part, thereby adjusting an angle between the remote submersible and the water surface connected to the remote submersible support part, The support shaft is formed in a direction perpendicular to the remote submersible support at the center of the remote submersible support, a first pulley fastening portion for fastening the first pulley is formed on the side of the support shaft, the first pulley fastening portion is the arm It may further include protruding to the center of the first pulley in the direction in which it is formed.

In an embodiment of the present invention, the cantilever includes a second pulley which is formed at a position facing the first pulley and is rotatably formed so that a rope moved through the first pulley is guided to the rope guide. can do.

In an embodiment of the invention, the rope is provided with a pair, the pair of ropes are moved to the rope guide together along the first pulley and the second pulley, the pair of ropes are separated into each It may be guided to each of the rope guides formed spaced apart.

In an embodiment of the present invention, when the pneumatic cylinder is protruding, the winding portion is lowered in the water direction, and when the protruding pneumatic cylinder is returned to its original state, the winding may be raised in a direction perpendicular to the water surface.

In an embodiment of the present invention, the guide roller may include: a first guide roller on which a rope supplied from the winding part is wound in a region below the winding part; A second guide roller disposed below the first guide roller along the first direction; A third guide roller disposed above the first guide roller along the first direction; And a fourth guide roller disposed below the second guide roller along the first direction, wherein a center axis of each of the first guide roller, the second guide roller, and the third guide roller is a second guide roller. The first guide roller may be sequentially spaced apart from each other by a predetermined interval, and the central axis of the fourth guide roller may be disposed on the same line as the central axis of the third guide roller along the second direction.

In the embodiment of the present invention, the third guide roller is connected to the hydraulic cylinder, is moved up and down along the first direction by the operation of the hydraulic cylinder, the expansion boom crane, the hydraulic pressure of the hydraulic cylinder is adjusted The hydraulic drive unit may further include.

In order to achieve the above technical problem, an embodiment of the present invention relates to a remote submersible retraction device including a telescopic boom crane provided on a ship and retracting a remote submersible, as long as it is fixed to the ship and guides a rope. Pair of rope guides; A cantilever beam coupled to a lower portion of each of the pair of guides; An arm rotatably fastened at one side of each of the cantilever beams in which the rope guides are guided in the cantilever beams; A pneumatic cylinder provided at each of the arms provided at a predetermined position on the upper portion of the arm and having a length corresponding to a length up to one end of the arm; A guide part connected to one side of the arm to guide the arm in a horizontal direction; And a remote submersible support fixedly connected by the guide part and the connection part and horizontally connected to the support shaft provided in a vertical direction with the arm, and returning the remote submersible coupled to the lower side of the remote submersible support. Winding for; A plurality of guide rollers connected to the winding part through the ropes and sequentially and alternately arranged with the height difference up and down along a first direction in the lower side of the winding part, wherein the ropes are provided in the plurality of guides. A telescoping boom crane comprising a first winch to sequentially rotate the roller so as to be connected to the second winch; And it provides a remote submersible retraction device, including a vessel on which the telescopic boom crane is installed.

In an embodiment of the present invention, the winding unit may include: a first pulley rotatably formed to move the rope by rotation; At least two support connecting parts extending outward from a lower end of the winding part and connected to the remote submersible support part; And a driving part formed below the support shaft, wherein the driving part is connected to the support connection part to adjust the height of the support connection part, thereby adjusting an angle between the remote submersible and the water surface connected to the remote submersible support part, The support shaft is formed in a direction perpendicular to the remote submersible support at the center of the remote submersible support, a first pulley fastening portion for fastening the first pulley is formed on the side of the support shaft, the first pulley fastening portion is the arm It may further include protruding to the central portion of the first pulley in the direction in which it is formed.

In an embodiment of the present invention, the cantilever includes a second pulley which is formed at a position facing the first pulley and is rotatably formed so that a rope moved through the first pulley is guided to the rope guide. can do.

In an embodiment of the invention, the rope is provided with a pair, the pair of ropes are moved to the rope guide together along the first pulley and the second pulley, the pair of ropes are separated into each It may be guided to each of the rope guides formed spaced apart.

In an embodiment of the present invention, when the pneumatic cylinder is protruding, the winding portion is lowered in the water direction, and when the protruding pneumatic cylinder is returned to its original state, the winding may be raised in a direction perpendicular to the water surface.

In an embodiment of the present invention, the guide roller may include: a first guide roller on which a rope supplied from the winding part is wound in a region below the winding part; A second guide roller disposed below the first guide roller along the first direction; A third guide roller disposed above the first guide roller along the first direction; And a fourth guide roller disposed below the second guide roller along the first direction, wherein a center axis of each of the first guide roller, the second guide roller, and the third guide roller is a second guide roller. The first guide roller may be sequentially spaced apart from each other by a predetermined interval, and the central axis of the fourth guide roller may be disposed on the same line as the central axis of the third guide roller along the second direction.

In the embodiment of the present invention, the third guide roller is connected to the hydraulic cylinder, is moved up and down along the first direction by the operation of the hydraulic cylinder, the expansion boom crane, the hydraulic pressure of the hydraulic cylinder is adjusted The hydraulic drive unit may further include.

According to an embodiment of the present invention, when the return of the remote submersible (ROV), it is possible to facilitate the return of the remote submersible (ROV) by widening the operating range of the return.

In addition, the structure (A-Frame) and the wires located in the marine facilities or vessels can be organically operated to mitigate the impact on the remote submersible when the return of the remote submersible (ROV).

In addition, by using a plurality of pulleys to move the rope connected to the remote submersible (ROV), it is possible to advance the number of remote submersible (ROV) with a small force.

The effects of the present invention are not limited to the above-described effects, but should be understood to include all the effects deduced from the configuration of the invention described in the detailed description or claims of the present invention.

1 is a block diagram of a remote submersible round water recovery system according to an embodiment of the present invention.
2 is a block diagram of a telescopic boom crane according to an embodiment of the present invention.
3 is a view showing a winding unit according to an embodiment of the present invention.
Figure 4 is a view showing a stretchable boom cradle according to an embodiment of the present invention.
5 is a view showing the operation of the telescopic boom crane according to an embodiment of the present invention.
6 is a view showing the rope movement of the telescopic boom crane according to an embodiment of the present invention.
7 is a view showing the rope movement of the telescopic boom crane according to another embodiment of the present invention.

Hereinafter, with reference to the accompanying drawings will be described the present invention. As those skilled in the art would realize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. In the drawings, parts irrelevant to the description are omitted in order to clearly describe the present invention, and like reference numerals designate like parts throughout the specification.

Throughout the specification, when a part is said to be "connected (connected, contacted, coupled)" with another part, it is not only "directly connected" but also "indirectly connected" with another member in between. "Includes the case. In addition, when a part is said to "include" a certain component, this means that it may further include other components, without excluding the other components unless otherwise stated.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. As used herein, the terms "comprise" or "have" are intended to indicate that there is a feature, number, step, action, component, part, or combination thereof described on the specification, and one or more other features. It is to be understood that the present invention does not exclude the possibility of the presence or the addition of numbers, steps, operations, components, components, or a combination thereof.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a block diagram of a remote submersible rebound system according to an embodiment of the present invention, Figure 2 is a block diagram of a stretchable boom crane according to an embodiment of the present invention.

Referring to FIG. 1, the remote submersible return system 1 may include a vessel 10, a telescopic boom crane 20, and a remote submersible 30.

The vessel 10 may be installed with a telescopic boom crane 20 for returning the remote submersible 30 to the sea. Specifically, the vessel 10 may be formed on the one side of the telescopic boom crane 20 for retracting the remote submersible (30). Here, the expansion boom crane 20 is described as being installed in the vessel 10, but is not limited to this, the expansion boom crane 20 may be installed in a port, of course.

The telescopic boom crane 20 may be installed in the ship 10 to advance the remote submersible 30. Specifically, the telescopic boom crane 20 is formed to be tightly fixed to one side of the vessel 10, the remote submersible 30 may be formed is connected to the other end of the rope formed from one side to the other side. Here, one side of the telescopic boom crane 20 is described as being closely fixed to the vessel 10 in parallel, but is not limited to this, one side of the telescopic boom crane 20 may be fixed to the vessel 10 with an acute angle. Of course. In this case, the telescopic boom crane 20 may be formed to be rotatable about the connection point connected to the vessel 10 to the axis. Alternatively, the telescopic boom crane 20 may be formed by being supported through a support shaft or a support at a position raised by a predetermined height in the vessel 10.

Here, referring to FIG. 2, the telescopic boom crane 20 includes a winding part 210, a connecting part 220, a guide part 230, an arm 240, a pneumatic cylinder 250, a cantilever 260, and Rope guide 270 may be included.

The winding unit 210 may be formed so that the upper side of the remote submersible 30 is fixed. Specifically, the lower side of the winding portion 210 is formed to be fixed in close contact with the upper side of the remote submersible 30, it is possible to mitigate the impact caused by the movement of the vessel 10 to the remote submersible 30. . A detailed description of the winding unit 210 will be described later with reference to FIG. 3.

The connection part 220 may be formed on the upper side of the winding part 210. Specifically, the connection portion 220 may be formed in parallel with the water surface at the opposite side end of the winding portion 210 is in close contact with the remote submersible 30. Preferably, the connection part 220 is formed in a bar shape such as a rectangular parallelepiped, and the center of the bar may be connected to the upper side of the winding part 210.

The guide part 230 may be fixedly connected to both side ends of the connection part 220. Specifically, the guide portion 230 is formed in a pair, each may be provided parallel to the water surface in a direction perpendicular to the connecting portion 220 at both side ends of the connecting portion 220. The guide portion 230 may include a guide rail for the arm 240 to be guided. For example, the guide part 230 may have a quadrangular cross section having a columnar shape (eg, a hexahedron), and may include a guide rail on at least one surface thereof.

Arm 240 may be guidedly connected to the guide portion 230. In detail, the arms 240 may be formed in pairs, and may be formed to be guided by the guides 230, respectively, positioned above the guides 230 formed in pairs.

One side of the arm 240 may be formed to be connected to the guide portion 230, and the other side thereof may be formed to be connected to the cantilever 260. In detail, the arm 240 may be connected to the guide rail formed on the guide part 230 at a predetermined distance from the connection part 220 and the guide part 230 in the other direction so as to be guideable. For example, the arm 240 may have a protrusion formed to correspond to the guide rail formed as the groove in the guide portion 230 to be guided along the groove of the guide rail.

The other side of the arm 240 may be formed to be connected to one side of the cantilever 260. For example, the other side of the arm 240 may be formed in a shape corresponding to a hole formed on one side of the cantilever 260, and may be engaged with the cantilever 260 by a fastening member such as a bolt.

Arm 240 may be a pneumatic cylinder 250 is fastened to the upper side. To this end, a portion of the upper side of the arm 240 may protrude. For example, the arm 240 may be formed by protruding a position corresponding to the length of the pneumatic cylinder 250 with respect to the other side of the arm 240.

One side of the pneumatic cylinder 250 may be connected to the upper side of the arm 240, the other side of the pneumatic cylinder 250 may be connected to the cantilever 260. At this time, the pneumatic cylinder 250 may be composed of a combination of the outer cylinder and the inner cylinder. Here, the outer cylinder may provide a cylinder rod through which the inner cylinder is moved.

The inner cylinder of the pneumatic cylinder 250 is fixedly connected to the upper side of the arm 240, the outer cylinder of the pneumatic cylinder 250 may be fixedly connected to one side of the cantilever 260. Accordingly, the inner cylinder moves along the cylinder rod provided to the outer cylinder, and the length of the pneumatic cylinder 250 can be extended or returned to its original state.

For example, when the inner cylinder of the pneumatic cylinder 250 protrudes to the outside and the length of the pneumatic cylinder 250 becomes long, the winding part 210 descends downward in correspondence with the protruding length of the pneumatic cylinder 250, When the inner cylinder of the pneumatic cylinder 250 is inserted into the outer cylinder and the length of the pneumatic cylinder 250 is shortened, the winding part 210 may rise upward in response to the shortened length of the pneumatic cylinder 250. However, when the length of the pneumatic cylinder 250 is shortened to the maximum, the winding portion 210 may be horizontal to the arm 240.

Cantilever 260 may be connected to arm 240 and pneumatic cylinder 250. Specifically, one side of the cantilever 260 is a fixed end fixed to the arm 240 and the pneumatic cylinder 250, the other side of the cantilever 260 may be a free end to rotate up and down by the pneumatic cylinder (250).

The rope guide 270 may guide the rope. Specifically, the rope guide 270 is connected to the vessel, is formed in a pair, may be coupled to the upper portion of the cantilever 260 to guide the rope. Specific details of guiding the rope in the rope guide 270 will be described with reference to FIG. 4.

The remote submersible 30 may be retracted through the telescopic boom crane 20. Specifically, the remote submersible 30 is connected to the rope, can be retracted by the operation of the telescopic boom crane 20 is connected to the vessel (10).

3 is a view showing a winding unit according to an embodiment of the present invention.

Referring to FIG. 3, the winding unit 210 may be connected to the arm 240 and connected to the remote submersible 30 on the other side to advance the remote submersible 30. The winding unit 210 is a remote submersible support 211, the support shaft 212, the connecting groove 213, the first pulley fastening portion 214, the first pulley 215, the first pulley rotating shaft 216, It may include a driver 217 and a support connection 218.

The remote submersible support 211 may be formed so that the upper side of the remote submersible 30 is fixed. Specifically, the lower side of the remote submersible support 211 is formed in a circular band shape so that the upper side of the remote submersible 30 is in close contact and fixed, the diameter of the circular remote submersible connected to the lower side of the remote submersible support (211) 30) can be formed to a diameter sufficient to support. However, the present invention is not limited to a circular band shape, and may include all other shapes capable of supporting the components disposed on the upper side such as a quadrangle and a plate shape. The remote submersible support 211 is formed to be closely fixed to the upper side of the remote submersible 30 as described above can mitigate the impact caused by the movement of the ship 10 to the remote submersible 30.

The support shaft 212 may be formed in a direction perpendicular to the remote submersible support 211 at the center of the remote submersible support 211. Specifically, the support shaft 212 is formed in the center of the remote submersible support 211 is formed to be connected to the connecting portion 220, it may be formed to be connected to the remote submersible support 211.

The support shaft 212 may be formed such that an upper side thereof is connected to the connection part 220. Specifically, the upper side of the support shaft 212 is formed with a connection groove 213 may be connected to the connection portion 220. For example, the support shaft 212 is formed in the shape of a rod of a rectangular parallelepiped, and both sides of the upper portion are provided with extension portions facing each other, and the extension portion has a connection groove 213 formed at a position corresponding to each other. Can be.

The support shaft 212 may be provided with a first pulley fastening part 214 for fastening the first pulley 215 to the side surface. In detail, the first pulley coupling part 214 may protrude from one side of the support shaft 212 in the direction in which the arm 240 is formed. In this case, the protruding portion may protrude up to the center of the first pulley 215 and the first pulley rotation shaft 216 may be provided. Accordingly, the first pulley rotation shaft 216 may be connected to the center of the first pulley 215 to rotate the first pulley 215. In addition, the first pulley fastening portion 214 protrudes from two points of the support shaft 212 in order to withstand the load due to the weight of the first pulley 215 in a triangular shape that meets at the first pulley rotation shaft 216. Can be formed.

The first pulley 215 may be fastened to the first pulley fastening part 214. In detail, the first pulley 215 may be formed in a circular shape, and the center of the circular shape may be fastened with the first pulley fastening part 214 formed by protruding from the support shaft 212.

The driving unit 217 may be formed below the support shaft 212. In detail, the driving unit 217 may be formed under the support shaft 212 and connected to the remote submersible support 211 through the support connecting unit 218. The driving unit 217 is connected to the support connecting portion 218, by adjusting the height of the support connecting portion 218, it is possible to adjust the angle between the remote submersible 30 and the water surface connected to the remote submersible support 211.

Here, the support connecting portion 218 may be composed of a first support connecting portion 218a and a second support connecting portion 218b, and the first supporting connecting portion 218a and the second supporting connecting portion 218b are formed in a pneumatic cylinder shape. However, the present invention is not limited thereto and may be formed in various extension structures. Specifically, the first support connecting portion 218a and the second supporting connecting portion 218b may be rotatably connected by a hinge, the first supporting connecting portion 218a is connected to the driving portion 217, and the second supporting connecting portion 218 218b may be connected to the remote submersible support 211. As the first support connecting portion 218a and the second supporting connecting portion 218b are rotated by the hinges, and the first supporting connecting portion 218a and the second supporting connecting portion 218b are straightened in a straight line, the driving unit 217 moves upward. You can. Similarly, as the inner angles of the first support connecting portion 218a and the second support connecting portion 218b become an acute angle, the driving unit 217 may be moved downward.

4 is a view showing a telescopic boom crane according to an embodiment of the present invention.

Referring to Figure 4, the telescopic boom crane 20, the telescopic boom crane 20 is the winding portion 210, the connecting portion 220, the arm 240, pneumatic cylinder 250, cantilever 260 and rope Guide 270 may be included.

Here, components that are not described in FIGS. 2 to 3 will be described in detail.

The winding unit 210 may be formed to be closely fixed to the upper side of the remote submersible 30, and may be connected to the connection unit 220. The connection part 220 may be connected to the winding part 210, and the guide part 230 may be fixedly connected to both side ends. Arm 240 is formed so that one side is connected to the guide portion 230, the other side may be formed is connected to the cantilever 260. Pneumatic cylinder 250 may be formed by one side is connected to the upper side of the arm 240, the other side is connected to the cantilever 260.

Cantilever 260 may be connected to arm 240 and pneumatic cylinder 250. Specifically, one side of the cantilever 260 is a fixed end fixed to the arm 240 and the pneumatic cylinder 250, the other side of the cantilever 260 may be a free end to rotate up and down by the pneumatic cylinder (250).

The cantilever 260 may be formed with a rope guide support 262 for supporting and fixing the rope guide 270 formed on the upper surface. Specifically, the cantilever 260 may be formed with a rope guide support 262 for supporting the rope guide 270 so that the rope guide 270 is not separated from the cantilever 260 by external force.

The cantilever 260 is formed in pairs to correspond to the arms 240 formed as a pair, and a support frame perpendicular to a portion connected to the arm 240 may be formed. The cantilever 260 may have a second pulley 264 formed below the vertical support frame. Specifically, the cantilever 260 is formed in a position facing the first pulley 215, the rope is moved through the first pulley 215 to the rope guide 270 is formed on the upper side of the cantilever 260. A second pulley 264 rotatably formed to be guided may be formed. Preferably, the second pulley 264 is formed at a position facing the first pulley 215, and may be formed to be longer than the distance between the first pulley 215 and the water surface and away from the water surface.

That is, the telescopic boom crane 20 guides the rope through the first pulley 215, the second pulley 264, and the rope guide 270, so that the number of rounds of the remote submersible 30 connected to the other end of the rope is extended. Will be able to. Details of the operation of the rope through the first pulley 215, the second pulley 264, and the rope guide 270 of the telescopic boom crane 20 will be described later with reference to FIG. 6.

5 is a view showing the operation of the telescopic boom crane according to an embodiment of the present invention.

Referring to FIG. 5A, FIG. 5A shows that the arm 240 of the telescopic boom crane 20 is guided along the guide portion 230 so that the cantilever 260 moves forward. to be.

Arm 240 may be guided along the guide line of guide portion 230. Accordingly, the cantilever 260 connected to the other end of the arm 240 can also move forward and backward together. Specifically, the cantilever 260 moves forward together when the arm 240 is advanced along the guide portion 230, and moves backward when the arm 240 moves backward. For example, as shown in FIG. 5A, the telescopic boom crane 20 may be positioned at the position B when the arm 240 is advanced at the position A. FIG.

Through this, when the telescopic boom crane 20 is retracted when the remote submersible 30 is retracted through the rope at the end of the winding unit 210, the retractable operation range is widened to facilitate the remote submersible 30 easily. You can do it.

5 (b) is a view showing that the support shaft 212 of the telescopic boom crane 20 is operated in accordance with the operation of the support connecting portion 218, the angle of the arm 240 is adjusted.

The support shaft 212 may be formed with a driving unit 217 on the lower side. Specifically, the driving unit 217 is formed below the support shaft 212, the driving unit 217 is connected to the support connecting portion 218, and adjusts the height of the support connecting portion 218 to the water surface of the arm 240. The angle of may be adjusted by A of FIG. 5 (b).

Here, the support connecting portion 218 may be composed of a first support connecting portion 218a and a second support connecting portion 218b, and the first supporting connecting portion 218a and the second supporting connecting portion 218b are formed in a pneumatic cylinder shape. However, the present invention is not limited thereto and may be formed in various extension structures. As the first support connecting portion 218a and the second supporting connecting portion 218b are rotated by the hinges, and the first supporting connecting portion 218a and the second supporting connecting portion 218b are straightened in a straight line, the driving unit 217 moves upward. You can. Similarly, as the inner angles of the first support connecting portion 218a and the second support connecting portion 218b become an acute angle, the driving unit 217 may be moved downward.

6 is a view showing the rope movement of the telescopic boom crane according to an embodiment of the present invention.

Referring to FIGS. 6A and 6B, a pair of ropes used in the telescopic boom crane 20 may be guided through the rope guide 270. The rope starting from the vessel is guided through the rope guide 270, meets as one rope in the second pulley 264, guided along the other side and the lower side of the second pulley 264, the first pulley 215 Guided by). The rope guided by the first pulley 215 is guided along the upper side and one side of the first pulley 215.

That is, the pair of ropes connected to the remote submersible 30 are guided along the rope guide 270, respectively, and are coupled to one rope in the second pulley 264, and the second pulley 264 and the first pulley. By moving by the operation of 215, it is possible to advance the remote submersible 30.

Through this, the telescopic boom crane 20 by using a plurality of pulleys to move the rope connected to the remote submersible 30, it is possible to advance the number of remote submersible 30 with a small force. In addition, the telescopic boom crane 20 may be organically operated with a rope to mitigate the impact applied to the remote submersible when the remote submersible 30 is retreated.

7 is a view showing the rope movement of the telescopic boom crane according to another embodiment of the present invention.

Referring to FIG. 7, the stretchable boom crane 20 may be connected to the first winch 40 installed on the ship 10 by a rope. In the exemplary embodiment of the present invention, the first winch 40 is described as including four guide rollers 404, 406, 408, and 410, but is not limited thereto, and the first winch 40 is at least one. It may be formed including the above guide roller.

The first winch 40 is formed in the vessel 10, it may be connected to the telescopic boom crane 20 through a rope. In addition, the first winch 40 may be formed such that the rope is connected to the second winch 50 by sequentially turning the plurality of guide rollers. In detail, the first winch 40 may include a housing 402 connected to the telescopic boom crane 20, and a plurality of guide rollers may be formed on one side of the housing 402. For example, the first winch 40 may be formed to include a plurality of guide rollers are arranged alternately with the height difference up and down along the first direction. Here, the first direction will be described with reference to FIG. 7 in the vertical direction and the horizontal direction perpendicular to the first direction as the second direction.

The first winch 40 may be connected to the winding unit 210 through a rope at a lower side of the winding unit 210. In detail, the first winch 40 may include a first guide roller 404, a second guide roller 406, a third guide roller 408, and a fourth guide roller 410.

In the first guide roller 404, a rope supplied from the winding unit 210 may be wound in one region.

The second guide roller 406 may be disposed below the first guide roller 404 along the first direction. In addition, the second guide roller 406 may be spaced apart from the first guide roller 404 by a predetermined distance along the second direction. That is, the second guide roller 406 may be disposed on the left side in the second direction than the first guide roller 404.

The third guide roller 408 may be disposed above the first guide roller 404 along the first direction. In addition, the third guide roller 408 may be disposed on the left side in the second direction than the second guide roller 206.

The fourth guide roller 410 may be disposed below the second guide roller 406 along the first direction.

In this case, the central axes of each of the first guide roller 404, the second guide roller 406, and the third guide roller 408 may be sequentially spaced apart by a predetermined interval along the second direction. In addition, the central axis of the fourth guide roller 410 may be disposed on the same line as the central axis of the third guide roller 408 along the second direction.

Here, the first winch 40 is described as being connected to the winding unit 210 and the rope, but is not limited thereto, and the rope connected to the first winch 40 is the winding unit 210 through the rope guide 270. Of course, it can be connected to).

The third guide roller 408 may be connected to the hydraulic cylinder 412. Specifically, the third guide roller 408 is connected to the hydraulic cylinder 412 at the lower end, it may be formed to move up and down in the first direction by the operation of the hydraulic cylinder 412. Here, the hydraulic cylinder 412 may be operated by the operation of the hydraulic drive unit 60.

For example, the hydraulic cylinder 412 may move the third guide roller 408 up and down according to the feeding speed or the feeding length of the rope to be wound. In detail, when the rope supplied from the winding part 210 hangs up, the third guide roller 408 may rise to prevent the rope from hanging out. That is, by increasing the length of the rope turning the second guide roller 406, the third guide roller 408 and the fourth guide roller 410, sagging of the rope can be prevented.

The foregoing description of the present invention is intended for illustration, and it will be understood by those skilled in the art that the present invention may be easily modified in other specific forms without changing the technical spirit or essential features of the present invention. will be. Therefore, it should be understood that the embodiments described above are exemplary in all respects and not restrictive. For example, each component described as a single type may be implemented in a distributed manner, and similarly, components described as distributed may be implemented in a combined form.

The scope of the present invention is represented by the following claims, and it should be construed that all changes or modifications derived from the meaning and scope of the claims and their equivalents are included in the scope of the present invention.

1: remote submersible round return system
10: ship
20: telescopic boom crane
30: remote submersible
40: first winch
50: second winch
60: hydraulic drive unit
210: winding part
211 remote submersible support
212 support shaft
213: Connecting groove
214: first pulley fastening portion
215: first pulley
216: first pulley rotation axis
217: drive unit
218: support connection
220: connection
230: guide part
240: arm
250: pneumatic cylinder
260 cantilever
262: rope guide support
264: 2nd pulley
270: Rope Guide
402: housing
404: first roller
406: second roller
408: third roller
410: fourth roller
412: hydraulic cylinder

Claims (14)

A pair of rope guides fixed to the vessel to guide the ropes;
A cantilever beam coupled to a lower portion of each of the pair of guides;
An arm rotatably fastened at one side of each of the cantilever beams in which the rope guides are guided in the cantilever beams;
A pneumatic cylinder provided at each of the arms provided at a predetermined position on the upper portion of the arm and having a length corresponding to a length up to one end of the arm;
A guide part connected to one side of the arm to guide the arm in a horizontal direction;
A remote submersible support is fixedly connected by the guide part and the connection part, and is horizontally connected to a support shaft provided in a vertical direction with the arm, and is for regressing the remote submersible coupled to the lower side of the remote submersible support. Winding; And
A plurality of guide rollers connected to the winding part through the ropes and sequentially and alternately arranged with the height difference up and down along a first direction in the lower side of the winding part, wherein the ropes are provided in the plurality of guides. A first winch that pivots the roller sequentially so as to connect with the second winch;
The winding unit,
A first pulley rotatably formed so that the rope is moved by rotation;
At least two support connecting parts extending outward from a lower end of the winding part and connected to the remote submersible support part; And
It includes a drive unit formed on the lower side of the support shaft,
The driving unit is connected to the support connecting portion to adjust the height of the support connecting portion, thereby adjusting the angle between the remote submersible and the water surface connected to the remote submersible support,
The support shaft is formed in a direction perpendicular to the remote submersible support at the center of the remote submersible support,
A first pulley fastening part for fastening the first pulley is formed on a side of the support shaft, wherein the first pulley fastening part further includes protruding to a central portion of the first pulley in a direction in which the arm is formed. Boom crane.
delete The method of claim 1,
The cantilever, the telescopic boom crane is formed in a position facing the first pulley, and includes a second pulley rotatably formed so that a rope moved through the first pulley is guided to the rope guide.
The method of claim 3,
The rope is provided with a pair,
The pair of ropes are moved together along the first and second pulleys to the rope guide, and the pair of ropes are respectively guided to each of the rope guides formed separately and spaced apart. .
The method of claim 1,
When the pneumatic cylinder is protruding, the winding portion is lowered in the water direction, and when the projecting pneumatic cylinder is returned to its original state, the winding portion rises in the direction perpendicular to the water surface, expansion and contraction boom crane.
The method of claim 1,
The guide roller,
A first guide roller on which a rope supplied from the winding part is wound in one area under the winding part;
A second guide roller disposed below the first guide roller along the first direction;
A third guide roller disposed above the first guide roller along the first direction; And
Further comprising: a fourth guide roller disposed below the second guide roller along the first direction,
The central axis of each of the first guide roller, the second guide roller and the third guide roller are sequentially spaced apart a predetermined interval along the second direction,
The center axis of the fourth guide roller is arranged in the same line as the center axis of the third guide roller along the second direction, the telescopic boom crane.
The method of claim 6,
The third guide roller is connected to the hydraulic cylinder, is moved up and down along the first direction by the operation of the hydraulic cylinder,
The telescopic boom crane, the telescopic boom crane further comprises a hydraulic drive for adjusting the hydraulic pressure of the hydraulic cylinder.
The present invention relates to a remote submersible retractor device including a telescopic boom crane provided to a ship to retreat a remote submersible.
A pair of rope guides fixed to the vessel to guide the ropes; A cantilever beam coupled to a lower portion of each of the pair of guides; An arm rotatably fastened at one side of each of the cantilever beams in which the rope guides are guided in the cantilever beams; A pneumatic cylinder provided at each of the arms provided at a predetermined position above the arm and having a length corresponding to the length up to one end of the arm; A guide part connected to one side of the arm to guide the arm in a horizontal direction; And a remote submersible support fixedly connected by the guide part and the connection part and horizontally connected to the support shaft provided in a vertical direction with the arm, and returning the remote submersible coupled to the lower side of the remote submersible support. Winding for; A plurality of guide rollers connected to the winding part through the ropes and sequentially and alternately arranged with the height difference up and down along a first direction in the lower side of the winding part, wherein the ropes are provided in the plurality of guides. A telescoping boom crane comprising a first winch to sequentially rotate the roller so as to be connected to the second winch; And
It includes a vessel in which the expansion boom crane is installed,
The winding unit,
A first pulley rotatably formed so that the rope is moved by rotation;
At least two support connecting parts extending outward from a lower end of the winding part and connected to the remote submersible support part; And
It includes a drive unit formed on the lower side of the support shaft,
The driving unit is connected to the support connecting portion to adjust the height of the support connecting portion, thereby adjusting the angle between the remote submersible and the water surface connected to the remote submersible support,
The support shaft is formed in a direction perpendicular to the remote submersible support at the center of the remote submersible support,
A first pulley fastening part for fastening the first pulley is formed on a side of the support shaft, wherein the first pulley fastening part further comprises protruding to a central portion of the first pulley in a direction in which the arm is formed. Submersible round return device.
delete The method of claim 8,
And the cantilever is formed at a position facing the first pulley, and includes a second pulley rotatably formed so that a rope moved through the first pulley is guided to the rope guide.
The method of claim 10,
The rope is provided with a pair,
The pair of ropes are moved together along the first and second pulleys to the rope guide, and the pair of ropes are respectively guided to each of the rope guides formed separately and spaced apart. Recovery device.
The method of claim 8,
And the winding portion is lowered in the water direction when the pneumatic cylinder is protruded, and when the protruding pneumatic cylinder returns to its original state, the winding portion is raised in a direction perpendicular to the water surface.
The method of claim 8,
The guide roller,
A first guide roller on which a rope supplied from the winding part is wound in one area under the winding part;
A second guide roller disposed below the first guide roller along the first direction;
A third guide roller disposed above the first guide roller along the first direction; And
Further comprising: a fourth guide roller disposed below the second guide roller along the first direction,
The central axis of each of the first guide roller, the second guide roller and the third guide roller are sequentially spaced apart a predetermined interval along the second direction,
The central axis of the fourth guide roller is disposed in the same line as the central axis of the third guide roller in the second direction, remote submersible retractor.
The method of claim 13,
The third guide roller is connected to the hydraulic cylinder, is moved up and down along the first direction by the operation of the hydraulic cylinder,
The telescopic boom crane further comprises a hydraulic drive for adjusting the hydraulic pressure of the hydraulic cylinder, remote submersible retractor.

Images