JP2017025701A - Device for removing underwater sediment - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a device for removing underwater sediment having no possibility of environment pollution due to oil leakage from a pump or a motor.SOLUTION: A device for removing underwater sediment comprises a self-propelled robot 3 that can be self-propelled on the water bottom with a running mechanism 2, a control part that controls the self-propelled robot remotely, a sand elimination hose 5 connected to the self-propelled robot, a hydraulic pump 6 installed above water or on the land, and a working fluid force-feed hose 7 and a working fluid returning hose 8 that are connected to the hydraulic pump and the self-propelled robot, and the self-propelled robot comprises a sand collection screw 9 that collects an accumulation on the water bottom, a sand elimination pump 10 for sucking a collected accumulation and sending to the sand elimination hose, a hydraulic motor for screw that is connected with the working fluid force-feed hose and the working fluid returning hose and that rotationally drives the sand collection screw, and a hydraulic motor for running that drives the running mechanism.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an underwater sediment removal apparatus for removing sediment such as sand and mud accumulated on the bottom of water.

In order to eliminate sediments (sediment) deposited on the bottom of rivers, lakes, water intake tanks or sand basins, etc., the soil is collected by an underwater sediment removal device that uses a self-propelled robot that runs on the bottom of the water. It is being sucked up to land with a robot-mounted submersible sand pump.
Conventionally, as such an underwater sediment removal apparatus, for example, an underwater sediment removal apparatus described in Patent Document 1 is known.

  In this underwater sediment removal device, a screw arm is disposed at the front of a self-running robot that self-runs on the bottom of the water by the rotation drive of a running hydraulic motor, and the vertical position of the screw arm can be controlled by the operation of the arm actuator. A sand collecting screw which is rotationally driven by a screw hydraulic motor and has a horizontal rotation axis perpendicular to the forward direction of the self-running robot is disposed at the free end. This underwater sediment removal apparatus can remove the collected sediment that has been moved and collected in the direction of the rotation axis by the rotation of the sand collection screw with a submersible sand discharge pump.

JP-A-6-240704

The following problems remain in the conventional technology.
In Patent Document 1, the self-propelled robot is driven by the traveling hydraulic motor and the sand collecting screw is rotationally driven by the screw hydraulic motor. However, a hydraulic pump for the hydraulic motor is mounted on the self-propelled robot. Yes. However, when there is oil leakage from the hydraulic pump and the hydraulic motor, there is a problem that the environment in water may be contaminated.

  The present invention has been made in view of the above-described problems, and an object of the present invention is to provide an underwater sediment removal apparatus that is free from environmental pollution due to oil leakage from a pump or a motor.

  The present invention employs the following configuration in order to solve the above problems. That is, an underwater sediment removal apparatus according to the first invention includes a self-propelled robot having a traveling mechanism and capable of self-propelling the bottom of the water, a controller for remotely controlling the self-propelled robot on the water or on land, and one end. A sand removal hose that is connected to the self-propelled robot and the other end is installed on land, a water pressure pump that is installed on the water or on land, one end is connected to the water pressure pump, and the other end is connected to the self-propelled robot. A hydraulic fluid pressure feeding hose and a hydraulic fluid return hose, and the self-propelled robot collects the sediment collected by the sand collecting screw, which is connected to the sand removal hose and is connected to the sand collecting hose. A sand and sand discharge pump that sucks and feeds into the sand discharge hose, a hydraulic motor for a screw that is connected to the hydraulic fluid pressure supply hose and the hydraulic fluid return hose and rotationally drives the sand collecting screw, and the hydraulic fluid pressure Wherein the connected hose and said hydraulic fluid return hose and a traction hydraulic motor that drives the traveling mechanism.

The underwater sediment removal apparatus of the present invention includes a screw hydraulic motor that rotates the sand collecting screw and a traveling hydraulic motor that drives the traveling mechanism, and therefore the sand collecting screw and the traveling mechanism are both hydraulic motors. By being driven, there is no risk of oil leakage like hydraulic pressure.
Further, since the hydraulic pump is installed on the water or on land, the hydraulic pump can be separated from the self-propelled robot, and the self-propelled robot can be miniaturized. Furthermore, since the hydraulic pump on the water or on land and the self-propelled robot on the bottom of the water are connected by the hydraulic fluid feed hose and hydraulic fluid return hose, the hydraulic fluid feed hose and hydraulic fluid return hose are cooled in water, By cooling the flowing water, it is possible to suppress a decrease in pumping by the hydraulic pump.

The underwater sediment removal apparatus according to a second aspect of the present invention is the submersible sediment removal apparatus according to the first aspect, wherein the self-propelled robot decelerates the rotational speed of the screw hydraulic motor and transmits it to the sand collecting screw, And a traveling speed reducer that decelerates the rotational speed of the traveling hydraulic motor and transmits it to the traveling mechanism.
That is, in this underwater sediment removal apparatus, the self-propelled robot decelerates the rotational speed of the screw hydraulic motor and transmits it to the sand collecting screw, and the traveling mechanism reduces the rotational speed of the traveling hydraulic motor. It is possible to decelerate with the screw speed reducer and the travel speed reducer even with the high speed rotation and low torque screw hydraulic motor and the travel hydraulic motor. It is possible to drive with low rotation and high torque.

An underwater sediment removal apparatus according to a third invention is characterized in that, in the first or second invention, a heat exchanger capable of cooling water in the hydraulic fluid return hose is provided.
In other words, this submersible sediment removal device is equipped with a heat exchanger that can cool the water in the hydraulic fluid return hose, so that by cooling the water in the hydraulic fluid return hose with the heat exchanger, A decrease in pumping can be suppressed.

The underwater sediment removal apparatus according to a fourth aspect of the present invention is the submerged sediment removal apparatus according to any one of the first to third aspects, wherein the underwater sediment removal apparatus is connected to the hydraulic pump and connected to the downstream end of the hydraulic fluid return hose to store the hydraulic water. A hydraulic fluid tank, a filter connected to the hydraulic fluid return hose before the hydraulic fluid tank and removing foreign matter in the hydraulic fluid, and connected to the hydraulic fluid return hose before and after the filter in the hydraulic fluid return hose A first pressure sensor and a second pressure sensor for detecting the pressure of the first pressure sensor, and an alarm when a difference between the pressure detected by the first pressure sensor and the pressure detected by the second pressure sensor exceeds a certain level. And an alarm unit for emitting.
In other words, the underwater sediment removal apparatus includes an alarm unit that issues an alarm when the difference between the pressure detected by the first pressure sensor and the pressure detected by the second pressure sensor exceeds a certain level. When the differential pressure of the hydraulic fluid reaches a certain level before and after the filter, the alarm device issues a warning by judging that the so-called biofilm is attached due to the growth of microorganisms and bacteria and the filter is clogged. Appropriate maintenance time of the filter can be known.

An underwater sediment removal apparatus according to a fifth invention is the underwater sediment removal apparatus according to the fourth invention, wherein the alarm unit can generate an alarm signal as the alarm, and the hydraulic fluid in the hydraulic fluid tank is received upon receiving the alarm signal. It is provided with a decomposition bacteria supply part which supplies organic matter decomposition bacteria.
That is, in this underwater sediment removal apparatus, it is provided with a degrading bacteria supply unit that receives an alarm signal and supplies organic matter degrading bacteria to the working liquid in the working liquid water tank. By automatically supplying organic matter-degrading bacteria to the liquid, biofilms such as microorganisms and bacteria adhering to the filter can be decomposed to eliminate clogging of the filter.

The present invention has the following effects.
That is, according to the submersible sediment removal apparatus according to the present invention, the apparatus includes the screw hydraulic motor for rotating the sand collecting screw and the traveling hydraulic motor for driving the traveling mechanism. While there is no fear, the inside water can be cooled with the hydraulic fluid pumping hose and the hydraulic fluid return hose in water, and the decrease in pumping of the hydraulic pump can be suppressed.
Therefore, in the underwater sediment removal apparatus according to the present invention, there is no environmental pollution due to oil leakage, and each hydraulic motor can be driven efficiently.

In one Embodiment of the underwater sediment removal apparatus which concerns on this invention, it is a side view which shows a self-propelled robot. In this embodiment, it is a top view which shows the self-propelled robot which removed the vehicle body cover. In this embodiment, it is a front view which shows the self-propelled robot of the state which removed the screw part containing a screw arm. In this embodiment, it is the whole piping figure which shows a hydraulic drive system.

  Hereinafter, an embodiment of an underwater sediment removal apparatus according to the present invention will be described with reference to FIGS. 1 to 4.

As shown in FIGS. 1 to 4, the underwater sediment removal apparatus 1 of the present embodiment includes a self-propelled robot 3 having a traveling mechanism 2 and capable of self-propelling the bottom of the water, and the self-propelled robot 3 remotely on the water or on land. Control unit 4 for controlling automatically, sand removal hose 5 having one end connected to self-running robot 3 and the other end installed on land, water pressure pump 6 installed on the water or on land, and one end connected to water pressure pump 6 A hydraulic fluid pressure hose 7 and a hydraulic fluid return hose 8 that are connected and connected at the other end to the self-running robot 3 are provided.
Note that tap water is used as the water W that is the hydraulic fluid pumped to the hydraulic fluid pumping hose 7 by the hydraulic pump 6.

  The self-propelled robot 3 includes a sand collecting screw 9 that collects sediment at the bottom of the water and a sand and sand discharging pump 10 that is connected to the sand collecting hose 5 and sucks the sediment collected by the sand collecting screw 9 and sends it to the sand discharging hose 5. A drainage pump motor 11 for driving the sediment discharge pump 10, a screw hydraulic motor 12 connected to the hydraulic fluid pressure hose 7 and the hydraulic fluid return hose 8 for rotationally driving the sand collecting screw 9, and hydraulic fluid A traveling hydraulic motor 13 is connected to the pressure feeding hose 7 and the hydraulic fluid returning hose 8 and drives the traveling mechanism 2.

The self-propelled robot 3 reduces the rotational speed of the screw hydraulic motor 12 and transmits it to the sand collecting screw 9 and the rotational speed of the traveling hydraulic motor 13 to the traveling mechanism 2. And a traveling speed reducer 15 for transmission.
Moreover, the underwater sediment removal apparatus 1 of this embodiment is provided with the heat exchanger 16 which can cool the water W in the hydraulic fluid return hose 8, as shown in FIG. This heat exchanger 16 is installed on the water or on land with the water pressure pump 6, and tap water is used as the cooling water CW.

  Moreover, the underwater sediment removal apparatus 1 of this embodiment is connected to the hydraulic pump 6 and connected to the downstream end of the hydraulic fluid return hose 8 so as to store the hydraulic fluid (water W), and the hydraulic fluid tank 43. A filter 103 that is connected to the hydraulic fluid return hose 8 before the water tank 43 and removes foreign matter in the hydraulic fluid (water W), and a pressure inside the hydraulic fluid return hose 8 that is connected to the hydraulic fluid return hose 8 before and after the filter 103 is adjusted. The first pressure sensor 104 and the second pressure sensor 105 to be detected, and an alarm is issued when the difference between the pressure detected by the first pressure sensor 104 and the pressure detected by the second pressure sensor 105 exceeds a certain level. And an alarm unit 107.

The first pressure sensor 104 is connected to the upstream side of the filter 103, and the second pressure sensor 105 is connected to the downstream side of the filter 103. A flow meter 106 is connected to the hydraulic fluid return hose 8 between the second pressure sensor 105 and the hydraulic fluid tank 43.
Furthermore, in the underwater sediment removal apparatus 1 of the present embodiment, the alarm unit 107 can generate an alarm signal as an alarm, and receives the alarm signal to convert the organic matter-degrading bacteria into the hydraulic fluid (water W) in the hydraulic fluid tank 43. The degradation bacteria supply part 101 which supplies

  That is, the degrading bacteria supply unit 101 is connected to the alarm unit 107 so as to be able to receive an alarm signal, and has a decomposing bacteria tank (not shown) containing organic matter degrading bacteria such as Bacillus for wastewater treatment. doing. When receiving the alarm signal, the degrading bacteria supply unit 101 is set so that a predetermined amount of organic matter degrading bacteria can be introduced into the hydraulic fluid water tank 43.

As the degrading bacterium supply unit 101, for example, a device that automatically dilutes a stock solution of Bacillus (concentration: 10 ¹² cells / ml) to 1/1000, heats and activates it, and then automatically employs it can be adopted.
The hydraulic fluid tank 43 is provided with a thermostat 102 that heats the hydraulic fluid water W to a constant temperature as a freezing prevention heater when used in a cold region or winter. For example, the water W of the hydraulic fluid is maintained at a suitable temperature of about 30 ° C. by the thermostat 102.

  The travel mechanism 2 includes a body frame 17 and a pair of left and right sprockets 18 connected to the rotation shafts of a pair of travel hydraulic motors 13 via a travel speed reducer 15 and rotatably supported at the rear of the body frame 17. A pair of left and right idlers (idler pulleys) 19 rotatably supported at the front of the body frame 17, a pair of left and right rubber crawlers 20 wound around the sprocket 18 and the idler 19, A plurality of track rollers 21 that are rotatably supported at the lower portion and support the inner sides of the left and right rubber crawlers 20 are provided.

The traveling hydraulic motor 13 and the traveling speed reducer 15 are installed on the upper part of the body frame 17 and are housed in a body cover 22 on the body frame 17.
The traveling mechanism 2 includes a braking brake 23 and a parking brake 24 between the traveling hydraulic motor 13 or the traveling speed reducer 15 and the sprocket 18.
The brake 23 is a brake that prevents the self-running robot 3 from traveling at a speed higher than a set value due to its own weight on a slope or the like, and the parking brake 24 is, for example, the self-running robot 3 stopped on a slope or the like. It is a brake that prevents it from dropping due to its own weight.

A screw cover 26 that covers the top and both ends of the sand collecting screw 9 is attached to the tip of the pair of screw arms 25.
The sand collecting screw 9 is a ribbon screw, and is rotatably supported in a screw cover 26 whose base end is supported at the front portion of the vehicle body frame 17 so as to be rotatable about a horizontal axis.

A screw hydraulic motor 12 is connected to one end of the sand collecting screw 9 via a screw speed reducer 14. The screw hydraulic motor 12 and the screw speed reducer 14 are fixed to one end side of the screw cover 26.
Above the front end of the vehicle body frame 17 and above the base end of the screw arm 25, the base end of the hydraulic cylinder 27 is supported so as to be rotatable about a horizontal axis, and the rod end of the hydraulic cylinder 27 is screwed. A central portion of the cover 26 is supported so as to be rotatable about a horizontal axis. That is, by extending and contracting the rod of the hydraulic cylinder 27, the pair of screw arms 25 can be rotated downward or upward, and the sand collecting screw 9 on the tip side can be lowered to the bottom of the water or raised from the bottom of the water.

The earth and sand draining pump 10 and the sand discharging pump motor 11 are installed on the vehicle body frame 17.
The sand pump motor 11 is an electric motor, but a hydraulic motor connected to the hydraulic fluid pressure hose 7 and the hydraulic fluid return hose 8 may be employed.
The suction port 10 a of the earth and sand discharge pump 10 is connected to the center of the screw cover 26 via a suction hose 28. Further, the discharge port of the sediment discharge pump 10 is connected to the proximal end of the sand discharge pipe 29, and the distal end of the sand discharge pipe 29 is connected to the proximal end of the sand discharge hose 5.
The sand discharge pipe 29 is fixed to the upper part of the vehicle body cover 22.

  The sand collecting screw 9 is provided with spiral screw portions having different swirl directions on both sides of the center of the rotary drive shaft, and is driven to rotate in a state of being bitten into the sediment on the bottom of the water, thereby depositing on both sides. Can be gathered in the center. The sediment collected in this way is sucked into the earth and sand discharge pump 10 and then sent to the sand discharge hose 5. The tip of the sand discharge hose 5 is disposed on land, and the sucked up sediment is discharged to a predetermined place on land.

Ends of the hydraulic fluid pressure hose 7 and the hydraulic fluid return hose 8 on the side of the self-propelled robot 3 are fixed to a cable hose support member 30 attached to the sand discharge pipe 29.
A left control box 31 is installed on the left side and a right control box 32 is installed on the right side of the upper part of the body frame 17. These left control box 31 and right control box 32 incorporate various control valves of a hydraulic drive system.

Further, as shown in FIG. 4, the control unit 4 is connected to a robot control unit 34 that is connected to the self-running robot 3 with a wiring 33 and controls the self-running robot 3, and a robot control unit 34 and a hydraulic pump drive motor 38. And a pump control unit 36 which is connected by a control cable 35 and controls the water pressure pump 6. A power source 37 is connected to the robot control unit 34.
A water pressure pump drive motor 38 is connected to the water pressure pump 6 and driven.

  A front support frame 39 is erected on the front portion of the body frame 17, and a sonar 40, a light 41, and a camera 42 are attached on the front support frame 39. A light 41 is also attached below the front part of the body frame 17.

Next, the water pressure drive system of the underwater sediment removal apparatus 1 will be described with reference to FIG.
First, the hydraulic pump 6 driven by the hydraulic pump drive motor 38 sends the water W stored in the hydraulic fluid tank 43 to the hydraulic fluid feed hose 7 and controls the right side via the P header block 44 on the self-running robot 3 side. Water W is pumped to the box 32 and the left control box 31.

  The water W pumped into the right control box 32 is sent to the right traveling water pressure pump control valve 45 and the system pressure adjusting control valve 46. At this time, the right traveling water pressure pump control valve 45 sends water W to the right traveling water pressure motor 13 via the traveling hose 47 by opening and closing thereof. Further, the system pressure adjusting control valve 46 sends water W as cooling water to the left and right braking brakes 23 by opening and closing thereof.

  Further, the water W fed into the left control box 31 is sent to the left traveling water pressure pump control valve 48, the cylinder control valve 49, and the screw control valve 50. At this time, the left traveling hydraulic pump control valve 48 sends water W to the left traveling hydraulic motor 13 via the traveling hose 47 by opening and closing thereof. The cylinder control valve 49 sends water W to the hydraulic cylinder 27 via the cylinder hose 51 by opening and closing thereof, and the screw control valve 50 opens and closes the screw hydraulic motor 12 via the screw hose 52 by opening and closing. Send water W to

  In addition, the water W pumped to each part is sent to the T header piping 53 via each hose on the return side after being used for the operation of each part. Further, the water W is returned to the hydraulic fluid water tank 43 through the hydraulic fluid return hose 8 connected to the T header pipe 53.

In addition, a heat exchanger 16 is provided in the middle of the hydraulic fluid return hose 8 to cool the returned water W. That is, the cooling water CW stored in the cooling water tank 54 is sent to the heat exchanger 16 via the cooling water pumping hose 56 by the cooling water pumping pump 55 installed in the cooling water tank 54. It is done. In the heat exchanger 16, the water W is cooled by performing heat exchange between the water W in the hydraulic fluid return hose 8 and the cooling water CW. Thus, the water W cooled by the heat exchanger 16 is returned to the hydraulic fluid water tank 43.
The cooling water CW that has undergone heat exchange is returned to the cooling water tank 54 via the cooling water return hose 57.

  Further, when the filter 103 starts to be clogged due to the generation of the biofilm, and the differential pressure between the pressure detected by the first pressure sensor 104 and the pressure detected by the second pressure sensor 105 exceeds a certain level, the alarm unit 107 is activated. An alarm sound is emitted as an alarm. Further, the alarm unit 107 sends an alarm signal as an alarm to the degradation bacteria supply unit 101, and the degradation bacteria supply unit 101 that has received the alarm signal inputs the organic matter decomposition bacteria into the hydraulic fluid water tank 43. As a result, organic matter-degrading bacteria are mixed in the water W and reach the filter 103, and the biofilm such as bacteria adhering to the filter 103 is decomposed, so that the clogging of the filter 103 is eliminated.

Particularly, in order to prevent freezing, when the water W of the hydraulic fluid is heated to about 30 ° C. by the thermostat 102 and used, the filter 103 is easily clogged because the bacteria are likely to proliferate. The clogging warning by 107 and clogging removal by the decomposing bacteria supply unit 101 are particularly effective.
In this embodiment, the organic matter-degrading bacteria are automatically input from the degrading bacteria supply unit 101 in response to an alarm signal from the alarm unit 107. However, the organic matter decomposition is manually performed from the degrading bacteria supply unit 101 after an alarm is issued from the alarm unit 107. It does not matter if fungus is added.

  As described above, the underwater sediment removal apparatus 1 according to the present embodiment includes the screw hydraulic motor 12 that rotates the sand collecting screw 9 and the traveling hydraulic motor 13 that drives the traveling mechanism 2. 9 and the traveling mechanism 2 are both driven by a hydraulic motor, so there is no risk of oil leakage such as hydraulic pressure.

  Moreover, since the hydraulic pump 6 is installed on the water or on land, the hydraulic pump 6 can be separated from the self-propelled robot 3, and the self-propelled robot 3 can be downsized. Furthermore, since the hydraulic pump 6 on the water or the land and the self-propelled robot 3 on the bottom of the water are connected by the hydraulic fluid pressure hose 7 and the hydraulic fluid return hose 8, the hydraulic fluid pressure hose 7 and the hydraulic fluid return hose 8 are underwater. The cooling of the water W flowing through the hose is cooled, so that a decrease in pumping by the hydraulic pump 6 can be suppressed.

  The self-running robot 3 reduces the rotational speed of the screw hydraulic motor 12 and transmits it to the sand collecting screw 9 and the traveling hydraulic motor 13 reduces the rotational speed of the traveling hydraulic motor 13 to the traveling mechanism 2. And the traveling hydraulic speed reducer 15 and the traveling hydraulic motor 13 can be decelerated by the screw speed reducer 14 and the traveling speed reducer 15, and the sand collecting screw. 9 and the traveling mechanism 2 can be driven with low rotation and high torque.

  Further, since the heat exchanger 16 capable of cooling the water W in the hydraulic fluid return hose 8 is provided, the water pressure in the hydraulic fluid return hose 8 is cooled by the heat exchanger 16, and further by the hydraulic pump 6. A decrease in pumping can be suppressed.

  In addition, since the alarm unit 107 that issues an alarm when the difference between the pressure detected by the first pressure sensor 104 and the pressure detected by the second pressure sensor 105 exceeds a certain level, an alarm unit 107 is provided before and after the filter 103. When the differential pressure of the water W reaches a certain level or more, it is determined that a so-called biofilm is attached due to the growth of microorganisms or bacteria and the filter 103 is clogged, and the alarm unit 107 issues an alarm. To know the proper maintenance period.

  Furthermore, since the degradation bacteria supply part 101 which receives an alarm signal and supplies an organic substance decomposing bacteria to the hydraulic fluid (water W) in the hydraulic fluid water tank 43 is provided, the degradation bacteria supply part 101 which received the alarm signal operates. By automatically supplying organic matter-degrading bacteria to the liquid (water W), biofilms such as microorganisms and bacteria attached to the filter 103 can be decomposed, and clogging of the filter 103 can be eliminated.

  The technical scope of the present invention is not limited to the above embodiment, and various modifications can be made without departing from the spirit of the present invention.

  DESCRIPTION OF SYMBOLS 1 ... Underwater sediment removal apparatus, 2 ... Traveling mechanism, 3 ... Self-propelled robot, 4 ... Control part, 5 ... Sand discharge hose, 6 ... Hydraulic pump, 7 ... Hydraulic fluid feeding hose, 8 ... Hydraulic fluid return hose, 9 ... Sand collecting screw, 10 ... Sediment sand discharging pump, 11 ... Motor for discharging sand pump, 12 ... Water pressure motor for screw, 13 ... Water pressure motor for traveling, 14 ... Speed reducer for screw, 15 ... Speed reducer for traveling, 16 ... Heat Exchanger, 43 ... hydraulic fluid tank, 101 ... degrading bacteria supply unit, 103 ... filter, 104 ... first pressure sensor, 105 ... second pressure sensor, 107 ... alarm unit

Claims (5)

A self-propelled robot having a traveling mechanism and capable of self-propelling on the bottom
A controller for remotely controlling the self-propelled robot on the water or on land;
A sand removal hose with one end connected to the self-propelled robot and the other end installed on land,
A hydraulic pump installed on the water or on land,
A hydraulic fluid pressure hose and a hydraulic fluid return hose with one end connected to the hydraulic pump and the other end connected to the self-propelled robot;
The self-propelled robot is a sand collecting screw that collects the bottom sediment,
A sand discharge pump connected to the sand discharge hose and sucking the sediment collected by the sand collecting screw and feeding it to the sand discharge hose;
A hydraulic motor for a screw connected to the hydraulic fluid pressure hose and the hydraulic fluid return hose to rotationally drive the sand collecting screw;
An underwater sediment removal apparatus comprising a traveling hydraulic motor connected to the hydraulic fluid pressure hose and the hydraulic fluid return hose to drive the traveling mechanism. The underwater sediment removal apparatus according to claim 1,
The self-propelled robot reduces the rotational speed of the screw hydraulic motor and transmits it to the sand collecting screw;
An underwater sediment removal apparatus, comprising: a traveling speed reducer that decelerates the rotational speed of the traveling hydraulic motor and transmits the traveling speed to the traveling mechanism. In the underwater sediment removal apparatus according to claim 1 or 2,
An underwater sediment removal apparatus comprising a heat exchanger capable of cooling water in the hydraulic fluid return hose. In the underwater sediment removal apparatus as described in any one of Claim 1 to 3,
A hydraulic fluid tank connected to the hydraulic pump and connected to the downstream end of the hydraulic fluid return hose to store the hydraulic water;
A filter connected to the hydraulic fluid return hose in front of the hydraulic fluid tank and removing foreign matter in the hydraulic fluid;
A first pressure sensor and a second pressure sensor connected to the hydraulic fluid return hose before and after the filter to detect pressure in the hydraulic fluid return hose;
An underwater sediment removal comprising an alarm unit that issues an alarm when the difference between the pressure detected by the first pressure sensor and the pressure detected by the second pressure sensor exceeds a certain level. apparatus. The underwater sediment removal apparatus according to claim 4,
The alarm unit can generate an alarm signal as the alarm,
An underwater sediment removal apparatus comprising a decomposing bacteria supply unit that receives the alarm signal and supplies organic matter degrading bacteria to the working liquid in the working liquid water tank.

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