JPS619391A - Foldable type robot for submerged service - Google Patents
Foldable type robot for submerged serviceInfo
- Publication number
- JPS619391A JPS619391A JP12645784A JP12645784A JPS619391A JP S619391 A JPS619391 A JP S619391A JP 12645784 A JP12645784 A JP 12645784A JP 12645784 A JP12645784 A JP 12645784A JP S619391 A JPS619391 A JP S619391A
- Authority
- JP
- Japan
- Prior art keywords
- main body
- screw shaft
- working
- operating part
- worm wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Manipulator (AREA)
Abstract
Description
【発明の詳細な説明】
〔発明の技術分野〕
本発明は、海中において各種の作業を行う海中作業ロボ
ットの改良に関するものである。DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to an improvement of an underwater work robot that performs various operations under the sea.
例えば、海中に設置された海底油田の装置の操作や海底
ケーブルの設置あるいは海底に沈没した船舶の浮」二等
の各種の作業には海中作業ロボットが使用される。For example, underwater work robots are used for various tasks such as operating equipment in offshore oil fields installed underwater, installing submarine cables, and refloating ships sunk on the ocean floor.
この海中作業ロボットは、水中における安定性を増すた
めに、本体の重心Ｇと浮力の中心Ｂの距離を大きくして
いるために常に水平姿勢を維持するようにしている。従
って、その自由度が極めて拘束された構造となっている
。In order to increase stability underwater, this underwater robot always maintains a horizontal posture by increasing the distance between the center of gravity G of the main body and the center B of buoyancy. Therefore, the structure has extremely limited degrees of freedom.
更に、本体の前部にマニピュレータを固定している関係
で、そのマニピュレータを上下させ、作業対象に直面さ
せるために、本体自体を仰伏させなければならず、その
作業姿勢が制限され、その結果として作業性が悪かった
。Furthermore, since the manipulator is fixed to the front of the main body, the main body itself has to lie on its back in order to move the manipulator up and down and face the work object, which limits its working posture. As a result, workability was poor.
例えば、９０°上向き作業を行わせる場合、バラスト調
整で直立させるには、制限されたスペース内に装置を配
置することが困難で実質上不可能である。また、マニピ
ュレータのみ９０°角度を動かずことも機構的に複雑と
なる。For example, when performing 90° upward work, it is difficult and virtually impossible to arrange the device within a limited space to make it stand upright by adjusting the ballast. Furthermore, it is mechanically complicated that only the manipulator does not move through a 90° angle.
本発明は、従来の海中作業ロボットの本体の姿勢を大き
く変更させることなく、マニピュレータの作動範囲を増
大し、作業性を向上する。１とを目的とするものである
。The present invention increases the operating range of a manipulator and improves workability without significantly changing the posture of the main body of a conventional underwater working robot. 1.
本発明は、前記目的を達成するために、本体に対し−ζ
作業部を首部を介して上下方向に揺動可能に支持すると
共に、その作業部にマニピュレータを取付り、かつ本体
の姿勢も変更させるように構成したことをたことを特徴
とするものである。In order to achieve the above object, the present invention provides -ζ for the main body.
The device is characterized in that the working part is supported so as to be swingable in the vertical direction via the neck part, and a manipulator is attached to the working part, so that the attitude of the main body can also be changed.
次に図面を参照して本発明の詳細な説明する。 Next, the present invention will be described in detail with reference to the drawings.
第１図は、海中作業ロボットＲの一例を示す斜視図であ
って、浮力体からなる本体１の前部に伸縮する酢部２を
介して作業部３が設けられている。そしてこの作業部３
にはマニピュレータ４．に只箱５．照明装置６．スチー
ルカメラ７、Ｔ’Ｖカメラ８等が設りられている。FIG. 1 is a perspective view showing an example of an underwater working robot R, in which a working part 3 is provided at the front part of a main body 1 made of a buoyant body through an extendable vinegar part 2. And this working part 3
Manipulator 4. Just a box 5. Lighting device 6. A still camera 7, a T'V camera 8, etc. are installed.
本体１は海中において、できるだけ水平位置を保持する
ように構成された浮力体であって、第２図に示すように
その中央部に支持したネジ軸１０に支持体１１を固定し
、この支持体１１に設番；たブラケット１２．ビン１３
を介して作業部３を仲秋自在に支持すると共に、支持体
１１と作業部３との間に油圧シリンダ等の駆動装置１４
を設けてこれを伸縮することによって作業部３を矢印Ａ
の方向に回動するように構成されている。そして、前記
ネジ軸１０にはウオームホイール１５がその中心孔に設
けたネジに、１：って螺合されており、このウオームホ
イール１５にウオーＪ、ギヤ１６を噛合させることに、
１、ってネジ軸１０を矢印Ｂのように前後さゼるこ点に
よって作業部３を前後さセる。１、うに構成している。The main body 1 is a buoyant body configured to maintain a horizontal position as much as possible in the sea, and as shown in FIG. Bracket number 11: 12. bottle 13
The working part 3 is freely supported through the support body 11 and the working part 3, and a driving device 14 such as a hydraulic cylinder is connected between the supporting body 11 and the working part 3.
By providing and expanding and contracting this, the working part 3 is
It is configured to rotate in the direction of. A worm wheel 15 is screwed into a screw provided in the center hole of the screw shaft 10, and a worm wheel 15 and a gear 16 are meshed with the worm wheel 15.
1. Turn the screw shaft 10 back and forth in the direction of arrow B to turn the working part 3 back and forth. 1. It is composed of sea urchins.
なお、第１図Ｇに示すように、本体Ｉには超音波通信ア
ンテナ２０．トランスポンダ２１，１０音波ビジョン２
２．後方監視テレビ２３１前後方向用、左右方向用と上
下方向用の３組の推進装置２４と４本の着座部２５が設
けられ、海底に固定されている物体を把持して本体１を
固定することができるように構成されている。In addition, as shown in FIG. 1G, the main body I is equipped with an ultrasonic communication antenna 20. Transponder 21, 10 Sound wave vision 2
2. The rear monitoring television 231 is provided with three sets of propulsion devices 24 for the front-rear direction, for the left-right direction, and for the up-down direction, and four seating sections 25, and is capable of gripping an object fixed to the seabed and fixing the main body 1. It is configured so that it can be done.
更に本体１内には、電気制御機器用耐圧容器２７・パ′
・テリ２８・減圧装置２９等の重要部
１品が設けられている。また、本体１の上部前方に、）
ノ
には、前方障害物探知ソナー３０が設けられている。Furthermore, inside the main body 1, there is a pressure-resistant container 27 for electrical control equipment.
・Important parts such as telly 28 and decompression device 29
One item is provided. Also, at the front of the upper part of main body 1)
A forward obstacle detection sonar 30 is provided in the vehicle.
前記第１図に示す海底作業ロボットＲにおいては、海底
に敷設された配管等の設備３１に着座部２５を把持させ
てマニピュレータ４によって被作業部材である弁３２を
操作している状況を示している。The submarine working robot R shown in FIG. There is.
本発明に係る？）６中作業ロボットを使用する際には、
海中作業ロボットＲを推進装置２４を操作して所定の作
業位置に前進、横進あるいは沈降さ・ｌｊ、着座部２５
を利用して本体１を設備３１に固定した状態で駆動装置
１４を操作して作業部３を仮想線で示すように仲秋させ
、それと同時にマニピュレータ４を上下させて所定の作
業を行う。Pertaining to the present invention? ) 6 When using a medium work robot,
The underwater work robot R is operated by the propulsion device 24 to advance, sideways or descend to a predetermined work position.
With the main body 1 fixed to the equipment 31 using the system, the drive device 14 is operated to move the working part 3 as shown by the imaginary line, and at the same time, the manipulator 4 is moved up and down to perform a predetermined work.
また、ウオームギヤ１６．ウオームホイール１５を回転
させることによってネジ軸１０を前進あるいは後退させ
て作業部３を前後してマニピュレータ４を操作し易くし
ながら作業を行う。Also, the worm gear 16. By rotating the worm wheel 15, the screw shaft 10 is moved forward or backward, and the work part 3 is moved back and forth to make it easier to operate the manipulator 4 while performing the work.
本発明に係る海中作業ロボットは、本体１に前部に作業
部３を首部２を介して仲秋自在に設けたので、この本体
ｌが水平な状態を保持していても、作業部３を仲秋する
ことによってマニピュレータ４を作動範囲を大幅に増加
することができる。In the underwater working robot according to the present invention, the working part 3 is provided in the front part of the main body 1 so that it can be moved freely through the neck part 2. By doing so, the operating range of the manipulator 4 can be significantly increased.
また、本体１の前後のバラスト装置によって、水平状態
から」二重に各約４５°ずつ姿勢を変更できるよ・うに
しであるため、作業部３の作業範囲は」二重各約９０°
にも達する。In addition, the ballast devices at the front and rear of the main body 1 allow the posture to be changed from the horizontal position by approximately 45 degrees in each direction, so the working range of the working section 3 is approximately 90 degrees in each direction.
reach even.
図は、本発明の実施例を示すもので、第１図は水中ロボ
ットの外観を示す斜視図、第２図は本体の前部に仲秋自
在に取付けた作業部の駆動機構の一例を示す側面図であ
る。
Ｒ・・・海中作業ロボット、１・・・本体、２・・・首
部、３・・・作業部、４・・・マニピュレータ、１０・
・・ネジ軸、１４・・・駆動装置、１５・・・ウオーム
ホイール。The figures show an embodiment of the present invention. Fig. 1 is a perspective view showing the external appearance of the underwater robot, and Fig. 2 is a side view showing an example of the drive mechanism of the working part that is freely attached to the front part of the main body. It is a diagram. R... Undersea work robot, 1... Main body, 2... Neck, 3... Working part, 4... Manipulator, 10.
... Screw shaft, 14... Drive device, 15... Worm wheel.
Claims (1)
この作業部にマニピュレータを設けると共に、本体自体
の姿勢も上下に変更させるように構成したことを特徴と
する中折れ形海中作業ロボット。The working part is supported at one end of the main body through the neck so that it can be moved up and down.
This underwater work robot is characterized by being equipped with a manipulator in the working part and configured so that the posture of the main body itself can be changed up and down.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP12645784A JPS619391A (en) | 1984-06-21 | 1984-06-21 | Foldable type robot for submerged service |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP12645784A JPS619391A (en) | 1984-06-21 | 1984-06-21 | Foldable type robot for submerged service |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS619391A true JPS619391A (en) | 1986-01-16 |
Family
ID=14935693
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP12645784A Pending JPS619391A (en) | 1984-06-21 | 1984-06-21 | Foldable type robot for submerged service |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS619391A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2001092650A1 (en) * | 2000-05-31 | 2001-12-06 | Soil Machine Dynamics Limited | Underwater earth moving machine |
| EP2657125A1 (en) * | 2010-12-22 | 2013-10-30 | Samsung Heavy Ind. Co., Ltd. | Underwater mobile apparatus and moving method thereof |
| ES2525773A1 (en) * | 2014-10-20 | 2014-12-29 | Universidad Politécnica de Madrid | Modular underwater robot (Machine-translation by Google Translate, not legally binding) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5227196A (en) * | 1975-08-28 | 1977-03-01 | Nippon Hakuyo Kiki Kaihatsu Kyokai | Vehicle for investigation bottom of water |
| US4010619A (en) * | 1976-05-24 | 1977-03-08 | The United States Of America As Represented By The Secretary Of The Navy | Remote unmanned work system (RUWS) electromechanical cable system |
| JPS56120493A (en) * | 1980-02-28 | 1981-09-21 | Fukada Sarubeeji Kk | Underwater work device |
-
1984
- 1984-06-21 JP JP12645784A patent/JPS619391A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5227196A (en) * | 1975-08-28 | 1977-03-01 | Nippon Hakuyo Kiki Kaihatsu Kyokai | Vehicle for investigation bottom of water |
| US4010619A (en) * | 1976-05-24 | 1977-03-08 | The United States Of America As Represented By The Secretary Of The Navy | Remote unmanned work system (RUWS) electromechanical cable system |
| JPS56120493A (en) * | 1980-02-28 | 1981-09-21 | Fukada Sarubeeji Kk | Underwater work device |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2001092650A1 (en) * | 2000-05-31 | 2001-12-06 | Soil Machine Dynamics Limited | Underwater earth moving machine |
| EP2657125A1 (en) * | 2010-12-22 | 2013-10-30 | Samsung Heavy Ind. Co., Ltd. | Underwater mobile apparatus and moving method thereof |
| EP2657125A4 (en) * | 2010-12-22 | 2017-05-10 | Samsung Heavy Ind. Co., Ltd. | Underwater mobile apparatus and moving method thereof |
| ES2525773A1 (en) * | 2014-10-20 | 2014-12-29 | Universidad Politécnica de Madrid | Modular underwater robot (Machine-translation by Google Translate, not legally binding) |
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