JPH0355632Y2 - - Google Patents

Description

[Detailed explanation of the idea] Industrial applications The present invention relates to an underwater walking device.

BACKGROUND TECHNOLOGY As shown in Figs. 15 to 17 (Japanese Unexamined Patent Publication No. 59-423), a conventional underwater walking device is constructed of a frame with a rectangular planar shape, and has four rods, two on each side in the longitudinal direction. A main body leg frame 2 with legs 1 that allow the book to be extended and retracted, and a movable leg that is configured as a frame with a rectangular planar shape and has four legs 3 that are extendable and retractable, two on each side in the longitudinal direction. The two beams of the movable leg frame 4 and the main body leg frame 2 are connected by a slide device so as to be slidable back and forth, left and right, and a float tank for floating on the main body leg frame 2 is provided. It was equipped with 5.

Problems that the invention aims to solve However, as mentioned above, the conventional model was equipped with a heavy float tank 5, making the main body extremely heavy, and the float tank 5 was placed in a high position. Because of this, the main body of the vessel had to be hoisted to land for maintenance because the water was so deep when it surfaced that the hydraulic and electrical equipment did not come above the sea surface.

In addition, since it is composed of a cylindrical float tank 5 with a complicated frame structure and a large cross section, a large fluid resistance is generated during floating towing, which necessitates a large towing tag. However, the stability during floating and towing was poor.

Furthermore, if the float tank 5 is installed at a low position, it becomes an obstacle to walking and working, and the size of the main body becomes large.

The present invention was developed in view of the above circumstances, and its purpose is to make the main body leg frame itself a float, to obtain sufficient buoyancy margin, and to eliminate the need to mount a float tank. In addition, it is possible to inspect and maintain hydraulic and electrical equipment while floating, and even if oil leaks from these hydraulic and electrical equipment during inspection and maintenance, it is possible to To provide an underwater walking device which can prevent leakage into the surroundings.

Means and Effects for Solving the Problems The present invention provides the main body leg frame 10 with a hollow hull structure and a water supply/drainage mechanism D for supplying and discharging water to the main body leg frame 10. Hydraulic pressure is provided on the upper surface of the main body leg frame 10.
Electrical equipment 13 is installed, and this hydraulic and electrical equipment 13
is surrounded by a fence 14, and this fence 14 is provided with a drain plug 15,
The main body leg frame 10 itself is floated, and when it sinks, the main body leg frame 10 is floated by the water supply and drainage mechanism D.
Water is discharged from the inside, and the fence 14 prevents oil leaking due to hydraulic pressure during levitation, inspection and maintenance of the electrical equipment 13 to the surrounding area.

Embodiments Hereinafter, embodiments of the present invention will be described with reference to FIGS. 1 to 14.

In the drawings, reference numeral 10 denotes a main body leg frame, and the main body leg frame 10 is made of a steel plate and has a watertight box shape, and has a hull structure in which a reinforcing member 11 is arranged inside. Legs 1 are provided on the front and rear left and right sides of this main body leg frame 10.
2' is attached, and the leg body 12' is extendable and retractable in the vertical direction.

Hydraulic and electrical equipment 13 is mounted on the upper surface of the main body leg frame 10, and is surrounded by a fence 14 made of steel plate. The fence 14 is provided with a drain plug 15 for removing water inside during levitation. Further, on the upper surface of the main body leg frame 10, a water supply/drainage mechanism D for supplying and discharging water inside the main body leg frame 10, that is, a compressed air inlet pipe 16 from a compressor, a drain pipe 17, a water supply pipe 18, and a water supply pump are provided. 19 and a release valve 20 are provided.

Furthermore, slide rails 12 are attached to the upper and lower sides of the main body leg frame 10, respectively.

Reference numeral 22 denotes a movable leg frame. The movable leg frame 22 has a frame-shaped structure, and has left and right members 2.
A leg body 25 is connected to the front and rear ends of the legs 3 and 24, and the left and right legs 25 are connected by front and rear members 26 and 27, and the front and rear members 26 and 27 are constituted by slide beams.

These slide beams are the front and rear members 2
A slide rail 28 is attached to 6 and 27.

29 is a guide frame, and the guide frame 29 is provided with a front and rear groove 30 and a left and right groove 31;
The slide rail 12 of the main body leg frame 10 is inserted into the front and rear grooves 30 of the main body leg frame 10 via a slide bush 32, and the slide rail 12 of the main body leg frame 10 is inserted into the left and right groove 31 of the guide frame 29 via a slide bush 33. A rail 28 has been inserted.

Also, the support bracket 34 of the main body leg frame 10
The base end of the front and rear slide cylinder 35 is connected to the pin 36.
The piston 37 of the front and rear slide cylinders 35 is connected to the bracket 38 of the guide frame 29 by a pin 39. Also, the movable leg frame 22
Support brackets 40 for front and rear members 26, 27
The base end of the left and right slide cylinder 41 is connected to the pin 4.
The piston rods 43 of the left and right slide cylinders 41 are connected to the brackets 44 of the guide frame 29 by pins 45.

A leveling device (not shown) on the main body leg frame 10
is provided.

Then, air is injected into the main body leg frame 10 to make it a float, the underwater walking device A is floated on the water surface, and while it is suspended by a crane of a crane ship, the discharge valve 20 is opened and the water supply pump 19 It is injected into the main body leg frame 10 and lowered by a crane.

Landing on the bottom is performed by landing on the legs 12' of the main body leg frame 10, and the length of the legs 12' is adjusted to make the main body leg frame 10 horizontal.

In the walking operation, a leveling device consisting of a rake device and a compaction roller device is raised and retracted, and the cart is moved to the center. 2. Move the movable leg frame 22 in the direction in which you want to move and land the leg 25 on the ground, then raise the leg 12' of the main body leg frame 10 and move the main body leg frame 10 in the direction in which the movable leg frame 22 moves. The robot moves to land on its legs 12', and from this state repeats the above operation again to move a predetermined distance.

When floating the underwater walking device A, as shown in FIG. 7, compressed air from a compressor is introduced into the leg frame 10 of the main body. By injecting this compressed air, the water inside the main body leg frame 10 is discharged from the discharge pipe 17, the inside of the main body leg frame 10 is filled with air and becomes a float, and the underwater walking device A rises to the surface.

When inspecting and maintaining hydraulic equipment etc. in a floating state, first open the drain plug 15 and drain the water inside the fence 14.

Inspection and maintenance are performed so that even if oil spills, it can be disposed of only within the fence 14 without leaking to the surroundings.

Effects of the Invention Since the present invention is as described above, the main body leg frame 10 itself can be floated, and a sufficient buoyancy margin can be obtained. In addition, since the buoyant force does not act locally but on the entire main body leg frame 10, there is no need to increase the strength locally for levitation, and the weight can be reduced with a uniform strength design, and there is no need to install a float tank. Since there is no such thing, a large space can be secured. Furthermore, when working under rapid currents, the tidal current resistance acting on the underwater walking device can be reduced, allowing stable walking, and the fluid resistance when being towed when surfacing can be reduced.

Furthermore, since the installed hydraulic and electrical equipment 13 comes out on the surface of the water when it floats, it can be inspected and maintained while floating without having to recover the main body on land, making maintenance easier. Even if oil leaks from the electrical equipment 13, it can be disposed of within the fence 14 and can be prevented from leaking to the surroundings.

[Brief explanation of the drawing]

Fig. 1 is a plan view of one embodiment of the present invention, Fig. 2 is a side view of the same, Fig. 3 is a partially sectional perspective view of the main body leg frame, Fig. 4 is a perspective view of the movable leg frame, and Fig. 5 is a perspective view of the movable leg frame.
The figure is an enlarged view of section V in Figure 4, Figure 6 is an explanatory diagram of the equipment mounted on the upper surface of the main body leg frame, Figures 7 and 8 are configuration explanatory diagrams of the water supply and drainage mechanism provided on the main body leg frame, Figure 9 is a plan view of the slide mechanism, Figure 10 is a sectional view taken along the line X-X in Figure 9, and Figure 11 is Figure 9.
A sectional view taken along the line XI-XI, FIG. 12 is an enlarged view of section P in FIG. 10, FIG. 13 is an enlarged view of section Q in FIG. , FIG. 15 to FIG. 17 are explanatory diagrams of the configuration of a conventional underwater walking device. 10 is the main body leg frame, 13 is hydraulic and electrical equipment.

Claims (1)

[Scope of utility model registration request] The main body leg frame 10 has a hollow hull structure, and the main body leg frame 10 is provided with a water supply/drainage mechanism D that supplies and discharges water to the main body leg frame 10, and hydraulic and electrical equipment 13 are installed on the upper surface of the main body leg frame 10. The underwater walking device is characterized in that the hydraulic and electrical equipment 13 are surrounded by a fence 14, and the fence 14 is provided with a drain plug 15.