CABLE WINCH ROBOT FOR BUOYANCY CONTROL UNDERWATER

摘要

The present invention relates to an underwater cable robot device capable of controlling buoyancy. A plurality of cable winches are installed in an inner wall and a floating structure, and a cable is connected to an upper and a lower corner of a moving plate by guide pulleys with different heights, installed in a side wall. The underwater cable robot device is formed to move an object to be transferred by mounting the object to be transferred on an upper part of the moving plate. A buoyancy control device using a ballast tank and a weight are installed in the moving plate to control buoyancy; and also, a vision system to monitor an underwater working situation and various sensors to measure a position, an angle, and a height of the moving plate are installed. A movement and a posture of the moving plate by the cable winch are controlled by a controller; and the moving plate can be moved to a position except for a cable control operation area, and the posture of the moving plate can be controlled by controlling the buoyancy.