JPH0679825U - Suction port of underwater robot for underdrain cleaning - Google Patents
Suction port of underwater robot for underdrain cleaningInfo
- Publication number
- JPH0679825U JPH0679825U JP027537U JP2753793U JPH0679825U JP H0679825 U JPH0679825 U JP H0679825U JP 027537 U JP027537 U JP 027537U JP 2753793 U JP2753793 U JP 2753793U JP H0679825 U JPH0679825 U JP H0679825U
- Authority
- JP
- Japan
- Prior art keywords
- underdrain
- suction port
- brush
- center
- underwater robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/20—Hydro energy
Landscapes
- Cleaning In General (AREA)
Abstract
(57)【要約】
【目的】 吸水が吸込口に十分に押込まれ、剥離した貝
類がスカートの外部に飛散せず、かつポンプの力量を大
型化する必要がなく、しだがって工数及び工期が嵩ま
ず、かつ設備費及び動力費が少なくて済む、経済性に優
れた暗渠清掃用水中ロボットの吸込口を図る。
【構成】 暗渠に付着した貝類を本体の底面央部に左右
１対的に軸支された竪軸回転可能の各ブラシ０５でそれ
ぞれ剥離するとともに、剥離した上記貝類を上記本体の
底面央部に前後１対的に配設された吸込口１から吸水ポ
ンプで上記暗渠の外に排出する暗渠清掃用水中ロボット
において、各ブラシ０５の共通左右方向ブラシ中心線０
１３から各吸込口１の中心までの距離Ａが、それぞれ各
ブラシ直径Ｄ0 の２５〜４０％の範囲にあること。
(57) [Abstract] [Purpose] Water is sufficiently pushed into the suction port, the peeled shellfish do not scatter outside the skirt, and there is no need to increase the power of the pump. It aims at providing a suction port for an underwater robot for underdrain cleaning, which is economical and has low facility cost and power cost. [Structure] The shellfish attached to the underdrain are peeled off by respective vertical-rotatable brushes 05 axially supported in a pair on the center of the bottom surface of the main body, and the peeled shellfish is transferred to the center portion of the bottom surface of the main body. In the underdrain cleaning underwater robot that discharges out of the above-mentioned underdrain with a water suction pump from the suction ports 1 arranged in front and back, a common horizontal brush center line 0 of each brush 05
The distance A from 13 to the center of each suction port 1 is in the range of 25 to 40% of each brush diameter D 0 .
Description
【０００１】[0001]
本考案は暗渠清掃用水中ロボットの吸込口に関する。 The present invention relates to a suction port of an underwater robot for cleaning an underdrain.
【０００２】[0002]
例えば、火力発電所取水路の壁面に付着した貝類を取除くとともに、これを取 水路の外部へ排出する暗渠清掃用水中ロボットとしては、従来、図２(A) 側面図 及び同図(B) 底面図に示すようなものが知られている。 すなわち、同図において、水中ロボットは偏平長方形状立方体の本体０１と、 これの底面四隅にそれぞれ付設された水路壁面吸着用の水中モータ駆動式スラス タ０２と、本体０１の底面前後部にそれぞれ左右１対的に付設された壁面走行用 の水中モータ駆動式動輪０３と、本体０１の底面央部に左右１対的に付設された 貝類剥離用の水中モータ駆動式ブラシ盤０４と、これに放射状に植込まれた不銹 鋼線やナイロン製の複数のブラシ０５と、本体０１の底面央部中心線上に前後１ 対的に付設されそれぞれ吐出管０６が接続された吸込口０７と、本体０１の後端 に端子箱０８を介して接続された信号ケーブル及び電源ケーブル用の複合ケーブ ル０９と、本体０１の上下部にそれぞれ付設された保護フレーム０１０，バンパ ０１１と、可撓性のブラシ用スカート０１２等から形成されている。 このような水中ロボットにおいて、その操作は水中テレビカメラや超音波セン サ等を使用して地上から遠隔操作され、壁面から剥離された貝類は吸水ポンプに より吸込口０７，吐出管０６を経て用水とともに地上へ排出される。 For example, as an underwater robot for underdrain cleaning that removes shellfish attached to the wall surface of the intake channel of a thermal power plant and discharges it outside the intake channel, the conventional side view in Fig. 2 (A) and Fig. 2 (B) has been used. The one shown in the bottom view is known. That is, in the figure, the underwater robot is a flat rectangular cube body 01, a submersible motor-driven thruster 02 for adsorbing water channel wall surfaces attached to the four corners of the bottom surface of the body 01, and left and right parts on the bottom front and rear portions of the body 01, respectively. Submersible motor-driven moving wheels 03 for wall traveling, which are attached to each other, and submersible motor-driven brush plates 04 for detaching shells, which are attached to the left and right at the center of the bottom of the main body 01, and radial to this. A plurality of brushes 05 made of stainless steel wire or nylon embedded in the main body, a suction port 07 attached to the center line of the center of the bottom of the main body 01 in a front-rear direction and connected to the discharge pipes 06, respectively, and a main body 01. A composite cable 09 for signal cables and power cables connected to the rear end of the main body 01 via a terminal box 08, a protective frame 010 and a bumper 011 attached to the upper and lower portions of the main body 01, and a flexible cable. It is formed from the brush skirt 012 and the like. In such an underwater robot, its operation is remotely operated from the ground using an underwater television camera, an ultrasonic sensor, etc., and the shellfish peeled from the wall surface is used by a water suction pump through a suction port 07 and a discharge pipe 06 for water supply. Along with that, it is discharged to the ground.
【０００３】 なお、その際の吸込口０７レベルにおけるブラシ０５部分の前後方向水圧分布 は回転ブラシ０５の存在の影響により両ブラシ０５の接触開始点でほぼ最大とな り、図３線図に示すようになる。 すなわち、水圧分布はブラシ共通左右方向中心線０１３上ではゼロであり、ｘ 軸Ｘの方向へ向かうに従い負圧で漸増し、距離０．１２Ｄ0 辺りの位置で激増し 、距離０．２０Ｄ0 辺りの位置で最大負圧となったのち、負圧は急激に減少して 距離０．２５Ｄ0 辺りの位置で絶対値が上記最大負圧のそれの２倍弱の最大正圧 となり、その後は激減したのち、さらに正圧で漸減する。ここでＤ0 はブラシ０ ５のブラシ直径である。 また、ブラシ共通左右方向中心線０１３から前後１対の吸込口０７，０７まで の距離Ａ0 はそれぞれ０．２５Ｄ0 未満である。Ｓ0 はブラシ共通左右方向中心 線０１３からスカート０１２までのスカート距離である。At this time, the water pressure distribution in the front-rear direction of the brush 05 portion at the suction port 07 level becomes almost maximum at the contact start point of both brushes 05 due to the presence of the rotating brush 05, and is shown in the diagram of FIG. Like That is, the water pressure distribution is zero on the brush common lateral direction center line 013, gradually increases in the negative pressure as it goes in the direction of the x-axis X, proliferated at a distance 0.12D 0 around, the distance 0.20D 0 around After reaching the maximum negative pressure at the position of, the negative pressure sharply decreases, and at a position around the distance 0.25D 0 , the absolute value becomes a maximum positive pressure that is slightly less than twice the maximum negative pressure, and then decreases sharply. After that, the pressure is gradually reduced with positive pressure. Here, D 0 is the brush diameter of the brush 05. Further, the distance A 0 from the common horizontal center line 013 of the brush to the pair of front and rear suction ports 07, 07 is less than 0.25D 0 . S 0 is the skirt distance from the common horizontal center line 013 of the brush to the skirt 012.
【０００４】 しかしながら、このような装置では、図３に示すように、水中ロボットの吸込 口０７は距離Ａ0 辺りにあるため吸込口０７では正圧と負圧が混在して渦流が形 成されるので、下記のような欠点がある。 (1) 渦流のため抵抗が大きく、吸水が吸込口０７に十分に押込まれず、その一 部がスカート０１２を通じて外部へ剥離した貝類を飛散し、これを再度、水中ロ ボットで吸込まねばならず、清掃作業の工数と工期が嵩み、したがって経済性が 十分でない。 (2) 吸水を強力に行うために吸込ポンプの力量を大きくしなければならず、設 備費及び動力費が嵩み、したがって経済性が十分でない。However, in such a device, as shown in FIG. 3, since the suction port 07 of the underwater robot is around the distance A 0 , a positive pressure and a negative pressure are mixed to form a vortex at the suction port 07. Therefore, it has the following drawbacks. (1) The resistance is large due to the vortex flow, and the water absorption is not sufficiently pushed into the suction port 07, part of which scatters the peeled shellfish to the outside through the skirt 012 and must be sucked again by the underwater robot. Therefore, the number of man-hours and the period for cleaning work are increased, and the economy is not sufficient. (2) In order to absorb water strongly, the suction pump must have a large capacity, resulting in high equipment and power costs, and thus not sufficient economy.
【０００５】[0005]
本考案は、このような事情に鑑みて提案されたもので、吸水が吸込口に十分に 押込まれ、剥離した貝類がスカートの外部に飛散せず、かつポンプの力量を大型 化する必要がなく、したがって工数及び工期が嵩まず、かつ設備費及び動力費が 少なくて済む、経済性に優れた暗渠清掃用水中ロボットの吸込口を提供すること を目的とする。 The present invention has been proposed in view of such circumstances, and the water absorption is sufficiently pushed into the suction port, the peeled shellfish do not scatter to the outside of the skirt, and it is not necessary to increase the pump power. Therefore, it is an object of the present invention to provide a suction port for an underwater robot for underdrain cleaning which is economically efficient, requires less man-hours and construction period, and requires less equipment cost and power cost.
【０００６】[0006]
そのために、本考案は暗渠に付着した貝類を本体の底面央部に左右１対的に軸 支された竪軸回転可能の各ブラシでそれぞれ剥離するとともに、剥離した上記貝 類を上記本体の底面央部に前後１対的に配設された吸込口から吸水ポンプで上記 暗渠の外に排出する暗渠清掃用水中ロボットにおいて、上記各ブラシの共通左右 方向中心線から上記各吸込口の中心までの距離が、それぞれ上記各ブラシの直径 の２５〜４０％の範囲にあることを特徴とする。 Therefore, according to the present invention, the shellfish attached to the underdrain is peeled off by each vertical rotatable brush that is axially supported on the center of the bottom surface of the main body, and the peeled shellfish is removed from the bottom surface of the main body. In the underdrain cleaning underwater robot that discharges to the outside of the underdrain with a water suction pump from the suction ports arranged in a pair at the front and rear in the center, from the common horizontal center line of each brush to the center of each suction port. The distance is in the range of 25 to 40% of the diameter of each brush.
【０００７】[0007]
このような構成によれば、暗渠に付着した貝類を本体の底面央部に左右１対的 に軸支された竪軸回転可能の各ブラシでそれぞれ剥離するとともに、剥離した上 記貝類を上記本体の底面央部に前後１対的に配設された吸込口から吸水ポンプで 上記暗渠の外に排出する暗渠清掃用水中ロボットにおいて、上記各ブラシの共通 左右方向中心線から上記各吸込口の中心までの距離が、それぞれ上記各ブラシの 直径の２５〜４０％の範囲に配設しているので、吸込口には負圧は存在せず、連 続したポテンシアル流れから有効な正圧を回収して吸込効率が向上し、下記の作 用が行われる。 (1) ブラシで剥離させた貝類がスカートから外部に飛散せず、工数及び工期が 少なくて済む。 (2) 吸水ポンプの力量を大型化する必要がなく、設備費及び動力費が少なくて 済む。 According to this structure, the shellfish attached to the underdrain are peeled off by the vertical rotatable brushes that are axially supported in a pair of left and right in the center of the bottom surface of the main body, and the peeled above shellfish is removed from the main body. In the underdrain cleaning underwater robot that discharges to the outside of the underdrain with a water suction pump from the suction ports arranged in a pair in the center of the bottom of the underside, in the center of each of the above suction ports from the common horizontal center line of each brush Since there is a distance of up to 25 to 40% of the diameter of each brush above, there is no negative pressure at the suction port, and effective positive pressure is recovered from the continuous potential flow. The suction efficiency is improved and the following operations are performed. (1) Shells peeled off with a brush do not scatter from the skirt to the outside, and the man-hours and the construction period are short. (2) There is no need to increase the capacity of the water absorption pump, and the equipment cost and power cost are low.
【０００８】[0008]
本考案を図２(B) に示した吸込口０７に適用した一実施例を図面について説明 すると、図２〜図３と同一の符号はそれぞれ同図と同一の部材を示し、図１底面 図において、１は水中ロボットの本体の底面央部に前後１対的に配設された吸込 口、Ａはブラシ共通左右方向中心線０１３から各吸込口１の中心までの距離で、 それはブラシ直径Ｄ0 の２５〜４０％としている。Ｂは左右１対のブラシ０５が 貝類の剥離作業でむらが生ずるのを防ぐため、中心線部で互いに重なるオーバラ ツプ域である。An embodiment in which the present invention is applied to the suction port 07 shown in FIG. 2B will be described with reference to the drawings. The same reference numerals as those in FIGS. 2 to 3 denote the same members as those in FIG. In the figure, 1 is a suction port arranged in a pair of front and rear in the center of the bottom surface of the body of the underwater robot, A is a distance from the common horizontal center line 013 of the brushes to the center of each suction port 1, which is a brush diameter D. It is set to 25 to 40% of 0 . B is an overlapping area where the pair of left and right brushes 05 overlap with each other at the center line portion in order to prevent unevenness in the shellfish peeling work.
【０００９】 このような構造において、吸込口１の中心のブラシ共通左右方向中心線０１３ からｘ軸Ｘ方向への距離は０．２５Ｄ0 〜０．４０Ｄ0 としているので、図３に 示すように、上記範囲の水圧は十分な正圧となっており、この正圧は吸込口１の 吸水に対し押込み圧として作用し、したがって、剥離した貝類がスカート０１２ の外部に飛散することがないとともに、吸込ポンプの力量を小さくすることがで きる。[0009] In this structure, since the suction port 1 of the center of the brush common lateral direction center line 013 a distance in the x-axis X direction is set to 0.25D 0 ~0.40D 0, as shown in FIG. 3 The water pressure in the above range is a sufficient positive pressure, and this positive pressure acts as a pushing pressure against the water absorption of the suction port 1, so that the peeled shellfish does not scatter to the outside of the skirt 012. The suction pump power can be reduced.
【００１０】 このような、実施例の構造によれば、暗渠に付着した貝類を本体の底面央部に 左右１対的に軸支された竪軸回転可能の各ブラシでそれぞれ剥離するとともに、 剥離した上記貝類を上記本体の底面央部に前後１対的に配設された吸込口から吸 水ポンプで上記暗渠の外に排出する暗渠清掃用水中ロボットにおいて、上記各ブ ラシの共通左右方向中心線から上記各吸込口の中心までの距離が、それぞれ上記 各ブラシの直径の２５〜４０％の範囲に配設しているので、吸込口には負圧は存 在せず、連続したポテンシアル流れから有効な正圧を回収して吸込効率が向上し 、下記効果が奏せられる。 (1) ブラシで剥離させた貝類がスカートから外部に飛散せず、工数及び工期が 少なくて済み、したがって水中ロボットの経済性が向上する。 (2) 吸水ポンプの力量を大型化する必要がなく、設備費及び動力費が少なくて 済み、したがって水中ロボットの経済性が向上する。According to such a structure of the embodiment, the shellfish attached to the underdrain is peeled off by the vertical rotatable brushes which are axially supported in a pair of left and right in the center of the bottom of the main body. In the underdrain cleaning underwater robot that discharges the above shellfish out of the underdrain with a water suction pump from the inlets arranged in a pair in the center of the bottom of the main body, the common horizontal center of each brush. Since the distance from the line to the center of each suction port is arranged within the range of 25 to 40% of the diameter of each brush, there is no negative pressure at the suction port, and there is no continuous potential flow. The effective positive pressure is collected from the above to improve the suction efficiency, and the following effects are exhibited. (1) The shellfish peeled off with a brush does not scatter from the skirt to the outside, and the man-hours and the construction period are short, thus improving the economical efficiency of the underwater robot. (2) There is no need to increase the capacity of the water absorption pump, the equipment cost and power cost are low, and the economical efficiency of the underwater robot is improved.
【００１１】[0011]
要するに本考案によれば、暗渠に付着した貝類を本体の底面央部に左右１対的 に軸支された竪軸回転可能の各ブラシでそれぞれ剥離するとともに、剥離した上 記貝類を上記本体の底面央部に前後１対的に配設された吸込口から吸水ポンプで 上記暗渠の外に排出する暗渠清掃用水中ロボットにおいて、上記各ブラシの共通 左右方向中心線から上記各吸込口の中心までの距離が、それぞれ上記各ブラシの 直径の２５〜４０％の範囲にあることにより、吸水が吸込口に十分に押込まれ、 剥離した貝類がスカートの外部に飛散せず、かつポンプの力量を大型化する必要 がなく、したがって工数及び工期が嵩まず、かつ設備費及び動力費が少なくて済 む、経済性に優れた暗渠清掃用水中ロボットの吸込口を得るから、本考案は産業 上極めて有益なものである。 In short, according to the present invention, the shellfish attached to the underdrain is peeled off by each of the vertical rotatable brushes which are axially supported in a pair in the center of the bottom surface of the main body, and the above-mentioned peeled shellfish of the main body is removed. In the underdrain cleaning underwater robot that discharges to the outside of the above-mentioned underdrain with a water suction pump from the suction ports arranged in front and back in the center of the bottom, from the common horizontal center line of each brush to the center of each suction port. Since the distances are within the range of 25-40% of the diameter of each brush, the water absorption is sufficiently pushed into the suction port, the peeled shellfish do not scatter to the outside of the skirt, and the pump power is large. The present invention is extremely useful in the industry because it provides an economical suction port for underwater robots for underdrain cleaning that does not require a reduction in man-hours, construction time, and equipment and power costs. Na Than it is.
【図１】本考案を図２に示す暗渠清掃用水中ロボットの
吸込口に適用した一実施例を示す底面図である。1 is a bottom view showing an embodiment in which the present invention is applied to the suction port of the underdrain cleaning underwater robot shown in FIG.
【図２】公知の暗渠清掃用水中ロボットを示し、(A) ，
(B) はそれぞれ側面図，底面図である。FIG. 2 shows a known underwater robot for underdrain cleaning, (A),
(B) is a side view and a bottom view, respectively.
【図３】図２の吸込口０７レベルにおけるブラシ０５関
係の前後方向水圧分布を示す線図である。FIG. 3 is a diagram showing a front-back water pressure distribution related to the brush 05 at the level of the suction port 07 of FIG.
１ 吸込口 ０５ ブラシ ０７ 吸込口 ０１２ スカート ０１３ ブラシ共通左右方向中心線 Ａ 距離 Ａ0 距離 Ｂ オーバラツプ域 Ｄ0 ブラシ直径 Ｓ0 スカート距離1 Suction port 05 Brush 07 Suction port 012 Skirt 013 Common horizontal center line for brush A Distance A 0 distance B Overlap area D 0 Brush diameter S 0 Skirt distance
Claims (1)
左右１対的に軸支された竪軸回転可能の各ブラシでそれ
ぞれ剥離するとともに、剥離した上記貝類を上記本体の
底面央部に前後１対的に配設された吸込口から吸水ポン
プで上記暗渠の外に排出する暗渠清掃用水中ロボットに
おいて、上記各ブラシの共通左右方向中心線から上記各
吸込口の中心までの距離が、それぞれ上記各ブラシの直
径の２５〜４０％の範囲にあることを特徴とする暗渠清
掃用水中ロボットの吸込口。1. The shells attached to the underdrain are peeled off by respective vertical shaft-rotatable brushes that are axially supported in a pair of left and right in the center of the bottom of the main body, and the peeled shells are removed from the center of the bottom of the main body. In the underdrain cleaning underwater robot that discharges to the outside of the underdrain with a water suction pump from the suction ports arranged in a pair in front and rear, the distance from the common horizontal center line of each brush to the center of each suction port is The suction port of the underwater robot for cleaning the underdrain, which is in the range of 25 to 40% of the diameter of each brush.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1993027537U JP2599728Y2 (en) | 1993-04-27 | 1993-04-27 | Suction port of underwater robot for cleaning culvert |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1993027537U JP2599728Y2 (en) | 1993-04-27 | 1993-04-27 | Suction port of underwater robot for cleaning culvert |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0679825U true JPH0679825U (en) | 1994-11-08 |
| JP2599728Y2 JP2599728Y2 (en) | 1999-09-20 |
Family
ID=12223851
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1993027537U Expired - Lifetime JP2599728Y2 (en) | 1993-04-27 | 1993-04-27 | Suction port of underwater robot for cleaning culvert |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2599728Y2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20160066093A (en) * | 2014-12-01 | 2016-06-10 | 주식회사 포스코 | Cleaning robot for underwater use |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5314402B2 (en) * | 2008-12-05 | 2013-10-16 | 三菱重工業株式会社 | Shell crusher equipment |
-
1993
- 1993-04-27 JP JP1993027537U patent/JP2599728Y2/en not_active Expired - Lifetime
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20160066093A (en) * | 2014-12-01 | 2016-06-10 | 주식회사 포스코 | Cleaning robot for underwater use |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2599728Y2 (en) | 1999-09-20 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 19990623 |