JP2012206602A - Underwater sailing body lifting and recovery method, and underwater sailing body lifting and recovery system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an underwater sailing body lifting and recovery method capable of lifting and recovering an underwater sailing body in a short period of time without increasing weight when lifting and recovering the underwater sailing body as much as possible.SOLUTION: In this lifting and recovery method, an attaching bracket wound with a guide rope 40 is fixed to the underwater sailing body 1 by a self-traveling RODD (Remote Operated Docking Device) 9 under the surface of the water, the RODD 9 is navigated to a mother ship 3 while delivering the guide rope 40, the guide rope 40 is delivered to the mother ship 3 from the RODD 9, a distal end of a lifting rope 44 is connected with one end of the guide rope 40 delivered to the mother ship 3, the another end of the guide rope 40 is drawn to the mother ship 3 side to guide the distal end of the lifting rope 44 connected with the one end of the guide rope 40 to the underwater sailing body 1, the distal end of the lifting rope 44 is fixed to the attaching bracket fixed to the underwater sailing body 1, the lifting rope 44 is pulled to the mother ship 3 side, and thereby the underwater sailing body 1 is lifted together with the attaching bracket to the mother ship 3 side.

Description

  TECHNICAL FIELD The present invention relates to an underwater vehicle collection method and an underwater vehicle collection system.

For example, underwater vehicles are used to search for seabed resources. Such an underwater vehicle is unmanned and self-propelled, and there is a demand for a method of recovering safely and quickly to a mother ship after a predetermined search is completed. As a method for picking up such an underwater vehicle, a method of fixing a pull-up rope to the underwater vehicle in water under the influence of waves as disclosed in Patent Document 1 is disclosed. Yes.
In this document, an underwater fitting base with a pull-up rope fixed at the upper end is positioned on the underwater vehicle, and the hydraulic cylinder and locking arm provided on the underwater fitting frame are fitted into the fittings of the underwater vehicle. By combining them, the pull-up rope is fixed to the underwater vehicle.

JP-A-10-305798

However, the lifting method described in the same document is designed to pull up the underwater vehicle together with the underwater fitting base equipped with a hydraulic cylinder, a locking arm, etc. It is also necessary to pull up the underwater fitting rack. Therefore, there is a problem that a lifting device such as a crane or a winch becomes large. In addition, there is a problem that it takes time to work because a heavy object is picked up.
Moreover, since the underwater vehicle described in the same document is a cable type connected by a tether cable, it is easy to guide the underwater fitting hardware to the underwater vehicle. However, there is no mention of the method of lifting the underwater vehicle when the underwater vehicle is not connected to a tether cable and is considered to be unlined.

  The present invention has been made in view of such circumstances, and increases the weight of the underwater vehicle when it is pulled up as much as possible, even if it is an underwater vehicle. It is an object of the present invention to provide an underwater vehicle pick-up method and an underwater vehicle pick-up system that can be picked up in a short time.

In order to solve the above problems, the underwater vehicle collection method and the underwater vehicle collection system of the present invention employ the following means.
That is, the underwater vehicle landing method according to the present invention is a mounting hardware fixing for fixing an attachment hardware around a guide rope to an underwater vehicle by a self-propelled underwater work vehicle under the surface of the water. A guide rope delivery step for navigating the underwater work vehicle to a mother ship while unwinding the guide rope, and delivering the guide rope from the underwater work vehicle to the mother ship; A pull-up rope attachment step for attaching the tip of the pull-up rope to one end of the passed guide rope, and the pull-up attached to the one end of the guide rope by pulling the other end of the guide rope toward the mother ship side A pull-up rope fixing step for guiding the tip of the rope to the underwater vehicle and fixing the tip of the pull-up rope to the attachment hardware fixed to the underwater vehicle; By pulling in the mother ship side Te, and having an underwater vehicle pulling step of pulling the underwater vehicle on the mother ship side together with the mounting hardware.

  Also, the underwater vehicle lifting system according to the present invention fixes an attachment hardware around the guide rope to the underwater vehicle by a self-propelled underwater work vehicle under the surface of the water. The underwater work vehicle is navigated to the mother ship while the underwater work vehicle is extended, and the guide rope is transferred from the underwater work vehicle to the mother ship, and is pulled up to one end of the guide rope delivered to the mother ship. The tip of the pull-up rope attached to the one end of the guide rope is guided to the underwater vehicle by pulling the other end of the guide rope to the mother ship side, and the underwater navigation The underwater vehicle is lifted to the mother ship side together with the mounting hardware by fixing the tip of the lifting cable to the mounting hardware fixed to the body and pulling the lifting cable to the mother ship side. The underwater vehicle is moved by the mother Characterized by launch and recovery to.

After fixing the mounting hardware around which the guide rope is hung by the underwater vehicle for work to the underwater vehicle, the guide rope is delivered to the mother ship while the guide rope is extended. Then, the tip of the pulling rope is attached to one end of the guide rope, and the other end of the guide rope is drawn to the mother ship side, thereby guiding the tip of the pulling rope together with one end of the guide rope to the underwater vehicle. The tip of the tow rope led to the underwater vehicle is fixed to a mounting hardware fixed to the underwater vehicle, and the underwater vehicle is attached to the mother ship along with the mounting hardware by pulling this pulling cable to the mother ship side. I decided to raise it to the side.
The mounting hardware only needs to have a portion around which the guide rope is hung and a fixed portion fixed to the underwater vehicle. Do not need. Therefore, since the weight can be reduced by simplifying the mounting hardware, even if it is lifted together with the underwater vehicle, the weight does not increase significantly. Accordingly, a lifting device (for example, a crane or a winch) having an ability to raise the weight equivalent to that of the underwater vehicle is sufficient, and a large-capacity lifting device is not required.
In addition, since the underwater vehicle can be withdrawn by attaching the mounting hardware by the underwater vehicle for work, it can also be used for an underwater vehicle that is not connected to a tether cable. .
Separately, the pull-up cable for lifting heavy objects and the guide cable for guiding the pull-up cable to fix the pull-up cable to the underwater vehicle. Thereby, since the design tension | tensile_strength added to a guide rope can be set smaller than a pulling-up rope, the diameter of a guide rope can be made small. Therefore, it is not necessary to require an excessive capacity and a housing part for the underwater work vehicle that carries the guide rope together with the mounting hardware, and the underwater work vehicle can be downsized.

  Furthermore, according to the underwater vehicle lifting system of the present invention, a lifting hardware attached to the one end of the guide cable is provided at a tip portion of the lifting rope, and the mounting hardware is used for the lifting A receiving portion that receives the lifting hardware when the hardware is pulled in by the guide rope, and a regulation portion that restricts the movement of the lifting hardware in a tension direction applied when the lifting rope is pulled up. It is characterized by.

The lifting rope is fixed to the mounting hardware by the restricting part that receives the lifting metal at the tip of the lifting rope drawn in by the guide rope and restricts the movement in the tension direction applied when pulling up the lifting rope. become. Thus, even if the pulling direction of the guide rope is different from the pulling direction of the pulling rope, the tip of the pulling rope can be fixed to the mounting hardware.
In addition, as a control part which controls the movement of the metal for picking up, the nail | claw part etc. which engage with the metal for picking up are mentioned, for example.

  Furthermore, according to the underwater vehicle lifting system of the present invention, when the tension is applied to the mounting hardware when the lifting rope is pulled up, the movement of the lifting hardware is restricted by the restriction portion. And a rotating shaft that rotates in the tension direction.

  When the tension is applied when pulling up the pulling rope, the lifting hardware is equipped with a rotating shaft that rotates in the tension direction while being restricted by the restricting section, so that the lifting hardware is oriented in the tension direction. Can do. Thereby, since the tension | tensile_strength from a pulling-up rope is transmitted to an attachment hardware and an underwater vehicle via a lifting metal, an underwater vehicle can be pulled up smoothly.

  Furthermore, according to the underwater vehicle lifting system of the present invention, the receiving portion is formed with an insertion hole having a diameter smaller than that of the lifting hardware while the guide cable is inserted therethrough. Features.

  Since the insertion hole through which the guide cable is inserted is formed in the receiving part, the lifting hardware attached to the guide cable can be smoothly guided to the receiving part. Further, since the insertion hole has a smaller diameter than the lifting hardware, the lifting hardware can be received.

  Further, according to the underwater vehicle collection system of the present invention, the underwater vehicle includes an engaged portion, and the attachment hardware includes an engaging portion that engages with the engaged portion. It is characterized by having.

  Since the engagement portion that engages with the engaged portion fixed to the underwater vehicle is provided on the attachment hardware, the attachment hardware can be fixed to the underwater vehicle with a simple configuration. .

  Furthermore, according to the underwater vehicle retracting system of the present invention, the mounting hardware includes a gripped portion that is gripped by the underwater vehicle for underwater work.

  Since the gripped portion to be gripped by the underwater work traveling body is provided in the attachment hardware, the attachment hardware can be easily grasped by the underwater work navigation body.

  Furthermore, according to the underwater vehicle landing system of the present invention, the underwater vehicle includes a holding portion that is held by the underwater work vehicle.

  Since the grip portion to be gripped by the underwater vehicle is provided in the underwater vehicle, the workability when fixing the mounting hardware to the underwater vehicle is improved.

  Furthermore, according to the underwater vehicle recovery system of the present invention, the engaged portion and / or the holding portion is provided at the tip of the underwater vehicle and covered by the tip cover. It is characterized by being.

  Since the engaged portion and / or the holding portion are provided at the tip of the underwater vehicle and covered with the tip cover, the engaged portion and / or the holding portion are exposed during normal navigation of the underwater vehicle. do not do. Therefore, there is no resistance during navigation of the underwater vehicle.

  Further, according to the underwater vehicle lifting system of the present invention, the tip cover is removable at the time of picking up, and the water is between the tip cover and the underwater vehicle body. A connecting line for connecting the tip cover to the middle traveling body is provided.

The tip end cover is removed at the time of lifting, and the tip end cover after being removed is kept connected to the underwater vehicle body by the connecting rope. Thereby, the loss of the tip cover can be avoided. In addition, the underwater work vehicle may grip the connecting rope when the holding portion cannot be gripped.
The removal of the tip cover is performed by, for example, a blast bolt.
In addition, a buoyancy body may be attached to the tip cover, and after removal, it may be positioned directly above the underwater vehicle. As a result, the connecting rope can be easily grasped by the underwater work vehicle.

According to the present invention, it is sufficient that the mounting hardware has a portion around which the guide rope is hung and a fixing portion fixed to the underwater vehicle, and is transported and fixed by the underwater vehicle. Therefore, since the self-propelled function is not required, the weight can be reduced by simplifying the mounting hardware. Therefore, even if the mounting hardware is lifted together with the underwater vehicle, the weight does not increase significantly, so that the lifting operation can be performed in a short time without requiring a large-capacity lifting device.
In addition, since the underwater vehicle can be withdrawn by attaching the mounting hardware by the underwater vehicle for work, it can also be used for an underwater vehicle that is not connected to a tether cable. .

It is the schematic which showed the underwater vehicle collection system concerning one Embodiment of this invention. It is the longitudinal cross-sectional view which showed the front-end | tip part of the underwater vehicle of FIG. It is the perspective view which showed the front-end | tip part of the underwater vehicle of FIG. It is the perspective view which showed RODD of FIG. It is the side view which showed the attachment metal fitting. It is the side view which showed the metal for picking up attached to the pulling-up rope and the guide rope. It is the schematic which showed the state which is operating by making RODD approach with respect to an underwater vehicle. It is the schematic which showed the state which attaches an attachment metal with respect to a to-be-engaged metal. It is the schematic which showed the state which RODD leaves | separates after attaching an attachment metal with respect to a to-be-engaged metal. It is the schematic which showed the state which raises RODD to a mother ship. It is the schematic which showed the state which guides the metal for picking up at the front-end | tip of a pulling rope to an underwater vehicle using a guide rope. It is the schematic which showed the state in which the picking-up hardware approached with respect to the attachment hardware. It is the schematic which showed the state by which the metal for picking up was fixed with respect to the attachment hardware. It is the schematic which showed the state in which tension | tensile_strength was applied to the pulling rope and the receiving part and the nail | claw part rotated around the rotating shaft line. It is the schematic which showed the state which pulled up the underwater vehicle to the surface of the water. It is the schematic which showed the state which pulled up the underwater vehicle and drained it. It is the schematic which showed the state which installs an underwater vehicle on a trolley | bogie by a shuttle trolley system.

Embodiments according to the present invention will be described below with reference to the drawings.
FIG. 1 shows an underwater vehicle lifting system for picking up an underwater vehicle 1 to a mother ship 3.
The mother ship 3 is provided with a winch 5 provided on the stern side and an A frame crane 7.

  The winch 5 is wound with an umbilical cable 23. Connected to the tip of the umbilical cable 23 is a RODD (Remote Operated Docking Device) 9 which is an underwater work vehicle that performs work underwater. The winch 5 is an AHC (Active Heave Compensated) winch, and the umbilical cable 23 is fed and wound according to the movement of the mother ship 3 obtained from the MRU (Motion Reference Unit) 4 installed in the mother ship 3. The shaking of the mother ship 3 can be absorbed. As a result, the attitude of RODD 9 is not affected by the heave (vertical movement) of mother ship 3.

  The A-frame crane 7 is a portal crane, and can be raised and lowered with the lower end as a fulcrum when the underwater vehicle 1 is lifted on the ship. A sheave 7b is attached to the boom 7a of the A frame crane 7 so that the umbilical cable 23 is guided.

  The underwater vehicle 1 is used, for example, to search for seabed resources and has a total length of, for example, about 5 m. The underwater vehicle 1 is a non-cable type to which a tether cable is not connected, and navigates by unmanned remote control. In addition, the underwater vehicle 1 is not limited to searching for seabed resources, but may be an underwater vehicle for other purposes.

A tip cover 10 that can be removed is attached to the tip of the underwater vehicle 1. FIG. 1 shows a state in which the tip cover 10 has been removed. However, during normal navigation of the underwater vehicle 1 before being lifted, the tip cover 10 has a water outlet as shown in FIG. It is attached to the main body side of the medium running vehicle 1.
As shown in FIG. 2, the tip cover 10 forms a dome shape at the tip of the underwater vehicle 1, and a buoyant body 13 having a lighter specific gravity than water is fixed inside the tip cover 10. Yes. As a result, the tip cover 10 removed as shown in FIG. 1 floats directly above the underwater vehicle 1. A connecting cable 12 is provided between the tip cover 10 and the main body of the underwater vehicle 1, and the tip cover 10 is not attached to the main body of the underwater vehicle 1 even after being removed. Are connected. As will be described later, the connecting cable 12 can be held by the manipulator 14 of the RODD 9.
Removal of the tip cover 10 and the main body side of the underwater vehicle 1 is performed by a detachment device (for example, a blast bolt) 16 that operates according to a command from a control unit (not shown).

As shown in FIG. 2, a holding metal (holding part) 18 and an engaged metal (engaged part) 19 are fixed to the tip of the underwater vehicle 1. These holding hardware 18 and engaged metal 19 are covered with the tip cover 10, and when the tip cover 10 is attached to the main body of the underwater vehicle 1, it is not exposed to the outside. ing. Thereby, the holding | maintenance metal object 18 and the to-be-engaged metal object 19 do not become resistance at the time of the navigation of the underwater vehicle 1.
As shown in FIG. 3, the holding hardware 18 has a ring shape, and is fixed by a plurality of fixing columns 21 in a state of being separated from the fixing base portion 20 on the main body side of the underwater vehicle 1. As will be described later, the holding hardware 18 can be held by the manipulator 14 of the RODD 9.
The engaged metal piece 19 has a U-shape, and both ends of the U-shape are fixed to the fixing base 20, and the U-shaped bent portion protrudes forward of the underwater vehicle 1. Is provided. As will be described later, the fitting metal 8 conveyed by the RODD 9 is engaged with and fixed to the engaged metal piece 19.

The RODD 9 is remotely operated from the mother ship 3 by an operator. As shown in FIG. 4, the RODD 9 includes a main body frame 24 having a rectangular parallelepiped frame structure. The RODD 9 moves in the horizontal direction with respect to the main body frame 24 and a horizontal thruster 25 for moving in the vertical direction. The vertical thruster 26 is fixed. In addition, a guide rope winch 27 around which a guide rope 40 described later is wound is provided inside the main body frame 24. A guide rope guide 28 for guiding the guide rope 40 is provided below the guide rope winch 27. Two sets of manipulators 14 are provided in front of the RODD 9. Each manipulator 14 has a gripping portion 14a at the tip. The connection part 30 to which the umbilical cable 23 is connected is provided in the upper part of the RODD 9, so that communication such as control signals and power supply are performed from the umbilical cable 23 guided through the connection part 30. It has become.
Although not shown, the RODD 9 is provided with an acoustic positioning device, an acoustic image sensor, a 3D (three-dimensional) optical camera, and an underwater light. Can approach. Further, although not shown, the RODD 9 includes measuring devices such as an azimuth meter, a speed detector, and a depth meter, and these pieces of information are transmitted to the outside via a communication device.

FIG. 5 shows a mounting hardware 8 that is transported by the RODD 9 and fixed to the underwater vehicle 1.
The mounting hardware 8 includes a U-shaped main body portion 32, a receiving portion 34 provided between both ends of the main body portion 32, and a claw portion (regulating portion) 35 attached to the receiving portion 34. ing. The mounting hardware 8 has an endless ring shape formed by the main body portion 32 and the receiving portion 34.

  A swinging member 37 that swings around one end as a rotation fulcrum is provided on one side of the main body 32. The swing member 37 is always urged so as to constitute a straight portion of the main body 32 by an urging member (not shown). As will be described later, the oscillating body 37 constitutes an engaging portion that engages with an engaged metal piece 19 fixed to the underwater vehicle 1. Specifically, when engaging with the engaged metal piece 19, the engaged metal piece 19 is pressed against the rocking member 37 to rotate the rocking member 37, so that the ring-shaped attachment metal is attached. This is done by inserting the engaged metal piece 19 into 8.

The receiving part 34 rotates around a rotation axis L <b> 1 connecting both ends of the main body part 32. The receiving portion 34 is formed with an insertion hole 34 a for inserting the guide rope 40. The insertion hole 34a has a smaller diameter than the head portion 42a of the lifting hardware 42 shown in FIG. 6, so that the lifting hardware 42 can be received.
The lifting hardware 42 is attached to the tip of the pulling rope 44, and is attached to one end of the guide rope 40 so as to be guided to the receiving portion 34.
A plurality of claw portions 35 attached to the receiving portion 34 are provided, and as shown in FIG. 5, the tip of the claw portion 35 is engaged with the stepped portion 42b of the lifting hardware 42 accommodated therein. Yes. Specifically, when the lifting hardware 42 moves to the receiving portion 34, the claw portion 35 is retracted to the receiving portion 34 side so that the head 42 a of the lifting hardware 42 passes therethrough. When the head portion 42a of the lifting hardware 42 passes and the step portion 42b is positioned at the claw portion 35, the claw portion 35 is returned to the position so as to be separated from the receiving portion 34. Engage with the portion 42b. When the claw portion 35 is engaged with the stepped portion 42b, a stopper 39 is provided so that the claw portion 35 does not rotate any more, thereby restricting the movement of the lifting hardware 42.
Further, the mounting hardware 8 includes a gripped portion 36 having a T shape that can be gripped by the manipulator 14 of the RODD 9.

Hereinafter, a description will be given of a lifting method using the underwater vehicle lifting system having the above-described configuration.
First, as shown in FIG. 1 (1), the underwater vehicle 1 is spirally or linearly levitated to a predetermined latitude, longitude and depth (for example, 150 m) as shown in FIG. 1 (see (2) in FIG. 1). The standby mode is set. And the front-end | tip part cover 10 of the front-end | tip part of the underwater vehicle 1 is released by operating the detachment | leave apparatus 16 (refer FIG. 2). Further, the sea anchor 11 is released to the rear of the underwater vehicle 1. The sea anchor 11 is used to stabilize the posture and position of the underwater vehicle 1. In this state, the underwater vehicle 1 is set to Dead slow (slow speed), which is the slowest speed, and is close to a drifting state.
The mother ship 3 stands by at a position 50 m above the underwater vehicle 1 and is set to Dead slow (slow speed), which is the slowest speed.

  Next, the RODD 9 of the mother ship 3 is lifted using the A-frame crane 7 and is swung to the stern to land the RODD 9 on the sea surface. The RODD 9 is submerged underwater by the vertical thruster 26 (see FIG. 4), and is set to Dead slow (slow speed) that is the slowest speed at a predetermined depth (see (3) in FIG. 1).

Next, the RODD 9 is brought close to the underwater vehicle 1 using the acoustic positioning device mounted on the RODD 9 (from (3) to (4) in FIG. 1).
When the operator approaches the underwater vehicle 1 with the acoustic image sensor mounted on the RODD 9, the operator visually observes the underwater vehicle 1 with the acoustic image sensor and further moves the RODD 9 underwater using the acoustic positioning device. Approach the running body 1 (from (4) to (5) in FIG. 1).

  When approaching until the underwater vehicle 1 can be confirmed with the optical camera and underwater light mounted on the RODD 9, the operator makes the RODD 9 closer to the underwater vehicle 1 while viewing the underwater vehicle 1 with the optical camera. As shown in FIG. 7, the holding hardware 18 fixed to the tip of the underwater vehicle 1 is gripped using the manipulator 14 of the RODD 9. If the holding hardware 18 cannot be gripped by the manipulator 14, the connecting cord 12 connected to the tip cover 10 may be gripped.

FIG. 8 shows a state where the manipulator 14 of the RODD 9 grips the holding hardware 18 and captures the underwater vehicle 1. Then, as shown in the figure, the mounting hardware 8 gripped by the other manipulator 14 is mounted on the engaged hardware 19 fixed to the tip of the underwater vehicle 1. Specifically, the rocking member 37 side of the attachment metal 8 is brought close to and pressed against the metal member 19 to be engaged, and thereby the rocking member 37 is rocked so that the metal member 19 to be engaged has an annular shape. Guided into the attached mounting hardware 8. Then, when the swinging member 37 is returned to its position by the urging force, the engaged metal piece 19 is taken into the attachment metal piece 8 and engaged so that the engaged metal piece 19 and the attachment metal piece 8 are not separated (attachment metal piece). Fixed step). FIG. 9 shows a state where the engaged metal piece 19 and the attachment metal piece 8 are engaged.
A guide rope 40 is hung around the mounting hardware 8 in a loop. Specifically, the guide rope 40 is inserted through the insertion hole 34 a formed in the receiving portion 34 of the attachment member 8. As shown in FIG. 9, the guide rope 40 is wound around the guide rope winch 27 via the guide rope guide 28.

  After the mounting hardware 8 is attached to the engaged hardware 19, the RODD 9 is separated from the underwater vehicle 1 as shown in FIG. 9, and the umbilical cable 23 is wound up by the winch 5 as shown in FIG. , RODD9 is taken up on the mother ship 3. At this time, the guide cable 40 is fed out from the guide cable winch 27 from the RODD 9. When the RODD 9 is picked up on the mother ship 3, the guide rope 40 is delivered to the mother ship 3 side (guide rope delivery step).

  Next, the tip of the pulling rope 44 is attached to one end of the guide rope 40 on the mother ship 3 (lifting rope attachment step). Specifically, one end of the guide rope 40 is attached to the lifting hardware 42 attached to the tip of the pull-up rope 44 (see FIG. 6). As shown in FIG. 11, the pulling rope 44 is wound around a pulling winch 46.

Then, as shown in FIG. 11, the lifting hardware 44 attached to one end of the guide rope 40 is guided to the underwater vehicle 1 while the other end of the guide rope 40 is drawn into the mother ship 3 side.
As shown in FIG. 12, after the lifting hardware 42 approaches the mounting hardware 8 by the guide rope 40, the lifting hardware 42 is fixed to the mounting hardware 8 as shown in FIG. 13. Thereby, the pulling rope 44 is fixed to the mounting hardware 8 (pulling rope fixing step). Specifically, the head portion 42a (see FIG. 6) of the lifting hardware 42 gets over the claw portion 35 of the mounting hardware 8, reaches the receiving portion 34, and is received and stopped. At this time, the claw portion 35 is engaged with the step portion 42b (see FIG. 6) of the lifting hardware 42 and restricts the movement of the lifting hardware 42 in the direction opposite to the entry (leftward in FIG. 13).

  After the lifting hardware 42 is fixed to the mounting hardware 8 as shown in FIG. 13, the lifting rope 44 is wound up by the lifting rope winch 46 in order to lift the underwater vehicle 1. Then, as shown in FIG. 15, tension is applied to the pull-up rope 44 in the direction of the mother ship 3. That is, the tension direction is reversed from the state of FIG. 13 to the state of FIG. If it does so, the receiving part 34 and the nail | claw part 35 of the fitting 8 will rotate to the surroundings of the rotating shaft L1, and the nail | claw part 35 will face in a tension | tensile_strength direction (base ship 3 direction). In this way, the tension applied from the pull-up rope 44 is transmitted to the underwater vehicle 1 through the attachment hardware 8 without waste, and the underwater vehicle 1 can be pulled up smoothly.

  The pulling rope 44 is wound up by the pulling rope winch 46, and the underwater vehicle 1 is pulled up to the sea level as shown in FIG. 15 (underwater vehicle pulling step). Then, the sea anchor collection line 48 is projected from the upper deck of the mother ship 3 toward the sea anchor 11, and after the sea anchor 11 is hooked, the sea anchor 11 is collected onto the mother ship 3. The sea anchor collection line 48 is wound by a winch (not shown).

And as shown in FIG. 16, the underwater vehicle 1 is pulled up on the water surface by further winding up the pulling rope 44, and draining is performed. At this time, the sea anchor recovery line 48 is wound up to be used as a steady line for stabilizing the underwater vehicle 1.
Then, as shown in FIG. 17 (a), the A-frame crane 7 is turned on, and the lower end of the underwater vehicle 1 is installed on the carriage 50, and the so-called shuttle trolley system is used for FIGS. 17 (b) and 17 (c). As shown in FIG. 4, the underwater vehicle 1 is sequentially lowered horizontally, the underwater vehicle 1 is delivered to the carriage 50, and the lifting operation is completed.

As described above, according to the underwater vehicle collection system and the underwater vehicle collection method of the present embodiment, the following operational effects can be obtained.
A lifting metal 42 at the tip of the pulling rope 44 guided to the underwater vehicle 1 by the guide cable 40 is fixed to an attachment metal 8 fixed to the underwater vehicle 1, and the pulling cable 44 is fixed to the mother ship 3. By pulling it to the side, the underwater vehicle 1 is lifted to the mother ship 3 side together with the mounting hardware 8. The mounting hardware 8 only needs to have a portion (receiving portion 34) around which the guide rope 40 is hung and a fixing portion (swing member 37) fixed to the underwater vehicle, and the RODD 9 Since it is transported and fixed, it does not require a self-propelled function. Therefore, since the mounting hardware 8 can be reduced in weight as a simplified configuration, even if the mounting hardware 8 is lifted together with the underwater vehicle 1, there is no significant increase in weight. Therefore, a lifting device (for example, the crane 7 or the lifting rope winch 46) having an ability to raise the same weight as the underwater vehicle 1 is sufficient, and a large-capacity lifting device is not required.

  Further, since the underwater vehicle 1 can be withdrawn by attaching the mounting hardware 8 with the RODD 9, it is possible to deal with an underwater vehicle that is not connected to a tether cable.

  Further, the pulling rope 44 for lifting the heavy load and the guide rope 40 for guiding the pulling rope 44 for fixing the pulling rope 44 to the underwater vehicle 1 are separated. Thereby, since the design tension applied to the guide rope 40 can be set smaller than that of the pull-up rope 44, the diameter of the guide rope 40 can be reduced. Therefore, it is not necessary to require an excessive capacity and accommodation portion for the RODD 9 that transports the guide rope 40 together with the mounting hardware 8, and the RODD 9 can be downsized.

  Further, the catching metal 42 at the tip of the lifting rope 40 drawn by the guide rope 40 is received by the receiving portion 34, and the claw portion 35 that restricts the movement in the tension direction applied when the lifting rope 44 is pulled up. Since the pulling rope 44 is fixed to the attachment hardware 8, even if the tension direction by the pulling direction of the guide rope 40 and the tension direction by the pulling direction of the pulling rope 44 are different, the pulling rope 44 It is possible to fix the lifting metal 42 at the tip of the mounting hardware 8 to the mounting hardware 8.

  Further, when tension is applied when pulling up the pulling rope 44, the lifting hardware 42 is configured to rotate around the rotation axis L1 so as to face the tension direction while being restricted in movement by the claw portion 35. Therefore, the lifting hardware 42 can be directed in the tension direction. Thereby, since the tension from the pulling rope 44 is transmitted without waste to the mounting hardware 8 and the underwater vehicle 1 via the lifting hardware 42, the underwater vehicle 1 can be pulled up smoothly.

1 Underwater vehicle 3 Mother ship 4 MRU
5 Winch 7 A frame crane 8 Mounting hardware 9 RODD (underwater work vehicle)
DESCRIPTION OF SYMBOLS 10 Tip part cover 11 Sea anchor 12 Connecting rope 14 Manipulator 18 Holding hardware (holding part)
19 Engagement hardware (engaged part)
34 Receiving part 35 Claw part (regulation part)
40 Guide rope 42 Pick-up hardware 44 Lifting rope 46 Lifting winch

Claims (10)

A mounting hardware fixing step of fixing the mounting hardware around the guide rope to the underwater traveling body by the underwater working traveling body under the surface of the water,
A guide rope delivery step of navigating the underwater work vehicle to the mother ship while unwinding the guide rope, and delivering the guide rope from the underwater work vehicle to the mother ship;
A lifting rope attaching step for attaching a tip of the lifting rope to one end of the guide rope delivered to the mother ship;
By pulling the other end of the guide rope to the mother ship side, the tip of the pull-up rope attached to the one end of the guide rope is guided to the underwater vehicle and fixed to the underwater vehicle. A pulling rope fixing step for fixing the tip of the pulling rope to a mounting hardware;
A step of pulling up the underwater vehicle to the mother vessel side together with the mounting hardware by pulling the pull-up rope to the mother vessel side;
A method for lifting an underwater vehicle. Under the surface of the water, by a self-propelled underwater work vehicle, the mounting hardware around the guide rope is fixed to the underwater vehicle,
Navigating the underwater work vehicle to the mother ship while unwinding the guide rope, and delivering the guide rope from the underwater work vehicle to the mother ship;
Attach the tip of the lifting rope to one end of the guide rope delivered to the mother ship,
By pulling the other end of the guide rope to the mother ship side, the tip of the pull-up rope attached to the one end of the guide rope is guided to the underwater vehicle and fixed to the underwater vehicle. Fixing the tip of the pulling rope to the mounting hardware;
By pulling the pull-up rope to the mother ship side and pulling the underwater vehicle together with the mounting hardware to the mother ship side,
An underwater vehicle landing system for picking up the underwater vehicle to the mother ship. At the distal end of the pulling rope, a lifting hardware attached to the one end of the guide rope is provided,
The mounting hardware includes a receiving portion that receives the lifting hardware when the lifting hardware is pulled in by the guide cable, and a movement of the lifting hardware in a tension direction applied when the lifting cable is pulled up. The underwater vehicle body collection system according to claim 2, further comprising a regulation unit that regulates the underwater vehicle.   The mounting hardware includes a rotating shaft that rotates in the direction of tension while the movement of the lifting hardware is restricted by the restricting portion when tension is applied when the pulling rope is pulled up. The underwater navigation body collection system according to claim 3.   5. The underwater vehicle lifting body according to claim 3, wherein the guide portion is inserted into the receiving portion, and an insertion hole having a smaller diameter than the lifting hardware is formed. Yield system. The underwater vehicle includes an engaged portion,
The underwater vehicle lifting system according to any one of claims 2 to 5, wherein the mounting hardware includes an engaging portion that engages with the engaged portion.   The underwater vehicle lifting system according to any one of claims 2 to 6, wherein the mounting hardware includes a gripped portion that is gripped by the underwater vehicle for underwater work.   The said underwater vehicle is provided with the holding part hold | gripped by the said underwater work vehicle, The underwater vehicle collection system in any one of Claim 2 to 7 characterized by the above-mentioned.   The engaged portion according to claim 6 and / or the holding portion according to claim 8 are provided at a distal end portion of the underwater vehicle and covered by a distal end cover. The underwater vehicle lifting system according to 6 or 8. The tip cover is removable at the time of lifting,
The connecting rope for connecting the tip cover to the underwater vehicle body is provided between the tip cover and the underwater vehicle body. The described underwater vehicle collection system.

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