JP2009189961A - Underwater cleaning robot and auxiliary cleaning work machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To improve the cleaning efficiency of an object to be cleaned by enlarging the cleaning surface of an underwater cleaning robot. <P>SOLUTION: The underwater cleaning robot is provided with a robot body 2 moving along the surface of the object to be cleaned which is present in the underwater and a cleaning nozzle unit 3 for cleaning the object to be cleaned by jetting high pressure water toward the surface of the object to be cleaned. An auxiliary cleaning work machine 70 is mounted inside the robot body and is provided with: a rotary shaft 76 provided rotatably in a work machine body 71; a cleaning nozzle unit 72 which is provided on the lower part of the rotary shaft, jets the high pressure water to the surface of the object to be cleaned and integrally rotates with the rotary shaft by the reaction force of jetting of the high pressure water to the surface of the object to be cleaned; and a propeller 73 which is provided on the upper part of the rotary shaft and rotates with the rotation of the rotary shaft to generate a force for pressing the work machine body to the surface of the object to be cleaned. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to an underwater cleaning robot and an auxiliary cleaning work machine for cleaning an object to be cleaned such as an aquaculture fish net or a hull by jetting high-pressure water.

  Conventionally, for example, an underwater cleaning robot for removing algae and shellfish adhering to an aquaculture fish net, removing dirt adhering to a hull, and the like is known (see, for example, Patent Document 1).

  Such an underwater cleaning robot cleans an object to be cleaned by jetting high-pressure water from a cleaning nozzle unit toward the surface of the object to be cleaned while moving along the surface of the object to be cleaned existing in water. The cleaning nozzle unit is attached to a rotary shaft that is rotatably provided on the robot body, and rotates integrally with the rotary shaft due to the reaction force of high-pressure water jet against the surface of the object to be cleaned. Yes.

Further, a propeller that rotates along with the rotation of the rotation shaft and generates a propulsive force for pressing the robot body toward the surface of the object to be cleaned is attached to the rotation shaft. The underwater cleaning robot is provided with an introduction space so that the rotating propeller can introduce water. Water is introduced from this introduction space toward the propeller, and a water flow blows out of the submersible cleaning robot. This gives the submersible cleaning robot a propulsive force that is in contact with the aquaculture fish net with a predetermined pressure. Is maintained.
Japanese Patent No. 3592204

  Since the conventional underwater cleaning robot is configured to wash only with the cleaning nozzle unit provided in the robot body, it takes time to clean the cultured fish net, particularly when the cultured fish net is large.

  In order to improve the cleaning speed in order to shorten the cleaning time of the aquaculture fish net, it is necessary to increase the traveling speed of the underwater cleaning robot or to increase the width of cleaning.

  However, if the traveling speed is increased, the resistance to running in water will increase, causing problems such as the underwater cleaning robot slipping or its posture becoming unstable, and the traveling speed of the underwater cleaning robot is limited. A speed of about 1.5 to 2.0 times was the limit.

  On the other hand, increasing the size of the robot body and the cleaning nozzle unit in order to increase the cleaning width results in excessive weight and cost, making handling on the sea impractical, making it difficult to increase the size.

  Since the aquaculture net is flexible, if the robot main body or the cleaning nozzle unit is enlarged, it cannot follow the deformation of the synthetic fiber net, causing uncleaning.

  Therefore, in order to solve the above problem, the present invention is configured such that an auxiliary cleaning work machine is attached to the robot main body separately from the robot main body, and the cleaning area of the submersible cleaning robot is increased to increase the cleaning efficiency of the object to be cleaned. The problem is that it can be improved.

  The present invention has been made to solve the above-described problems, and includes a robot main body that moves along the surface of a cleaning target existing in water, and a high-pressure water provided in the robot main body toward the surface of the cleaning target. An underwater cleaning robot having a cleaning nozzle unit for cleaning an object to be cleaned by spraying an auxiliary cleaning work machine is mounted on the robot body, and the auxiliary cleaning work machine is provided rotatably on the work machine body. And a cleaning nozzle unit that is provided at a lower portion of the rotating shaft and injects high-pressure water, and rotates together with the rotating shaft by a reaction force of high-pressure water on the surface of the cleaning object to clean the object to be cleaned. And a propeller that is provided at an upper portion of the rotating shaft and rotates with the rotation of the rotating shaft to generate a force for pressing the work implement body toward the surface of the object to be cleaned. Located in.

  Furthermore, in the submersible cleaning robot of the present invention, the auxiliary cleaning work machine is connected to the rear of the robot body via a support arm, and the support arm is set in the vertical direction to raise and lower the auxiliary cleaning work machine. Further, the auxiliary cleaning work machine is provided so as to be rotatable about a support arm so that the lower cleaning nozzle unit is inclined outward.

  In addition, the auxiliary cleaning machine may be supplied with high-pressure water separately from the robot body, and when the auxiliary cleaning machine is not required, or when the fishery net as a cleaning target is deformed or the narrow part of the net is auxiliary cleaned. If the working machine comes into contact or the frictional force between the mesh surface and the auxiliary cleaning machine interferes with the turning direction of the robot body, stop the water supply to the auxiliary cleaning machine and The urging means such as a spring is configured so as to be separated from the surface of the cultured fish net. Thus, by stopping the water supply to the auxiliary cleaning work machine, the influence on the operation of the robot body can be eliminated by moving the auxiliary cleaning work machine away from the cultured fish net surface.

  The present invention is attached to an underwater cleaning robot body that cleans a cleaning object by jetting high-pressure water from a cleaning nozzle unit toward the surface of the cleaning object while moving along the surface of the cleaning object existing in water. An auxiliary cleaning work machine, and a rotary shaft provided rotatably on the work machine main body, and a high pressure water jet sprayed on the surface of the object to be cleaned. A cleaning nozzle unit that rotates integrally with the rotating shaft and cleans the object to be cleaned, and rotates with the rotation of the rotating shaft provided at the upper portion of the rotating shaft to move the work implement body toward the surface of the cleaning object. A propeller that generates a pressing force, and the work machine body is connectable to the robot body via a support arm, and the support arm is vertically movable to raise and lower the auxiliary cleaning work machine. Set angle swingably provided, moreover, the auxiliary cleaning work device, as lower cleaning nozzle unit is inclined outward is to provided rotatably around a support arm.

  Since the underwater cleaning robot of the present invention includes an auxiliary cleaning work machine, in order to clean the surface of the object to be cleaned with the cleaning nozzle unit provided in the robot main body and the cleaning nozzle unit of the auxiliary cleaning work machine, It can be efficiently and stably cleaned over a wide range.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

In this embodiment, a case where the present invention is applied as a self-propelled underwater cleaning robot for cleaning a cultured fish net will be described.
-Configuration explanation of submersible cleaning robot-
1 to 8 show an underwater cleaning robot 1 according to the present embodiment. The underwater cleaning robot 1 according to the present embodiment includes a robot body 2, a cleaning nozzle unit 3, and a propulsion generating propeller 4 (hereinafter simply referred to as a propeller) as shown in FIGS.

  The robot main body 2 includes a lower nozzle side main body 2A, an upper propeller side main body 2B, and a pair of plate-like connecting bodies 2C and 2C that connect the main bodies. The propeller side main body 2B is disposed with a predetermined distance from the nozzle side main body 2A, and an introduction space D that functions as a water introduction path is formed between the propeller side main body 2A and the nozzle side main body 2A. .

  The propeller side main body 2 </ b> B is formed with a relatively large-diameter opening 21 so as to communicate with the introduction space D, and the propeller 4 is accommodated in the opening 21. That is, water is introduced from the introduction space D toward the propeller 4 by the rotation of the propeller 4.

  Four wheels (front and rear left and right wheels) 22, 23, 24, and 25 are rotatably attached to the left and right side surfaces of the nozzle-side main body 2A. In FIG. 1, the direction indicated by the arrow F indicates the front of the submersible cleaning robot 1. The right side of the submersible cleaning robot 1 is indicated by an arrow R, and the left side is indicated by an arrow L.

  For example, four submersible motors M1, M2, M3, and M4 are accommodated in the nozzle-side main body 2A. The drive shafts of the submersible motors M1, M2, M3, and M4 are wheels 22, 23, and 24, respectively. , 25 are respectively connected.

  A power feeding cable (not shown) is connected to each submersible motor M1, M2, M3, M4. In a state where the submersible cleaning robot 1 is submerged in water, a power supply cable extends from a power supply device (not shown) on land or on the ship toward the submersible cleaning robot 1, and power is supplied to each submersible motor M1, M2, M3, M4. Is called. Thereby, each wheel 22-25 rotates with the drive of these underwater motors M1, M2, M3, and M4.

  For example, when the underwater cleaning robot 1 is traveling forward (traveling in the direction of arrow F in FIG. 1), the rotational speed of the right submersible motors M2 and M4 is set higher than the rotational speed of the left submersible motors M1 and M3. For example, the traveling direction of the submersible cleaning robot 1 is directed to the left (in the direction of arrow L) in FIG. Conversely, if the rotation speed of the left submersible motors M1 and M3 is set higher than the rotation speed of the right submersible motors M2 and M4, the traveling direction of the submersible cleaning robot 1 is directed to the right (arrow R direction). ing.

  It is possible to change the traveling direction in the same manner when the submersible cleaning robot 1 is driven backward by rotating the submersible motors M1, M2, M3, and M4 in the opposite direction. Furthermore, the submersible cleaning robot 1 can be rotated by rotating the submersible motors M1 and M3 and the submersible motors M2 and M4 in opposite directions.

  The underwater motor is provided with two underwater motors M1 and M2 so as to rotationally drive the left and right front wheels 22 and 23, and the left and right front and rear wheels 22 and 24 are interlocked and connected by a belt mechanism or a chain mechanism. The wheels 23 and 25 may be linked and connected in the same manner.

  The cleaning nozzle unit 3 injects the high-pressure water supplied from the high-pressure water hose H toward the cultured fish net N as an object to be cleaned, and cleans the cultured fish net N by the jet. As shown in FIG. 2, the cleaning nozzle unit 3 is attached to the lower portion of the rotating shaft 5 inserted through a support cylinder 11 that is fixed vertically upward from the nozzle-side main body 2 </ b> A. The rotary shaft 5 is rotatably supported by a rotary joint 51 so as to be positioned at the center of the opening 21 formed in the propeller side main body 2B.

  One end of a high pressure water hose H is connected to the rotary joint 51. The other end of the high-pressure water hose H is connected to a high-pressure pump (not shown) on land or on the ship, and high-pressure water fed from this high-pressure pump is supplied to the cleaning nozzle unit 3. A high-pressure water passage 53 for sending high-pressure water supplied from the high-pressure water hose H through the rotary joint 51 to the cleaning nozzle unit 3 is formed inside the rotary shaft 5.

  The cleaning nozzle unit 3 includes a disk-shaped rotating body 35 fixed to the lower end of the rotating shaft 5, and a high-pressure water injection path 36 is provided in the rotating body 35 inside the rotating shaft 5. 53 is formed in the diameter direction of the rotating body 35. A plurality (a pair in this embodiment) of cleaning nozzles 33 and 34 communicating with the ejection path 36 are attached to the outer peripheral portion of the rotating body 35.

  These cleaning nozzles 33 and 34 are inclined downward by a predetermined angle so that the injection direction of the high-pressure water faces the surface of the cultured fish net. Specifically, the direction of each of the cleaning nozzles 33 and 34 is inclined downward by a predetermined angle (for example, 5 to 45 °) toward the surface of the aquaculture fish net N in a direction in which the rotating body 35 is rotated in the direction of arrow A. ing.

  As a result, when high-pressure water is jetted from the cleaning nozzles 33 and 34, the cleaning nozzle unit 3 rotates together with the rotary shaft 5 due to the jet reaction force generated when this high-pressure water is sprayed on the surface of the cultured fish net N. It is supposed to be. In other words, the cleaning nozzle unit 3 sprays high-pressure water on the surface of the cultured fish net N while rotating around the axis of the rotating shaft 5, so that algae, shellfish, and the like attached to the cultured fish net N are spread over a wide range. It is comprised so that it can be removed over.

  The propeller 4 is provided integrally with the rotary shaft 5 so as to be accommodated in the opening 21 of the propeller side main body 2B. Accordingly, when the high pressure water is jetted from the cleaning nozzles 33 and 34 and the rotary shaft 5 rotates together with the cleaning nozzle unit 3 by the jet reaction force, the propeller 4 also rotates integrally, and the submersible cleaning robot 1 is moved downward. It is designed to generate a water stream for pressing. Accordingly, a propulsive force that presses the submersible cleaning robot 1 toward the cultured fish net N during the cleaning operation is generated.

  The underwater cleaning robot 1 is provided with an auxiliary nozzle unit 6 for preventing the accompanying rotation generated in the robot body 2 due to the rotation of the rotary shaft 5. That is, when the cleaning nozzle unit 3 and the rotary shaft 5 rotate, the robot body 2 also tries to rotate in the rotational direction of the rotary shaft 5 due to the sliding resistance between the rotary shaft 5 and the rotary joint 51. , To counteract that power. The auxiliary nozzle unit 6 is supplied with high-pressure water via a branch hose (not shown) connected to the high-pressure water hose H.

  A pair of auxiliary cleaning work machines 70 are detachably attached to the rear of the robot body 2 at a predetermined interval. The auxiliary cleaning work machine 70 is provided with a cleaning nozzle unit 72 and a propeller 73 in a work machine main body 71, and the basic configuration is the same as that of the robot main body 2 side.

  The cleaning nozzle unit 72 is fixed to a rotary shaft 76 rotatably supported by the rotary joint 75 so as to rotate integrally with the rotary shaft 76 at the lower end. The rotating shaft 76 is rotated together with the cleaning nozzle unit 72 by high-pressure water supplied from a high-pressure water hose H1 (a hose capable of supplying high-pressure water independently of the high-pressure water hose H) connected to the rotary joint 75. It is supposed to be. As with the cleaning nozzle unit 3, the cleaning nozzle unit 72 is provided with cleaning nozzles 72b and 72c on a rotating body 72a having an ejection path 72d.

  Further, the diameter D1 of the nozzle rotation locus L1 of each auxiliary cleaning work machine 70 indicated by the phantom line in FIG. 1 slightly overlaps the diameter D2 of the nozzle rotation locus L2 on the robot body 2 side. As described above, by superimposing the nozzle rotation trajectories, there is no occurrence of an uncleaned portion between the cleaning nozzle units 3 and 72. Moreover, by setting the diameters of the nozzle rotation trajectories to be equal to each other, a cleaning area approximately three times that of the case of only the nozzles on the robot body 2 side can be obtained.

  As shown in FIG. 6, the work machine main body 71 includes a plurality of pipes 78, a cylindrical body 79 fixed so as to be inscribed in an upper end portion of the pipe 78, and a rotary joint 75. And a support pipe 80 to be fixed by the. On the outer periphery of the work machine main body 71, an annular float 82 is fitted and fixed. Due to the buoyancy of the float 82, the auxiliary cleaning work machine 70 floats in the water with the cleaning nozzle unit 72 positioned downward.

  A propeller 73 is fixed to the upper portion of the rotating shaft 76 so as to be accommodated in the cylindrical body 79.

  The work machine main body 71 is detachably attached to the robot main body 2 (nozzle side main body 2A) via a support arm 83 that is substantially L-shaped in plan view. Specifically, a cylindrical boss portion 84 is fixed to one end of the support arm 83 as shown in FIG. 7, and the boss portion 84 supports the robot body 2 in the horizontal direction in the horizontal direction. A shaft 85 is inserted. The support shaft 85 is fixed to the robot body 2 via a bracket 86. The bracket 86 is detachably attached to the robot body 2 with bolts (not shown).

  The support arm 83 swings by a set angle in the vertical direction about the support shaft 85. For example, the support arm 83 swings in the range of an angle α1 of 50 to 60 ° (preferably about 55 °) upward and in the range of an angle α2 of 10 to 20 ° (preferably about 15 °) downward. It is like that. Positioning of the swing angle of the support arm 83 is performed by positioning means 87a and 87b. As shown in FIG. 7, the positioning means 87a and 87b have stoppers (bolts) 89a and 89b screwed into mounting members 88a and 88b protruding from the boss portion 84, respectively.

  When the support arm 83 swings upward, the stopper 89 a is brought into contact with the end surface of the robot body 2. When the support arm 83 swings downward, the stopper 89 b is brought into contact with the end surface of the robot body 2. Note that the upper and lower swing angles of the support arm 83 can be adjusted by adjusting the stoppers 89a and 89b.

  A coil spring 89c as an urging means is interposed in the boss portion 84, and the auxiliary cleaning work machine 70 is urged to an upper position in the water at the time of unnecessary stop by the coil spring 89c. To maintain.

  A cylindrical bearing member 90 is fitted into the other end of the support arm 83 as shown in FIG. 6, and a support shaft 91 protruding from the rotary joint 75 is inserted into the bearing member 90 so as to be relatively rotatable. At the same time, the support arm 83 is prevented from coming off by the large-diameter head 91 a of the support shaft 91.

  Accordingly, the auxiliary cleaning work machine 70 rotates around the support arm 83 (support shaft 91) so that the lower cleaning nozzle unit 72 is inclined outward (FIGS. 4 and 5). reference). The auxiliary cleaning work machine 70 can maintain a substantially vertical state in the water by the float 82, and when the cultured fish net N is tilted, the auxiliary cleaning machine 70 is rotated according to the tilt angle of the net. In addition, since the auxiliary cleaning work machine 70 maintains a substantially vertical state in the water by the float 82, it is not necessary to provide a rotation positioning means in particular. However, in order not to rotate more than a set angle (for example, 60 degrees), It is possible to provide positioning means similar to the positioning means 87a and 87b.

-Operation explanation of submersible cleaning robot 1-
Next, the cleaning operation of the cultured fish net N by the underwater cleaning robot 1 configured as described above will be described.

  At the time of cleaning by the underwater cleaning robot 1, the underwater cleaning robot 1 is submerged inside the aquaculture fish net N (aquaculture space) as shown in FIG. Then, power is supplied to each submersible motor from the power supply cable, and high-pressure water is supplied from the high-pressure water hose H to the cleaning nozzle unit 3 and the auxiliary nozzle unit 6.

  Thereby, each underwater motor M1, M2, M3, M4 drives, each wheel 22-25 rotates, and the underwater cleaning robot 1 travels along the aquaculture fish net N.

  High pressure water is jetted from the cleaning nozzles 33 and 34 of the cleaning nozzle unit 3. By a jet of high-pressure water from the cleaning nozzles 33 and 34, algae, shellfish, and the like attached to the cultured fish net N are removed and discharged out of the aquaculture space, and the cultured fish net N is cleaned.

  The cleaning nozzle unit 3, the rotating shaft 5, and the propeller 4 rotate integrally by the injection reaction force accompanying the injection of the high-pressure water. By the rotation of the propeller 4, water is introduced from the introduction space D toward the propeller 4, and a water flow blown out from the opening 21 is generated, whereby a propulsive force is obtained for the underwater cleaning robot 1, and each wheel 22-25. Is maintained in contact with the cultured fish net N at a predetermined pressure.

  Therefore, the wheels 22 to 25 are not lifted from the cultured fish net N, and the cultured fish net N is cleaned while the underwater cleaning robot 1 travels stably along the cultured fish net N.

  In addition, the auxiliary cleaning work machine 70 maintains the upward posture in the stopped state, and does not hinder the underwater cleaning robot 1 from traveling in water.

  When high-pressure water is supplied to the auxiliary cleaning work machine 70 via the high-pressure water hose H1, high-pressure water is also ejected from the cleaning nozzles 72b and 72c of the cleaning nozzle unit 72. Since the propeller 73 rotates together with the cleaning nozzle unit 72 by jetting the high pressure water from the cleaning nozzles 72b and 72c, water is introduced from between the pipes 78 toward the propeller 73, and the auxiliary cleaning machine 70 is moved downward. Propulsion can be obtained. As a result, the support arm 83 swings downward, and the lower surface of the work machine body 71 comes into contact with the cultured fish net N with a predetermined pressure.

  The auxiliary cleaning work unit 70 maintains such a cleaning posture, and the cleaning nozzle unit 72 can remove algae, shellfish, and the like attached to the cultured fish net N on the left and right outer sides than the cleaning range of the robot body 2 itself. As described above, since the pair of auxiliary cleaning work machines 70 for cleaning the left and right outer sides than the cleaning range of the robot body 2 itself are provided, the aquaculture fish net N can be widened without increasing the traveling speed of the submersible cleaning robot 1. And it can be cleaned stably.

  Further, the cultured fish net N is bent downward by the weight of the underwater cleaning robot 1. Specifically, when the aquaculture fish net N on the left and right sides of the submersible cleaning robot 1 is inclined (see FIG. 8A), in such a case, both auxiliary cleaning work machines 70 are bent angles of the aquaculture fish net N. Accordingly, since the posture is changed by turning left and right around the support arm 83, the left and right outer sides can be cleaned from the cleaning range of the traveling robot body 2 itself.

  Further, when the aquaculture fish net N behind the underwater cleaning robot 1 is inclined (see FIG. 8B), in such a case, both auxiliary cleaning work machines 70 are provided with support arms according to the deflection angle of the aquaculture fish net N. Since 83 swings upward and changes its posture, it is possible to clean the left and right outside of the cleaning range of the robot body 2 itself.

  Further, when the cultured fish net N is large, the rope N1 may become a net bone (see FIG. 8C). In such a case, the portion of the rope N1 becomes the summit, and the cultured fish net N is uneven. Therefore, the underwater cleaning robot 1 needs to cross the mountain.

  When traveling on a mountain, since the support arm 83 swings downward by the propulsion force of the propeller 73, the auxiliary cleaning work machine 70 is able to operate the aquaculture fish net even if the cultivated fish net N has some irregularities in the valleys. It follows the uneven shape of N, and the auxiliary cleaning work machine 70 can travel on the uneven portion of the cultured fish net N while washing.

  If the inclination angle of the mountain portion is steep, the support arm 83 is set to swing downward, so that the auxiliary cleaning work machine 70 bends more than a predetermined angle with respect to the robot body 2. Is regulated. For this reason, it can prevent that the robot main body 2 and the auxiliary | assistant washing | cleaning work machine 70 cannot drive | work in the state straddling the rope N1, and can perform the stable cleaning operation | work.

  Further, when the auxiliary cleaning work machine 70 is unnecessary, the auxiliary cleaning work machine 70 comes into contact with the deformation of the cultured fish net N or the narrow part of the net N, or the frictional force between the net surface and the auxiliary cleaning work machine 70 causes the robot to When the rotation direction of the main body 2 is hindered, the water supply to the auxiliary cleaning work machine 70 is stopped. As a result, the auxiliary cleaning work machine 70 is urged to the upper position in the water by the coil spring 89 c in the boss portion 84, and moves away from the cultured fish net surface N itself. Thus, by stopping the water supply to the auxiliary cleaning work machine 70, the auxiliary cleaning work machine 70 is separated from the cultured fish net surface, so that the influence on the operation of the robot body 2 can be eliminated.

  The present invention is not limited to the embodiment described above. For example, the object to be cleaned is not limited to the cultured fish net N, but can also be used for cleaning piers, hulls, pools, and the like.

  The auxiliary cleaning work machine 70 and the cleaning nozzle units 3 and 72 on the robot body 2 side include a pair of horizontal extension pipes extending in the horizontal direction from the rotary shafts 5 and 76 and a cleaning nozzle provided at the tip of the horizontal extension pipe. It can also be configured.

  The propeller 73 may be configured to rotate in the same direction or rotate in opposite directions.

  The robot body 2 does not need to be divided into the nozzle side body 2A and the propeller side body 2B, and may be one in which a part of the robot body 2 is opened to form the introduction space D.

It is a schematic plan view including the partial cross section of the submersible cleaning robot which concerns on one embodiment of this invention. It is a side view of the same underwater cleaning robot. It is the side view which raised / lowered the auxiliary cleaning work machine of the same underwater cleaning robot. It is a rear view of the underwater cleaning robot. It is the rear view which rotated the auxiliary cleaning work machine of the submersible cleaning robot. 1 is a cross-sectional side view of an auxiliary cleaning work machine according to an embodiment of the present invention. It is a cross-sectional side view of the connection state of the auxiliary washing machine and the robot body. The cleaning state of the underwater cleaning robot which concerns on one embodiment of this invention is each shown, (a) is a rear view, (b) is a side view, (c) is a side view.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Underwater cleaning robot 2 Robot main body 3 Cleaning nozzle unit 70 Auxiliary washing work machine 71 Work machine main body 72 Cleaning nozzle unit 73 Propeller 77 Rotary joint 76 Rotating shaft 83 Support arm N Cultured fish net

Claims (3)

A robot body that moves along the surface of the object to be cleaned that exists in the water, and a cleaning nozzle unit that is provided in the robot body and that jets high-pressure water toward the surface of the object to be cleaned to clean the object to be cleaned. Underwater cleaning robot
The robot main body is equipped with an auxiliary cleaning work machine, and the auxiliary cleaning work machine is provided with a rotary shaft rotatably provided on the work machine main body and a high-pressure water jet provided at a lower portion of the rotary shaft and cleaning. A cleaning nozzle unit that rotates together with the rotating shaft to clean the object to be cleaned by jetting reaction force of high-pressure water on the surface of the object, and rotates with the rotation of the rotating shaft provided on the rotating shaft, An underwater cleaning robot comprising: a propeller that generates a force for pressing the work machine main body toward the surface of the object to be cleaned.   2. The submersible cleaning robot according to claim 1, wherein the auxiliary cleaning work machine is connected to a rear side of the robot body via a support arm, and the support arm is vertically moved to raise and lower the auxiliary cleaning work machine. The auxiliary cleaning work machine is provided so as to be swingable at a set angle, and is provided so as to be rotatable about a support arm so that a lower cleaning nozzle unit is inclined outward. Underwater cleaning robot. Auxiliary cleaning work attached to the body of the underwater cleaning robot that moves along the surface of the object to be cleaned existing in the water and injects high-pressure water from the cleaning nozzle unit toward the surface of the object to be cleaned to clean the object to be cleaned. Machine,
A rotary shaft provided rotatably on the work machine body and high-pressure water jetted at the lower part of the rotary shaft and cleaning by rotating integrally with the rotary shaft by the reaction force of high-pressure water sprayed on the surface of the object to be cleaned A cleaning nozzle unit for cleaning an object; and a propeller that is provided at an upper portion of the rotating shaft and rotates with the rotation of the rotating shaft to generate a force for pressing the work implement body toward the surface of the cleaning object. The working machine body is connectable to the robot body via a support arm, and the support arm is provided so as to be swingable at a set angle in the vertical direction to move the auxiliary cleaning work machine up and down. The auxiliary cleaning work machine is provided so as to be rotatable about a support arm so that a lower cleaning nozzle unit is inclined outward.

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