JPH05230819A - Inlet channel cleaning device - Google Patents

Abstract

PURPOSE:To clean an inlet channel efficiently by arranging a cleaning device accessible to the wall surface, a recovery head, a force feed device and the like on a traveling vehicle capable of self-traveling in the inlet channel, and remote controlling these from the ground. CONSTITUTION:A cleaning arm 11 is arranged on a traveling vehicle 1 capable of self-traveling in an inlet channel, and a cleaning device 12 enclosing a grinding roller, a rotary brush and a sucking port is arranged on the tip, and is made accessible to the inlet channel wall surface. Next, a recovery head 13 is arranged, and marine organisms are recovered, and the recovered organisms are sent forcibly to the ground by means of a force feed device 15. A cleaning work is seized by means of monitoring devices 14a-14c, and the work is also controlled by means of a control device 16. An operation panel 2 arranged on the ground and the control device 16 are connected to each other by means of an optical fiber communication cable 9, and are made to be remote-controlled from the ground. A separator 5, a marine organism storage tank 6, a water supply vehicle 7 and the like are arranged on the ground part, and the recovered marine organisms are treated. Thereby, the marine organisms adhered to the wall surface can be removed perfectly while restraining the scattering.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an intake channel cleaning device for cleaning marine organisms adhering to the wall surface of an intake channel of a power plant, for example.

[0002]

2. Description of the Related Art Generally, a power plant constructed near the coast,
In particular, nuclear power plants have intake channels because they use seawater as cooling water.

This intake channel is made of concrete and has a rectangular cross-section, and a large amount of sea creatures such as shellfish and algae adhere to the wall surface. These marine organisms invade along with the flow of seawater taken into the intake channel, adhere to the wall surface and grow, and are formed in multiple layers.
It reaches m. For this reason, the power plant performs cleaning work at regular inspections (usually every year). This work is currently carried out manually, but the cross section of a normal intake channel is 4-5m.
It takes a lot of labor and time because the length of the corner is several hundred meters. In addition, the working environment is bad due to spoiled gases generated from dead sea life, accumulated mud, etc., and mechanization has been desired from an early stage.

A known example of mechanization of this work is shown below.

1. Cleaning device for power plant intake channel
-7985) This prior art is composed of two units, a cleaning car and a recovery car, and removes sea creatures adhering to the wall surface by the arm with a rotating brush mounted on the cleaning car, and sucks and collects this with a subsequent recovery car. It is a device that does. The crawler type traveling system is used for the traveling parts of the cleaning vehicle and the recovery vehicle, and they are activated remotely.

2. Remotely operated foreign matter removing / cleaning device (Japanese Patent Laid-Open No. 63-302985) This prior art device has a rotating brush for cleaning in the center of the lower part of a four-wheeled vehicle and removes and collects marine life attached to the wall surface. Is. It runs freely in seawater,
The traveling vehicle sticks to the upper and lower surfaces and side walls, and cleans while traveling.

3. Automatic remote cleaning device for pipes (Japanese Patent Laid-Open No. 60-
22979, 60-34781, 60-54776, 6
0-58285) This prior art has an arm that swivels in the pipe circumferential direction with reference to the pipe axis and a nozzle that blows high-pressure water on the tip of the arm on a traveling carriage that runs in a circular pipe. It is a device that removes marine organisms attached to seawater using high-pressure water.

4. Cleaning method for adhering to wall surface of waterway
0-183079) This conventional technology expands / contracts on a traveling vehicle that can run in a waterway.
This is a method that has a rotatable arm and a scraper that injects high-pressure water at the tip of the arm, and removes marine life attached to the wall surface of the waterway with high-pressure water.

5. Method and device for cleaning the inside of a seawater intake underdrain (Japanese Patent Application Laid-Open No. 60-51585) This prior art is attached to the inside of the underdrain by a scraping blade and a rotating brush in a truck running on a rail laid in the underdrain. It is a device that removes marine life and discharges marine life that has fallen below with a suction pump.

[0010]

The above-mentioned known techniques have the following problems.

In the first known example, the functions of removal and suction are divided. However, when marine organisms adhering to a thickness of several tens of cm are removed, the amount deposited below is enormous, It is difficult for the preceding cleaning car to get over it. In addition, the rotating brush used as a tool is inefficient for application to the removal of marine organisms adhering to thick layers, and scatters marine organisms to the surroundings, so it takes a lot of time for subsequent suction work. Requires.

[0012] In the second known example, it is necessary to run on the marine organisms attached due to the arrangement of the cleaning rotary brush, and the running operation becomes unstable. Further, due to the arrangement of the cleaning rotary brush and the wheel, there is a limit to the thickness of marine organisms that can be cleaned, and it is difficult to remove marine organisms attached to a thickness of several tens of cm. And the rotating brush used as a tool as in the first known example is inefficient in removing marine organisms adhering to a thick layer.

In the known example of 3, the operation of the arm does not correspond to the intake channel having a rectangular cross section because it is intended for piping. Moreover, the method of removing the marine organisms attached to the thick layer with high-pressure water is inefficient. In addition, JP-A-60-547
Since each known example except the known example of 76 does not have a recovery function, it is difficult to overcome the marine organisms deposited in the lower part like the known example of 1.

In the known example of 4, like the known example of 3, the method of removing marine organisms adhering to the thick layer with high-pressure water is inefficient. In addition, since it does not have a recovery function, it is difficult to get over the marine organisms deposited at the bottom.

Since the known example of No. 5 scatters marine organisms to the surroundings, the subsequent suction work requires a great deal of time. Also,
It can be used only when the shape of the device is determined corresponding to the shape of a specific underdrain and there is a condition of laying rails. Therefore, it is not versatile for any intake channel.

An object of the present invention is to provide an intake channel cleaning device capable of reliably removing marine organisms attached to a thick layer on the wall surface of the intake channel while minimizing scattering to the surroundings and efficiently cleaning the intake channel. Is to provide.

[0017]

In order to achieve the above object, the present invention is directed to a water intake cleaning device provided with a traveling vehicle having a crawler type traveling function, and a grinding roller rotated by a motor and a ground sea. It has a cleaning means having a first suction port for sucking living organisms, and an arm having the cleaning means at its tip end to access the cleaning means from the traveling vehicle to the wall surface of the water passage.

The cleaning means preferably has two grinding rollers at the front and rear, and the first suction port and a rotating brush which moves up and down are arranged between them.

Further, the arm, preferably the arm is located between the upper end of the arm and the cleaning means, and swings orthogonal to each other for positioning the cleaning means in parallel with the wall surface of the water intake passage. A shaft, a slide mechanism that is located between the upper end of the arm and the cleaning means, and moves the cleaning means in parallel to the wall surface of the water intake passage, and is located between the lower end of the arm and the traveling vehicle; The cleaning means is located in the middle of the two swing shafts and one swivel axis and the slide mechanism which are orthogonal to each other for moving the cleaning means to an arbitrary position on the intake passage wall surface, and the cleaning means is located at an arbitrary position on the intake passage wall surface. A multi-joint structure having a telescopic mechanism for adjusting the length of the arm when the arm is moved to a position.

Further, the water intake passage cleaning device preferably has a recovery head which is provided in front of the traveling vehicle and recovers the ground marine organisms that could not be sucked by the first suction port. ..

Further, the recovery head is preferably
It has two rows of second suction ports provided with steps and brushes arranged in the rear row of the second suction ports.

Further, the water intake passage cleaning device is preferably provided with a pressure feeding device at the rear of the traveling vehicle, and the pressure feeding device includes a tank for containing the sucked marine life, and a means for supplying water to the tank. , And a pressure pump that pushes the wastewater containing the marine organisms to the above-ground part through a pressure hose.

Further, the water intake passage cleaning device is preferably provided with a separator for separating wastewater containing marine life pumped into water and marine life, and a marine life storage tank for storing the marine life on the ground. ..

Further, in the water intake passage cleaning device, preferably, an operation panel connected to the traveling vehicle via an optical fiber communication cable, a cable reel for storing the communication cable, and a speed corresponding to the traveling vehicle. Then, a caterpillar type cable sending machine for sending out the communication cable is provided on the ground.

Further, in order to achieve the above object, the present invention provides a water intake passage cleaning device equipped with a traveling vehicle having a crawler type traveling function, a grinding roller and a rotating brush which are respectively rotated by a motor, and a ground sea. Cleaning means having a built-in suction port for sucking organisms, an arm having the cleaning means at its tip to access the cleaning means from the traveling vehicle to the wall surface of the water passage, and a grounded sea provided in front of the traveling vehicle. A collection head that sucks out of the living things that could not be sucked in by the suction port, a pumping device that pumps wastewater containing the sea creatures to the ground, and a control that controls the cleaning work of the traveling vehicle in the intake channel It has a device and a monitoring device for monitoring the cleaning work from the ground.

[0026]

In the present invention constructed as described above, by providing the cleaning means with the grinding roller, it is possible to surely remove the marine organisms adhering to the thick wall on the wall surface of the intake channel, and especially to connect them by fibers. The lumpy shellfish can also be finely crushed and removed. By providing the first suction port, it is possible to minimize the scattering of marine life in the surroundings at the time of cleaning and efficiently perform the cleaning work.

Further, the cleaning means has the grinding roller, and by disposing the first suction port and the rotating brush which moves up and down between them, the thick-layered deposition portion is removed by the grinding roller, and the wall surface is removed. The remaining portion in the vicinity and algae and sludge can be removed by the rotating brush.

Further, since the arm has a multi-joint structure with multiple degrees of freedom, the cleaning means can be accessed to the ceiling portion and the side wall surface, which have been conventionally constructed by scaffolding, and the square shape is employed. By positioning the cleaning means at an arbitrary position of the intake channel, the cleaning work can be efficiently performed.

Further, by providing a recovery head for recovering marine organisms which could not be sucked through the first suction port in front of the traveling vehicle, more reliable cleaning with less leakage can be performed.

Further, the recovery head has two rows of second suction ports provided with steps and a brush, and seawater of large size is collected by the first row suction port and fine by the second row suction port. Collect marine life, sludge and algae, and collect the rest with a brush. Therefore, it is possible to perform reliable cleaning with few missed items.

Further, a pressure feeding device is provided at the rear of the traveling vehicle, water is supplied to a tank containing the aspirated sea life, and the water is pushed out to the above-ground portion by the pressure feeding pump, whereby the pressure of the pressure feeding pump is adjusted to the ground. Sea creatures can be easily sent to the ground regardless of their distance.

Further, by installing a separator for separating the wastewater containing the marine life pumped into water and marine life and a marine life storage tank for storing the marine life on the ground, only the separated marine life can be recovered. It can be carried out.

By connecting the traveling vehicle and the operation panel via an optical fiber communication cable, the traveling vehicle in the intake channel can be remotely controlled from the operation panel, and the cable diameter can be reduced. It is possible to reduce the traction force of the traveling vehicle and take measures against noise. Further, by providing the cable reel and the caterpillar type cable feeder on the ground portion, the operation of winding and sending out the communication cable of the optical fiber can be performed on the ground portion.

Further, in the present invention, in addition to the above-described action obtained by providing the cleaning means with the grinding roller, the suction port and the rotary brush, the cleaning means and the recovery head are provided in one traveling vehicle. The subsequent recovery of marine organisms can be carried out with one device. Further, the cleaning operation of the traveling vehicle can be controlled by a command from the ground by the control device provided in the traveling vehicle. In addition, the monitoring device provided on the traveling vehicle can monitor the cleaning work in the intake channel on the ground to grasp the progress status of the cleaning work.

[0035]

Embodiments of the present invention will be described below with reference to FIGS.

FIG. 1 is a system configuration diagram of the intake channel cleaning device of the present invention. The intake channel cleaning device is a traveling vehicle 1 in the intake channel,
A cleaning device 12, an arm 11, an operation panel 2 on the ground, a cable reel 3, a cable feeder 4, a separator 5, a marine organism storage tank 6, a water truck 7, and an optical fiber communication connecting the traveling vehicle 1 and the ground. It is composed of a cable 9 and a pressure-feeding hose 10.

The traveling vehicle 1 is a crawler type traveling system having traveling wheels on the left and right sides of a trolley, and the traveling motors are incorporated in the left and right independently. The traveling motor is driven by a command from the operation panel 2, moves forward or backward by switching the rotation direction, and the steering can be turned by changing the left and right rotation speeds, and the left and right rotation directions are reversed. This makes it possible to turn. A stud pattern is cut on the caterpillar 4a to secure a contact area with the concrete surface and also to cope with unevenness.

On the upper part of the traveling vehicle 1, a cleaning arm 11 having a multi-degree-of-freedom structure is provided. Also, the cleaning arm 11
A cleaning device 12 is provided at the tip of the to access the inner wall surface of the intake channel. The cleaning device 12 has a grinding roller and a rotating brush for removing sea life attached to the wall surface, and a head for sucking the removed sea life so as not to scatter the sea life outside. A suction hose 28 extends from the lower part of the cleaning device 12 and is connected to a pressure feeding device 15 provided at the rear of the traveling vehicle 1.

A recovery head 13 is attached to the lower front part of the traveling vehicle 1 so that the marine life removed by the cleaning device 12 cannot be sucked, and the traveling head of the traveling vehicle 1 is not hindered. To do so. The marine life collected by the collecting head 13 is sent to the pressure feeding device 15 by a suction hose (not shown) like the marine life that could be sucked by the cleaning device 12.

The pumping device 15 is provided at the rear of the traveling vehicle 1 and mixes the marine organisms sent from the cleaning device 12 and the recovery head 13 with the water supplied from the water truck 7 on the ground through the water supply hose 8. , Is pressure-fed to the above-ground portion through the pressure-feeding hose 10. The sent mixture of water and sea life is separated into water and sea life again by the separator 5, and the sea life is stored in the sea life storage tank 6.

Cleaning arm 11 and pressure feeding device 1 on the traveling vehicle
A control device 16 is mounted between the control device 5 and the control device 5. The control device 16 transmits a command signal from the operation panel 2 on the ground portion to each control device through the optical fiber communication cable 9 and outputs detection signals of various measuring instruments in the traveling vehicle 1 to the operation panel 2.
It has a function to feed back to. Each control device includes a traveling motor-related device, a motor-related device for the cleaning arm 11, and a brake attached to them. In addition, as various measuring instruments, signals of speed and angle detectors of motor-related equipment for traveling and motor-related equipment of the cleaning arm 11, signals of an attitude sensor for monitoring the inclination of the traveling vehicle, and the optical fiber communication cable 9 are added. There is a tension sensor signal that detects tension. The attitude sensor is provided for the purpose of monitoring the inclination of the traveling vehicle in the front, rear, left, and right directions because the intake channel is not always horizontal and has an inclined surface depending on the type of the power plant. When the optical fiber communication cable 9 is routed by the traveling vehicle 1 when the traveling speed of the cable feeder 4 is low, the tension sensor may apply a large amount of tension to the cable, which may cause the cable to break. , Is provided for the purpose of protecting the cable.

Monitoring devices 14a to 14c are provided on the control device 16, the pumping device 15, and the recovery head 13 to monitor the working condition of the traveling vehicle 1 during remote control. The monitoring device 14a travels. The working condition of the front and the cleaning arm 11 is monitored, and the monitoring device 14b monitors the rear when retracting,
The monitoring device 14c is a collection head 1 provided in front of the traveling vehicle 1.
Monitor the situation of 3. Of these, monitoring devices 14a and 14b
Each is equipped with an illuminating light, and each is attached to a pan head so that it can swing up and down and rotate left and right. Video signals and control signals from these monitoring devices 14a to 14c are sent to the control device 16 and sent to the operation panel 2 on the ground through the communication cable 9. These images are displayed on the monitor provided on the operation panel 2.

The optical fiber communication cable 9 connects the control device 16 on the traveling vehicle 1 and the operation panel 2 on the ground.
The reason why the optical fiber is adopted for the communication cable 9 is that it is necessary to communicate a huge amount of control signals between the traveling vehicle 1 and the ground portion, and inevitably the signal line becomes thick and the number of cables is 1 This is because it is desirable to put them together in a book, and in particular, if the control signal from the operation panel and the video signal from the monitoring device are on the same cable, noise may occur in the video signal. Multiplex communication is performed in which an independent optical fiber is used for each video device for video signals, and one optical fiber is collectively used for signals related to various measuring instruments. With the adoption of optical fiber communication, an optical transmission device is mounted inside each of the control device 16 and the operation panel 2.

Cable reel 3 and cable feeder 4
Feeds and winds the optical fiber communication cable 9 from the ground according to the traveling operation of the traveling vehicle 1. The cable reel 3 has a reel and a torque motor, and by always applying back tension in the winding direction of the communication cable 9, the communication cable 9 can be wound without slack. The cable feeder 4 is a caterpillar system having a structure in which two types of caterpillars 4a sandwich a cable from above and below, and sends and retracts by switching the rotation direction by a built-in servo motor. The cable sending machine 4 is controlled by the operation panel 2 and sends out the optical fiber communication cable 9 normally at the same speed as the traveling vehicle 1, but is added to the communication cable 9 by the tension sensor provided at the cable connecting portion at the rear of the traveling vehicle 1. The tension is measured, and when the tension becomes excessive, the feeding speed is increased to prevent breakage of the communication cable 9. The structure of the cleaning device 12 will be described with reference to FIGS. 2 and 3. 2 is a sectional view of the cleaning device 12 in a direction perpendicular to the grinding roller axis, and FIG. 3 is a sectional view taken along the line AA of FIG. The cleaning device 12 has a rectangular shape and is surrounded by a brush 18. Two grinding rollers 17a and 17b and two rotating brushes 19a and 19b orthogonal to the grinding rollers 17a and 17b are provided inside, and the rotating brush 19 is provided between the grinding rollers 17a and 17b.
a and 19b are arranged parallel to the axial direction of the grinding rollers 17a and 17b. Further, the cleaning device 12 has a suction port at the center thereof, and a suction hose 28 extends from the lower part of the suction port to the above-described pressure feeding device 15 of the traveling vehicle 1.

The grinding rollers 17a and 17b have a shape in which a large number of sickle-shaped blades are projected on the surface of a cylindrical roll.
It spins at high speed with zero power to remove sea life attached to the intake wall surface. The sprocket 22a connected to the rotary shaft of the rotary motor 20 rotates the sprocket 23a on the bearing shaft via the roller chain 25a, so that the grinding roller 17
Rotate a at high speed. On the other hand, another sprocket 21a is provided on the same axis as the sprocket 22a, and a roller chain 24 is attached to this, and the grinding roller 17b is similarly rotated via the sprockets 22b and 23b.

The rotating brushes 19a, 19b are structured such that a ring-shaped brush is provided on a disk connected to the rotating shaft of the rotating motor 26 arranged so that the rotating shaft is in the vertical direction. It rotates at high speed with power and scrapes off marine life attached to the wall surface of the intake channel. Also the rotating brush 19
a and 19b are cylinders 27 provided under the cleaning device 12.
Can be moved up and down.

As described above, the thick-layered deposited portion is removed by the grinding rollers 17a and 17b, and the remaining portion near the wall surface and algae and sludge are cleaned by pressing the rotary brushes 19a and 19b against the wall surface. The removed / recovered marine organisms are fed from the suction port provided at the center of the cleaning device 12 through the suction hose 28 to the pressure feeding device 1.
Sent up to 5.

Next, the structure of the operating axis of the cleaning arm 11 is shown in FIG.
Will be explained. The cleaning arm 11 has a slide mechanism A, a swing shaft B, and a swing shaft C between an upper end of the arm and the cleaning device 12, and a swing mechanism D and a swing mechanism between the lower end of the arm and the traveling vehicle 1. Has an axis E, a swing axis F, and a turning axis G,
An expansion / contraction mechanism H is provided in the middle of the arm to form an articulated structure so that the cleaning device 12 can be accessed at any position on the wall surface of the water passage.

A swing shaft B and a swing shaft C between the upper end of the arm and the cleaning device 12 are provided to position the cleaning device 12 in parallel with the wall surface of the water intake passage. The axis C is orthogonal to each other. . Upper end of arm and cleaning device 1
The slide mechanism A between the two is provided to move the cleaning device 12 parallel to the wall surface, and secures a predetermined cleaning range when removing adhering sea life.

A slide mechanism D between the lower end of the arm and the traveling vehicle 1, a swing shaft E, and a swing shaft F and a swing shaft G are provided to move the cleaning device 12 to an arbitrary position on the wall surface of the water passage. Of these, the swing axis E and the swing axis F are orthogonal to each other, and the turning axis G is orthogonal to the swing axis E.

The telescopic mechanism H in the middle of the arm is provided to adjust the length of the arm when the cleaning device 12 is moved to an arbitrary position on the wall surface of the water passage. It should be noted that the vehicle is in a contracted state during normal traveling.

The slide mechanisms A and D have a structure in which a ball screw is used as a rotary motor to move on the LM guide. The oscillating shafts B, C, E, and F have a structure in which a rotary motor is arranged on each shaft, a stopper is provided at an angular end, and a reciprocating rotary motion is performed between them. The extension mechanism H is a multi-stage cylinder, and has a structure in which a plurality of cylinders are combined in series to secure an extension stroke.

As described above, by forming the arm 11 to have the multi-joint structure, the cleaning device 12 can be accessed to any position on the wall surface of the water passage. The state is shown in FIG.
It shows in FIG.5 (b). FIG. 4 shows the access state of the cleaning arm 11 to the upper surface of the intake channel, while FIG. 5A shows the access state of the cleaning arm 11 to the lower surface of the intake channel.
FIG. 5B shows an access state of the cleaning arm 11 to the side surface of the intake passage.

In the access state to the lower surface of the intake channel shown in FIG. 5A, the cleaning device 12 is swung on the swing shaft C.
Is positioned in parallel with the lower surface, and the lateral movement is performed by the swivel g on the swivel axis G.

In the access state to the side surface of the intake passage shown in FIG. 5B, the cleaning device 12 is swung on the swing shaft B.
Is positioned in parallel to the side surface, and the movement in the front-back direction is performed by the swing e on the swing axis E.

FIG. 6 shows the structure of the recovery head 13 provided at the front of the traveling vehicle 1. The collection head 13 is composed of two rows of front and rear suction ports and a brush 29. The suction port in the front row has a large distance to the floor surface to collect large-sized sea life, and the suction port in the rear row has a small distance to the floor surface to collect fine sea life, sludge and algae. Also, brush 2 on the suction port in the rear row.
9 was provided so that there would be no spillage. The marine life collected from the two front and rear suction ports is one suction hose 30.
And is sent to the pressure feeding device 15.

The structure of the pressure feeding device 15 is shown in FIG. The pumping device 15 is a device that mixes the collected marine life with water and transports it to the ground, and includes a tank 32, a connection hose 31 that connects the suction hoses 28 and 30 and the tank 32, and a water truck 7 that is arranged on the ground. And a water supply hose 8 that connects the tank 32 with the tank 32,
It is composed of a pressure feed pump 33, and a pressure feed hose 10 that connects the tank 32 and the separator 5 arranged on the ground and has the pressure feed pump 33 in the middle. In the tank 32, the marine organisms collected and sent from the suction hoses 28 and 30 are mixed and stored with the water supplied from the water truck 7 arranged on the ground portion, and the mixture is discharged to the ground portion by the pressure feed pump 33. The mixture of marine life and water that has been pumped is separated into marine life and water in the above-ground separator 5, the water is drained from the lower portion and treated, and only the marine life is sent to the marine life storage tank 6 for storage. Unlike the vacuum suction, this method is not affected by the suction head, and enables discharge to the above-ground portion by setting the pressure of the pressure pump 33 according to the burial depth of the intake channel.

Since this embodiment is constructed as described above, the following effects can be obtained. The cleaning means 12 includes grinding rollers 17a, 1
Since 7b is provided, it is possible to reliably remove the sea creatures adhering to the intake channel wall surface in a thick layer, and in particular, it is possible to finely crush and remove even the shells that are connected by fibers and are in the form of a block. It is possible to reduce clogging of the pressure-feeding hose 10. Further, since the suction port is provided, it is possible to minimize the scattering of marine life on the periphery at the time of cleaning and efficiently perform the cleaning work.

Further, the cleaning means 12 has grinding rollers 17a, 1
A rotary brush 19a which has a vertical movement 7b,
Since 19b is arranged, the thick layer-shaped deposition portion is formed by the grinding roller 1
7a, 17b, and the remaining portion near the wall surface and algae and sludge can be removed by the rotating brushes 19a, 19b.

Further, since the cleaning arm 11 has the multi-joint structure, the cleaning means 12 can be accessed to the ceiling and side wall surfaces which were conventionally assembled by using scaffolds, and the water intake having a square shape is used. Cleaning means 12 at any position on the road
Can be positioned for efficient cleaning work.

Since the recovery head 13 is provided in front of the traveling vehicle 1 for recovering marine life that could not be recovered at the opening,
More reliable cleaning with less leakage can be performed.

Further, the recovery head 13 has two front and rear rows of suction ports and brushes 29 having steps, and the front row suction ports collect large-sized sea life, and the rear row suction ports collect fine sea life and sludge. And collect algae. Therefore, it is possible to perform reliable cleaning with few missed items.

Further, a pumping device 15 is provided at the rear of the traveling vehicle 1, water is supplied from the water tanker 7 on the ground to a tank 32 containing the sucked marine life, and the mixture is pumped by a pumping pump 33. Since it is pushed out to the above-ground portion through the hose 10, unlike vacuum suction, it is not affected by the suction lift, and discharge to the above-ground portion is possible by setting the pressure of the pump 33 according to the burial depth of the intake channel.

Further, since the separator 5 for separating the pumped mixture into water and sea life and the sea life storage tank 6 for storing the sea life are provided on the ground, only the separated sea life can be recovered. it can.

Further, since the traveling vehicle 1 and the operation panel 2 are connected via the optical fiber communication cable 9, the traveling vehicle 1 in the intake channel can be remotely controlled from the operation panel 2 and the cable diameter can be reduced. It is possible to reduce the tractive force of the traveling vehicle 1 and take measures against noise. Further, since the cable reel 3 and the caterpillar type cable feeder 4 are provided on the ground, the winding of the optical fiber communication cable 9 is prevented.
The sending operation can be performed on the ground.

Further, since the control device 16 is provided on the traveling vehicle 1, the cleaning work on the traveling vehicle 1 can be controlled by a command from the ground. Further, the monitoring devices 14a to 14c are attached to the traveling vehicle 1.
Since the above is provided, it is possible to monitor the cleaning work in the intake channel on the ground and grasp the progress of the cleaning work.

[0067]

According to the present invention, it is possible to remove marine organisms attached to a thick layer on the wall surface of the intake channel while minimizing the scattering of marine organisms to the surroundings, thereby improving the efficiency of cleaning work. Further, since the marine organisms attached are crushed and collected, it is possible to reduce clogging of the hose during pressure feeding. Further, not only the thick-layered deposit but also algae and sludge can be removed more completely. Further, efficient cleaning work can be performed at any position of the intake channel, and labor can be saved in comparison with the conventional manual work with scaffolding. Furthermore, since the two-step recovery in which the marine organisms that could not be sucked at the beginning are separately sucked, more reliable cleaning with less leakage can be performed. In addition, it is possible to reduce the missed items during cleaning. Therefore, the frequency of cleaning work can be reduced, which contributes to cost reduction. Furthermore, by pumping the mixture of sea life and water, it is possible to reduce the clogging of the hose during pressure delivery, and it is possible to pump sea life regardless of the distance from the above-ground part, which improves the mobility of the traveling vehicle. Increase. Also, because it is possible to separate and recover only marine life,
Subsequent processing becomes easy. Further reduction of cable diameter,
The traction force of the traveling vehicle can be reduced, cost can be reduced, and noise can be prevented. In addition, cable operation can be performed on the ground, improving workability.

According to the present invention, in addition to the above effects, 1
Cleaning and recovery can be done with the equipment of the table, so labor saving of workers can be achieved. In addition, cleaning work can be controlled by commands from the ground, and there is no need to enter the intake channel, ensuring safety and improving the work environment. In addition, the progress of cleaning work can be grasped, and operability is improved.

[Brief description of drawings]

FIG. 1 is a system configuration diagram of an intake channel cleaning device in an embodiment of the present invention.

FIG. 2 is a sectional view of a cleaning device in a direction perpendicular to a grinding roller axis.

FIG. 3 is a cross-sectional view in a direction parallel to the grinding roller axis of the cleaning device.

FIG. 4 is a diagram showing a configuration of an operating axis of a cleaning arm.

FIG. 5 is a diagram showing an access state of the lower surface and the side surface of the water intake passage of the cleaning arm.

FIG. 6 is a diagram showing a structure of a recovery head.

FIG. 7 is a diagram showing a configuration of a pressure feeding device.

[Explanation of symbols]

 1 traveling vehicle 2 operation panel 3 cable reel 4 caterpillar type cable feeder 4a caterpillar 5 separator 6 marine organism storage tank 8 water supply hose 9 optical fiber communication cable 10 pressure feeding hose 11 cleaning arm 12 cleaning device 13 recovery head 14a to c monitoring device 15 pressure feeding device 16 control device 17a, 17b grinding roller 19a, 19b rotating brush 29 brush 32 tank 33 pressure feeding pump A slide mechanism B, C swing axis D slide mechanism E, F swing axis G swing axis H telescopic mechanism

Claims (9)

[Claims] 1. An intake channel cleaning device provided with a traveling vehicle having a crawler type traveling function, comprising: a cleaning unit having a grinding roller rotated by a motor and a first suction port for sucking ground marine life. An intake channel cleaning device, comprising: an arm provided with the cleaning unit at a tip thereof to allow the cleaning unit to access the wall surface of the channel from the traveling vehicle. 2. The intake channel cleaning device according to claim 1, wherein the cleaning means has two grinding rollers at the front and rear,
An intake channel cleaning device characterized in that the first suction port and a rotating brush that moves up and down are arranged between them. 3. The intake channel cleaning device according to claim 1, wherein the arm is located between an upper end of the arm and the cleaning means, and the cleaning means is positioned parallel to the wall surface of the intake channel. An orthogonal swing shaft, a slide mechanism located between the upper end of the arm and the cleaning means and moving the cleaning means parallel to the wall surface of the water intake passage, between the lower end of the arm and the traveling vehicle. Positioned in the middle of the two swing shafts and one swivel axis and a slide mechanism, which are orthogonal to each other and move the cleaning means to any position on the wall surface of the water intake passage, and the cleaning means is located in the water intake passage. A water intake passage cleaning device having a multi-joint structure having an expansion / contraction mechanism for adjusting the length of the arm when the arm is moved to an arbitrary position on the wall surface. 4. The water intake passage cleaning device according to claim 1, further comprising a recovery head that is provided in front of the traveling vehicle and recovers the ground marine organisms that could not be sucked by the first suction port. An intake channel cleaning device having. 5. The water intake passage cleaning device according to claim 4, wherein the recovery head has two rows of second suction ports provided with a step and brushes arranged in the rear row of the second suction ports. A water intake cleaning device. 6. The intake channel cleaning device according to claim 1, further comprising a pumping device provided at the rear of the traveling vehicle, the pumping device including a tank for storing the aspirated marine life, and means for supplying water to the tank. And a pressure-feeding pump that pushes the wastewater containing the marine organisms to the above-ground portion through a pressure-feeding hose. 7. The intake channel cleaning apparatus according to claim 6, wherein a separator for separating the drainage containing the marine life pumped into water and marine life, and a marine life storage tank for storing the marine life are provided on the ground. An intake channel cleaning device characterized by being provided. 8. The intake channel cleaning device according to claim 1, wherein an operation panel connected to the traveling vehicle via an optical fiber communication cable, a cable reel for storing the communication cable, and a speed of the traveling vehicle. A water intake cleaning device, which is provided with a caterpillar type cable sending machine for sending out the communication cable in correspondence therewith. 9. An intake channel cleaning device equipped with a traveling vehicle having a crawler type traveling function, which includes a grinding roller and a rotating brush each rotated by a motor, and a suction port for sucking ground marine life. An arm provided with the cleaning means at its tip to access the cleaning means from the traveling vehicle to the wall surface of the water passage, and one provided in front of the traveling vehicle, which cannot be sucked by the suction port among the ground sea creatures A collection head for sucking water, a pumping device for pumping wastewater containing the marine organisms to the ground, a control device for controlling cleaning work of the traveling vehicle in the intake channel, and monitoring the cleaning work from the ground An intake channel cleaning device comprising: a monitoring device.