JPH0434470B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Related Technical Field) The present invention relates to an underwater wall cleaning machine that cleans the walls and bottoms of water tanks and underwater structures with a brush while moving by suction, and in particular, the present invention relates to an underwater wall cleaning machine that cleans the walls and bottoms of water tanks and underwater structures with a brush while moving by suction. This invention relates to a device that converts to a cleaning posture.

(Prior Art) In a cleaning machine that suctions and runs on the wall or bottom of an underwater structure, in order to move to another wall that intersects with the wall at the end of the wall, it is necessary to separate from the wall and change its posture.
In this case, it often relies on external operating equipment such as cranes and hoists. However, in a closed water tank with only a manhole, it is difficult to operate it from the outside, so there was a need for an easier operation when landing on the bottom underwater. Furthermore, there is a need for a lightweight remote control device that does not impair water clarity.

(Problems to be Solved by the Invention) In view of the above-mentioned prior art, when trying to clean the bottom wall, the suction cup is vertically placed on the water surface, and while the suction cup is sinking to the bottom of the water, the suction cup touches the bottom wall surface. The purpose is to allow cleaning of the bottom wall to begin immediately.

(Means for solving the problem) Two air floats A and B with different heights at the air supply and exhaust ports are installed in parallel on the body, and when floating on the water surface, the suction surface of the underwater wall cleaning machine is vertical. The air float is connected to a supply and exhaust pipe that can be remotely controlled, and the air float is connected to a supply and exhaust pipe that can be controlled remotely. The air supply/exhaust port on the upper right side of Air Float A communicates with the air supply/exhaust port on the lower right side of Air Float B, and a water inlet/outlet is provided at the lower left side of Air Float A and Air Float B, respectively.
When floating, both floats are filled with air when air is supplied from the supply and exhaust pipes, and the suction cups are in an upright state. When descending, the air inside Air Float A is exhausted from the water inlet and outlet, and water enters instead, filling it with water. However, the other Air Float B was configured so that the air above the air supply and exhaust ports was not exhausted, and some of the air was not exhausted, and the difference in buoyancy and the weight of the aircraft was used to allow it to land on the bottom.

(Example) An example of an underwater landing device for an underwater wall cleaning machine will be described.

FIG. 9 shows the overall arrangement of an underwater wall cleaning machine to which the present invention is applied. A suction nozzle, a selection valve for operating the suction nozzle, a switching valve, and an air float for raising and lowering the suction nozzle are provided.

From the underwater wall cleaning machine 1 immersed in water, a suction hydraulic pipe 14, cables and hoses 29, etc., which also carry cleaning waste, are connected to a water suction pump 30, a filter 31, an operation panel 32, etc. on land. With these land-based equipment, the work is carried out by cleaning the underwater wall surface cleaning machine 1 while adsorbing it to a predetermined wall surface, or by leaving the wall surface and moving to another wall surface, or moving to the bottom surface. It will be done. Note that 33 is filtered clear water, which is returned to the water tank 27 again.

Figure 9 shows the underwater wall cleaning machine cleaning the vertical wall of an underwater structure, but the underwater wall cleaning machine also needs to clean the bottom, and the present invention is designed to change the posture to the bottom cleaning position. This is designed to be easy to do.

Hereinafter, with reference to FIG. 1, a description will be given of the conversion of the underwater wall cleaning machine 1 from a vertical position to a horizontal position.
The underwater wall cleaning machine 1 has an air float (A) 18 and an air float (B) 19 connected thereto, and the underwater wall cleaning machine 1 floats and descends by supplying and exhausting air from the supply and exhaust pipe 20. ing. Supply and exhaust pipe 20
In FIG. 1, it communicates with an air supply/exhaust port 21 at the upper right of the air float (A) 18 and an air supply/exhaust port 22 at the lower right of the air float (B) 19. In addition, there is a water inlet/outlet 2 at the lower left of the air float (A) 18 and air float (B) 19, respectively.
5 and 26 are provided.

There is a height difference between the air supply and exhaust port (A) 21 of the air float (A) 18 and the supply and exhaust port (B) 22 of the air float (B) 19 as shown in the figure, so when floating, the air supply and exhaust port When air is supplied from the floats 20, both floats are completely filled with air, and the body, that is, the surface of the suction cup 11 is configured in advance so that it is in an upright state.

During settling, the air inside the air float (A) 18 is discharged from the water inlet/outlet 25 as shown in Fig. 2, and water infiltrates to fill the air float (B) 18 with water. Since the air in the upper part has no escape route, it remains as it is without being exhausted, and a portion of the air remains unexhausted, so the aircraft sinks in an inclined state as shown in Figure 2 due to buoyancy, and the suction cup 11 is suspended. When the running wheels 24 are held on the lower side and touch the bottom, the cleaning machine is rotated by the gravity of the machine so that it touches the bottom parallel to the bottom surface 23. When it hits the bottom, the air supply and exhaust port 22 will be exposed to the air, so the air float (B)
The remaining air in No. 19 is also completely exhausted, and both air floats are completely filled with water, losing their buoyancy and becoming stable on the bottom.

As explained above, the present invention provides an underwater wall cleaning machine 1.
This is a device for converting from a vertical position to a horizontal position. However, this underwater wall cleaning machine cleans not only the bottom wall but also vertical walls, and when the vertical walls intersect with each other, the attitude of the cleaning machine needs to be changed two-dimensionally. A separate application was filed on the same day, but it will be explained below for reference.

In FIG. 4, 1 is an underwater wall cleaning machine.
The underwater wall cleaning machine 1 floating on the water surface is provided with suction nozzles a, b, c, and d located below the water surface at its four corners when viewed from above. Suction nozzle a
By the simultaneous suction of and b, the underwater wall cleaning machine 1 moves in the forward direction as shown by the arrow 2 (FIG. 1A).
Simultaneous suction by suction nozzles c and d causes it to move in the backward direction (arrow 3) (Fig. 2B), and simultaneous suction from suction nozzles a and d causes it to move in the clockwise direction (arrow 4) (Fig. 2B). 1 c), it moves in the left rotation direction (arrow 5) by simultaneous suction from suction nozzles b and c.

The selection operation of these two suction nozzles is performed using a partial circumferential groove 8 formed by a rotary valve body 7 of a selection valve 6 built in the underwater wall cleaning machine 1 shown in FIG. Piping port arranged on the peripheral wall of the selection valve 6
It is obtained by rotating two a', b', c', and d' while communicating with each other. 4 systems of suction nozzles a,
b, c, d and the four pipe ports a', b', c', d' are
They are connected like a-a', b-b', c-c', and d-d', and the partial circumferential groove 8 is always in communication with the connecting pipe 9 via the rotary valve body 7. The end of the connecting pipe 9 is connected to a suction hydraulic pipe 14 (FIG. 6) of a suction cup 11 of the submersible wall cleaner 1 via a switching valve 10 (FIG. 6).

FIG. 7 shows details of the rotary valve body 7 of the selection valve 6, in which the partial circumferential groove 8 and the communication circumferential groove 12 are provided in parallel. Reference numeral 17 denotes a selection valve actuator connection shaft fixed to the top of the rotary valve body 7. FIG. 5 is a developed view of the rotary valve body 7, with piping openings a',
b', c', and d' are arranged in alignment with the partial circumferential groove 8. Further, the connecting pipe line 9 is aligned with the communicating circumferential groove 12.

The selection valve 6 may be remotely operated by an electric motor or an air motor, but since stopping at four positions is required, a positioner operation based on, for example, detection of a change in electrical resistance is required. Furthermore, although the switching valve 10 has a relatively large capacity, position detection is not required and both ends may be stopped. Note that 15 is a suction cup pipe, and 16 is a switching valve 10.
This is a switching valve actuator that operates.

(Effect) A pair of floats A and B are arranged side by side, and these floats are communicated with an air supply and exhaust pipe, and the air supply and exhaust pipe is connected to the air supply and exhaust port at the upper right of air float A and the air supply and exhaust port at the lower right of air float B in a floating state. It communicates with the air supply/exhaust port, and a water inlet/outlet is provided at the bottom left of Air Float A and Air Float B, respectively. When floating, when air is supplied from the air supply/exhaust pipe, both floats are filled with air, and the suction cup is When Air Float A is in an upright position and sinks, the air inside it is exhausted from the water inlet/outlet, and water enters instead, filling it up with water, but in Air Float B, the air above the air supply/exhaust port is not exhausted. It is configured so that some parts are not exhausted.

In this way, the structure is extremely simple as it only requires a pair of floats and an air supply/exhaust system, but it has become possible to smoothly convert from a vertical position to a horizontal position. .

[Brief explanation of drawings]

FIGS. 1 to 3 are explanatory diagrams of the mechanism of an air float that raises and lowers the underwater wall cleaning machine underwater. FIG. 4 is an explanatory diagram of the moving propulsion mechanism of the underwater wall cleaning machine. FIG. 5 is an explanatory diagram of the valve mechanism used in the mobile propulsion mechanism. Figure 6 is a detailed diagram of the valves. FIG. 7 is a detailed view of the rotary valve body. FIG. 8 is a developed view of the rotary valve body. FIG. 9 is an overall layout diagram of an underwater wall cleaning machine to which the present invention is applied during operation. In the figure: 1... underwater wall cleaning machine, 2... forward direction, 3... backward direction, 4... right rotation direction, 5...
... Left rotation direction, 6 ... Selection valve, 7 ... Rotating valve body, 8
... Partial circumferential groove, 9 ... Connection pipe line, 10 ... Switching valve, 11 ... Suction cup, 12 ... Communication circumferential groove, 13 ...
...Circumferential development, 14...Suction hydraulic pipe, 15...Suction plate pipe, 16...Switching valve actuator, 17...
... Selection valve actuator connection shaft, 18 ... Air float (A), 19 ... Air float (B), 20 ... Supply and exhaust pipe, 21 ... Supply and exhaust port (A), 22 ... Supply and exhaust port
(B), 23... bottom, 24... running wheels, 25...
Water inlet/outlet (A), 26... Water inlet/outlet (B), 27... Water tank, 28... Water surface, 29... Cables/hoses, 30... Water suction pump, 31... Filter, 32
...Operation panel, 33...Filtered clear water.

Claims (1)

[Claims] 1 In an underwater wall cleaning machine that has a suction cup that uses water absorption power, two air floats (A, B) with different heights at the air supply and exhaust ports are installed in parallel on the machine body, and when floating on the water surface, underwater wall cleaning is performed. In order to maintain the suction surface of the machine in a vertical position and to obtain an attitude in which the suction surface faces downward and lands on the bottom of the water at an angle, the air float is connected to a remotely controllable supply and exhaust pipe. Air float (A) while floating.
The air supply/exhaust port on the upper right side of the air float (B) is connected to the air supply/exhaust port on the lower right side of the air float (B), and a water inlet/outlet is provided on the lower left side of the air float (A) and air float (B), respectively. When air is supplied from the supply and exhaust pipes, both floats are filled with air and the suction cups are in an upright state; when the air float (A) is submerged, the air inside is discharged from the water inlet and outlet, and water enters, filling it with water. The bottom landing device for an underwater wall cleaning machine is characterized in that the other air float (B) is configured so that the air above the air supply/exhaust port is not exhausted, and some of the air is not exhausted.