IT202000003206A1 - Underwater robot with rotating brush for the treatment of submerged surfaces - Google Patents

Description

• Underwater robot with rotating brush for the treatment of submerged surfaces.

DESCRIPTION

The present invention relates to an underwater robot for treating submerged surfaces and a rotating brush for this robot.

The treatments for which the present invention is applied can include treatments for cleaning, sanitizing or disinfecting the submerged surface, painting treatments or in more? in general of application on the submerged surface of treating agents.

With regard to the submerged surfaces referred to, by way of example we can include, among others, the walls of swimming pools or artificial basins or tanks in general, the submerged part of the hull of a boat, external surfaces of structures submerged such as pipes or containers, submerged parts of bridges, piers, or artificial platforms, etc ...

Nowadays, in this type of treatments devices such as rollers and brushes are commonly used which are previously soaked in a treating agent (for example a detergent or disinfectant in the case of cleaning or sanitizing treatments or a paint, etc.).

Automatic devices are also known, such as underwater robots or drones which are equipped with brushes or rollers. These robots or drones are equipped with wheels or tracks that allow the robot itself to move along the surface to be treated. Also in this case the treating agent is previously applied on the surface of the brush or roller, or manually directly on the surface to be treated.

How ? known, the treatment of submerged surfaces presents quite peculiar technical problems, typical of an underwater environment.

In particular, the presence of water causes the rapid dispersion of the treating agents used for the treatment; ? so it is often necessary to use a large amount? of treating agent that ends up going largely wasted and, in some cases, to pollute or otherwise alter the water in which? immersed the surface to be treated.

Also, to be able to use solvent treating agents in solid form (such as tablets or tablets)? need to dissolve a large amount? in the basin (for example the swimming pool) so that? this treating agent reaches a sufficient concentration and in the water.

In addition, the effectiveness of the surface treatment obtained with the known techniques is often not? satisfying.

The aim of the present invention is to provide an underwater robot for the treatment of submerged surfaces which solves the technical problem described above, obviates the drawbacks and overcomes the limits of the known art, allowing to limit the dispersion and waste of the treating agents.

Within the scope of this aim, an object of the present invention? to create an underwater robot for the treatment of submerged surfaces that allows you to perform a more surface treatment? effective.

Another object of the invention is to provide an underwater robot for the treatment of submerged surfaces which is more versatile with respect to the prior art.

A further object of the invention is to provide an underwater robot for the treatment of submerged surfaces which is easy to manufacture and economically competitive if compared to the known art.

The above task, as well as? the aforementioned and other purposes which will appear better later, are achieved by an underwater robot according to claim 1.

This task and these and other purposes are also? reached by a rotating brush for underwater robots according to claim 14.

Further characteristics and advantages will become clearer from the description of a preferred but not exclusive embodiment of an underwater robot and of a rotating brush for underwater robots, illustrated by way of non-limiting example with the aid of the attached drawings in which:

figure 1? a perspective view from below of a possible embodiment of an underwater robot according to the invention;

figure 2? a perspective view of the rotating brush for underwater robots according to the invention;

figure 3? a perspective view of the rotating brush of Figure 2, in which the coating element? partially pulled out;

figure 4? a perspective view of the rotating brush of Figure 2, in which the coating element? separated from the brush body;

figure 5? an exploded view of the brush body of the brush of figure 2.

With reference to the aforementioned figures, the underwater robot for treating submerged surfaces, globally indicated with the reference number 100,? configured to move along a submerged surface.

For this purpose, the underwater robot 100? for example provided, in a known way, with wheels or rollers 130 or tracks and possibly with a suction system to keep it adhered to the surface to be treated. In a known manner, the wheels or rollers 130 or tracks are driven by one more? engines.

In a preferred embodiment the robot 100? provided with a substantially tubular suction channel with the two ends? open: the first towards the side of the robot provided with the tracks or wheels and the second towards the opposite side of the robot 100; inside the suction channel? installed a? propeller (or a similar device configured to create a flow of fluid) in such a way that a fluid sucked from the first end? open is delivered through the second end? open, generating cos? a force that keeps the robot adhering to the surface on which the wheels rest. In this embodiment preferably the brush? interposed between the wheels and is substantially facing the first end? open.

The control and movement systems of underwater robots are widely known and are not the subject of the present invention, therefore we will not dwell on these aspects on these aspects. beyond; for the parts that for brevity? are not described here, the person skilled in the art will be able to? refer to known underwater robots.

The underwater robot comprises a rotating brush 10, rotatable around a central axis of rotation Y, positioned so as to (ie configured to) interact with the submerged surface along which the robot 100 moves. in practice be obtained by housing the rotating brush 10 in the lower part of the robot 100 so that the submerged surface on which the robot 100 moves is substantially tangent to the rotating brush 10 itself, thus? that during the movement of the robot 100 along the surface the brush 10 comes into contact with the surface.

In the illustrated embodiment, the rotating brush 10? positioned between two displacement rollers 130, with the axis of rotation Y parallel to that of the displacement rollers 130, and? configured to rotate in the opposite direction with respect to the displacement rollers 130. In other embodiments, where instead of the displacement rollers 130 there are wheels or tracks, the rotating brush 10? in any case preferably configured to rotate in the opposite direction with respect to the wheels or tracks, so as to create greater friction by rubbing on the surface to be treated.

The rotating brush 10 comprises a brush body 20, which preferably? substantially cylindrical, which brush body 20 in turn comprises a skirt wall 21 (which preferably develops symmetrically with respect to the central axis of rotation Y) which? in practice constituted by the lateral surface of the brush body 20 when this? cylindrical.

In preferred embodiments, the brush body 20 comprises, at two ends? longitudinal (i.e. of the bases of the brush body 20 when this is cylindrical), mechanical coupling elements 28A, 28B (for example protuberances or sleeves) configured to couple the rotating brush 10 to the robot 100 so as to allow its rotation.

These mechanical coupling elements 28A, 28B, for example, can be inserted in respective seats provided in the robot 100, in which they are free to rotate.

According to the invention, the brush body 20 comprises a cavity. internal 30 configured to contain a treating agent 99 for treating the surface to be treated.

By treating agent 99, in the present description and in the attached claims, we mean any substance or compound, chemical and / or organic, in solid form (for example in the form of tablets, tablets, etc.) and / or powder and / or fluid (liquid or gel), suitable for performing any surface treatment, such as for example a cleaning and / or disinfection and / or sanitizing and / or painting and / or functionalizing treatment (waterproofing, anti-rust, anti-mold, repellent, etc. ..). Some examples of usable treating agents are: washing agents (such as a detergent or compound or solution containing a detergent), paints (or a compound or solution containing a paint), sanitizing agents (such as a disinfectant or compound or a solution containing a disinfectant), etc.

Optionally, the cavity? internal 30, according to the manufacturing requirements, comprises at least one seat configured to house a treating agent 99 in solid form and / or one or more? reservoirs configured to contain a treating agent in fluid form.

In preferred embodiments, the cavity internal 30, 30? extends longitudinally inside the brush body 20 and? defined (bounded) at least in part by the mantle wall 21.

Returning to the general characteristics of the brush body 20, the skirt wall 21 comprises at least one dispensing portion 27A, 27B provided with a plurality of products. of holes 22 that put the cavity in communication with fluid? internal 30 with the outside of the brush body 20 cos? to allow the delivery of the treating agent 99 towards the wall to be treated during the rotation of the brush 10. In the event that it is present in the cavity? internal 30 a tank, this? in fluid communication with the holes 22.

With the term? Holes? we intend here to indicate a substantially cylindrical hole like that of the drawings, or an equivalent thereof, such as for example slots or openings or other provided? adapted to allow the delivery of the treatment agent.

Preferably, the holes 22 are distributed in a substantially uniform manner along the entire dispensing portion 2A, 2B.

In some embodiments, the dispensing portion 27A, 27B? one; in other embodiments the dispensing portions 27A, 27B are more? of a; in the illustrated embodiment there are two distinct dispensing portions 27A, 27B; in some embodiments the dispensing portion coincides with the entire shell wall 21.

Preferably, each dispensing portion 27A, 27B corresponds to a longitudinal portion of the shell wall 21 which extends along its entire circumference.

In the preferred embodiments, in order to have an optimal delivery of the treating agent, in the delivery portion 27A, 27B the density coefficient? of the holes 22 (defined as the ratio between the volume of the cylindrical cavity and the total volume of the holes 22)? between 35% and 1.5%.

In the preferred embodiments, in order to have an optimal delivery of the treating agent, in the dispensing portion 27A, 27B the density? of the holes 22 on the shell wall (defined as the ratio between the total area of the holes 22 and the total surface of the dispensing portion 27A, 27B in which these holes 22 are included)? between 0.09 and 0.003 (i.e. the perforated surface? between 9% and 0.3% of the surface of the dispensing portion 27A, 27B).

For example, in a first preferred embodiment, brush body 20 has a total length of 360 mm and a diameter of 50 mm (each half-shell has a length of 180 mm) and there are 100 holes with a diameter of 5 mm on one 137 mm long dispensing portion (extending over the entire diameter of the brush body 20); in this embodiment the volume of the cavity? internal cylindrical? of 0.0423 dm <3> and the volume of the holes? 0.0157 dm <3> and therefore the density coefficient? any holes? equal to 37% and the density? of the holes 22 and equal to 0.091.

In a second embodiment, wherein the dimensions of the brush body 20, the dispensing portion and the cavity are internal and also the number of holes 22 are the same as the first, and in which the holes 22 have a diameter of 1 mm, the density coefficient? of the holes equal to 1.48% and the density? of the holes 22? equal to 0.0036.

Preferably, the holes 22 have a diameter between 1 mm and 5 mm; the diameter of the holes 22 pu? suitably vary according to the size of the brush body 20 to obtain the desired density coefficient? of the holes 22 and density? of holes 22.

Preferably, the brush body 20 comprises at least one window 25, 25? access to the cavity? internal 30, which allows the insertion of the treating agent 99 inside the cavity? internal 30 itself. In the illustrated embodiment, two windows 25, 25? access to the cavity? internal 30 are positioned in proximity? of the two exhausts? lengths of the brush body 20, on the skirt wall 21.

Alternatively or in addition to windows 25, 25? of access, the body of the brush 20 can? understand one or more? removable parts (for example a base or a longitudinal end) to allow access to the cavity internal 30.

In some embodiments, including the one illustrated, the brush body 20 comprises two cylindrical half-shells 29A, 29B (visible separated in Figure 5), longitudinally aligned and coupled together by means of at least one connecting element 7A, 7B.

In the illustrated example there are two coaxial connecting elements 7A, 7B side by side.

Preferably, the at least one connecting element 7A, 7B comprises at least one wall which separates, inside the brush body 20, a first cavity. internal 30 from a second cavity? internal 30 ?. Notice that each of these first 30 and second 30? cavity internal are accessible through a respective window 25, 25? access.

How already? mentioned, the rotating brush 10? configured to rotate (and more precisely to counter-rotate with respect to the wheels or tracks 130 of the robot 100), the system for actuating this rotation is not? object of the present invention and not? herein described in detail since its realization is within the reach of the person skilled in the art. We limit ourselves here to mentioning that the rotating brush 10 can? for example, be provided with one pi? actuators (e.g. an electric motor) housed in the brush body and configured to drive the brush 10 in rotation. Alternatively, the brush 10 can? be connected, by means of a kinematic chain, to the motor of the robot 100 which controls the wheels or tracks (or to another suitable actuator provided in the robot 100). In the latter case, optionally, the brush body 20 comprises at least one mechanical connection interface configured to be operatively connected to a mechanical transmission system of the robot 100 which is configured to guide the rotating brush 10 in rotation.

In preferred embodiments, the rotating brush 10 comprises a permeable coating element 40, preferably removable, adapted to mechanically interact with the wall to be treated, which permeable coating 40 covers the mantle wall 21 at least in correspondence with the dispensing portion 27A , 27B.

The cladding element? permeable in the sense that it allows the passage of a fluid from the holes 22 towards the outside of the brush.

The permeable cladding element 40? for example one of the following:

- a sponge or the like (for example a sponge case), preferably a synthetic sponge, such as for example a PVA (polyvinyl acetate) sponge;

- a fabric or the like;

- a covering element provided with bristles;

- an element for mechanical processing of the surface, for example an abrasive element.

In a preferred embodiment, the permeable coating element 40? a sponge case with a grain chosen according to the needs (fine grain or medium grain or coarse grain).

Optionally, the brush body 20? covered by pi? cladding elements 40 of different types.

The cladding element 40? in practice, fitted or wound onto the brush body 20, so as to remain integral in rotation with the brush body.

For this purpose, in the preferred embodiments, there are teeth or grooves 44A, 44B, 44C, 44D which have the function of increasing the grip of the coating element 40 on the brush body 20, thus increasing the friction. to prevent the brush body 20 from rotating with respect to the coating element 40 during operation. Preferably, two groups of teeth or grooves 44C, 44D are present in proximity of the extremities? longitudinal sections of the brush body 20 and possibly also one or two additional groups of teeth or grooves 44C, 44D (which in the illustrated example are positioned on the connecting elements 7A, 7B).

In some embodiments, the liner member 40 comprises two or more? separable parts which can be fitted or wrapped around the brush body 20 (and removed therefrom) independently of each other.

Preferably, the coating element 40 has a suitable porosity. which allows the treatment agent 99 to pass through it from the holes 22 to the outside (and therefore to the surface to be treated).

Pi? in detail, the covering element 40 has the function of rubbing on the surface to be treated during the rotation of the brush in order to make more? effective treatment; for this purpose, different types of coating elements 40 can be fitted or wrapped on the brush body 20 according to the type of treatment to be performed.

According to an optional and particularly advantageous feature in the event that the treating agent? in liquid form, the rotating brush 10 comprises a cartridge filter housed inside the cavity? internal 30, 30? adapted to contain a treating agent in liquid form, so? to be filtered out towards holes 22.

The cartridge filter? made in a known way (choosing the filtration degree according to requirements) and preferably comprises a cylindrical body provided with at least one filtering wall, or other filtering elements, and inside it? present a tank to contain the treating agent <. > Like this? It is possible to obtain a controlled dispersion of the treating agent, even when this has a low density.

In some advanced embodiments (not shown) the brush body 20 comprises, at a first end longitudinal, a hydraulic inlet connector which? configured to be connected to a delivery duct for a liquid under pressure and which? in communication of fluid with the cavity? internal 30, 30 ?.

In this way, the cavity? internal 30 which contains the treating agent 99? fed with the pressurized liquid coming from the delivery duct and consequently a pressure is created which pushes the treating agent 99 itself to escape from the holes 22 favoring its delivery towards the surface to be treated.

The liquid under pressure can? be water, or can it? contain or be constituted by the treating agent so? to feed the cavity? internal 30 (and the possible tank or the cartridge filter when present) with the treating agent.

In these embodiments, the brush body 20 optionally comprises, at a second end? longitudinal, also a hydraulic outlet connector configured to be connected to a duct for discharging the liquid coming from the delivery duct. In this case, the inlet and outlet hydraulic connectors are put in fluid communication through the cavity. internal 30, 30 ?, that is to say that the liquid that enters from the inlet connector passes into the cavity? internal 30 and then from this to the outlet connector towards the exhaust duct.

In some embodiments the delivery duct and / or the exhaust duct are part of the robot 100, in other embodiments they are external ducts that are not part of the robot 100.

The hydraulic connectors comprise for example a mouth, or a spout, provided with coupling means for a pipe or the like.

The hydraulic connectors optionally include a flow control valve.

AND? subject of the present invention is also only the rotating brush 10, as previously described, configured to be installed in a pre-existing underwater robot.

So, brush 10, in its essential features,? configured to be rotated about a central axis of rotation Y, and comprises a brush body 20 which in turn comprises a skirt wall 21 (which preferably develops symmetrically with respect to this central axis of rotation Y).

According to the invention, the brush body 20 comprises a cavity. interior 30 configured to contain a treating agent 99 and the cladding wall 21 includes at least one dispensing portion 27, 27? provided with a plurality? of holes 22 that put the cavity in communication with fluid? internal 30 with the outside of the brush body 20 cos? to allow the delivery of the treating agent 99 towards the wall to be treated during the rotation of the brush 10.

Optionally, the rotating brush 10 also comprises one or more? of the features previously described with reference to the brush included in the robot 100 and which are not repeated here for the sake of brevity.

The operation of the robot 100 and the rotating brush 10? clear and evident from what has been described.

It should be noted that during operation, the rotating brush 10 rotates interacting with the surface to be treated and at the same time the treating agent 99 emerges from the holes 22 creating, in the vicinity of of the submerged surface to be treated, an area in which the water (or other liquid in which the surface is immersed) has a high concentration of treating agent. So ? It is possible to improve the effectiveness of the treatment and at the same time limit the waste and dispersion of the treating agent in the water (or other liquid in which the surface is immersed).

Yup ? in practice, it has been found that the underwater robot and the rotating brush, according to the present invention, perform the task as well as the the intended purposes as they allow to limit the dispersion and waste of the treating agents.

Another advantage of the underwater robot and of the rotating brush, according to the invention, consists in carrying out a more superficial treatment. effective.

A further advantage of the underwater robot and of the rotating brush, according to the invention, consists in the fact that they are more? versatile with respect to the prior art.

Another advantage of the underwater robot and of the rotating brush, according to the invention, consists in allowing the use of treating agents in both solid and fluid form.

Another advantage of the underwater robot and of the rotating brush, according to the invention, is that they are easy to produce and economically competitive if compared to the known art.

The underwater robot and the rotating brush so? conceived are susceptible of numerous modifications and variations, all of which are within the scope of the inventive concept.

Furthermore, all the details can be replaced by other technically equivalent elements.

Claims (14)

CLAIMS 1. Underwater robot (100) for the treatment of submerged surfaces configured to move along a submerged surface and comprising a rotating brush (10), rotatable around a central axis of rotation (Y), positioned to interact with the submerged surface along which the robot (100) moves, said rotating brush (10) comprising a brush body (20) which comprises a skirt wall (21), characterized in that said brush body (20) comprises a cavity internal (30) configured to contain a treating agent (99) and that said shell wall (21) comprises at least one dispensing portion (27A, 27B) provided with a plurality of of holes (22) that put the cavity in communication with fluid? inside (30) with the outside of the brush body (20) so? to allow the delivery of the treating agent (99) towards the wall to be treated during the rotation of the brush (10). 2. Underwater robot (100) according to claim 1, wherein the brush body (20) comprises, at two ends? longitudinal, mechanical coupling elements (28A, 28B) configured to couple the rotating brush (10) to the robot (100) so as to allow its rotation. Underwater robot (100) according to claim 1 or 2, wherein the brush body (20) comprises at least one cavity access window (25, 25?). internal (30) that allows the insertion of the treating agent inside the cavity? internal (30). 4. Underwater robot (100) according to one or more? of the preceding claims, wherein in the dispensing portion (27A, 27B) the density? of the holes (22)? between 0.09 and 0.003; in which the density? of the holes (22)? the ratio between the total area of the holes (22) and the total surface of the dispensing portion (27A, 27B) in which said holes 22 are included. 5. Underwater robot (100) according to one or more? of the preceding claims, in which the holes have a diameter between 1 mm and 5 mm. 6. Underwater robot (100) according to one or more? of the preceding claims, in which the rotating brush (10) comprises a permeable coating element (40), adapted to mechanically interact with the wall to be treated, which permeable coating (40) covers the mantle wall at least in correspondence with the dispensing (27A, 27B). Underwater robot (100) according to claim 6, wherein the permeable coating element (40) comprises an element selected from the group comprising: - a sponge or the like; - a fabric or the like; - a covering element provided with bristles; - an element for mechanical processing of the surface. 8. Underwater robot (100) according to one or more? of the preceding claims, in which the rotating brush (10) comprises a cartridge filter housed inside the cavity? internal (30) and configured to contain a treating agent in liquid form so? to be filtered out towards the holes (22). 9. Underwater robot (100) according to one or more? of the preceding claims, in which the brush body (20) comprises, at a first end? longitudinal, a hydraulic inlet connector which? configured to be connected to a delivery duct for a liquid under pressure and which? in communication of fluid with the cavity? internal (30, 30?). Underwater robot (100) according to claim 9, wherein the brush body (20) comprises, at a second end? longitudinal, a hydraulic outlet connector configured to be connected to a duct for discharging the liquid coming from the delivery duct; said inlet and outlet connectors being put in fluid communication through the cavity internal (30, 30?). 11. Underwater robot (100) according to one or more? of the previous claims, in which the cavity? internal (30, 30?) extends longitudinally inside the brush body (20) and d? defined at least in part by the mantle wall (21). 12. Underwater robot (100) according to one or more? of the preceding claims, in which the brush body (20) comprises two cylindrical half-shells (29A, 29B), longitudinally aligned and coupled together by means of at least one connecting element (7A, 7B). Underwater robot (100) according to claim 12, wherein the connecting element (7A, 7B) comprises at least one wall which separates, inside the brush body (20), a first cavity. internal (30) from a second cavity? internal (30?); each of said first (30) and second (30?) cavities? internal being accessible through a respective access window (25, 25?). 14. Rotating brush (10) for underwater robots (100) for the treatment of submerged surfaces of the type configured to move along a submerged surface, configured to be rotated around a central axis of rotation (Y), called rotating brush (10) comprising a brush body (20) which includes a skirt wall (21), characterized in that said brush body (20) comprises a cavity internal (30) configured to contain a treating agent (99) and said shell wall (21) comprises at least one dispensing portion (27, 27?) provided with a plurality of of holes (22) that put the cavity in communication with fluid? inside (30) with the outside of the brush body (20) so? to allow the delivery of the treating agent (99) towards the wall to be treated during the rotation of the brush (10).