JP2019536676A - 海中機の安定化のための取付け機構 - Google Patents
海中機の安定化のための取付け機構 Download PDFInfo
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- JP2019536676A JP2019536676A JP2019515576A JP2019515576A JP2019536676A JP 2019536676 A JP2019536676 A JP 2019536676A JP 2019515576 A JP2019515576 A JP 2019515576A JP 2019515576 A JP2019515576 A JP 2019515576A JP 2019536676 A JP2019536676 A JP 2019536676A
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- pair
- rov
- hook
- swing arm
- worm
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- E21—EARTH OR ROCK DRILLING; MINING
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Abstract
Description
105、305、505 ・・・遠隔作業機(ROV)
107 ・・・水平パイプライン
109 ・・・垂直の向きのパイプ
110a、110b ・・・把持フック
200 ・・・ウォームギヤ駆動システム
205 ・・・モータ
207 ・・・ドライブシャフト
210 ・・・ウォームスクリュー
215 ・・・ウォームホイール
220 ・・・ウォームシャフト
225a、225b ・・・第1のベベルギヤ
230 ・・・フックシャフト
235a、235b ・・・第2のベベルギヤ
300、500 ・・・取付け機構
310、315 ・・・スラスタ
320 ・・・電動トレッド
325 ・・・剛性ホルダ
340、525 ・・・機械的止め具
345 ・・・揺動アーム
350 ・・・枢着部
355 ・・・バネ手段
360 ・・・転動部材
405、510 ・・・海中構造物
515 ・・・連結セグメント
517、518 ・・・ノッチ
520 ・・・ピン接合
530 ・・・繰出しワイヤ
535 ・・・繰出しプーリ
540 ・・・引込みワイヤ
545 ・・・引込みプーリ
Claims (11)
- 遠隔作業機(ROV)を海中構造物に固定するのに適した取付け機構であって、
回転力を発生させるモータと、
前記モータによって駆動されるウォームギヤ駆動システムであって、前記ウォームギヤ駆動システムが、
第1の端部と第2の端部とを含み、前記第1の端部が前記モータに結合され、ウォームスクリューが前記第2の端部に隣接し、前記ウォームスクリューが、その外周に沿って配置された複数の歯を有し、発生した前記回転力によって駆動されて回転するドライブシャフトと、
ウォームシャフトであって、前記ウォームシャフトの中央部分に配置されたウォームホイールを含み、前記ウォームホイールは、円周方向に溝が付けられて前記ウォームスクリューの前記複数の歯と噛合し、前記ウォームスクリューが発生した前記回転力によって駆動されるとき、それに応じて前記ウォームシャフトが回転するようにする、ウォームシャフトと、
前記ウォームシャフトの各端部に同軸上に配置された第1のベベルギヤ対であって、前記第1のベベルギヤ対はそれらのピッチ面に複数の外歯を有した前記第1のベベルギヤ対と、を含むウォームギヤ駆動システムと、
前記ROVの動作の向きに対して、水平及び垂直にある角度で、互いに鏡映化される向きに傾斜した一対の把持フックであって、各把持フックが、第1の端部と、自由端である第2の端部と、を有する、一対の把持フックと、
一対のフックシャフトであって、各フックシャフトの第1の端部が各把持フックの前記第1の端部に結合され、前記一対のフックシャフトが前記ウォームシャフトに対してある角度に向けられている、一対のフックシャフトと、
前記一対のフックシャフトと同軸であり、前記一対のフックシャフトを取り囲み、各フックシャフトの第2の端部に隣接して配置された第2のベベルギヤ対であって、前記第2のベベルギヤ対はそれらのピッチ面に複数の外歯を有した、第2のベベルギヤ対と、を含み、
前記第1のベベルギヤ対の前記外歯と前記第2のベベルギヤ対の前記外歯とが、ある噛合い角度で噛合し、
それによって、前記モータの前記回転力が前記ウォームギヤシステムから前記フックシャフトに伝達されて、前記把持フックを上昇または下降させるとともに、前記把持フックの前記第2の端部を海中構造物の周りに締め付けるようにする取付け機構。 - 前記噛合い角度が45度である、請求項1に記載の取付け機構。
- 前記第1のベベルギヤ対及び前記第2のベベルギヤ対が、22.5度のピッチ角を有する、請求項1に記載の取付け機構。
- 遠隔作業機(ROV)を海中構造物に固定するのに適した取付け機構であって、
前記ROVに取り付けられた第1の端部と、自由端である第2の端部と、を有した剛性ホルダであって、前記剛性ホルダが、前記第2の端部に配置された機械的止め具と、前記第2の端部に隣接した枢着部と、を有する剛性ホルダと、
前記枢着部において前記剛性ホルダに結合された揺動アームであって、前記揺動アームは、その中に嵌め込まれた転動部材を有し、静止方位を有する揺動アームと、
前記機械的止め具と前記揺動アームとの間に配置されたバネ手段であって、それによって前記揺動アームに引張力が与えられるバネ手段と、を含み、
前記揺動アームは、前記引張力が前記海中構造物との接触から生じる反動力に打ち勝って前記揺動アームを前記静止方位に戻すまで、前記ROVに向かって内側に回転して前記静止方位から離れるように構成される取付け機構。 - 前記剛性ホルダが、0度から180度の円弧に沿って、その第1の端部から前記第2の端部まで伸びる、請求項4に記載の取付け機構。
- 前記機械的止め具がリップを含み、前記リップは、前記揺動アームがそれを超えて回転することができない前記第2の端部の先導面とは反対側の下面を有する、請求項4に記載の取付け機構。
- 遠隔作業機(ROV)を海中構造物に固定するのに適した取付け機構であって、
複数の連結セグメントであって、前記複数の連結セグメントは、各連結セグメント間に配置される複数のピン接合によって直列に接続され、複数の連結セグメントはそれぞれ、前記複数の連結セグメントが特定の角度にかけて回転するのを防止するように構成された機械的止め具を有する、複数の連結セグメントと、
一端で繰出しプーリに接続され、前記複数のピン接合の上に、前記複数の連結セグメントを通して支持される可撓性繰出しワイヤと、
一端で引込みプーリに接続され、前記複数のピン接合の下に、前記複数の連結セグメントを通して支持される可撓性収縮ワイヤと、
前記繰出しワイヤに配置された第1の固定機構と、前記引込みワイヤに配置された第2の固定機構と、であって、前記第1の固定機構及び前記第2の固定機構が、前記繰出しワイヤ及び前記収縮ワイヤを所定の位置に固定することによって、前記複数の連結セグメントを所定の位置に固定するように構成される、第1の固定機構及び前記第2の固定機構と、を含み、
前記複数の連結セグメントを作動させるために、前記繰出しプーリ及び前記引込みプーリが回転して、前記繰出しワイヤまたは前記引込みワイヤが繰り出されるか、または引き込まれるように構成される、取付け機構。 - 第1のプーリと第2のプーリとが電動化されている、請求項7に記載の取付け機構。
- 前記第1のプーリと前記第2のプーリとがバネ付勢されている、請求項8に記載の取付け機構。
- 遠隔作業機を海中の物体表面に取り付ける方法であって、前記遠隔作業機は最初に静止方位にあり、前記遠隔作業機は、転動部材が揺動アームの中に嵌め込まれた揺動アームに結合される剛性ホルダと、前記剛性ホルダと前記揺動アームとの間に配置されるバネ手段と、を有した型であり、
前記方法は、
海中構造物の表面の第1の部分を、前記転動部材の第1の面と接触させること、
前記転動部材の前記第1の面を前記海中構造物の第2の部分に接触させるとともに、前記揺動アームを前記剛性ホルダへ向けて旋回させて、前記バネ手段における引張力を増大させる反動力を生成するように、前記遠隔作業機を前記海中構造物の方向に前進させること、
前記転動部材の前記第1の面が前記海中構造物の頂部を通り過ぎ、前記バネ手段に蓄えられた前記引張力が、前記揺動アームに加えられる前記反動力よりも大きくなるように、前記遠隔作業機を前記海中構造物の方向に前進させること、及び
前記揺動アームを、前記バネ手段内の前記引張力を解放することで、前記剛性ホルダから離れて前記静止方位の方へ逆に旋回させること、を含む方法。 - 前記揺動アームを、前記剛性ホルダから離れて前記静止方位の方へ逆に旋回させることが、前記揺動アームを、前記海中構造物の前記第1の部分にほぼ正反対に向かい合っている前記海中構造物の第3の部分に接触させる、請求項10に記載の方法。
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