JPH0334888B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to an underwater bottom cleaning device for aquaculture fishing grounds, etc.

Conventional Technology In recent years, aquaculture fishing grounds have been gradually developed, but the residue of bait removal is deposited on the seabed, and if left untreated, it can cause red tide, which could have a major impact on the cultivation and fishing industry.

Problems to be Solved by the Invention For this reason, in the past, fishing grounds were relocated and then cleaned using dredgers. However, the auxiliary equipment was large-scale, and the residue spread, causing secondary pollution such as hindrance to fishing boat operations and noise generation. Furthermore, dredgers and the like have limits on how deep they can dive, making it impossible to clean places as deep as 100 to 200 meters.

Means for Solving the Problems The present invention has been made in view of the above-mentioned points, and uses a diving device equipped with a crawler or the like to travel on the bottom of the water to remove bait and the like that have accumulated on the bottom of the water in aquaculture and fishing areas. A manipulator with a suction nozzle attached to its tip for sucking in and discharging the residue, etc. is disposed in a manner that can be bent and driven freely, and the inhalation material inhaled by the suction nozzle is distributed inside the bendable manipulator. A watertight flow path is provided through the diving equipment to provide water-tight flow, and a discharge pump such as a slurry pump is installed in the diving equipment, and the suction side of the discharge pump is connected to the rear of the manipulator, and the suction nozzle is used to connect the manipulator to the manipulator. An underwater bottom cleaning device for aquaculture and fishing grounds, etc., characterized in that it is configured to send inhaled matter such as residue to a treatment device on water or on land via a discharge hose connected to the discharge side of a discharge pump.

Example Hereinafter, the present invention will be explained based on examples.

FIG. 1 and subsequent figures show an embodiment of the present invention. The diving device 1 for cleaning the seabed has a required pressure-resistant structure, and is connected to the seabed by a winch 3 of a ship 2 on the sea surface via a control wire 4 so that it can be submerged into the seabed or lifted onto the ship as shown in FIG. There is. This ship 2 is equipped with a power supply control device 5, a control monitoring device 6, an ultrasonic detector (not shown), a hydraulic control device 7, a winding machine 8, etc., and includes power supply lines, control lines, optical fiber cables, etc. The umbilical cable 4, which is equipped with the following components, is wound up via a winding machine 8 and arranged so as to be freely drawn out, so that the diving device 1 submerged can be remotely controlled. As shown in FIG. 1, the diving device 1 is equipped with a traveling device 11 that can be freely driven by suspending a crawler 10 on a predetermined sprocket on both sides, and a floater 12 with a well-balanced left and right balance on the top surface to adjust the seabed surface appropriately. I am able to run on it. A drainage pump 13 with high suction power in multiple stages such as a slurry pump is installed in the center, a hydraulic power source 14 is installed in the rear, and the manipulator 15 attached to the front is folded. The manipulator 15 can be freely controlled by the drainage pump 13.
It is designed to suck up debris that has accumulated on the seabed through the system, making it possible to clean the seabed. As shown in FIGS. 2 and 3, the manipulator 15 can be controlled to rotate in the horizontal direction by a horizontal joint drive device 16 pivotally attached to the front of the main body. 17, the three arm portions of the second arm 18 and the third arm 19 are connected through joint portions such as a first joint 20, a second joint 21, and a third joint 22, such as a rotary joint, and a deceleration drive machine is constructed. The first arm drive device 23 of the hydraulic cylinder drives the first arm 17, and the second arm drive device 24 and third arm drive device 25 of the hydraulic cylinder drive the second arm 18 and third arm 19 in the vertical direction and around the arm axis, respectively. The structure allows for flexible bending and turning drive control. first arm 17,
second joint 21, second arm 18, third joint 22,
Each of the third arms 19 has a watertight flow passage 26 therein so that the residue, sludge, etc. to be sucked by opening the inside of the third arm 19 can flow therethrough, and these passages are sealed by a required seal (not shown). They are connected in a watertight manner, and are also watertightly connected to a suction nozzle 27 attached to the third arm 19 at the tip of the manipulator 15. 28 is a drain pump connection port, which is connected to the inlet of the drain pump 13 and has seawater resistance.
Connected by a pressure-resistant synthetic resin flexible pipe 29, residues on the seabed are efficiently sucked through the suction nozzle 27, and then via a discharge hose 30 connected to the discharge port of the drainage pump 13, as shown in FIG. The soil is forced to be sent to an earth removal ship 31 on the sea.

The horizontal joint drive device 16, first arm drive device 23, second arm drive device 24, third arm drive device 25, etc. described above are all formed in a double layer structure so that the pressure can be maintained equal to the external seawater pressure. At the same time, a position detector (not shown) such as a potentiometer is disposed on each side to feed back the current operating position to the operation monitoring device 6. The control valves of the servo valve box 32 and the electromagnetic control valve box 33 are actuated in accordance with the input command, and the drive can be appropriately controlled by hydraulic pressure transmission from the rear hydraulic power source device 14. 34 and 35 are television cameras provided at the front and rear. Note that the rod, drive shaft, etc. of the hydraulic cylinder of the actuator described above are coated with ceramics and rust-proofed to increase durability.

As shown in Fig. 1, the diving device 1 is lowered from the ship 2 to the seabed of the aquaculture fishing ground via the control wire 4, and the running device 11 is driven via the control and monitoring device 6, and the front and rear television sets are controlled. The camera 34, 35, an onboard ultrasonic detector, etc. are used to locate the cleaning section at a required location. Then, the drain pump 13 is activated,
The manipulator 15 is suitably bent and driven, and the suction nozzle 27 is positioned so as to come into contact with the upper surface of the bait residue and sludge deposited on the seabed, and the third arm 19, the third joint 22, the second arm 17, Residue is sucked in through the flexible pipe 29 and the like, and is force-fed to the earth removal vessel 31 through the discharge hose 30. Move the diving device 1 as appropriate and adjust the manipulator 15.
The robot is operated to clean debris and sludge from the ocean floor.

Therefore, it can clean the seabed like a household vacuum cleaner, does not require relocation of fishing grounds, does not spread the residue of bait removal, and does not cause secondary pollution such as noise. It can clean the seabed of aquaculture fishing grounds neatly without causing any damage. Incidentally, although the residues and the like were sent to the earth removal vessel, they may also be directly sent to processing equipment on the sea or on land.

In particular, since a diving device is used, it is possible to easily dive into the deep seabed, which is 100 to 200 meters deep, where conventional dredgers cannot dive, and the seabed can be cleaned relatively easily.

In addition, in the above embodiment, suction was performed using a drainage pump, but a high-pressure water pump was installed in parallel to appropriately spray high-pressure water from the suction nozzle to the outside to crush hardened residue and sludge. It also allows for efficient suction cleaning.

Furthermore, if a cutter is replaceably attached to the tip of the manipulator, it can be appropriately used for dredging the seabed where dredgers and the like cannot enter.

In the above embodiment, since the discharge is carried out through the inside of the manipulator, no piping is connected to the outside, and the outside of the manipulator is simple, making it extremely easy to clean the inside. The weight of the device can be reduced because a flow path is provided for the distribution of the water.

In addition, although the above embodiment explained cleaning the seabed of aquaculture fishing grounds, it can be similarly applied to cleaning equipment for lakes, ponds, and other uses, and the operation of diving equipment is limited to ships. It can also be installed on the seabed or inside structures on the coast.

Effects of the Invention As described above, the present invention does not require the relocation of aquaculture fishing grounds, and does not cause secondary pollution due to the dispersion of bait residue, etc., and can be achieved relatively easily. , the seabed can be cleaned efficiently.

In particular, the diving device can be lowered to the seawater or the bottom of a lake, and the manipulator can be driven to bend and the suction nozzle attached to the tip can suck in the residue of bait, etc. that has accumulated on the bottom of the water. Can be done. Since a diving device is used, it is possible to easily dive even at a depth of 100 to 200 meters, and the manipulator can be driven and processed. In addition, since the suction nozzle is passed through the manipulator, which can be bent and driven, to discharge inhaled materials such as residue on the bottom of the water, there are no cleaning pipes connected around the manipulator, and the outside of the manipulator is simple and easy to clean. The work is easy to perform and the weight of the device is reduced.

[Brief explanation of the drawing]

FIG. 1 is an overall schematic explanatory diagram of an embodiment of the present invention, and FIGS. 2 and 3 are a partially omitted side view and a plan view of the same diving device. 1... Diving device, 2... Ship, 13... Discharge pump, 15... Manipulator, 27... Suction nozzle.

Claims (1)

[Scope of Claims] 1. A diving device equipped with a crawler or the like so as to travel on the bottom of the water, with a suction device at the tip for inhaling and discharging residues of bait and the like deposited on the bottom of the water in aquaculture fishing grounds, etc. A manipulator with a nozzle attached thereto is arranged so that its bending drive can be controlled freely, and a flow passage is provided inside the bendable manipulator to flow the inhalation substance inhaled by the suction nozzle in a watertight manner, and the slurry is A discharge pump such as a pump is installed in the diving device, and the suction side of the discharge pump is connected to the rear part of the manipulator, and the residue and other inhalants sucked into the manipulator through the suction nozzle are transferred to the discharge side of the discharge pump. An underwater bottom cleaning device for aquaculture fishing grounds, etc., characterized in that the device is configured to feed water to a treatment device on water or on land via a connected discharge hose.