JP2862351B2 - Underwater work machine - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an underwater working machine, and more particularly, to an underwater working machine provided with a holding device for extending a ceiling of a tunnel such as a culvert.

[Conventional technology]

2. Description of the Related Art Self-propelled underwater working machines are known for checking and cleaning culvert running water channels. Conventionally, the weight of the working machine body is increased to prevent floating of the underwater working machine in running water and to prevent the working machine from tipping over due to fluid force.

[Problems to be solved by the invention]

By the way, conventionally, in the underwater traveling work machine for the purpose of inspection, cleaning, etc. in a running water channel, as described above, measures to prevent floating and to prevent overturning due to fluid force acting on the main body are taken by increasing the weight of the main body. However, this requires an extra space for accommodating the weight, so that the volume of the main body is increased, and the resistance applied to the working machine is further increased.

The present invention is intended to solve such problems.
The underwater work machine main body is provided with a ceiling tension holding device having a function of constantly stretching the ceiling surface of the running water channel with a constant pressure contact load, so that a constant load is constantly applied to the underwater work machine main body and the weight of the underwater work machine body is It is another object of the present invention to provide an underwater working machine capable of running stably without greatly increasing the volume.

[Means for solving the problem]

In order to achieve the above object, the underwater working machine of the present invention
In the underwater work machine equipped with a traveling device at the bottom of the main body,
At the upper part of the main body, two ceiling strut holding devices are provided at intervals in the traveling direction of the main body, and each of the ceiling strut holding devices is provided with a hydraulic cylinder having a piston rod that can expand and contract upward. It comprises a roller rotatably mounted on the upper end of the piston rod, a hydraulic unit connected to the hydraulic cylinder via a hydraulic pipe, and an accumulator attached to the hydraulic pipe in parallel with the hydraulic cylinder. It is characterized by having.

[Action]

In the above-described underwater working machine of the present invention, the hydraulic cylinder constantly performs the action of stretching the ceiling surface of the flowing water channel with a constant pressure contact load, whereby a constant vertical external force is given to the underwater working machine, and In contrast, a load corresponding to the adhesive force required for running the underwater working machine can be obtained, and at the same time, safety against falling can be improved. Further, the safety in the traveling direction of the underwater working machine can be greatly improved.

〔Example〕

1 is a side view, FIG. 2 is a front view, and FIGS. 3 (a) and 3 (b) are both ceiling projections. It is a schematic diagram of a tension holding device.

This underwater working machine 10 is applied to inspection and cleaning of a culvert-shaped running water channel 12, and has a traveling device (crawler) 5 below the main body 1.

The frame 2 is fixed to the upper part of the main body 1 and the frame 2
Two hydraulic cylinders 3 are attached to the upper part of the body at an interval in the traveling direction of the main body 1 upward. A roller 4 is mounted on the upper end of the piston rod 3a of each hydraulic cylinder 3. Reference numeral 3b indicates a guide rod.

Each hydraulic cylinder 3 is connected to a hydraulic oil pipe 9a from two hydraulic units 9 provided in the main body 1, and each accumulator 7 is mounted on the hydraulic oil pipe 9a in parallel with the hydraulic cylinder 3. Cylinder 3, piston rod 3
a, two rollers 4, an accumulator 7, a hydraulic unit 9 a and a hydraulic pipe 9 are arranged at intervals in a traveling direction of the main body 1. Reference numeral 7a in the figure denotes a gas chamber of the accumulator 7, 7b
Denotes a pressure accumulator, 8 denotes a check valve, and 11 denotes a water flow.

With the above-described configuration, when pressure oil is supplied to each hydraulic cylinder 3, the piston rod 3 a extends upward and presses each roller 4 mounted on the tip end thereof to the ceiling surface 6.

Since the accumulator 7 to the respective pressure oil pipe 9a is mounted above the pressure by the rollers 4 is performed under a constant load W _2. That is, as shown in FIG. 3 (b), when the height of the ceiling surface 6 is low, the piston rod 3a is pressed by the ceiling surface 6 and contracts, but excess pressure oil is accumulated in the accumulator chamber 7b of the accumulator 7. since housed in pressure contact load due to the roller 3 is also in this case is kept W _2.

Therefore, the load W on the road surface of the underwater working machine 10 is:
W = W ₁ + W ₂ (W ₁ is the total weight of the working machine), and the load on the road surface can be increased without increasing the weight of the underwater working machine. The W ₂ because above as a constant, it is possible to always stably traveling underwater working machine.

As shown in FIG. 1, in this embodiment, since two ceiling strut holding devices are mounted, W = W ₁ + 2W ₂ .

In this way, it is possible to obtain the load W corresponding to the adhesive force required for traveling of the underwater working machine, and at the same time, it is possible to improve the safety against falling.

In addition, the roller 4 follows while moving in contact with the ceiling surface 6 with the movement of the underwater working machine 10. In addition, even when the ceiling surface or the running road surface has irregularities, the roller 4 can always run the working machine with the constant press-contact load by the action of the accumulator 7 so that the working machine can run on the ceiling surface. Can apply a constant load to the underwater working machine, and as a result, without increasing the weight and volume of the underwater working machine body
It is possible to make the underwater work machine run stably while preventing falling and sliding.

Further, a hydraulic cylinder 3, a piston rod 3a, a roller 4,
Since two ceiling strut holding devices formed by the accumulator 7, the hydraulic unit 9 and the hydraulic pipe 9a are arranged at intervals in the traveling direction of the main body 1, the traveling direction of the main body 1 can be greatly stabilized. Can be improved.

〔The invention's effect〕

As described in detail above, according to the underwater working machine of the present invention,
When the underwater work machine is moved, the roller will always roll over the ceiling surface with a constant pressure load due to the action of the accumulator, even if the ceiling surface or road surface is uneven, so increase the weight and volume of the underwater work machine Therefore, the effect is obtained that the underwater working machine can be run stably, and in particular, the stabilization of the traveling direction of the underwater working machine can be greatly improved.

[Brief description of the drawings]

1 to 3 show an underwater working machine as one embodiment of the present invention, FIG. 1 is a side view thereof, FIG. 2 is a front view thereof,
FIGS. 3 (a) and 3 (b) are schematic diagrams of the ceiling strut holding device. DESCRIPTION OF SYMBOLS 1 ... Body of underwater working machine, 2 ... Frame, 3 ... Hydraulic cylinder, 3a ... Piston rod, 4 ... Roller, 5 ... Traveling device, 6 ... Ceiling surface, 7 ... Accumulator, 8 …… Check valve, 9… Hydraulic unit, 10… Underwater working machine, 11… Water flow, 12 …… Culvert flow channel

Continuation of the front page (72) Inventor Yoshio Okubo 1-3-1 Uchisaiwaicho, Chiyoda-ku, Tokyo Tokyo Electric Power Company (72) Inventor Susumu Tsuzuki 1-3-1 Uchisaiwaicho, Chiyoda-ku, Tokyo Tokyo Electric Power Company (72) Inventor Motoyoshi Adachi, 5th Bancho, Chiyoda-ku, Tokyo Toa Construction Industry Co., Ltd. (72) Inventor Ken Kato 5 Yonbancho, Chiyoda-ku, Tokyo Toa Construction Industry Co., Ltd. (72) Inventor Ohshita Takaharu, 1-1-1 Wadazakicho, Hyogo-ku, Hyogo-ku, Hyogo Prefecture Inside Mitsubishi Heavy Industries, Ltd.Kobe Shipyard (72) Inventor Yoshimitsu Funayama 1-1-1, Wadazakicho, Hyogo-ku, Hyogo-ku, Kobe-shi, Hyogo Prefecture Mitsubishi Heavy Industries, Ltd.Kobe Inside the shipyard (72) Inventor Hirokazu Shimamura 1-1-1, Wadazakicho, Hyogo-ku, Kobe City, Hyogo Prefecture Inside the Kobe Shipyard, Mitsubishi Heavy Industries, Ltd. (56) References JP-A 64-11685 (JP, A) (58) ) Surveyed field (Int.Cl. ⁶ , DB name) E03F 9/00

Claims (1)

(57) [Claims] In a submersible working machine having a traveling device at a lower portion of a main body, two ceiling tension holding devices are provided at an upper portion of the main body at intervals in a traveling direction of the main body. The apparatus includes a hydraulic cylinder having a piston rod that can expand and contract upward, a roller rotatably mounted on the upper end of the piston rod, and a hydraulic unit connected to the hydraulic cylinder via a hydraulic pipe. And an accumulator attached to the hydraulic pipe in parallel with the hydraulic cylinder.