JP2001029910A - Sediment removal device in water tank - Google Patents

Abstract

(57) [Abstract] [Problem] Energy saving of sediment such as sludge in a water storage tank,
It is an object of the present invention to provide a sediment removal device in a water storage tank that can efficiently remove resources with saving resources. SOLUTION: The cleaning robot unit A is provided with at least a sediment suction unit 20 for sucking the sediment 3 on the inner bottom of the water tank 1 together with the water 2, and the cleaning robot unit A is freely inserted into and out of the water tank 1 and runs on the inner bottom. The sediment separation which separates the sediment 3 which is outside the water storage tank 1 and is connected to the cleaning robot unit A via the suction pump 91 via the suction hose 92 and which is conveyed by suction and is separated from the water 2 to be removed. And a driving unit C that monitors and controls the running and cleaning operations of the cleaning robot unit A outside the water storage tank 1.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for removing sediment deposited on the inner bottom of a water storage tank.

[0002]

2. Description of the Related Art For example, a power company is provided with a water storage tank as a heat storage tank for storing surplus electric power or the like as heat. At the bottom of the water storage tank, brown particles are deposited as a precipitate due to the influence of oxygen contained in the piping connected to the water storage tank and in the water, and must be removed and cleaned. Conventionally, after pumping up and discharging all the water in a water storage tank, an operator enters the water storage tank through a manhole to collect and carry out sediment for cleaning.

[0003]

However, the above-described cleaning method has a problem that the use of the water storage tank must be stopped during the operation, and much labor and time are required. Some devices for removing sludge using a robot have been conventionally provided, but none of them can perform a preferable operation. Therefore, an object of the present invention is to solve the above-mentioned conventional problems and to provide a sediment removal device in a water storage tank capable of efficiently removing sediment such as sludge in a water storage tank with energy saving and resource saving.

[0004]

Means for Solving the Problems To achieve the above object, the apparatus for removing sediment in a water tank according to the present invention comprises at least a sediment suction part for sucking sediment at the bottom of the water tank together with water, The cleaning robot unit that is freely inserted into and removed from the water storage tank and travels on the inner bottom, and the cleaning robot unit that is outside the water storage tank and connected to the cleaning robot unit by a suction hose via a suction pump and has been conveyed by suction. A first feature is that a sediment separation unit that separates and removes sediment from water and a driving unit that is outside the water storage tank and that monitors and controls the traveling and cleaning operations of the cleaning robot unit are provided. . Further, in addition to the first feature, the sediment suction unit of the cleaning robot unit rotates the sediment suction unit of the cleaning robot unit around a horizontal axis provided at the head of the traveling unit. A wide roller brush for contacting and cleaning the bottom of the water storage tank, and a brush cover covering the roller brush and opening the lower part thereof, and the brush cover has a sediment connected to a suction hose. A second feature is that a suction port is provided. The apparatus for removing a sediment in a water tank according to the present invention is characterized in that, in addition to the first or second feature, the traveling of the cleaning robot unit includes:
The third feature is that a chain crawler is used, and the chain crawler is provided with a grounding tooth protruding from a roller link plate thereof. The apparatus for removing sediment in a water tank according to the present invention is characterized in that, in addition to the features described in any one of the above first to third aspects, the sediment separating section includes a centrifuge and a sediment passing through the centrifuge. A fourth feature is that a filter for removing fine particles from the removed water is further provided, and the water purified through the filter is returned to the water storage tank. The apparatus for removing sediment in a water tank according to the present invention has, in addition to the features described in any one of the first to fourth aspects, a driving unit having a television monitor and an operation panel, and photographed by a cleaning robot unit. A fifth feature is that the running and cleaning operation of the cleaning robot unit is monitored and controlled while watching the video. The apparatus for removing sediment in a water tank according to the present invention has, in addition to the features described in any one of the first to fourth aspects, a driving unit having a television monitor and an operation panel, and photographed by a cleaning robot unit. A sixth feature is that the inside of the water storage tank can be inspected while watching the image.

[0005]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in more detail by describing embodiments of the present invention with reference to the drawings.
1 is an overall configuration diagram illustrating an embodiment of a sediment removal device in a water storage tank according to the present invention, FIG. 2 is a perspective view of a cleaning robot unit, FIG. 3 is a partial cross-sectional view illustrating the vicinity of a sediment suction unit, FIG. 4 is a side view showing a part of the chain crawler to which the grounding teeth are attached. FIG. 5 is a front view of a roller link plate of the chain crawler to which the grounding teeth are attached. FIG. is there.

In FIG. 1, reference numeral 1 denotes a water storage tank in which water 2 is stored.
Is stored. The water 2 may include a liquid other than water. A sediment 3 such as sludge is deposited on the inner bottom of the water storage tank 1. The water tank 1 is provided with a manhole 4 and the like.

[0007] The sediment removing apparatus of the present invention comprises:
It comprises a cleaning robot unit A which can be freely inserted into and removed from the inside, a sediment separation unit B arranged outside the water storage tank 1, and an operation unit C similarly arranged outside the water storage tank 1. The cleaning robot unit A and the sediment separation unit B are provided with a suction pump 91
And is connected by a suction hose 92. The cleaning robot unit A and the operation unit C are connected by a signal cable 93. The signal cable 93 can be composed of, for example, a float-attached signal cable that exerts little traction on the cleaning robot unit A.

Referring to FIGS. 2 and 3, the cleaning robot section A includes a traveling section 10, a sediment suction section 20, and a mounting section 30. The traveling unit 10 is configured such that a traveling vehicle 11 is run by a chain crawler 12, and is configured to be able to move in the front-rear direction and change the moving direction. Power is supplied by a battery and a motor (not shown) provided in the traveling vehicle 11. Of course,
The signal cable 93 may be used in place of a battery to supply electric power from outside. 4 and 5
, The chain crawler 12 is provided with a grounding tooth 13 protruding from a roller link plate 12a constituting the chain crawler 12. The grounding teeth 13 are made of a material such as rubber which does not damage the inner bottom surface of the water storage tank 1, and can be attached at a pitch twice as long as the chain pitch as shown in FIG. The pitch is not limited. As shown in FIG. 5, the grounding teeth 13 are interchangeably fixed with a pair of left and right roller link plates 12a, 12a for linking rollers by screw fixing or the like. Chain crawler 12 and grounding teeth 13
With this combination, it is possible to prevent the cleaning efficiency of the cleaning robot unit A from deteriorating by soaking up the sediment deposited when the cleaning robot unit A travels on the inner bottom of the water storage tank 1. That is,
By using the grounding teeth 13, it is possible to reduce the grounding area with respect to the inner bottom portion of the water storage tank 1. In addition, since the chain crawler 12 has a gap between each roller and the like, it is generated between the chain crawler 12 and the inner bottom portion. By the combination of the two effects that the water pressure can be released from the gap between the rollers, it is possible to prevent a decrease in cleaning efficiency due to the rising of the sediment, thereby achieving good cleaning and removing the sediment. Become. In addition, in the case of the water storage tank 1 for heat storage, etc., an interior material such as a heat insulating material is applied. However, by providing a grounding tooth 13 which is easy to contact with a contact partner such as rubber, damage to the interior material such as the heat insulating material is prevented. It is possible to improve the durability by preventing it. Of course, it is possible to improve the traction force and the climbing angle.

A pair of touch sensors 14 are provided at the forefront of the traveling unit 10 at left and right positions. When the cleaning robot unit A moves forward and hits a wall, the touch sensor 14 is detected, so that the operation will be described later. After automatically stopping the operation of the cleaning robot unit A via a controller (not shown) of the unit C, the cleaning robot unit A is temporarily retracted by a short distance, and the cleaning robot unit A is detoured by changing its course in another direction. Lead to.

Referring to FIGS. 2 and 3, the sediment suction unit 20 of the cleaning robot unit A is provided at the head of the traveling unit 10 and has a horizontal shaft 21 provided across the width of the traveling unit 10. A roller brush 22 is rotatably supported by a roller brush, and a brush cover 23 is provided so as to cover the roller brush 22 from above. The brush cover 23 can be made of, for example, a transparent plastic material,
The roller brush 22 has a cross-section of an inverted U shape and is housed inside the roller brush 22. The lower part of the brush cover 23 is opened, and a rubber skirt 23a is attached to the lower opening edge. The skirt 23a prevents the gap with the inner bottom of the water storage tank 1 from becoming wide, so that the sediment 3 to be scooped up by the roll brush 22 does not escape from the brush cover 23 to the outside.
The roller brush 22 is rotated in the brush cover 23, sweeps the inner bottom while contacting the inner bottom of the water tank 1, catches the sediment 3, and rotates it along with its own rotation.
It works to move up inside. The upper part (the uppermost part) of the brush cover 23 above the rotation direction of the roller brush 22 (normally, the brush rotates in the direction in which the brush sweeps the bottom inside the water storage tank 1 toward the running direction as indicated by the arrow in FIG. 3). (Slightly forward from the upper part), suction ports 23b connected to the suction hose 92 are provided at two places on the left and right. The sediment 3 that has entered the brush cover 23 is
3 and the roller brush 22, the narrow space surrounded by the roller brush 22 and the transfer force of the roller brush 22 and the suction port 23b.
It moves upward by the negative pressure suction force from the side, is sucked into the suction port 23b together with the water, and is conveyed to the sediment separation section B from the branch suction hose 92a through the suction hose 92. The rotation driving force of the roller brush 22 may be used by transmitting the driving force of the chain crawler 12 to the roller brush 22 by the transmission belt 24. However, a drive source dedicated to the roller brush may be separately provided. When the rotational driving force of the roller brush 22 is used by using the transmission belt 24, the number of motors and the like can be reduced. In this case, a conversion mechanism for increasing the number of rotations to one to several steps for the roller brush 22 is interposed. Further, the material of the roller brush 22 is preferably a material which is hardly affected by an environmental temperature change from a low temperature range to a high temperature range.

The mounting section 30 of the cleaning robot section A includes
A video camera 31 capable of changing its field of view up, down, left and right in the running direction; and a pair of illuminating lights 32, 32 provided on both sides of the video camera 31 to move together with the video camera. A pair of branch suction hoses 92a, 9 from a pair of suction ports 23b, 23b of the cover 23.
A connection base point 33 between 2a and the main suction hose 92 is provided, and a connection base point 34 of the signal cable 93 is provided similarly.

Referring to FIG. 6, a centrifuge 40 and a filter 50 are provided in the sediment separation section B, and these can be easily moved by being mounted on a carriage 60. Further, the suction pump 91 may be mounted on the carriage 60. The centrifugal separator 40 includes a cleaning robot unit A
This is for separating the sediment other than the fine particles from the water by centrifuging the sediment 3 mixed water 2 carried from the sediment suction part 20 through the suction hose 92.
Inside the outer case 41, a vertical centrifugal separation cylinder 42 rotatably supported up and down by the outer case 41 is provided. The centrifugal separation cylinder 42 is configured such that its inner diameter is wide below the cylinder and narrow at the top of the cylinder, and the sediment-mixed water 2 introduced from below the centrifuge cylinder 42 is subjected to sedimentation below it. The object 3 is easily restrained and separated. The centrifugal separation cylinder 42 is made of transparent acrylic or the like so that the inside can be observed from the outside. The outer case 41 is configured so that the side wall thereof is appropriately cut out, so that the centrifugal separation cylinder 42 can be seen from the outside. Centrifugal cylinder 4
From the center of the lower end of 2, a rotary drive shaft 43 having a passage for introducing separated water 43a formed in its cylindrical inner hole, and an inlet 43b for separated water formed in a protruding portion into the centrifugal separation cylinder 42. It is suspended and integrated. The rotary drive shaft 43 is supported by the base 44, and receives the driving force from the motor 45 via the pulley 45a and the belt 45b. The lower end of the rotation drive shaft 43 is connected to the suction hose 92 via the connection fitting 46. An outlet 47 for the separated sediment 3 is provided with a cock 47a at the bottom of the centrifuge cylinder 42, and an outlet 48 of the centrifuged water is provided at the upper end of the centrifuge cylinder 42. It is connected to a discharge hose 49 a from the discharge port 48 via a connection fitting 49.

A filter 50 is connected to the discharge hose 49a. The filter 50 is combined to separate fine particles that cannot be separated by the centrifugal separator 40. For example, a filter of a filter cloth type is used to remove particles up to about 1 micron. By doing so, for example, in the water storage tank 1 for heat storage installed in the electric power company described above, the purified water is converted into a sufficiently reusable state. Therefore, the water that has passed through the filter 50 is returned from the manhole 4 to the water storage tank 1 by the return hose 51. If the discharged water is passed directly through a fine filter of about 1 micron without passing through the centrifugal separator 40, clogging is immediately caused by sediment. The filter 50 can be detached and used according to the purpose or use.

Referring to FIG. 1, the operating section C is provided with a television monitor 70 and an operation panel 80 with a built-in controller, so that the operator can operate the operation panel 80 while monitoring the television monitor 70. I have to. That is, the inside of the water storage tank 1 photographed by the video camera 31 is displayed on the television monitor 70 through the signal cable 93, and the operator gives a more appropriate command through the operation panel 80 while watching the image. Thereby, it is possible to clean the water tank 1 efficiently and completely without obstructing the state while watching the state inside the water tank 1. The work status and the cleaning result can be stored on a video tape and recorded.

[0015]

According to the present invention, the apparatus for removing sediment in a water storage tank according to the first aspect of the present invention suctions the sediment at the bottom of the water tank together with water. A cleaning robot part which is at least provided with a part and is freely inserted into and removed from the water storage tank and runs on the inner bottom, and the cleaning robot part outside the water storage tank is connected to the cleaning robot part via a suction pump by a suction hose and A sediment separation unit that separates and removes the sediment that has been conveyed by suction and water, and an operation unit that is outside the water storage tank and monitors and controls the traveling and cleaning operations of the cleaning robot unit are provided. While monitoring the state of the bottom of the tank and the state of cleaning work one by one, the sediment deposited on the bottom of the water tank is sucked from the sediment suction part of the cleaning robot that runs on the inner bottom, and the sediment and water are removed outside the water tank. To remove sediment. Can. Therefore, it is possible to perform the cleaning efficiently and without leakage without putting the worker in the water storage tank and in a state in which the state of the bottom part in the water storage tank and the working state are sufficiently grasped. Moreover, the sediment sucked and conveyed is separated and removed from the water, and the water is returned to the water storage tank, so that the heat energy contained in the water can be taken out and the water can be reused. At the same time, there is an advantage that the volume of the precipitate to be removed can be reduced. According to the apparatus for removing sediment in a water storage tank according to the second aspect,
In addition to the effects of the configuration described in the above, the sediment suction unit of the cleaning robot unit is rotated about a horizontal axis provided at the head of the traveling unit, and a wide roller brush for contact cleaning the bottom inside the water storage tank. And a brush cover that covers the roller brush and has a lower part opened, and the brush cover is provided with a suction port for sediment connected to a suction hose. The inner bottom can be cleaned, and sediment that has entered the brush cover is prevented from leaking out of the brush cover by the brush cover and the roller brush. With the negative pressure suction force, the precipitate can be very efficiently removed from the bottom of the water storage tank by suction. According to the apparatus for removing sediment in a water tank according to claim 3, in addition to the effect of the configuration according to claim 1 or 2, the traveling of the cleaning robot unit is performed using a chain crawler, Since the chain crawler is provided with a grounding tooth protruding from its roller link plate,
The combination of the chain crawler and the grounding teeth can effectively prevent the cleaning robot from fouling the sediment deposited when running on the bottom of the water tank, thereby lowering the cleaning efficiency. Cleaning and removal of sediment can be achieved. In addition, by making the grounding teeth a material that is friendly to the contact partner, it is possible to prevent damage to interior materials such as a heat insulating material in a water storage tank for heat storage and the like, and to sufficiently improve the durability. Of course, it is possible to improve the traction force and the climbing angle. According to the apparatus for removing sediment in a water storage tank according to claim 4, in addition to the effect of the configuration according to any one of claims 1 to 3, the centrifugal separator and the centrifuge A filter that further removes fine particles from the water from which sediment has been removed through the separator, and has a configuration in which purified water passed through the filter is returned to the water tank, so that sediment-contaminated water collected from the water tank is recovered. In the first step, water and coarse precipitates can be separated very quickly and efficiently in a first step, and the fine precipitates are filtered in the second step from water from which the coarse precipitates have been removed. Can be sufficiently removed. Therefore, the water from which the sediment has been sufficiently removed through the two-stage separation operation can be returned to the water storage tank again to utilize the latent heat, and the water itself can be sufficiently reused. Can be separated, and the precipitate can be discarded in a small volume state in which the amount of water is sufficiently reduced. According to the apparatus for removing sediment in a water tank according to claim 5, in addition to the effect of the configuration according to any one of claims 1 to 4,
The operation unit has a TV monitor and an operation panel, and monitors and controls the running and cleaning operation of the cleaning robot unit while watching the images taken by the cleaning robot unit. An appropriate command can be issued while observing the state inside the water storage tank and the cleaning state, and thus, it is possible to efficiently and reliably clean all corners in the water storage tank without leakage. According to the apparatus for removing sediment in a water tank according to the sixth aspect, in addition to the effect of the configuration according to any one of the first to fourth aspects, the operation unit includes a television monitor and an operation panel. In addition, the construction was designed so that the inside of the water tank can be inspected while watching the images taken by the cleaning robot unit, so that the operator can run the cleaning robot around and watch the images displayed on the TV monitor and check the various places in the water tank. Can be checked.

[Brief description of the drawings]

FIG. 1 is an overall configuration diagram illustrating an embodiment of an apparatus for removing precipitates in a water storage tank according to the present invention.

FIG. 2 is a perspective view of a cleaning robot unit.

FIG. 3 is a partial cross-sectional view showing the vicinity of a precipitate suction unit.

FIG. 4 is a side view showing a part of a chain crawler to which grounding teeth are attached.

FIG. 5 is a front view of a roller link plate of a chain crawler to which grounding teeth are attached.

FIG. 6 is a sectional configuration diagram of a sediment separation section.

[Explanation of symbols]

 Reference Signs List A cleaning robot part B sediment separating part C operating part 1 water storage tank 2 water 3 sediment 4 manhole 10 running part 11 running trolley 12 chain crawler 12a roller link plate 13 grounding teeth 20 sediment suction part 21 horizontal axis 22 roller brush 23 Brush Cover 30 Mounting Section 31 Video Camera 40 Centrifuge 50 Filter 70 TV Monitor 80 Operation Panel 91 Suction Pump 92 Suction Hose 93 Signal Cable

 ──────────────────────────────────────────────────の Continuing from the front page (71) Applicant 592080327 Kobe Mechatronics Co., Ltd. 3-2-2-1, Nishiakashikita-cho, Akashi-shi, Hyogo (72) Inventor Haruki Hasegawa 1-1-3 Uchisaiwaicho, Chiyoda-ku, Tokyo Tokyo Electric Power Company (72) Inventor Osamu Sakai 1-3-1 Uchisaiwaicho, Chiyoda-ku, Tokyo Tokyo Electric Power Company (72) Inventor Yusei Asaba 1-3-3 Uchisaiwaicho, Chiyoda-ku, Tokyo Tokyo Electric Power Company Inside the company (72) Inventor Kazunari Kitasumi 1-3-1 Uchisaiwaicho, Chiyoda-ku, Tokyo Tokyo Electric Power Company (72) Inventor Yasuhiro Hori 8-2-1-1, Ginza, Chuo-ku, Tokyo Takenaka Corporation (72) Inventor Yasuo Masumi 8-21-1, Ginza, Chuo-ku, Tokyo Inside Takenaka Corporation Tokyo Main Store (72) Inventor Shinada Chapter 8-21-1, Ginza, Chuo-ku, Tokyo Inside Takenaka Corporation Tokyo Main Store (72) Inventor Masazumi Shimo 8-21-1, Ginza, Chuo-ku, Tokyo Inside Takenaka Corporation Tokyo Main Store (72 ) Inventor Hideaki Yamazaki 15-1 Tomikucho, Shinjuku-ku, Tokyo Mitsubishi Heavy Industries Shinjuku Building Mitsubishi Heavy Industries East Japan Sales Co., Ltd. (72) Inventor Jo Mosuguchi 3-2-1-21 Nishiakashikitamachi, Akashi City, Hyogo Prefecture Kobe Mechatronics Co., Ltd. F term (reference) 3B116 AA33 AB51 BA02 BA14 BA35 BB73 BB75 BB77 CD22 CD31 CD41

Claims (6)

[Claims] 1. A cleaning robot part which is provided at least with a sediment suction part for sucking sediment in a bottom of a water tank together with water, and which is put in and out of the water tank and runs on the inner bottom, and a cleaning robot part outside the water tank A sediment separation unit connected to the cleaning robot unit by a suction hose via a suction pump and separating and removing sediment sucked and conveyed from water; and An operation unit for monitoring and controlling a running and cleaning operation of a robot unit, the apparatus for removing sediment in a water storage tank. 2. A wide roller brush for rotating a sediment suction unit of a cleaning robot unit around a horizontal axis provided at a head of a traveling unit to contact and clean a bottom of a water storage tank, and the roller brush. The water reservoir according to claim 1, further comprising: a brush cover having a shape covered with a brush cover and a lower portion thereof opened, and the brush cover is provided with a suction port for sediment connected to a suction hose. Sediment removal device in the tank. 3. The running of the cleaning robot unit using a chain crawler, wherein the chain crawler is provided with a grounding tooth protruding from a roller link plate thereof. A device for removing sediment in a water storage tank as described in the above. 4. The sediment separating section has a centrifugal separator and a filter for further removing fine particles from the water from which sediment has been removed through the centrifugal separator. The apparatus for removing a sediment in a water storage tank according to any one of claims 1 to 3, wherein the apparatus is configured to return to the condition. 5. The driving unit has a television monitor and an operation panel, and monitors and controls the running and cleaning operation of the cleaning robot unit while watching an image taken by the cleaning robot unit. An apparatus for removing sediment in a water storage tank according to claim 1. 6. The operation unit has a television monitor and an operation panel, and can inspect the inside of the water storage tank while watching an image taken by the cleaning robot unit.
5. The apparatus for removing a sediment in a water storage tank according to any one of claims 4 to 4.