JP2963693B1 - Floating traveling equipment used for river work - Google Patents

Abstract

Abstract: [PROBLEMS] To be able to move smoothly on any riverbed. SOLUTION: A floating traveling device used for river work includes a diving part 1 which floats and sinks on a water surface and a river bottom, and a floating part 2 which does not sink. Diving part 1 is a crawler 2 with an endless track
2 is equipped with a riverbed traveling mechanism 5 equipped with a float 2 and a float 3. The floating traveling device moves the dive section 1 up and down by the ups and downs float 3 and moves on the river bottom by the river bottom traveling mechanism 5.
In addition, the floating traveling device includes a traveling floating surface 4 having a lower surface having an inclined surface protruding on both sides of the crawler 22 and having an upward slope toward the traveling direction of the crawler 22.
3 is provided. When the diving section 1 travels on the soft riverbed with the crawler 22, the traveling floating surface 43 prevents the diving section 1 from being buried in the soft riverbed.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a floating traveling device used for, for example, dredging of a riverbed or construction of a river.

[0002]

2. Description of the Related Art The most common river work is dredging of sludge deposited on the riverbed. Riverbed dredging has various difficulties compared to sea dredging. The biggest problem is that you cannot work in open seas such as the sea. River dredging makes it difficult to freely use large machinery. This is because it is difficult to transport to the place where the dredging work is performed, and the bridge and the riverbank are obstructed even when the dredging work is performed. For this reason,
Work such as dredging in rivers needs to be handled by a method suitable for the work site. For example, in a narrow river, a backhoe or the like is transported by land to the riverbank, and work is performed from the land.
This method requires vacant lots and roads on both sides of the river where a backhoe or the like can be moved. This is not always the case in all rivers that work on rivers such as dredging. In particular, such environment is extremely small in rivers in the town. Further, according to this method, when the width of the river is widened, the arm cannot reach from a backhoe or the like on land, and it becomes impossible to dredge the central portion of the river.

In order to prevent this adverse effect, a wide river is buried in a central part to construct a construction road. The backhoe is moved to the road for construction, and the dredging work is performed on the river. This method requires that the road be removed after the work is completed. Therefore, this method requires the cost of constructing a construction road and the extra cost of removing the constructed construction road. For this reason,
There is a disadvantage that the construction cost of river work is significantly increased.

[0004] This disadvantage can be solved by using a device that can work while traveling on the riverbed. As this apparatus, the apparatus of FIG.
-90852, the device of FIG.
An apparatus shown in FIG. 3 described in Japanese Patent Publication No. 2-7643 has been developed. The apparatuses shown in these figures are equipped with the crawlers 22 that can move on the riverbed, so that operations such as dredging can be performed while traveling on the riverbed. Therefore, there is a feature that work can be performed without constructing a construction road in a river.

[0005]

However, the devices shown in these figures cannot work efficiently on all rivers in practice. This is because the crawler 22 cannot move freely on the riverbed as on land. The bottom of the river where sludge is deposited is so soft that it cannot be compared to land. In particular, the riverbed that needs dredging is heavily sludge-deposited. In addition, various things are thrown into the riverbed, and there are many obstacles that can not be imagined on land. Furthermore, the river bottom has many irregularities, and when dredging or moving with the crawler 22, the water becomes muddy and the irregularities on the bottom cannot be seen. If there is unevenness in the soft ground, the backhoe used for dredging becomes extremely unstable and easily falls. This is because the ground strength of the crawler 22 becomes weak, and the inclined backhoe cannot be supported.
To make matters worse, when a backhoe falls over a river,
It is incredibly dangerous on land. that is,
The operator may be trapped in the cockpit and submerged, or thrown into cold water.

Furthermore, a backhoe that moves on the riverbed may not be able to move on a soft and uneven riverbed. It is extremely difficult to safely move the backhoe in this state. This is because backhoes that can work underwater are considerably expensive, and multiple backhoes do not work together, and it is impossible to tow a backhoe that can not move underwater with another backhoe. . A backhoe that can not move in a river can be towed from the land and can be moved, but there are often no vacant lots or roads on the land that can transport towed tow trucks. Furthermore, when a backhoe that does not move on a river is towed from land, the backhoe can easily fall. This is because the towing wire is connected to the backhoe on the water surface, and the backhoe is towed at a position higher than the center of gravity.

[0007] Such an adverse effect is described in JP-A-60-1353.
As in the amphibious vehicle shown in FIG.
It can be prevented by floating on the water surface with the float 54 and moving. The structure of the amphibious vehicle shown in this figure can be used as a backhoe for dredging rivers. For example, a backhoe is provided in a riverbed traveling mechanism of the crawler 22 traveling on the riverbed, and can be used for dredging of a river. However, backhoes using this structure can be used for dredging large rivers,
Not available for dredging small rivers. Because it is necessary to equip a large float 54 to lift the whole, it is extremely difficult to design it to be able to move under a small bridge with a small river. The most difficult part of river dredging is small rivers. In particular, dredging is extremely difficult for small rivers in the town where buildings are lined up. Unfortunately, rivers in towns that are difficult to dredge are those that need dredging. This is because sludge easily accumulates.

The inventor of the present invention has developed a floating traveling apparatus shown in FIGS. 5 to 7 in order to solve such a disadvantage (Japanese Patent Laid-Open No. 9-41422). This floating traveling device comprises a diving section 1 that floats and sinks on the water surface and river bottom, and a floating section 2 that does not sink. The diving section 1 includes a riverbed traveling mechanism 5. The riverbed traveling mechanism 5 is equipped with endless tracks crawler 22 on both sides. The levitation 2 has a cockpit 9 for the operator. The operator of the cockpit 9 operates the riverbed traveling mechanism 5.

Further, the floating traveling device shown in the figure
The riverbed is dredged as shown in FIGS. FIG. 5 shows a state in which the entire floating traveling device floats on the water surface and moves. As shown in this figure, when moving on the water surface, air is introduced into the floating float 3 of the diving section 1 to float on the water surface. FIG. 6 shows the float 3 of the dive section 1
The figure shows a state in which water is injected into the submerged part 1 to submerge it in water. At this time, the floating portion 2 maintains a state of floating on the water surface due to buoyancy acting on the floating float 4. FIG.
This shows a state in which the diving section 1 is in contact with the water bottom. In this state, the operator of the cockpit 9 operates the riverbed traveling mechanism 5 and the shovel mechanism 6 to dredge the river.

[0010]

SUMMARY OF THE INVENTION The floating traveling apparatus of this structure can move on most rivers and can efficiently perform river construction. However, in a river where sludge is accumulated, even this device cannot move. It is extremely difficult to move in a river where sludge is deposited at a depth of 1 m or more, particularly in a river where a sludge is deposited and the water depth is 50 cm or less. When the crawler is driven when traveling on such a river, as shown in FIG. 7, the crawler gradually becomes buried in a soft sludge and cannot move. This is because the driven crawler scrapes the sludge at the bottom and sinks further. This situation is analogous to the fact that the wheels of an automobile slip and gradually become buried in soft ground. The crawler has an extremely large contact area with the running surface as compared with the wheel of the automobile. For this reason, the load acting on the unit area of the crawler is so small as to be compared with the wheel. However, the extremely soft riverbed on which sludge is deposited cannot withstand such a small load, and cannot be moved even by a crawler. In addition, the sludge deposits are very deep and the crawlers are gradually buried and cannot move at all. In this state, the floating traveling device needs to be moved using another means. However,
Moving the floating traveling device by other means
In practice it is extremely difficult. For this reason, it is extremely important that the floating traveling device used for river work can move reliably regardless of the state of the riverbed.

The present invention has been developed for the purpose of further solving this problem. An important object of the present invention is to provide a floating traveling device used for river work, which can smoothly move any riverbed.

[0012]

SUMMARY OF THE INVENTION A floating traveling apparatus used for river work according to the present invention includes a diving section 1 that floats and sinks on the water surface and river bottom, and a floating section 2 that does not sink. Diving part 1
Is a riverbed traveling mechanism 5 equipped with an endless track crawler 22.
And a float 3. The dive unit 1 is moved up and down by the ups and downs float 3 and moved on the river bottom by the river bottom traveling mechanism 5.

In the floating traveling apparatus according to the first aspect of the present invention, the diving section 1 has a traveling floating surface 43 having a lower surface having an inclined surface projecting on both sides of the crawler 22 and having an upward slope in the traveling direction of the crawler 22. It has. When the diving section 1 travels on the soft riverbed with the crawler 22, the traveling floating surface 43 prevents the diving section 1 from being buried in the soft riverbed.

The floating traveling device according to the second aspect of the present invention includes a horizontal traveling surface 44 connected to a lower portion of the traveling floating surface 43 and extending in the horizontal direction.

In the floating traveling apparatus according to a third aspect of the present invention, a portion protruding from both sides of the crawler 22 is provided on the floating float 3 of the diving section 1, and the traveling floating surface 4
3 are provided.

The floating traveling device according to a fourth aspect of the present invention is provided with a horizontal traveling surface 44 connected to the traveling floating surface 43 on the bottom surface of the protruding portion of the floatation float 3, and the traveling floating surface 43 and the horizontal traveling surface are provided. 44 and move smoothly on the soft riverbed.

In the floating traveling apparatus according to a fifth aspect of the present invention, an inflow / outflow float 42 which protrudes and exits on both sides of the crawler 22 is provided on the flotation float 3, and the inflow / outflow float 42 is provided with a traveling floating surface 43. .

Further, in the floating traveling device according to a sixth aspect of the present invention, a traveling floating surface 43 and a horizontal traveling surface 44 are provided on the inflow / outflow float.

In the floating traveling apparatus according to a seventh aspect of the present invention, the inflow / outflow float 42 is moved in and out to adjust the buoyancy.

[0020]

Embodiments of the present invention will be described below with reference to the drawings. However, the embodiment described below is an example of a floating traveling device used for river work for embodying the technical idea of the present invention, and the present invention has the following configuration of the floating traveling device. Do not specify.

Further, in this specification, in order to facilitate understanding of the claims, the numbers corresponding to the members described in the embodiments will be referred to as "claims" and " In the column of “Means of the above”. However, the members described in the claims are not limited to the members of the embodiments.

The floating traveling apparatus shown in FIGS. 8 and 9 is a dive unit 1 that dive on the river bottom or float on the water surface.
And a floating part 2 which is connected to the diving part 1 via a connecting mechanism 8 and is always floating on the water surface.

The diving section 1 includes a floating float 3 for floating the entire floating traveling device on the water surface, a riverbed traveling mechanism 5 for moving the floating traveling device on the riverbed while dredging, and a shovel mounted on the riverbed traveling mechanism 5. A mechanism 6.

The float 3 is a watertight tank, and as shown in FIGS. 8 and 9, a side float 3A provided on both sides of the diving section 1 and a portion connecting the side float 3A. It is composed of a central floating float 3B provided. The side floating float 3A has a crawler 22 on the outside.
, The lower surfaces of the front and rear end portions are formed as inclined surfaces rising upward toward the front end and the rear end.

The diving section 1 has a traveling floating surface 43 projecting from both sides of the crawler 22 and having a lower surface having a slope inclined upward in the traveling direction of the crawler 22. As shown in FIG. 10, the floating traveling device shown in FIG. 8 has a traveling floating surface 43 as an outer peripheral surface of an inflow / outflow float 42 mounted so as to be capable of entering / exiting the side float / float float 3A. Further, the inflow / outflow float 42 is provided with a horizontal traveling surface 44 connected to a lower portion of the traveling floating surface 43.

In the floating traveling apparatus shown in this figure, an inflow / outflow float 42 is provided before and after the side float / float float 3A.
Each inflow / outflow float 42 is provided with a traveling floating surface 43 and a horizontal traveling surface 44. The lower end of the traveling floating surface 43 and the horizontal traveling surface 44 are preferably arranged close to the bottom surface of the side floating float 3A. When the floating traveling device moves on a soft riverbed, the traveling floating surface 43 and the horizontal traveling surface 44
This is to prevent the diving section 1 from being buried in the soft riverbed more effectively.

The floating traveling device shown in FIG. 8 has a traveling floating surface 43 and a horizontal traveling surface 44 on an inflow / outflow float 42. The floating traveling device according to the present invention is shown in FIG.
As shown in FIG. 12 and FIG. 12, a metal plate 45 may be fixed to the side surface of the side floating float 3 </ b> A, and a traveling floating surface 43 and a horizontal traveling surface 44 may be provided so as to protrude from the crawler 22. Further, as shown in FIG. 13, portions protruding from both sides of the crawler 22 are provided on the side floating float 3 </ b> A, and the running floating surface 43 is provided on both ends and the bottom surface of the protruding portion.
And a horizontal running surface 44 may be provided. Further FIG.
As shown in FIG. 4, a cylindrical inlet / outlet float 42 may be provided. The floating traveling device of this figure has a traveling floating surface 43 and a horizontal traveling surface 4
4 is provided. The floating traveling device provided with the entrance float of this structure does not necessarily need to provide a metal plate. This is because the lower half of the cylindrical inlet / outlet float can be used as the traveling floating surface.

Since the floating traveling device shown in FIG. 8 moves forward or backward by a crawler, the traveling floating surface 4
3 are provided at the ends of both inflow and outflow floats 42. Further, in the floating traveling device shown in the figure, the entire traveling floating surface 43 is an inclined surface. However, although not shown, the entire surface of the traveling floating surface 43 does not necessarily need to be an inclined surface. Further, the inflow / outflow float 42 has a horizontal running surface 44 with the lower surface being a horizontal plane.

As shown in the sectional view of FIG. 15, the inflow / outflow float 42 is mounted on the side floating float 3A via a hydraulic cylinder 46 so that it can enter and exit independently or in conjunction with each other. You. The inflow / outflow float 42 is moved in and out of the side floating float 3A in a watertight manner.
When the inflow / outflow float 42 is pushed out from the side float / float float 3A, the float / float float 3 increases in volume and the buoyancy of the diving section 1 increases. Conversely, when the inflow / outflow float 42 is drawn into the side float / float float 3A, the volume of the float / float float 3 is reduced, and the buoyancy of the diving section 1 is reduced. Therefore, the floating traveling device having this structure can adjust the buoyancy of the dive section 1 by moving the in-and-out float 42 in and out.

As shown in the sectional view of FIG. 15, the side floating float 3A has a sliding cylinder 47 for allowing the inlet / outlet float 42 to come and go in a watertight manner. The sliding cylinder 47 has an inner surface shape equal to the outer shape of the inflow / outflow float 42, and furthermore, packings 48 are arranged at regular intervals, and the inflow / outflow float 42 is inserted so as to slide in a watertight manner. Packing 48
Are provided in a plurality of rows along the outer peripheral surface of the inflow / outflow float 42. Further, the sliding cylinder 47 is opened through a communication hole 49 for allowing air to flow into and out of the sliding cylinder 47 when the inflow float 42 is moved in and out. The floating traveling device having this structure can move the in / out float 42 in and out, so that the dive section 1 can float and sink.

Further, the side floats 3A and the central floats 3B provided on both sides of the diving section 1 are independent of each other in order to adjust their buoyancy independently. Further, the side floating float 3A and the central floating float 3B are hermetically divided into two by a partition wall 11, as shown in FIG. An inlet / outlet float 42 is mounted in each of the divided air chambers 12 of the side floating float 3A so as to be able to enter and exit. The side floating float 3A and the central floating float 3B are air chambers 12 divided into front and rear. Since the side up / down float 3A and the central up / down float 3B are divided into two, the entire side up / down float 3A is divided into four, and the central up / down float 3B is divided into two. Each of the divided air chambers 12 independently sucks and discharges air, and furthermore, allows the inflow / outflow float 42 to enter and exit so that the buoyancy is adjusted. The volume of each air chamber 12 is adjusted so that the dive section 1 can dive in a horizontal posture and float.

The buoyancy of the floating float 3 as a whole is such that the inflow / outflow float 42 is pushed out or pulled in, the air is filled here, and the dive section 1 is lifted with the float 2 placed on the dive section 1. Designed to be able to. The floating traveling device floats in a state where the inflow / outflow float 42 is pushed out, or floats in a state where the inflow / outflow float 42 is drawn into the side floating / floating float 3A.

As shown in FIG. 17, the side floating float 3A into and out of the inlet / outlet float 42 may be provided with an air bag 56 capable of being filled with air and used as the air chamber 12. The air bag 56 is disposed inside the sliding cylinder 47 and in a space in which the volume changes with the in / out float 42. The air bladder 56 has a structure in which it expands in the pushing direction of the inflow / outflow float 42 and contracts in the drawing direction of the inflow / outflow float 42 so that the volume of the air chamber 12 can be increased or decreased according to the change in the volume of this space. Further, the air chamber 12 is airtightly formed of a non-water-permeable material so as to prevent water from entering.

The air bag 56 shown in the figure has a structure in which a flexible non-water-permeable rubber or plastic sheet is formed into a bellows shape so that it can be expanded and contracted in the direction of the flow of the inlet / outlet float 42. The bellows-shaped air bladder 56 is preferably reinforced by holding a reinforcing frame member 57. Air bag 56 of this structure
Can be easily expanded and contracted in a predetermined shape, so that the durability can be improved. However, the air bag does not necessarily need to be formed in a bellows shape. The air bag can be formed into, for example, a bag shape, a column shape, or a spherical shape. These air bags also
By disposing in the space inside the sliding cylinder, the volume of the air chamber can be increased or decreased according to the inflow or outflow of the float. Further, the air bladder can be arranged in a space outside the sliding cylinder 47 as shown by a chain line in the figure.

The air bag 56 having the above-described structure draws in air and expands when the inflow / outflow float 42 is pushed out by the hydraulic cylinder 46, thereby increasing the volume of the air chamber 12. Also,
When the inlet / outlet float 42 is retracted, it is evacuated and contracted to reduce the volume of the air chamber 12. As described above, the side floating float 3 </ b> A including the air bag 56 is provided with the air bag 5 even if water intrudes from the gap for sliding the in / out float 42.
6 has a feature that the buoyancy can be maintained by maintaining the predetermined volume.

A weight 13 is provided on the bottom of the float 3 to keep the dive section 1 stable when the dive section 1 is floated or lowered or when the dive section 1 is floated on the water surface.
And an engine 10 for driving the floating traveling device is also provided at the bottom. This is because the float of the float 3 is positioned higher than the center of gravity of the entire floating traveling device. In the apparatus shown in FIG. 16, the engine 10 is disposed at the bottom of the central floating float 3B.
The engine can also be provided at the bottom of the side float. The engine 10 is provided in an airtight chamber 55 partitioned from the air chamber 12 in a watertight manner. The airtight chamber 55 is connected to the levitation 2 via an air duct (not shown), cools the engine 10, further supplies air to the engine 10,
Further, the exhaust gas of the engine 10 is discharged. The device for mounting the engine on the side floats incorporates an engine of approximately equal weight on both side floats. This device can use a small engine to achieve a good left-right balance.

Further, the floating float 3 is connected to a buoyancy adjusting mechanism 7 for independently adjusting the buoyancy of each air chamber 12 partitioned in an airtight manner. The buoyancy adjusting mechanism 7 adjusts the buoyancy of the float 3 to make the diving unit 1 dive on the river bottom or float on the water surface.

The buoyancy adjusting mechanism 7 adjusts the buoyancy of the air chamber 12 by using one or both of a water pump and a compressor, or a mechanism for moving the inlet / outlet float 42 in and out. FIG. 16 shows a buoyancy adjusting mechanism 7 including a water pump. The buoyancy adjusting mechanism 7 shown in FIG.
Water injection valve 14 for injecting water into water 2 and drain valve 1 for discharging water
5 and an opening valve 16 for taking air in and out of the air chamber 12.

Further, the buoyancy adjusting mechanism 7 is provided in each air chamber 12.
Also provided is a level sensor 19 for detecting the water level. A water injection pump 17 is connected to the water injection valve 14. A drain pump 18 is connected to the drain valve 15. The opening and closing of the water injection valve 14, the drain valve 15, and the release valve 16 and the operation of the water injection pump 17 and the drain pump 18 are controlled by the control unit 20.

The control section 20 electrically controls the operation of the valves and pumps. Instead of being driven by an electric motor, a pump driven by a hydraulic motor can be used for the water injection pump 17 and the drainage pump 18. The operation of a water injection pump and a drainage pump driven by a hydraulic motor is controlled by a hydraulic circuit of the control unit 20.

The control unit 20 controls the opening and closing of the water injection valve 14, the drain valve 15 and the release valve 16 to hold the dive unit 1 in a horizontal posture and dive or float. Control unit 20
When the dive section 1 is to be submerged, the water injection valve 17 and the release valve 16 are opened to operate the water injection pump 17 and the water injection pump 17
To pour water into each air chamber 12. When diving, as shown in FIG. 18, when the tip of the diving unit 1 is tilted down, in order to make the diving unit 1 horizontal, the water injection into the descending front air chamber 12 is stopped. Water is injected only into the rear air chamber 12. Although not shown, when the diving part inclines left and right, the injection of the lower side floating float is stopped and only the upward floating side float is injected. When the dive section 1 is horizontal, water is injected into all the air chambers 12 to dive the dive section 1. Whether or not the dive section 1 is horizontal can be detected by providing the dive section 1 with a horizontal sensor 21.

When the dive section 1 is lifted, the drainage pump 18 is operated to open the drainage valve 15 and the release valve 16, and
Drain from each air chamber 12 and inject air. At this time,
When the diving unit 1 is inclined, the open / close state of the drain valve 15 is controlled so as to be horizontal. For example, as shown in FIG. 18, when the front of the diving unit 1 is lowered, the drain valve 15 connected to the rear air chamber 12 is closed to stop draining and connected to the air chamber 12 at the tip. The drain valve 15 is opened to drain water. When the diving section 1 is horizontal, the diving section 1 is drained from all the air chambers 12 and floats on the water surface.

The buoyancy adjusting mechanism 7 adjusts the buoyancy of the air chamber 12 with a water pump. FIG. 19 shows a buoyancy adjusting mechanism including the compressor 50. Buoyancy adjustment mechanism 7 in this figure
Connects each air chamber 12 to the compressor 50 via an air supply valve 51. Furthermore, each air chamber 12 has an inlet valve 52 connected to the bottom. Furthermore, each air chamber 12
Is opened to the outside via an opening valve 16.

The buoyancy adjusting mechanism 7 opens the air supply valve 51 and pressurizes pressurized air into the air chamber 12 with the compressor 50. At this time, the opening valve 16 is closed. The pressurized air press-fitted into the air chamber 12 pushes out the water in the air chamber 12 and drains it, thereby increasing the buoyancy of the air chamber 12. When the buoyancy of the air chamber 12 increases, the dive unit 1 floats.

Further, the buoyancy adjusting mechanism 7 shown in the drawing closes the air supply valve 51 and opens the opening valve 16, opens the inflow valve 52 without pressurizing the air chamber 12, and supplies water to the air chamber 12. Inflow. In this state, the buoyancy acting on the air chamber 12 decreases. When the buoyancy of the air chamber 12 decreases, the dive section 1 dive.

The buoyancy adjusting mechanism 7 can quickly float the diving section 1 and dive. This is because the compressor 50 stores the pressurized air in the tank 53, and this pressurized air can be quickly pressed into the air chamber 12 and drained. Further, the inflow valve 53 provided at the bottom of the air chamber 12 is opened, so that water can be quickly injected into the air chamber 12.

The control unit 20 controls the opening and closing of the air supply valve 51, the inflow valve 52, and the release valve 16 in order to inject and drain water into the air chamber 12. The control unit 20 controls each valve to inject and drain water into the air chamber 12 and float and dive the dive unit 1 similarly to the buoyancy adjustment mechanism 7 shown in FIG.

Further, the buoyancy adjusting mechanism is shown in FIGS.
As shown in the cross-sectional view of FIG. 5, the inflow / outflow float 42 can be moved in and out by the hydraulic cylinder 46, and the dive section 1 can be floated and lowered. When the access float 42 is moved in and out, the release valve 16 is opened. When the entry / exit float 42 enters or exits, the air chamber 1
This is for allowing the air to be sucked into the air 2 and discharged therefrom. When the inflow / outflow float 42 is pushed out from the side floating float 3A, the volume of the air chamber 12 increases and air is sucked.
For this reason, the buoyancy acting on the air chamber 12 increases,
The diving section 1 floats. On the other hand, when the inflow / outflow float 42 is pushed into the side floating float 3A, the volume of the air chamber 12 is reduced, the buoyancy is reduced, and the diving section 1 dive. The buoyancy adjusting mechanism for adjusting the buoyancy by moving the in / out float 42 in and out controls the hydraulic cylinder 46 and the release valve 16 to move the in / out float 42 in and out of the dive unit 1 by the control unit. The buoyancy adjusting mechanism for adjusting the buoyancy by moving the in- and out-flow floats in and out can also be used to float and sink using a water pump or a compressor pressurized air.

In particular, the side floating float 3A having the structure shown in FIG. 17 is connected to the air chamber 12 of the air bladder 56 through the air supply valve 51 through the compressor 50 as shown by the dashed line in the figure.
To quickly inhale the air. This buoyancy adjusting mechanism presses the pressurized air stored in the tank 53 by the compressor 50 into the air chamber 12 of the air bag 56. At this time, the air supply valve 51 is opened and the open valve 16 is closed.
The air bag 56 into which the pressurized air is pressurized inflates quickly and presses the inflow / outflow float 42 in a direction to push out. In this way, the inflatable air bag 56 can be used together with a mechanism for pushing out the inflow / outflow float 42 by using the pressing force at the time of inflation.
That is, the air bag 56 has a feature that the inflow / outflow float 42 can be quickly pushed out in combination with the hydraulic cylinder 46. However, the air bag 56 can also push out the inflow / outflow float 42 only by the pressing force at the time of inflation. When retracting the inflow / outflow float 42, the air supply valve 51 is closed and the release valve 16 is opened to contract the rod of the hydraulic cylinder 46.

Further, the buoyancy adjusting mechanism for moving the in / out float 42 in and out can adjust the inclination of the diving section 1 by adjusting the amount of protrusion of the in / out float 42. For example, as shown in FIG. 8, a floating traveling device provided with a total of four entrance / exit floats 42 before and after both sides of the diving unit 1, allows the entrance / exit floats 42 to enter and exit independently of each other. Can be adjusted freely.
This buoyancy adjustment mechanism uses the horizontal sensor 2
1, the amount of protrusion of the inflow / outflow float 42 is adjusted, and the dive section 1 is held in a horizontal posture.

Float 42 in and out of side float 3A
The floating traveling device provided with makes the entrance float 42 protrude when traveling on the soft riverbed. In particular, when traveling on a soft riverbed with sludge or the like at a water depth of 50 cm or less, the load of the entire apparatus cannot be reduced by using buoyancy, so that the inflow / outflow float 42 projects from the side up / down float 3A. The vehicle travels using the traveling floating surface 43 and the horizontal traveling surface 44 of the entry / exit float 42. When traveling on the riverbed that is not soft, it is not necessary to use the traveling floating surface 43 and the horizontal traveling surface 44 provided on the entrance float 42. Therefore, when traveling on a riverbed that is not soft, the inflow / outflow float 42 is drawn into the side float 3A or protrudes from the side float 3A. Since the floating traveling device travels in a state in which the inflow / outflow float 42 is protruded or retracted, the buoyancy adjustment mechanism 7 controls the water pump or the compressor to push out the inflow / outflow float 42 or to move the inflow / outflow float 42. In the state where the air chamber 12 is retracted into the air chamber 3A, the buoyancy of the air chamber 12 is adjusted so that the air chamber 12 can be floated and sinked.

The floating traveling device that divides the float 3 into front and rear parts has a feature that the diving unit 1 can be inclined by the float 3 to move quickly on the uneven bottom of the river.
For example, when the vehicle collides with a large obstacle ahead and cannot be cleared by the crawler 22, the dive unit 1
The buoyancy of the air chamber 12 in front of is increased so that the tip of the diving unit 1 is floated. When the diving unit 1 is in this position, the diving unit 1 is in a position to go over without colliding with an obstacle. Therefore, when the crawler 22 is driven in this position, the crawler 22 can easily get over an obstacle.

The diving section 1 for diving moves on the river bottom by the river bottom traveling mechanism 5. The riverbed traveling mechanism 5 includes an endless track crawler 22. The crawlers 22 are located outside the side floating / floating floats 3A, and are arranged in two rows extending back and forth. The crawler 22 is hung on an idler 23 and a drive drive 24 arranged before and after the side floating float 3A. Idler 23 is a side floating float 3
At the tip of A, the drive drive 24 is a side floating float 3A
Is located at the rear end. The drive drive 24 drives the crawler 22 to drive the diving unit 1 on the riverbed. The drive drive 24 is rotated by, for example, a hydraulic motor.

Track rollers (not shown) for guiding the crawlers 22 are arranged at the lower edge of the side floating float 3A, like a backhoe running on land. The hydraulic motor 25 for rotating the drive drive 24 is shown in FIG.
As shown in the figure, it is disposed in the side floating float 3A. Since the drive drive 24 is outside the side float 3A, the shaft connecting the hydraulic motor 25 and the drive drive 24 penetrates the side surface of the side float 3A so that it can rotate in a watertight structure.

FIG. 20 shows a hydraulic circuit for driving the hydraulic motor 25 of the riverbed traveling mechanism 5. In this figure, hydraulic motors 25 are provided on both sides of the side floating float 3A. One crawler 22 includes two hydraulic motors 2
5 is driven. This structure can drive the wide crawler 22 on both sides with good balance. In addition, the output of one hydraulic motor 25 can be reduced to make the hydraulic motor 25 compact. Although not shown, one crawler can be driven by one large hydraulic motor.

In the floating traveling device shown in FIG. 8, a drive drive 24 is provided at the rear end of the side floating float 3A.
Although the idler 23 is provided at the front end, a drive drive may be provided at the front end of the side float and the idler may be provided at the rear end.

Two hydraulic motors 25 for driving one crawler 22 are connected in parallel with each other and are driven to rotate together. The hydraulic motor 25 is connected to a hydraulic pump 27 via a control valve 26. The control valve 26 is controlled by an electric signal, and is controlled by an electric signal sent from a control lever 28. By operating the control lever 28, the operator switches the control valve 26 to control the rotation of the hydraulic motor 25.

When the hydraulic motor 25 is rotated forward, the crawler 22 is driven to move the dive unit 1 forward. When the hydraulic motor 25 is reversed, the diving unit 1 moves backward. In addition, the left and right crawlers 22 can be turned forward or backward to bend the traveling direction of the floating traveling device to the right or left. The traveling speed of the floating traveling device is adjusted by controlling the rotation speed of the hydraulic motor 25. The rotation speed of the hydraulic motor 25 can be adjusted by changing the rotation speed of the hydraulic pump 27. The rotation speed of the hydraulic pump 27 can be adjusted by the rotation speed of the engine that drives it.

The floating traveling device shown in FIG.
Hydraulic motor 25 and control valve 26 are mounted on side floating float 3A
Built in. A watertight chamber 29 containing a hydraulic motor 25 and a control valve 26 is provided in the side floating float 3A. Hydraulic motor 25 and control valve 26 provided in watertight chamber 29
Need not be waterproof. This is because water does not enter here. The piping of the hydraulic motor 25 and the control valve 26
It is arranged in the float 3. Since the hydraulic motor 25, the control valve 26, and the piping disposed in the float 3 are not exposed to the outside, there is a feature that damage during operation or movement can be minimized.

The piping, pump, and valve of the buoyancy adjusting mechanism 7 can be prevented from being damaged by being disposed inside the float 3. Further, by providing the watertight chamber 29, a watertight structure can be used.

The hydraulic motor 25 of the side floating float 3A
The wiring for connecting the control valve 26 to the cockpit 9, the wiring for the buoyancy adjustment mechanism, and the like are provided inside the connection mechanism 8 that connects the diving section 1 and the levitation 2. The coupling mechanism 8 has a tubular shape in which these wirings are built. Wiring or the like is inserted through the cylindrical coupling mechanism 8 to protect it. As described above, the floating traveling device in which the wiring and the like connected to the hydraulic motor 25, the control valve 26, and the buoyancy adjusting mechanism are disposed inside the coupling mechanism 8 and are not exposed to the outside is generated during work or traveling. Failure of hydraulic circuit and electric circuit can be minimized.

Further, the floating traveling device is shown in FIG.
As shown in (1), an entrance (not shown) for cleaning the inside of the float 3 and maintenance of instruments are provided on the side surface of the side float 3A. The entrance is closed by a sealing lid, and the float 3 is airtight. The floating traveling device injects river water into the float 3 when the dive unit 1 sinks. Water to be injected may be muddy water due to sludge. For this reason, sludge or the like adheres to the interior of the float 3, or
Not only can it accumulate and cause a bad smell, but it can also cause a failure of the drain valve 15 and the drain pump 18. Therefore,
The float 3 needs to be periodically cleaned. In the floating traveling device, the hydraulic motor, the pump, the valve, and the piping thereof are also disposed inside the floatation float 3. For this reason, it is necessary to perform repair or inspection when these devices break down by invading the interior of the float 3. The entrance provided in the side floating float 3A is for a person to enter and exit in these cases. Cleaning and repair inspection are performed by entering the float 3 from the entrance and exit.

The floating traveling device of the present invention is used for dredging of river bottoms, river construction, and the like. Floating traveling equipment used for dredging of the riverbed, as shown in FIG.
The diving section 1 is equipped with a shovel mechanism 6. The floating traveling device used for river construction is equipped with equipment used for river construction, such as a crane.

The excavator mechanism 6 mounted on the diving section 1
As shown in FIG. 8, the diving section 1 is disposed at the front of the upper surface. The shovel mechanism 6 includes a turntable 3 that is rotated in a horizontal plane.
0, a boom 33 connected to the turntable 30 so as to be tiltable, an arm 35 connected to the tip of the boom 33 so as to be tiltable, and a bucket 37 connected to the tip of the arm 35. .

The turntable 30 is mounted at the front of the dive section 1 and at the center float 3B connecting the side floats 3A on both sides so as to be rotatable via a swivel joint 31 having a waterproof structure. ing. Although not shown,
A hydraulic motor for rotating the turntable is built in a connection part closed in a watertight structure. The hydraulic motor is connected to a hydraulic pump via a control valve. Fig. 2
As shown at 0, the same one that controls the hydraulic motor 25 of the crawler 22 can be used. The hydraulic motor is driven by the control valve, and the turntable 30 is rotated by the hydraulic motor.

The boom 33 is made of a metal steel bent in a U-shape, and is mounted on the upper surface in front of the turntable 30 so as to be vertically tiltable. The turntable 30 and the boom 33 are connected by a boom cylinder 34. The boom cylinder 34 is disposed parallel to the left and right of the boom 33,
The lower end is connected to the front of the turntable 30, and the tip of the rod 34 a is connected to both sides at the center of the boom 33. The boom cylinder 34 has both the lower end and the tip connected to the turntable 30 and the boom 33 so as to be rotatable in the vertical direction.
When the rod 34a of the boom cylinder 34 is extended,
The boom 33 rises and the rod 3 of the boom cylinder 34
When the 4a is contracted, the boom 33 is lowered.

The arm 35 is connected to the end of the boom 33 so that the arm 35 can be tilted in the vertical direction. The arm 35 is also made of metal steel, and a portion slightly from the rear end to the center is connected to the boom 33. Further, the boom 33 and the arm 35
Are connected by an arm cylinder 36. The arm cylinder 36 has a rear end connected to the upper surface of the center of the boom 33 and a front end of the rod 36a connected to the rear end of the arm 35. The arm cylinder 36 is also connected so that both front and rear ends can be vertically rotated. In this structure, when the rod 36a of the arm cylinder 36 is extended, the bucket 37 at the tip of the arm 35 is moved forward.
When the rod 36a is contracted, the bucket 37 at the tip of the arm 35 moves forward.

The bucket 37 is mounted on the tip of the arm 35 so as to be tiltable in the vertical direction. Arm 35
And the bucket 37 are connected by a bucket cylinder 38 via a link 39. Bucket cylinder 38
Has a rear end connected to the upper surface behind the arm 35 and a distal end of the rod 38a connected to the link 39 so that both can be rotated in the vertical direction. The link 39 is a bucket cylinder 38
When the rod 38a is extended, the claw at the tip of the bucket 37 is brought forward, and when the rod 38a is contracted, the bucket 3
7. Move the nail at the tip of 7 forward.

FIG. 21 shows a hydraulic circuit of the shovel mechanism 6. In this figure, a hydraulic motor 32 for driving the turntable 30, a boom cylinder 34, an arm cylinder 36, and a bucket cylinder 38 are provided with a control valve 4
0 is connected to the hydraulic pump 27. Control valve 4
0 is controlled by the control lever 28. The operator operates the control lever 28 to switch the control valve 40 to control the shovel mechanism 6.

FIGS. 22 and 23 show a bucket cylinder 38 having a watertight structure. Bucket cylinder 38 in this figure
Has a cylinder cover 41 attached to a telescopic rod portion. As shown in the enlarged view of FIG. 24, the cylinder cover 41 is formed by forming a flexible non-water-permeable plastic into a bellows shape. When molding the plastic, a spiral reinforcing member (not shown) is used. ) Is inserted and reinforced. The cylinder cover 41 has one end water-tightly connected to the outer cylinder of the bucket cylinder 38 and the other end connected to the connection between the tip of the rod 38 a and the link 39. The bellows-shaped cylinder cover 41 expands and contracts in accordance with the expansion and contraction of the rod 38a as shown in FIGS. FIG. 22 shows the cylinder cover 41 with the rod of the bucket cylinder 38 contracted, and FIG. 23 shows the cylinder cover 41 with the rod of the bucket cylinder 38 extended.
As shown in these figures, when the rod 38a is covered with a watertight cylinder cover 41, when working underwater,
By preventing water from contacting the surface of the rod 38a, corrosion of the rod 38a can be effectively prevented. FIGS. 22 to 24 illustrate the bucket cylinder 38 to which the cylinder cover 41 is attached, but the boom cylinder 34 and the arm cylinder 36 also have the cylinder cover 41.
Can be attached to make it waterproof.

Further, the diving section 1 has an engine 10 built therein. The engine 10 is provided at the bottom of the diving section 2 and operates the hydraulic pump 27. Hydraulic pump 27
Is connected to the hydraulic motor 25 of the riverbed traveling mechanism 5, the hydraulic motor 32 of the shovel mechanism 6, and the cylinder via a hydraulic hose. The engine 10 can also be arranged on the levitation 2. However, since the engine 10 is heavy, it is desirable to dispose it at the bottom of the dive section 2 in consideration of stability.

The floating part 2 includes a cockpit 9 and a floating float 4.
Is provided. The cockpit 9 is provided on the upper surface of the front part of the levitation 2. Watertight structure prevents water intrusion so that operators can work safely. Cockpit 9
Although not shown, is equipped with an operator seat and a control lever for operating each mechanism. The levitation does not necessarily need to have a cockpit. For example, a floating traveling device for remote control is provided with a receiver and an operation unit used for remote control on a levitation. Further, the floating portion is provided with openings for pipes and hoses for sucking air.

The floating float 4 is a tank provided inside the floating part 2 and hermetically sealed. The inside of the floating float 4 is filled with air. Floating float 4
Has a buoyancy that allows the levitation 2 to float on the water surface while the dive section 1 is immersed. Further, the floating portion 2 is provided with a weight (not shown) at a lower portion so as to stably assume a horizontal posture when floating on the water surface.

The diving section 1 and the levitation 2 are connected by a connecting mechanism 8 as shown in FIG. The connecting mechanism 8 is a metal telescopic rod having a total length that allows the levitation 2 to float on the surface of the water while the diving unit 1 is immersed in the riverbed. The telescopic rod is formed by inserting a thin rod into a thick rod so as to be able to expand and contract. A telescopic rod is used in which a plurality of rods are inserted and connected to a gradually thicker rod so as to be able to expand and contract. The telescopic rod, which is the connecting mechanism 8, expands and contracts to move the floating part 2 away from the diving part 1 or to approach the diving part 1. The upper end of the connection mechanism 8 is connected to substantially the center of the floating portion 2 so as to be rotatable in a vertical plane. The lower end of the connecting mechanism 8 is vertically fixed substantially at the center of the diving section 1.

In the floating traveling apparatus shown in FIG. 15, the lower end of the connecting mechanism 8 is connected to the bottom of the center floating float 3B connecting the side floating float 3A. The central floating float 3B connects the connecting mechanism 8 to provide an air chamber 12 that is airtightly closed. The connecting mechanism 8 is extended in the vertical direction and floats the floating part 2 to the surface of the water when the diving part 1 is submerged in water. In addition, the connecting mechanism 8 includes the diving unit 1
When floating on the surface of the water or when traveling with the levitation 2 placed on the diving section 1, the levitation 2 contracts and the levitation 2 is placed on the diving section 1. The telescopic rod is extended by the buoyancy of the levitation 2.

Further, the telescopic rod is locked so as not to contract in the extended state. The telescopic rod, which can be locked in the extended state, has a thick rod with a built-in band brake (not shown) pressed around the thin rod.
The band brake is released when the telescopic rod is extended and retracted, and does not press the inserted thin rod. When locking the telescopic rod, tighten the band brake to prevent the telescopic rod from expanding and contracting. The connecting mechanism 8 using the telescopic rod having this structure locks the floating portion 2 in an extended state, and thus has a feature that the floating portion 2 does not move up and down due to waves on the water surface during work. Further, the connecting mechanism for extending the telescopic rod by the buoyancy of the floating part and contracting the telescopic rod by the gravity of the floating part can have a simple structure. However, a hydraulic cylinder can be used as the coupling mechanism to forcibly move the levitation up and down.

The operation of submerging the dive unit 1 on the riverbed or floating on the water surface is performed as follows.

[When Diving the Diving Part to the Bottom of the River] The controller 9 is operated from the cockpit 9 to inject water into the air chamber 12 of the float 3 or to enter and exit the float 42.
Is drawn into the side floating float 3A. The buoyancy of the float 3 is reduced, and the diving unit 1 starts to sink in water due to its own weight. The signal from the horizontal sensor 21 provided in the diving section 1 is
It is sent to the control unit 20. The level of water injected into the air chamber 12 of the float 3 is transmitted from the level sensor 19 to the control unit 20. The control unit 20 processes the signal from the horizontal sensor 21 and the signal from the level sensor 19, and adjusts the buoyancy of each air chamber 12 while controlling the diving unit 1 to maintain the horizontal posture. I do. When the dive section 1 dive to the riverbed, the buoyancy of each air chamber 12 is minimized. However, the buoyancy of each air chamber 12 may be controlled to adjust the contact pressure at which the dive unit 1 contacts the riverbed. The contact pressure of the diving unit 1 is adjusted so that the crawler 22 can smoothly move on the riverbed of the sludge. The contact pressure of the diving section 1 is large on a hard riverbed and small on a soft riverbed. In this state, the shovel mechanism 6 is operated to dredge the riverbed, and the crawler 22 moves the riverbed while dredging. The operator operates the control lever 28 with the levitation 2 floating on the water surface to operate the shovel mechanism 6,
The crawler 22 moves along the riverbed to dredge.

[When Floating a Diving Part on the Water Surface] The drain pump 18 is operated, or pressurized air is injected by the compressor 50 to drain the water in the air chamber. Floating float 3A
To increase the volume of the air chamber 12. The float 3 that has been drained or has increased in volume has increased buoyancy. When the buoyancy of the floatation float 3 becomes larger than its own weight, the dive unit 1 starts to float. The horizontal attitude of the diving section 1 is detected by the horizontal sensor 21,
The level sensor 19 detects the water level of the air chamber 12 of the float 3. The control unit 20 includes a horizontal sensor 21
And the level sensor 19 are processed to adjust the buoyancy of each air chamber 12 so as to maintain the diving section 1 in a horizontal posture. The inflow / outflow float 42 is made to protrude from the side up / down float 3A or completely drained from the air chamber 12 of the up / down float 3, and the operation of the drain pump 18 is stopped or the air supply valve 51 is closed. In this state, the floating traveling device floats on the water surface with the floating portion 2 placed on the diving portion 1.

[When Moving on a Shallow Soft Riverbed] A shallow soft riverbed cannot travel with the dive section 1 floating. Almost all the load of the floating traveling device is supported by the crawler 22. When the load per unit area of the crawler 22 is so large that the crawler 22 cannot travel on a soft riverbed, the inflow / outflow floats 42 are projected on both sides of the side floating float 3A. The projecting in / out float 42 brings the traveling floating surface 43 and the horizontal traveling surface 44 into contact with the soft riverbed. When the crawler is driven in this state, the traveling floating surface 43 and the horizontal traveling surface 44 can travel while sliding on the upper surface of the soft riverbed. Part of the load of the floating traveling device is
This is because the crawler 22 can move without being buried deep in the soft riverbed by being supported by the traveling floating surface 43 and the horizontal traveling surface 44. In the illustrated floating traveling device, the traveling floating surface 43 is provided before and after the side floating float 3A, so that the crawler 22 can move forward and backward. When moving on a hard riverbed that can be sufficiently moved only by the crawler 22 instead of the soft riverbed, the inflow / outflow float 42 is drawn into the side floating float 3A. In this state, the width of the floating traveling device can be reduced, and the floating traveling device can move smoothly on the riverbed.

As described above, the floating traveling device of the present invention travels on a shallow soft riverbed with a crawler. However, when moving on a deep soft riverbed, it is also possible to move the entry / exit float out of the side floating float.
When moving on a deep soft riverbed, the buoyancy of the air chamber is adjusted to the buoyancy that the diving section can dive, and the inflow and outflow floats are projected.

The floating traveling device can be safely used by incorporating a high-pressure gas cylinder in which a diving section is filled with high-pressure pressurized air or carbon dioxide gas, and an on-off valve connected to the high-pressure gas cylinder. This is because, in an emergency, the open / close valve can be opened to supply the pressurized gas of the high-pressure gas cylinder to the air chamber, thereby forcibly floating the diving section. This floating traveling device has a feature that it can be used safely and safely because it can be reliably levitated in an emergency.

[0083]

The floating traveling apparatus used for river work according to the present invention moves any riverbed smoothly,
The feature is that the river work can be done efficiently. This is because the floating traveling device of the present invention is provided with a traveling floating surface having a slope inclined upward in the traveling direction of the crawler so as to protrude on both sides of the crawler in the diving section. When moving the diving part to a soft riverbed, the traveling floating surface surely prevents the crawler from being buried in the soft riverbed and smoothly moves the soft riverbed. In particular, the traveling air bearing surface having an inclined surface that is inclined upward in the traveling direction acts to lift the crawler from a soft riverbed by moving forward. This is because the crawler is pushed up by the reaction that the traveling floating surface pushes down the soft riverbed.

Further, in the floating traveling device according to the second aspect of the present invention, since the horizontal traveling surface is provided in connection with the lower portion of the traveling floating surface, the soft riverbed is pressed by both the traveling floating surface and the horizontal traveling surface. The feature is that the crawler can be more effectively prevented from being buried in the soft riverbed and can run smoothly. In particular, a floating traveling device having a horizontal traveling surface has a feature that a crawler can be effectively prevented from being buried in a soft riverbed even in a stopped state because a contact area with a riverbed can be increased and a contact pressure can be reduced. .

In the floating traveling apparatus according to claims 5 and 6 of the present invention, an inflow / outflow float is provided so as to be able to enter / exit from the float / float float, and the inflow / outflow float is provided with a traveling floating surface or a horizontal traveling surface. The floating traveling device of this structure can smoothly move on the soft riverbed between the traveling floating surface and the horizontal traveling surface in a state where the inflow / outflow float projects from the up / down float. In addition, since the inflow and outflow floats can be stored in the floats, they have the advantage of being able to move easily in narrow rivers.

Further, in the floating traveling device according to the present invention, the float is adjusted by moving the in-and-out float provided with the traveling floating surface and the horizontal traveling surface so that the diving portion can be quickly floated and lowered by entering and exiting the float. Features are also realized.

[Brief description of the drawings]

FIG. 1 is a side view showing an example of a conventional dredging device.

FIG. 2 is a side view showing another example of the conventional dredging device.

FIG. 3 is a side view showing another example of the conventional dredging device.

FIG. 4 is a side view showing an example of a conventional amphibious vehicle.

FIG. 5 is a side view showing a state in which the floating traveling device developed earlier by the present inventors floats on the water surface.

FIG. 6 is a side view showing a state where the floating traveling device shown in FIG.

FIG. 7 is a side view showing a state in which a diving part of the floating traveling device shown in FIG. 6 is buried in a soft riverbed;

FIG. 8 is a side view of the floating traveling device according to the embodiment of the present invention.

FIG. 9 is a rear view of the floating traveling device shown in FIG. 8;

FIG. 10 is an enlarged perspective view of a side floating float of the floating traveling device shown in FIG. 8;

FIG. 11 is a side view of a floating traveling device according to another embodiment of the present invention.

FIG. 12 is an enlarged perspective view of a side floating float of the floating traveling device shown in FIG. 11;

FIG. 13 is a side view of a floating traveling device according to another embodiment of the present invention.

FIG. 14 is a side view of a floating traveling device according to another embodiment of the present invention.

FIG. 15 is a schematic sectional view of the floating traveling device shown in FIG. 9;

FIG. 16 is a schematic sectional view showing a buoyancy adjusting mechanism of the floating traveling device according to the embodiment of the present invention.

FIG. 17 is a schematic sectional view of a floating traveling device according to another embodiment of the present invention.

FIG. 18 is a side view showing a state in which the floating traveling device is inclined underwater.

FIG. 19 is a schematic sectional view showing another example of the buoyancy adjusting mechanism.

FIG. 20 is a schematic diagram showing a hydraulic circuit that drives a hydraulic motor of a riverbed traveling mechanism.

FIG. 21 is a block diagram showing a hydraulic circuit of the shovel mechanism.

FIG. 22 is a side view showing a state in which the bucket cylinder of the shovel mechanism contracts the rod.

FIG. 23 is a side view showing a state where the rod of the bucket cylinder of the shovel mechanism is extended.

24 is an enlarged side view showing a cylinder cover of the bucket cylinder shown in FIG.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Diving part 2 ... Floating part 3 ... Floating float 3A ... Side floating float 3B ... Floating float 5 ... Floating float 5 ... River bottom traveling mechanism 6 ... Shovel mechanism 7 ... Buoyancy adjustment mechanism 8 ... Connection mechanism 9 ... Cockpit 10 ... Engine 11 ... Partition wall 12 ... Air chamber 13 ... Weight 14 ... Injection valve 15 ... Drain valve 16 ... Opening valve 17 ... Injection pump 18 ... Drain pump 19 ... Level sensor 20 ... Control unit 21 ... Horizontal sensor 22 ... Crawler 23 ... Idler 24 ... Drive drive 25 ... Hydraulic motor 26 ... Control valve 27 ... Hydraulic pump 28 ... Control lever 29 ... Watertight chamber 30 ... Turntable 31 ... Swivel joint 32 ... Hydraulic motor 33 ... Boom 34 ... Boom cylinder 34a ... Rod 35 ... Arm 36 ... Arm cylinder 36a ... Rod 37 ... Bucket 38 ... Bucket Cylinder 38a ... Rod 39 ... Link 40 ... Control valve 41 ... Cylinder cover 42 ... Incoming / outgoing float 43 ... Running floating surface 44 ... Horizontal running surface 45 ... Metal plate 46 ... Hydraulic cylinder 47 ... Sliding cylinder 48 ... Packing 49 ... Communication hole 50 ... compressor 51 ... air supply valve 52 ... inflow valve 53 ... tank 54 ... float 55 ... airtight chamber 56 ... air bag 57 ... reinforcement frame material

Claims (7)

(57) [Claims] A diving section (1) that floats and sinks on the water surface and river bottom, and a floating section (2) that does not sink, wherein the diving section (1) is equipped with a crawler (22) having an endless track. 5), and a floating traveling apparatus comprising a floating sinking float (3), the diving part (1) is floated and lowered by the floating sinking float (3), and the riverbed traveling mechanism (5) is configured to move on the riverbed. The diving section (1) has a traveling floating surface (43) projecting on both sides of the crawler (22) and having a lower surface having a slope inclined upward in the traveling direction of the crawler (22). When (1) travels on the weak riverbed with the crawler (22), the traveling floating surface (4
3) A floating traveling device for use in river work, wherein the device is configured to prevent the diving section (1) from being buried in a soft riverbed. 2. The floating traveling apparatus according to claim 1, further comprising a horizontal traveling surface (44) connected to a lower portion of the traveling floating surface (43) and extending in a horizontal direction. . The floater float (3) has a projecting portion on both sides of the crawler (22), and the projecting portion has a running floating surface (4).
3. The floating traveling device used for river work according to claim 1, wherein 3) is provided. 4. A floating traveling device for use in river work according to claim 3, wherein a horizontal traveling surface (44) is provided at a projecting portion of the floating / floating float (3) in connection with the traveling floating surface (43). . 5. A floating float (3) is provided with an entrance float (42) which enters and exits so as to protrude on both sides of the crawler (22), and the traveling float surface (43) is provided on the entrance float (42). The floating traveling device used for river work according to claim 1. 6. The floating traveling apparatus used for river work according to claim 5, wherein the inflow / outflow float (42) has a traveling floating surface (43) and a horizontal traveling surface (44). 7. The floating traveling apparatus used for river work according to claim 5, wherein the access float (42) is configured to adjust the buoyancy by entering and exiting.