Water jade removal device

Abstract

To efficiently perform unslinging work by remote control under water.SOLUTION: An underwater unslinging device 1 for performing unslinging work of a sling wire 6 for suspending an underwater structure under water, comprises: an unslinging mechanism 10 including a locking pin 13 to which the sling wire is detachably attached, a pin holding plate 12 having a through hole into which the locking pin is inserted, and a pin operating unit 14 for moving the locking pin in a direction to insert or remove it from the pin holding plate; and an insertion / removal state confirmation sensor 20 having an insertion detection sensor for detecting a state in which the locking pin is inserted into the pin holding plate and a removal detection sensor for detecting a state in which the locking pin is removed. The pin operating unit comprises: an extension device 15 arranged in parallel with the locking pin and having a ball screw; and a connecting member 18 for connecting one end of the extension device and the locking pin.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to an underwater ball removal device for a ball suspension wire that suspends an underwater structure.

Background Art

[0002] Conventionally, after a wave dissipating block or a washout prevention material equipped with a wire suspended from a crane or the like on a workboat is landed on the seabed, the ball removal work of removing the wire is carried out manually by a diver underwater. In the ball removal work, since the vertical movement of the workboat caused by waves is transmitted to the wire, the work of removing the wire that moves up and down from the landed wave dissipating block tends to be complicated.

[0003] For this reason, for example, in Patent Document 1, by providing a floating body in the middle of the wire that suspends the covering block, the vertical movement of the workboat is prevented from being transmitted to the wire located below the floating body, and the efficiency of the ball removal work by the diver is improved. However, depending on the type of suspended load, there is a risk of load collapse during work. Therefore, the ball removal work carried out manually by the diver in close proximity to the suspended load has a problem in terms of safety.

[0004] Under such circumstances, various devices capable of remotely operating the ball removal work at sea or on land have been developed. For example, in Patent Document 2, a remote ball removal device equipped with a movable pin that moves by a hydraulic cylinder is installed between the wire of the crane and the ball suspension wire rope. In this case, one end of the ball suspension wire rope is attached to the movable pin, and the other end is installed on a heavy object. The heavy object is installed at a desired position by the crane. After that, the position of the movable pin is switched via a hydraulic control device, and one end of the ball suspension wire rope is removed from the movable pin. Thereby, the ball removal work is completed, the heavy object remains at the desired position, and the remote ball removal device is removed and recovered by the crane.

[0005] In Patent Document 3, an erection and pin-removing device is installed between the suspension chain on the crane side and the steel frame (suspended load). The erection and pin-removing device has a suspension member on a wire suspended from a housing, and a pin that is attached and detached by the operation of a pneumatic cylinder is provided on the suspension member. The pneumatic cylinder can be controlled by wireless operation. With the pin passed through the opening of the suspension piece provided on the steel frame and attached to the suspension member, the steel frame is installed at a desired position by the crane. After that, the pin-removing operation is completed by removing the pin from the suspension member by wireless operation, the steel frame is left at the desired position, and the erection and remote pin-removing device is removed and recovered by the crane.

Prior Art Documents

Patent Documents

[0006]

Patent Document 1

Patent Document 2

Patent Document 3

Summary of the Invention

Problems to be Solved by the Invention

[0007] Devices that can perform pin-removing operations remotely on the sea or on land, such as those in Patent Documents 2 and 3, will cause various problems if they are directly adopted in water. Specifically, in the case of a device using a hydraulic cylinder as in Patent Document 2, there is a risk of oil leakage due to unforeseen circumstances, resulting in environmental pollution. Therefore, its use is often restricted in construction work carried out in rivers or seas. In addition, a device using a pneumatic cylinder as in Patent Document 3 is likely to malfunction due to water pressure when used in water, and requires a large amount of power compared to the case of implementation on land. For this reason, the overall equipment including the power source, such as a compressor for air supply, tends to be excessive.

[0008] The present invention has been made in view of such problems, and its main object is to efficiently perform the operation of removing the weight from the wire for suspending an underwater structure underwater by remote control.

Means for Solving the Problems

[0009] In order to achieve such an object, the underwater weight removing device of the present invention is an underwater weight removing device for removing the weight from the wire for suspending an underwater structure underwater, wherein the weight wire is detachably attached. made of metal A weight removing mechanism including a locking pin, a pin holding plate having a through hole into which the locking pin is inserted, and a pin operating unit that moves the locking pin in a direction of inserting and removing with respect to the pin holding plate, a plugging detection sensor that detects a state in which the locking pin is inserted with respect to the pin holding plate, and a plugging and unplugging state confirmation sensor having a pulling detection sensor that detects a pulled-out state. The pin operating unit is disposed in parallel with the locking pin and includes a telescopic device having a ball screw, and a connecting member that connects one end of the telescopic device and the locking pin. , including, wherein the insertion detection sensor and the extraction detection sensor are non-contact magnetic proximity sensors, the insertion detection sensor is arranged at a position where the locking pin inserted into the through hole can be detected, and the extraction detection sensor is arranged at a position where the locking pin pulled out from the through hole can be detected It is characterized by the above.

[0010] Further, the underwater weight removing device of the present invention is characterized by including cage covering the upper part and the side part of the weight removing mechanism.

[0011] According to the underwater weight removing device of the present invention, a telescopic device having a ball screw is adopted for the pin operating unit that moves the locking pin in a direction of inserting and removing with respect to the pin holding plate. Thereby, the telescopic device can insert and remove the locking pin with the weight wire attached with respect to the pin holding plate without causing malfunction due to water pressure. Therefore, it is possible to surely perform the operation of removing the weight from the weight wire for the underwater structure installed underwater only by operating the telescopic device.

[0012] In addition, since the telescopic device having a ball screw does not cause a situation that adversely affects the environment such as oil leakage that is a concern when using a hydraulic telescopic device, it can also be adopted for river works and underwater works.

[0013] Furthermore, by providing a facility for controlling a telescopic device equipped with a ball screw by wire or wirelessly, underwater workers can also perform the ball removal operation remotely, thus improving safety and work productivity.

[0014] In addition, since a plug-in / draw-out state confirmation sensor equipped with a plug-in detection sensor and a draw-out detection sensor is provided, if a plug-in detection light and a draw-out detection light are connected to each of these plug-in detection sensor and draw-out detection sensor, underwater workers and above-water workers can confirm the plug-in / draw-out state of the locking pin while being remote from the underwater ball removal device.

Advantages of the Invention

[0015] According to the present invention, since a telescopic device equipped with a ball screw is adopted for a pin operating unit that moves a locking pin equipped with a ball wire in a direction of inserting / removing with respect to a pin holding plate, it is possible to efficiently perform a ball removal operation by remote control underwater with a simple configuration.

Brief Description of the Drawings

[0016]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Embodiments for Carrying Out the Invention

[0017] The present invention is an apparatus and system capable of performing a ball removal operation by remote control underwater after installing an underwater structure equipped with a ball hanging wire in water or landing it on the seabed, and can be adopted in any water environment such as the ocean, rivers, or lakes. Also, the underwater structure can be adopted for any of them, such as a washing prevention material like a riprap, a concrete block such as a root fixing block or a wave dissipating block (e.g., Tetrapod (registered trademark)).

[0018] In this embodiment, taking the case of installing a wave dissipating block, which is one of the underwater civil engineering works, using an underwater suspended load slewing device as an example, the details of the underwater ball removal device and the underwater ball removal system will be described below with reference to FIGS. 1 to 9.

[0019] As shown in FIG. 1, a suspension jig 5 is suspended in a horizontal posture by a wire 4b of a crane 4a mounted on a crane ship 4 via an underwater suspended load slewing device 3, and a wave dissipating block B is suspended by this suspension jig 5.

[0020] The underwater suspended load slewing device 3 is a device for performing attitude control such as direction change and attitude maintenance by slewing a suspended concrete block B and fine adjustment during positioning underwater when installing the wave dissipating block B on the seabed. In such an underwater suspended load slewing device 3, a suspension wire 3b is attached to the lower surface of the outer shell 3a to suspend the suspension jig 5. For the principle of attitude control by the underwater suspended load slewing device 3, refer to Japanese Patent No. 5970946.

[0021] The suspension jig 5 is made of H-shaped steel. As shown in Fig. 2, a ball-hanging wire 6 is directly installed near one end side of the lower flange 5a, and the underwater ball-removing device 1 is installed near the other end side. The ball-hanging wire 6 has a locking eye 6a formed at one end directly connected to the suspension jig 5, and a locked eye 6b formed at the other end. The locked eye 6b is attached to the underwater ball-removing device 1. Therefore, as shown in Fig. 1, after the wave-dissipating block B with the ball-hanging wire 6 wound around it lands at a predetermined position, when the connection between the underwater ball-removing device 1 and the locked eye 6b is released, the ball-hanging wire 6 can be removed from the wave-dissipating block B.

[0022] ≪≪Underwater Ball-Removing Device≫≫ As shown in the side view of Fig. 3, the underwater ball-removing device 1 includes a ball-removing mechanism 10, an insertion / removal state confirmation sensor 20, and a control unit 30, and cage a housing 40 for accommodating them. cage The housing 40 is formed by installing a wire mesh 42 on a substantially rectangular parallelepiped frame 41, but its shape is not limited to this.

[0023] ≪Ball-Removing Mechanism≫ As shown in Fig. 3, the ball-removing mechanism 10 includes a mounted part 11, a pair of pin holding plates 12, a locking pin 13, and a pin operating unit 14.

[0024] The mounted part 11 is formed in a substantially T-shaped configuration consisting of a joined steel plate 111 in a lying posture and an upright steel plate 112 installed on its upper surface. And the joined steel plate 111 cage is arranged at the ceiling part of the housing 40, and the upright steel plate 112 cage is arranged so as to protrude upward from the housing 40. The upright steel plate 112 is inserted between a pair of device mounting parts 5c provided on the lower flange 5a of the suspension jig 5 and is connected to them via a connecting pin 5d. Also, on the lower surface of the joined steel plate 111, a pair of pin holding plates 12 are installed at a predetermined interval in a posture parallel to the upright steel plate 112.

[0025] As shown in the plan views of FIGS. 3 and 4, each of the pair of pin holding plates 12 is provided with through holes 121 facing each other. A locking pin 13 that moves along the guide cylinder 131 is removably inserted into these through holes 121. In FIGS. 3 to 6, the right side of the drawing is referred to as the pulling-out side, and the left side of the drawing is referred to as the insertion side.

[0026] The locking pin 13 is made of a long rod-shaped member made of metal, and the locked eye 6b of the ball-hanging wire 6 disposed between the pair of pin holding plates 12 is attached thereto. The guide cylinder 131 is coaxially connected to the outside of the pin holding plate 12a located on the pulling-out side of the locking pin 13 among the pair of pin holding plates 12. The operation of moving the locking pin 13 in the direction of insertion and extraction is performed by the pin operating unit 14.

[0027] As shown in FIG. 4, the pin operating unit 14 includes a telescopic device 15, a coupling 16 connected to one end of the telescopic device 15, an underwater motor 17 connected to the telescopic device 15 via the coupling 16, and a connecting member 18 installed on the telescopic device 15.

[0028] The telescopic device 15 is arranged to expand and contract in parallel with the insertion and extraction direction of the locking pin 13, and any type can be adopted as long as it has a mechanism suitable for use in water, such as an electric type or a telescopic device using a ball screw.

[0029] Examples of mechanisms unsuitable for use in water include, for example, telescopic mechanisms driven by hydraulic pressure and pneumatic pressure. The telescopic mechanism driven by hydraulic pressure may cause a situation that adversely affects the environment, such as oil leakage, and is not suitable for use in rivers and seas. In addition, the telescopic mechanism driven by pneumatic pressure not only has a possibility of malfunction due to water pressure when used in water, but also requires a separate preparation of a compressor for air supply, etc., and the auxiliary equipment tends to be excessive and is not suitable for use in water.

[0030] Hereinafter, a ball screw will be cited as an example of a telescopic mechanism suitable for use in water, and an example of the telescopic device 15 using the ball screw will be described with reference to FIG. 5.

[0031] The telescopic device 15 includes a screw shaft 151, a ball nut 1521, a hollow rod 152 housing the ball nut 1521, and a protective cylinder 153 for housing the screw shaft 151 and the hollow rod 152.

[0032] The screw shaft 151 is supported by a centering device 1531 provided in the protective cylinder 153 with the shaft portion 1512 on the base end side being rotatable freely about the axis center. Further, a ball nut 1521 provided inside the hollow rod 152 is screwed onto a screw portion 1511 formed from the intermediate portion toward the tip end side. The rotation of the screw shaft 151 having such a configuration is performed by the power supply of the underwater motor 17.

[0033] The underwater motor 17 is provided with its output shaft 171 in a posture intersecting the screw shaft 151. For this reason, the shaft portion 1512 of the screw shaft 151 and the output shaft 171 of the underwater motor 17 are connected via a coupling 16 capable of power transmission with orthogonal axes or offset axes.

[0034] When the coupling 16 arranges the shaft portion 1512 of the screw shaft 151 and the output shaft 171 of the underwater motor 17 so as to be so-called offset axes, it may be provided with a worm gear. Specifically, a worm 161 is connected to the output shaft 171 of the underwater motor 17, and a worm wheel 162 is connected to the shaft portion 1512 of the screw shaft 151. In this way, power can be smoothly transmitted from the output shaft 171 of the underwater motor 17 to the shaft portion 1512 of the screw shaft 151.

[0035] In addition, when the two are in an orthogonal axis relationship, an appropriate gear such as a straight bevel gear or a spiral bevel gear may be adopted as appropriate. In this way, by arranging the two in an offset axis or orthogonal axis relationship, compared with the case where they are arranged in series, cage the lateral width of 40 can be shortened, and it becomes possible to make the entire underwater ball removal device 1 slim.

[0036] These worms 161 and worm wheels 162 are housed in a highly waterproof and pressure-resistant housing 163. Further, a protective cylinder 153 of the telescopic device 15 described above is fixed to the housing 163, and the protective cylinder 153 and the hollow rod 152 that protrudes and retracts therefrom also have high waterproofness and pressure resistance, similar to the housing 163.

[0037] As shown in FIG. 3, the coupling 16 described above cage is arranged on the insertion side of the locking pin 13 in a state of being fixed to a support column 164 hanging down from the ceiling portion 40. Thereby, in the telescopic device 15, the screw shaft 151 connected to the coupling 16 is arranged on the insertion side, and the hollow rod 152 is arranged on the pulling-out side. And a connecting member 18 is connected to this hollow rod 152.

[0038] As shown in FIG. 4, the connecting member 18 is provided orthogonally to the hollow rod 152 and the aforementioned locking pin 13 and connects the two. Therefore, when it is desired to pull out the locking pin 13 to which the ball-hanging wire 6 is attached from the through holes 121 of the pair of pin holding plates 12 as shown in FIG. 6(b), the screw shaft 151 is rotated so that the hollow rod 152 moves to the pulling-out side to extend the telescopic device 15. Thereby, as shown in FIG. 6(a), the locking pin 13 is pulled out from the pair of pin holding plates 12 and the ball-hanging wire 6, and the ball-removing operation is completed.

[0039] On the other hand, when it is desired to insert the locking pin 13 into the through holes 121 of the pair of pin holding plates 12 and the ball-hanging wire 6 arranged therebetween as shown in FIG. 6(a), the screw shaft 151 is rotated in the reverse direction so that the hollow rod 152 moves to the insertion side to shorten the telescopic device 15. Thereby, as shown in FIG. 6(b), the locking pin 13 is inserted into the pair of pin holding plates 12 and the ball-hanging wire 6. Such a inserting / removing state can be recognized by a remote person as well cage a inserting / removing state confirmation sensor 20 is provided in the 40.

[0040] ≪Inserting / Removing State Confirmation Sensor≫ The insertion / withdrawal state confirmation sensor 20 is a sensor that detects the position of the locking pin 13 with respect to the pair of pin holding plates 12. As shown in FIGS. 3 and 4, it includes an insertion detection sensor 21 and a withdrawal detection sensor 22, and is installed at a desired position via an installation jig 23.

[0041] The insertion detection sensor 21 is provided directly above the through hole 121 on the outer side of the pin holding plate 12b located on the insertion side of the locking pin 13 among the pair of pin holding plates 12. Also, the withdrawal detection sensor 22 is provided directly above the end portion on the withdrawal side of the locking pin 13 in the state where it has been withdrawn from the pair of pin holding plates 12. These are attached via an installation jig 23 made of an angle material, but the shape of the installation jig 23 can be any, and it is not necessary to use the installation jig 23 for attachment.

[0042] These insertion detection sensor 21 and withdrawal detection sensor 22 employ non-contact magnetic proximity sensors. The magnetic proximity sensor is a widely used sensor that detects a change in impedance due to a metal approaching the magnetic field generated from a coil. For this reason, the material of the locking pin 13 is metal.

[0043] These cage The insertion / withdrawal state confirmation sensor 20 arranged at 40 is connected to the control unit 30 together with the underwater motor 17. Note that the insertion / withdrawal state confirmation sensor 20 is not limited to this, and other sensors can also be adopted as long as they can detect the locking pin 13 underwater.

[0044] ≪Control Unit≫ The control unit 30 is installed within 40 as shown in FIGS. 3 and 7 cage and includes a motor driver 31, a battery 32, and a waterproof pressure-resistant container 33 that houses these.

[0045] The pressure-resistant container 33 has a connection panel 331 installed on its outer surface. As shown in FIG. 7, it is provided with a sensor jack 331a and a motor jack 331b for connecting the motor driver 31, the battery 32, the insertion / removal state confirmation sensor 20, and the underwater motor 17. Further, on the connection panel 331, there are provided a pull-out detection light 331c and an insertion detection light 331d that light up when the insertion / removal state confirmation sensor 20 detects the locking pin 13. Note that all of these use LED lights.

[0046] Thereby, the underwater motor 17 is controlled by the motor driver 31 to operate the telescopic device 15. Then, when the locking pin 13 is pulled out from the through-hole 121 by operating the telescopic device 15, the pull-out detection sensor 22 detects this locking pin 13 and blinks the pull-out detection light 331c.

[0047] On the other hand, when the locking pin 13 is inserted into the through-hole 121, the insertion detection sensor 21 detects this locking pin 13 and blinks the insertion detection light 331d. Note that the pull-out detection light 331c and the insertion detection light 331d may be arranged not only on the connection panel 331 of the pressure-resistant container 33 but also cage at a position where underwater workers D and surface workers S, etc. outside 40 can easily view them.

[0048] Thereby, as shown in FIG. 1, underwater workers D and surface workers S can confirm the insertion / removal state of the locking pin 13 while being remote from the underwater ball removal device 1. Then, when the insertion detection sensor 21 and the pull-out detection sensor 22 detect the locking pin 13, they transmit a detection signal to the motor driver 31. The motor driver 31 that has received the detection signal stops the underwater motor 17.

[0049] In addition, as shown in FIG. 7, a power jack 331e is provided on the connection panel 331. When the power plug 34 is attached to the power jack 135e, the power switch is turned on and the underwater camera removal device 1 can be used. Also, when the power plug 34 is removed and a charging cable (not shown) is attached, the battery 32 can be charged. When the underwater camera removal device 1 is not in use, a dummy plug (not shown) should be attached.

[0050] Furthermore, a wired controller jack 331f and a wired controller 35 attached thereto are installed on the connection panel 331. The wired controller 35 is used when manually operating the underwater motor 17, and its form can be any, but for example, when the handle 351 is turned to the right, the underwater motor 17 rotates forward, and when turned to the left, it rotates in reverse. Thus, it becomes possible to extend and retract the telescopic device 15 and appropriately move the locking pin 13 in the insertion and removal direction.

[0051] As described above, the underwater camera removal device 1 can be operated by wired communication, but it can also be operated in combination with wireless communication equipment. Hereinafter, a case of using underwater acoustic communication technology will be taken as an example, and an underwater camera removal system combining the underwater camera removal device 1 and the underwater acoustic communication equipment will be described.

[0052] ≪≪Underwater Camera Removal System≫≫ As shown in FIGS. 8 and 9, the underwater camera removal system 100 includes the above-described underwater camera removal device 1 and underwater acoustic communication equipment 2. The underwater acoustic communication equipment 2 includes a command information transmission device 50 that transmits the command information M for the underwater camera removal device 1 as sound waves by a water operator S, and a machine control device 60 that receives this sound wave and controls the underwater camera removal device 1 based on the command information M.

[0053] The outlines of the command information transmission device 50 and the machine control device 60 will be described below. For details, refer to Japanese Patent Application No. 2019-192086. In this embodiment, the command information M is "extension" and "shortening". "Extension" is a command to extend the telescopic device 15 to pull out the locking pin 13 from the through holes 121 of the pair of pin holding plates 12, and "shortening" is a command to shorten the telescopic device 15 to insert the locking pin 13 into the through holes 121 of the pair of pin holding plates 12.

[0054] ≪Command Information Transmission Device≫ As shown in FIG. 9, the command information transmission device 50 includes a command input unit 51, an oscillation unit 52, a carrier wave selection unit 53, a modulation unit 54, an amplifier 55, and a transmitter 56.

[0055] The command input unit 51 includes an input unit for a water worker S or an underwater worker D to input an operation command for the telescopic device 15 in the underwater ball removal device 1. At least two operation command buttons of "extension" and "shortening" are provided in the input unit. The water worker S or the underwater worker D inputs an operation command for the telescopic device 15 by appropriately selecting these operation command buttons. Further, the command input unit 51 converts the input operation command into a digital signal and converts it into command information M in the form of a baseband signal, and outputs it to the modulation unit 54.

[0056] On the other hand, the oscillation unit 5 builds a plurality of reference waves W to be used as the carrier wave C and outputs them to the carrier wave selection unit 53. The carrier wave selection unit 53 selects two or more of the plurality of reference waves W to be used as the carrier wave C and outputs them to the modulation unit 54 connected by wireless connection or wired connection.

[0057] The modulation unit 54 performs so-called modulation of mixing the command information M input from the command input unit 51 with each of the two or more carrier waves C input from the carrier wave selection unit 53 to form a plurality of modulated waves Mw with different frequency bands. The plurality of modulated waves Mw thus formed are output to the amplifier 55 connected by wireless connection or wired connection. Note that the modulation method adopts the BPSK (binary phase shift keying) method in which modulation is performed by changing the phase without changing the frequency and amplitude of the carrier wave C.

[0058] With the above configuration, a plurality of modulated waves Mw that carry the same command signal M output from the modulation unit 54 are amplified by the amplifier 55 and then D / A converted by the transmitter 56, which is a dedicated carrier transducer, and transmitted into the sea as sound waves. When the underwater worker S operates the command information transmitter 50, the transmitter 56 may be in the air or may be suspended underwater as shown in FIG. 8.

[0059] These multiple types of sound waves transmitted into the sea may be transmitted with a time difference provided for each, or all may be synthesized and transmitted simultaneously. Note that the sound waves transmitted from the transmitter 56 are those obtained by D / A converting the modulated wave Mw, and since the modulated wave Mw is obtained by modulating the carrier wave C by the BPSK method, its frequency band is the same as that of the carrier wave C.

[0060] ≪Mechanical control device≫ On the other hand, as shown in FIG. 3, the mechanical control device 60 is provided in the pressure-resistant container 33 of the underwater ball removal device 1, and its configuration includes a receiver 61, a frequency diversity unit 62, an amplifier 63, a demodulation unit 64, and a control unit 65, as shown in FIG. 9.

[0061] The receiver 61 is a dedicated receiving transducer that collects various sound waves in the sea, performs A / D conversion, and converts them into an input electrical signal Ms'. In this embodiment, a hydrophone capable of corresponding to the audible range is adopted. The sound waves collected by these receivers 61 are multiple types of sound waves based on a plurality of modulated waves Mw transmitted from the transmitter 56. Such receivers 61 are cage provided in plural numbers at 40, and their positions and quantities may be any as long as they are positions where sound waves can be easily received.

[0062] The frequency diversity unit 62 continuously analyzes the quality of the input electrical signal Ms' by using the carrier frequency bands of each of the plurality of carriers C selected by the carrier selection unit 53 of the command information transmitting device 50 and the frequency bands of the harmonics of each of the carriers C. Note that the harmonic refers to a waveform having a frequency that is an integer multiple of the waveform of the fundamental frequency. Among the input electrical signals Ms', the most reliable signal derived from the carrier C or its harmonic is extracted as the processed electrical signal Ms corresponding to the modulated wave Mw or its harmonic, and is output to the amplifier 63 connected by wire or wirelessly.

[0063] The amplifier 63 amplifies the processed electrical signal Ms corresponding to the modulated wave Mw or its harmonic, and outputs it to the demodulation unit 64 connected by wire or wirelessly. The demodulation unit 64 demodulates the amplified processed electrical signal Ms, acquires the command information M related to the operation command input by the command input unit 51 of the command information transmitting device 50, and outputs it to the control unit 25. The control unit 65 transmits the command information M extracted by the demodulation unit 64 to the motor driver 31 as a control signal.

[0064] As described above, the underwater ball removal system 100 uses the underwater acoustic communication facility 2 to transmit, as the command information M, the operation command of the underwater operator S or the underwater worker D for the telescopic device 15 of the underwater ball removal device 1 input to the command information transmitting device 50 to the sea. Further, by receiving this with the machine control device 60, it becomes possible to control the operation of the telescopic device 15 based on the command information M.

[0065] In the present embodiment, three types (2 kHz, 2.25 kHz, 2.5 kHz) are selected from the range within the audible range (generally between 20 Hz and 20 kHz) by the carrier selection unit 53, and the same command signal M is transmitted into the sea as sound waves using these. In this way, when the frequency band of the sound wave is set within the audible range, the underwater worker D can recognize by sound waves that the ball removal work is being carried out even in water with high turbidity.

[0066] In addition, compared with the case of using ultrasonic waves generally used in underwater acoustic communication, the influence of the phenomenon in which the frequency band changes due to the relative speed difference occurring between the transmitter and the receiver, which is called Doppler shift, and the phenomenon in which the received intensity of the sound wave, which is called multipath fading, fluctuates can be minimized.

[0067] Furthermore, three types are selected from within the audible range, and using these, the same command signal M is transmitted into the sea as a sound wave. Therefore, when receiving the sound wave, the one with the least influence from various phenomena such as the above-mentioned Doppler shift and multipath fading, and underwater noise, etc. is selected for reception, and the command information M can be obtained. Therefore, it becomes possible to further improve the communication stability.

[0068] ≪≪Method for Installing Concrete Blocks Using an Underwater Ball Removal System≫≫ Using the underwater ball removal system 100 having the above configuration, the specific procedure of the method for installing the wave dissipating block B on the seabed will be described below.

[0069] After charging the battery 32 provided in the control unit 30 of the underwater ball removal device 1 in advance, as shown in FIG. 7, a power plug 34 is attached to the power jack 331e provided on the connection panel 331 of the control unit 30.

[0070] Before and after this, a suspension jig 5 is suspended from the wire 4b of the crane 4a mounted on the crane ship 4. Also, as shown in FIG. 2, a ball wire 6 is connected to one end side of the lower flange 5a of the suspension jig 5 via a locking eye 6a, and the underwater ball removal device 1 is installed on the other end side. Further, the ball wire 6 is looped around the wave dissipating block B placed on the ground, and the locked eye 6b of the ball wire 6 is arranged between a pair of pin holding plates 12 provided in the ball removal mechanism 10 as shown in FIG. 6(a).

[0071] After that, as shown in FIG. 6(b), the locked eye 6b of the ball-hanging wire 6 is attached to the locking pin 13. Since these operations are performed on the ground or on a ship, taking the case of operating using the wired controller 35 as an example, first, the locked eye 6b is arranged between the pair of pin holding plates 12. Next, the handle 351 of the wired controller 35 is turned to the right or left (the side where the telescopic device 15 is shortened).

[0072] Then, a control signal is transmitted from the wired controller 35 to the motor driver 31, and the telescopic device 15 is shortened by the power supply of the underwater motor 17. As a result, the locking pin 13 connected to the telescopic device 15 via the connecting member 18 moves toward the side to be inserted into the through hole 121 of the pair of pin holding plates 12. Therefore, as shown in FIG. 6(b), the ball-hanging wire 6 is attached to the locking pin 13.

[0073] Also, when the locking pin 13 is inserted into the through hole 121 of the pair of pin holding plates 12, the insertion detection sensor 21 detects the locking pin 13 and transmits a detection signal to the insertion detection light 331d and the motor driver 31. As a result, the insertion detection light 331d lights up to notify that the locking pin 13 has been inserted, and the motor driver 31 stops the underwater motor 17 to stop the shortening operation of the telescopic device 15.

[0074] After that, while the underwater load slewing device 3 and the lifting jig 5 are lifted by the crane 4a, and it is confirmed that the wave dissipating block B can be lifted stably, the crane 4a is operated to lower the wave dissipating block B to a desired position in the sea while lifting it. Also, after adjusting the orientation and attitude of the wave dissipating block B using the underwater load slewing device 3, the wave dissipating block B is installed on the seabed.

[0075] After confirming the landing of the wave dissipating block B, the underwater worker D operates the "extension" of the operation command button at the command input unit 51 of the command information transmission device 50 and transmits the command information of "extension" as sound waves toward the machine control device 60.

[0076] When the machine control device 60 acquires the command information of "extension", a control signal is sent from the control unit 65 to the motor driver 31, and the telescopic device 15 extends by the power supply of the underwater motor 17. As a result, the locking pin 13 connected to the telescopic device 15 via the connecting member 18 moves toward the side where it is pulled out from the through holes 121 of the pair of pin holding plates 12. Therefore, as shown in Fig. 6(a), the ball-hanging wire 6 is disengaged from the locking pin 13.

[0077] After finishing the ball-removing operation in this way, the ball-hanging wire 6, the suspension jig 5, and the underwater suspended load slewing device 3 are lifted and removed by the crane 4a. Such operations are repeatedly performed until all the wave-dissipating blocks B are installed on the seabed.

[0078] As described above, according to the underwater ball-removing device 1, the telescopic device 15 can insert and remove the locking pin 13 with the ball-hanging wire 6 attached to the pair of pin holding plates 12 without malfunctioning due to water pressure. Therefore, it is possible to surely perform the ball-removing operation of the ball-hanging wire 6 on the wave-dissipating block B installed underwater only by operating the telescopic device 15 underwater.

[0079] Further, according to the above underwater ball-removing system 100, since the underwater acoustic communication equipment 2 is used, the telescopic device 15 can be stably controlled and the ball-removing operation can be performed even at the work site in various water environments without depending on water quality or the like. Therefore, the underwater worker D can perform the work safely while maintaining a certain distance from the underwater ball-removing device 1. Also, since the frequency band of the sound wave is set within the audible range, the underwater worker D can recognize by sound waves that the ball-removing operation is being performed even in water with high turbidity.

[0080] The above embodiments are for facilitating the understanding of the present invention and are not for limiting and interpreting the present invention. It goes without saying that the present invention can be changed and improved without departing from its gist, and equivalents thereof are included in the present invention.

[0081] For example, in the present embodiment, the underwater ball removal system 100 is configured to include the underwater acoustic communication equipment 2, and the underwater ball removal device 1 is controlled by remote operation using underwater acoustic communication technology. However, for example, a visible light communication technology using visible light may be adopted. For the visible light communication technology in water, refer to, for example, Patent No. 5970946.

[0082] Also, in the present embodiment, the insertion / removal state of the locking pin 13 with respect to the pair of pin holding plates 12 is detected using the insertion / removal state confirmation sensor 20. However, the present invention is not limited to this, and the state of the locking pin 13 may be detected based on the operating time or the rotation amount (number) of the underwater motor 17. Further, the underwater motor 17 may be provided with a pressure compensator to ensure operating stability.

[0083] Furthermore, in the present embodiment, the insertion / removal state of the locking pin 13 is confirmed by the insertion / removal state confirmation sensor 20, and the information is notified by the extraction detection light 331c and the insertion detection light 331d so that it can be visually recognized. However, the present invention is not limited to this, and for example, a device for auditory recognition may be adopted.

Explanation of Reference Numerals

[0084] 1 Underwater ball removal device 2 Underwater acoustic communication equipment 3 Underwater suspended load slewing device 3a Outer shell 3b Suspension wire 4 Crane ship 4a Crane 4b Wire 5 Suspension jig 5a Lower flange 5b Upper flange 5c Pair of device mounting portions 5d Connecting pin 6 Ball hanging wire 6a Locking eye 6b Locked eye 10 Ball removal mechanism 11 Mounting portion 111 Joining steel plate 112 Upright steel plate 12 Pair of pin retaining plates 121 Through hole 13 Locking pin 131 Guide tube 14-pin working unit 15 Telescopic device 151 screw shaft 1511 Threaded part 1512 Shaft 152 Hollow Rod 1521 Ball nut 153 Protective tube 1531 Centralizer 16 Coupling 161 Worm 162 Worm Wheel 163 Housing 164 Support column 17 Underwater Motor 171 Output shaft 18 Connecting member 20 Insertion / removal status confirmation sensor 21 Insertion detection sensor 22 Pull-out detection sensor 23 Installation jig 30 Control Unit 31 Motor Driver 32 Battery 33 Pressure vessel 331 Connection Panel 331a Sensor Jack 331b Motor Jack 331c Pull-out detection light 331d Insertion detection light 331e Power Jack 331f Wired controller jack 331g Acoustic Communication Jack 34 Power plug 35 Wired Controller 351 Handle 40 gauge 41 frames 42 Wire Mesh 50 Command information transmission device 51 Command input section 52 Oscillator 53 Carrier Selection Unit 54 Modulation Unit 55 Amplifier 56 Transmitter 60 Machine Control Device 61 Receiver 62 Frequency Diversity Unit 63 Amplifier 64 Demodulation Unit 65 Control Unit B Clipping Block (Underwater Structure) C Carrier Wave M Command Information W Reference Wave Mw Modulated Wave Ms’ Input Electrical Signal Ms Processed Electrical Signal S Surface Operator D Underwater Operator

Claims

1. An underwater detaching device for detaching a weight from a weight wire for suspending an underwater structure underwater, a metal locking pin to which the weight wire is detachably attached, a pin holding plate having a through hole into which the locking pin is inserted, and a pin operating unit for moving the locking pin in a direction of inserting and removing it with respect to the pin holding plate, a detaching mechanism comprising; a plugging detection sensor for detecting a state in which the locking pin is inserted with respect to the pin holding plate, and a plugging and unplugging state confirmation sensor having a pulling detection sensor for detecting a pulled-out state, wherein the pin operating unit a telescopic device arranged in parallel with the locking pin and having a ball screw, a connecting member connecting one end of the telescopic device and the locking pin, including, the plugging detection sensor and the pulling detection sensor are each a non-contact magnetic proximity sensor, the plugging detection sensor is arranged at a position where the locking pin in a state of being inserted into the through hole can be detected, and the pulling detection sensor is arranged at a position where the locking pin in a state of being pulled out from the through hole can be detected. An underwater detaching device characterized by that.

2. In the underwater detaching device according to claim 1, An underwater detaching device characterized by comprising a cage covering an upper portion and a side portion of the detaching mechanism.

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