JPS60179390A - Submersible cleaning machine having floating force controlling function - Google Patents

Abstract

PURPOSE:To perform underwater cleaning work reliably by providing cylindrical floats having variable air volume in front and rear of the impeller of an outerboard cleaning machine to be mounted on an adsorption travel truck and making the floating force of cleaning machine regulatable. CONSTITUTION:In a cleaning machine to press against an underwater outerboard through rotation of impeller thus to remove ocean livings adhered onto the surface by means of a cleaning brush, cylindrical floats 30, 31 are provided symmetrically in front and rear or to the left and right of an impeller 1A. The volume of air chamber in said floats 30, 31 is made variable by controlling the supply of air through an air transmission tube 32 thus to regulate the floating force of floats 30, 31. Various floating force of sea water or pure water can be regulated effectively through said floats 30, 31 resulting in reliable and efficient cleaning work under the water.

Description

[Detailed Description of the Invention] This invention is for cleaning deposits stuck to an object to be cleaned (hereinafter referred to as an object to be cleaned) such as a ship or a building located below the surface of water such as the sea or a lake. The present invention relates to an underwater cleaning machine, particularly an underwater cleaning machine having a buoyancy control function.

By the way, living organisms such as seaweed and shellfish, and contaminants such as oil adhere to the underwater surface of ships, etc., so these 1,11 kimonos must be removed periodically or at desired times to maintain beauty and performance.

For this reason, in the past, this was used as one of the cleaning means, and a diver used a scraper to remove the stuck objects one by one. However, such manual work is extremely inefficient, and in the case of large ships, etc., there is a problem that the 1-1 number and the burden on the manpower become large.

There are cleaning machines that solve this problem, such as the first one.
An underwater cleaning machine, the schematic structure of which is shown in Figures 1 and 2, has been proposed (for example, Utility Model Application No. 53-32107).
, left and right behind the main body 100A of the underwater cleaning machine 100 and 1
In the center of one side are cylindrical outer a101, 102 and 10.
Impellers 104 to 106 are arranged concentrically within the cylinders of these outer shells 101 to 103.
The bottom surface of the main body 100A is pressed against the surface of the object to be cleaned by the propulsive force generated by the rotational drive of By steering the driving wheel +10 to the left or to the right R, the underwater cleaning machine 10
I am trying to change the running direction of 0.

Further, cleaning brushes 107 to 109 for removing deposits from objects to be cleaned are provided on the bottom surface concentrically with the impellers 104 to 106.
These cleaning brushes 107 to 10 driven by brushes 4 to 108
The rotation of 8 removes stuck objects stuck to the surface of the object to be cleaned. In this case, the outer shell! The rotation direction of the impeller 104 and cleaning brush 107 in the outer shell 102 is opposite to the rotation direction of the impeller 105 and the cleaning brush 108 in the outer shell 102.

The impeller 106 and cleaning brush 109 inside the front outer shell 103 rotate in the L2 or R2 direction. Furthermore, an operating lever 114 for operating and manipulating the cleaning work is provided above the main body 100A, and a handrail 115 is provided for the operator to hold his/her hand while performing the work. , making the operation of the cleaning work groove convenient. At the top of outside H101-103, there is a collection net +0 for collecting the biting objects removed by cleaning work.
1A to 103A are taken by +1.

In such a configuration, the cleaning machine +00 is operated by operating lever 1.
It is operated by 14 operations, but its running direction is determined by the driving wheels installed at the rear! Since it is controlled by the steering wheel of 10, it is not possible to change direction at the same position, and the direction must be changed in a circular arc. It had the disadvantage that it could not go straight unless the direction was corrected to its original position. Also, the impellers 104 to +06 and the cleaning brush 1 connected thereto.
Since 07 to +09 are an odd number (3 in this example), even if the rear outer shells +01 and 102 are balanced by reversing the driving directions, the front outer shells +01 and 102 are balanced.
Since the rotation direction of the impeller 106 and the cleaning brush +09 in the cleaning brush 3 must be set to L2 or R2, there is a drawback that the overall balance cannot be maintained.

Furthermore, since the cleaning brushes 107 to LO8 are fixed to the impellers 104 to 108, respectively, there is no problem if the cleaning surface is flat, but there is a drawback that they cannot reliably clean uneven cleaning surfaces. Because it cannot move downward, depending on the position of the cleaning machine 100, the cleaning brush may come into contact with the surface of the object to be cleaned, and in some cases, the cleaning brushes 107 to 109 may also be affected by the collision. There was a risk of damaging the object to be cleaned. In addition, the conventional underwater cleaning machine 10
0 does not give any consideration to the buoyancy control or attitude control of the cleaning machine body 100A, so there is a large difference in buoyancy between fresh water and salty seawater, making it difficult to perform cleaning tasks smoothly. There have been many problems in terms of energy consumption, such as the attitude state of the cleaning machine 100 becoming unbalanced depending on the running direction of the cleaning machine 100, and particularly strong driving force being required.

The present invention was made in view of the above-mentioned circumstances, and an object of the present invention is to provide an ice cleaning machine that can smoothly and reliably clean objects under water.

This invention will be explained below.

This invention presses the cleaning machine body against the surface of an object to be cleaned in water by rotating an impeller provided approximately in the center of the cleaning machine body, and the bottom part of the cleaning machine body pressed against the surface of the cleaning body is The cleaning brush, which is arranged concentrically with the roller, is rotated to remove deposits on the surface of the object to be cleaned, and the main body of the cleaning machine can be moved at the surface of the object to be cleaned. This relates to a submersible ice cleaning machine, which is equipped with cylindrical floats that can change the air capacity forward and backward or left and right of the impeller to control the buoyancy of the cleaning machine in the water.

FIGS. 3 and 4 (A) to (C) are an external view and a structural view showing an embodiment of the present invention, respectively. An elliptical cavity IA is provided in the center of the cavity I.
Inside A, cylindrical inner chambers 2 and 3 are installed, and impellers 4 and 5 are installed in the inner chambers 2 and 3, respectively, and below the impellers 4 and 5 are universal joints. I-I sweeping brushes 6 and 7 are connected through I-IQ, .10.

The impellers 4 and 5 are operated by hydraulic motors 8 and 9 which are connected to each other. It is designed to be rotated in the opposite direction. Further, an elevating mechanism 20 for vertically moving the entire mounting member 21 fixing the impellers 4 and 5 using a hydraulic cylinder is disposed in the inner chambers 2 and 3, and this elevating mechanism 20 is used for the cleaning machine. It is controlled by a control lever 63 (or remote control) provided at the rear of the main body l. In addition, device member 2
1 has a hydraulic motor 8 (or 9) fixedly attached,
The impeller 4 (or 5) is connected to the F side of this hydraulic motor 8 (or 9), and the cleaning brush 6 (or 7) is also connected via the universal joint 1O, so that the lifting mechanism 20 By moving the mounting member 21 up and down, the cleaning brushes 6 and 7 can freely move within the I (upper limit) and II states (lower limit) shown in FIG. 4(B).

On the other hand, flows 1-30 and 31 according to the present invention for controlling the buoyancy of the main body 1 in a well-balanced manner are arranged in parallel in the main body 1 in the front direction and the rear direction of the inner chambers 2 and 3, respectively. Above the floats 30 and 31, an attitude control device W40 having a perfectly circular cross section and a hollow interior is disposed so as to surround the inner chambers 2 and 3, and the attitude control device W40 is arranged so as to surround the inner chambers 2 and 3. It is designed to take control. Further, four driving wheels 51 to 54 for running are arranged on the square bottom of the main body l, and two driving wheels 5], 52 and 53, which move in the forward or backward direction. 54 are driven independently and in series by hydraulic motors 55 to 58. moreover,
Handrails 61 are provided around the outside of the main body 1 for the convenience of workers, such as holding their hands, to make it easier to work in dark places such as on the seabed or to prevent danger. , lights 62 for illuminating the front and rear are respectively disposed at the bottom. Note that a collection net may be provided above the cavity IA to collect deposits that have been cleaned and removed.

Also, Figure 5 shows the impellers 4, 5 and cleaning brushes 6.7.
The figure shows the structure of the universal joint 10 in detail, as well as the universal joint 10 that connects the universal joint 10. For example, by rotating the impeller 4 in the direction M in the figure with a hydraulic motor 8, thrust in the direction D is obtained. The rotation of the impeller 4 is transmitted to the cleaning brush 6 via the universal joint 10, and the connection of the universal joint 10 causes the cleaning surface C8 of the cleaning brush 6 to be transmitted to the cleaning brush 6.
is inclined in any direction depending on the curved surface of the object to be cleaned. A spring 11 is installed between the impeller 4 and the cleaning brush 6 so as to surround the universal joint IO, and holds the cleaning surface C8 of the cleaning brush 6 horizontally in a steady state. There is. Further, the hydraulic motor 8 is fixed to a mounting member 21 and coupled via an engagement piece 23 to a cylinder forest 22 of the y1 lowering mechanism 20 which is fixed to the main body l side. The elevating mechanism 20 is composed of a cylinder 28 with a built-in piston 26, and one chamber 1 divided by the piston 26 is configured to receive and discharge hydraulic pressure through an injection pipe 26, and is connected to other chambers. Hydraulic pressure is injected into and discharged from the injection pipe 25 through the injection pipe 25. Injection tubes 25 and 2
If the amount of oil pressure in both chambers divided by the piston 26 is changed at 6, the piston 26 is driven upward, and the mounting member 2 is moved through the sill ring 22 and the engagement piece 23 connected thereto.
1 also moves up and down. FIGS. 6(A) and 6(B) show an example of the structure of the universal join Jio, in which the fixing member 12 of the cleaning brush 6 having four parts is connected to the transmission member 16 of the impeller 4 having crossed four parts. A member 13 is provided, the coupling member 13 and the fixing member 12 are pivotally supported by a pin 15, and the coupling member 13 and the transmission member 16 are pivotally supported by a pin 14, so that the transmission member 16
The rotational force is directly transmitted to the cleaning brush 6, and the cleaning brush 6 can change the direction of the cleaning surface C5 in any direction. In addition, the universal joint l
O is not limited to the structure shown in FIGS. 6(A) and 6(B), and transmits the rotational force of the impeller 4 as it is, and also changes the direction of the cleaning surface C5 of the cleaning brush 6 connected thereto by pressing it. Any device that can be moved in any direction depending on the surface of the object to be cleaned may be used.

Furthermore, FIG. 7 schematically shows the general structure of the underwater cleaning machine of the present invention in terms of the correspondence between the floats 30 and 31 and the driving wheels 51 to 54. Air transmission pipe 3 from the air pump provided
2, respectively, and the floats 30 and 31 are arranged symmetrically with respect to the cavity 1A to maintain overall balance.

The structure and operation of flow) 30.31 will be described later. Also,
Driving wheels 51 to 54 are arranged at the four corners of the bottom of the main body 1, and the drive system for these IJIJ wheels 51 to 54 is as shown in Fig. 8, and the hydraulic pressure is supplied two lengths from the hydraulic pipe T1. The valve control circuit 5
0 and 59 are directly connected to the hydraulic pipe T2, and the hydraulic motor 5
5 to 57 are connected by hydraulic pipes T4 to T9, respectively.

In such a configuration, the two driving wheels 51, 52 and 53° 4, which are parallel to the forward and backward forces m, are each controlled at a constant speed and in the same running direction, together with 2! It becomes more and more independently controlled. That is, when controlling the driving wheels 51 and 52 in the forward direction and causing the other driving wheels 53 and 54 to travel in the same direction, the valve control circuits 50 and 59 are controlled as shown in FIG. 9(A). Switch to
Hydraulic pressure from the valve switching W path 50 is branched into hydraulic pipes T4 and T7 and manually applied to the hydraulic motors 58 and 58,
0 and the hydraulic motor 5 via the hydraulic pipe bottom 5 and T8, respectively.
The hydraulic pressure from the hydraulic motors 55 and 57 is inputted to the valve control circuit 58 through the hydraulic pipes T7 and T9, and is discharged from the hydraulic pipe T3. In this case, the hydraulic pipes T4 and T7 are controlled by the valve switching circuit 50.
The amount of hydraulic pressure flowing into the cleaning machine can be individually controlled, and thereby the speeds of the hydraulic motors 55, 56 and 57, 58 can be changed, and by changing the speeds of both, the running direction of the cleaning machine can be controlled. be able to. Of course,
When traveling straight, both speeds should be the same. Also,
When changing the direction of the cleaning machine at the same place, as shown in FIG. 9(B), one of the driving wheels 51 and 52 is driven in the forward direction and the other driving wheels 53 and 54 are driven backward by 1. It is only necessary to control the valve switching circuits 50 and 59, and the inflow direction of the hydraulic pressure into the hydraulic pipes T1 to T8 is controlled as shown in the figure.

As a result, the direction of the cleaning machine can be changed at the same location without taking up space for changing direction.Similarly, the driving wheels 51 and 52 are moved backward, and the other driving wheel 53
．． It is also possible to control 54 to move forward.

Furthermore, forward and backward control is also possible by controlling the valves in the switching circuit 59 for the valve 9.

On the other hand, FIGS. 10(A) and 10(B) show the structure of a flow 1-30 (nu is 31) according to the present invention, and the float 30 is composed of a cylindrical sill 33,
A screw such as an 0 ring is installed inside the sill 33).
A piston 34 is fitted therein, and this piston 34 divides the interior of the sill 33 into an air chamber 35 and an ice chamber 36. A liquid input/output pipe 37 is provided on the wall of the ice chamber 36 through which liquid such as seawater can freely flow in or out.
A spring 38 is loaded with a neutral force that constantly slides 4 in the M direction. By controlling the amount of air supplied from the air transmission pipe 32, the volume of the air chamber 35 can be varied, thereby increasing the flow 130! ?
I try to control my power. That is, when air is pressurized into the air chamber 35, the piston 34 is slid in the N direction,
When the liquid in the ice chamber 36 is discharged from the liquid input/output pipe 37 and the buoyancy of the float 30 increases, and the air pressure from the transmission pipe 32 is reduced, the spring 38 suppresses the liquid and the deep water flowing in from the input/output pipe 37 increases. The pressure causes liquid to naturally flow into the ice chamber 36, and the piston 34 is slid in the M direction to reduce the capacity of the air chamber 35, thereby reducing the buoyancy of the float 30. In this way, the air chamber 35
The buoyancy of the flow (30) can be freely controlled by varying the capacity of the air injected from the transmission 'l' 32.Then, such floats are placed symmetrically on both sides of the cavity IA. By arranging the buoyancy of the cleaning machine in a balanced manner, it is possible to accurately control the buoyancy of the cleaning machine.The number of floats does not have to be two, and they can also be placed on the left and right sides. good.

Furthermore, the float is not limited to a shilling shape, but may have a structure that allows the air capacity to be changed.

Further, FIG. 11 shows the structure of the attitude control device 40, in which a fixing member 41 having a perfectly circular hollow structure is fixedly disposed at the peripheral edge of the cavity IA.
1 has a rectangular cross-sectional structure as shown in FIG. 12, and a large number of freely movable metallic balls 42, such as pachinko balls, are sealed in this cavity. These large numbers of balls 42 can move freely in the cavity within the fixed member 41, and in the state of water, they are scattered almost uniformly within the cavity, and when the cleaning machine body 1 is When placed in an inclined position, the enclosed ball 42 moves in one direction, as shown in FIG. 13, for example, and its center of gravity moves in the direction of movement. Thereby, when controlling the movement of the cleaning machine main body 1, there is no need to control the handle operation etc. with a large driving force, and the posture can be quickly changed even with a small power. Such attitude control has great significance in reducing the driving force of the cleaning machine main body through g-force control, since the underwater cleaning machine of the present invention is operated underwater in a zero gravity state.

In the configuration as described above, the cleaning machine operates /< -8
The impellers 4 and 5 are rotated by the operation 3, and the cleaning machine is pressed against the surface of the object to be cleaned by the propulsion force generated by this rotation, and also freely travels on the surface of the object to be cleaned by driving the driving wheels 51 to 54. In this state, cleaning brushes 6 and 7
is raised to the 1st position. When the cleaning position is reached, the lifting mechanism 20 is activated to lower the cleaning brushes 6 and 7, and the cleaning brushes 6 and 7 are rotated at position 11 for cleaning. The cleaning brushes 6 and 7 are formed of metal pieces or metal sides, and can remove shellfish, seaweed, etc. adhering to the surface of the object being cleaned by the pressing force and rotational force thereof. In this case, buoyancy control by the floats 30 and 31 and attitude control by the attitude control device 4o are also performed.

As described above, according to the underwater cleaning machine of the present invention, since the number of impellers and cleaning brushes is an even number (two in this example), the balance of the underwater cleaning machine may be lost due to rotation of the impeller and cleaning brushes. The buoyancy of the underwater cleaner can be accurately controlled even if there is a difference in buoyancy due to the difference in the salt content of fresh water or seawater, as there are floats to control the buoyancy on the front and rear or left and right sides of the cleaner. can do. In addition, since it has a built-in posture control function that allows moving objects to move freely within the cavity, it is possible to change the direction of the underwater cleaning machine or when moving the cleaning machine onto an inclined surface. If the moving object moves in the moving direction, it will immediately move in the moving direction, so it is important to accurately control the position of the underwater cleaning machine with small power.

[Brief explanation of drawings]

Fig. 1 is an external view showing an example of a conventional underwater cleaning machine, Fig. 2 is a diagram for explaining its functions, and Fig. 3 is an illustration of the present invention.
・An external view showing an embodiment, FIG. 4(^) is a front view of a partially sectional structure showing an embodiment of the present invention, and FIG. Figure (C) is a front view showing the front structure in partial cross section, Figure 5 is a diagram showing details of the structure of the impeller and cleaning brush, and Figure 6 (A) is a front view showing the structure of the universal joint. , the same figure (B
) is a side view thereof, FIG. 7 is a configuration diagram schematically showing a structural example of the present invention, FIGS. 8 and 9 (A) and (B) are diagrams for explaining the driving wheel control device, respectively. Figure 10 (
A) is a cross-sectional structural diagram of the float used in this invention;
B) is a side view thereof, FIG. 11 is a functional diagram showing a structural example of the attitude control device, and FIG. 12 is a #r physical diagram of the attitude control device.
FIG. 13 is a diagram for explaining an example of posture control. 1...Main body, IA...Cavity, 2.3...Inner chamber, 4
．． 5... Impeller, 6.7... Cleaning brush, 8,
9...Hydraulic motor, 10...Universal joint, 11...Spring, 12...Fixing member, 1
3... Coupling member, 16... Transmission member, 20... Elevating mechanism, 21... Mounting member, 22... Syrinta Hayashi,
23... engaging piece, 24. , 25... Pillar entry pipe, 2G.
...Piston, 28...Cylinder, 3Q, 31...
Float, 32...Air transmission pipe, 33...Cylinder, 34...Piston, 35...Air chamber, 36...
Ice room, 37...Liquid input/output pipe, 38...Spring,
40... Attitude control device, 41... Fixed member, 42.
...Ball, 50, 59...Valve control circuit, 51-54.
... Driving wheel, 55-58 ... Hydraulic motor, 61 ... Handrail, 62 ... Light, 63 ... Operation lever, 70
...Gear machine a. Applicant's agent Yasugata Yu -mo/θδ Tail 2 figure/θθ Desk 5 Leap C5 #6 figure (8) +Aλ (, 41 persons ξ q Piri (B) <Al Sign p / () Figure (B) 0 White L73 figure

Claims (4)

[Claims] (1) The cleaning machine body is pressed against the surface of the object to be cleaned in water by the rotational drive of the 1'knee' para which is provided approximately at the center of the cleaning machine main body, and the cleaning machine body is pressed against the surface of the object to be cleaned in the water. Rotate the cleaning brush disposed in the shape of an impeller at the bottom of the cleaning machine main body (1) to remove the particles adhering to the surface of the object to be cleaned,
Iij No. 7 # Underwater where the main body of the female aircraft can be run on the surface of the object to be cleaned! n N1 machine, a cylindrical float with a buoyancy control function characterized in that a cylindrical float that can change the air capacity after mi of the impeller or on the left and right sides is provided to control the buoyancy of the cleaning machine body in the water. Cleaning machine. (2) The float is composed of a cylindrical cylinder and a piston fitted into the cylinder, so that pressurized air can be introduced into one chamber divided by the piston, and environmental water can be introduced into another chamber. An underwater cleaning machine with a buoyancy control function according to claim 1. (3) The buoyant force according to claim 1 or 2, wherein an elastic member is provided to constantly press the piston in the -chamber direction so as to be in contact with the inner wall of the cylinder of the Mii storage chamber. Underwater cleaning machine with control function. (4) The buoyancy-controlled all Ia underwater cleaning machine according to claim 3, wherein the front and rear or left and right floats are arranged point-symmetrically.