underwater object moving device

Abstract

Move the objects that are submerged in the flooded floor. [Solution] The underwater object moving device is an underwater object moving device for moving an object submerged in the floor of a flooded floor, and comprises a main body that can float on the water surface, a rail attached to the main body and extending downward from the main body, a connecting member having one end attached to the rail and movable along the rail, and an object gripping part connected to the other end of the connecting member, wherein the rail is positioned on one side of the main body in a first direction perpendicular to the vertical direction and has a first rail portion extending in the vertical direction, and a second rail portion connected to the lower vertical end of the first rail portion and extending in a direction inclined from the lower vertical side to the other side of the first direction, the object gripping part has a gripping portion for gripping the object and an inflatable balloon, and the main body has an air supply portion that supplies air to the balloon via an air supply tube.

Description

Technical Field

[0006] , , ,

[0005] , ,

[0001] The present invention relates to an underwater object moving device.

Background Art

[0002] There is known an underwater sediment recovery robot including a robot body capable of traveling underwater, a container attached to the robot body, a built-in pump for sucking sediments through the container, and a chip saw pivotally supported by the robot body (for example, Patent Document 1). In such an underwater sediment recovery robot, while pressing the chip saw against a sandbag, the robot body rotates to break the bag of the sandbag, and the contents flowing out of the bag are sucked by the built-in pump to recover the contents.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In a facility where the contents are to be recovered, there may be cases where equipment such as scaffolding materials and mobile gantries (hereinafter referred to as objects) are submerged on the floor of the flooded floor. Since the above underwater sediment recovery robot cannot move the object, when the object is placed on the sandbag, the object becomes an obstacle to pressing the chip saw against the sandbag. Therefore, it is difficult to break the bag of the sandbag with the chip saw, and it has been difficult to recover the contents.

[0005] The present invention has been made in consideration of the above points, and one of the objects is to provide an underwater object moving device capable of moving an object submerged on the floor of a flooded floor.

Means for Solving the Problems

[0006] (1) One aspect of the present invention is an underwater object moving device for moving an object submerged in the floor of a flooded floor, comprising: a main body that can float on the water surface; a rail attached to the main body and extending downward from the main body; a connecting member having one end attached to the rail and movable along the rail; and an object gripping part connected to the other end of the connecting member, wherein the rail is positioned on one side of the main body in a first direction perpendicular to the vertical direction and has a first rail portion extending in the vertical direction, and has a second rail portion connected to the lower vertical end of the first rail portion and extending in a direction inclined from the lower vertical side to the other side of the first direction, and the object gripping part has a gripping portion for gripping the object and an inflatable balloon, and the main body has an air supply portion that supplies air to the balloon via an air supply tube.

[0007] (2) One aspect of the present invention is the underwater object moving device described in (1) above, comprising a moving device that can move underwater, wherein the moving device is attached to the main body.

[0008] (3) In one aspect of the present invention, in the underwater object moving device described in (2) above, the moving device is located vertically below the main body.

[0009] (4) In one aspect of the present invention, in the underwater object moving device described in (2) or (3) above, the moving device is detachably attached to the main body.

[0010] (5) In one aspect of the present invention, in the underwater object moving device described in any of (2) to (4) above, at least one of the main body and the moving device has a first imaging device for imaging the object gripping portion.

[0011] (6) One aspect of the present invention is an underwater object moving device described in any of (2) to (5) above, wherein the moving device has a plurality of screws, and each of the plurality of screws rotates about a rotation axis that extends in the horizontal direction.

[0012] (7) One aspect of the present invention is an underwater object moving device according to any of (1) to (6) above, wherein the gripping portion is composed of a pair of arms that can be opened and closed, and the object gripping portion has an air cylinder for opening and closing the pair of arms.

[0013] (8) One aspect of the present invention is an underwater object moving device according to any of (1) to (7) above, wherein the main body has a second imaging device, and the second imaging device is located vertically above the water surface. [Effects of the Invention]

[0014] According to the present invention, it is possible to provide an underwater object moving device that can move objects submerged in the floor of a flooded floor. [Brief explanation of the drawing]

[0015] [Figure 1] This figure shows the first state of the underwater object moving device according to the first embodiment. [Figure 2] This is a view of the main body and mobile device of the first embodiment from a second direction. [Figure 3] This is a view of the main body and mobile device of the first embodiment from a first direction. [Figure 4] This figure shows the second state of the underwater object moving device according to the first embodiment. [Figure 5] This is a view of the object gripping portion of the first embodiment from a first direction. [Figure 6] This is a view of the object gripping portion of the first embodiment from a second direction. [Figure 7] This is the first figure showing the procedure for moving an object using the underwater object moving device of the first embodiment. [Figure 8] This is the second figure, which shows the procedure for moving an object using the underwater object moving device of the first embodiment. [Figure 9] This is the third figure, showing the procedure for moving an object using the underwater object moving device of the first embodiment. [Figure 10] This is the fourth figure, which shows the procedure for moving an object using the underwater object moving device of the first embodiment. [Figure 11] FIG. 5 showing the object moving procedure using the underwater object moving device of the first embodiment. [Figure 12] FIG. 6 showing the object moving procedure using the underwater object moving device of the first embodiment. [Figure 13] FIG. 1 showing the movement of the object gripping part when the object drops off in the underwater object moving device of the first embodiment. [Figure 14] FIG. 2 showing the movement of the object gripping part when the object drops off in the underwater object moving device of the first embodiment. [Figure 15] FIG. showing the object gripping part of the modification of the first embodiment as viewed from the first direction. [Figure 16] FIG. 1 showing the underwater object moving device of the second embodiment. [Figure 17] FIG. 2 showing the underwater object moving device of the second embodiment.

BEST MODE FOR CARRYING OUT THE INVENTION

[0016] Hereinafter, the underwater object moving device according to the embodiment of the present invention will be described with reference to the drawings. Note that the scope of the present invention is not limited to the following embodiments and can be arbitrarily changed within the scope of the technical idea of the present invention. Also, in the following drawings, in order to make each configuration easier to understand, the actual structure and the scale, number, etc. in each structure may be made different.

[0017] In each drawing, the Z-axis is shown. In the embodiment, the direction in which the Z-axis extends is the vertical direction. The side in the vertical direction towards which the arrow of the Z-axis points is the upper side in the vertical direction. The side opposite to the side in the vertical direction towards which the arrow of the Z-axis points is the lower side in the vertical direction. In the following description, the upper side in the vertical direction may be simply referred to as the "upper side", and the lower side in the vertical direction may be simply referred to as the "lower side".

[0018] In each drawing, the first direction D1 and the second direction D2 are shown. The first direction D1 is perpendicular to the vertical direction. In the following explanation, the side in which the arrow of the first direction D1 points (+D1 side) will be referred to as one side of the first direction D1, and the side opposite to the side in which the arrow of the first direction D1 points (-D1 side) will be referred to as the other side of the first direction D1. The second direction D2 is perpendicular to both the vertical direction and the first direction D1. In the following explanation, the side in which the arrow of the second direction D2 points (+D2 side) will be referred to as one side of the second direction D2, and the side opposite to the side in which the arrow of the second direction D2 points (-D2 side) will be referred to as the other side of the second direction D2.

[0019] <First Embodiment> Figure 1 shows the first state S1 of the underwater object moving device 10 of this embodiment. The underwater object moving device 10 of this embodiment is an object moving device that moves an object 83 submerged in the floor 91 of a flooded floor. In this embodiment, the underwater object moving device 10 moves an object 83 submerged in the floor 91 of a flooded floor of a nuclear power plant building 90. In this embodiment, the object 83 is exemplified as an object 83 placed on a sandbag 81 submerged in the floor 91 of a flooded floor, but the object 83 may also be placed on the floor 91. In this embodiment, the object 83 is equipment such as scaffolding material and a movable frame. The sandbag 81 of this embodiment contains an adsorbent inside the bag that adsorbs radioactive materials contained in water W. For example, zeolite can be used as the adsorbent. In this embodiment, the nuclear power plant building 90 is exemplified as the facility that moves the object 83, but the facility is not limited to this, and any facility where an object 83 is submerged in water may be a facility for other purposes. As shown in Figure 1, the underwater object moving device 10 comprises a main body 20, a rail 30, a connecting member 40, an object gripping part 50, and a moving device 60.

[0020] The main body 20 is capable of floating on the water surface WS. Rails 30 and a moving device 60 are attached to the main body 20. As shown in Figure 2, the main body 20 has a housing 21, a second imaging device 23, and an air supply unit 25.

[0021] The housing 21 is a hollow box shape. Viewed from the second direction D2, the housing 21 is roughly rectangular. As shown in Figure 3, viewed from the first direction D1, the housing 21 is roughly hexagonal. Viewed from the first direction D1, the housing 21 extends upward from its lower end by a dimension approximately the same as that in the second direction D2, and then inclins so that the surface facing one side of the second direction D2 (+D2 side) and the surface facing the other side of the second direction D2 (-D2 side) are positioned towards the center of the second direction D2 as they move upward.

[0022] The buoyancy acting on the housing 21 is greater than the sum of the gravitational force acting on the entire underwater object moving device 10 and the gravitational force acting on the object 83 moved by the underwater object moving device 10. As a result, the main body 20 can float on the water surface WS. Window portions 22 are provided on each of the surfaces of the housing 21 facing one side (+D2 side) of the second direction D2 (-D2 side). Each window portion 22 is made of a transparent resin material. Each window portion 22 may also be made of another transparent material such as glass.

[0023] The second imaging device 23 is housed inside the housing 21. For example, a video camera having an image sensor such as a CCD can be used as the second imaging device 23. In this embodiment, the main body 20 has two second imaging devices 23. Each second imaging device 23 is positioned near a different window 22. Each second imaging device 23 images the area outside the main body 20 through the window 22. In this embodiment, the two second imaging devices 23 can image the area around the main body 20 over a 360° range. As shown in Figures 1 and 4, when the underwater object moving device 10 is in use, the window 22 and each of the second imaging devices 23 are located vertically above the water surface WS. Therefore, when the underwater object moving device 10 is in use, the two second imaging devices 23 can image the area around the main body 20 above the water surface WS over a 360° range.

[0024] As shown in Figure 1, a signal cable 71 is connected to the housing 21. Although not shown in the illustration, the signal cable 71 is a signal wire bundle consisting of multiple signal lines. Although not shown in the illustration, each second imaging device 23 is connected to a signal line. As shown in Figure 7, the signal cable 71 is connected to the remote control device 75 and the display 76, which will be described later. Therefore, each second imaging device 23 is electrically connected to the remote control device 75 and the display 76 via the signal cable 71. Images captured by each second imaging device 23 are transmitted to the display 76 via the signal cable 71 and displayed on the display 76.

[0025] As shown in Figure 2, the air supply unit 25 is attached to the upper end of the housing 21. The air supply unit 25 adjusts the amount of air supplied to the object gripping unit 50. In this embodiment, "adjusting the amount of air supplied to member A" is a concept that includes not only "adjusting the amount of air supplied to member A" but also "adjusting the amount of air removed from member A". In this embodiment, the air supply unit 25 is composed of a plurality of speed controllers and a plurality of valves (not shown). The air supply unit 25 adjusts the amount of air supplied to the object gripping unit 50 by each of the plurality of speed controllers and a plurality of valves. The air supply unit 25 is electrically connected to the signal cable 71. This allows the operator of the underwater object moving device 10 to adjust the amount of air supplied to the object gripping unit 50 by operating the remote control device 75 (see Figure 7). The air supply unit 25 is connected to a first flow path 72, an air supply flow path 73, and a second flow path 74.

[0026] As shown in Figure 1, the first passage 72 connects the pump 77 and the air supply unit 25. The air supply passage 73 and the second passage 74 each connect the air supply unit 25 and the object gripping unit 50. The air supplied from the pump 77 to the air supply unit 25 via the first passage 72 is supplied to the object gripping unit 50 via the air supply passage 73 and the second passage 74. Although not shown in the figure, in this embodiment, the air supply passage 73 is a bundle of tubes in which four air supply tubes 73a are bundled together.

[0027] The rail 30 guides the vertical movement of the object gripping portion 50. In this embodiment, the rail 30 is made of a metal such as aluminum. The rail 30 may be made of other materials such as resin. As shown in Figure 2, the rail 30 has a first rail portion 31, a second rail portion 33, and a guide hole 35.

[0028] The first rail section 31 is the upper part of the rail 30. The first rail section 31 extends in a substantially straight line in the vertical direction. The first rail section 31 is positioned on one side (+D1 side) of the first direction D1 than the main body section 20. The upper part of the first rail section 31 is attached to the main body section 20. In this way, the rail 30 is attached to the main body section 20. The first rail section 31 extends downward from the main body section 20. In the vertical direction, the lower end of the first rail section 31 is in approximately the same position as the lower end of the moving device 60.

[0029] The second rail section 33 is the lower part of the rail 30. The upper end of the second rail section 33 connects to the lower vertical end of the first rail section 31. The second rail section 33 extends in a substantially straight line from the lower vertical side toward the other side of the first direction D1 (-D1 side). The lower end of the second rail section 33 is located below the moving device 60. Viewed from the vertical direction, the lower end of the second rail section 33 overlaps with the main body section 20 and the moving device 60, respectively.

[0030] The guide hole 35 is a hole that penetrates the rail 30 in the second direction D2. The guide hole 35 is composed of a first guide hole 35a and a second guide hole 35c. The first guide hole 35a is a hole that penetrates the first rail section 31 in the second direction D2. The first guide hole 35a extends substantially linearly in the vertical direction. The first guide hole 35a is open downwards. The second guide hole 35c is a hole that penetrates the second rail section 33 in the second direction D2. The second guide hole 35c extends substantially linearly in a direction inclined from the lower vertical side toward the other side of the first direction D1 (-D1 side). The second guide hole 35c is open upwards. The interior of the second guide hole 35c is connected to the interior of the first guide hole 35a, forming the guide hole 35.

[0031] As shown in Figure 1, the connecting member 40 is a rod-shaped member that extends in a straight line. A first bearing 41 is fixed to one end 40a of the connecting member 40. The first bearing 41 is mounted on the rail 30 so as to be movable inside the guide hole 35. As a result, one end 40a of the connecting member 40 is attached to the rail 30. In addition, as a result, the connecting member 40 is movable vertically along the rail 30. A second bearing 42 is fixed to the other end 40c of the connecting member 40.

[0032] The object gripping unit 50 grips the object 83 that is submerged in the floor 91 and moves the object 83 upward. As shown in Figure 5, the object gripping unit 50 has a frame 51, a connecting member holding unit 52, a cylindrical unit 53, a balloon 55, a gripping unit 57, and an air cylinder 58.

[0033] The frame 51 holds the connecting member holding portion 52, the cylindrical portion 53, the balloon 55, the gripping portion 57, and the air cylinder 58, respectively. The frame 51 has a housing frame 51a, a first frame portion 51c, and a second frame portion 51e.

[0034] The housing frame 51a is cylindrical and extends in the first direction D1. In this embodiment, the housing frame 51a is a substantially rectangular cylinder that extends in the first direction D1. The housing frame 51a has openings on both sides in the first direction D1. The cylindrical portion 53 and the balloon 55 are housed inside the housing frame 51a. The housing frame 51a holds the cylindrical portion 53.

[0035] The second frame portion 51e is fixed to the housing frame 51a. The second frame portion 51e has a plate-shaped portion 51f and an arm-holding portion 51g. The plate-shaped portion 51f is positioned on the other side (-D1 side) of the housing frame 51a in the first direction D1. The plate-shaped portion 51f is a plate that extends in the vertical direction. The plate surface of the plate-shaped portion 51f faces the first direction D1. The upper end of the plate-shaped portion 51f is fixed to the upper end of the housing frame 51a.

[0036] The arm holding portion 51g is a roughly rectangular tube extending vertically. The arm holding portion 51g has openings on both sides in the vertical direction. As shown in Figures 5 and 6, the arm holding portion 51g is positioned below the cylindrical portion 53. An air cylinder 58 is housed inside the arm holding portion 51g. The arm holding portion 51g holds the gripping portion 57 and the air cylinder 58, respectively.

[0037] As shown in Figure 5, the first frame portion 51c is positioned on the other side (-D1 side) of the first direction D1 than the plate-shaped portion 51f. The first frame portion 51c is fixed to the plate-shaped portion 51f. Viewed from the first direction D1, the first frame portion 51c is roughly U-shaped with an opening on the lower side. The first frame portion 51c holds the balloon 55.

[0038] As shown in Figure 6, the connecting member holding portion 52 is positioned on one side (+D1 side) of the housing frame 51a in the first direction D1. The connecting member holding portion 52 is fixed to the upper part of the housing frame 51a. The connecting member holding portion 52 has an extension portion 52a and a holding portion 52c.

[0039] The extension portion 52a is a rod-shaped structure extending vertically. The extension portion 52a is fixed to the upper part of the housing frame 51a. The upper end of the extension portion 52a is located above the housing frame 51a. The retaining portion 52c is connected to the upper end of the extension portion 52a. Viewed from the second direction D2, the retaining portion 52c is a sector-shaped structure with a central angle of approximately 90°. The retaining portion 52c is located above the housing frame 51a. A hole 52e is provided in the retaining portion 52c. The hole 52e is a circular hole that penetrates the retaining portion 52c in the second direction D2. A second bearing 42 is mounted inside the hole 52e. More specifically, the second bearing 42 is mounted in the hole 52e so as to be rotatable about a rotation axis (not shown) that passes through the center of the hole 52e and extends in the second direction D2 when viewed from the second direction D2. As a result, the holding portion 52c is connected to the other end 40c of the connecting member 40. In other words, the object gripping portion 50 is connected to the other end 40c of the connecting member 40.

[0040] In this embodiment, the connecting member 40 is rotatable about the rotation axis described above. More specifically, the connecting member 40 is rotatable about the rotation axis described above in the range between the upper side as viewed from the hole 52e and the other side (-D1 side) of the first direction D1. As viewed from the second direction D2, the angle θ1 between the virtual straight line L1 extending from the center of the hole 52e to the other side of the first direction D1 and the connecting member 40 when it is rotated to its furthest point on the other side of the first direction D1 is about 20°. Also, as viewed from the second direction D2, the angle θ2 between the virtual straight line L1 and the connecting member 40 when it is rotated to its furthest upward point is about 75°. In other words, in this embodiment, the rotatable angle of the connecting member 40 is about 55°. Note that the rotatable angle of the connecting member 40 can be arbitrarily changed by changing the position in which the stopper 52g is attached to the holding part 52c.

[0041] As described above, the gripping portion 57 is held by the arm holding portion 51g. The gripping portion 57 grips the object 83. The gripping portion 57 can also release the object 83 it is gripping. As shown in Figure 5, the gripping portion 57 is composed of a pair of arms 57a and 57c.

[0042] Arm 57a is plate-shaped and extends in a direction perpendicular to the first direction D1. Arm 57a is held movably in the second direction D2 by the arm holding portion 51g on the other side (-D2 side) of the second direction D2. The lower end of arm 57a is located below the arm holding portion 51g. Arm 57a is provided with a first claw portion 57b. The first claw portion 57b is a projection that protrudes from the lower end of arm 57a to one side (+D2 side) of the second direction D2.

[0043] The arm 57c is plate-shaped and extends in a direction perpendicular to the first direction D1. The arm 57c is held movably in the second direction D2 on one side (+D2 side) of the arm holding portion 51g. The lower end of the arm 57c is located below the arm holding portion 51g. The arm 57c is provided with a second claw portion 57d. The second claw portion 57d is a projection that protrudes from the lower end of the arm 57c to the other side (-D2 side) of the second direction D2.

[0044] The air cylinder 58 moves each of the arms 57a and 57c in the second direction D2. This causes the air cylinder 58 to open and close the pair of arms 57a and 57c. In this embodiment, the object gripping section 50 has two air cylinders 58. Each air cylinder 58 is held in the arm holding section 51g. Although not shown in the figures, a second flow path 74 is connected to each air cylinder 58. This allows each air cylinder 58 to be supplied with air from the air supply section 25 (see Figure 3). The two air cylinders 58 include a first air cylinder 58a and a second air cylinder 58c.

[0045] The first air cylinder 58a is connected to the arm 57a. The first air cylinder 58a moves the arm 57a in the second direction D2. The second air cylinder 58c is connected to the arm 57c. The second air cylinder 58c moves the arm 57c in the second direction D2. When the arm 57a moves to the other side of the second direction D2 (-D2 side), the arm 57c moves to one side of the second direction D2 (+D2 side). As a result, the pair of arms 57a and 57c are in the open state, as shown by the dashed line in Figure 5. Also, when the arm 57a moves to one side of the second direction D2, the arm 57c moves to the other side of the second direction D2. As a result, the pair of arms 57a and 57c are in the closed state, as shown by the solid line in Figure 5. In other words, the pair of arms 57a and 57c can be opened and closed. With the pair of arms 57a and 57c in the open position, the first claw portion 57b and the second claw portion 57d are positioned below the object 83. When the pair of arms 57a and 57c are then closed, the first claw portion 57b and the second claw portion 57d support the object 83 from below. As a result, the gripping portion 57 grips the object 83.

[0046] As shown in Figures 5 and 6, the cylindrical portion 53 is substantially cylindrical in shape and extends in a first direction D1, and the cylindrical portion 53 opens on both sides in the first direction D1. As described above, the cylindrical portion 53 is housed inside the housing frame 51a. The cylindrical portion 53 is held in the housing frame 51a. As shown in Figure 5, the object gripping portion 50 has a plurality of cylindrical portions 53. In this embodiment, the object gripping portion 50 has four cylindrical portions 53. The number of cylindrical portions 53 in the object gripping portion 50 may be three or less, or five or more. Two cylindrical portions 53 are arranged side by side in a second direction D2, and the other two cylindrical portions 53 are arranged side by side in a second direction D2. Two cylindrical portions 53 are arranged above the other two cylindrical portions 53.

[0047] The balloon 55 is expandable and contractible depending on the amount of air supplied to it. As shown in Figure 6, the balloon 55 is substantially cylindrical in shape, extending in the first direction D1 in the expanded state, as shown by the dashed line. In this embodiment, the balloon 55 is made of rubber. The object gripping section 50 has a plurality of balloons 55. As shown in Figure 5, in this embodiment, the object gripping section 50 has four balloons 55. The number of balloons 55 in the object gripping section 50 may be three or less, or five or more. The number of balloons 55 in the object gripping section 50 and the volume of the balloons 55 in the expanded state are preferably determined appropriately based on the weight of the object gripping section 50 and the weight of the object 83, etc. Each balloon 55 is placed inside a different cylindrical section 53. This prevents the balloons 55 from directly contacting obstacles, etc., when the object gripping section 50 moves through water, thus preventing the balloons 55 from being damaged. As shown in Figure 6, each balloon 55 has an opening 55c.

[0048] The opening 55c opens on the other side (-D1 side) of the first direction D1. Although not shown in the illustration, different air supply tubes 73a are connected to the opening 55c of each balloon 55. Air is supplied to each balloon 55 from the air supply unit 25 via the air supply tubes 73a. In other words, the air supply unit 25 supplies air to the balloons 55 via the air supply tubes 73a.

[0049] In this embodiment, the state of the underwater object moving device 10 includes a first state S1 in which the object gripping part 50 sinks in the water because the buoyancy Fb applied to the balloon 55 is less than the gravity Fg applied to the object gripping part 50, as shown in Figure 1, and a second state S2 in which the object gripping part 50 floats to the water surface WS because the buoyancy Fb applied to the balloon 55 is greater than the gravity Fg applied to the object gripping part 50. In the following description, the gravity Fg of the object gripping part 50 is the force obtained by adding the gravity applied to the object gripping part 50 and the gravity applied to the connecting member 40 when the object gripping part 50 is not gripping the object 83, and when the object gripping part 50 is gripping the object 83, it is the force obtained by adding the gravity applied to the object gripping part 50, the gravity applied to the connecting member 40 and the gravity applied to the object 83. In this embodiment, the combined weight of the object gripping portion 50 and the connecting member 40 is approximately 10 kg.

[0050] In the first state S1, the pump 77 removes the air from each balloon 55 via the air supply tube 73a, the air supply unit 25, and the first flow path 72. As a result, each balloon 55 contracts, as shown by the solid line in Figure 6, and the volume of each balloon 55 decreases. At this time, as shown in Figure 1, the buoyancy Fb acting on the balloon 55 is less than the gravity Fg acting on the object gripping unit 50, so the object gripping unit 50 sinks in the water.

[0051] In the second state S2, the pump 77 supplies air into each balloon 55 via the first flow path 72, the air supply unit 25, and the air supply tube 73a. As a result, each balloon 55 expands, as shown by the dashed line in Figure 6, and the volume of each balloon 55 increases. At this time, as shown in Figure 4, the buoyancy Fb acting on the balloon 55 becomes greater than the gravity Fg acting on the object gripping unit 50, so the object gripping unit 50 floats to the water surface WS. This allows the underwater object moving device 10 to float the object 83 gripped by the gripping unit 57. Therefore, the object 83 placed on the sandbag 81 can be moved off the sandbag 81. When switching from the first state S1 to the second state S2, the object gripping unit 50 floats to the water surface WS along the rail 30 together with the connecting member 40. More specifically, although not shown in the diagram, the object gripping portion 50 floats up along the second rail portion 33 from the vertically upward side to one side of the first direction D1 (+D1 side), and then floats up vertically upward along the first rail portion 31.

[0052] The moving device 60 is movable underwater. For example, an underwater drone can be used as the moving device 60. The moving device 60 only needs to be movable underwater at least horizontally, and may also be movable vertically. As a result, the moving device 60 moves the main body 20, rail 30, connecting member 40, and object gripping part 50 horizontally. In other words, the underwater object moving device 10 moves horizontally by the moving device 60. In this embodiment, the moving device 60 is located vertically below the main body 20 and vertically above the lower end of the second rail part 33. As shown in Figure 3, the moving device 60 has a mounting part 61, a screw holding part 63, a screw 65, and a first imaging device 67. That is, at least one of the main body 20 and the moving device 60 has the first imaging device 67.

[0053] The mounting portion 61 is a rod-shaped extension in the vertical direction. In this embodiment, the moving device 60 has four mounting portions 61. The upper end of each mounting portion 61 is fixed to the surface of the main body portion 20 facing downwards to the housing 21. In this way, the moving device 60 is attached to the main body portion 20. When viewed from the vertical direction, the moving device 60 overlaps with the main body portion 20. Also, as shown in Figure 1, in the first state S1, the main body portion 20, the moving device 60, and the object gripping portion 50 are arranged side by side along the vertical direction.

[0054] As shown in Figure 3, the screw holder 63 extends vertically. The upper end of the screw holder 63 is fixed to the lower end of each mounting portion 61. The screw holder 63 holds the screw 65.

[0055] The moving device 60 has a plurality of screws 65. In this embodiment, the moving device 60 has four screws 65. The number of screws 65 in the moving device 60 may be three or fewer, or five or more. Although not shown in the figures, each screw 65 is electrically connected to a signal cable 71. Each screw 65 is supplied with a different drive current via the signal cable 71. This allows the rotational speed of each screw 65 to be set to a different rotational speed in this embodiment.

[0056] Each of the multiple screws 65 rotates around a rotation axis J1, J2, J3, J4 that extends horizontally. Therefore, the direction of the water flow generated by the rotation of each screw 65 is horizontal. In this embodiment, each of the rotation axes J1, J2, J3, and J4 is a virtual axis. In this embodiment, each of the rotation axes J1, J2, J3, and J4 extends in a different direction from each other. Therefore, by appropriately adjusting the rotation speed of each screw 65, the direction of travel of the moving device 60 can be set to a desired direction.

[0057] The first imaging device 67 is attached to the lower part of the screw holding section 63. For example, a video camera having an image sensor such as a CCD can be used as the first imaging device 67. Although not shown in the diagram, the first imaging device 67 is connected to the signal lines of the signal cable 71. As shown in Figure 7, the signal cable 71 is connected to the remote control device 75 and the display 76, which will be described later. Thus, the first imaging device 67 is electrically connected to the remote control device 75 and the display 76 via the signal cable 71. Images captured by the first imaging device 67 are transmitted to the display 76 via the signal cable 71 and displayed on the display 76.

[0058] The first imaging device 67 images the area below the moving device 60. As shown in Figure 1, in the first state S1, the object gripping unit 50 is located below the moving device 60. In the first state S1, the first imaging device 67 images the object gripping unit 50 and the object 83, etc., which are submerged in water. This allows the operator of the underwater object moving device 10 to adjust the rotation speed of each screw 65 of the moving device 60 while confirming the position of the object gripping unit 50 relative to the object 83. As a result, the operator can easily move the object gripping unit 50 to the vicinity of the object 83. In addition, the operator can confirm the position of the pair of arms 57a and 57c of the gripping unit 57 relative to the object 83. As a result, the operator can easily grip the object 83 with the gripping unit 57.

[0059] In this embodiment, the mobile device 60 has the first imaging device 67, but the main body 20 may also have the first imaging device 67. In this case, it is preferable that the first imaging device 67 is attached to the part of the housing 21 that is located underwater. This allows the first imaging device 67 to image the object gripping part 50 and the object 83, etc., that are submerged in water. Alternatively, the main body 20 and the mobile device 60 may each have the first imaging device 67.

[0060] Next, the procedure for moving an object 83 submerged in the floor 91 of a flooded floor of the nuclear power plant building 90 using the underwater object moving device 10 will be described. As shown in Figure 7, in this embodiment, the nuclear power plant building 90 is a building with two above-ground floors and one underground floor. The structure of the nuclear power plant building 90 is not limited to this embodiment. 1F is a floor that can be accessed from the ground. B1F is a floor that has been flooded with water W. As described above, in order to adsorb radioactive materials in the water W, sandbags 81 filled with adsorbent material are installed on the floor 91 of B1F. In this embodiment, the object 83 is placed on the sandbags 81. The object 83 may also be placed on the floor 91. In addition, an obstacle 85 is placed between the moving location P, which is the place to move the object 83, and the object 83.

[0061] A remote control device 75 and a display 76 are located on the 2nd floor of the nuclear power plant building 90. The remote control device 75 is electrically connected to the underwater object moving device 10 via a signal cable 71. As described above, the signal cable 71 is electrically connected to the air supply unit 25. Also as described above, the air supply unit 25 is connected to each balloon 55 by each air supply tube 73a of the air supply passage 73 (see Figure 1) and to the air cylinder 58 via the second passage 74 (see Figure 1). By operating the remote control device 75, the operator can adjust the amount of air supplied from the air supply unit 25 to each balloon 55 and the air cylinder 58. This allows the operator to switch the state of the underwater object moving device 10 between a first state S1 in which the object gripping unit 50 is submerged in water and a second state S2 in which the object gripping unit 50 floats on the water surface WS, and to control the opening and closing operation of a pair of arms 57a and 57c.

[0062] As described above, each of the multiple screws 65 (see Figure 3) of the moving device 60 is electrically connected to the signal cable 71, and the rotational speed of each screw 65 can be set to a different rotational speed from one another. Therefore, by operating the remote control device 75, the operator can freely move the underwater object moving device 10 in the horizontal direction.

[0063] As described above, the display 76 is electrically connected to the first imaging device 67 and each of the second imaging devices 23 via the signal cable 71. Therefore, as described above, the images captured by the first imaging device 67 and the images captured by each of the second imaging devices 23 are displayed on the display 76. Thus, as described above, the operator can visually confirm the object gripping unit 50 and the object 83 in the first state S1 by the image captured by the first imaging device 67. In addition, the operator can visually confirm the area around the main body 20 over 360° by the images captured by each of the second imaging devices 23.

[0064] In this embodiment, a pump 77 and an overhead crane 95 are located on the 1st floor of the nuclear power plant building 90. As described above, the pump 77 is connected to the air supply unit 25 via the first flow path 72. The overhead crane 95 is installed on the ceiling of the 1st floor. A wire 95a is connected to the overhead crane 95.

[0065] The underwater object moving device 10 is brought in from the 1st floor to the basement floor (B1F) via a through-hole 92a provided in the floor 92 of the 1st floor. First, the worker suspends the underwater object moving device 10 by a wire 95a. At this time, gravity acts on the object gripping part 50, causing the connecting member 40 to move to the lower end of the rail 30, and the object gripping part 50 to be positioned below the main body 20 and the moving device 60. Therefore, in the underwater object moving device 10 suspended by the wire 95a, the main body 20, the moving device 60, and the object gripping part 50 are arranged in a line along the vertical direction, similar to the first state S1 described above. This reduces the area of ​​the underwater object moving device 10 when viewed from the vertical direction, so that even if the through-hole 92a is a small hole, the underwater object moving device 10 can be brought in from the 1st floor to the basement floor (B1F) via the through-hole 92a, as shown in Figure 8. Therefore, in the underwater object moving device 10 of this embodiment, it is possible to prevent the insertion hole 92a from becoming too large. When transporting the underwater object moving device 10 from the 1st floor to the B1 floor, it is preferable to keep each balloon 55 in a deflated state. This allows the object gripping part 50 to be quickly submerged in water.

[0066] Next, the operator moves the underwater object moving device 10 downwards until the main body 20 floats on the water surface WS. Next, the operator detaches the wire 95a from the underwater object moving device 10, as shown in Figure 9. At this time, the underwater object moving device 10 is in the first state S1, so the object gripping part 50 is submerged in water. Next, while confirming the position of the object 83 displayed on the display 76, the operator operates the remote control device 75 to move the underwater object moving device 10 horizontally so that the object gripping part 50 is positioned above the object 83. Next, the operator operates the remote control device 75 to close the pair of arms 57a and 57c, thereby gripping the object 83 with the gripping part 57.

[0067] Next, the operator switches the underwater object moving device 10 from the first state S1 to the second state S2 by operating the remote control device 75 to supply air to each balloon 55. As a result, as shown in Figure 10, the object gripping part 50 that is gripping the object 83 floats up to the water surface WS along the rail 30. This allows the underwater object moving device 10 to remove the object 83 from the sandbag 81. Next, the operator operates the remote control device 75 to move the underwater object moving device 10 horizontally to the upper side of the moving location P using the moving device 60, as shown in Figure 11. At this time, since the underwater object moving device 10 and the object 83 each move horizontally near the water surface WS, contact with the obstacle 85 can be suppressed. This allows the operator to easily move the object 83 to the upper side of the moving location P.

[0068] Next, the operator operates the remote control device 75 to switch the underwater object moving device 10 from the second state S2 to the first state S1. As a result, as shown in Figure 12, the object gripping part 50 that is gripping the object 83 sinks into the water along the rail 30. Next, the operator operates the remote control device 75 to open the pair of arms 57a and 57c, causing the object 83 to drop from the gripping part 57 to the moving location P. In this way, the operator can move the object 83 that was placed on the sandbag 81 to the moving location P. Therefore, after the sandbag 81 is broken open, the adsorbent material packed inside the bag can be recovered by other adsorbent material recovery devices, etc.

[0069] Next, we will describe the movement of the object gripping part 50 when the object 83 falls from the object gripping part 50 after the object gripping part 50 has gripped the object 83 submerged in the floor 91 and the underwater object moving device 10 has been switched from the first state S1 to the second state S2. When the underwater object moving device 10 is switched from the first state S1 to the second state S2, as described above, the buoyancy Fb acting on the balloon 55 becomes greater than the gravity Fg acting on the object gripping part 50, so the object gripping part 50 floats upward. At this time, the gravity Fg acting on the object gripping part 50 is the sum of the gravity acting on the object gripping part 50, the gravity acting on the connecting member 40, and the gravity acting on the object 83.

[0070] As shown in Figure 13, in the second state S2, when the object 83 detaches from the object gripping part 50, the gravitational force Fg acting on the object gripping part 50 decreases to the sum of the gravitational force acting on the object gripping part 50 and the gravitational force acting on the connecting member 40. As a result, the difference between the buoyancy Fb acting on the balloon 55 and the gravitational force Fg acting on the object gripping part 50 becomes large. Therefore, when the object 83 detaches from the object gripping part 50, the speed at which the object gripping part 50 floats upward increases rapidly. In contrast, in this embodiment, as described above, the second rail section 33 extends in a direction inclined from the vertically downward side to the other side (-D1 side) of the first direction D1. Therefore, as shown in Figure 14, the object gripping part 50 floats towards the water surface WS along the second rail section 33 and the first rail section 31 while avoiding the moving device 60 and the main body section 20. This prevents the object gripping unit 50 from colliding with the moving device 60 and the main body 20. As a result, damage to the object gripping unit 50, the moving device 60, and the main body 20 can be prevented, and the main body 20 can be prevented from overturning.

[0071] According to this embodiment, the underwater object moving device 10 is an underwater object moving device 10 that moves an object 83 submerged in the floor 91 of a flooded floor, and comprises a main body 20 that can float on the water surface WS, a rail 30 attached to the main body 20 and extending downward from the main body 20, a connecting member 40 with one end 40a attached to the rail 30 and movable along the rail 30, and an object gripping part 50 connected to the other end 40c of the connecting member 40. The rail 30 is positioned on one side (+D1 side) of the first direction D1 than the main body 20 and has a first rail section 31 that extends vertically, and a second rail section 33 that is connected to the lower vertical end of the first rail section 31 and extends in a direction inclined from the lower vertical side to the other side (-D1 side) of the first direction D1. The object gripping unit 50 has a gripping unit 57 for gripping the object 83 and an inflatable balloon 55, and the main body 20 has an air supply unit 25 that supplies air to the balloon 55 via an air supply tube 73a. Therefore, as described above, after the object 83 submerged in the floor 91 is gripped by the gripping unit 57, the balloon 55 can be inflated by supplying air to the balloon 55 via the air supply tube 73a, thereby switching the underwater object moving device 10 to the second state S2. As a result, as described above, the buoyancy Fb applied to the balloon 55 can be made greater than the gravity Fg applied to the object gripping unit 50, so that the object gripping unit 50 gripping the object 83 can be brought to the surface WS of the water. This makes it possible to move the object 83 submerged in the floor 91 of the flooded floor.

[0072] Furthermore, in this embodiment, as described above, the rail 30 has a second rail portion 33 that extends in a direction inclined from the vertically downward side to the other side of the first direction D1 (-D1 side). In addition, in this embodiment, as described above, the object gripping portion 50 moves vertically along the rail 30. Therefore, when the underwater object moving device 10 is transported from the 1F to the B1F of the nuclear power plant building 90, and the underwater object moving device 10 is suspended by the wire 95a, the main body portion 20 and the object gripping portion 50 are arranged side by side along the vertical direction, as described above. This makes it possible to reduce the area of ​​the underwater object moving device 10 as seen from the vertical direction, thus preventing the insertion hole 92a from becoming too large. Therefore, it is possible to prevent radioactive materials present in B1F from leaking to 1F and 2F through the insertion hole 92a, thereby increasing the safety of workers.

[0073] According to this embodiment, the underwater object moving device 10 is equipped with a moving device 60 that can move underwater, and the moving device 60 is attached to the main body 20. Therefore, the underwater object moving device 10 can move horizontally by the moving device 60. As a result, the underwater object moving device 10 can move the object 83 to a moving location P that is horizontally separated from the place where the object 83 was submerged.

[0074] According to this embodiment, the moving device 60 is located vertically below the main body 20. Therefore, when the underwater object moving device 10 is transported from the 1st floor to the B1 floor of the nuclear power plant building 90, and the underwater object moving device 10 is suspended by the wire 95a, the main body 20, the moving device 60, and the object gripping part 50 are arranged in a vertical line, as described above. As a result, even if the moving device 60 is attached to the main body 20, the area of ​​the underwater object moving device 10 as viewed from the vertical can be reduced, thus preventing the insertion hole 92a from becoming too large. Therefore, it is possible to prevent radioactive materials present on the B1 floor from leaking to the 1st and 2nd floors through the insertion hole 92a, thereby improving worker safety.

[0075] According to this embodiment, at least one of the main body 20 and the moving device 60 has a first imaging device 67 that images the object gripping unit 50. As described above, the operator can confirm the position of the object gripping unit 50 relative to the object 83 by the image captured by the first imaging device 67, and thus easily move the object gripping unit 50 to the vicinity of the object 83. Also, as described above, the operator can confirm the positions of the pair of arms 57a and 57c relative to the object 83, and thus easily grip the object 83 with the gripping unit 57. These features improve the workability of gripping the object 83 with the gripping unit 57.

[0076] Furthermore, in this embodiment, the operator can confirm the gripping state of the gripping unit 57, which is gripping the object 83, using the first imaging device 67. This prevents the object 83 from falling off the gripping unit 57 when the underwater object moving device 10 moves the object 83. Therefore, the work efficiency of moving the object 83 can be improved.

[0077] According to this embodiment, the moving device 60 has a plurality of screws 65, and each of the plurality of screws 65 rotates about horizontally extending rotation axes J1, J2, J3, and J4. As a result, the direction of the water flow generated by the rotation of each screw 65 is horizontal, and this water flow can suppress the diffusion of the adsorbent material contained in the sandbags 81 and the sludge accumulated on the floor 91 into the water. Therefore, the first imaging device 67 can clearly image both the object gripping unit 50 and the object 83. As a result, the object gripping unit 50 can be moved to the vicinity of the object 83 more easily, and the object 83 can be gripped more easily by the gripping unit 57. Therefore, the workability of gripping the object 83 with the gripping unit 57 can be more effectively improved.

[0078] According to this embodiment, the gripping section 57 is composed of a pair of openable and closable arms 57a and 57c, and the object gripping section 50 has an air cylinder 58 that opens and closes the pair of arms 57a and 57c. For example, if the pair of arms 57a and 57c are opened and closed by an electrical device such as a motor, the electrical device may malfunction due to radiation. In this case, the opening and closing operation of the pair of arms 57a and 57c becomes unstable, making it difficult to improve the workability of gripping the object 83 with the gripping section 57. In contrast, in this embodiment, the pair of arms 57a and 57c are opened and closed by an air cylinder 58, so that the opening and closing operation of the pair of arms 57a and 57c becomes unstable. Therefore, the workability of gripping the object 83 with the gripping section 57 can be more effectively improved.

[0079] According to this embodiment, the main body 20 has a second imaging device 23, which is located vertically above the water surface WS. Therefore, as described above, the operator can see the portion of the main body 20 above the water surface WS by the image captured by the second imaging device 23. This makes it possible to suppress collisions between the underwater object moving device 10 and obstacles and the walls of the nuclear power plant building 90 when the underwater object moving device 10 moves horizontally. Thus, the work efficiency of moving the object 83 with the underwater object moving device 10 can be more effectively improved.

[0080] <Modified form of the first embodiment> Figure 15 is a view of the object gripping portion 150 of this modified example from a first direction D1. In this modified example, each of the pair of arms 157a and 157c constituting the gripping portion 157 has multiple claw portions. In the following description, components that are the same as those in the first embodiment described above are denoted by the same reference numerals, and their descriptions are omitted.

[0081] The modified underwater object moving device 110 comprises a main body 20, a rail 30, a connecting member 40, an object gripping part 150, and a moving device 60. The object gripping part 150 of this modified version grips an object 83 submerged in the floor 91 and moves the object 83 upward. As shown in Figure 15, the object gripping part 150 has a frame 51, a connecting member holding part 52, a cylindrical part 53, a balloon 55, a gripping part 157, and an air cylinder 58.

[0082] Similar to the first embodiment described above, in this modified example, the gripping portion 157 is held by the arm holding portion 51g. The gripping portion 157 grips the object 83. The gripping portion 157 can also release the object 83 it is gripping. The gripping portion 157 is composed of a pair of arms 157a and 157c.

[0083] The arm 157a is plate-shaped and extends in a direction perpendicular to the first direction D1. The arm 157a is plate-shaped and extends vertically. The arm 157a is held movably in the second direction D2 on the other side (-D2 side) of the arm holding portion 51g. The lower end of the arm 157a is located below the arm holding portion 51g. The arm 157a is provided with a plurality of first claw portions 157b.

[0084] Each first claw portion 157b protrudes from the arm 157a to one side (+D2 side) in the second direction D2. Viewed from the first direction D1, each first claw portion 157b is approximately a right triangle shape, with its hypotenuse positioned downwards as it moves toward one side in the second direction D2. Each first claw portion 157b is arranged vertically along the edge of the arm 157a on one side in the second direction D2. In this modified example, the arm 157a is provided with 15 first claw portions 157b. The number of first claw portions 157b provided on the arm 157a may be 14 or less, or 16 or more.

[0085] The arm 157c is plate-shaped and extends in a direction perpendicular to the first direction D1. The arm 157c is plate-shaped and extends vertically. The arm 157c is held movably in the second direction D2 on one side (+D2 side) of the arm holding portion 51g. The lower end of the arm 157c is located below the arm holding portion 51g. The arm 157c is provided with a plurality of second claw portions 157d.

[0086] Each second claw portion 157d protrudes from the arm 157c toward the other side (-D2 side) of the second direction D2. Viewed from the first direction D1, each second claw portion 157d is approximately a right triangle shape, with its hypotenuse located downwards as it moves toward the other side of the second direction D2. Each second claw portion 157d is arranged vertically along the edge of the arm 157c toward the other side of the second direction D2. In this modified example, the arm 157c is provided with 15 second claw portions 157d. The number of second claw portions 157d provided on the arm 157c may be 14 or less, or 16 or more.

[0087] In this modified example, the first air cylinder 58a is connected to the arm 157a. The first air cylinder 58a moves the arm 157a in the second direction D2. The second air cylinder 58c is connected to the arm 157c. The second air cylinder 58c moves the arm 157c in the second direction D2. When the arm 157a moves to the other side of the second direction D2 (-D2 side), the arm 157c moves to one side of the second direction D2 (+D2 side). As a result, the pair of arms 157a and 157c are in the open state shown by the dashed line in Figure 15. Also, when the arm 157a moves to one side of the second direction D2, the arm 157c moves to the other side of the second direction D2. As a result, the pair of arms 157a and 157c are in the closed state shown by the solid line in Figure 15. In other words, the pair of arms 157a and 157c are openable and closable. When the pair of arms 157a and 157c are in the open position, and at least one first claw portion 157b and at least one second claw portion 157d are positioned below the object 83, then when the pair of arms 157a and 157c are closed, at least one first claw portion 157b and at least one second claw portion 157d support the object 83 from below. As a result, the gripping portion 157 grips the object 83.

[0088] In this modified example, as described above, each first claw portion 157b is arranged vertically along the edge of one side (+D2 side) of the second direction D2 of the arm 157a, and each second claw portion 157d is arranged vertically along the edge of the other side (-D2 side) of the second direction D2 of the arm 157c. Therefore, in this modified example, even if the vertical dimensions of the object 83 are unknown, and even if the shape of the object 83 is difficult for the operator to see, if at least one first claw portion 157b and at least one second claw portion 157d each catch on the object 83 when the pair of arms 157a and 157c are closed, the object 83 can be gripped by the gripping portion 157. Therefore, the operator can easily grip the object 83 with the gripping portion 157. Thus, the workability of gripping the object 83 with the gripping portion 157 can be more favorably improved.

[0089] <Second Embodiment> Figure 16 is a first diagram showing the underwater object moving device 210 of this embodiment. Figure 17 is a second diagram showing the underwater object moving device 210 of a second embodiment. In this embodiment, the moving device 260 is detachably attached to the main body 220. In the following description, components that are the same as those in the first embodiment described above are denoted by the same reference numerals, and their descriptions are omitted.

[0090] As shown in Figure 16, the underwater object moving device 210 of this embodiment comprises a main body 220, a rail 30, a connecting member 40, an object gripping part 50, and a moving device 260. The configurations of the rail 30, the connecting member 40, and the object gripping part 50 in this embodiment are the same as those of the rail 30, the connecting member 40, and the object gripping part 50 in the first embodiment described above. In this embodiment, the object 283 is placed straddling two sandbags 81. The dimension of the object 283 in the first direction D1 in this embodiment is larger than the dimension of the object 83 in the first embodiment described above. Therefore, the weight of the object 283 in this embodiment is heavier than the weight of the object 83 in the first embodiment described above.

[0091] In this embodiment, the main body 220 has a first imaging device 227. That is, at least one of the main body 220 and the mobile device 260 has a first imaging device 227. The first imaging device 227 is attached to the lower part of the housing 21. As the first imaging device 227, for example, a video camera having an image sensor such as a CCD can be used. Although not shown in the figures, the first imaging device 227 is connected to the signal lines of the signal cable 71 (see Figure 7). The image captured by the first imaging device 227 is transmitted to the display 76 (Figure 7) via the signal cable 71 and displayed on the display 76.

[0092] The first imaging device 227 images the area below the main body 220. In the first state S1, the first imaging device 227 images the object gripping part 50 and the object 283, etc., which are submerged in water. This allows the operator of the underwater object moving device 210 to adjust the rotation speed of the screw (not shown) of the moving device 260 while confirming the position of the object gripping part 50 relative to the object 283. As a result, the operator can easily move the object gripping part 50 to the vicinity of the object 283. The operator can also confirm the position of the pair of arms 57a and 57c of the gripping part 57 relative to the object 283. As a result, the operator can easily grip the object 283 with the gripping part 57. The other configurations of the main body 220 in this embodiment are the same as the other configurations of the main body 20 in the first embodiment described above.

[0093] In this embodiment, the main body 220 has the first imaging device 227, but the mobile device 260 may also have the first imaging device 227. Alternatively, the main body 220 and the mobile device 260 may each have the first imaging device 227.

[0094] The moving device 260 is movable underwater. The moving device 260 moves the main body 220, rail 30, connecting member 40, and object gripping part 50 horizontally. In other words, the underwater object moving device 210 moves horizontally by the moving device 260. In this embodiment, the moving device 260 is located on the other side (-D1 side) of the first direction D1 than the main body 220. The moving device 260 has a plurality of screws (not shown). The rotational speed of each screw can be set to a different rotational speed from one another. The moving device 260 has a mounting part 261.

[0095] The mounting portion 261 is an openable and closable arm. The mounting portion 261 is detachably attached to a projection 228 that protrudes from the housing 21 to the other side (-D1 side) of the first direction D1. Thus, the moving device 260 is detachably attached to the main body portion 220. As described above, the weight of the object 283 in this embodiment is heavier than the weight of the object 83 in the first embodiment described above. Therefore, in this embodiment, as shown in Figure 17, the object 283 is grasped by a plurality of object gripping portions 50 arranged in line in the first direction D1 and moved. This allows the object 283 to be lifted by adding the buoyancy Fb of each balloon 55 of each object gripping portion 50, thus making it possible to lift the heavy object 283. In this embodiment, the object 283 is grasped by two object gripping portions 50 and lifted. The other configurations of the underwater object moving device 210 in this embodiment are the same as the other configurations of the underwater object moving device 10 in the first embodiment described above.

[0096] Next, the procedure for moving an object 283 submerged in the flooded floor 91 of the nuclear power plant building 90 using the underwater object moving device 210 will be described. The process of bringing each underwater object moving device 210 from 1F to B1F is the same as the process of bringing the underwater object moving device 10 from 1F to B1F in the first embodiment described above. As shown in Figure 16, the worker confirms the position of the object 283 displayed on the display 76 and operates the remote control device 75 to move the underwater object moving device 210 horizontally using the moving device 260 so that one of the object gripping parts 50 is positioned above the portion of the object 283 on one side (+D1 side) in the first direction D1. Next, the worker operates the remote control device 75 to close the pair of arms 57a and 57c and grips the portion of the object 283 on one side in the first direction D1 with one of the gripping parts 57.

[0097] Next, the operator operates the remote control device 75 to open the mounting portion 261 of the moving device 260 and detach the moving device 260 from the protruding portion 228 of one of the main body portions 220. Next, as shown in Figure 17, the operator attaches the mounting portion 261 of the moving device 260 to the protruding portion 228 of the other main body portion 220. Next, while confirming the position of the object 283 displayed on the display 76, the operator operates the remote control device 75 to move the underwater object moving device 210 horizontally using the moving device 260 so that the other object gripping portion 50 is positioned above the other side (-D1 side) of the object 283 in the first direction D1. Next, the operator operates the remote control device 75 to close the pair of arms 57a and 57c and grip the other side of the object 283 in the first direction D1 with the other gripping portion 57. In this way, the object 283 is gripped by the two object gripping portions 50.

[0098] When an object 283 is grasped by each object gripping part 50, the worker supplies air to the balloon 55 attached to each object gripping part 50. As a result, although not shown in the illustration, each object gripping part 50 and the object 283 float up, allowing the object 283 to be removed from the two sandbags 81. In other words, the object 283, which is submerged in the floor 91 of the flooded floor, can be moved. After that, the worker moves the object 283 to a location P (not shown).

[0099] In this embodiment, the moving device 260 is detachably attached to the main body 220. When the object 283 is large, its weight increases, and the buoyancy Fb of the balloon 55 of a single object gripping part 50 may not be sufficient to lift the object 283. Therefore, as described above, the object 283 may be lifted by gripping it with multiple object gripping parts 50 and adding the buoyancy Fb of the balloons 55 of each object gripping part 50 to the object 283. As described above, in this embodiment, the moving device 260 is detachably attached to the main body 220. Therefore, in this embodiment, each object gripping part 50 can be moved to a desired position using a single moving device 260. Thus, the increase in the number of parts and manufacturing cost of the underwater object moving device 210 can be suppressed.

[0100] Although embodiments of the present invention have been described above, the present invention is not limited to the embodiments described above, and various modifications can be made without departing from the spirit of the invention.

[0101] The configuration of the main body is not limited to this embodiment; for example, the shape of the housing may be a rectangular parallelepiped or a spherical shape, or other shapes. Also, the number of second imaging devices in the main body may be one or three or more.

[0102] The gripping section may be composed of multiple pairs of arms. In this case, the gripping section can grip the object more securely, thus preventing the object from falling off the gripping section when the underwater object moving device moves the object. Therefore, the workability of the object moving operation can be more effectively improved. [Explanation of Symbols]

[0103] 10,110,210...Underwater object moving device, 20,220...Main body, 23...Second imaging device, 25...Air supply unit, 30...Rail, 31...First rail section, 33...Second rail section, 40...Connecting member, 40a...One end, 40c...Other end, 50,150...Object gripping section, 55...Balloon, 57,157...Gripping section, 57a,57c,157a,157c...Arm, 58...Air cylinder, 60,260...Moving device, 65...Screw, 67,227...First imaging device, 73a...Air supply tube, 83,283...Object, 91...Floor, D1...First direction, WS...Water surface

Claims

1. An underwater object moving device for moving objects submerged in the floor of a flooded floor, A main body that can float on the water surface, A rail attached to the main body and extending downward from the main body, A connecting member having one end attached to the rail and movable along the rail, The object gripping portion is connected to the other end of the connecting member, Equipped with, The aforementioned rail is A first rail section is positioned on one side of the main body in a first direction perpendicular to the vertical direction, and extends in the vertical direction. A second rail section is connected to the lower vertical end of the first rail section and extends in a direction inclined from the lower vertical end to the other side of the first direction, It has, The object gripping portion has a gripping portion for gripping the object and an inflatable balloon. The main body is an underwater object moving device having an air supply unit that supplies air to the balloon via an air supply tube.

2. Equipped with a mobile device capable of moving underwater, The underwater object moving device according to claim 1, wherein the moving device is attached to the main body.

3. The underwater object moving device according to claim 2, wherein the moving device is located vertically below the main body.

4. The underwater object moving device according to claim 2, wherein the moving device is detachably attached to the main body.

5. The underwater object moving device according to any one of claims 2 to 4, wherein at least one of the main body and the moving device has a first imaging device for imaging the object gripping portion.

6. The moving device has a plurality of screws, The underwater object moving device according to claim 2, wherein each of the plurality of screws rotates about a rotation axis that extends horizontally.

7. The gripping portion is composed of a pair of arms that can be opened and closed. The underwater object moving device according to claim 1, wherein the object gripping portion has an air cylinder for opening and closing a pair of arms.

8. The main body has a second imaging device, The underwater object moving device according to claim 1, wherein the second imaging device is located vertically above the water surface.

Images