Connection device, recovery device, and connection method

Abstract

The present invention provides a connecting device, a retrieval device, and a connecting method that can be easily connected to and easily disconnected from objects floating on the water surface or the like. [Solution] The connecting device 3 is a connecting device that can be moved in the direction of travel X to lock a locking portion 95 of a recovered object 9 floating on the water surface or in water, and comprises a pair of opening / closing parts 31, 41 that are provided to be openable and closable in the width direction Y which intersects the direction of travel X on the front side X1 in the direction of travel X, and locking recesses 343, 443 provided on the outside of the width direction Y of the pair of opening / closing parts 31, 41 and recessed inward in the width direction Y, and the locking recesses 343, 443 can be locked to the locking portion 95.

Description

Technical Field

[0001] The present invention relates to a connection device, a recovery device and a connection method. Background Art

[0002] Conventionally, devices for recovering objects floating in water have been known. For example, Patent Document 1 discloses a connection system configured to recover an underwater vehicle by engaging a hook provided on the underwater vehicle with any region of a net provided at a distal end of a towing rope of a support mother ship. Prior Art Documents Patent Documents

[0003] Patent Document 1 Japanese Unexamined Patent Application Publication No. 2018-58492 Summary of the Invention Problems to be Solved by the Invention

[0004] However, in the connection system of Patent Document 1 described above, after engaging the hook on the underwater vehicle side with the net on the support mother ship side, there is a problem that it is difficult to release the engagement between the net and the hook in water depending on the situation.

[0005] Accordingly, the present invention has been made in view of the above circumstances, and provides a connection device, a recovery device and a connection method, which can easily connect to an object floating on a water surface or in water (hereinafter sometimes referred to as "water surface or the like") and can easily release the connection. Means for Solving the Problems

[0006] (1) One aspect of the present invention is a connecting device that can be moved in the direction of travel to lock a part to be retrieved that is floating on the water surface or in water, comprising: a pair of opening / closing parts provided so as to be openable and closable in a width direction intersecting the direction of travel on the front side in the direction of travel; and locking recesses provided on the outer side of the pair of opening / closing parts in the width direction and recessed inward in the width direction, wherein the locking recesses can be locked to the part to be retrieved.

[0007] According to the present invention, by opening a pair of opening / closing parts of the connecting device, a locking recess provided on the outer side of the opening / closing part so as to be recessed in the width direction engages with the part of the object to be retrieved that is to be retrieved. This allows the object to be retrieved to be locked to the connecting device. To release the connection, the pair of opening / closing parts are closed, thereby disengaging the locking recess of the opening / closing parts from the part of the object to be retrieved that is to be retrieved. Therefore, by opening and closing the pair of opening / closing parts, the connecting device can be easily connected to an object to be retrieved floating on the surface of water, etc., and the connection can also be easily released.

[0008] (2) One embodiment of the connecting device according to the present invention is the connecting device described in (1) above, wherein the connecting device is provided on the outside in the width direction of the opening and closing portion and on the front side in the direction of travel of the locking recess, and has a front guide portion that, when the pair of opening and closing portions are closed, gradually moves outward in the width direction as it moves towards the front in the direction of travel.

[0009] According to the present invention, the front guide portion of the connecting device is provided on the outside in the width direction of the opening / closing portion and in front of the locking recess in the direction of travel, and in the closed position when the pair of opening / closing portions are closed, it gradually extends outward in the width direction as it moves towards the front in the direction of travel. Therefore, when the pair of opening / closing portions are open and the front guide portion comes into contact with the locking portion of the recovered item, further opening of the opening / closing portion causes the locking portion to move towards the rear in the direction of travel along the front guide portion, and the front guide portion moves towards the front in the direction of travel along the locking portion, so that the locking portion is guided into the locking recess and locked. Thus, the locking recess can be smoothly guided into the locking portion of the recovered item by the front guide portion and locked.

[0010] (3) One embodiment of the connecting device according to the present invention is the connecting device described in (1) above, wherein the connecting device has a rear guide portion provided on the outside in the width direction of the opening and closing portion and on the rear side in the direction of travel of the locking recess, and when the pair of opening and closing portions are closed, the rear guide portion gradually moves inward in the width direction as it moves toward the front in the direction of travel.

[0011] (4) One embodiment of the connecting device according to the present invention is the connecting device described in (2) above, wherein the connecting device has a rear guide portion provided on the outside in the width direction of the opening and closing portion and on the rear side in the direction of travel of the locking recess, and which, when the pair of opening and closing portions are closed, gradually moves inward in the width direction as it moves toward the front in the direction of travel.

[0012] According to the present invention, the rear guide portion of the connecting device is provided on the outside in the width direction of the opening / closing section and behind the locking recess in the direction of travel, and in the closed position when the pair of opening / closing sections are closed, it gradually extends inward in the width direction as it moves towards the front in the direction of travel. Therefore, when the rear guide portion comes into contact with the locking portion of the object to be collected, the orientation of the connecting device is changed while in contact, and the connecting device is positioned at the desired location. Subsequently, by opening the pair of opening / closing sections, the locking portion of the object to be collected is positioned in the locking recess and locked. Thus, the orientation of the object to be collected can be changed to the desired position by the rear guide portion, and the locking recess can be locked to the locking portion of the object to be collected.

[0013] (5) One embodiment of the connecting device according to the present invention is the connecting device described in (1) above, wherein the locking recess may be formed in an arc shape.

[0014] According to the present invention, the locking recess of the opening / closing part is formed in an arc shape. Therefore, the part of the object to be collected can be smoothly guided and locked into the arc-shaped locking recess of the opening / closing part.

[0015] (6) One embodiment of the connecting device according to the present invention is the connecting device according to any one of (1) to (5) above, wherein the connecting device is provided on the inner surface of the opening and closing part in the width direction and has a recess that is recessed in the width direction and a protrusion that is projecting in the width direction, which are formed continuously in the direction of travel.

[0016] According to the present invention, the inner surface of the opening and closing section in the width direction is provided with a surface in which recesses that are recessed in the width direction and protrusions that are projected in the width direction are continuously formed in the direction of travel. Therefore, by closing the pair of opening and closing sections, an object can be clamped between the surface in the width direction.

[0017] (7) One embodiment of the connecting device according to the present invention is a recovery device comprising an underwater mobile robot that is movable in water, an arm supported by the underwater mobile robot, and a connecting device according to any one of (1) to (5) above provided at the tip of the arm.

[0018] According to the present invention, the connecting device can be moved underwater to a desired position by an underwater mobile robot together with an arm, and the locking recesses of the pair of opening and closing parts of the connecting device can be locked to the locking portion of the object to be recovered, which is floating on the water surface or the like. Furthermore, by closing the pair of opening and closing parts, the locking recesses of the opening and closing parts can be released from the locking portion of the object to be recovered. Thus, the connecting device can be easily connected to the object to be recovered floating on the water surface or the like, and the connection can also be easily released.

[0019] (8) One embodiment of the connecting device according to the present invention is a connection method in which a pair of opening / closing parts of the connecting device described in (1) or (2) above are placed between a pair of locking parts that are spaced apart in a first direction of the object to be collected, and the pair of opening / closing parts are opened to lock the locking recesses of the connecting device to the pair of locking parts, respectively.

[0020] According to the present invention, the pair of opening / closing parts of the connection device are opened, and the locking recess provided on the outer side in the width direction of the opening / closing part so as to be recessed inward in the width direction is locked to the locked part of the object to be recovered. Thereby, the object to be recovered can be locked to the connection device. When releasing the connection, closing the pair of opening / closing parts allows the locking recess of the opening / closing part to be disengaged from the locked part of the object to be recovered. Therefore, by opening and closing the pair of opening / closing parts, the connection device can be easily connected to an object floating on a water surface or the like, and the connection can be easily released. Effects of the Invention

[0021] According to the connection device, recovery device and connection method of the present invention, it is possible to easily connect to an object floating on a water surface or the like, and easily release the connection. Brief Description of the Drawings

[0022] [Figure 1] It is a perspective view showing the configuration of the recovery device according to the first embodiment of the present invention. [Figure 2] It is a perspective view showing the connection method according to the first embodiment of the present invention. [Figure 3] It is a top view showing the connection device according to the first embodiment of the present invention. [Figure 4] It is a top view showing a state where a part of the connection device according to the first embodiment of the present invention is arranged between a pair of locked parts. [Figure 5] It is a top view showing a state where the connection device according to the first embodiment of the present invention is in an open position. [Figure 6] It is a top view showing the connection method according to the first embodiment of the present invention. [Figure 7] It is a top view showing the connection method according to the first embodiment of the present invention. [Figure 8] It is a top view showing the connection device according to the second embodiment of the present invention. Mode for Carrying Out the Invention

[0023] (First Embodiment) The following describes, with reference to the drawings, a connection device, a recovery device, and a connection method according to the first embodiment of the present invention.

[0024] The recovery device 100 in the embodiment shown in Figure 1 is a device for recovering objects 9 (see Figure 2) that are floating on the water surface or the like. The recovery device 100 comprises an underwater mobile robot 1, an arm 2, and a connecting device 3.

[0025] In the following description, in the direction of travel X of the recovery device 100, the forward direction will be referred to as the front side X1, and the direction opposite to the front side X1 in the direction of travel X will be referred to as the rear side X2. Furthermore, assuming that the direction of travel X is aligned with the horizontal plane, the direction perpendicular to the direction of travel X along the horizontal plane will be referred to as the width direction (first direction) Y. The direction perpendicular to both the direction of travel X and the width direction Y will be referred to as the vertical direction Z. In the width direction Y, with respect to the front side X1 in the direction of travel X, the right side will be referred to as the right side, and the left side as the left side.

[0026] The underwater mobile robot 1 is configured to move freely underwater. The underwater mobile robot 1 is equipped with an arm attachment part 12 (described later) and a mobile drive part (not shown), and is capable of moving underwater. The underwater mobile robot 1 is equipped with an underwater camera 11, which is located on the front side X1 of the connection device 3 in the direction of travel X, allowing, for example, a worker on the ship to check the status of the connection device 3 by image. In addition, the ship is equipped with a control device (not shown) for remotely controlling the movement of the underwater mobile robot 1 and the operation of the connection device 3, as well as a monitor (not shown) for transmitting, receiving, and displaying images taken by the underwater camera mentioned above.

[0027] The underwater mobile robot 1 and the control device on the ship are connected by control cables (not shown) to send operation control signals and receive data from the underwater camera.

[0028] The underwater mobile robot 1 can be any shape and size that accommodates the above-mentioned mobile drive unit, underwater camera 11, transmitting / receiving unit, etc., and is not particularly limited.

[0029] Arm 2 has an arm body portion 21. The arm body portion 21 is a rod-shaped member extending along the arm axis J. The arm axis J is aligned with the direction of travel X. The arm body portion 21 extends in the direction of travel X. The base portion 21a of the arm body portion 21 is attached to an arm mounting portion 12 provided on the front side X1 of the underwater mobile robot 1. The tip portion 21b of the arm body portion 21 protrudes from the underwater mobile robot 1 to the front side X1.

[0030] The arm body 21 may be supported by the arm mounting portion 12 of the underwater mobile robot 1 so as to be rotatable around the arm axis J. The arm body 21 may also be supported by the arm mounting portion 12 so as to be movable in the direction of travel X.

[0031] As shown in Figure 3, the tip portion 21b of the arm body 21 has a pair of drive pieces 23, a pair of fixing pieces 24, and a pair of fixing pieces 25. The pair of drive pieces 23, the pair of fixing pieces 24, and the pair of fixing pieces 25 are each spaced apart in the vertical direction Z. The drive piece 23 is located approximately in the center of the arm body 21 in the width direction Y. The fixing piece 24 is located to the right of the drive piece 23. The fixing piece 25 is located to the left of the drive piece 23.

[0032] The connecting device 3 is provided at the tip portion 21b of the arm body portion 21. The connecting device 3 comprises an opening / closing body 30, a connecting portion 50, and an opening / closing drive portion (not shown).

[0033] The opening / closing body 30 has a first opening / closing section 31 and a second opening / closing section 41. The pair of opening / closing sections 31 and 41 are displaceable from a closed position P1 where they are close together as shown in Figures 3 and 4, to an open position P2 where they are spaced apart as shown in Figure 5. The first opening / closing section 31 and the second opening / closing section 41 can be opened and closed in the width direction Y by displacing them so that their front sides X1 in the direction of travel X are spaced apart and close together.

[0034] In the descriptions of the first opening / closing section 31 and the second opening / closing section 41, the side in the width direction Y that is close to each other is referred to as the inside, and the side that is farther apart from each other is referred to as the outside.

[0035] The first opening / closing section 31 is located on the right side when facing the front side X1 in the direction of travel X. The second opening / closing section 41 is located on the left side when facing the front side X1 in the direction of travel X.

[0036] The first opening / closing section 31 has a first base section 32, a first intermediate section 33, and a first tip section 34.

[0037] The first base portion 32 is positioned at the rear side X2 in the direction of travel X. The first intermediate portion 33 is connected to the front side X1 in the direction of travel X of the first base portion 32. The first tip portion 34 is connected to the front side X1 in the direction of travel X of the first intermediate portion 33.

[0038] As shown in Figure 5, a receiving recess 321 is formed in the middle of the vertical Z direction on the inside of the width Y direction of the first base 32, recessed outward in the width Y direction.

[0039] As shown in Figure 3, the outer side of the first intermediate portion 33 in the width direction Y has a protruding wall portion 331. The protruding wall portion 331 is formed so that, in the closed position P1, it gradually extends outward in the width direction Y as it moves towards the front side X1 in the direction of travel X.

[0040] The outer side of the first tip portion 34 in the width direction Y has a rear guide wall portion (rear guide portion) 341. The rear guide wall portion 341 is formed continuously with the front side X1 in the direction of travel X of the protruding wall portion 331.

[0041] The rear guide wall 341 is formed such that, in the closed position P1, it gradually extends inward in the width direction Y as it moves toward the front side X1 in the direction of travel X. The rear guide wall 341 is formed in a straight line when viewed from the vertical direction Z. The rear guide wall 341 is a plane along the vertical direction Z.

[0042] The outer side of the first tip portion 34 in the width direction Y has a front guide wall portion (front guide portion) 342. The front guide wall portion 342 is formed on the front of the first tip portion 34.

[0043] The front guide wall 342 is formed so that, in the closed position P1, it gradually extends outward in the width direction Y as it moves towards the front side X1 in the direction of travel X. The front guide wall 342 is formed in a straight line when viewed from the vertical direction Z. The front guide wall 342 is a plane along the vertical direction Z.

[0044] The outer side of the first tip portion 34 in the width direction Y has a locking recess 343. The locking recess 343 is formed between the rear guide wall portion 341 and the front guide wall portion 342. The locking recess 343 is formed continuously with the front side X1 in the direction of travel X of the rear guide wall portion 341. The locking recess 343 is formed continuously with the rear side X2 in the direction of travel X of the front guide wall portion 342.

[0045] The locking recess 343 is formed to be recessed inward in the width direction Y. When viewed from the vertical direction Z, the locking recess 343 is formed in an arc shape. The locking recess 343 is a curved surface along the vertical direction Z.

[0046] The second opening / closing section 41 has a second base section 42, a second intermediate section 43, and a second tip section 44.

[0047] The second base portion 42 is positioned at the rear side X2 in the direction of travel X. The second intermediate portion 43 is connected to the front side X1 in the direction of travel X of the second base portion 42. The second tip portion 44 is connected to the front side X1 in the direction of travel X of the second intermediate portion 43.

[0048] The intermediate portion 421 (see Figure 5) of the second base portion 42 in the vertical direction Z on the inside of the width direction Y is housed in the receiving recess 321 (see Figure 5) of the first opening / closing portion 31 in the closed position P1 shown in Figures 3 and 4.

[0049] The inner wall portion 431 (see Figure 5) of the second intermediate portion 43 in the width direction Y is located below the inner wall portion 332 (see Figure 5) of the first intermediate portion 33 of the first opening / closing portion 31 in the width direction Y when in the closed position P1 shown in Figures 3 and 4.

[0050] As shown in Figure 3, the outer side of the second tip portion 44 in the width direction Y has a rear wall portion 441.

[0051] The rear wall portion 441 is formed such that, in the closed position P1, it gradually extends inward in the width direction Y as it moves towards the front side X1 in the direction of travel X. The rear wall portion 441 is formed in a straight line when viewed from the vertical direction Z. The rear wall portion 441 is a plane along the vertical direction Z.

[0052] The outer side of the second tip portion 44 in the width direction Y has a front guide wall portion (front guide portion) 442. The front guide wall portion 442 is formed on the front of the second tip portion 44.

[0053] The front guide wall portion 442 is formed such that, in the closed position P1, it gradually extends outward in the width direction Y as it moves towards the front side X1 in the direction of travel X. The front guide wall portion 442 is formed in a straight line when viewed from the vertical direction Z. The front guide wall portion 442 is a plane along the vertical direction Z.

[0054] The outer side of the second tip portion 44 in the width direction Y has a locking recess 443. The locking recess 443 is formed between the rear wall portion 441 and the front guide wall portion 442. The locking recess 443 is formed continuously with the front side X1 in the direction of travel X of the rear wall portion 441. The locking recess 443 is formed continuously with the rear side X2 in the direction of travel X of the front guide wall portion 442.

[0055] The locking recess 443 is formed to be recessed inward in the width direction Y. When viewed from the vertical direction Z, the locking recess 443 is formed in an arc shape. The locking recess 443 is a curved surface along the vertical direction Z.

[0056] The connecting section 50 has a pair of first connecting sections 51 and a pair of second connecting sections 52. The first connecting sections 51 extend from the rear end of the first opening / closing section 31 from the rear side X2 in the direction of travel X and extend inward in the direction of travel X. A pair of first connecting sections 51 are provided on both the upper and lower sides in the vertical direction Z. A pair of second connecting sections 52 are provided from the rear end of the second opening / closing section 41 to the front side X1 in the direction of travel X. The inner sides of the pair of second connecting sections 52 in the width direction Y are connected, and an extension section 53 extends inward in the direction of travel X. The extension section 53 is positioned between the pair of first connecting sections 51.

[0057] A pair of first connecting parts 51 are positioned between a pair of fixed pieces 24 that are spaced apart on both sides in the vertical direction Z, and are connected by a connecting shaft 241. The connecting shaft 241 extends in the vertical direction Z. The pair of first connecting parts 51 are connected so as to be rotatable about an axis with the vertical direction Z as the axial direction.

[0058] A pair of second connecting parts 52 are positioned between a pair of fixed pieces 25 that are spaced apart on both sides in the vertical direction Z, and are connected by a connecting shaft 251. The connecting shaft 251 extends in the vertical direction Z. The pair of second connecting parts 52 are connected so as to be rotatable about an axis with the vertical direction Z as the axial direction.

[0059] A pair of first connecting parts 51 are positioned on both sides of the extension part 53 in the vertical direction Z. A pair of drive pieces 23 are positioned on both sides of the pair of first connecting parts 51 in the vertical direction Z. The pair of drive pieces 23, the pair of first connecting parts 51 and the extension part 53 are connected by a connecting shaft 231. The connecting shaft 231 extends in the vertical direction Z. The pair of drive pieces 23, the pair of first connecting parts 51 and the extension part 53 are connected so as to be rotatable around an axis with the vertical direction Z as the axial direction.

[0060] An opening / closing drive unit (not shown) drives the first opening / closing section 31 and the second opening / closing section 41 to open and close. The opening / closing drive unit is, for example, an electric drive motor. The drive motor is housed within the arm body 21 of the arm 2. The motor shaft of the drive motor is connected to a drive shaft connected to a drive piece 23, and the rotation of the drive motor is converted into linear motion parallel to the arm axis J direction, causing the drive piece 23 to move back and forth in the arm axis direction together with the drive shaft.

[0061] For example, the opening / closing drive unit may be housed in a separate component from the arm 2, or it may be provided within the underwater mobile robot 1. Alternatively, the opening / closing drive unit located on the ship may be configured to remotely control the opening and closing of the first opening / closing section 31 and the second opening / closing section 41 of the connecting device 3.

[0062] As the drive piece 23 moves forward and backward in the direction of the arm axis J, the first opening / closing section 31 and the second opening / closing section 41 open and close between a closed position P1 and an open position P2. As shown in Figure 5, when the drive piece 23 is pushed forward X1 in the direction of travel X, the pair of first connecting sections 51 and extension sections 53 rotate about the connecting shaft 231, the pair of first connecting sections 51 rotate about the connecting shaft 241, and the pair of second connecting sections 52 rotate about the connecting shaft 251. As a result, the first opening / closing section 31 and the second opening / closing section 41 are opened in the width direction Y to an open position P2. When the drive piece 23 is pulled back from the open position P2 to the rear side X2 in the direction of travel X, as shown in Figures 3 and 4, the first opening / closing section 31 and the second opening / closing section 41 move in a direction that closes them to each other in the width direction Y to a closed position P1.

[0063] As shown in Figure 2, the object to be recovered 9 floats on the water surface, etc. The object to be recovered 9 has a lower part 91 and an upper part 92. The upper part 92 is provided on the upper part of the lower part 91. The upper part 92 has a lower frame part 93 and an upper part 94. The lower frame part 93 is provided on the lower part 91. The upper part 94 is positioned above the lower frame part 93. The lower frame part 93 and the upper part 94 are formed in a four-sided frame shape. The lower frame part 93 and the upper part 94 are connected by a plurality of connecting members (locking parts) 95 that extend in the vertical direction Z. One side of the lower frame part 93 has an extension part 93a that extends outward. One side of the upper part 94 has an extension part 94a that extends outward. The ends of the extension portion 93a and extension portion 94a in the extension direction are connected by a connecting member (locking portion) 95 that extends in the vertical direction Z.

[0064] The connecting member 95 is a rod-shaped member. The cross-sectional shape of the connecting member 95 is circular, and it is more desirable that the outer surface of the connecting member 95 is formed in an arc shape. However, the connecting member 95 may also be a cylindrical member.

[0065] The recovered object 9 only needs to have two connecting members 95 that are spaced apart horizontally, and the configuration of the recovered object 9 can be set as appropriate. In the illustrated example, the lower part 91 of the recovered object 9 is located in water and the upper part 92 is located above the water surface, but it is not limited to this. The entire recovered object 9 may be located in water, or the entire recovered object 9 may be located above the water surface.

[0066] Next, we will explain how to connect the object to be recovered 9 using the underwater mobile robot 1. As shown in Figure 3, with the connecting device 3 closed, the image is checked with the underwater camera 11 mounted on the underwater mobile robot 1, and the tip of the connecting device 3 is pointed between the pair of connecting members 95. Of the pair of connecting members 95, the left connecting member 95 is designated as connecting member 95B, and the right connecting member 95 is designated as connecting member 95A, with respect to the front side X1 in the direction of travel X.

[0067] In the illustrated example, the tip end of the connecting device 3 is to be inserted between the connecting member 95A, which connects the end of the extension portion 93a and the end of the extension portion 94a, and the connecting member 95B located next to it, but this is not limited to this. The tip end of the connecting device 3 may also be inserted between adjacent connecting members 95 that are arranged at predetermined intervals from among a plurality of connecting members 95. More connecting members 95 than shown in the illustrated example may be installed so that the connecting members 95 are arranged at predetermined intervals.

[0068] As shown in Figure 4, the tip of the connecting device 3 is further inserted between the pair of connecting members 95. At this time, it is preferable that the protruding wall portion 331 of the connecting device 3 is positioned so that it overlaps with the connecting member 95B in the direction of travel X, as viewed from the rear side X2 in the direction of travel X in the image from the underwater camera 11.

[0069] It is preferable to position the connecting device 3 at a reference position where the pair of connecting members 95, the locking recess 343 of the first opening / closing section 31, and the locking recess 443 of the second opening / closing section 41 are aligned in the width direction Y. However, it is acceptable for the connecting device 3 to be offset from the reference position.

[0070] As shown in Figure 5, the first opening / closing section 31 and the second opening / closing section 41 are opened in the width direction Y. The locking recess 343 of the first opening / closing section 31 is positioned on the connecting member 95A and locked. The locking recess 443 of the second opening / closing section 41 is positioned on the connecting member 95B and locked. It is preferable that the outer surfaces of the connecting members 95A and 95B abut against the inner surfaces of both locking recesses 343 and 443, respectively.

[0071] As a result, the object to be recovered 9 becomes attached to the underwater mobile robot 1, and by moving the underwater mobile robot 1, the object to be recovered 9 moves together with the underwater mobile robot 1.

[0072] Since the outer circumferential surface of the connecting member 95 of the recovered object 9 and the inner circumferential surfaces of the locking recesses 343 and 443 of the connecting device 3 are formed in an arc shape relative to each other, when a force is applied to the recovered object 9, the connecting member 95 of the recovered object 9 can slide and move in the vertical Z direction relative to the locking recesses 343 and 443 of the connecting device 3. By increasing the force that opens the first opening / closing section 31 and the second opening / closing section 41, the inner circumferential surfaces of the locking recesses 343 and 443 are pressed strongly against the outer circumferential surface of the connecting member 95, thereby restricting the vertical Z movement of the connecting member 95 of the recovered object 9 relative to the locking recesses 343 and 443 of the connecting device 3. Furthermore, by providing a non-slip material with high frictional force on either the outer surface of the connecting member 95 of the recovered object 9 or the inner surface of the locking recesses 343, 443 of the connecting device 3, the vertical movement of the connecting member 95 of the recovered object 9 in the Z direction relative to the locking recesses 343, 443 of the connecting device 3 can be restricted.

[0073] As shown in Figure 6, the case where the connecting device 3 is positioned at a rear X2 side of a reference position where the pair of connecting members 95, the locking recess 343 of the first opening / closing section 31, and the locking recess 443 of the second opening / closing section 41 are aligned in the width direction Y, and the first opening / closing section 31 and the second opening / closing section 41 are opened, will be described. In this case, the front guide wall 342 of the first opening / closing section 31 comes into contact with the connecting member 95A, and the front guide wall 442 of the second opening / closing section 41 comes into contact with the connecting member 95B. The first opening / closing section 31 and the second opening / closing section 41 are opened further. As a result, the object to be collected 9 moves to the rear X2 side so that the connecting member 95A moves to the rear X2 side along the front guide wall 342, and the connecting device 3 moves to the front X1 side so that the front guide wall 342 moves to the front X1 side along the connecting member 95A. As the object to be collected 9 moves to the rear X2 so that the connecting member 95B moves to the rear X2 along the front guide wall 442, the connecting device 3 moves to the front X1 so that the front guide wall 442 moves to the front X1 along the connecting member 95B. As shown by the dashed line, the connecting member 95A is locked into the locking recess 343 of the first opening / closing section 31, and the connecting member 95B is locked into the locking recess 443 of the second opening / closing section 41.

[0074] As shown in Figure 7, the case where the connecting device 3 is positioned diagonally to the left between a pair of connecting members 95 will be described. The connecting device 3 is advanced until the rear guide wall portion 341 of the first opening / closing section 31 abuts against the connecting member 95A. While the rear guide wall portion 341 is in contact with the connecting member 95A, the connecting device 3 is advanced forward X1. Since the connecting device 3 rotates clockwise around the connecting member 95A, it can be advanced to a reference position where the pair of connecting members 95, the locking recess 343 of the first opening / closing section 31, and the locking recess 443 of the second opening / closing section 41 are aligned in the width direction Y. After this, as described above, the first opening / closing section 31 and the second opening / closing section 41 are opened, the locking recess 343 of the first opening / closing section 31 is locked to the connecting member 95A, and the locking recess 443 of the second opening / closing section 41 is locked to the connecting member 95B.

[0075] In the recovery device 100 configured in this way, the pair of opening / closing parts 31 and 41 of the connecting device 3 are opened to lock the locking recesses 343 and 443, which are provided on the outside of the opening / closing parts 31 and 41 so as to be recessed in the width direction Y, onto the connecting member 95 of the object to be recovered 9. This allows the object to be recovered 9 to be locked to the connecting device 3. To release the connection, the pair of opening / closing parts 31 and 41 are closed, which releases the locking recesses 343 and 443 of the opening / closing parts 31 and 41 from the connecting member 95 of the object to be recovered 9. Thus, by opening and closing the pair of opening / closing parts 31 and 41, the connecting device 3 can be easily connected to the object to be recovered 9 floating on the water surface, etc., and the connection can also be easily released.

[0076] Furthermore, the locking recesses 343 and 443 of the opening and closing parts 31 and 41 are formed in an arc shape. Therefore, the connecting member 95 of the object to be collected 9 can be smoothly guided and locked into the arc-shaped locking recesses 343 and 443 of the opening and closing parts 31 and 41.

[0077] Furthermore, the front guide walls 342,442 of the connecting device 3 are located on the outside of the width direction Y of the opening / closing parts 31,41 and are positioned X1 in front of the locking recesses 343,443 in the direction of travel X. When the pair of opening / closing parts 31,41 are closed, the guide walls gradually extend outward in the width direction Y as they move towards the front X1 in the direction of travel X. Therefore, when the pair of opening / closing parts 31,41 are open and the front guide walls 342,442 come into contact with the connecting member 95 of the recovered object 9, further opening of the opening / closing parts 31,41 causes the connecting member 95 to move towards the rear X2 in the direction of travel X along the front guide walls 342,442, and the front guide walls 342,442 move towards the front X1 in the direction of travel X along the connecting member 95, so that the connecting member 95 is guided into and locked into the locking recesses 343,443. Therefore, the locking recesses 343, 443 can be smoothly guided and locked to the connecting member 95 of the recovered object 9 by the front guide walls 342, 442.

[0078] Furthermore, the rear guide wall 341 of the connecting device 3 is located on the outside in the width direction Y of the opening / closing parts 31 and 41, and is positioned behind the locking recesses 343 and 443 in the direction of travel X, X2. When the pair of opening / closing parts 31 and 41 are closed, the rear guide wall 341 gradually extends inward in the width direction Y as it moves towards the front X1 in the direction of travel X. Therefore, when the rear guide wall 341 comes into contact with the connecting member 95 of the object to be recovered 9, the orientation of the connecting device 3 is changed while in contact, and the connecting device 3 is positioned in the desired position. Subsequently, by opening the pair of opening / closing parts 31 and 41, the connecting member 95 of the object to be recovered 9 is positioned in the locking recesses 343 and 443 and locked. Thus, the orientation of the object to be recovered 9 can be changed to the desired position by the rear guide wall 341, and the locking recesses 343 and 443 can be locked to the connecting member 95 of the object to be recovered 9.

[0079] Furthermore, the connecting device 3 can be moved underwater to a desired position by the underwater mobile robot 1 together with the arm 2, and the locking recesses 343, 443 of the pair of opening / closing parts 31, 41 of the connecting device 3 can be locked to the connecting member 95 of the object to be recovered 9 floating on the water surface, which is the recovery target. Also, by closing the pair of opening / closing parts 31, 41, the locking recesses 343, 443 of the opening / closing parts 31, 41 can be detached from the connecting member 95 of the object to be recovered 9. Thus, the connecting device 3 can be easily connected to the object to be recovered 9 floating on the water surface, and the connection can also be easily detached.

[0080] Since the outer surface of the connecting member 95 of the object to be recovered 9 and the inner surface of the locking recesses 343 and 443 of the connecting device 3 are formed in an arc shape relative to each other, when a force is applied to the object to be recovered 9, the connecting member 95 of the object to be recovered 9 can slide and move in the vertical Z direction relative to the locking recesses 343 and 443 of the connecting device 3. Therefore, when the object to be recovered 9 is about to sink in the water, the connecting member 95 of the object to be recovered 9 slides downward relative to the locking recesses 343 and 443 of the connecting device 3, causing the object to be recovered 9 to move downward. Thus, the sinking of the underwater mobile robot 1 is suppressed.

[0081] (Second Embodiment) A connection device, a recovery device, and a connection method according to a second embodiment of the present invention will be described mainly with reference to Figure 8. In the description of the embodiments shown below, the same reference numerals are used for the same components as those described above, and their descriptions are omitted.

[0082] As shown in Figure 8, the inner surface of the first tip portion 34 of the first opening / closing portion 31 in the width direction Y has a recessed portion 351 that is recessed outward in the width direction Y and a convex portion 352 that protrudes inward in the width direction Y, which are formed continuously in the direction of travel X.

[0083] The inner surface of the second tip portion 44 of the second opening / closing portion 41 in the width direction Y has a recessed portion 45 that is recessed outward in the width direction Y and a protruding portion 452 that is projected inward in the width direction Y, and these protrusions and recesses are formed continuously in the direction of travel X.

[0084] The first base portion 32 of the first opening / closing portion 31 has a cutting recess 36 formed on the inside in the width direction Y, which is recessed outward in the width direction Y.

[0085] The inside of the second base 42 of the second opening / closing section 41 in the width direction Y has a cutting blade 46. An object to be cut (not shown) placed in the cutting recess 36 can be cut by the cutting blade 46 by closing the first opening / closing section 31 and the second opening / closing section 41.

[0086] In the recovery device 100 configured in this way, the pair of opening / closing parts 31 and 41 of the connecting device 3 are opened to lock the locking recesses 343 and 443, which are provided on the outside of the opening / closing parts 31 and 41 so as to be recessed in the width direction Y, onto the connecting member 95 of the object to be recovered 9. This allows the object to be recovered 9 to be locked to the connecting device 3. To release the connection, the pair of opening / closing parts 31 and 41 are closed, which releases the locking recesses 343 and 443 of the opening / closing parts 31 and 41 from the connecting member 95 of the object to be recovered 9. Thus, by opening and closing the pair of opening / closing parts 31 and 41, the connecting device 3 can be easily connected to the object to be recovered 9 floating on the water surface, etc., and the connection can also be easily released.

[0087] Furthermore, the inner surfaces of the opening and closing parts 31 and 41 in the width direction Y are provided with recessed parts 351 and 451 that are recessed in the width direction Y and protruding parts 352 and 452 that are projected in the width direction Y, which are formed continuously in the direction of travel X. Therefore, by closing the pair of opening and closing parts 31 and 41, an object can be gripped by being sandwiched between the recessed and protruding parts 35 and 45 of the opening and closing part 31 and the recessed and protruding parts 35 and 45 of the opening and closing part 31. By opening the pair of opening and closing parts 31 and 41, an object can be released from between the recessed and protruding parts 35 and 45 of the opening and closing part 31 and the recessed and protruding parts 35 and 45 of the opening and closing part 31. The connecting device 3 connected to the object to be recovered 9 can be given the function of gripping and releasing an object.

[0088] While several embodiments of the present invention have been described, these embodiments are presented as examples only and are not intended to limit the scope of the invention. These embodiments can be carried out in a variety of other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their variations are included in the scope and spirit of the invention, as well as in the claims and their equivalents.

[0089] In the embodiment shown above, the locking portion 95 of the recovered object 9 is a rod-shaped member connecting the upper portion 92 and the lower frame portion 93, but is not limited to this. The locking portion of the recovered object may also be a bolt provided so as to extend upward from the lower portion 91.

[0090] In the embodiment described above, the case in which both locking recesses 343, 443 of the pair of opening and closing parts 31, 41 are locked to the connecting member 95 of the object to be recovered 9 has been described, but it is not limited to this. Only one of the pair of locking recesses 343, 443 may be locked to the connecting member 95 of the object to be recovered 9, or the object to be recovered may be locked by abutting a part of the inner circumferential surface of the locking recess 343 (443) against a part of the outer circumferential surface of the connecting member 95 of the object to be recovered 9. In this case, although the movement of the object to be recovered 9 in the vertical direction Z cannot be restricted, the object to be recovered 9 can be moved in the direction along the horizontal plane.

[0091] Furthermore, in the embodiment shown above, both locking recesses 343 and 443 of the opening and closing parts 31 and 41 are formed in an arc shape, but this is not limited to this. The shape of the locking recesses 343 and 443 can be set as appropriate.

[0092] Furthermore, in the embodiment described above, the connecting device 3 has a rear guide wall portion 341 and front guide wall portions 342, 442, but is not limited to this. The connecting device 3 does not need to be provided with a rear guide wall portion 341 and front guide wall portions 342, 442. [Explanation of Symbols]

[0093] 1. Underwater mobile robot 2 Arms 3. Connection device 9. Items to be recovered 31,41 Opening / closing section 35,45 Uneven part 95 Locked part 100 Recovery device 343,443 Locking recess 341 Rear guide wall section (rear guide section) 342,442 Front guide wall section (front guide section) 351,451 recesses 352,452 convex parts P1 closed position X Direction of travel X1 Front X2 rear Y width direction

Claims

1. A connecting device that can be moved in the direction of travel to lock the part of a recovered object floating on or in the water surface, A pair of opening / closing parts are provided so as to be able to open and close in a width direction that intersects the direction of travel, Each of the pair of opening and closing parts is provided on the outer side in the width direction and comprises a locking recess that is recessed inward in the width direction, The locking recess is a connecting device that can be locked to the locked portion.

2. The connecting device according to claim 1, which has a front guide portion provided on the outside in the width direction of the opening and closing portion and on the front side in the direction of travel of the locking recess, and which, when the pair of opening and closing portions are closed, gradually extends outward in the width direction as it moves toward the front in the direction of travel.

3. The connecting device according to claim 1, having a rear guide portion provided on the outside in the width direction of the opening and closing portion and on the rear side in the direction of travel of the locking recess, and which, when the pair of opening and closing portions are closed, gradually moves inward in the width direction as it moves toward the front in the direction of travel.

4. The connecting device according to claim 2, which has a rear guide portion provided on the outside in the width direction of the opening and closing portion and on the rear side in the direction of travel of the locking recess, and which, when the pair of opening and closing portions are closed, gradually moves inward in the width direction as it moves toward the front in the direction of travel.

5. The connecting device according to claim 1, wherein the locking recess is formed in an arc shape.

6. The connecting device according to any one of claims 1 to 5, having a recessed portion that is recessed in the width direction and a convex portion that is projected in the width direction, which are formed continuously in the direction of travel.

7. An underwater mobile robot that can move freely underwater, The arm supported by the aforementioned underwater mobile robot, A recovery device comprising a connecting device according to any one of claims 1 to 5 provided at the tip of the arm.

8. A pair of opening / closing parts of the connecting device according to claim 1 or 2 are arranged between a pair of locking parts that are spaced apart in the first direction of the object to be collected, A connection method comprising opening the pair of opening / closing parts and engaging the locking recesses of the connection device with the pair of locking parts.

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