JPH0436752B2 - - 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 particularly relates to a device that moves two-dimensionally underwater. It is.

(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, and there is a need for ease of two-dimensional movement 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, (1) To obtain a remote control device that is lightweight and simple and has strong propulsion ability, (2) To obtain a new underwater wall cleaning machine that moves underwater. When approaching a wall surface position, it can immediately start suctioning.
Two features of the underwater wall cleaning machine that can be used include: maintaining the parallel position of the suction cup and the wall surface, and (3) avoiding as much as possible water quality transparency such as stirring contamination of wall surface deposits and bubble precipitation due to water flow stirring. The purpose is to provide a dimensional movement device.

(Means for solving the problem) With the underwater wall cleaning machine in a floating position, four systems of suction nozzles are installed at the four corners of the underwater position on the suction side and back side, and the suction combination of these nozzles is installed. Move the underwater wall cleaning machine forward, backward, rightward, and
Rotate to the left. In other words, the suction water flow used for the suction cup of the underwater wall cleaning machine is guided to the 5-port selection valve via the switching valve, and the 4 systems of suction nozzles are disconnected by the valve body, which always rotates 2 ports at a time. , I tried to touch it. The remaining one port is the outlet end where the suction channels are gathered, and communicates with the partial circumferential groove, which rotates while the two ports are mutually yoke, through the valve body.

In this way, the underwater wall cleaning machine can be moved two-dimensionally underwater quickly and reliably, and water turbidity caused by underwater movement can be prevented, making it possible to make the entire device smaller and simpler.

(Example) An example of an underwater two-dimensional movement device for an underwater wall cleaning machine will be described.

In FIG. 1, 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 right 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 other end of the connecting pipe 9 is connected to a suction hydraulic pipe 14 (FIG. 3) of a suction cup 11 of the underwater wall cleaning machine 1 via a switching valve 10 (FIG. 3).

FIG. 4 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.

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

The underwater wall cleaning machine 1 immersed in the water carries cleaning waste along with it, and a suction hydraulic pipe 14, cables and hoses 29, etc. are connected to a water suction pump 30, a filter 31, an operation panel 32, etc. on land. Using these land-based equipment, work can be 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. . Note that 33 is filtered clear water, which is returned to the water tank 27 again.

The underwater wall cleaning machine needs to clean not only the vertical wall surfaces of underwater structures but also the bottom surfaces, and although this will be filed separately, it will be briefly explained below.

Hereinafter, with reference to FIG. 6, 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
is the air supply/exhaust port 2 on the upper right side of the air float (A) in Figure 6.
1 and the air supply/exhaust port 22 on the lower right side of the air float (B). Also, water inlets and outlets 25 and 26 are provided at the lower left of the air float (A) 18 and the air float (B) 19.

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, air inside the air float (A) 18 is discharged from the water inlet/outlet 25 as shown in Fig. 7, and water enters instead, filling the air float (B) 1 with water.
9, the air above the air supply/exhaust port 22 remains as it is without being exhausted, and a portion remains unexhausted, so the aircraft sinks in an inclined state as shown in Figure 7 due to buoyancy, and the suction cup 11 is held on the lower side and the running wheels 24 reach the bottom, the cleaning machine is then rotated by the gravity of the machine so that it is seated parallel to the bottom surface 23. At this time, the residual air in the air float (B) 19 is also exhausted,
Both air floats were completely filled with water and lost their buoyancy.

(Effects of the Invention) (1) During the two-dimensional movement operation of the underwater wall cleaning machine, the suction hydraulic force of the suction cup that is not working is used as the propulsion force for moving the machine body, so a powerful and simple propulsion device can be obtained.

(2) The water flow from the suction nozzle used when the aircraft moves is processed by a filter installed on land, so it does not cloud the water in the tank.

(3) For example, in the case of the present invention, there is no formation of bubbles in the water, which tends to occur during screw propulsion, which is advantageous in terms of maintaining water quality.

(4) A propulsion device without turbidity or bubble formation is extremely advantageous in terms of visibility transparency and no bubbles adhering to the glass surface when operation using lighting and camera detection is required.

(5) The aircraft's two-dimensional movement on the water surface is highly effective in stabilizing the aircraft's posture.

(6) It can be made into a lightweight and simple device without using extremely complicated equipment.

[Brief explanation of drawings]

FIG. 1 is an explanatory diagram of the moving propulsion mechanism of the underwater wall cleaning machine. FIG. 2 is an explanatory diagram of the valve mechanism used in the mobile propulsion mechanism. Figure 3 is a detailed diagram of the valves. FIG. 4 is a detailed view of the rotary valve body. FIG. 5 is a developed view of the rotary valve body. FIGS. 6 to 8 are explanatory diagrams of the mechanism of an air float that raises and lowers the underwater wall cleaning machine underwater. 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...
...Backwards direction, 4...Right rotation direction, 5...Left direction,
6... Selection valve, 7... Rotating valve body, 8... Partial circumferential groove, 9... Connecting pipe line, 10... Switching valve, 11...
Suction cup, 12... Communication circumferential groove, 13... Circumferential development, 14... Suction hydraulic pipe, 15... Suction plate pipe line,
16...Switching valve actuator, 17...Selection actuator connection shaft, 18...Air float (A), 19
...Air float (B), 20...Support and exhaust pipe, 21...
...Intake/exhaust port (A), 22...Intake/exhaust port (B), 23...Bottom, 24...Running wheel, 25...Water inlet/outlet (A), 2
6... 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 having a suction cup using water absorption power, four systems of suction nozzles a, b, c, and d are provided on the suction surface of the underwater wall cleaning machine and the four corners of the back thereof, and each nozzle is activated by a selection valve 6. The underwater wall cleaning machine is configured to be able to move forward, backward, rightward, and leftward by switching, and the connecting pipe of the nozzle is connected to the suction cup suction pipe of the underwater wall cleaning machine and the switching valve. 1
2. A two-dimensional movement device for an underwater wall cleaning machine, characterized in that the selection valve 6 and the switching valve 10 are connected to each other via a remote control valve 6 and a switching valve 10 are provided with an actuator that can be operated remotely.