JP6199136B2 - Liquid solid matter take-out apparatus and liquid solid matter take-out method - Google Patents

Description

  The present invention relates to a submerged solid substance take-out device and a submerged solid substance take-out method for taking out a solid substance in a liquid.

  2. Description of the Related Art Conventionally, for example, a submerged working device described in Patent Document 1 includes a moving body that navigates in liquid, a handling device that is mounted on the moving body and that holds and releases an object (solid matter) in liquid, and handling A towing device connected to the device, a gondola for storing an object, an elevating device for moving the gondola up and down between the liquid level and the liquid level, and receiving the raised gondola above the liquid level A shielding cask arranged in a position and having an opening that can open and close to receive a gondola; and a transport device that supports and moves the shielding cask, and the shielding cask is connected to a dust collector and a drying device. Is disclosed.

Japanese Patent No. 4448761

  In the submerged working device described in Patent Document 1 described above, the movable body and the gondola are arranged in the liquid in the storage pool through an opening provided only at one location above the storage pool in which the object is stored. Like to do. Here, in addition to the handling device described above, the mobile body is provided with a propulsion device for navigating in the liquid, and in addition, a lighting device and a camera are mounted, so a power source for remotely operating these devices Cables such as wires and signal wires are drawn from the openings into the storage pool. Further, the moving body has a wire rope of a traction device connected to the handling device drawn from the opening into the storage pool. Moreover, the gondola which accommodates an object WHEREIN: The raising / lowering apparatus mentioned above is arrange | positioned in a storage pool from an opening part. For this reason, when the structure mentioned above concentrates on an opening part, there exists a possibility that a cable and a wire rope may inhibit the raising / lowering operation | movement of a raising / lowering apparatus, and it may become difficult to take out an object. Moreover, since the above-described configuration is concentrated on the opening, the load is concentrated on the periphery of the opening. Therefore, as described in Patent Document 1, a reinforcing base is placed above the vertical wall of the storage pool housing. A reinforcing floor is placed on the upper part of the reinforcing base so as to cover the upper part of the storage pool, and an opening having the same size as the opening is provided directly above the opening of the storage pool of the reinforcing floor. Must be loaded.

  SUMMARY OF THE INVENTION The present invention solves the above-described problems, and an in-liquid solid substance take-out device and an in-liquid solid substance take-out apparatus that can easily take out a solid substance arranged in a liquid while preventing concentration of a load on a local area. It aims to provide a method.

  In order to achieve the above-mentioned object, a submerged solid substance take-out device according to a first aspect of the present invention is a submerged solid substance take-out device for taking out a solid substance arranged in a liquid in a storage pool, above the storage pool. A first opening and a second opening are provided in the ceiling that closes the wall, and the solid object is provided from the first opening so as to be disposed in the storage pool through the first opening. A recovery device for recovering outside the storage pool; and a guide device that is disposed in the storage pool through the second opening and guides the solid matter to the recovery device. Features.

  According to this submerged solid matter extraction device, the recovery device is configured to access the storage pool from the first opening, and the guide device is configured to access the storage pool from the second opening. Therefore, it is possible to prevent the concentration of the load on the local area (one opening), and it is possible to eliminate the need for a structure for preventing the concentration of the load. In addition, since the guide device is not related to the first opening, it is possible to prevent the guide device from interfering when the solid material is recovered by the recovery device in the first opening, and the solid material arranged in the liquid. Can be easily taken out.

  Moreover, in the submerged solid material take-out device of the second invention, in the first invention, the recovery device includes an engaging part attached to the solid object, a rope fixed to the engaging part, A winding part that winds up the wire; and the guide device is a moving part that is movable in the liquid of the storage pool; and a fixing part that maintains a state attached to the solid object; And an attachment portion for attaching the engaging portion of the recovery device to the solid object.

  According to this submerged solid matter extraction device, the recovery device recovers the solid matter to which the engaging portion is attached by winding up the rope fixed to the engaging portion by the winding upper part. Further, in the guide device, the moving part moves through the liquid in the storage pool, the fixing part attaches to the solid object, and the attachment part attaches the engaging part of the recovery device to the solid object. For this reason, the solid substance arrange | positioned in the liquid can be taken out easily.

  Moreover, in the submerged solid substance take-out device of the third invention, in the second invention, the attachment portion is attached to an arm, and has a rotating portion that enables the arm to rotate.

  According to this submerged solid matter take-out device, the attachment portion can be disposed at a position where the engagement portion is attached to the solid matter by rotating the arm with the rotation portion.

  Further, in the submerged solid substance take-out device of the fourth invention, in the second or third invention, a charging wire used at the time of charging into the storage pool is attached to the solid material, and the guiding device is And a wire removing section for removing the charging wire from the solid material.

  According to this submerged solid material take-out device, when a charging wire is attached to the solid material, the charging wire can be removed by the wire removing unit, and when the solid material is recovered, the charging wire becomes an obstacle, It is possible to prevent the input wire from being collected as a contaminant together with the solid material.

  Moreover, in the submerged solid substance extracting device of the fifth invention, in the fourth invention, the wire removing unit is attached to an arm, and has a rotating unit capable of rotating the arm. .

  According to this submerged solid material take-out device, the wire removing unit can be disposed at a position where the throwing wire is removed from the solid material by rotating the arm with the rotating unit.

  Moreover, in the in-liquid solid substance take-out device according to a sixth aspect of the present invention, in any one of the second to fifth aspects of the invention, the moving section provides a buoyancy imparting mechanism that imparts a neutral buoyancy to the guide device, A submerged propulsion mechanism that moves the guide device in the three-dimensional direction in the liquid of the storage pool.

  According to this submerged solid substance take-out device, it is possible to realize the movement of the guide device in the liquid in the storage pool.

  Moreover, in the in-liquid solid substance taking-out apparatus of 7th invention, in any one of 2nd-5th invention, the said moving part is provided so that the liquid level of the said storage pool can be moved, and the said guide apparatus is provided. It includes a liquid level propulsion mechanism to support.

  According to this submerged solid substance take-out device, the situation of stirring the liquid in the storage pool by the water surface propulsion mechanism can be suppressed, and the guide device in the liquid in the storage pool can be suppressed while suppressing the cloudiness of the liquid in the storage pool. Movement can be realized.

  Moreover, in the in-liquid solid substance taking-out apparatus of 8th invention, in any one of 2nd-5th invention, the said moving part is provided so that a horizontal movement is possible above the liquid level of the said storage pool. And a horizontal movement mechanism for supporting the guide device.

  According to this submerged solid substance take-out device, it is possible to suppress the situation in which the liquid in the storage pool is agitated by the horizontal movement mechanism, and the guide device in the liquid in the storage pool can be suppressed while suppressing the cloudiness of the liquid in the storage pool. Movement can be realized.

  Moreover, in the in-liquid solid substance taking-out apparatus of 9th invention, in the 1st invention, the said collection | recovery apparatus has the engaging part attached to the said solid object, the rope fixed to the said engaging part, and the said A winding upper part that winds up the rope; and the guide device includes a transport unit that transports the solid object.

  According to this submerged solid matter extraction device, the recovery device recovers the solid matter to which the engaging portion is attached by winding up the rope fixed to the engaging portion by the winding upper part. Moreover, in a guide apparatus, a solid substance is conveyed in the liquid of a storage pool by a conveyance part, and the said solid substance is moved to the position which attaches the engaging part of a collection | recovery apparatus. For this reason, the solid substance arrange | positioned in the liquid can be taken out easily.

  Moreover, in the submerged solid substance extracting device according to a tenth aspect of the invention, in the ninth aspect of the invention, the conveying portion is a vertical member that is inserted into the second opening and extends in the vertical direction so as to be vertically connectable. A shaft portion, a longitudinal axis rotation mechanism for rotating the longitudinal axis portion around a longitudinal rotation shaft extending in the vertical direction, and a vertical axis slide for sliding the longitudinal axis portion in the vertical direction along the longitudinal rotation axis. A mechanism, a horizontal axis provided at the lower end of the vertical axis, a horizontal axis expansion / contraction mechanism for expanding / contracting the horizontal axis, and a horizontal axis swing for swinging the horizontal axis with respect to the vertical axis A holding mechanism for gripping the solid object, and a gripping rotation for rotating the gripping mechanism around a horizontal rotating shaft extending in the extending and contracting direction of the horizontal shaft portion. And a gripping and swinging mechanism that swings the gripping mechanism with respect to the horizontal shaft portion. And butterflies.

  According to this submerged solid matter extraction device, it is possible to move the solid matter to a position where the engaging portion of the recovery device is attached to the solid matter. For this reason, the solid substance arrange | positioned in the liquid can be taken out easily.

  Further, in the submerged solid substance take-out device of the eleventh aspect of the invention, in the ninth or tenth aspect of the invention, a charging wire used at the time of charging into the storage pool is attached to the solid material, and the recovery device is And a wire removing section for removing the charging wire from the solid material.

  According to this submerged solid material take-out device, when a charging wire is attached to the solid material, the charging wire can be removed by the wire removing unit, and when the solid material is recovered, the charging wire becomes an obstacle, It is possible to prevent the input wire from being collected as a contaminant together with the solid material.

  Moreover, in the submerged solid substance take-out device of the twelfth aspect of the invention, in the ninth or tenth aspect of the invention, a charging wire used at the time of charging into the storage pool is attached to the solid object, And a wire removing section for removing the charging wire from the solid material.

  According to this submerged solid material take-out device, when a charging wire is attached to the solid material, the charging wire can be removed by the wire removing unit provided in the guide device. It can be prevented that the input wire is collected as a contaminant together with the solid matter.

  In order to achieve the above-mentioned object, a method for removing a solid substance in liquid according to a thirteenth aspect of the present invention is provided on a ceiling portion that closes above the storage pool in order to take out the solid substance arranged in the liquid of the storage pool. A method for extracting a solid matter in liquid using a first opening and a second opening, the step of disposing a recovery device for recovering the solid matter in the storage pool through the first opening, and A step of disposing a guide device for guiding solid matter to the recovery device in the storage pool through the second opening, and guiding the solid matter to the recovery device by the guide device; Recovering the solid matter to the outside of the storage pool with a recovery device.

  According to this method for taking out solid matter in liquid, the recovery device is configured to access the storage pool from the first opening, and the guide device is configured to access the storage pool from the second opening. Therefore, it is possible to prevent the concentration of the load on the local area (one opening), and it is possible to eliminate the need for a structure for preventing the concentration of the load. In addition, since the guide device is not related to the first opening, it is possible to prevent the guide device from interfering when the solid material is recovered by the recovery device in the first opening, and the solid material arranged in the liquid. Can be easily taken out.

  Moreover, in the liquid solid matter removal method according to the fourteenth aspect of the invention, in the thirteenth aspect of the invention, the recovery device includes an engaging portion attached to the solid matter, a rope fixed to the engaging portion, A winding part that winds up the wire; and the guide device is configured to be movable in the liquid of the storage pool, a fixing part that maintains a state attached to the solid object, and the recovery unit. An attachment portion for attaching the engagement portion of the apparatus to the solid object, the engagement portion is moved to the position of the solid object by the moving portion, and is attached to the solid object by the fixing portion. A state of attaching the engaging part to the solid object by the attaching part in a state, and a step of collecting the solid object to which the engaging part is attached by winding up the rope with the winding upper part. It is characterized by.

  According to this method of taking out a solid substance in a liquid, the solid substance arranged in the liquid can be taken out easily and reliably.

  According to a fifteenth aspect of the present invention, in the fourteenth aspect of the present invention, in the fourteenth aspect, a charging wire used at the time of charging into the storage pool is attached to the solid material, and the engaging portion is connected to the solid material. The method further includes a step of removing the throwing wire by a wire removing unit provided in the guide device before being attached to an object.

  According to this method of taking out a solid substance in a liquid, when a charging wire is attached to a solid material, the charging wire is removed by the wire removing unit so that the charging wire becomes an obstacle when the solid material is recovered. It is possible to prevent the input wire from being collected as a contaminant together with the object.

  Further, in the submerged solid substance taking-out method of the sixteenth aspect of the invention, in the thirteenth aspect of the invention, the recovery device comprises an engaging part attached to the solid object, a rope fixed to the engaging part, The guide device has a transport unit that transports the solid object, and the transport unit transports the solid object to a position directly below the engagement unit. A step of attaching the engaging part to the conveyed solid object, and winding up the rope by the upper part of the winding to collect the solid object to which the engaging part is attached. To do.

  According to this method for extracting a solid substance in liquid, the solid substance arranged in the liquid can be easily extracted.

  According to a seventeenth aspect of the present invention, there is provided a method for removing a solid substance in liquid. In the sixteenth aspect of the invention, a charging wire used when charging the storage pool is attached to the solid object. The method further includes a step of removing the throwing wire by a wire removing unit provided in the collecting device or the guiding device before being attached to an object.

  According to this method of taking out a solid substance in a liquid, when a charging wire is attached to a solid material, the charging wire is removed by the wire removing unit so that the charging wire becomes an obstacle when the solid material is recovered. It is possible to prevent the input wire from being collected as a contaminant together with the object.

  According to the present invention, it is possible to easily take out a solid object disposed in a liquid while preventing concentration of a load on a local area.

FIG. 1 is a schematic diagram of an in-liquid solid matter extraction device according to Embodiment 1 of the present invention. FIG. 2 is a block diagram of the recovery device in the in-liquid solid matter extraction device according to Embodiment 1 of the present invention. FIG. 3 is a schematic diagram of a guide device in the in-liquid solid matter extraction device according to Embodiment 1 of the present invention. FIG. 4 is a block diagram of the guide device in the submerged solid matter extraction device according to Embodiment 1 of the present invention. FIG. 5 is a schematic diagram showing the operation of the in-liquid solid matter extraction device according to Embodiment 1 of the present invention. FIG. 6 is a schematic diagram showing the operation of the in-liquid solid matter extraction device according to Embodiment 1 of the present invention. FIG. 7 is a schematic view showing the operation of the in-liquid solid matter extraction device according to Embodiment 1 of the present invention. FIG. 8 is a schematic view showing another example of the in-liquid solid matter extraction device according to Embodiment 1 of the present invention. FIG. 9 is a schematic diagram illustrating another example of the in-liquid solid matter extraction device according to Embodiment 1 of the present invention. FIG. 10 is a schematic diagram illustrating another example of the in-liquid solid matter extraction device according to Embodiment 1 of the present invention. FIG. 11 is a schematic view of an in-liquid solid matter extraction device according to Embodiment 2 of the present invention. FIG. 12 is a schematic view of an engaging portion between the recovery device and the liquid solid matter in the liquid solid matter extraction device according to Embodiment 2 of the present invention. FIG. 13: is a block diagram of the collection | recovery apparatus in the solid submerged material extraction apparatus which concerns on Embodiment 2 of this invention. FIG. 14 is a block diagram of the guide device in the in-liquid solid matter extraction device according to Embodiment 2 of the present invention. FIG. 15 is a schematic diagram illustrating the operation of the in-liquid solid matter extraction device according to Embodiment 2 of the present invention. FIG. 16 is a schematic diagram illustrating the operation of the in-liquid solid matter extraction device according to Embodiment 2 of the present invention. FIG. 17 is a schematic diagram showing the operation of the in-liquid solid matter extraction device according to Embodiment 2 of the present invention. FIG. 18 is a schematic diagram illustrating the operation of the in-liquid solid matter extraction device according to Embodiment 2 of the present invention. FIG. 19 is a schematic view showing the operation of the in-liquid solid matter extraction device according to Embodiment 2 of the present invention. FIG. 20 is a schematic view showing the operation of the in-liquid solid matter extraction device according to Embodiment 2 of the present invention.

  Embodiments according to the present invention will be described below in detail with reference to the drawings. In addition, this invention is not limited by this embodiment. In addition, constituent elements in the following embodiments include those that can be easily replaced by those skilled in the art or those that are substantially the same.

[Embodiment 1]
FIG. 1 is a schematic view of a submerged solid substance take-out device according to the present embodiment, FIG. 2 is a block diagram of a recovery device in the submerged solid substance take-out device according to the present embodiment, and FIG. FIG. 4 is a schematic view of a guide device in the liquid solid substance extraction device according to the embodiment, FIG. 4 is a block diagram of the guide device in the liquid solid material extraction device according to the present embodiment, and FIGS. It is the schematic which shows operation | movement of the in-liquid solid substance extraction apparatus which concerns on this embodiment, and FIGS. 8-10 is schematic which shows the other example of the in-liquid solid substance extraction apparatus which concerns on this embodiment.

  As shown in FIG. 1, the submerged solid substance take-out device 1 of this embodiment is for taking out a solid substance 110 arranged in a liquid of a storage pool 100. The solid object 110 is a high-dose solid waste. For example, the solid object shown in FIG.

  The storage pool 100 is provided with a ceiling portion 101 that closes the storage pool 100. The ceiling 101 is provided with a first opening 102 and a second opening 103. The first opening 102 is used to put the solid material 110 into the liquid in the storage pool 100, and is normally closed by a lid (not shown). The second opening 103 is used for checking the storage pool 100 such as the temperature and water level of the water, and is normally closed by a lid (not shown). The first opening 102 is provided in the vicinity of the center above the storage pool 100 and has an opening with a minimum size that allows the solid object 110 to be introduced. Therefore, the first opening 102 has a minimum size from which the solid object 110 can be taken out. The second opening 103 is an opening smaller than the first opening 102, and the storage pool 100 can be inspected. In the case of a storage pool in which only the first opening 102 is provided, a hole corresponding to the second opening 103 is formed in the ceiling 101.

  The submerged solid matter extraction device 1 includes a recovery device 2 and a guide device 3. The collection device 2 is provided so as to be disposed in the storage pool 100 via the first opening 102 and collects the solid material 110 from the first opening 102 to the outside of the storage pool 100. The guide device 3 is provided so as to be disposed in the storage pool 100 through the second opening 103 and guides the solid object 110 to the collection device 2.

  Hereinafter, the details of the configuration of the in-liquid solid matter extraction device 1 will be described. As illustrated in FIGS. 1 and 2, the collection device 2 includes a cover unit 20, a pulling mechanism 21, a camera 22, a monitor 23, an operation unit 24, and a collection device control unit 25.

  The cover 20 covers the upper part of the first opening 102 and forms a space surrounding the solid material 110 collected from the first opening 102 to the outside of the storage pool 100. The cover part 20 has a function of shielding radiation.

  The traction mechanism 21 is arranged above the inside of the cover part 20, and includes an engaging part 21a attached to the solid object 110, a rope 21b fixed to the engaging part 21a, and a winding part that winds up the rope 21b. 21c. The engaging portion 21a is a so-called hook or the like that is hooked on an annular mooring portion 110a provided on the solid object 110 (see FIG. 3). The hook shown in FIG. 3 has a locking mechanism. The rope 21b is a so-called wire.

  The camera 22 photographs the inside of the storage pool 100 from the first opening 102. The camera 22 is preferably equipped with a light so as to make it easy to recognize the captured video. The monitor 23 displays the video imaged by the camera 22. The operation unit 24 operates the collection device 2.

  The collection apparatus control unit 25 controls the collection apparatus 2 in an integrated manner. The collection device control unit 25 is provided in a remote part isolated from the storage pool 100 and is connected to the winding part 21 c of the traction mechanism 21, the camera 22, the monitor 23, and the operation unit 24. Since the winding part 21c and the camera 22 are disposed in the storage pool 100, they are connected to the recovery device controller 25 isolated from the storage pool 100 via a cable 26 including a power line and a signal line. The monitor 23 and the operation unit 24 are provided in a remote unit that is isolated from the storage pool 100, similarly to the collection device control unit 25.

  Then, the collection device control unit 25 displays the video captured by the camera 22 on the monitor 23. The operator operates the operation unit 24 while confirming the video displayed on the monitor 23. The collection device control unit 25 operates the winding part 21 c of the traction mechanism 21 in response to an input from the operation unit 24. Thereby, the solid object 110 to which the engaging portion 21a of the pulling mechanism 21 is attached can be pulled outside the storage pool 100 by winding up the rope 21b.

  As shown in FIGS. 3 and 4, the guide device 3 includes a moving unit 30, a fixing unit 31, a first arm 32, a second arm 33, a rotating unit 34, a camera 35, a monitor 36, An operation unit 37 and a guide device control unit 38 are provided.

  The moving unit 30 can move in the liquid in the storage pool 100. The moving unit 30 has a buoyancy imparting mechanism that imparts neutral buoyancy to the guide device 3. For example, the buoyancy imparting mechanism is disposed in the housing of the guide device 3 and has, for example, a resin having bubbles (for example, foamed polystyrene) or a structure in which a sealed space in the housing is filled with a gas such as air or nitrogen. As a result, the buoyancy imparting mechanism imparts neutral buoyancy in which gravity and buoyancy are balanced to the guide device 3. Further, the moving unit 30 has a submerged propulsion mechanism that moves the guide device 3 in a three-dimensional direction. Although not shown in the drawing, the submerged propulsion mechanism includes a structure that changes the direction of the screw, a structure that includes a screw and a rudder, and a structure that ejects a high-pressure water jet behind the traveling.

  The fixing part 31 maintains the state where the guide device 3 is attached to the solid object 110. The adhering portion 31 has, for example, a mechanism for holding the solid object 110 with a hand and a mechanism for adsorbing the solid object 110 by suction or magnetic force.

  The first arm 32 and the second arm 33 are configured as manipulators, and are operated by arm driving units 32A and 33A such as a motor and a solenoid. The first arm 32 and the second arm 33 have attachment portions 32 </ b> B and 33 </ b> B for attaching the engagement portion 21 a in the traction mechanism 21 of the recovery device 2 to the solid object 110. The attachment portions 32B and 33B are configured as a hand mechanism that is operated by a motor, a solenoid, or the like in the manipulator. Further, the first arm 32 and the second arm 33 have wire removal portions 32C and 33C for removing the insertion wire 110b. The throwing wire 110b is the same as the rope 21b of the pulling mechanism 21 described above, and is attached to the anchoring part 110a of the solid object 110 via an engaging part (for example, a hook with a locking mechanism) 21a. When the solid object 110 is put into the storage pool 100, it is cut and remains attached to the solid object 110. The wire removing portions 32C and 33C are for removing the throwing wire 110b from the solid object 110. For example, the hand mechanism for releasing the locking mechanism of the engaging portion 21a, the locking mechanism or the rope 21b is cut. Configured as a cutting tool. For example, the first arm 32 and the second arm 33 may be any one provided at an opposing position (vertical position) of the guide device 3 and capable of accessing the position of the mooring portion 110a of the solid object 110. Moreover, the 1st arm 32 and the 2nd arm 33 are comprised so that it may be folded in the case of a movement so that the movement of the guide apparatus 3 may not be inhibited. The first arm 32 and the second arm 33 do not have to be both essential, and only the first arm 32 may be used. Further, when the charging wire 110b is not attached to the solid object 110, the wire removing portions 32C and 33C may not be provided. Alternatively, only the attachment portion 32B may be provided on the first arm 32, and only the wire removal portion 33C may be provided on the second arm 33.

  The rotating part 34 supports the first arm 32 provided with the attaching part 32B and the wire removing part 32C and the second arm 33 provided with the attaching part 33B and the wire removing part 33C so as to be rotatable. . For example, when only the attachment portion 32B is provided on the first arm 32 and only the wire removal portion 33C is provided on the second arm 33, the first arm 32 and the second arm 33 are rotated to move the arms 32, 33. Can be replaced with respect to the position of the mooring part 110a of the solid object 110 to use different functions. Moreover, when the attachment part 32B and the wire removal part 32C are provided as a structure only of the 1st arm 32, the 1st arm 32 is accessed to the position of the mooring part 110a of the solid object 110 by rotating the 1st arm 32. Can be made. In addition, when the attachment portion 32B and the wire removal portion 32C are provided on the first arm 32 and the attachment portion 33B and the wire removal portion 33C are provided on the second arm 33, the first arm 32 and the second arm 33 are rotated. Thus, the arms 32 and 33 can be finely adjusted in accordance with the position of the anchoring portion 110a of the solid object 110, or the arms 32 and 33 can be changed with respect to the position of the anchoring portion 110a of the solid object 110. Function can be used.

  The camera 35 is provided on each of the arms 32 and 33, for example, and photographs the operating state of the attachment portions 32B and 33B and the wire removal portions 32C and 33C. The camera 35 is preferably equipped with a light so as to make it easy to recognize the captured video. The monitor 36 displays the video imaged by the camera 35. The operation unit 37 operates the guide device 3.

  The guide device control unit 38 controls the guide device 3 in an integrated manner. The guide device control unit 38 is provided in a remote unit isolated from the storage pool 100, and includes a moving unit 30, a fixing unit 31, arm driving units 32A and 33A, mounting units 32B and 33B, wire removing units 32C and 33C, and a rotating unit. 34, a camera 35, a monitor 36, and an operation unit 37. Since the moving unit 30, the fixing unit 31, the arm driving units 32A and 33A, the mounting units 32B and 33B, the wire removing units 32C and 33C, the rotating unit 34, and the camera 35 are arranged in the storage pool 100, It is connected to a guide device control unit 38 isolated from the storage pool 100 via a cable 39 including a signal line. The monitor 36 and the operation unit 37 are provided in a remote part isolated from the storage pool 100 as in the case of the guidance device control unit 38.

  Then, the guide device control unit 38 displays the video shot by the camera 35 on the monitor 36. The operator operates the operation unit 37 while confirming the video displayed on the monitor 36. The guide device control unit 38 operates the moving unit 30, the fixing unit 31, the arm driving units 32 </ b> A and 33 </ b> A, the mounting units 32 </ b> B and 33 </ b> B, the wire removing units 32 </ b> C and 33 </ b> C, and the rotating unit 34 according to the input of the operation unit 37. . Thereby, the engaging part 21a of the traction mechanism 21 can be attached to the mooring part 110a of the solid object 110.

  The operation of the above-described in-liquid solid material extracting device 1 (in-liquid solid material extracting method) will be described with reference to FIGS. When using the in-liquid solid substance taking-out device 1, an imaging device 120 having a camera and a light is arranged on the liquid surface. As shown in FIG. 5, the guide device 3 is moved by the moving unit 30, and the guide device 3 is attached to the arbitrary solid object 110 by the fixing unit 31. The solid object 110 here is provided with a charging wire 110b. For this reason, in the guide device 3, the throwing wire 110b is removed by the wire removing unit 32C (33C). Then, as shown in FIG. 6, in the collection | recovery apparatus 2, the rope 21b is pulled out by the winding upper part 21c, and the engaging part 21a is sent in a liquid. And in the guide apparatus 3, the engaging part 21a is attached to the mooring part 110a of the solid object 110 by the attaching part 32B (33B). Thereafter, as shown in FIG. 7, the guide device 3 is separated from the solid object 110, and in the recovery device 2, the rope 21 b is wound up by the winding upper part 21 c and the solid object 110 is pulled up and recovered.

  Before the guide device 3 is moved to the position of the solid object 110, in the recovery device 2, the rope 21 b is pulled out by the winding portion 21 c and the engaging portion 21 a is sent into the liquid. The engaging part 21a may be guided to the position of the solid object 110 by grasping the strip 21b or the engaging part 21a with the attachment part 32B (33B) and moving to the arbitrary solid object 110 with the moving part 30.

  As described above, the submerged solid material take-out device 1 of the present embodiment is a submerged solid matter take-out device 1 for taking out the solid matter 110 arranged in the liquid of the storage pool 100, and is located above the storage pool 100. The first opening portion 102 and the second opening portion 103 are provided in the ceiling portion 101 that closes the wall, and the solid object 110 is disposed in the storage pool 100 via the first opening portion 102 so as to be disposed in the first opening portion. A recovery device 2 that recovers from the storage pool 100 to the outside of the storage pool 100, and a guide device 3 that is disposed in the storage pool 100 via the second opening 103 and guides the solid material 110 to the recovery device 2. .

  According to this submerged solid matter extraction device 1, the recovery device 2 is configured to access the storage pool 100 from the first opening 102, and the guide device 3 accesses the storage pool 100 from the second opening 103. Since it is comprised so that the concentration of the load to a local (one opening part) can be prevented, the structure for preventing the concentration of a load can be made unnecessary. In addition, since the guide device 3 is not engaged with the first opening 102, when the solid material 110 is recovered by the recovery device 2 in the first opening 102, a situation in which the guide device 3 interferes can be prevented. It is possible to easily take out the solid material 110 arranged in the.

  Moreover, in the submerged solid matter extraction device 1 of the present embodiment, the recovery device 2 winds up the engagement portion 21a attached to the solid object 110, the rope 21b fixed to the engagement portion 21a, and the rope 21b. The guide device 3 includes a moving unit 30 that can move in the liquid of the storage pool 100, a fixing unit 31 that maintains a state attached to the solid object 110, and a recovery unit. And an attachment portion 32B (33B) for attaching the engaging portion 21a of the device 2 to the solid object 110.

  According to this submerged solid matter extracting device 1, the recovery device 2 recovers the solid object 110 to which the engaging portion 21a is attached by winding the rope 21b fixed to the engaging portion 21a by the winding upper portion 21c. To do. Further, in the guide device 3, the moving unit 30 moves through the liquid in the storage pool 100, the fixing unit 31 attaches to the solid object 110, and the attachment unit 32B (33B) moves the engaging part 21a of the recovery device 2 to the solid object. Attach to 110. For this reason, the solid object 110 disposed in the liquid can be easily taken out.

  In addition, in the submerged solid matter extraction device 1 of the present embodiment, the attachment portion 32B (33B) is attached to the arm 32 (33), and the rotation portion 34 that supports the arm 32 (33) so as to be rotationally movable is provided. Have.

  According to this submerged solid matter extraction device 1, the mounting portion 32B (33B) is disposed at a position where the engaging portion 21a is attached to the solid object 110 by rotating the arm 32 (33) by the rotating portion 34. Can do.

  Further, in the submerged solid material take-out device 1 of the present embodiment, the charging wire 110b used at the time of charging into the storage pool 100 is attached to the solid object 110, and the guide device 3 connects the charging wire 110b to the solid material. The wire removal unit 32 </ b> C (33 </ b> C) is removed from 110.

  According to the submerged solid substance extraction device 1, when the charging wire 110b is attached to the solid object 110, the charging wire 110b can be removed by the wire removing unit 32C (33C), and the solid object 110 can be recovered. Sometimes, it is possible to prevent the input wire 110b from getting in the way or collecting the input wire 110b as a contaminant together with the solid material 110.

  Further, in the submerged solid matter extraction device 1 of the present embodiment, the wire removing unit 32C (33C) is attached to the arm 32 (33), and the rotating unit 34 that allows the arm 32 (33) to rotate is provided. Have.

  According to the submerged solid matter extraction device 1, the wire removing unit 32C (33C) is disposed at a position where the throwing wire 110b is removed from the solid matter 110 by rotating the arm 32 (33) by the rotating unit 34. be able to.

  Moreover, in the submerged solid matter extraction device 1 of the present embodiment, the moving unit 30 has a buoyancy imparting mechanism that imparts neutral buoyancy to the guide device 3 and the guide device 3 in the liquid in the storage pool 100 in a three-dimensional direction. And a submerged propulsion mechanism that moves the submersible.

  According to the submerged solid matter extraction device 1, the movement of the guide device 3 in the liquid of the storage pool 100 can be realized.

  Moreover, in the submerged solid matter extraction device 1 of the present embodiment, the moving unit 30 of the guide device 3 includes a liquid level propulsion mechanism 40 as shown in FIG. The liquid level propulsion mechanism 40 is configured to float on the liquid level of the storage pool 100 and is not clearly shown in the drawing, but is screwed so that the movement on the liquid level and the horizontal direction along the liquid level can be changed. There are a structure that changes the direction of the air, a structure that consists of a screw and a rudder, a structure that changes the direction of the blower, a structure that consists of a blower and a rudder, and a structure that ejects a high-pressure water jet behind the traveling. The liquid level propulsion mechanism 40 supports the guide device 3 via the cable 39 of the guide device 3. The cable 39 is guided by the liquid level propulsion mechanism 40 and is attached to the liquid level propulsion mechanism 40 so that the distance between the guide device 3 and the liquid level propulsion mechanism 40 can be changed as the guide device 3 moves. The operation of the liquid level propulsion mechanism 40 is controlled by the above-described guide device control unit 38 and operated by the operation unit 37. For this reason, the liquid level propulsion mechanism 40 is connected to the guide device control unit 38 through the second opening 103 by a cable 41 including a power line and a signal line.

  Thus, in the submerged solid matter extraction device 1 of the present embodiment shown in FIG. 8, the moving unit 30 is provided so as to be movable on the liquid surface of the storage pool 100 and supports the guide device 3. including.

  According to the submerged solid matter take-out device 1, after the guide device 3 is moved along the water surface via the cable 39 by the water surface propulsion mechanism 40, the guide device 3 is moved to the position of the solid matter by the moving unit 30. be able to. For this reason, the situation where the liquid in the storage pool 100 is agitated by the water surface propulsion mechanism 40 can be suppressed, and the movement of the guide device 3 in the liquid in the storage pool 100 is realized while suppressing the turbidity of the liquid in the storage pool 100. can do.

  Moreover, in the submerged solid matter extraction device 1 of the present embodiment, the moving unit 30 of the guide device 3 is provided in a horizontal direction so as to be movable in the horizontal direction above the liquid level of the storage pool 100 as shown in FIG. A moving mechanism 50 is included. In the storage pool 100, the horizontal movement mechanism 50 is provided with an expansion / contraction part 50a provided in the horizontal direction so as to be elastic in the horizontal direction, and attached to the second opening 103 to support the expansion / contraction part 50a and the second opening. 103, and a turning part 50b that turns the expansion / contraction part 50a around the center. The expansion / contraction part 50a is provided with a mechanism whose length changes so as to be expandable / contractable, such as a pantograph mechanism or a telescopic mechanism, and is configured not to interfere with the side wall of the storage pool 100 as it turns. The horizontal movement mechanism 50 supports the guide device 3 via the cable 39 of the guide device 3. The cable 39 is guided at the tip of the expansion / contraction part 50a, and is attached to the expansion / contraction part 50a so that the distance between the guide device 3 and the expansion / contraction part 50a can be changed as the guide device 3 moves. The operation of the horizontal movement mechanism 50 is controlled by the above-described guide device control unit 38 and operated by the operation unit 37. For this reason, the horizontal movement mechanism 50 is connected to the guide device control unit 38 by a cable 52 including a power line and a signal line.

  As described above, in the submerged solid matter extraction device 1 of the present embodiment shown in FIG. 9, the moving unit 30 is provided so as to be movable in the horizontal direction above the liquid level of the storage pool 100 and supports the guide device 3. A horizontal movement mechanism 50 is included.

  According to the submerged solid matter extraction device 1, the guide device 3 is moved in the horizontal direction via the cable 39 by the horizontal movement mechanism 50, and then the guide device 3 is moved to the position of the solid matter by the moving unit 30. Can do. For this reason, the situation where the liquid in the storage pool 100 is agitated by the horizontal movement mechanism 50 can be suppressed, and the movement of the guide device 3 in the liquid in the storage pool 100 is realized while suppressing the turbidity of the liquid in the storage pool 100. can do.

  Further, in the in-liquid solid material take-out device 1 of the present embodiment, the moving unit 30 of the guide device 3 is provided horizontally so as to be movable in the horizontal direction above the liquid level of the storage pool 100 as shown in FIG. A moving mechanism 60 is included. In the storage pool 100, the horizontal movement mechanism 60 includes a rail portion 60a that extends in the horizontal direction above the liquid level, and a slider that is movable along the extending direction of the rail portion 60a. 60b, and a turning portion 60c that is attached to the second opening 103 and supports the rail portion 60a, and that turns the rail portion 60a around the second opening 103. The rail portion 60a is provided with a mechanism (for example, a telescopic mechanism) whose length in the extending direction changes so as to be extendable and contracted, and is configured not to interfere with the side wall of the storage pool 100 as it turns. The horizontal movement mechanism 60 supports the guide device 3 via the cable 39 of the guide device 3. The cable 39 is guided by the slider 60b, and is attached to the slider 60b so that the distance between the guide device 3 and the slider 60b can be changed as the guide device 3 moves. The operation of the horizontal movement mechanism 60 is controlled by the above-described guide device control unit 38 and is operated by the operation unit 37. For this reason, the horizontal movement mechanism 60 is connected to the guide device control unit 38 by a cable 61 including a power supply line and a signal line.

  As described above, in the submerged solid matter extraction device 1 of the present embodiment shown in FIG. 10, the moving unit 30 is provided so as to be movable in the horizontal direction above the liquid level of the storage pool 100 and supports the guide device 3. A horizontal movement mechanism 60 is included.

  According to the submerged solid matter extraction device 1, the guide device 3 is moved in the horizontal direction via the cable 39 by the horizontal movement mechanism 60, and then the guide device 3 is moved to the position of the solid matter by the moving unit 30. Can do. For this reason, the situation where the liquid in the storage pool 100 is stirred by the horizontal movement mechanism 60 can be suppressed, and the movement of the guide device 3 in the liquid in the storage pool 100 is realized while suppressing the cloudiness of the liquid in the storage pool 100. can do.

  In addition, in the liquid solid matter extraction method of the present embodiment, the first opening 102 provided in the ceiling 101 that closes the upper side of the storage pool 100 in order to take out the solid object 110 arranged in the liquid of the storage pool 100. And a method of taking out the solid matter in liquid using the second opening 103, the step of disposing the recovery device 2 for collecting the solid matter 110 in the storage pool 100 via the first opening 102, and the solid matter 110. The guide device 3 that guides the recovery device 2 to the recovery pool 2 is disposed in the storage pool 100 through the second opening 103, and the guide device 3 guides the solid object 110 to the recovery device 2 and performs the recovery. Recovering the solid material 110 to the outside of the storage pool 100 by the apparatus 2.

  According to this method for taking out solid matter in liquid, the recovery device 2 is configured to access the storage pool 100 from the first opening 102, and the guide device 3 accesses the storage pool 100 from the second opening 103. Since it is comprised in this way, the concentration of the load to a local (one opening part) can be prevented, and the structure for preventing the concentration of a load can be made unnecessary. In addition, since the guide device 3 is not engaged with the first opening 102, when the solid material 110 is recovered by the recovery device 2 in the first opening 102, a situation in which the guide device 3 interferes can be prevented. It is possible to easily take out the solid material 110 arranged in the.

  Moreover, in the liquid solid substance taking-out method of this embodiment, the collection | recovery apparatus 2 is the winding part which winds up the engaging part 21a attached to the solid object 110, the rope 21b fixed to the engaging part 21a, and the rope 21b. The guide device 3 includes a moving unit 30 that can move in the liquid of the storage pool 100, a fixing unit 31 that maintains a state attached to the solid object 110, and a recovery device 2 An attachment portion 32B (33B) for attaching the engaging portion 21a to the solid object 110. The engaging portion 21a is moved to the position of the solid object 110 by the moving portion 30, and the solid portion 110 is fixed by the fixing portion 31. In the attached state, the step of attaching the engaging portion 21a to the solid object 110 by the attaching portion 32B (33B), and the solid portion 110 to which the engaging portion 21a is attached by winding the rope 21b by the winding upper portion 21c are collected. Including that a step.

  According to this method for extracting a solid substance in liquid, the solid substance 110 arranged in the liquid can be easily extracted.

  In addition, in the method for taking out a solid object in liquid according to the present embodiment, the charging wire 110b used when charging the storage pool 100 is attached to the solid object 110, and before the engaging portion 21a is attached to the solid object 110, The method further includes the step of removing the throwing wire 110b by the wire removing unit 32C (33C) provided in the guide device 3.

  According to this method of taking out a solid matter in liquid, when the charging wire 110b is attached to the solid object 110, the charging wire 110b is removed by the wire removing unit 32C (33C), and the solid material 110 is input when the solid material 110 is recovered. It is possible to prevent the wire 110b from getting in the way or collecting the input wire 110b as a contaminant together with the solid material 110.

[Embodiment 2]
FIG. 11 is a schematic view of the submerged solid substance take-out device according to the present embodiment, and FIG. 12 shows an engagement portion between the recovery device and the submerged solid matter in the submerged solid substance take-out device according to the present embodiment. FIG. 13 is a schematic diagram, FIG. 13 is a block diagram of a recovery device in the submerged solid matter extraction device according to the present embodiment, and FIG. 14 is a block diagram of a guide device in the submerged solid matter extraction device according to the present embodiment. FIGS. 15 to 20 are schematic views showing the operation of the in-liquid solid matter extraction device according to the present embodiment.

  As shown in FIG. 11, the submerged solid matter extraction device 6 of this embodiment is for taking out the solid matter 110 arranged in the liquid of the storage pool 100. The solid object 110 is a high-dose solid waste. For example, the solid object shown in FIG. 11 contains a high-dose radioactive solid waste.

  The storage pool 100 is provided with a ceiling portion 101 that closes the storage pool 100. The ceiling 101 is provided with a first opening 102 and a second opening 103. The first opening 102 is used to put the solid material 110 into the liquid in the storage pool 100, and is normally closed by a lid (not shown). The second opening 103 is used for checking the storage pool 100 such as the temperature and water level of the water, and is normally closed by a lid (not shown). The first opening 102 is provided in the vicinity of the center above the storage pool 100 and has an opening with a minimum size that allows the solid object 110 to be introduced. Therefore, the first opening 102 has a minimum size from which the solid object 110 can be taken out. The second opening 103 is an opening smaller than the first opening 102, and the storage pool 100 can be inspected. In the case of a storage pool in which only the first opening 102 is provided, a hole corresponding to the second opening 103 is formed in the ceiling 101.

  The submerged solid matter extraction device 6 includes a recovery device 7 and a guide device 8. The collection device 7 is provided so as to be disposed in the storage pool 100 via the first opening 102 and collects the solid material 110 from the first opening 102 to the outside of the storage pool 100. The guide device 8 is provided so as to be disposed in the storage pool 100 through the second opening 103 and guides the solid material 110 to the collection device 8.

  Hereinafter, the details of the configuration of the in-liquid solid matter extraction device 6 will be described. As shown in FIGS. 11 to 13, the recovery device 7 includes a cover part 70, a traction mechanism 71, an attachment part 72, a wire removal part 73, a camera 74, a monitor 75, an operation part 76, and a recovery part. An apparatus control unit 77.

  As shown in FIG. 11, the cover 70 covers the upper portion of the first opening 102 and forms a space surrounding the solid material 110 collected from the first opening 102 to the outside of the storage pool 100. The cover part 70 has a function of shielding radiation.

  As shown in FIG. 11, the traction mechanism 71 is disposed above the inside of the cover part 70, and is fixed to the engagement part 71a (see FIG. 12) attached to the solid object 110 and the engagement part 71a. It has the rope 71b and the winding upper part 71c which winds up the rope 71b. The engaging portion 71 a is a so-called hook or the like that is hooked on an annular mooring portion 110 a provided on the solid object 110. The hook as the engaging portion 71a shown in FIG. 12 has a detachment preventing mechanism. The rope 71b is a so-called wire. Note that the traction mechanism 71 includes a cylindrical casing 71d that covers the upper portion of the solid object 110 from above when the solid object 110 is placed with the mooring portion 110a facing upward. The engaging portion 71a is arranged at the upper portion of the casing 71d, and is configured to correspond to the position of the mooring portion 110a when the casing 71d covers the upper portion of the solid object 110.

  The attachment portion 72 is provided on the casing 71d, and includes, for example, an actuator that slides the engagement portion 71a as shown in FIG. The attachment portion 72 covers the solid object 110 with the casing 71d as described above, and slides the engagement portion 71a in a state where the engagement portion 71a is disposed at the side portion of the mooring portion 110a. The joining portion 71a is attached to the mooring portion 110a of the solid object 110. Note that the structure of the engaging portion 71a is changed without having the attaching portion 72 so that the engaging portion 71a can be attached to the mooring portion 110a with the casing 71d covering the solid object 110. Good.

  The wire removing unit 73 removes the throwing wire 110b. The throwing wire 110b is the same as the rope 71b of the pulling mechanism 71 described above, and is attached to the anchoring part 110a of the solid object 110 via an engaging part (for example, a hook with a locking mechanism) 71a. When the solid object 110 is put into the storage pool 100, it is cut and remains attached to the solid object 110. The wire removing section 73 is for removing the throwing wire 110b from the solid object 110. For example, a hand mechanism for releasing the locking mechanism of the engaging section 71a, or a cutting mechanism for cutting the locking mechanism or the rope 71b. Configured as a tool.

  The camera 74 is provided in the casing 71d of the traction mechanism 71 and shoots a state in which the solid object 110 is covered with the casing 71d and a state in which the engaging part 71a is attached to the mooring part 110a of the solid object 110. The camera 74 is preferably equipped with a light so as to make it easy to recognize the captured video. The monitor 75 displays the video imaged by the camera 74. The operation unit 76 operates the collection device 7.

  The collection apparatus control unit 77 controls the collection apparatus 7 in an integrated manner. The collection device control unit 77 is provided in a remote part isolated from the storage pool 100 and is connected to the winding part 71 c of the traction mechanism 71, the attachment part 72, the wire removal part 73, the camera 74, the monitor 75, and the operation part 76. ing. Since the winding part 71c of the traction mechanism 71, the attachment part 72, the wire removal part 73, and the camera 74 are arrange | positioned in the storage pool 100, it isolate | separates from the storage pool 100 via the cable 78 containing a power wire and a signal wire | line. Connected to the recovery device controller 77. The monitor 75 and the operation unit 76 are provided in a remote unit that is isolated from the storage pool 100 in the same manner as the collection device control unit 77.

  Then, the collection device control unit 77 displays the video shot by the camera 74 on the monitor 75. The operator operates the operation unit 76 while confirming the image displayed on the monitor 75. The collection device control unit 77 operates the winding part 71 c, the attachment part 72, and the wire removal part 73 of the traction mechanism 71 in accordance with the input from the operation part 76. As a result, the charging wire 110b is removed, the attachment portion 72 is attached to the mooring portion 110a of the solid object 110, or the solid object 110 to which the engagement portion 71a is attached is brought out of the storage pool 100 by winding up the rope 71b. Or tow.

  As shown in FIGS. 11 and 14, the guide device 8 includes a transport unit 80, a camera 81, a monitor 82, an operation unit 83, and a guide device control unit 84.

  The transport unit 80 transports the solid object 110 with the second opening 103 as a reference. The transport unit 80 includes a vertical axis 80A, a vertical axis rotation mechanism 80B, a vertical axis slide mechanism 80C, a horizontal axis part 80D, a horizontal axis expansion and contraction mechanism 80E, a horizontal axis swing mechanism 80F, and a gripping mechanism 80G. And a gripping rotation mechanism 80H and a gripping swing mechanism 80I.

  The vertical axis 80A is inserted into the second opening 103 and is provided extending in the vertical direction. The vertical axis portion 80A is provided so that a plurality of members can be connected in the vertical direction, and is configured so that the length in the vertical direction can be changed. For example, when the depth of the storage pool 100 is deep and the building ceiling on the storage pool 100 is low with respect to this depth, if the vertical axis portion 80A is one, the storage ceiling 100 interferes with the building ceiling. This is because it cannot be inserted into the pool 100. That is, the vertical axis portion 80A can be inserted into the storage pool 100 without being subjected to the above-described restrictions by being provided so that a plurality of members can be connected vertically.

  The vertical axis rotation mechanism 80B rotates the vertical axis 80A around a vertical rotation axis 80Aa extending in the vertical direction. The vertical axis rotation mechanism 80B is provided so as to surround the upper edge of the second opening 103, for example, and is placed on the rail 80Ba and an annular rail 80Ba centered on the vertical rotation axis 80Aa. The rotational movement part 80Bb which pinches | interposes 80A and drive motor 80Bc which rotationally moves the rotational movement part 80Bb along rail 80Ba are comprised.

  The vertical axis slide mechanism 80C slides the vertical axis portion 80A in the vertical direction along the vertical rotation axis 80Aa. The vertical axis slide mechanism 80C is provided, for example, in the rotational movement unit 80Bb of the vertical axis rotation mechanism 80B, and the vertical axis 80A is used as the vertical rotation axis 80Aa while maintaining the holding of the vertical axis 80A by the vertical axis rotation mechanism 80B. And a driving motor (not shown) for rotating the roller.

  The horizontal axis portion 80D is provided at the lower end of the vertical axis portion 80A.

  The horizontal axis expansion / contraction mechanism 80E expands / contracts the horizontal axis 80D. The horizontal shaft portion 80D is configured such that a plurality of cylinders having different diameters are inserted one on top of another in order of increasing diameter, and is configured to be extendable. The horizontal axis expansion / contraction mechanism 80E has a drive unit (for example, a mechanism for rotating a screw rod and moving a nut portion screwed to the screw rod) that gradually pulls out and pulls in each cylindrical body of the horizontal axis unit 80D. It is configured as a mechanism.

  The horizontal axis swing mechanism 80F swings the horizontal axis part 80D with respect to the vertical axis part 80A. The horizontal axis swing mechanism 80F can rotate the base end (cylinder body having the largest diameter) of the horizontal axis part 80D with respect to the vertical axis part 80A by a support shaft 80Fa orthogonal to the vertical rotation axis 80Aa of the vertical axis part 80A. And a drive portion (for example, a cylinder) that swings the horizontal shaft portion 80D around the support shaft 80Fa.

  The gripping mechanism 80G is provided at the distal end of the horizontal shaft portion 80D, and grips the solid object 110. The gripping mechanism 80G has a pair of arm portions 80Ga that are provided at the distal end of the horizontal shaft portion 80D, that is, a cylindrical body having the smallest diameter, and that open and close so as to grip the solid object 110. The arm portion 80Ga is driven by, for example, a motor or a cylinder. Note that the gripping mechanism 80G is provided with a support portion 80Gb so as to support the state in which the solid object 110 is gripped by the arm portion 80Ga from below in order to reduce the gripping force and prevent the solid object 110 from being deformed.

  The gripping rotation mechanism 80H rotates the gripping mechanism 80G around a horizontal rotation shaft 80Da extending in the expansion / contraction direction of the horizontal shaft portion 80D. The gripping rotation mechanism 80H is provided between the gripping mechanism 80G and the cylindrical body having the smallest diameter, which is the distal end of the horizontal shaft portion 80D, and supports the gripping mechanism 80G so as to be rotatable about the horizontal rotation shaft 80Da. And a drive unit (for example, a motor) that rotates the gripping mechanism 80G.

  The gripping swing mechanism 80I swings the gripping mechanism 80G with respect to the horizontal shaft portion 80D. The gripping / swinging mechanism 80I is provided between the gripping and rotating mechanism 80H and the gripping mechanism 80G, and rotates the gripping mechanism 80G with respect to the gripping and rotating mechanism 80H with a support shaft 80Ia orthogonal to the lateral rotational shaft 80Da of the lateral shaft portion 80D. It has a drive unit (for example, a motor) that supports it and swings the gripping mechanism 80G around the support shaft 80Ia.

  The camera 81 is provided at the tip of the horizontal shaft portion 80D or the gripping mechanism 80G, and photographs a state in which the solid object 110 is gripped by the gripping mechanism 80G. The camera 81 is preferably equipped with a light so as to make it easy to recognize the captured video. The monitor 82 displays the video imaged by the camera 81. The operation unit 83 operates the guide device 8.

  The guide device control unit 84 controls the guide device 8 in an integrated manner. The guide device control unit 84 is provided in a remote unit isolated from the storage pool 100, and includes a transport unit 80 (vertical axis rotation mechanism 80B, vertical axis slide mechanism 80C, horizontal axis expansion / contraction mechanism 80E, horizontal axis swing mechanism 80F, gripping The mechanism 80G, the grip rotation mechanism 80H, the grip swing mechanism 80I), the camera 81, the monitor 82, and the operation unit 83 are connected. Since the transport unit 80 and the camera 81 are arranged in the storage pool 100, the transport unit 80 and the camera 81 are connected to a guide device control unit 84 isolated from the storage pool 100 via a cable 85 including a power line and a signal line. The monitor 82 and the operation unit 83 are provided in a remote part isolated from the storage pool 100 as in the case of the guide device control unit 84.

  Then, the guide device control unit 84 projects the video imaged by the camera 81 on the monitor 82. The operator operates the operation unit 83 while confirming the video displayed on the monitor 82. The guide device control unit 84 responds to an input from the operation unit 83 with a vertical axis rotation mechanism 80B, a vertical axis slide mechanism 80C, a horizontal axis expansion / contraction mechanism 80E, a horizontal axis swing mechanism 80F, a gripping mechanism 80G, a gripping rotation, and the like. The mechanism 80H and the gripping swing mechanism 80I are operated. Thereby, the solid object 110 can be conveyed in the liquid of the storage pool 100.

  The operation of the above-described in-liquid solid material extraction device 6 (in-liquid solid material extraction method) will be described with reference to FIGS. In using the in-liquid solid substance take-out device 6, a photographing device 120 having a camera and a light is arranged on the liquid surface. As shown in FIGS. 15 and 16, the conveyance unit 80 of the guide device 8 is connected while the vertical axis 80A is slid downward by the vertical axis slide mechanism 80C, and the horizontal axis 80D and the gripping mechanism 80G are connected to the storage pool. Place in 100 liquids. After that, as shown in FIG. 17, the vertical axis rotation mechanism 80B, the vertical axis slide mechanism 80C, the horizontal axis expansion / contraction mechanism 80E, and the horizontal axis swing mechanism 80F are driven to hold the gripping mechanism 80G in a predetermined manner (can be gripped). ) To the position of the solid object 110, and the gripping rotation mechanism 80 </ b> H, the gripping swing mechanism 80 </ b> I, and the gripping mechanism 80 </ b> G are driven to grip the solid object 110. Thereafter, as shown in FIG. 18, the vertical axis rotation mechanism 80B, the vertical axis slide mechanism 80C, the horizontal axis expansion / contraction mechanism 80E, and the horizontal axis swing mechanism 80F are driven to move the holding mechanism 80G that holds the solid object 110. As a result, the solid material 110 is conveyed directly below the collection device 7.

  Then, as shown in FIG. 19, about the collection | recovery apparatus 7, the rope 71b is pulled out by the winding upper part 71c of the traction mechanism 71, and the engaging part 71a is sent in a liquid. The engaging portion 71 a is attached by the attaching portion 72 to the mooring portion 110 a of the solid object 110 that is conveyed directly below by the guide device 8. Thereafter, as shown in FIG. 20, the solid object 110 is released in the guide device 8, and the rope 71 b is wound up by the winding upper portion 71 c in the recovery device 7, and the solid object 110 is pulled up and recovered. In some cases, a charging wire 110 b is attached to the solid object 110. In this case, before the engagement portion 71 a is attached to the mooring portion 110 a of the solid object 110, the input wire 110 b is removed by the wire removing portion 73 in the recovery device 7.

  As described above, the submerged solid material take-out device 6 of the present embodiment is a submerged solid matter take-out device 6 for taking out the solid matter 110 arranged in the liquid of the storage pool 100, and is located above the storage pool 100. The first opening portion 102 and the second opening portion 103 are provided in the ceiling portion 101 that closes the wall, and the solid object 110 is disposed in the storage pool 100 via the first opening portion 102 so as to be disposed in the first opening portion. A recovery device 7 that recovers from the storage pool 100 to the outside of the storage pool 100, and a guide device 8 that is disposed in the storage pool 100 via the second opening 103 and guides the solid object 110 to the recovery device 7; .

  According to this submerged solid matter extraction device 6, the recovery device 7 is configured to access the storage pool 100 from the first opening 102, and the guide device 8 accesses the storage pool 100 from the second opening 103. Since it is comprised so that the concentration of the load to a local (one opening part) can be prevented, the structure for preventing the concentration of a load can be made unnecessary. In addition, since the guide device 8 is not related to the first opening 102, it is possible to prevent the guide device 8 from interfering when the solid material 110 is recovered by the recovery device 7 in the first opening 102. It is possible to easily take out the solid material 110 arranged in the.

  Moreover, in the submerged solid matter extraction device 6 of the present embodiment, the recovery device 7 winds up the engaging portion 71a attached to the solid object 110, the rope 71b fixed to the engaging portion 71a, and the rope 71b. The guide device 8 includes a transport unit 80 that transports the solid object 110.

  According to the submerged solid material take-out device 6, the recovery device 7 recovers the solid object 110 to which the engaging portion 71a is attached by winding the rope 71b fixed to the engaging portion 71a by the winding upper portion 71c. To do. In the guide device 8, the solid material 110 is transported in the liquid of the storage pool 100 by the transport unit 80, and the solid material 110 is moved to a position where the engaging portion 71 a of the recovery device 7 is attached. For this reason, the solid object 110 disposed in the liquid can be easily taken out.

  Further, in the submerged solid substance take-out device 6 of the present embodiment, the transport unit 80 is inserted into the second opening 103 and extends in the vertical direction so as to be vertically connectable with the vertical axis 80A. A vertical axis rotation mechanism 80B that rotates the shaft portion 80A around the vertical rotation shaft 80Aa extending in the vertical direction, and a vertical axis slide mechanism 80C that slides the vertical axis portion 80A in the vertical direction along the vertical rotation shaft 80Aa. The horizontal axis portion 80D provided at the lower end of the vertical axis portion 80A, the horizontal axis expansion / contraction mechanism 80E that expands / contracts the horizontal axis portion 80D, and the horizontal axis swing that swings the horizontal axis portion 80D with respect to the vertical axis portion 80A A mechanism 80F, a gripping mechanism 80G provided at the distal end of the horizontal shaft portion 80D that grips the solid object 110, and a gripping mechanism 80G that rotates around a horizontal rotation shaft 80Da that extends in the telescopic direction of the horizontal shaft portion 80D. Gripping and rotating mechanism 80H Having a gripping rocking mechanism 80I to swing with respect to the horizontal axis portion 80D the mechanism 80G.

  According to this submerged solid matter extraction device 6, it is possible to move the solid matter 110 to a position where the engaging portion 71 a of the recovery device 7 is attached to the solid matter 110. For this reason, the solid object 110 disposed in the liquid can be easily taken out.

  Further, in the in-liquid solid material take-out device 6 of the present embodiment, the charging wire 110b used at the time of charging into the storage pool 100 is attached to the solid object 110, and the recovery device 7 replaces the charging wire 110b with the solid material. A wire removing unit 73 for removing from 110 is provided.

  According to the submerged solid substance take-out device 6, when the charging wire 110 b is attached to the solid object 110, the charging wire 110 b can be removed by the wire removing unit 73, and the charging wire is recovered when the solid substance 110 is recovered. It is possible to prevent 110b from getting in the way or collecting the input wire 110b together with the solid material 110 as a contaminant.

  Moreover, in the submerged solid substance taking-out apparatus 6 of this embodiment, although not shown in figure, the guide apparatus 8 may be provided with the wire removal part. In this case, the wire removing unit is provided in the gripping mechanism 80G in the transport unit 80 of the guide device 8, and, for example, a hand that releases the locking mechanism of the engaging unit 71a, like the wire removing unit 73 of the collection device 7. It is comprised as a cutting tool which cut | disconnects a mechanism, a detent | locking mechanism, or the rope 71b. The wire removing unit is controlled by the guide device control unit 84. Specifically, the guidance device control unit 84 displays the video imaged by the camera 81 on the monitor 82. The operator operates the operation unit 83 while confirming the video displayed on the monitor 82. The guide device control unit 84 responds to an input from the operation unit 83 with a vertical axis rotation mechanism 80B, a vertical axis slide mechanism 80C, a horizontal axis expansion / contraction mechanism 80E, a horizontal axis swing mechanism 80F, a gripping mechanism 80G, a gripping rotation, and the like. The mechanism 80H, the gripping / swinging mechanism 80I, and the wire removing unit are operated. Thereby, the input wire 110b can be removed from the solid object 110.

  According to the submerged solid substance take-out device 6, when the charging wire 110 b is attached to the solid object 110, the charging wire 110 b can be removed by the wire removing unit provided in the guide device 8. It is possible to prevent the throwing wire 110b from getting in the way during the collection, and collecting the throwing wire 110b as a contaminant together with the solid material 110.

  In addition, in the submerged solid substance taking-out device 6 of this embodiment, although not clearly shown in the drawing, the guide device 8 may be provided with an attachment portion. In this case, the attachment portion is provided in the gripping mechanism 80G in the conveyance portion 80 of the guide device 8, and is configured as a hand mechanism that operates by a motor, a solenoid, or the like. This attachment portion is controlled by the guide device control unit 84. Specifically, the guidance device control unit 84 displays the video imaged by the camera 81 on the monitor 82. The operator operates the operation unit 83 while confirming the video displayed on the monitor 82. The guide device control unit 84 responds to an input from the operation unit 83 with a vertical axis rotation mechanism 80B, a vertical axis slide mechanism 80C, a horizontal axis expansion / contraction mechanism 80E, a horizontal axis swing mechanism 80F, a gripping mechanism 80G, a gripping rotation, and the like. The mechanism 80H, the gripping / swinging mechanism 80I, and the attachment portion are operated. Then, in the recovery device 7, the rope 71 b is pulled out by the winding part 71 c and the engaging portion 71 a is sent into the liquid. In the guide device 8, the rope 71 b or the engaging portion 71 a is grasped by the attachment portion and engaged. The part 71a is guided to the position of the solid object 110, and the engaging part 71a is attached to the anchoring part 110a of the solid object 110. Even in this case, the solid object 110 arranged in the liquid can be easily taken out. Note that when the attachment portion is provided, the gripping mechanism 80G may not be provided. Further, when the attachment portion is provided, the recovery device 2 described in the first embodiment may be used instead of the recovery device 7.

  In addition, in the liquid solid matter extraction method of the present embodiment, the first opening 102 provided in the ceiling 101 that closes the upper side of the storage pool 100 in order to take out the solid object 110 arranged in the liquid of the storage pool 100. And a method for taking out the solid matter in liquid using the second opening 103, the step of disposing the recovery device 7 for collecting the solid matter 110 in the storage pool 100 through the first opening 102, and the solid matter 110. The guide device 8 that guides the recovery device 7 with respect to the recovery device 7 is disposed in the storage pool 100 through the second opening 103, and the guide device 8 guides the solid object 110 to the recovery device 7 and performs the recovery. Recovering the solid material 110 to the outside of the storage pool 100 in the apparatus 7.

  According to this method for taking out solid matter in liquid, the recovery device 7 is configured to access the storage pool 100 from the first opening 102, and the guide device 8 accesses the storage pool 100 from the second opening 103. Since it is comprised in this way, the concentration of the load to a local (one opening part) can be prevented, and the structure for preventing the concentration of a load can be made unnecessary. In addition, since the guide device 8 is not related to the first opening 102, it is possible to prevent the guide device 8 from interfering when the solid material 110 is recovered by the recovery device 7 in the first opening 102. It is possible to easily take out the solid material 110 arranged in the.

  Further, in the submerged solid object extraction method of the present embodiment, the recovery device 7 includes an engaging part 71a attached to the solid object 110, a rope 71b fixed to the engaging part 71a, and a winding for winding up the rope 71b. The guide device 8 includes a transport unit 80 that transports the solid object 110, and the transport unit 80 transports the solid object 110 to a position directly below the engagement unit 71 a. Attaching the engaging portion 71a to the conveyed solid object 110, winding the rope 71b by the winding upper portion 71c, and collecting the solid object 110 to which the engaging portion 71a is attached.

  According to this method for extracting a solid substance in liquid, the solid substance 110 arranged in the liquid can be easily extracted.

  In addition, in the liquid solid matter extraction method of the present embodiment, the charging wire 110b used when charging the storage pool 100 is attached to the solid object 110, and before the engaging portion 71a is attached to the solid object 110, The method further includes the step of removing the throwing wire 110b by the wire removing unit 73 provided in the recovery device 7 or the guide device 8.

  According to this method of taking out a solid substance in liquid, when the charging wire 110b is attached to the solid object 110, the charging wire 110b is removed by the wire removing unit 73 so that the charging wire 110b is removed when the solid object 110 is recovered. It can be prevented that the input wire 110b is collected as a contaminant together with the solid material 110.

DESCRIPTION OF SYMBOLS 1 Submerged solid substance extraction apparatus 2 Recovery apparatus 21 Pulling mechanism 21a Engaging part 21b Strip 21c Winding part 3 Guide apparatus 30 Moving part 31 Adhering part 32, 33 Arm (1st arm, 2nd arm)
32A, 33A Arm drive part 32B, 33B Attachment part 32C, 33C Wire removal part 34 Rotation part 40 Water surface propulsion mechanism part 50 Horizontal movement mechanism 50a Telescopic part 50b Revolving part 60 Horizontal movement mechanism 60a Rail part 60b Slider 60c Revolving part 6 In liquid Solid object take-out device 7 Collection device 71 Traction mechanism 71a Engaging portion 71b Strip 71c Winding portion 72 Mounting portion 73 Wire removal portion 8 Guide device 80 Conveying portion 80A Vertical axis portion 80Aa Vertical rotation shaft 80B Vertical axis rotation mechanism 80C Vertical axis slide Mechanism 80D Horizontal shaft portion 80Da Horizontal rotation shaft 80E Horizontal shaft expansion / contraction mechanism 80F Horizontal shaft swing mechanism 80G Grip mechanism 80H Grip rotation mechanism 80I Grip swing mechanism 100 Storage pool 101 Ceiling portion 102 First opening portion 103 Second opening portion 110 Solid 110a Mooring section 110b Input wire

Claims (14)

In a submerged solid substance take-out device for taking out a solid substance arranged in a liquid of a storage pool,
A first opening and a second opening are provided in a ceiling portion that covers the upper side of the storage pool;
A recovery device provided so as to be disposed in the storage pool through the first opening and recovering the solid matter from the first opening to the outside of the storage pool;
A guide device provided so as to be arranged in the storage pool through the second opening and guiding the solid matter to the recovery device;
Equipped with a,
The recovery device is
An engaging portion attached to the solid object;
A rope fixed to the engaging portion;
A winding upper part that winds up the rope,
The guide device includes:
A moving part capable of moving in the liquid of the storage pool;
An adhering portion that maintains a state of being attached to the solid object;
An attachment portion for attaching the engagement portion of the recovery device to the solid object,
The moving part includes a liquid level propulsion mechanism that is movably provided on the liquid level of the storage pool and supports the guide device. In a submerged solid substance take-out device for taking out a solid substance arranged in a liquid of a storage pool,
A first opening and a second opening are provided in a ceiling portion that covers the upper side of the storage pool;
A recovery device provided so as to be disposed in the storage pool through the first opening and recovering the solid matter from the first opening to the outside of the storage pool;
A guide device provided so as to be arranged in the storage pool through the second opening and guiding the solid matter to the recovery device;
With
The recovery device is
An engaging portion attached to the solid object;
A rope fixed to the engaging portion;
A winding upper part that winds up the rope,
The guide device includes:
A moving part capable of moving in the liquid of the storage pool;
An adhering portion that maintains a state of being attached to the solid object;
An attachment portion for attaching the engagement portion of the recovery device to the solid object,
The moving part includes a horizontal moving mechanism that is provided so as to be horizontally movable above the liquid level of the storage pool and supports the guide device. Wherein and mounting portion mounted on the arm in a liquid solid extraction apparatus according to claim 1 or 2, characterized in that it has a rotating portion to the arm rotatably moved. The solid, storage-on wire is attached, which is used at the time of introduction into the pool, the guide device according to claim 1, characterized in that it comprises a wire removing unit for removing the charged wire from said solid The in-liquid solid substance taking-out apparatus as described in any one of -3.   The in-liquid solid substance take-out device according to claim 4, wherein the wire removing unit is attached to an arm and has a rotating unit that allows the arm to rotate. The moving unit includes a buoyancy imparting mechanism that imparts neutral buoyancy to the guide device, and a submerged propulsion mechanism that moves the guide device in a three-dimensional direction in the liquid of the storage pool. The liquid solid substance take-out device according to any one of claims 1 to 5. In a submerged solid substance take-out device for taking out a solid substance arranged in a liquid of a storage pool,
A first opening and a second opening are provided in a ceiling portion that covers the upper side of the storage pool;
A recovery device provided so as to be disposed in the storage pool through the first opening and recovering the solid matter from the first opening to the outside of the storage pool;
A guide device provided so as to be arranged in the storage pool through the second opening and guiding the solid matter to the recovery device;
With
The recovery device is
An engaging portion attached to the solid object;
A rope fixed to the engaging portion;
A winding upper part that winds up the rope,
The guide device includes:
Have a conveying unit for conveying the solids,
The transport unit is
A vertical axis that is inserted into the second opening and extends in the vertical direction so as to be vertically connectable;
A vertical axis rotation mechanism for rotating the vertical axis portion around a vertical rotation axis extending in the vertical direction;
A vertical axis slide mechanism that slides the vertical axis in the vertical direction along the vertical rotation axis;
A horizontal axis provided at the lower end of the vertical axis;
A horizontal axis expansion and contraction mechanism for expanding and contracting the horizontal axis part;
A horizontal axis swing mechanism that swings the horizontal axis part relative to the vertical axis part;
A gripping mechanism for gripping the solid object, provided at the distal end of the horizontal shaft portion;
A gripping rotation mechanism for rotating the gripping mechanism around a horizontal rotation shaft extending in the extending and contracting direction of the horizontal shaft portion;
A gripping and swinging mechanism for swinging the gripping mechanism with respect to the horizontal shaft portion;
An apparatus for extracting solid matter in liquid. The solid, storage-on wire is attached, which is used at the time of introduction into the pool, the recovery apparatus, according to claim 7, characterized in that it comprises a wire removing unit for removing the charged wire from said solid 3. A device for extracting a solid substance in liquid. The solid, storage-on wire is attached, which is used at the time of introduction into the pool, the guide device according to claim 7, characterized in that it comprises a wire removing unit for removing the charged wire from said solid 3. A device for extracting a solid substance in liquid. In order to take out the solid matter arranged in the liquid of the storage pool, a method for removing the solid matter in liquid using the first opening and the second opening provided in the ceiling portion that closes the upper part of the storage pool,
A recovery device provided so as to be disposed in the storage pool through the first opening and recovering the solid matter from the first opening to the outside of the storage pool; and the recovery device through the second opening. A guide device that is disposed in a storage pool and guides the solid object with respect to the recovery device, and the recovery device includes an engaging portion that is attached to the solid object, and the engaging portion. A fixed rope, and a winding upper part that winds up the rope, and the guide device is attached to the solid object and a moving part that is movable in the liquid of the storage pool. A fixing portion for maintaining the state; and an attachment portion for attaching the engaging portion of the recovery device to the solid object, and the moving portion is provided movably on the liquid level of the storage pool, and the guiding device Of solid matter in liquid including liquid level propulsion mechanism to support Using,
Placing the storage pool to the collecting device, through the first opening,
Placing the storage pool of the guide device, via the second opening,
A step in plan to the collecting device the solid said guiding device by supporting the guide device by the liquid surface propulsion mechanism,
A step of moving the engagement portion to the position of the solid object by the moving portion, and attaching the engagement portion to the solid object by the attachment portion in a state of being attached to the solid object by the fixing portion;
The step of collecting the solid matter to which the engaging portion is attached by winding up the rope with the upper part of the winding, and collecting outside the storage pool;
A method for extracting a solid substance in liquid, comprising: In order to take out the solid matter arranged in the liquid of the storage pool, a method for removing the solid matter in liquid using the first opening and the second opening provided in the ceiling portion that closes the upper part of the storage pool,
A recovery device provided so as to be disposed in the storage pool through the first opening and recovering the solid matter from the first opening to the outside of the storage pool; and the recovery device through the second opening. A guide device that is disposed in a storage pool and guides the solid object with respect to the recovery device, and the recovery device includes an engaging portion that is attached to the solid object, and the engaging portion. A fixed rope, and a winding upper part that winds up the rope, and the guide device is attached to the solid object and a moving part that is movable in the liquid of the storage pool. A fixing portion for maintaining the state, and an attachment portion for attaching the engaging portion of the recovery device to the solid object, and the moving portion is provided so as to be horizontally movable above the liquid level of the storage pool. And a horizontal movement mechanism that supports the guide device. Using a medium solids removal device,
Arranging the recovery device in the storage pool through the first opening;
Placing the guide device in the storage pool through the second opening;
Supporting the guide device by the horizontal movement mechanism and guiding the solid object to the recovery device by the guide device;
A step of moving the engagement portion to the position of the solid object by the moving portion, and attaching the engagement portion to the solid object by the attachment portion in a state of being attached to the solid object by the fixing portion;
The step of collecting the solid matter to which the engaging portion is attached by winding up the rope with the upper part of the winding, and collecting outside the storage pool;
A method for extracting a solid substance in liquid, comprising: To the solid object, a charging wire used when charging the storage pool is attached,
The solid-in-liquid solid according to claim 10 , further comprising a step of removing the input wire by a wire removing unit provided in the guide device before attaching the engaging portion to the solid object. How to pick up things. In order to take out the solid matter arranged in the liquid of the storage pool, a method for removing the solid matter in liquid using the first opening and the second opening provided in the ceiling portion that closes the upper part of the storage pool,
A recovery device provided so as to be disposed in the storage pool through the first opening and recovering the solid matter from the first opening to the outside of the storage pool; and the recovery device through the second opening. A guide device that is disposed in a storage pool and guides the solid object with respect to the recovery device, and the recovery device includes an engaging portion that is attached to the solid object, and the engaging portion. a fixed rope, has a winding portion for winding up the rope, the guide device may have a conveying unit for conveying said solids, said transport unit, said second opening A vertical axis portion that is inserted and extends in the vertical direction so as to be vertically connectable, a vertical axis rotation mechanism that rotates the vertical axis portion around a vertical rotation axis that extends in the vertical direction, and the vertical axis Vertical axis slide machine that slides part up and down along the vertical rotation axis A horizontal axis portion provided at the lower end of the vertical axis portion, a horizontal axis expansion / contraction mechanism that expands / contracts the horizontal axis portion, and a horizontal axis swing mechanism that swings the horizontal axis portion relative to the vertical axis portion A gripping mechanism for gripping the solid object provided at the distal end of the horizontal shaft portion, and a gripping rotation mechanism for rotating the gripping mechanism around a horizontal rotational shaft extending in the direction of expansion and contraction of the horizontal shaft portion. And a gripping and swinging mechanism that swings the gripping mechanism with respect to the horizontal shaft portion,
Arranging the recovery device in the storage pool through the first opening;
Placing the guide device in the storage pool through the second opening;
Transporting the solid object to a position directly below the engagement section by the transport unit and guiding the solid object to the recovery device by the guide device;
Attaching the engaging part to the conveyed solid object, winding the cord by the upper part of the winding, and collecting the solid object to which the engaging part is attached to the outside of the storage pool ; ,
Submerged solids removal how to comprising a. To the solid object, a charging wire used when charging the storage pool is attached,
The liquid according to claim 13 , further comprising a step of removing the input wire by a wire removing unit provided in the recovery device or the guide device before attaching the engaging portion to the solid object. Medium solids removal method.

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