JP3014845U - Basket type foreign matter collection device for underwater cleaning using unmanned submersible - Google Patents

Abstract

(57) [Summary] [Purpose] The ROV is used, and the ROV is used while checking the underwater condition on the TV monitor with the video camera built in the ROV.
The object is to make it possible to reliably and easily collect foreign matters such as bolts, nuts, and metal pieces by the foreign matter collecting device with a basket attached thereto. [Structure] An unmanned submersible 1 and a basket type foreign matter collecting device 2 attached to a lower portion of the unmanned submarine 1, and the basket type foreign matter collecting device 2 includes a basket 20 having a dust pan 19 at its tip, and a basket 20. A wiper 16 for pushing the foreign matter 3 is provided, and the wiper 16 is provided with the basket 20.
Wiper arm 22 rotatably attached to arm shaft 24
A bracket 18 rotatably provided at the tip of the unmanned submersible was mounted via a wiper spring 17 and was driven by an underwater motor 13 mounted on the unmanned submersible 1 to perform a recovery operation.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a basket-type foreign matter recovery device for underwater cleaning using an unmanned submersible (hereinafter referred to as ROV).

[0002]

[Prior art]

 In the past, workers were groping while looking at an underwater camera to collect foreign matter mixed in the pressure suppression pool of a nuclear power plant. For this reason, it was extremely difficult to find and recover the foreign matter that sank at the bottom of the pool, and it was physically hard work. As a conventional technique for collecting foreign matter in water, a worker c operates a manipulator b attached to the lower end of an operating rod a as shown in FIG. 5 to collect a foreign matter d sinking in a pool e. There is a way to do it. Further, as shown in FIG. 6, there is a method of moving the basket b ′ attached to the lower end of the operating rod a to take in the foreign matter d into the basket b ′. However, operation of the manipulator b (FIG. 5) requires skill and is not easy for anyone to operate. For this reason, a dedicated operator is required. In addition, since the device itself is highly functional, the burden on the work is large, such as cost, maintainability, and enlargement of the mechanism of the device itself. Although anyone can collect the basket b'by moving it (Fig. 6), the foreign matter d escapes when pushed by the basket b ', resulting in poor work efficiency and impracticality.

[0003]

[Problems to be solved by the device]

 In order to solve the problems of these conventional recovery methods, the present invention uses a ROV, operates the ROV while checking the underwater condition on a TV monitor with a video camera built in the ROV, and attaches the basket to the ROV. The objective is to enable foreign substances such as bolts, nuts, and metal pieces to be reliably and easily collected by the attached foreign substance collection device.

[0004]

Means for Solving the Problems An unmanned submersible 1 and a basket type foreign matter collecting device 2 attached to a lower portion of the unmanned submarine 1, and the basket type foreign matter collecting device 2 is a basket having a dust pan 19 at a tip thereof. 20 and a wiper 16 for pushing the foreign matter 3 into the basket 20. The wiper 16 is rotatably supported by a wiper shaft 16a provided between tip portions of wiper arms 22 provided on both sides of the basket 20. It is attached to a wiper spring 17 which is further pin-connected to the end of the bracket 18, and is driven by an underwater motor 13 attached to the unmanned submersible 1. Further, in the basket type foreign matter collecting apparatus in the underwater cleaning using the unmanned submersible vehicle according to the first aspect, the rear end portion of the dust pan 19 has a wiper guide 21 having a large curvature.

[0005]

[Action]

 As shown in FIG. 1, the operator 10 moves the basket type foreign matter collecting device 2 attached to the ROV body 1 operated by the cable 6 and collects the ROV equipped with the basket type foreign matter collecting device 2 before collecting. The body 1 is submerged in the pool 5. The operator 10 operates the joystick 9 while watching the TV monitor 8 of the controller 7 to operate the ROV. If the foreign matter 3 is found on the screen, operate the ROV body 1 to bring it closer to the foreign matter 3, rotate the wiper of the basket type foreign matter collection device 2 and gently move the ROV body 1 forward to collect it in the basket. To do.

[0006]

【Example】

 FIG. 1 shows a conceptual diagram of a working method using the ROV according to the present invention. According to this, there is no worker on the corridor 4 to operate a long operation pole as in the conventional case. The operator 10 operates the ROV body 1 with the cable 6 and collects it by the basket type foreign matter collecting device 2 attached to the ROV body 1. After submerging the ROV main body 1 equipped with the basket type foreign matter collecting device 2 in the pool 5, the operator 10 operates the joystick 9 while watching the TV monitor 8 of the controller 7, and operates the ROV. To do. If a foreign substance 3 is found on the screen, operate the ROV body 1 to approach the foreign substance 3 and rotate the wiper of the basket type foreign substance collecting device 2 to gently move the ROV body 1 forward and collect it on the basket. To be done.

The ROV main body 1 and the basket type foreign matter collecting apparatus 2 attached to the ROV main body 1 will be described with reference to FIGS. 2 and 3. A basket type foreign matter collecting device 2 is attached to the lower portion of the frame of the ROV body 1 (FIG. 3). Reference numeral 11 is a vertical movement thruster of the ROV, and 12 is also a forward and backward movement thruster. By remotely operating these, the ROV main body 1 is moved back and forth and up and down to collect foreign matter.

FIG. 4 shows a detailed structure of the basket type foreign matter collecting device 2 mounted on the ROV body 1. The rotation of the underwater motor 13 (FIG. 2) is transmitted to the belt 14 to rotate the wiper 16. The wiper shaft 16a is driven from the belt 14 via the pulley 15. The wiper 16 is attached to an end of a wiper spring 17, and the wiper spring 17 is attached to a bracket 18 attached to a wiper shaft 16a via a pin 18a. When the wiper 16 rotates, the foreign matter 3 existing within its rotation radius (R) is pushed into the dust pan 19 by the elastic force of the wiper spring 17, and is collected in the basket 20 just in the relation of broom and dust.

At this time, when the wiper 16 suddenly returns at the end of the dust pan 19 due to the repulsive force of the wiper spring 17, the clad accumulated on the bottom of the pool 5 is rolled up, so that the wiper guide that bends with a relatively large curvature is formed. It gradually returns to the turning radius R via 21. Further, the wiper arm 22 to which the wiper 16 is attached is rotated about the arm shaft 24 as a fulcrum by the force of the arm spring 23 (FIG. 3) attached between the wiper arm 22 and the basket, and the wiper spring is rotated. The elasticity of 17 is corrected so that the foreign matter 3 of various shapes and sizes can be collected.

(Operation Method) The ROV main body 1 equipped with the basket type foreign matter collecting apparatus 2 is sunk into the pool 5. The operator 10 operates the joystick 9 while watching the TV monitor 8 of the controller 7 to operate the ROV main body 1. When the foreign matter 3 is found on the screen, the ROV body 1 is remotely operated to approach the foreign matter 3, and the ROV body 1 is gently advanced while rotating the wiper 16 of the basket type foreign matter collecting apparatus 2. Then, the wiper 16 rotates while pushing the foreign matter 3 into the dust pan 19 and is collected in the basket 20. At this time, the rotation state of the foreign matter 3 and the wiper 16 is displayed on the TV monitor 8, but the operator 10 does not need to perform any particular operation, and the wiper 16 collects the foreign matter 3 independently. The foreign matter 3 is collected in the basket 20 made of mesh, but since the wiper 16 moves the basket 20 with the lid closed, the foreign matter 3 does not return to the pool side again.

[0011]

【effect】

 A basket type foreign matter collecting device 2 is attached to the lower part of the unmanned submersible 1, and the basket type foreign matter collecting device 2 comprises a basket 20 having a dust pan 19 at the tip and a wiper 16 for pushing the foreign matter 3 into the basket 20. The wiper 16 is attached to an end of a bracket 18 which is rotatably supported by a wiper shaft 16a provided between tip ends of wiper arms 22 provided on both sides of the basket 20, and a wiper spring 17 which is further pin-connected. Therefore, since the foreign matter 3 can be collected by the wiper in the basket by remotely operating the unmanned submersible while watching the monitor TV, it is possible to collect the foreign matter 3 with high efficiency and with less labor than the conventional one. Also, because the dust pan is at the tip of the basket and the wiper guide with a large curvature is provided at the rear end of the dust pan, the wiper does not suddenly return due to the elasticity of the wiper spring, and the clad at the bottom of the pool can be wound up. Can be prevented.

[Brief description of drawings]

FIG. 1 is a conceptual diagram of a collecting method by a basket type foreign matter collecting device.

FIG. 2 is a plan view of an ROV and a basket type foreign matter collecting device attached to the ROV.

FIG. 3 is a side view of an ROV and a basket type foreign matter collecting device attached to the ROV.

FIG. 4 is an operation explanatory view of the basket type foreign matter collecting device according to the device of the present invention.

FIG. 5: Foreign matter collection by a known manipulator.

FIG. 6 Foreign object collection by a known basket.

[Explanation of symbols]

1 ROV main body (unmanned submersible) 2 Basket type foreign matter collection device 3 Foreign matter 4 Walkway 5 Pool 6 cable 7 Controller 8 TV monitor 9 Joystick 10 Operator 11 Vertically moving thruster 12 Front and rear thruster 13 Underwater Motor 14 Belt 15 Pulley 16 Wiper 16a Wiper shaft 17 Wiper spring 18 Bracket 18a Pin 19 Dust pan 20 Basket 21 Wiper guide 22 Wiper arm 23 Arm spring 24 Arm shaft

Front page continued (72) Inventor Toshiya Tadaumi, 1408 Takada, Kashiwa-shi, Chiba, Atox Technology Development Center (72) Inventor Naoto Goi, 1408 Takada, Kashiwa-shi, Chiba, Atox Technology Development Center

Claims (2)

[Scope of utility model registration request] 1. An unmanned submersible (1) and a basket type foreign matter collecting device (2) attached to the lower part of the unmanned submersible (1), wherein the basket type foreign matter collecting device (2) has a dust pan at its tip.
The wiper (16) comprises a basket (20) provided with (19) and a wiper (16) for pushing the foreign matter (3) into the basket (20).
Is the wiper arm (2
2) An unmanned submersible characterized by being attached to a wiper spring (17) which is further pin-connected to the end of a bracket (18) rotatably supported by a wiper shaft (16a) provided between the tip ends of A basket type foreign matter collection device for underwater cleaning. 2. A basket type foreign matter collecting apparatus for underwater cleaning using the unmanned submersible vehicle according to claim 1, wherein a wiper guide having a large curvature at a rear end portion of the dust pan (19).
(21) A basket type foreign matter collecting apparatus for underwater cleaning using an unmanned submersible, which has (21).