MECHANICAL EQUIPMENT TO CLOTH AN ARMOR STONE ON HARBOR SURFACE IN THE UNDERWATER

摘要

An automation system for covering an underwater breakwater is provided to prevent various industrial disasters and to improve poor working conditions, and to prevent the delay in construction work due to the weather on the sea, waves, tides, etc., and to manage construction work and quality of construction easy by observing working conditions and performing breakwater covering work. An automation system for covering an underwater breakwater for mechanizing and automating the covering work for all water surface or underwater breakwaters comprises a robot arm device(10) hanging on a chain rope(3) of a crane(2) and including a parallel mechanism having one central shaft and two linear actuators located on two sides of the central shaft and making rotational movements in the x-axis and y-axis directions, propelling screws making rotational movements in the z-axis direction and a clamping mechanism clamping armor stone, and an observation device observing working conditions on the breakwater under covering work and including an observation mechanism(30) with a transparent box observing objects clearly in the water having high opacity and a movement mechanism(40) moving the observation mechanism.