JPH01218671A - Method for stretching rope within tubular liquid pass - Google Patents

Abstract

PURPOSE:To make a rope stretched easily within a tubular pass wherein a liquid is flowing by connecting the rope to a float of nearly the same specific gravity as that of the flowing liquid and by putting the float into the liquid pass from the upstream end of a range through which the rope is to be stretched. CONSTITUTION:After an end part of a rope 3 is connected to the main body 9 of a float 1, the float 1 is hung with an electromagnet 19 and put into a liquid through a shaft 5. The float 1 is sunk into the liquid under a dead load of the electromagnet 19 and moved within a liquid pass 2 by the liquid flowing in a direction 4. Upon the entrance of the float 1 into the liquid pass 2, when the electromagnet 19 is demagnetized, the float 1 begins to flow together with the liquid in the pass 2 and the rope 3 is inserted as the float 1 is moving forward. The float 1 moves within the liquid pass 2 while pulling the rope 3. When the float 1 approaches nearby a shaft 6, a control signal is emitted so as to inflate a bag 16.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a method for extending a rope into a cylindrical liquid channel through which liquid is flowing.

BACKGROUND OF THE INVENTION Over a long period of time, marine organisms will adhere to the inner surfaces of waterways, which are culverts through which water such as seawater flows, at power plants, for example, and the channels will become clogged.

Therefore, it is necessary to introduce a robot that cleans the inner surface of the flow channel to remove marine organisms that have adhered to the inner surface of the flow channel. In order to be able to retrieve the robot in the event that such a robot breaks down in the flow path, a rope is stretched in advance over the range of the flow path that is to be cleaned by the robot. A robot is connected to this rope, and when the robot malfunctions and stops moving, the rope must be pulled to retrieve the robot. Conventionally, there is no means to solve such problems.

OBJECTS OF THE INVENTION It is an object of the present invention to provide a new method for extending a rope within a cylindrical liquid channel.

Means for Solving the Problems The present invention provides a cylindrical liquid flow path through which a fluid is flowing, from the upstream end of the range in which the rope is extended, the specific gravity being approximately the same as the specific gravity of the liquid. A rope into a cylindrical liquid flow path, characterized in that the rope is connected to a flow having a specific gravity, the rope is inserted into the cylindrical liquid flow path, and the rope is taken out from the downstream end of the rope extension range. This is the spread tension method.

Further, in the present invention, the float t has a float body and a ferromagnetic body fixed to the float body, and an electromagnet magnetically attracted to the ferromagnetic body is provided at the upstream end, and the electromagnet means for raising and lowering the
A polishing float with a ferromagnetic material magnetically attracted to it by an electromagnet is submerged in a liquid in a liquid flow path, and the electromagnet is demagnetized there.

Further, in the present invention, a signal generating means is provided at the downstream end of the rope extension range, and the float includes: a signal receiving means for receiving a signal from the signal generating means; and a pressure filled with compressed gas. The present invention includes a container, a bag body, and a control means for supplying compressed gas in the pressure vessel to the bag body in response to an output from the signal receiving means to inflate the bag body, thereby causing the float to float. Features.

Further, in the present invention, a signal generating means is provided at the downstream end of the rope extension range, a removably weight is provided on the float, and a signal receiving means for receiving a signal from the signal generating means is provided on the float. and actuating means for removing the weight from the float in response to an output from the signal receiving means, thereby causing the float to levitate.

Further, in the present invention, a 611 signal transmitting/receiving means for receiving an identification signal and generating a control signal is provided downstream of the lobe expansion range, and flow 1- is for generating an identification signal and generating a control signal. The first signal transmitting and receiving means receives the identification signal from the second signal transmitting and receiving means, and when the first signal transmitting and receiving means receives the identification signal from the second signal transmitting and receiving means t, The present invention is characterized in that the float is configured to float when the second signal transmitting/receiving means receives the control signal.

Further, the present invention is characterized in that the first and second signal transmitting and receiving means transmit and receive ultrasonic waves.

Further, in the present invention, the control signal is a coded ultrasonic wave! be a sign.

According to the present invention, a flow 1 having almost the same specific gravity as the specific gravity of the liquid flowing in the cylindrical liquid flow path is prepared, a rope is connected to this float, and the rope of the cylindrical liquid flow path is Insert from the upstream end of the expansion range. Since the float has approximately the same specific gravity as the liquid as described above, the float flows from the upstream end to the downstream end according to the flow of the liquid in the liquid channel. A rope is connected to this float, so that this rope is brought from the upstream end to the downstream end. By taking the rope out from the downstream end, it is possible to extend the rope over the entire length of the lobe extension range.

Embodiment FIG. 1 is a sectional view of a float 1 according to an embodiment of the present invention, and this float 1 is used to extend a visible loaf 3 into the cylindrical liquid channel 2 shown in FIG. do. In the flow path 2, water such as seawater flows in the direction of the arrow 4, for example in a power plant. A vertical shaft 5 is formed at the upstream end of the range in which the row 13 of the flow path 2 is to be expanded, and a vertical shaft 6 is formed at the downstream end.

The float 1 has a hollow spherical outer shell 7 made of a material such as synthetic resin, and a buoyancy material 8 such as styrene foam attached to the upper part thereof, and constitutes a flow body 9.

The buoyant material 8 is covered with a hat-shaped ferromagnetic material 10. A plurality of through holes 11 are formed in the outer shell 7. The outer shell 7, the buoyant material 8, and the ferromagnetic material 10 are shown in reference i? j 1 Showing 5. ), the sea urchin can be separated to the left and right in Figure 1.
At this time, it can be opened and closed using a hinge 13 having an axis perpendicular to the paper plane of FIG. (2); Di 13 is placed in the ferromagnetic material 10; Outer shell 7 and ferromagnetic material]
In the case of 0, the outer periphery of the left and right halves can be separated by one dimension using an opening/closing means such as a so-called batch lock. One end of the row 13 is fixed to the connecting portion]4 provided on the outer shell 7. A pressure vessel 15 filled with compressed gas is housed inside the outer shell 7, and the compressed gas causes
) 6 is stored. The outer shell 7 also includes an ultrasonic transducer] 7, and an electric circuit 18 is connected to the transducer 17. Bag body 16
When the liquid is not inflated, this flow (1) has almost the same specific gravity as the liquid (G) flowing through the flow path 2, and its specific gravity is 0. When the bag body 16 is inflated by the compressed gas in the pressure vessel 15, the specific gravity of the FuV coat king becomes smaller than the specific gravity of the l& body, which allows it to float.

A crane 20 is provided near the shaft 5 to raise and lower one electromagnet. This one electromagnet is magnetically attracted to the ferromagnetic material]0 of the flow 1-1, and when that one electromagnet is lowered via the cable 21 by its own weight, the flow 1-1
-1 is submerged in the liquid in the shaft 5. Rope 3 is shaft 5
It is supplied from a rope drake 22 such as a winch in the vicinity of . If the flow 1-1 is submerged in the flow path 2, and then one electromagnet is demagnetized as described below, the flow)-
1 is an ultrasonic transducer that receives ultrasonic waves from the ultrasonic transducer 17 of the float 1 and transmits the ultrasonic waves. 23 is installed. An electric circuit 28 is connected to this ultrasonic transducer 23. The float 1 that floated up to the shaft 6 is connected to the electromagnet 2 installed near the shaft 6F).
The cable 26 to which the electromagnet 25 is connected is magnetically attracted to 1. The float 1 is then recovered by a crane '27. As mentioned above, the row 13 is connected to the float 1, and in this way, the row 3 is extended within the channel 2 between the shafts 5 and 6.

The electrical configuration will be explained with reference to FIG. flow) −
In the electrical circuit 18 provided in the switch 1, the oscillator 30 performs an oscillation operation in the ultrasonic range in response to signals from the two operation confirmation signal generating circuits, and its output is amplified by the driver 31, The identification signal is applied from the contact point 33 to the ultrasonic transducer 17 via the common contact point 34, and an identification signal is emitted. The changeover switch 32 has another individual contact 35, and the ultrasonic control signal received by the ultrasonic transducer 17 is applied from the common contact 34 to the automatic gain control circuit 36 via the individual contact 35. The control signal is decoded in the lever 37, and the electromagnetic 1 langeer 39 is driven by the driver 38). These three electromagnetic plungers operate to open the pressure vessel 15, whereby the compressed gas in the pressure vessel 15 is supplied to the bag body 16, and the bag body 16 is opened.

FIG. 4 shows a signal waveform generated from the ultrasonic transducer 17. The period W1 is, for example, 03 seconds, and this period W1
1, the individual contacts 33 of the changeover switch 32 are electrically connected to the common contact 34, and ultrasonic waves are generated. Next period W
2, the common contact 34 of the changeover switch 32 is the individual contact 3
5 and becomes ready for reception. This period W2 is, for example, 1.7 seconds. The electrical circuit 18 includes and is powered by a battery 40 .

In the shaft 6, in the electric circuit 28 associated with the ultrasonic transducer 23, the identification signal received by the ultrasonic transducer 23 is led out from the common contact 43 of the changeover switch 42 to the individual contact 44. When the common contact 43 of the changeover switch 42 is electrically connected to another individual contact 45, the individual contact 4
The ultrasonic control signal given to 5 is given to the ultrasonic transducer 23 and emitted. The identification signal from the individual contact 44 is amplified by the amplifier 46 and given to the processing circuit 24 provided on the ground, and it is determined that the float 1 has reached the vicinity of the shaft 6. Processing circuit rl@ 24 provides a signal to encoder 47 in response to this identification signal, which in turn generates and provides an encoded control signal to driver 48 .

The output from the driver 48 is given to the ultrasonic transducer 23 from the individual contacts 45 of the changeover switch 42 through the common contact 43, and a control signal is emitted. The control signal is coded in this way, and therefore the operation of inflating the bag 16 with the compressed gas in the pressure vessel 15 is reliably achieved without malfunctioning due to noise. The encoder 47 may generate a control signal all the time, or during a period W2 during which the common contact 34 is electrically connected to the individual contact 35 in the changeover switch 42 of the electric circuit 18 in flow 1 to 1 (see FIG. 4). It is also possible to output only the following.

FIG. 5 shows the waveform of the encoded control signal derived from encoder 47. This control signal consists of a combination of logic "1" and logic r □ J, and this logic [ ]'
The waveform of the ultrasound period T generated to represent a logic "0" is shown enlarged in FIG. 6, and its frequency is, for example, 50 k IIZ. Figure 7 1) is
Logic "0" constituting the control signal shown in FIG. 5 is shown, and FIG. 7 (2) shows logic "1".

FIG. 8 is a graph of the inventor's experimental results showing the relationship between the distance between the ultrasonic transducer 17 of the float 1 and the ultrasonic transducer 23 installed in the shaft 6 and the received voltage. . In FIG. 8, there is a received voltage width in a shaded area surrounded by lines 50 and 51, and line 52 shows the voltage that can be controlled for transmission and reception by the two ultrasonic transducers 17 and 23. According to this experiment, ultrasonic transducers 17, . It turns out that it is possible to send and receive 23 messages.

The operation will be explained with reference to FIG. First, Figure 9 (1)
Connect the end of the rope 3 to the float body 9 as shown,
A float 1 is suspended by a single electromagnet and placed into the liquid in a shaft 5. The float 1 sinks into the liquid due to the weight of the electromagnet 19, and is moved within the channel 2 by the liquid flowing in the direction of the arrow 4. When the float 1 enters the channel 2, one of the electromagnets is demagnetized to create the state shown in FIG. 9(2). As a result, the float 1 flows along with the liquid in the flow i\82, and as the float 1 moves, the row 13 moves into the flow path 2.
inserted within. The float 1 moves within the channel 2 as shown in FIG. 9(3) while pulling the row 13.

In this flow)-1, an ultrasonic transducer 17 is installed on the opposite side of the row 13 from the connecting piece 14 (the left side in FIG. 1 and the left side of No. 91111J(3)). Then, an ultrasonic identification signal is emitted forward from the ultrasonic transducer 17 during a period indicated by reference numeral W1 in FIG. This state is shown in FIG. 9(4).

When the float 1 is moved by the liquid and reaches the vicinity of the shaft 6, the transducer 23 receives an identification signal from the transducer 17 of flow 1, and a control signal is sent from the ultrasonic transducer 23 to the float 6. The ultrasonic waves are emitted toward the ultrasonic transducer 17 of No. 1. As a result, the electric circuit 18 provided in the float 1 operates the three electromagnetic plungers.
The compressed gas in the pressure vessel 12 is supplied to the bag body 16 and the bag body 1 is
Inflate 6. Therefore, the float 1 floats in the shaft 6 as shown in FIG. 9(5). Therefore, the float 1 is taken out from the shaft 6 using the electromagnet 25 of the crane 27 and recovered as shown in FIG. 9 (6). In this way, the rope 3 can be stretched in the channel 2 between the shafts 5.6. The end of the row 13 is connected to a winch 53 near the shaft 6, as shown at 7) in FIG.

Next, as shown in Fig. 9 (8), the robot 1 which cleans the inner surface of the channel 2 by removing marine organisms 54 is housed in an openable and closable cage 55 and moved inside the shaft 6 using a crane 20. be submerged in The row 13 is connected to the robot 54 in advance, and a control circuit 56 provided on the ground is electrically connected to the robot 54 via a visible cable 57.

The robot 54 in the cage 55 is submerged in the liquid in the shaft 5,
The cage 55 is opened and the robot 54 is allowed to move within the channel 2. A winch 53 provided in the shaft 6 pulls the row 13 at the same speed as the self-propelled speed of the robot 54, thereby preventing the row 13 from becoming entangled with the robot 54. In this way, the robot 1 54 cleans the flow path 2. Further, when the robot 54 reaches the vicinity of the shaft 6 as shown in FIG. 9 (9), the robot 54 moves back to the shaft 5 side by itself. At this time, the winch 53 loosens the row 13.

When the robot 1-54 develops a failure within the flow path 2 and becomes unable to travel, the winch 53 pulls the row 13. As a result, the robots 1 to 54 can be pulled up from the shaft 6 and recovered.

FIG. 10 is a sectional view of a float 1a according to another embodiment of the present invention. This embodiment is similar to the previous embodiment and corresponding parts are provided with the same reference numerals.

In this example, a weight 5 is placed on the float 1a.
8 are connected via five hanging wires, and a cutting means 60 for cutting the wires 59 is attached. This cutter 860 is operated by three electromagnetic plungers (see FIG. 3) in the electric circuit 18, or the like. Flow 1-1 a float body, outer shell 7, and outer shell 7
The weight 58 is suspended within the downwardly open space 62 within the buoyancy material 8a via five wires as described above. The cutting means 60 is, for example, gunpowder. When the weight 58 is separated from the float 1a, the float 1 has a specific gravity smaller than that of the liquid,
When the weight 58 and the float 1a are connected, the float 1a and the weight 58 have approximately the same specific gravity as the liquid.

A weight 58 connected to the flow 1-1a is inserted into the shaft 5, and the float 1a and the weight 58 flow and move within the flow path 2. When the float 1 = t and the weight 58 come near the shaft 6, when a control signal from the ultrasonic transducer 23 is received, the electric circuit 18 provided in the float 1a causes the explosive to be fired. A certain cutting means 60 is detonated to cut the wire 59. With this, the weight 58
falls.

Therefore, the float 1a floats into the shaft 6. This makes it possible to take out and recover the float] and a from the shaft 6, and to spread the row 13 between the shafts 5 and 6.

The present invention can be widely implemented in connection with liquid channels through which not only water such as seawater flows, but also other liquids.

In other embodiments of the invention, light waves and long waves may be used instead of ultrasound. Although the control signal described above does not need to be coded, malfunction can be prevented as described above by being coded.

Effects of the Invention According to the present invention, it becomes possible to reliably extend a rope within a cylindrical liquid channel through which liquid flows.

[Brief explanation of the drawing]

Fig. 1 is a cross-sectional view of a float 1 according to an embodiment of the present invention, Fig. 2 is a cross-sectional view showing the state in which the float 1 is moved into the liquid flow path 2, and Fig. 3 shows the electrical configuration. 41EJ is a waveform diagram of a signal output from the ultrasonic transducer 17 in flow 1-1, FIG. 5 is a waveform diagram of a coded control signal derived from the encoder 47, and FIG. is the fifth
7 is a diagram showing the logical values of the control signal shown in FIG. 5. FIG. 8 is a diagram showing the ultrasonic transducer 17 of the float 1 and the vertical shaft. FIG. 9 is a cross-sectional view showing the operation of an embodiment of the present invention; FIG. 10 is a sectional view of the flow of another embodiment of the present invention. 1.1a...Flow ■, 2--Liquid channel, 3...Lobe, 5,6...Vertical shaft, 7...Outer shell, 8,8a...
Buoyancy material, 9...Float body, 10...Ferromagnetic material, 15
...Pressure vessel, 16 Bag body, 1.7.23... Ultrasonic transducer, 19.25... Electromagnet, 58... Weight, 60
... Connecting means agent Patent attorney Number of strokes Keiichi Figure 5 ■ Figure 6 Figure 8 Distance (m)

Claims (7)

[Claims] (1) Connect the rope from the upstream end of the range in which the rope should be extended in the cylindrical liquid channel through which the fluid is flowing to a float having a specific gravity that is almost the same as the specific gravity of the liquid, and 1. A method for extending a rope into a cylindrical liquid channel, the method comprising inserting the rope into the channel and taking out the rope from the downstream end of the rope extending range. (2) The float has a float body and a ferromagnetic body fixed to the float body, and the upstream end includes an electromagnet that magnetically attracts the ferromagnetic body, and means for raising and lowering the electromagnet. A patent claim characterized in that the float is submerged in a liquid in a liquid flow path with a ferromagnetic substance magnetically attracted by an electromagnet at the upstream end, and the electromagnet is demagnetized there. A method for extending a rope into a cylindrical liquid flow path according to item 1. (3) A signal generating means is provided at the downstream end of the rope extension range, and the float comprises: a signal receiving means for receiving a signal from the signal generating means; a pressure vessel filled with compressed gas; and a bag. and control means for supplying compressed gas in a pressure vessel to the bag body in response to an output from the signal receiving means to inflate the bag body, thereby causing the float to float. A method for extending a rope into a cylindrical liquid flow path according to claim 1. (4) A signal generating means is provided at the downstream end of the rope extension range, a removably weight is provided on the float, and the float is provided with a signal receiving means for receiving the signal from the signal generating means. , and actuating means for removing the weight from the float in response to an output from the signal receiving means, thereby causing the float to float. How to extend the rope inward. (5) A first signal transmitting/receiving means for receiving an identification signal and generating a control signal is provided downstream of the rope extension range, and a second signal transmitting/receiving means for generating an identification signal and receiving a control signal is provided on the float. means, when the first signal transmitting/receiving means receives the identification signal from the second signal transmitting/receiving means, the first signal transmitting/receiving means generates a control signal to the second signal transmitting/receiving means; Claim 1, characterized in that the means is configured to perform a levitation operation by receiving a control signal.
A method for extending a rope into a cylindrical liquid flow path as described in . (6) The method for extending a rope into a cylindrical liquid flow path according to claim 5, wherein the first and second signal transmitting and receiving means transmit and receive ultrasonic waves. (7) The method for extending a rope into a cylindrical liquid flow path according to claim 5, wherein the control signal is a coded ultrasonic wave.