JPH0516889U - Self-propelled underwater cleaning machine - Google Patents

Abstract

(57) [Abstract] [Purpose] The present invention relates to a self-propelled submersible cleaner for cleaning wall surfaces such as underdrain for taking in seawater in a thermal power plant, and particularly for loading / unloading into / from an underdrain with a narrow opening. The self-propelled underwater cleaning machine made possible. [Structure] In the self-propelled underwater cleaning machine,
Removal device unit 20 with removal means 21 for removing deposits on the wall of the underdrain 10 and with a self-propelled crawler 15
And a recovery device unit 30 having a self-propelled crawler 16 and a recovery pump for recovering the deposits removed by the removing means 21, and both units are universal joints.
By connecting with the expandable connecting rod 9 via 18, 19, both units can be successively carried into the underdrain 10 from the narrow opening 11 of the underdrain 10 in a connected state, and as a result, the narrow opening The feature is that even from 11 on, a large underwater cleaner can be carried into the underdrain.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to, for example, a self-propelled underwater cleaning machine that cleans the wall surface of an underdrain or the like for taking in seawater in a thermal power plant. Regarding the machine.

[0002]

[Prior Art]

 Conventionally, a self-propelled underwater cleaning machine has been used to clean the wall surface of the underdrain.

An example thereof will be described with reference to FIGS. 5 and 6. Reference numeral 1 denotes a main body of a self-propelled underwater cleaning machine for cleaning deposits on a wall of an underdrain. A crawler 5 for water is provided, and a posture detection device 6 for detecting the lateral position of the main body 1 is provided on the side thereof, and the main body 1 is prevented from sliding on the upper part thereof due to the water flow force in the underdrain 10. A holding device 4 is provided. Reference numeral 3 indicates a side wall fender.

The main body 1 is provided with a removing device for removing deposits on the wall surface of the underdrain 10. The removing device includes a collecting mouse 21, a holding mechanism 22 for facing the collecting mouse 21 to a wall surface, a cleaning arm 23, a telescopic arm 24, and a hydraulic arm rotating device 25 for giving a rotating force to the cleaning arm 23. A collection pump 26 as a collection device is attached. Reference numeral 26a indicates a hydraulic motor for driving the recovery pump 26.

The recovery mouse 21 has a mechanism for cutting and removing the adhered matter and a hood for preventing the removed adhered matter from being scattered to the surroundings, and the hood is provided with a recovery port connected to the recovery pump 26. Has been.

Further, the holding mechanism 22 is a hydraulic system that controls the posture so that the recovery mouse 21 is vertical to the surface to be cut (wall surface of the underdrain) even if the cleaning arm 23 is rotated from the vertical to a certain angle. The cleaning arm 23 is formed of a Linda type attitude control device, and the cleaning arm 23 is formed in a cylindrical body to form a manipulator together with a telescopic arm 24 which will be described later. The inside also serves as a recovery pipe.

The telescopic arm 24 is composed of a cylindrical body, constitutes an inner cylinder of the manipulator, and the inner part thereof also serves as a recovery pipe. The hydraulic cylinder type telescopic device 28 is adapted to move in and out of the cleaning arm 23 so as to be able to cope with a distance variation due to the rotation of the cleaning arm 23.

The symbols W and W ′ in the figure indicate the width and depth of the opening for introducing the underwater cleaning machine into the underdrain 10, H is the height of the underdrain, and B is the underdrain 10. Each width is shown.

Reference numeral 27 in the figure denotes a rotary shaft that can be rotated by a hydraulic arm rotating device 25 via gears 25a and 25b. A recovery pipe 17 is disposed inside the rotary shaft and a cleaning arm is provided at the tip. Configured to hold 23.

Reference numeral 29 indicates a rubber hose that connects the recovery port of the recovery mouse and the telescopic arm 24.

The traveling movement of the main body 1, the expansion / contraction operation of the expansion / contraction arm 24, and the rotation operation of the cleaning arm 23 are all hydraulic, and the main body 1 includes a hydraulic pump, a hydraulic arm rotating device, an electromagnetic valve, and the like. The inside of the underwater cleaner is self-propelled and the cleaning arm 23 rotates to clean the wall surface of the underdrain 10.

A discharge pipe 7 is connected to the discharge side of the recovery pump 26. The discharge pipe 7 extends rearward in the traveling direction of the main body 1 and extends to a recovery facility (not shown) outside the underdrain 10.

Further, the crawler 5, the hydraulic arm rotating device 25, the recovery pump 26, and the like are driven by a built-in engine or by an electric power supplied from the outside. Furthermore, the control is configured to be performed from the outside.

[0014]

[Problems to be solved by the device]

 By the way, in the conventional underwater cleaning machine as described above, the size of the main body is large because all of the respective devices are mounted on the main body. On the other hand, in the existing underdrain, the size of the underdrain entry opening is smaller than the underdrain cross sectional size.

Therefore, there is a problem that a large opening for loading and unloading the underwater cleaning device must be newly provided.

The present invention is intended to solve such a problem, and divides the submersible cleaner into a removing device unit and a recovering device unit, and these units are connected via a self-joint. By connecting with an extendable connecting rod and a flexible connection hose, it is possible to carry in and out from the existing opening into the underdrain and to perform conventional work in the underdrain. It is an object to provide a traveling submersible cleaner.

[0017]

[Means for Solving the Problems]

 In order to achieve the above-mentioned object, the self-propelled submersible cleaner of the present invention comprises a self-propelled removing device unit having a means for removing deposits on the wall of an underdrain, and the above-mentioned removing means. It is formed by a self-propelled recovery device unit having a recovery means capable of recovering the adhered substances removed in step 1, and the removal device unit and the recovery device unit are expandable and contractible via a universal joint. It is characterized by being connected with a stick.

[0018]

[Action]

 In the self-propelled submersible cleaner of the present invention described above, by dividing the submersible cleaner into two units, it is possible to carry into the underdrain through the opening of the small-sized underdrain, while in the underdrain normally You can perform the same cleaning as the underwater cleaning machine.

The loading and unloading of each unit from the opening can be performed in a state in which both units are connected, because both units are connected by the expandable joint rod via the universal joint.

[0020]

【Example】

 Hereinafter, a self-propelled submersible cleaner according to an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a side view, and FIGS. 2 to 4 are side views showing a procedure for loading into an underdrain. The self-propelled underwater cleaning machine of this embodiment also cleans the wall surface of the underdrain 10 and is composed of a removing device unit 20 and a collecting device unit 30.

The removing device unit 20 and the recovering device unit 30 are provided with self-propelled crawlers 15 and 16, respectively, and both units are connected by an extensible connecting rod 9 via universal joints 18 and 19. ..

The removing device unit 20 includes a collecting mouse 21, a holding mechanism 22 for facing the collecting mouse to a wall surface, a cleaning arm 23, a telescopic arm 24, and a hydraulic arm rotating device, similar to the above-described conventional removing device. It has 25 mag. 1 to 4, the holding device 4 and the posture detection device 6 are omitted.

On the other hand, the recovery device unit 30 is equipped with the recovery pump 26 driven by the hydraulic motor 26a as in the case of the above-mentioned conventional example, and the suction port of the recovery pump 26 and the removal device unit 20 are installed. The flexible hose 8 is connected to the rear end of the recovery pipe 17.

The discharge pipe 7 of the recovery pump 26 extends rearward in the traveling direction of the recovery device unit 30 and extends to a recovery facility (not shown) outside the underdrain 10.

The crawlers 15 and 16, the hydraulic arm rotating device 25, the hydraulic motor 26a, etc. are configured to have an internal engine as a drive source or to be driven by electric power supplied from the outside. The point that these controls are performed from the outside is similar to the case of the conventional example.

Next, a procedure for loading the submersible cleaning machine into the underdrain 10 will be described with reference to FIGS. 2 to 4.

The crawlers 15 and 16 of the underwater cleaning device are driven to move the underwater cleaning device to the vicinity of the opening 11 of the underdrain 10.

Then, as shown in FIG. 2, the removing device unit 20 is lifted by a crane (not shown) and moved to directly above the opening 11. At this time, the recovery device unit 30 needs to be operated to drive the crawler 16 and follow the movement of the removal device unit 20 that is lifted and moved.

From the state shown in FIG. 2, the removing device unit 20 is set on the bottom of the underdrain 10 through the opening 11 by operating the crane (state shown in FIG. 3). After bottoming on the bottom of the underdrain 10, the lifting wire 31 of the removing device unit 20 is removed by remote control by an appropriate method.

Next, as shown in FIG. 4, the recovery device unit 30 is lifted by the crane and lowered from the opening 11. At that time, the crawler 15 is driven according to the descending movement of the recovery device unit 30 to move the removal device unit 20 forward. When the recovery device unit 30 reaches the bottom of the underdrain 10, the underwater cleaning machine is in the same state as shown in FIG. 1, and the cleaning operation is started thereafter.

During the loading of the submersible cleaner into the underdrain 10 according to the above-mentioned procedure, both units are connected via the universal joints 18 and 19 by the expandable joint rod 9. Therefore, when the state of FIG. 1 is changed to the state of FIG. 2, the state of FIG. 2 is changed to the state of FIG. 3, and the state of FIG. 3 is changed to the state of FIG. Since the joints are expanded and contracted by the universal joints 18 and 19 while freely changing the direction, both units can be carried into the underdrain in the connected state. In this case, it goes without saying that the hose 8 is also flexible and has a length that allows the above-mentioned loading operation.

In the above embodiment, the cleaning arm 23 that expands and contracts along the wall surface of the underdrain 10 is shown, but an arm having multiple joints may be equipped instead of the expanding and contracting arm.

Further, the removing device unit 20 has a hydraulic pump unit for moving the hydraulic arm rotating device 25, a hydraulic control device (neither shown), etc., but the size of the opening 11 is very large. In the case of a small size, the hydraulic pump unit, the hydraulic control device, or the like may be separated from the removing device unit as a hydraulic device portion and the hydraulic device portion may be connected to the removing device unit by a connecting rod.

Furthermore, the number of connecting rods 9 is not limited to one, but two or more connecting rods 9 may be used depending on the connection state of both units.

It goes without saying that the carry-out from the underdrain 10 can be carried out in the reverse order of the carry-in procedure described above.

As described above, the submersible cleaning machine of the present invention can be carried in and out of the underdrain even if the opening is narrow.

[0037]

[Effect of the device]

 As described in detail above, according to the self-propelled submersible cleaner of the present invention, the following effects and advantages can be obtained. (1) It is not necessary to provide a new opening because it can be loaded and unloaded from the existing underdrain opening. (2) An underdrain with a narrow opening is attached to a wide variety of plants such as sewers as well as intake and discharge channels of nuclear power plants and thermal power plants.Since it is possible to clean them, there is a great demand for them. Can be expected.

[Brief description of drawings]

FIG. 1 is a side view of a self-propelled submersible cleaner as one embodiment of the present invention.

[Fig. 2]

[Fig. 3]

FIG. 4 is a side view showing a procedure of loading into the underdrain.

FIG. 5 is a side view of a conventional self-propelled underwater cleaning machine.

FIG. 6 is a front view of the same.

[Explanation of symbols]

 1 Main body 3 Fender 4 Holding device 5 Crawler 6 Attitude detection device 7 Discharge pipe 8 Hose 9 Connecting rod 10 Underdrain 11 Opening 15 Crawler 16 Crawler 17 Recovery pipe 18 Universal joint 19 Universal joint 20 Removal device unit 21 Recovery mouse 22 Holding mechanism 23 Cleaning arm 24 Telescopic arm 25 Arm rotating device 26 Recovery pump 27 Rotating shaft 28 Hydraulic cylinder type telescopic machine 29 Hose 30 Recovery device unit

Claims (1)

[Scope of utility model registration request] 1. A submersible cleaning machine, wherein the submersible cleaning machine has a self-propelled removing device unit equipped with a removing means capable of removing the deposits on the wall of the underdrain, and the deposits removed by the removing means can be collected. A self-propelled recovery device unit having various recovery means, and the removal device unit and the recovery device unit are connected via a universal joint by an extensible connecting rod. A self-propelled underwater cleaner.