Removal work machine

Abstract

To provide a removal work machine that enables deposits to be easily removed.SOLUTION: A removal work machine A comprises: a running portion 11 that runs inside a waterway D; a sweeping portion 32 that rotates in front of the running portion 11 to sweep up sediment and move it rearward; a scraper 331 that is positioned below the sweeping portion 32, is configured to swing its tip portion at a front side in a travel direction, performs sweeping work with the sweeping portion 32, scrapes off sediment that cannot be scooped up, dredges up the sediment moved by the sweeping portion 32, and guides it diagonally upward to the rear; and a transport portion 41 that transports the sediment moved by the sweeping portion 32 and the scraper 331 diagonally upward to the rear.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a removal machine. In irrigation channels and drainage channels (hereafter referred to as waterways), sediment can accumulate in channels that have not been used for a long period of time without water flowing in. This is a machine that shovels up this sediment. [Background technology]

[0002] Patent Document 1 discloses a working machine for scraping up sediment accumulated in irrigation channels, drainage channels, and the like (hereinafter referred to as channels). Patent Document 2 discloses a device for scraping off mud from reservoirs. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 10-121516 [Patent Document 2] Japanese Patent Application Publication No. 7-82763 Summary of the Invention [Problem to be solved by the invention]

[0004] The form of Patent Document 1 scoops up the soil and sand to the top of the scooping plate while moving forward, and scoops up the soil and sand so that it reaches the upper scooping conveyor. On the other hand, the soil and sand accumulated at the bottom of the waterway may become hard and compacted over a long period of time due to exposure to wind and rain. In this case, it is not easy to penetrate the accumulated soil and sand with the scooping plate, and it may be difficult to continue the work. Assume that the configuration of Patent Document 2 is used in a waterway. However, gravel, stones, etc. may be mixed in with the sediment at the bottom of the waterway. The gravel, stones, etc. may vary in size from about the size of a thumb to about the size of a fist, but are relatively large compared to the sediment. When the scraping claws are used to scrape gravel, stones, etc., the gravel, stones, etc. may become caught between the rotating scraping claws and the bottom plate, the inside of the bucket, and the cover, and the scraping claws may become unable to rotate. [Means for solving the problem]

[0005] The present invention relates to A running part that runs within the waterway; a raking section that rotates in front of the traveling section to raking in the pile and move it rearward; a scraper disposed below the raking section and adapted to swing a tip portion on the front side in the traveling direction, the scraper performing a raking operation in the raking section, scraping off deposits that could not be raked in, and dredging up and rearward the deposits that have been moved by the raking section; A conveying section that conveys the pile moved by the raking section and the scraper diagonally upward and rearward; A removal work machine comprising: relates to.

[0006] The present invention further comprises: The tip of the scraper is located below the rotation center of the raking part. A removal work machine characterized by: relates to.

[0007] The present invention further comprises: The rotation radius of the raking portion is greater than the distance from the rotation center of the raking portion to the scraper. A removal work machine characterized by: relates to.

[0008] The present invention further comprises: The sweeping section includes a plurality of elastic brushes arranged at intervals in the circumferential direction on a rotating shaft that is a left-right axis with respect to the direction of travel, and arranged in a plurality of rows in the axial direction of the rotating shaft and driven to rotate, The rotation radius of the brush is greater than the distance from the axis of the rotation shaft to the scraper. A removal work machine characterized by: relates to.

[0009] The present invention further comprises: The raking portion has an attachment portion for attaching the brush; a scraper provided on the mounting portion and having an elasticity such that the radius of rotation of the tip is equal to or smaller than the distance from the axis of the rotating shaft to the scraper; A removal work machine comprising: relates to. Effect of the Invention

[0010] The present invention has been made in view of the above-mentioned problems, and is capable of providing a removal machine that makes it possible to easily remove deposits. [Brief description of the drawings]

[0011] [Figure 1] 1 is a side view of a removal work machine according to an embodiment of the present invention, in a working position. [Diagram 2] 1 is a plan view of a removal work machine according to an embodiment of the present invention, showing the removal work machine in a working position. [Diagram 3] 1 is a front view of a removal work machine according to an embodiment of the present invention in a working state, showing a working posture. [Figure 4] 1 is a rear view of the removal work machine according to the embodiment of the present invention, in a working position. [Diagram 5] 1 is a plan sectional view of a running portion of a removal work machine according to an embodiment of the present invention. [Figure 6] 1 is a cross-sectional view of a running portion of a removal work machine according to an embodiment of the present invention, as viewed from behind. [Figure 7] 1 is a cross-sectional view of a running part of a removal work machine according to a first embodiment of the present invention, seen from behind. [Figure 8] 1 is a side cross-sectional view of a working portion of a removal work machine according to an embodiment of the present invention. [Figure 9] 1 is a plan sectional view showing a schematic view of a working section of a removal work machine according to an embodiment of the present invention; [Figure 10] 1 is a partial cross-sectional side view of a working section of a removal work machine according to a first embodiment of the present invention. [Figure 11] 1 is a side cross-sectional view of a removal work machine according to an embodiment of the present invention, showing a lifting mechanism in a working position with both wheels raised; [Figure 12] 1 is a side cross-sectional view of a removal work machine according to an embodiment of the present invention, with the lifting mechanism in an auxiliary movement position (the crawler and the wheels are in contact with the ground) or in a free movement position (the crawler is not in contact with the ground, and the wheels are in contact with the ground). [Figure 13] 1 is a side view of a removal work machine according to an embodiment of the present invention, with the lifting mechanism in an auxiliary movement position (the crawler and the wheels are in contact with the ground) or in a free movement position (the crawler is not in contact with the ground, and the wheels are in contact with the ground). [Figure 14] 1 is a side view of a removal work machine according to an embodiment of the present invention, in a loading position. [Figure 15] 1 is a side view of a removal work machine according to an embodiment of the present invention, in a storage position and in a placed state. [Figure 16] 1 is a side view of a removal work machine according to an embodiment of the present invention, showing entry into and exit from a waterway, in an auxiliary posture (crawlers and wheels are in contact with the ground) or a free movement posture (crawlers are not in contact with the ground and are floating), with the machine body disposed in a portion without a waterway groove. [Figure 17] 1 is a side view of a removal work machine according to an embodiment of the present invention, showing entry into and exit from a waterway, in a free movement posture (where the crawlers are not on the ground but floating) and with the machine body positioned above a waterway groove. [Figure 18] 1 is a side view of a removal work machine according to an embodiment of the present invention, showing entry into and exit from a waterway, in a state in the middle of transitioning from a free movement posture (a state in which the crawler is not on the ground and is floating) to a working posture, and in a state in which the machine body is in the middle of entering a waterway groove. [Figure 19] 1 is a side view of a removal work machine according to an embodiment of the present invention, showing entry into and exit from a waterway, in a working attitude with the machine body placed on the bottom surface of the waterway and a front auxiliary arm in a forward protruding state. [Figure 20] Fig. 2 is a side view of the removal work machine according to the embodiment of the present invention, which is a view for explaining loading onto a loading platform, in which the loading posture is shown and the front auxiliary arm is in a raised state before loading. [Figure 21] Fig. 2 is a side view of the removal work machine according to the embodiment of the present invention, which is a view for explaining loading onto the loading platform, showing a loading posture with only the running part placed on the support board. [Figure 22] Fig. 2 is a side view of the removal work machine according to the embodiment of the present invention, which is a view for explaining loading onto the loading platform, showing the loading posture with the running part and the auxiliary wheels placed on the support board. [Figure 23] Fig. 2 is a side view of the removal work machine according to the embodiment of the present invention, which is a view for explaining loading onto a loading platform, showing a storage posture with a rear auxiliary arm deployed and placed on the loading platform. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] A is a removal work machine. The outline of the removal work machine A will be explained. As shown in Figure 1, the removal work machine A is equipped with a running unit 11 capable of running within a waterway D, a working unit 31 located in front of the running unit 11 for removing deposits such as soil and garbage from within the waterway D, a lifting mechanism 21 which is a rotation mechanism for rotating the working unit 31 up and down, an operation unit 51 located behind the running unit 11 for operation, a control unit C which controls the motors (scratching motor 34) and actuators 23 owned by the running unit 11, the working unit 31, and the lifting mechanism 21 which is a rotation mechanism, and a battery B which serves as the power source for the motors (scratching motor 34) and actuators 23.

[0013] The following will describe the traveling section 11. As shown in Figures 13 to 15, the traveling section 11 travels on a traveling surface L and enables the removal work machine A to move. As shown in Figure 1 and subsequent figures, the running unit 11 is equipped with a pair of left and right running frames 111 that are long from front to back, a drive wheel 112 arranged at the front so as to be sandwiched between the pair of running frames 111, a driven wheel 113 arranged at the rear so as to be sandwiched between the pair of running frames 111, one crawler 114 that is wrapped around the drive wheels 112 and the driven wheels 113 and runs in contact with the running surface L, and a running motor 115 that drives and rotates the drive wheel 112. Since the removal work machine A can travel within the waterway D using the travel section 11, the width of the crawler 114 is narrower than the width of the waterway D.

[0014] 5, a large hole is drilled in the center of the drive wheel 112, and the travel motor 115 is placed in this hole. An exterior case 1151 of the travel motor 115 is fixed to the drive wheel 112, and an output shaft 1152 of the travel motor 115 is fixed to the travel frame 111. That is, the traveling motor 115 is provided so that the outer case 1151 side rotates relative to the traveling frame 111, and the rotation of the outer case 1151 is transmitted to the driving wheels 112, thereby driving the crawlers 114 to rotate. The traveling motor 115 is a type of motor having a low rotational speed shaft.

[0015] As shown in FIG. 5, the traveling motor 115 in a plan view is contained within the width of the crawler 114, so that the center of gravity of the traveling motor 115 can be positioned in the center of the left and right of the traveling unit 11, thereby maintaining the left and right balance of the traveling unit 11. Reference numeral 116 denotes a guide roller. The guide rollers 116 are provided to protrude outward from two locations on the sides of the machine frame 22 above the crawler 114 as shown in Figs. 1 to 3 and 7. In the case of this embodiment, the guide rollers 116 to be arranged on the left and right sides of the rear of the machine body are provided on the outside at two locations on the sides of the machine frame 22, and the guide rollers 116 to be arranged on the left and right sides of the front of the machine body are provided on the outside at two locations on the sides of the pick-up case 35 described later. The guide rollers 116 come into contact with the side of the waterway D to guide the travel of the removal work machine A and stabilize the travel of the removal work machine A.

[0016] The working unit 31 will now be described. The working unit 31 is located in front of the traveling unit 11 and performs work. The working unit 31 has a sweeping unit 32 that scrapes off the deposits in the waterway D by rotational motion and sweeps them rearward, a scraper 331 that scrapes off the deposits that could not be scraped by the sweeping unit 32 from the bottom of the waterway D and guides the deposits sent from the sweeping unit to be sent rearward, a transporting unit 41 that transports the deposits sent from the sweeping unit 32 and the scraper 331 diagonally upward and rearward, and a drive mechanism 61 that drives the transporting unit 41, the sweeping unit 32, and the scraper 331.

[0017] An overview of the sweeping section 32 constituting the working section 31 will now be described. The sweeping section 32 is positioned forward of the running section 11 and comprises a box-shaped sweeping case 35 that is open at the front and below, a rotatable rotor shaft 36 that is installed horizontally within the sweeping case 35 in the width direction in the direction of travel, a mounting member 37 for attaching a brush 322 and a sweeping plate 321 (described later) to the rotor shaft 36, a brush 322 that is attached to the mounting member 37 and scrapes off deposits in the waterway D and sweeps up deposits located above the waterway bottom surface D2, which is the running surface, a sweeping plate 321 that is attached to the mounting member 37 and assists the brush 322 in scraping and sweeping out, and a sweeping motor 34 that rotates and drives the rotor shaft 36.

[0018] The sweeping part 32 sweeps in the sediments and moves them rearward by rotating in front of the traveling part 11. Then, by moving the traveling part 11 forward, the sweeping part 32 sequentially sweeps in the sediments and removes them from within the waterway. The rotation radius of the sweeping part 32 is larger than the distance from the rotation center of the sweeping part 32 to the scraper 331. The sweeping part 32 is longer than the distance to the scraper 331. The sweeping part 32 bends and moves on the waterway bottom surface D2 and the scraper 331, making it possible to sweep out the deposits as if wiping them off. The sweeping section 32 is provided with a plurality of elastic brushes 322 arranged at intervals in the circumferential direction on a rotating shaft, which is the left and right axis relative to the direction of travel, and arranged in multiple rows in the axial direction of the rotating shaft and driven to rotate. The sweeping portion 32 comprises a mounting member 37 for mounting a brush 322, and a resilient sweeping plate 321 provided on the mounting member 37 and having a rotation radius at its tip that is equal to or smaller than the distance from the axis of the rotating shaft to the scraper 331.

[0019] The rotor shaft 36 and the suction motor 34 that constitute the suction section 32 will now be described. The rotor shaft 36 is cylindrical, and the suction motor 34 is attached inside the rotor shaft 36. As shown in FIG. 9, one end of the suction motor 34 is fixed via a fixing plate 361 arranged in the suction case 35, and the outer case 342 of the suction motor 34 is fixed integrally with the rotor shaft 36. The fixing plate 361 has a suction motor shaft 362, which is rotatably arranged in the suction case 342. The output shaft 341 arranged on the other end of the suction motor 34 is fixed to the suction case 35. In this case, the middle part of the output shaft 341 may be supported by a bearing or the like as shown in the figure. This allows the rotor shaft 36 to be supported by the suction motor shaft 362 and the output shaft 341. Then, when the outer case 342 of the suction motor 34 rotates, the rotation can be transmitted to the rotor shaft 36 to drive it. Also, with this configuration, the sweeping motor 34 does not protrude from the sweeping case 35, and can be contained within the working width of the sweeping section 32. The rotation direction of the rotor shaft 36 in a side view is such that the lower side moves rearward in the traveling direction (counterclockwise rotation direction in Figs. 1 and 8). As shown in FIG. 9, the suction motor 34 has a fixed output shaft 341 and an outer case 342 of the suction motor 34 fixed integrally with the rotor shaft 36 for rotation, which is the opposite of the usual mounting method of a motor. Therefore, the structure is simple.

[0020] The mounting member 37 constituting the recess 32 will be described. 3, the mounting member 37 is a U-shaped member when viewed from the front, and each end is fixed to both ends of the rotor shaft 36. A plurality of mounting members 37 are arranged at equal intervals in the circumferential direction of the rotor shaft 36. In this embodiment of the present invention, the mounting members 37 are arranged in three locations.

[0021] The brush 322 constituting the sweeping portion 32 will now be described. A brush 322 is attached to the rear side of the mounting member 37 in the direction of rotation. The brush 322 is a flexible linear member. In this embodiment of the invention, a wire rope is used in which a number of thin metallic wire members are bundled and twisted into a spiral shape, and the wire rope is attached to the mounting member 37 in a state where it is bent into a U shape, with the ends fixed so as to face in the radial direction of the rotation. The brush 322 is provided by fixing a number of U-shaped wire ropes to the mounting member 37, so that the bristles are uniformly planted in the axial direction of the rotor shaft 36 from the mounting member 37.

[0022] The brush 322 may be a flexible linear member, and there is no limitation on the type of material or the way of twisting. For example, the brush 322 may be formed by bundling multiple resin single-wire members. In addition, when twisting metal wire members, it is possible to form them so that their flexibility and elasticity are different depending on the way they are twisted and the combination of wires. Therefore, the shape of the wire can be changed depending on the environment in which it is used (for example, the state of the waterway D or the state of the sediments). In the embodiment of the present invention, the brush 322 is attached to the rear side of the mounting member 37 in the rotational direction.

[0023] The rotation radius of the brush 322 is set to be large. The rotation radius of the brush 322 is larger than the distance from the axis of the rotation shaft to the scraper 331. In Fig. 8, L1 is the maximum radius of the brush. In an operating state in which the lower end of the shovel case 35 of the shovel section 32 is in contact with or very close to the waterway bottom surface D2, which is the running surface, the straight-line distance from the center of rotation of the brush 322 to the waterway bottom surface D2, which is the working surface, is greater than the radius of rotation of the brush 322. In other words, the brush 322 bends or curves as it rotates while coming into contact with the work surface. The radial tip of the brush 322 in contact with the work surface bends backward in the direction of rotation as it moves as if sweeping the work surface. Therefore, the brush 322 can sweep away deposits backward in the direction of travel on the waterway bottom surface D2. The brush 322 in the embodiment is arranged to bend from approximately one-third of the total length of the brush 322 in a side view from the mounting member 37. This makes it possible to increase the amount of contact with the work surface not at the tip of the brush 322 but at the line on the side of the brush 322, improving the sweeping effect of the brush 322.

[0024] The following describes the suction plate 321 that constitutes the suction portion 32. A sweeping plate 321 is provided on the mounting member 37. The sweeping plate 321 is a plate-shaped flexible member having rubber properties, and is attached to the front side in the direction of rotation of the mounting member 37. The sweeping plate 321 is provided so that its radial tip relative to the radius of rotation is smaller than the radius of rotation of the brush 322, and when it comes into contact with and hits the bottom of the waterway D, which is the working surface, it bends backward in the direction of rotation and comes into contact with the working surface. That is, similar to the rotation radius of the brush 322, in a working state in which the lower end of the suction case 35 of the suction section 32 is in contact with or in close proximity to the waterway bottom surface D2, the linear distance from the rotation center of the suction plate 321 to the waterway bottom surface D2, which is the working surface, is greater than the rotation radius of the suction plate 321 and smaller than the rotation radius of the brush 322. The rotation radius of the suction plate 321 is smaller than the rotation radius of the brush 322, but is the length that contacts and hits the bottom of the waterway D, which is the working surface. With this configuration, when the suction plate 321 rotates and comes into contact with the working surface, the radial tip moves to wipe the working surface while bending backward in the rotation direction, so the working surface is not damaged.

[0025] The waterway bottom surface D2 is not necessarily uniformly flat, and there are waterways D with a variety of unevenness on the bottom surface, both large and small. In this case, by using a flexible material for the raking plate 321, damage to the raking plate 321 can be avoided even if the raking plate 321 comes into contact with the unevenness of the waterway bottom surface D2 as it rotates. In addition, since the raking plate 321 can bend in response to the unevenness while coming into contact with the uneven working surface, an improvement in the raking effect can be expected. Furthermore, when the deposits on the bottom surface D2 of the waterway are relatively light garbage or dust-like materials compared to soil and sand, this is even more effective, as the deposits in the waterway D can be scraped out in a wiping manner without leaking backward in the direction of rotation. The sweeping plate 321 and the brush 322 act alternately on the working surface. The rotation radius of the rake plate 321 and the brush 322 is equal to or less than the distance to the scraper 331 disposed below them. When the rake plate 321 and the brush 322 are positioned above the scraper 331, they move above the scraper 331 while bending as they rotate. Therefore, when the rake plate 321 and the brush 322 are positioned above the scraper 331 as they rotate, the radial tip side bends toward the rear side in the rotation direction. The rake plate 321 and the brush 322 rotate to sweep the sediment from the waterway bottom surface D2 onto the scraper 331, so that the sediment can also be neatly swept from above the scraper 331 to the transport section 41 side.

[0026] As another embodiment, the raking plate 321 may be a plate-shaped steel member. The radial tip of the raking plate 321 is set in a straight line so as not to come into contact with the work surface. This allows the sediments firmly piled up on the work surface, the waterway bottom surface D2, to be scraped backwards. Also, by setting the rotation radius of the raking plate 321 smaller than the rotation radius of the brush 322, it does not come into contact with the work surface, so that the rotation of the raking plate 321 does not damage the work surface. The sweeping plate 321 may be attached between the brushes 322. In Fig. 8, the sweeping plate 321 is attached together with the brushes 322, but the two may be separately provided in the rotation direction, with the sweeping plate 321 being provided between the brushes 322 in sequence.

[0027] The function and effect of the brush 322 and the rake plate 321 will be described. As shown in FIG. 8, a case will be considered in which the sweeping portion 32 is attached to the front side of each of a plurality of mounting members 37 in the rotation direction and the brush 322 is attached to the rear side thereof, and the mounting members 37 are rotated. (1) When the brush 322 and the rake plate 321 rotate toward the pile, the tip of the brush 322, which has the largest radius of rotation, comes into contact with the pile first. (2) The tip of the brush 322 bends backward as it rotates. At this time, any deposits that can be scraped off by the brush 322 are swept forward in the direction of rotation.

[0028] (3) Next, the tip of the rake plate 321, which has the second largest radius of rotation after the brush 322, comes into contact with the deposit. (4) As the tip of the sweeper 32 bends backward in the direction of rotation, it scrapes off any deposits it comes into contact with together with the deposits scraped off by the brush 322, and sends them forward in the direction of rotation, i.e., backward in the direction of travel of the machine. The deposits may contain relatively large foreign objects that are difficult to move. The sweeper plate 321 bends backward in the direction of rotation to avoid these foreign objects. In other words, the sweeper plate 321 bends backward in the direction of rotation to avoid the foreign objects that have become uneven in the scraping area. Of course, if the foreign object moves due to the sweeper plate 321, the foreign object is also moved backward in the direction of rotation by the sweeper plate 321.

[0029] (5) The brush 322 further bends backward in the direction of rotation along the path of the deposit scraped off by the deposit sweeper 32. At this time, there may be large holes left behind by the movement of large foreign objects, or small holes that cannot be scraped off by the sweeper plate 321, but the brush 322 can enter these holes and scrape them out. (6) The sweeping part 32 and the brush 322 move while bending over the deposits and the work surface, so that even after the deposits are removed and the work surface is exposed, they continue to rotate to sweep the work surface. This makes it possible to clean the work surface even more.

[0030] The scraper device 33 constituting the scraping section 32 will be described. The working section 31 has a scraper device 33 disposed below the raking section 32. The scraper device 33 has a scraper 331 that scoops up and removes the deposit from the traveling surface L, an eccentric shaft 332 that swings the scraper 331, a rod 333 that connects the scraper 331 and the eccentric shaft 332 and transmits the power of the eccentric shaft 332 to the scraper 331, and a sliding support section 334 that slidably holds the middle section of the rod 333.

[0031] The scraper 331 is a rectangular plate-like member provided with approximately the same width as the suction case 35, and its tip is located below the rotation axis of the suction section 32 at the bottom of the suction case 35. In a side view, the scraper 331 is disposed within the rotation area of ​​the brush 322 and the suction plate 321, and is provided at an incline so that the rear side is higher than the front side, and is curved along the rotation direction of the brush 322 and the suction section 32. In addition, the lower end of the scraper 331 is provided at approximately the same height as the lower end of the suction case 35.

[0032] The scraper 331 is positioned below the sweeping section 32 and is configured so that its tip portion on the front side in the direction of travel can swing. The scraper 331 performs sweeping work in the sweeping section 32, scraping off any deposits that could not be scraped in, and dredging up the deposits that have been moved by the sweeping section 32 and guiding them diagonally upward and rearward. The tip of the scraper 331 is located below the center of rotation of the scraping portion 32 . If the tip of the scraper 331 is located forward beyond the lower center, it will not be possible for the scraper 331 to be scraped in by the scraping portion 32. The scraper 331 itself will create resistance. The brush 322 and the rake plate 321 rotate and reach the scraper 331, where they scrape off the deposits on the scraper 331. The surface of the scraper 331 is cleanly swept away. The brush 322 and the raking plate 321 sweep away the sediment, and the remainder is scraped off by the scraper 331. The scraper 331 is positioned below the raking section 32, thereby improving the efficiency of the work of the raking section 32 and making it easy to scrape off the sediment stuck to the waterway bottom D2 that could not be scraped up by the raking section 32.

[0033] The eccentric shaft 332 and the rod 333 shown in FIG. 9 will be described. A rotatable eccentric shaft 332 is provided behind the scraper 331. The eccentric shaft 332 is driven to rotate by utilizing the power of the sweeping motor 34. This drive mechanism 61 will be described later. A rotatably connected rod 333 is provided to the eccentric shaft 332, and the rod 333 is connected to the scraper 331. A holding member 334 that slidably holds the rod 333 is provided at the middle part of the rod 333. The holding member 334 supports the scraper 331 by holding the rod 333, and allows the scraper 331 to swing at a fixed position. The eccentric shafts 332 are provided on the left and right sides of the direction of travel of the sweeping case 35, and are connected to the rear parts of both the left and right ends of the scraper 331, respectively, to the rearward-facing rods 333. In this embodiment, the eccentric phases of the eccentric shafts 332 disposed on the sides of the sweeping case 35 are set to be the same on the left and right. Therefore, the scraper 331 swings back and forth at the same timing at the left and right ends.

[0034] The oscillation and action of the scraper 331 will now be described. The scraper 331 can be swung by transmitting the eccentric motion of the eccentric shaft 332 through the rod 333. The scraper 331 swings in a substantially circular motion in a side view, and the swing width is preferably about 5 to 15 mm, and is set to about 10 mm in the embodiment. The tip of the scraper 331 swings, so that the tip of the scraper 331 can be continuously thrust into the deposits on the work surface at regular time intervals in conjunction with the rotation of the eccentric shaft 332. Then, the tip of the scraper 331 swings upward, peeling off and scooping up the thrust deposits from the waterway bottom surface D2. Then, the advancement of the machine body and the rotation of the brush 322 and the rake plate 321 of the rake unit 32 move the deposits to the rear side at the top of the scraper 331.

[0035] The presence of the oscillating scraper 331 makes it possible to scrape off any deposits that remain firmly stuck to the bottom surface D2 of the waterway and cannot be raked in by the above-mentioned raking section 32. This allows the deposits in the waterway D to be forcibly peeled off and moved backward by the raking section 32. As a result, the deposits in the waterway D can be removed. In addition, since the scraper 331 is located within the rotation radius of the brush 322 and the rake plate 321, the brush 322 and the rake plate 321 move on the scraper 331 in a wiping manner while bending backward in the rotation direction. Therefore, the scooped up deposits do not remain on the scraper 331.

[0036] The transport unit 41 will now be described. As shown in FIG. 1, the transport unit 41 transports the pile moved by the rake unit 32 and the scraper 331 in an upward and rearward direction. A transport section 41 is provided behind the raking section 32 and the scraper device 33. The transport section 41 has a conveyor 42 wound around a drive roller 43 and a driven roller 44 sandwiched between a pair of left and right side plates 45, with the upper part tilted diagonally backward. The transport section 41 moves the sediment moved rearward by the raking section 32 and the scraper device 33 rearward and upward. A discharge chute 47 is attached to the top of the conveyor 42, and the sediment that reaches the rear end of the upper part of the transport section 41 is transferred to the discharge chute 47 and discharged from the discharge chute 47 to the outside of the waterway D. The discharge direction of the discharge chute 47 is set up so that it can be changed to either the left or right of the traveling direction, allowing the transported sediment to be discharged to the left or right. The conveying section 41 is connected to a pivot 241 provided at the top of the running section 11 by a connecting member 24 provided at the bottom, and is rotatable relative to the running section 11. The raking section 32 and the scraper device 33 are fixedly disposed on the conveying section 41, and therefore rotate integrally with the rotation of the conveying section 41.

[0037] The driving roller 43 and the driven roller 44 that constitute the conveying section 41 will now be described. The driving roller 43 is disposed at the bottom of the conveying section 41, and the driven roller 44 is disposed at the top of the conveying section 41. The driving roller 43 and the driven roller 44 are disposed parallel to each other with their axial directions directed in the travelling width direction. The driving roller 43 is driven by the power of the sweeping motor 34. This driving mechanism 61 will be described later.

[0038] The conveyor 42 constituting the transport section 41 will be described. The conveying surface of the rotating conveyor 42 is set up so that the upper conveying surface moves from the front lower part to the rear upper part. The conveyor 42 has bars arranged at approximately equal intervals in the conveying direction. Even if the conveyor 42 is inclined, the bars support the piled material that is raked in, preventing it from falling downward. Bowl-shaped buckets may be used instead of the bars.

[0039] The transfer to the conveyor 42 will now be described. The pile moves on scraper 331 by the oscillation of scraper 331 and brush 322 and rake plate 321, and reaches the rear end of scraper 331. The pile at the rear end of scraper 331 is further pushed toward conveyor 42 by brush 322 and rake plate 321. The rotation radius of brush 322 and rake plate 321 is set so that they reach the transport surface of conveyor 42. Brush 322 and rake plate 321 bend backward in the rotation direction on scraper 331, and after passing the rear end of scraper 331, they return to their original shape due to their own elastic force and the centrifugal force caused by the rotation. After being restored, brush 322 and rake plate 321 reach the transport surface of conveyor 42, and the deposit moves from brush 322 and rake plate 321 to conveyor 42. If there are bars, brush 322 and rake plate 321 may be pressed down by the tips of the bars and may not completely restore to their original shapes, but the deposit moves onto the bars due to the inertia of moving on scraper 331.

[0040] The tray 46, which constitutes the transport section 41, will be described. A tray 46 is provided under the rotating conveyor 42. The tray 46 is curved in side view so as to follow the trajectory of the rails of the conveyor 42 that rotates around the drive rollers 43, and is provided so that the tips of the rails come into contact with the tray 46 or there is a slight gap between them. The pile that has moved over the scraper 331 and reached the rear end of the scraper 331 moves onto the crosspieces and is then moved diagonally upward and rearward by the conveyor 42, but the crosspieces are not always conveniently located at the rear end of the scraper 331. Also, it takes time for the brush 322 and the rake plate 321 to return to their original shapes and reach the conveying surface. In these cases, the pile may not reach the conveying surface or the bars of the conveyor 42. In such a case, the pile that reaches the rear end of the scraper 331 falls onto the tray 46, and then the pile on the tray 46 is scooped up by the succeeding bar and moves diagonally upward and rearward as the conveyor 42 rotates.

[0041] The discharge chute 47, which constitutes the conveying section 41, will be described. Discharge chute 47 is provided at the rear end of transport section 41. Discharge chute 47 moves upwards on conveyor 42, and receives the sediment that falls downward as the transport surface turns around at driven roller 44, and moves it in the desired direction. In this embodiment, it is provided so that the sediment falls on the outer side of water channel D on the right side of the traveling direction. Discharge chute 47 can be selected to face either left or right with respect to the traveling direction, and sediment can be discharged in the direction specified by the operator.

[0042] The driving mechanism 61 shown in FIG. 9 will be described. The driving source for driving the sweeping section 32, scraper device 33, and conveying section 41 that constitute the working section 31 is a single sweeping motor 34 of the sweeping section 32. That is, the rotation of the brush 322 and the sweeping plate 321, the swinging of the scraper 331, and the rotation of the conveyor 42 use the rotational power of the sweeping motor 34. The power for the sweeping motor 34 is supplied from a battery B located behind the traveling section 11.

[0043] The transmission configuration will be described with reference to Figs. As described above, the pickup motor 34 is housed within the rotor shaft 36. The pickup motor shaft 362 is fixed to one end of the rotor shaft 36, which rotates together with the exterior case 342 of the pickup motor 34, and protrudes from the side of the pickup case 35. A first gear 614 is fixed to the pickup motor shaft 362. The first gear 614 rotates integrally with the rotor shaft 36. In other words, the first gear 614 rotates integrally with the exterior case 342 of the pickup motor 34.

[0044] The pick-up case 35 is provided with two shafts 611 and 612 protruding from the side plate 45. A second gear 615 is rotatably supported on the shaft 611, and a third gear 616 is rotatably supported on the shaft 612. The third gear 616 rotates via the second gear 615 which receives the rotation of the first gear 614. The third gear 616 meshes with a fourth gear 617 fixed to a shaft 431 protruding laterally from the drive roller 43 of the transport section 41. The drive roller 43 of the transport section 41 rotates by receiving the rotation of the take-in motor 34. The conveyor 42 provided in the transport section 41 is driven to move in a circular motion such that the side facing upward moves upward and backward.

[0045] A fifth gear 618 that meshes with the fourth gear 617 is provided on the rear side of the fourth gear 617, and the rotation of the first gear 614 is transmitted to the fifth gear 618. A support shaft 613 that crosses the left and right sides of the pick-up case 35 is rotatably provided on the fifth gear 618 and rotates integrally with the fifth gear 618. An eccentric shaft 332 is fixed to both ends of the support shaft 613. The eccentric shaft 332 receives rotation of the pick-up motor 34 and transmits eccentric motion to a rod 333, causing the scraper 331 to swing. Reference numeral 62 denotes a gear cover which covers the gear components.

[0046] The rotation of the brush 322 and the rake plate 321 of the rake section 32, the rotation of the conveyor 42 of the transport section 41, and the swinging of the scraper 331 of the scraper device 33 are all driven by the rake motor 34 so that their operations are all linked. This eliminates the need to prepare separate drive sources such as motors for the operations of the transport section 41 and the scraper device 33, which contributes to simplifying the configuration of the device, particularly the configuration of the power system.

[0047] The lifting mechanism 21 will now be described. A lifting mechanism 21 capable of lifting the body of the removal work machine A is provided on the upper part of the traveling part 11. The lifting mechanism 21 can lift the entire body of the removal work machine A and rotate the working part 31 in the vertical direction. The lifting mechanism 21 is made up of a main arm 211, a front arm 212, a front link 213, a rear arm 214, a rear link 215, a wheel 216, a working link 217, a rear auxiliary arm 218, a front auxiliary arm 219, and a lock arm 220, which are described below, and are all configured as a pair on the left and right, and perform the same operation on the left and right. The lifting mechanism 21 includes at least the main arm 211, the front arm 212, the front link 213, the rear arm 214, the rear link 215, and the wheel 216. The lifting mechanism 21 can also include all of the link members such as the arms described above. The lifting mechanism 21 will be described assuming that it includes all of the link members. In the explanation, we will mainly explain the left side in the direction of travel, and omit the overlapping explanation of the right side unless otherwise specified.

[0048] The lock arm 220 constituting the lifting mechanism 21 will now be described. On the suction case 35, there is provided a front auxiliary arm 219 that can rotate at the front end of the suction case 35, and a lock arm 220 that can be fixed in each of a forward protruding state, a lifted state, and a stored state, which will be described later. The front end side of the lock arm 220 rotates up and down with the rear side in the traveling direction as a fulcrum. As shown in FIG. 1, an engagement hook portion 2201 that engages with a pin 2191 provided in the vicinity of the rotation fulcrum of the front auxiliary arm 219 is provided at the front end of the lock arm 220, and each position of the front auxiliary arm 219 is fixed by engaging the engagement hook portion 2201 with the pin 2191 that corresponds to each position of the forward protruding state, the lifted state, and the stored state.

[0049] The machine frame 22 constituting the lifting mechanism 21 will now be described. The lifting mechanism 21 is provided on a machine frame 22 which is the main frame of the machine. The machine frame 22 is a long member that is attached to the top of the traveling frame 111 of the traveling section 11. The machine frame 22 is U-shaped in cross section when viewed from the direction of travel, and is arranged to cover the crawler 114. The front end of the machine frame 22 is located above the driving wheels 112, and the rear end is located rearward of the driven wheels 113. The rear end of the side of the machine frame 22 has a rising portion 221 that is provided so as to rise upward, and an attachment fulcrum portion 222 for attaching an actuator 23 described later is arranged in the left-right center of the rising portion 221.

[0050] The main arm 211 constituting the lifting mechanism 21 will now be described. The main arm 211 is rotatably mounted on the body. A main arm 211 is disposed on the side of the middle part of the machine frame 22. The main arm 211 is a deformed triangular plate member, and the vicinity of the rear apex is provided on the rear side surface of the main arm 211 so as to be freely rotatable. As shown in FIGS. 11 and 12, 211A is a pivot point of the main arm 211.

[0051] A description will now be given of the actuator 23 that constitutes the lifting mechanism 21. The actuator 23 is a drive device that drives the main arm 211 to rotate. An actuator 23 is attached to a mounting fulcrum 222 at the rear of the body frame 22. In this embodiment, the actuator 23 employs a cylinder that is driven so that a rod 231 can protrude and retract, and the bottom side of the cylinder is attached to the mounting fulcrum 222. The tip of the rod 231 is attached to a rod mounting portion 232 that spans the front corners of a pair of main arms 211. The main arms 211 can be rotated by the protrusion and retraction of the rod 231 of the actuator 23. In this embodiment of the invention, when the rod 231 retracts, the front end of the main arm 211 rises, and when the rod 231 protrudes, the front end of the main arm 211 descends.

[0052] The front arm 212 constituting the lifting mechanism 21 will now be described. The front arms 212 are rotatably provided on the machine body forward of the main arms 211, and a pair of front arms 212 are arranged on the left and right sides so as to sandwich the running part 11 therebetween. The rotation direction of the front arm 212 is symmetrical to the rotation direction of the rear arm 214, which will be described later. A forearm 212 is connected to the front end of the body frame 22, forward of the main arm 211 in the traveling direction. The forearm 212 is a long member, and an intermediate portion 212A is connected to a side surface of the body frame 22 so as to be freely rotatable.

[0053] The front link 213 constituting the lifting mechanism 21 will now be described. The front link 213 connects the main arm 211 and the front arm 212 and links the movement of the main arm 211 to the movement of the front arm 212 . The front link 213 is a rectangular plate member, both ends of which connect the middle part of the base of the triangular main arm 211 and one end of the forearm 212. The rotational motion of the main arm 211 is transmitted to the forearm 212 via the front link 213, and the other end of the front link 213 can rotate from an upper position to a lower position via the front side, based on the connection fulcrum of the forearm 212 with the body frame 22. The forearm 212 is disposed so that its front end faces forward in the traveling direction, and the front end of the forearm 212 faces forward in the traveling direction even during rotation.

[0054] According to the embodiment of the present invention, as shown in Fig. 11, when the rod 231 of the actuator 23 is in the most protruding state, the bottom side of the main arm 211 lies substantially parallel to the running surface L, and the other end side of the front arm 212 is positioned higher than the one end side. On the other hand, as shown in Fig. 12, when the rod 231 of the actuator 23 is in the most retracted state, the bottom side of the main arm 211 stands up from the running surface L, and the other end side of the front arm 212 is positioned lower than the one end side. The front link 213 is positioned outside the running part 11 in the width direction, and by connecting the main arm 211 and the front arm 212, the front arm 212 rotates up and down with the intermediate part 211A as a fulcrum in conjunction with the rotation of the main arm 211.

[0055] The rear arm 214 constituting the lifting mechanism 21 will now be described. A pair of rear arms 214 are provided on the left and right sides of the machine body rearward of the main arms 211 so as to be rotatable, and are disposed so as to sandwich the traveling section 11 therebetween. A rear arm 214 is connected to the rear end of the vehicle frame 22, behind the main arm 211 in the traveling direction. The rear arm 214 is a long member, and one end 214A is connected to the side of the vehicle frame 22 so as to be freely rotatable.

[0056] The rear auxiliary arm 218 constituting the lifting mechanism 21 will now be described. The rear arm 214 includes a rear auxiliary arm 218 that is rotatable so as to be deployed from the rear arm 214 in a side view and whose tip end can be grounded. The rear auxiliary arm 218 can rotate coaxially with the wheel 216 provided at the other end of the rear arm 214. The rear auxiliary arm 218 can be formed into a stored state in which its tip portion is brought close to the rotation fulcrum on one end side 214A of the rear arm 214, and an expanded state in which its tip portion is expanded so as to be pulled away from the rotation fulcrum on one end side of the rear arm 214. The rear auxiliary arm 218 is provided with an elastic body such as a tension spring, and can be selectively biased to either the stored state side or the deployed state side. Therefore, the rear auxiliary arm 218 can stably maintain the stored state or the deployed state.

[0057] The front end of the working unit 31 is provided with a front auxiliary arm 219 which is rotatable and whose tip can be grounded. The front auxiliary arm 219 is rotatable about a rotation axis in the width direction relative to the traveling direction. The front auxiliary arm 219 can be arranged in a forward protruding state with its tip protruding forward as shown in Fig. 1, a lifting state in which it is positioned downward and lifts up the suction case 35 as shown in Figs. 14 and 15, and a stored state in which the front auxiliary arm 219 is positioned above the suction case 35 with its tip facing backward in the traveling direction as shown in Fig. 13. Auxiliary wheels 219A are provided at the tip of the front auxiliary arm 219. With the tip of the front auxiliary arm 219 positioned downward, the auxiliary wheels 219A are located below the lower end of the pick-up case 35. Since the front auxiliary arms 219 are provided on both sides of the pick-up case 35, the auxiliary wheels 219A are disposed on both sides of the pick-up case 35.

[0058] The running portion 11 is located between the ground contact position of the front arm 212 and the ground contact position of the rear arm 214 that constitute the lifting mechanism 21 . The front arm 212 and the rear arm 214 are arranged so that the tip ends of the front arm 212 and the rear arm 214 are positioned above the running part 11 to enable running on the running part 11 and to form a working state in which work can be performed on the working part 31.

[0059] The front arm 212 and the rear arm 214 are provided so that the tip ends of the front arm 212 and the rear arm 214 are brought into contact with the same surface as the contact surface of the running part 11, thereby enabling the formation of an auxiliary moving state that assists the movement of the running part 11. The front arm 212 and the rear arm 214 are provided so that the tip ends of the front arm 212 and the rear arm 214 are positioned below the running portion 11 so as to be able to form a free movement state in which running on the running portion 11 is not possible.

[0060] The rear link 215 constituting the lifting mechanism 21 will now be described. A rear link 215 connects the main arm 211 and the rear arm 214 and links the movement of the main arm 211 to the rear arm 214, and the main arm 211 and the rear arm 214 are connected by the rear link 215. The rear link 215 is a rectangular plate member, and both ends of the rear link 215 connect the apex of the upper part of the triangular main arm 211 and the middle part of the rear arm 214. The rotational movement of the main arm 211 is transmitted to the rear arm 214 via the rear link 215, and the other end of the rear link 215 can rotate from an upper position to a lower position via the rear side, based on the connection fulcrum of the rear arm 214 with the body frame 22.

[0061] According to the embodiment of the present invention, when the rod 231 of the actuator 23 is in the most protruding state, the bottom side of the main arm 211 lies substantially parallel to the running surface L, and the other end side of the front arm 212 is positioned higher than the one end side. Conversely, when the rod 231 of the actuator 23 is in the most retracted state, the bottom side of the main arm 211 stands up from the running surface L, and the other end side of the front arm 212 is positioned lower than the one end side. The rear link 215 is positioned outside the running part 11 in the width direction and connects the main arm 211 and the rear arm 214, so that the rear arm 214 rotates up and down around one end 214A as a fulcrum in conjunction with the rotation of the main arm 211.

[0062] The wheels 216 will now be described. The front arm 212 and the rear arm 214 are provided at their tips with freely rotatable wheels 216 . Wheels 216 are rotatably attached to the tip portions of the other ends of the front arm 212 and the rear arm 214. The wheels 216 are provided on the outer sides of the front arm 212 and the rear arm 214 in the width direction of the aircraft. Since a pair of front arms 212 and rear arms 214 are provided on each of the left and right sides of the vehicle, wheels 216 are provided at four locations on the vehicle as a whole. Therefore, as shown in Fig. 2, in a plan view, the wheels 216 are arranged so as to surround the running part 11, and when the running part 11 is located on the waterway bottom surface D2 or above the waterway bottom surface D2, each wheel 216 is arranged on the outside of the upper edge located above the waterway bottom surface D2, which is the running surface of the waterway D.

[0063] The operation unit 51 will now be described. An operating unit 51 is provided at the rear of the machine frame 22. The operating unit 51 is provided with a handle 52 that can be held by an operator, operating tools operated by the operator, and an operating switch group 53. The handle 52 is disposed from the rear of the machine frame 22 toward the upper side, and the end portion can be held by the operator. The operating tools disposed at the upper end portion of the handle 52 include a speed adjustment lever 531 that adjusts the traveling speed of the traveling unit 11, a clutch lever 532 that electrically switches between traveling and stopping of the traveling unit 11, a raking adjustment switch 533 that is a raking adjustment knob that adjusts the rotation speed of the raking unit 32, and an actuator switch 534 that operates the actuator 23.

[0064] The working link 217 will now be described. The working unit 31 is rotatably mounted on the body of the machine, and is provided with a working link 217 that connects the main arm 211 and the working unit 31 to link the movement of the main arm 211 with the working unit 31. The working link 217 connects an upper portion of the working unit 31 and an upper portion of the main arm 211. The working link 217 links the rotational movement of the main arm 211 to the rotation of the working unit 31. In the embodiment, as the front end of the main arm 211 rises, the front end of the working unit 31 rises. In other words, the actuator 23 makes it possible to link the lifting and lowering movement of the wheels 216 relative to the traveling unit 11 with the lifting and lowering movement of the front end of the working unit 31 with a single operation. 11, the connecting portion 217A between the working link 217 and the working unit 31 (transport unit 41) is formed in the shape of an elongated hole, so that the working unit 31 is connected to the traveling unit 11 at a pivot fulcrum 241 with a loose fit. Therefore, the working unit 31 can swing within the range of the elongated hole 217A at the pivot fulcrum 241. In other words, since the working unit 31 can move up and down independently of the traveling unit 11, even if the waterway bottom surface D2 is undulating, it can follow the undulations.

[0065] The function and effect of each part will be explained. In the description, the waterway D from which sediments are removed using the removal work machine A of the present invention will be described as not being covered on the top with a lid or the like. Also, the ends of the waterway D entering and leaving the waterway D will be described as being covered on the top with a lid or the like or as being normal ground D3 without a groove formed by the waterway D.

[0066] The following describes each of the postures of the lifting mechanism 21 of the removal work machine A mentioned in the procedure of approach: the working posture, the auxiliary movement posture, the free movement posture, the storage posture, and the loading posture. A The lifting mechanism 21 is in the working position. In the working position, the body of the removal machine A is placed on the waterway bottom D2 and is in a working position. The working postures of a removal work machine A according to an embodiment of the present invention are as shown in FIG. 1, which is a side view, FIG. 2, which is a plan view, FIG. 3, which is a front view, and FIG. 4, which is a rear view. In the state shown in FIG. 11, which is a side sectional view of the removal work machine A, and FIG. 19, which is a side view of the same, the lifting mechanism 21 is in the working position, and both wheels are raised. 19 shows the removal work machine A after entering waterway D or before exiting waterway D, in a working posture with the body of the removal work machine A placed on the bottom surface of waterway D. The front auxiliary arm 219 is in a forward protruding state with its tip protruding forward as shown in FIG.

[0067] B The lifting mechanism 21 is in the auxiliary moving position. In the auxiliary movement posture, the crawler 114 and the wheels 216 are in contact with the ground. The state shown in FIG. 12, FIG. 13, and FIG. 16, which are side views of the removal work machine A according to the embodiment of the present invention, is that the lifting mechanism 21 is in the auxiliary movement position. 16, the body of the removal work machine A is placed on ground D3, which is an area without a channel D. The removal work machine A is in a state where it can travel on its own power using the traveling part 11.

[0068] C. The lifting mechanism 21 is in a free moving position. In the free movement posture, the crawlers 114 are not on the ground, and the wheels 216 are on the ground. The removal work machine A can move freely by the worker pushing the body of the removal work machine A forward. The removal work machine A is in a state in which it cannot travel by itself using the traveling part 11. The lifting mechanism 21 is in a free moving posture as shown in Fig. 12, Fig. 16, and Fig. 17, which are side cross-sectional views of the removal work machine A according to an embodiment of the present invention. The crawler 114 is not on the ground, and the wheels 216 are on the ground. In Fig. 16, the crawler 114 is not on the ground, and the crawler 114 is floating, and the machine body is disposed in a portion where there is no water channel D groove. Although not clearly shown in Fig. 16, it is also possible to further lower the wheels 216 relative to the crawler 114 to give a free moving posture in which the crawler 114 is completely floating above the ground D3. In Fig. 17, the crawler 114 is not on the ground, and the crawler 114 is floating above the water channel D groove, and the machine body is disposed above the water channel D groove. The wheels 216 are on the water channel upper edge D1. Fig. 18 is a side view of the removal work machine A according to the embodiment of the present invention. It shows entry into and exit from waterway D, and is in the middle of transitioning from a free moving posture to a working posture. It shows the body of the removal work machine A in the middle of entering the groove of waterway D. It is also a state in the middle of transitioning from the working posture to the free moving posture.

[0069] D The lifting mechanism 21 is in the storage position. The storage position is a position in which the removal work machine A is placed in a storage state. 15 and 23, which are side views of the removal work machine A according to the embodiment of the present invention, show the lifting mechanism 21 in a storage position. FIG. 23 illustrates loading onto the loading platform F, in which the removal work machine A is in a storage position and the rear auxiliary arm 218 is deployed and placed on the loading platform F.

[0070] E The lifting mechanism 21 is in the loading position. The loading position is a position that assists in loading the removal work machine A onto a truck or the like. 20, 21, and 22 are side views of the removal work machine A according to the embodiment of the present invention, illustrating loading onto the carrier, and show the state in which the lifting mechanism 21 is in the loading position. In Fig. 20, before loading, the front auxiliary arm 219 is in a raised state. In Fig. 21, only the running part is placed on the support board G. In Fig. 22, the running part 11 and the auxiliary wheel 219A are placed on the support board G.

[0071] The procedure for the removal machine A to enter the waterway D will be described. (1) As shown in Fig. 16, the removal work machine A is placed in the auxiliary movement posture or free movement posture and positioned at the end of the waterway D. At this time, the traveling part 11 is positioned so as to overlap with an imaginary extension line of the waterway D in a plan view on the ground surface D3 where there is no groove in the waterway D, and is positioned so that the waterway bottom surface D2 and the traveling part 11 are parallel to and overlap each other. Regarding the positioning of the removal work machine A, in the auxiliary movement posture, it may be positioned automatically by the traveling part 11, and in the free movement posture, it may be moved by an operator by gripping the grip part 521 of the handle 52. (2) The operator operates the actuator switch 534 to contract the actuator 23 and raise the front end of the main arm 211.

[0072] (3) As shown in Fig. 17, when in the working posture, as the main arm 211 rotates, the tips of the front arm 212 and the rear arm 214 simultaneously descend until all of the wheels 216 come into contact with the ground surface of the running part 11. The front and rear wheels 216 on the left side are located at the upper edge D1 located above the waterway bottom surface D2, which is the running surface of the waterway D on the left side in the traveling direction, and the front and rear wheels 216 on the right side are located at the upper edge D1 of the waterway on the right side in the traveling direction (plan view, front view). (4) In the case of the auxiliary movement posture, the worker grips the clutch lever 532 to drive the traveling part 11 and move the machine forward. At this time, the traveling speed of the machine can be adjusted by moving the speed adjustment lever 531 back and forth. In the case of the free movement posture, the removal work machine A is moved to any position by the worker.

[0073] (5) As the vehicle moves forward, the running part 11 protrudes forward relative to the lid. However, the wheels 216 of a pair of forearms 212 located in front of the running part 11 are located at the upper edge D1 of the waterway, which is above the bottom surface D2 of the waterway, which is the running surface, so the vehicle does not fall to the bottom of the waterway D. (6) If the vehicle continues moving forward, the running part 11 will reach the end of the lid, and the running part 11 will lose contact with the ground above the waterway D, and the lid etc. will no longer be able to move on its own. (7) The operator grasps the handle 52 and pushes the machine forward. As shown in Fig. 17, the machine is in a state where the wheels 216 of the front arm 212 and the rear arm 214 are in contact with the upper edge D1 of the waterway. Since the wheels 216 are supported so as to be freely rotatable, the machine is in a free movement state where it can move freely forward and backward. (8) When the wheels 216 of the rear arm 214 are positioned forward of the lid, the operator releases the forward push and stops the machine.

[0074] (9) The operator operates the actuator switch to extend the actuator 23 and lower the front end of the main arm 211. (10) As the main arm 211 rotates, the tip ends of the front arm 212 and the rear arm 214 rise relative to the running part 11. Since the running part 11 is floating on the waterway D, when the running part 11 descends, the entire machine body descends from the waterway upper edge part D1 located above the waterway bottom surface D2 toward the waterway bottom surface D2, as shown in FIG. While the machine is descending, the front arm 212 and the rear arm 214 rotate so as to open symmetrically in the front and rear with respect to the running part 11. In other words, the axle clearance, which is the front-to-rear distance between the front and rear wheels 216, can increase as the machine descends, and the removal work machine A supported by the wheels 216 on the upper edge D1 of the waterway located above the bottom D2 of the waterway can descend to the bottom D2 of the waterway while maintaining a stable state. (11) As shown in Figure 19, when the running part 11 touches the bottom surface D2 of the waterway and the front arm 212 and the rear arm 214 are raised, all the wheels 216 are positioned above the upper edge of the waterway D. In this state, the work of removing the deposits on the bottom surface D2 of the waterway is carried out.

[0075] The travel (working posture) of the removal work machine A when working in the waterway D will be described. (1) The front auxiliary arm 219 is set in a forward protruding state as shown in Figures 19 and 1. This makes it possible for the front auxiliary arm 219 to push aside a person or a person's feet, preventing them from getting caught in the rotating part of the working unit 31, even if such a person or his / her feet are present. (2) The front auxiliary arm 219 is fixed by the lock arm 220 and will not move during operation. (3) When traveling through the waterway D, the guide rollers 116, which are rotatable on a vertical axis and contact the side wall of the waterway D to regulate the inclination of the work machine, are provided on the sides of the raking case 35 and the traveling frame 111, allowing the machine to travel stably along the waterway D without tilting. Instead of the guide rollers 116, guide shoes may be provided that come into contact with the side wall of the waterway D to regulate the inclination of the work machine.

[0076] The procedure for removal machine A to exit waterway D will be described. (1) As shown in Figure 18, when the front end of the working unit 31 reaches the end of the waterway D, the drive of the traveling unit 11 is stopped and the front arm 212 and the rear arm 214 are lowered. The wheels 216 are positioned above the waterway bottom surface D2, which is the running surface of the waterway D. If the front arm 212 and the rear arm 214 continue to lower after touching down on the upper edge, the traveling unit 11 and working unit 31 will rise from the waterway bottom surface D2 and rise relative to the waterway D. (2) As shown in Fig. 17, when the bottom of the running part 11 reaches the upper edge D1 of the waterway D, the operator pushes the machine forward, and the machine assumes a free movement posture in which it can move freely. At this time, the wheels 216 are rotatable, so that the machine can move freely back and forth. In addition, since the lower end of the working part 31 is located above the bottom of the running part 11, it can overcome any obstacles other than the lid that are present on the upper edge D1 of the waterway.

[0077] (3) As shown in FIG. 16, when the running part 11 is pushed out so as to be positioned on the lid, the worker stops pushing it forward. (4) The front arm 212 and the rear arm 214 are raised again at least until the running portion 11 touches the lid. (5) After the running part 11 touches the lid, the running part 11 is driven forward to complete its exit from the waterway D.

[0078] The travel of the removal work machine A in a channel other than the channel D will be described. (1) As in the procedure for exiting, with the running unit 11 on the ground, the front arm 212 and the rear arm 214 are lowered and the wheels 216 are also brought into contact with the ground, assuming an auxiliary movement posture, or the running unit 11 is slightly lifted off the running surface L and the wheels 216 are brought into contact with the ground, assuming a free movement posture. (2) In the auxiliary movement posture, the running part 11 is driven, and the machine body is moved forward or backward by the running part 11. In the free movement posture, the operator grasps the grip part 521 and pushes or pulls it to move the machine body forward or backward. (3) In the auxiliary movement posture, the wheels 219A function as auxiliary wheels 219A for the running unit 11, so that the running is enabled to be driven by the running unit 11 while suppressing the inclination of the machine body due to the wheels 216, thereby stabilizing the running. In the free movement posture, the running units 11 are positioned between the respective wheels 216, so that the machine body can be stably supported without falling over during the movement. (4) As the front arm 212 and the rear arm 214 are lowered, the working unit 31 is also raised in conjunction with them, so that the traveling unit 11 can move smoothly without getting caught on the traveling surface L.

[0079] The loading of the removal work machine A onto the platform F (loading posture) shown in Figs. 20 to 23 will be described. It is also possible to form a loading posture that assists loading onto a truck or other vehicle E having a loading platform F. In this case, a stepping board G is assumed to be placed between the loading platform F and the running surface L. Loading onto a truck or other vehicle makes it easier to move to a location other than the work site. (1) As shown in FIG. 20, the front arm 212 and the rear arm 214 are raised. (2) The tip of the front auxiliary arm 219 is rotated downward, and the auxiliary wheel 219A lifts the working unit 31. As a result, the working unit 31 is lifted. (3) Operate the operating unit 51 to move the traveling unit 11 backward toward the loading platform F as shown in FIG.

[0080] (4) The rear end side of the traveling unit 11 climbs up onto the stepping board G. Then, the working unit 31 tries to sink into the traveling surface L, but as shown in Figure 21, the working unit 31 is supported by the auxiliary wheel 219A arranged at the tip of the front auxiliary arm 219, so that the working unit 31 does not come into contact with the ground. (5) If the vehicle continues to move backwards further, as shown in FIG. 22, the rotatable auxiliary wheels 219A allow the vehicle to move on the inclined stepping board G without getting caught on the running surface L or stepping board G. (6) As shown in Figure 23, loading is complete when the aircraft is positioned on platform F. (7) Loading and unloading can be easily done by reversing the above steps.

[0081] The stopping and storage state (storage posture) of the removal work machine A will be described. Since the traveling unit 11 of the present invention travels on a single crawler 114, it may become unstable when in a traveling position, which is not suitable for parking or storage. However, this can be solved by using the rear auxiliary arm 218. In Fig. 23, the loading platform F is shown as the storage location. (1) As shown in FIG. 23, the rear auxiliary arm 218 is moved from the stored state to the deployed state. (2) The rear arm 214 is lowered until the tip of the rear auxiliary arm 218 touches the ground. At this time, the front arm 212 and the working unit 31 are also lowered in the same manner since they are connected to the main arm 211. (3) The rear auxiliary arm 218 touches the ground. (4) As a result of the above, the rear auxiliary arm 218 and the auxiliary wheels 219A are in contact with the ground in addition to the running unit 11, so the machine can stably maintain an independent state on the ground. The rear auxiliary arm 218 and the auxiliary wheels 219A in contact with the ground can surround the center of gravity of the machine in a large area in a plan view, so the machine can stably stand on its own. In the storage position, the working unit 31 can also be directly in contact with the ground without using the auxiliary wheels 219A.

[0082] The above-described up and down movements of the front arm 212 and the rear arm 214 operate to spread out in the front and rear symmetrical manner in a side view, but they may be different. In other words, as long as the vehicle is stable and balanced when it moves up and down relative to the waterway D, for example, they may be rotated in parallel in a side view. The wheels 216 arranged on the front arm 212 and the rear arm 214 may be located below the ground contact surface of the running unit 11. In this case, the machine body supported by the rotatable wheels 216 forms a free moving state, so that the machine body can easily move on the ground other than the waterway upper edge D1 without using the driving power of the running unit 11. The lifting mechanism 21 has been described as including the main arm 211, the front arm 212, the front link 213, the rear arm 214, the rear link 215, the wheels 216, the working link 217, the rear auxiliary arm 218, the front auxiliary arm 219, and the lock arm 220, but it may be configured to include at least the main arm 211, the front arm 212, the front link 213, the rear arm 214, the rear link 215, and the wheels 216. In other words, the removal work machine A may be configured to omit the storage position and the loading position, and the working unit and the lifting mechanism 21 may not be linked together. Although the operation unit 51 has been described as being provided on the handle 52, it may be configured to be detached from the handle and remotely operated. In this case, the operation unit 51 and the control unit C may be connected by wire or wirelessly. In addition, any communication method may be used between the operation unit 51 and the control unit C. [Explanation of symbols]

[0083] A Removal Machine L Running surface 11 Running part 31 Working Section 32 Scrape section 33 Scraper device 331 Scraper 41 Conveyor 51 Operation section

Claims

1. A running part that runs within the waterway; a raking section that rotates in front of the traveling section to raking in the pile and move it rearward; a scraper disposed below the raking section and adapted to swing a tip portion on the front side in the traveling direction, the scraper performing a raking operation in the raking section, scraping off deposits that could not be raked in, and dredging up and rearward the deposits that have been moved by the raking section; A conveying section that conveys the pile moved by the raking section and the scraper diagonally upward and rearward; A removal work machine comprising:

2. The tip of the scraper is located below the rotation center of the raking part.

2. The removal work machine according to claim 1.

3. The rotation radius of the raking portion is greater than the distance from the rotation center of the raking portion to the scraper.

2. The removal work machine according to claim 1.

4. The sweeping section includes a plurality of elastic brushes arranged at intervals in the circumferential direction on a rotating shaft that is a left-right axis with respect to the direction of travel, and arranged in a plurality of rows in the axial direction of the rotating shaft and driven to rotate, The rotation radius of the brush is greater than the distance from the axis of the rotation shaft to the scraper.

2. The removal work machine according to claim 1.

5. The raking portion has an attachment portion for attaching the brush; a scraper provided on the mounting portion and having an elasticity such that the radius of rotation of the tip is equal to or smaller than the distance from the axis of the rotating shaft to the scraper; 5. The removal work machine according to claim 4, further comprising:

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