Waterway cleaning device

Abstract

To provide a waterway cleaning device that can efficiently clean the inner wall surface of a waterway without the need to drain the waterway. [Solution] A waterway cleaning device 1 for cleaning the inner wall surface of a waterway, comprising: a main body 10; a propulsion force generating member 20 connected to the main body 10 and receiving water pressure from the water flowing in the waterway to generate a propulsive force toward the downstream direction; a cleaning member 30 that abuts against the inner wall of the waterway; a cleaning part pressing arm 50 that supports the cleaning member 30 from the main body 10; and a cleaning member pressing force adjusting member 60 for adjusting the pressing force of the cleaning member that causes the cleaning member 30 to abut against the inner wall of the waterway.

Description

Technical Field

[0001] The present invention relates to a water channel cleaning device for removing dirt such as scale adhering to a water channel such as a water conduit of a hydroelectric power plant.

Background Art

[0002] In a hydroelectric power plant, water is taken from a river or the like and supplied to the power plant via a water conduit. Since the water is from a river or the like, deposits such as scale, water moss, algae, and mud may adhere to the wall surface of the water channel. When deposits adhere to the wall surface of the water channel, the resistance inside the water channel increases and the water becomes difficult to flow. When the water becomes difficult to flow, the water level inside the water channel rises, so the amount of water taken from a river or the like decreases, and as a result, the power generation amount of the hydroelectric power plant decreases.

[0003] Therefore, it is necessary to periodically clean the wall surface of the water channel. Conventionally, the water conduction of the water channel has been stopped and it has been done manually using a deck brush, a high-pressure washer, etc. However, it has taken a long time because it is done manually.

[0004] In order to improve the efficiency of such cleaning work, for example, a wall surface cleaning device as described in Patent Document 1 has been proposed. This wall surface cleaning device consists of a movable base body, a front brush body and a rear brush body mounted on the base body and positioned front and rear along the moving direction of the base body, and the wall surface cleaning device is moved along the wall surface by a forklift, and the wall surface is cleaned by rubbing with the front brush body and the rear brush body.

[0005] However, as can be seen from the fact that the wall surface cleaning device is moved by a forklift, it is necessary to drain the water in the water channel during the cleaning work. Since it takes a considerable amount of time to stop the water channel, drain the water, perform the cleaning work, and start the water conduction again, it also becomes a factor that reduces the power generation efficiency of the power plant.

Prior Art Documents

Patent Documents

[0006]

Patent Document 1

[0007] Therefore, the object of the present invention is to provide a waterway cleaning device that can efficiently clean the inner wall surface of a waterway without the need to drain the waterway. [Means for solving the problem]

[0008] To solve the above problems, a waterway cleaning device according to a first aspect of the present invention, as shown in Figure 1 for example, is a waterway cleaning device 1 for cleaning the inner wall surface of a waterway, and is characterized by comprising: a main body 10; a propulsion force generating member 20 connected to the main body 10 and generating a propulsion force toward the downstream direction by receiving water pressure from the water flowing in the waterway; a cleaning member 30 that contacts the inner wall of the waterway; a cleaning part pressing arm 50 that supports the cleaning member 30 from the main body 10; and a cleaning member pressing force adjusting member 60 for adjusting the pressing force of the cleaning member that causes the cleaning member 30 to contact the inner wall of the waterway.

[0009] With this configuration, the propulsion force generating member receives water pressure from the water flowing in the channel, generating a downstream propulsion force that moves the channel cleaning device downstream. At that time, the cleaning member is in contact with the inner wall of the channel with a pressing force adjusted by the cleaning member pressing force adjustment member, so the cleaning member can clean the inner wall surface of the channel. Therefore, there is no need to drain the water from the channel, and the channel cleaning device can efficiently clean the inner wall surface of the channel.

[0010] In the waterway cleaning device 2 according to a second aspect of the present invention, as shown in Figure 5 for example, the cleaning member pressing force adjustment member 160 is characterized by comprising a sliding member 162 connected to a thrust force generating member 120 and sliding in the axial direction of the main body 110, an elastic member 166 connected to the main body 110 and the sliding member 162, and a link portion 140 connected to the sliding member 162 and the main body 110, which moves the cleaning member 30 away from and closer to the main body 110 by the sliding of the sliding member 162. With this configuration, the pressing force of the cleaning member for contacting the inner wall of the waterway is adjusted by the sliding of the main body and the sliding member. The sliding of the main body and the sliding member changes depending on the thrust force generated by the thrust force generating member and the resistance force of the cleaning member sliding on the inner wall of the waterway, and if the resistance force is too large, the pressing force of the cleaning member can be reduced, and conversely, if the resistance force is too small, the pressing force of the cleaning member can be increased. Therefore, by applying appropriate pressure to the cleaning member, the inner wall of the waterway can be rubbed, allowing for efficient cleaning.

[0011] In a third aspect of the present invention, as shown in Figure 3, for example, the cleaning member pressing force adjustment member 60 has a relative velocity measuring member 70 that measures the relative velocity of the main body 10 being carried by the water with respect to the waterway, and adjusts the cleaning member pressing force based on the measured relative velocity. With this configuration, the cleaning member pressing force is adjusted based on the relative velocity of the waterway cleaning device with respect to the waterway, so that the cleaning member is pressed against the inner wall of the waterway with an appropriate pressing force while scrubbing the inner wall of the waterway, thereby enabling efficient cleaning.

[0012] In the fourth aspect of the present invention, as shown in Figure 1, for example, the cleaning member 30 has a structure in which a plurality of elastic flat spatulas 32 are arranged so as to have a width that can clean the inner wall above and below the water surface in the waterway to be cleaned, and the base portions 34 of the plurality of elastic flat spatulas 32 are connected to the cleaning unit pressing arm 50. With this configuration, since a plurality of elastic flat spatulas are arranged and their base portions are connected to the cleaning unit pressing arm, the inner wall of the waterway can be cleaned with a predetermined width. The cleaning member has a structure in which elastic flat spatulas are arranged and their base portions are connected to the cleaning unit pressing arm, so when the cleaning member is brought into contact with the inner wall of the waterway to clean, even if there are irregularities in the inner wall, the elastic flat spatulas deform and can come into contact with the inner wall, allowing for efficient cleaning.

[0013] In a fifth aspect of the present invention, as shown in Figures 1 and 2, for example, the cleaning member 30 has a plurality of elastic flat spatulas 32 having a width that can clean the inner walls above and below the water surface in the waterway to be cleaned. The plurality of elastic flat spatulas 32 are arranged at a predetermined width and grouped together into a spatula 38 with its base portion 34 fixed to a flat plate 36. The plurality of group spatulas 38 are connected by a link mechanism 40, and each of the plurality of group spatulas 38 connected by the link mechanism 40 is provided with a cleaning part pressing arm 50. With this configuration, the plurality of elastic flat spatulas are arranged at a predetermined width and form a group spatula with its base portion fixed to a flat plate, so that the inner wall of the waterway can be cleaned at a predetermined width with the group spatula. Since the group spatulas are connected by a link mechanism, the inner wall of the waterway can be cleaned at a wider width. Since each of the multiple spatulas connected by a link mechanism is equipped with a cleaning section pressing arm, it can adapt to changes in the shape of the inner wall of the waterway and clean efficiently.

[0014] In the sixth aspect of the present invention, as shown in Figures 1 and 3, for example, the cleaning member pressing force adjustment member 60 is characterized by comprising a pneumatic cylinder 68 mounted on the main body 10, a link system 66 connecting its piston 69 and the cleaning part pressing arm 50, a compressed air source 62 for supplying compressed air to the pneumatic cylinder 68, and an electro-pneumatic regulator 64 for adjusting the pressure of the compressed air supplied to the pneumatic cylinder 68. With this configuration, the pressure of the compressed air supplied from the compressed air source to the pneumatic cylinder is adjusted by the electro-pneumatic regulator, so that the pressing force of the cleaning member against the inner wall of the waterway is appropriately adjusted, and cleaning can be performed efficiently.

[0015] In the seventh aspect of the present invention, the waterway cleaning device 3, as shown in Figure 7, for example, the cleaning part pressing arm 150 is a rod-shaped member 150 that extends inclined in the direction opposite to the direction toward the thrust force generating member 120 from the main body 170, and the cleaning member pressing force adjusting member is a slide member 162 connected to the thrust force generating member 120 and sliding in the axial direction of the main body 110, a link portion 250 including the rod-shaped member 150, and an elastic member 146 connected to the link portion 250 and biasing the rod-shaped member 150 to spread out. With this configuration, the pressing force of the cleaning member for the cleaning member to contact the inner wall of the waterway is adjusted by the sliding of the slide member with the main body. The sliding of the slide member changes depending on the thrust force generated by the thrust force generating member and the resistance force of the cleaning member sliding on the inner wall of the waterway, and if the resistance force is too large, the pressing force of the cleaning member can be reduced, and conversely, if the resistance force is too small, the pressing force of the cleaning member can be increased. Therefore, by applying appropriate pressure to the cleaning member, the inner wall of the waterway can be rubbed, allowing for efficient cleaning.

[0016] In the eighth aspect of the present invention, the waterway cleaning device 4, as shown in Figure 8, for example, the cleaning unit pressing arm consists of a plurality of rod-shaped members 150 that extend inclined in the direction opposite to the direction toward the thrust force generating member 120 from the main body 170, and the cleaning member pressing force adjusting member is an elastic member 156 that biases the plurality of rod-shaped members 150 so that their angles to each other widen. With this configuration, the cleaning member comes into contact with the inner wall of the waterway due to the rod-shaped members biased by the cleaning member pressing force, and when an obstacle on the inner wall acts to narrow the spread of the rod-shaped members, the spread of the rod-shaped members is adjusted by the deformation of the elastic member, allowing the cleaning of the inner wall to be done by passing over the obstacle. Therefore, the inner wall of the waterway can be rubbed while pressing the cleaning member against the inner wall of the waterway with an appropriate cleaning member pressing force, enabling efficient cleaning.

[0017] A channel cleaning device 1 according to the ninth aspect of the present invention is characterized in that a floating body 80 connected to the main body 10 is attached, as shown in Figure 1, for example. With this configuration, at least a part of the channel cleaning device floats on the floating body, and even in deep channels, the cleaning member can clean the inner walls above and below the water surface, thus enabling efficient cleaning.

[0018] A waterway cleaning device 1 according to a tenth aspect of the present invention is characterized by having casters 90 that support the main body 10 and are capable of traveling on a waterway, as shown in Figure 1, for example. With this configuration, even in shallow waterways, it is possible to prevent the main body, link mechanism, and cleaning unit pressing arm from coming into contact with the bottom surface of the inner wall of the waterway and becoming unable to move. [Effects of the Invention]

[0019] According to the present invention, a waterway cleaning device comprising a main body, a propulsion force generating member connected to the main body that receives water pressure from the water flowing in the waterway and generates a thrust force directed downstream, a cleaning member that contacts the inner wall of the waterway, a cleaning part pressing arm that supports the cleaning member from the main body, and a cleaning member pressing force adjusting member for adjusting the force with which the cleaning member contacts the inner wall of the waterway, cleans the inner wall surface of the waterway, thus eliminating the need to drain the waterway and enabling efficient cleaning of the inner wall surface of the waterway. [Brief explanation of the drawing]

[0020] [Figure 1] This is a perspective view of a water channel cleaning device as an embodiment of the present invention. [Figure 2] This is an enlarged view near the tip of the cleaning member. [Figure 3] This is a partial cross-sectional side view for explaining the cleaning member pressing force adjusting member of the water channel cleaning device shown in FIG. 1. [Figure 4] This is a perspective view of the water channel cleaning device with the cleaning member closed. [Figure 5] This is a top view of the water channel cleaning device for explaining a cleaning member pressing force adjusting member different from that in FIG. 1. [Figure 6] This is an explanatory diagram showing the mechanical model of the cleaning member pressing force adjusting member in FIG. 5. [Figure 7] This is a top view of the water channel cleaning device having a cleaning member pressing force adjusting member different from that in FIGS. 1 and 5. [Figure 8] This is a top view of the water channel cleaning device for explaining a modification example of the cleaning member pressing force adjusting member in FIG. 7. [Figure 9] This is a top view of the water channel cleaning device for explaining a modification example of the cleaning member pressing force adjusting member in FIGS. 7 and 8.

Embodiments for Carrying Out the Invention

[0021] Hereinafter, embodiments of the present invention will be described based on the drawings. In each figure, the same or corresponding devices are denoted by the same reference numerals, and redundant explanations are omitted. Also, in this specification, the terms "upper, lower, left, and right" indicate "upper, lower, left, and right" in the drawings, and do not necessarily correspond to the actual up, down, left, and right of the object. First, the outline of the water channel cleaning device 1 will be described using FIG. 1. The water channel cleaning device 1 includes a main body 10, a propulsion force generating member 20, a cleaning member 30, a cleaning unit pressing arm 50, and a cleaning member pressing force adjusting member 60.

[0022] The main body 10 is an elongated member that extends in the direction of travel of the waterway cleaning device 1. In Figure 1, the waterway cleaning device 1 moves from the upper left to the lower right in the direction of the arrow. Many of the other elements of the waterway cleaning device 1 are connected directly or indirectly to the main body 10. In other words, the "main body" as used in this document is the member that transmits the thrust from the thrust generating member to the cleaning member via the cleaning unit pressing arm. For example, it is the member that connects the thrust generating member 20 and the cleaning unit pressing arm 50. In the example shown in Figure 1, the main body 10 may be hollow, as will be described later, and other elements may be housed inside it.

[0023] The thrust generating member 20 is an element that generates a thrust force directed downstream by receiving the water pressure of the water flowing through the waterway (not shown). Typically, it is like a parachute installed at the leading end of the waterway cleaning device 1 in the direction of travel, connected to a rope from the main body 10, and expands when subjected to water pressure, transmitting a large thrust force to the main body 10. The thrust generating member 20 may be a plate-shaped member connected to the main body 10 and expanding in the direction of the inner wall of the waterway, or a floating body that floats on the water surface, or it may generate thrust force by receiving water pressure in other configurations.

[0024] Here, the cleaning member 30 will be described with reference to Figure 2. The cleaning member 30 cleans by contacting the inner wall of the waterway to be cleaned and sliding along the inner wall. Preferably, the cleaning member 30 has a group spatula 38 formed by arranging a plurality of elastic flat spatulas 32 to a predetermined width and fixing the base portion 34 with a flat plate 36. Alternatively, the base portions 34 of the plurality of elastic flat spatulas 32 may be integrated, that is, a single plate-like element having a predetermined width may have a cut on the tip side to form a plurality of elastic flat spatulas 32. Here, the elasticity of the elastic flat spatula means that the flat spatula can bend, and does not limit the material or dimensions. Examples of materials include metals such as stainless steel, plastics, CFRP, and rubber, but are not limited to these. For example, when forming from stainless steel, a thin plate of 0.5-0.8 mm may be used. The flat shape does not have to be strictly flat, and there may be deformation in the thickness direction or variations in thickness. The elastic flat spatula 32 is illustrated as rectangular in Figure 1, but its tip may be curved. The group spatula 38 has a predetermined width, which is suitable for cleaning the waterway wall.

[0025] Multiple group spatulas 38 are connected by a link mechanism 40. In the waterway cleaning device 1 shown in Figure 1, two link mechanisms 40 connect them, but the number of group spatulas 38 connected is not limited to two. The link mechanism 40 holds the multiple group spatulas 38 so that the tips of their elastic flat spatulas 32 abut against the inner wall of the waterway at an angle perpendicular or nearly perpendicular. Preferably, the multiple group spatulas 38 are supported so that the elastic flat spatulas 32 of the multiple group spatulas 38 do not overlap or overlap minimally on the cross-section of the waterway, so that the multiple group spatulas 38 abut against the inner wall of the waterway with a wide width. The link mechanism 40 may be a known configuration.

[0026] The link mechanism 40 is connected to the cleaning unit pressing arm 50. The cleaning unit pressing arm 50 is connected to the main body 10 and supports the cleaning member 30. Furthermore, the link mechanism 40 adjusts the cleaning member pressing force that brings the cleaning member 30, specifically the elastic flat plate spatula 32, into contact with the inner wall of the waterway. In the waterway cleaning device 1 shown in Figure 1, the link mechanism 40 is connected to the group spatula 38, but it may also be connected to the base 34 or the flat plate 36 of the elastic flat plate spatula 32. The cleaning unit pressing arm 50 may increase or decrease the cleaning member pressing force by moving it further away from or closer to the central axis of the main body 10. Alternatively, the cleaning member pressing force may be increased or decreased by changing the length of the cleaning unit pressing arm 50. The mechanism for changing the length of the cleaning unit pressing arm 50 may be a known one. The connection between the cleaning unit pressing arm 50 and the main body 10 may be in any configuration, but if the position of the cleaning unit pressing arm 50 is to be changeable, the connection part should be configured to allow the position to be changed. In either case, the connection angle between the cleaning unit pressing arm 50 and the main body 10 is changed to adjust the position of the cleaning member 30 to the area to be cleaned, such as above or below the water level on the inner wall of the waterway.

[0027] The cleaning member pressing force adjustment member 60 adjusts the pressing force of the cleaning member via the link mechanism 40. Specifically, it moves the cleaning part pressing arm 50 closer to or further away from the central axis of the main body 10, or changes the length of the cleaning part pressing arm 50.

[0028] The cleaning member pressing force adjustment member 60 will now be described with reference to Figure 3. The cleaning member pressing force adjustment member 60 comprises a compressed air source 62, an electro-pneumatic regulator 64, a pneumatic cylinder 68, a link system 66, and a relative speed measuring member 70. The compressed air source 62 may be an air tank for storing compressed air, or a compressor that takes in air from the water surface and compresses it. The electro-pneumatic regulator 64 is a regulator that adjusts the air pressure supplied to the pneumatic cylinder 68 in order to bring the cleaning member 30 into contact with the inner wall of the waterway with an appropriate cleaning member pressing force. The pneumatic cylinder 68 drives a piston 69 with compressed air from the compressed air source 62, the air pressure of which has been adjusted by the electro-pneumatic regulator 64. The piston 69 is connected to the cleaning part pressing arm 50 via the link system 66, and the movement of the piston increases or decreases the cleaning member pressing force of the cleaning part pressing arm 50. The link system 66 may be a known configuration. Furthermore, some parts of the cleaning member pressing force adjustment member 60, such as the pneumatic cylinder 68, may be installed inside the main body 10.

[0029] The relative velocity measuring member 70 measures the relative velocity of the main body 10 of the waterway cleaning device 1, which is carried by the water, with respect to the waterway. The relative velocity may be measured using a laser or light, or using GPS signals. The appropriate cleaning member pressing force for cleaning changes depending on the speed at which the elastic flat plate spatula 32 slides along the inner wall. Therefore, it is desirable to measure the relative velocity of the main body 10 with respect to the waterway and adjust the cleaning member pressing force based on the measurement results. The relationship between the cleaning member pressing force and the relative velocity for proper cleaning is investigated in advance, or investigated through analysis, etc., and the electro-pneumatic regulator 64 is controlled so that the cleaning member pressing force is such that cleaning is effective at the measured relative velocity.

[0030] Returning to Figure 1, the channel cleaning device 1 may be attached by connecting a floating body 80 to the main body 10. The floating body 80 may be an air-filled bag or made of a lightweight material such as styrofoam. In the channel cleaning device 1 shown in Figure 1, the floating body 80 is attached so as to enclose the cleaning part pressing arm 50, but it is not limited to this, and the main body 10 and the floating body 80 may be connected by a rope. Even if the channel is deep, it is possible to prevent the channel cleaning device 1 from sinking to the bottom and the cleaning member 30 from being positioned below the water surface, making it impossible to clean above and below the water surface. For this purpose, attaching the floating body 80 to the cleaning part pressing arm 50 is a preferred method, but it may be attached anywhere as long as the cleaning member 30 can clean the inner walls above and below the water surface.

[0031] The channel cleaning device 1 may be equipped with casters 90. If the channel is shallow, a part of the channel cleaning device 1, such as the main body 10, the link mechanism 40, or the cleaning part pressing arm 50, may come into contact with the bottom surface of the inner wall of the channel, preventing the channel cleaning device 1 from moving forward. Therefore, in the case of shallow channels, the casters 90 allow the channel cleaning device 1 to move through the channel. The casters 90 typically support the main body 10 of the channel cleaning device 1. The casters 90 may be of a known configuration.

[0032] Next, a method for cleaning the inner wall of a waterway using the waterway cleaning device 1 will be described. First, as shown in Figure 4, the cleaning part pressing arm 50 is folded so that it follows the main body 10, and the cleaning member 30 is also closed, so that the projected area of ​​the waterway cleaning device 1 on the horizontal plane is reduced. Note that the propulsion force generating member 20, casters 90, etc. are not shown in Figure 4. The waterway cleaning device 1, folded in this manner, is then lowered from the upstream side of the waterway. The waterway cleaning device 1 may be lowered by a crane or rope. Once the waterway cleaning device 1 is installed in the waterway, the cleaning part pressing arm 50 and the cleaning member 30 are extended so that the cleaning member 30 contacts the inner wall of the waterway. The cross-sectional shape of the inner wall of a waterway is often irregular, such as a semi-circular shape, so it is preferable that the cleaning member 30 is configured to have multiple group spatulas 38 so that it can accommodate any inner wall shape. It is also preferable that the position of the group spatulas 38 can be adjusted by the link mechanism 40. Furthermore, since deposits on the inner wall of the waterway often adhere within 1 meter above or below the water surface, it is preferable to position the cleaning member 30 so that it contacts the water surface above and below. It is also preferable that the cleaning member 30 has a width that covers this range.

[0033] When the waterway cleaning device 1 is installed in a waterway, the water pressure from the water flowing in the waterway generates a propulsive force from the propulsion force generating member 20 that moves the waterway cleaning device 1 downstream. This propulsive force causes the waterway cleaning device 1 to move downstream in the waterway. That is, the tip of the elastic flat spatula 32 of the cleaning member 30 slides along the inner wall of the waterway, cleaning the inner wall. Protrusions and depressions may be formed on the inner wall of the waterway. The elastic flat spatula 32 bends due to its elasticity in response to protrusions, and reduces the bending caused by sliding in depressions, returning to its original flat length, thus enabling continuous cleaning. Furthermore, if the width to be cleaned is covered by multiple elastic flat spatulas 32, small protrusions and depressions only require deformation of one elastic flat spatula 32, and the other elastic flat spatulas 32 are not affected, so cleaning can be performed more efficiently. Furthermore, if a larger obstacle is present on the inner wall, the link mechanism 40 or link system 66 can deform the entire group spatula 38 to close and avoid the obstacle.

[0034] Furthermore, the cleaning member pressing force adjustment member 60 ensures that the cleaning member 30 contacts the inner wall of the waterway with an appropriate pressing force, enabling efficient cleaning. In particular, by measuring the relative velocity of the waterway cleaning device 1 with respect to the waterway using the relative velocity measuring member 70 and adjusting the force with which the cleaning member 30 contacts the inner wall of the waterway, highly reliable and efficient cleaning can be performed.

[0035] The waterway cleaning device 1 moves forward using casters 90 in shallow parts of the waterway, and in deeper parts, the floating body 80 maintains the cleaning position above or below the water surface.

[0036] Thus, with the waterway cleaning device 1, there is no need to drain the waterway, and the inner walls can be efficiently cleaned while water continues to flow through the waterway.

[0037] Here, with reference to Figure 5, a waterway cleaning device 2 having a cleaning member pressing force adjustment member 160 with a different configuration will be described. The waterway cleaning device 2 comprises a main body 110, a propulsion force generating member 120, a cleaning member 30, a cleaning part pressing arm 150, and a cleaning member pressing force adjustment member 160. The main body 110 is constructed as a tubular hollow, and a sliding member 162 slides therein in the axial direction, that is, in the direction of travel.

[0038] A thrust generating member 120 is connected to the slide member 162. The thrust generating member 120 may be a block-shaped object made of a light material such as styrofoam or a lifebuoy, or it may be something like a parachute, similar to the thrust generating member 20, and is typically connected to the tip of the slide member 162 in the direction of travel by a rope 122 or the like. An elastic member 166 is installed between the slide member 162 and the main body 110. For example, the elastic member 166 is a helical spring. The elastic member 166 is positioned between the inner tip 112 of the tubular main body 110 and the flange portion 164 of the slide member 162 located downstream of the elastic member. Then, the thrust generated by the thrust generating member 120, which is subjected to water pressure, is transmitted from the rope 122 to the slide member 162, and propels the main body 110 via the elastic member 166.

[0039] One end of the cleaning part pressing arm 150 is rotatably connected to the slide member 162. A cleaning member 30 is connected to the other end of the cleaning part pressing arm 150. A link 142 is provided between the slide member 162 and the main body 110 from the middle of the cleaning part pressing arm 150 to form a link part 140. With such a link part 140, when the slide member 162 moves downstream with respect to the main body 110, the link part 140 closes and the pressing force of the cleaning member decreases. Conversely, when the slide member 162 moves upstream with respect to the main body 110, the link part 140 opens and the pressing force of the cleaning member increases. For example, when the cleaning member 30 hits an obstacle 220, the resistance to the progress of the water channel cleaning device 2 increases, the progress of the main body 110 slows down, and the slide member 162 moves downstream with respect to the main body 110. Then, the link part 140 closes and the cleaning member 30 can easily cross the obstacle 220. In this way, by forming the link part 140 with the main body 110, the slide member 162, the cleaning part pressing arm 150, and the link 142, together with the elastic member 166, the cleaning member pressing force adjusting member 160 can be formed.

[0040] Here, referring to FIG. 6, the operating principle of the cleaning member pressing force adjusting member 160 will be described. In the water channel cleaning device 2, as shown in FIG. 5, a plurality of cleaning members 30 (spatulas 32) are attached to both sides. Here, for simplicity, the operation under special conditions where one spatula 32 is pressed against the wall surface on one side as shown in FIG. 6 will be considered. When this spatula 32 is pressed against the wall surface with a force N, in the water flow with a velocity v0, the propulsion force generating member 120 connected to the main body 110 by the rope 122 is braked by the resistance of this spatula 32 and is carried by the main body at a velocity v (v < v0). At this time, the frictional resistance μN between the spatula 32 and the wall surface and the fluid resistance C1(v0 - v) 2 received by the main body 110 from the flowing water (although other elements of the main body 110 of the water channel cleaning device 2 also receive water pressure, this is omitted here) and the fluid resistance C2(v0 - v) 2 received by the propulsion force generating member 120 from the flowing water balance with each other, so the following holds. μN = C1(v0 - v) 2 + C2(v0 - v)2 (1) Here, C1: Product of the drag coefficient, fluid density, and reference area of ​​the waterway scale removal equipment body. C2 is the product of the drag coefficient, fluid density, and reference area of ​​the propulsion force generating member of the waterway cleaning device. Note that the velocity change is assumed to be sufficiently small (△v~0: meaning approximately equal to 0).

[0041] Furthermore, the force N that the spatula 32 exerts on the wall is generated by the extension force Fs of the elastic member 166, as shown in Figure 6. However, as can also be seen in Figure 6, the tension Fw of the rope 122 connected to the thrust generating member 120 also acts to compress the elastic member 166 by a length x from its natural length. In other words, the extension force of the elastic member 166 is structured to balance both the force that generates the force N that pushes the spatula 32 on the wall and the tension Fw of the rope 122. Note that the tension Fw of the rope 122 is equal to the fluid resistance force that the thrust generating member 120 receives from the flowing water. Fw = C2(v0 - v) 2 (2) This is the result.

[0042] Thus, when the main body 110, which normally flows at a velocity v, comes into contact with a protrusion on the wall surface, for example, and the spatula 32 strikes it, reducing the velocity v of the main body 110, the fluid velocity (v0-v) experienced by the thrust generating member 120 increases, and its fluid resistance C2(v0-v) 2The tension also increases. As a result, the tension Fw of the rope 122 also increases according to equation (2), and the elastic member 166 is compressed more strongly, and the spatula 32 moves away from the wall surface due to the effect of the link part 140 in Figure 3, allowing it to easily pass over obstacles on the wall surface. Once the main body 110 has overcome the obstacle and the propulsion force generating member 120 begins to flow at the same speed as the water flow velocity v0, the tension Fw of the rope 122 becomes zero. As a result, the force of the elastic member 166 opens the spatula 32, and the spatula 32 presses against the wall surface with a large force N, reducing the flow velocity v of the main body and increasing the force that narrows the spatula 32. As a result, the flow velocity v of the main body begins to increase, and when the velocity v of the main body increases to the speed at which equation (1) holds true, the increase in velocity stops, and the resistance force of the spatula 32 and the fluid resistance experienced by the main body 110 return to a balanced state.

[0043] Thus, the cleaning member pressing force adjustment member 160, which comprises a slide member 162, an elastic member 166, and a link portion 140, can achieve control operations equivalent to those of the cleaning member pressing force adjustment member 60, which adjusts the strength of the pneumatic cylinder, etc., based on the relative speed measured by the relative speed measuring member 70, with a simple structure.

[0044] Note that the elastic member 166 is not limited to a helical spring, but may be any known elastic member. The configuration of the link 142 is also not limited to the above, and other known link configurations may be used.

[0045] Next, with reference to Figure 7, a waterway cleaning device 3 having a cleaning member pressing force adjustment member 260 with yet another configuration will be described. In the cleaning member pressing force adjustment member 260, a cleaning part pressing arm 150 as a rod-shaped member extends from the slide member 162, inclined in the opposite direction to the propulsion force generating member 120, and a cleaning member 30 is connected to the other end of the cleaning part pressing arm 150. A link 142 is provided between the cleaning part pressing arm 150 and the main body 110, forming a link section 250. An elastic member 146 is provided to bias the cleaning part pressing arm 150 so that it spreads out, that is, so that the cleaning member 30 presses against the inner wall 210. In Figure 7, the elastic member 146 is a helical spring stretched and installed between the cleaning unit pressing arm 150 and the link 142. However, it may also be a helical spring installed between the cleaning unit pressing arm 150 and the main body 110 or slide member 162, or between the link 142 and the main body 110 or slide member 162, or a torsion spring or other known spring provided at the connection point between the cleaning unit pressing arm 150 and the link 142.

[0046] By having such a cleaning member pressing force adjustment member 260, the waterway cleaning device 3 can efficiently clean by applying an appropriate pressing force to the cleaning member 30 against the waterway inner wall 210 using the cleaning member pressing force adjustment member 260. Furthermore, if there is an obstacle such as a protrusion 220 on the inner wall 210, the cleaning member 30 will have difficulty advancing, slowing down the progress of the waterway cleaning device 3. In this case, the sliding member 162 will be pulled more strongly by the propulsion force generating member 120, weakening the force that the cleaning member pressing force adjustment member 260 exerts to widen the cleaning part pressing arm 150, causing the cleaning part pressing arm 150 to be displaced in a narrowing direction, allowing the device to move over the obstacle.

[0047] In the waterway cleaning device 4 shown in Figure 8, the same effect can be obtained with a simple cleaning member pressing force adjustment member 270, without having a sliding member 162 or even a link portion 250. Specifically, multiple cleaning member pressing arms 150, which are rod-shaped members, extend from the main body 170, inclined in the opposite direction to the propulsion force generating member 120, and a cleaning member 30 is connected to the other end of the cleaning member pressing arms 150. A helical spring, an example of an elastic member spring 156, is compressed and installed between the multiple cleaning member pressing arms 150. Due to the elastic force of the elastic member (spring) 156, the cleaning member 30 contacts the inner wall 210 with a predetermined pressing force, allowing for efficient cleaning. Then, when the cleaning member 30 hits the obstacle 220, the main body 170 is pulled more strongly by the propulsion force generating member 120, causing the cleaning unit pressing arm 150 to narrow over the elastic force of the elastic member (spring) 156, allowing it to overcome the obstacle 220. In other words, in the waterway cleaning device 4, the elastic member (spring) 156 functions as a cleaning member pressing force adjusting member 270.

[0048] In the waterway cleaning device 5 shown in Figure 9, a similar effect can be achieved with a cleaning member pressing force adjustment member 280, which has an even simpler structure. In the waterway cleaning device 5, a rotating connector 180, which serves as the main body, is connected to a rope 122 from a propulsion force generating member 120. Multiple cleaning part pressing arms 150, which serve as rod-shaped members, extend from the rotating connector 180, inclined in the opposite direction to the propulsion force generating member 120, and a cleaning member 30 is connected to the other end of the cleaning part pressing arms 150. An elastic member (spring) 156 is compressed and installed between the multiple cleaning part pressing arms 150. Due to the elastic force of the elastic member (spring) 156, the cleaning member 30 contacts the inner wall 210 with a predetermined pressing force, enabling efficient cleaning. Then, when the cleaning member 30 hits the obstacle 220, the rotating connector 180 is pulled more strongly by the thrust generating member 120, causing the cleaning unit pressing arm 150 to narrow over the elastic force of the elastic member (spring) 156, allowing it to overcome the obstacle 220. In other words, in the waterway cleaning device 5, the elastic member (spring) 156 functions as the cleaning member pressing force adjusting member 280, and the rotating connector 180 functions as the main body.

[0049] The waterway cleaning devices 1-5 described above with reference to the figures are examples, and the detailed configurations and modifications described for each waterway cleaning device 1-5 can be independently applied to other waterway cleaning devices 1-5, and the operation and effects can be obtained in each case. [Explanation of symbols]

[0050] 1, 2, 3, 4,5 Waterway cleaning device 10, 110, 170, 180 main unit 20, 120 thrust generation member 30 Cleaning components 32 Elastic flat spatula 34. Root 36 flat plate 38 Group Spatula 40 Link mechanism 50, 150 Cleaning unit pressing arm 60, 160, 260, 270, 280 Cleaning member Pressing force adjustment member 62 Compressed air source 64 Electro-pneumatic regulator 66 Link System 68 Pneumatic Cylinder 69 Pistons 70 Relative velocity measuring member 80 Floating bodies 90 Caster 112 (Inner tip of the main body) 122 Rope 140, 250 Link section 142 links 146, 156, 166 Elastic components (springs) 150 Cleaning section pressing arm (rod-shaped member) 162 Slide Member 200 waterways 210 Inner wall 220 Obstacles

Claims

1. A waterway cleaning device for cleaning the inner wall surface of a waterway, wherein the waterway cleaning device is The main unit and A propulsion force generating member connected to the main body, which receives water pressure from the water flowing in the waterway and generates a thrust force directed downstream, A cleaning member that contacts the inner wall of the waterway, A cleaning part pressing arm that supports the cleaning member from the main body, The invention is characterized by comprising a cleaning member pressing force adjustment member for adjusting the force with which the cleaning member presses against the inner wall of the waterway, the cleaning member pressing force adjustment member for adjusting the force with which the cleaning member presses against the inner wall of the waterway, Waterway cleaning equipment.

2. The cleaning member pressing force adjustment member is, A sliding member connected to the thrust generating member and sliding in the axial direction of the main body, An elastic member connected to the main body and the slide member, The invention is characterized by comprising the slide member and a link portion connected to the main body, which moves the cleaning member away from and closer to the main body by the sliding of the slide member. The waterway cleaning device according to claim 1.

3. The cleaning member pressing force adjustment member has a relative speed measuring member that measures the relative speed of the main body being carried away by water with respect to the water channel, The cleaning member pressing force is adjusted based on the measured relative speed. The waterway cleaning device according to claim 1.

4. The cleaning member has a structure in which a plurality of elastic flat spatulas are arranged, each having a width that allows cleaning the inner walls above and below the water surface in the waterway to be cleaned. The bases of the plurality of elastic flat spatulas are connected to the cleaning unit pressing arm, characterized in that A waterway cleaning device according to claim 1 or claim 2.

5. The cleaning member has a plurality of elastic flat spatulas having a width that allows cleaning the inner walls above and below the water surface in the waterway to be cleaned. The plurality of elastic flat spatulas are arranged in a predetermined width and grouped together into a spatula with their bases fixed to a flat plate. Multiple of the aforementioned group spatulas are connected by a link mechanism, It has multiple group spatulas connected by the aforementioned link mechanism, The cleaning section pressing arm is provided for each of the multiple group spatulas connected by the multiple link mechanisms. A waterway cleaning device according to claim 1 or claim 2.

6. The cleaning member pressing force adjustment member is characterized by comprising a pneumatic cylinder mounted on the main body, a link system connecting its piston and the cleaning member pressing arm, a compressed air source for supplying compressed air to the pneumatic cylinder, and an electro-pneumatic regulator for adjusting the pressure of the compressed air supplied to the pneumatic cylinder. The waterway cleaning device according to claim 3.

7. The cleaning unit pressing arm is a rod-shaped member that extends inclined in the direction opposite to the direction toward the propulsion force generating member from the main body, The cleaning member pressing force adjustment member is, A sliding member connected to the thrust generating member and sliding in the axial direction of the main body, The link portion including the aforementioned rod-shaped member, It is characterized by having an elastic member connected to the link portion and biasing the rod-shaped member so that it spreads out. The waterway cleaning device according to claim 1.

8. The cleaning unit pressing arm is a plurality of rod-shaped members that extend inclined in the direction opposite to the direction toward the propulsion force generating member from the main body, The cleaning member pressing force adjusting member is an elastic member that biases the plurality of rod-shaped members so that their angles to each other widen. The waterway cleaning device according to claim 1.

9. A floating body is attached to the main body, characterized in that A waterway cleaning device according to claim 1, claim 2, claim 7, or claim 8.

10. The main body is supported and is characterized by having casters that allow it to travel on the waterway, A waterway cleaning device according to claim 1, claim 2, claim 7, or claim 8.

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