JP2010104934A - Underwater cleaning equipment - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an underwater cleaning equipment which can clean fouling on the surface cleanly and at the same time, has a simple constitution and a higher general versatility in order to practice effectively an inside check by an underwater check robot. <P>SOLUTION: The underwater cleaning equipment 1 comprises a suspension device 2 having an installing mechanism to the underwater check robot R, a cleaning equipment body 3 attached to the suspension device 2 and cleaning a tread of the underwater check robot R, and a floating body 4 attached to the cleaning equipment body 3. The cleaning equipment body 3 is provided movably at least in a vertical direction to the tread and held substantially with neutral buoyancy by the buoyancy of the floating body 4 in a state of being attached to the suspension device 2, and is provided with a rotating disk 33 comprising cleaning brushes 34 sliding in contact with the tread. By rotary-driving the rotating disk 33, a liquid between the rotating disk 33 and the tread is pushed outside to become depressurized, and is constituted so as to be pressed to the tread. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an underwater cleaning apparatus for cleaning an inspection site as a pretreatment when an internal inspection is performed by an underwater inspection robot in a large-scale fresh water channel facility such as a hydraulic iron pipe or a surge tank in a hydroelectric power plant.

  Conventionally, the internal inspection of hydraulic iron pipes and surge tanks among large-scale freshwater canal facilities at hydroelectric power stations has a high head and steep slope, so it is a large-scale temporary facility for inspectors to visually check all lines. Underwater inspection robots that do not require large-scale temporary facilities are used. However, when inspecting the wall surface inside the facility by the underwater inspection robot, scale or mud adheres to the surface, and it may be difficult to confirm rust or cracks on the wall surface. Therefore, it is necessary to clean the inspection part as a pretreatment for the inspection. Furthermore, in recent years, facilities that have been in operation for more than 20 years have increased, and the importance of future degradation evaluation has increased.

In Patent Document 1 below, a plurality of cleaning wheels are provided on a robot body, and are provided on the outer periphery of an opening of a rotating support that covers the traveling wheels, and are driven to rotate and clean the grounding surface. The traveling cleaning device is provided, and the centrifugal force generated by the rotation of the cleaning tool causes water to flow out to the outer peripheral side so as to make the rotary support body have a negative pressure, thereby adsorbing the robot body to the landing surface. An underwater cleaning robot is disclosed.
JP 2003-112137 A

  However, in the traveling cleaning apparatus described in Patent Document 1, if the negative pressure inside the rotating support increases due to the rotation of the cleaning tool, the pressing force against the ground surface becomes too large and the cleaning tool is difficult to rotate. In some cases, clean cleaning was not performed, and it was difficult to say that sufficient internal inspection could be performed.

  Moreover, in the said patent document 1, since it is necessary to integrate the washing | cleaning function in the robot main body by using the driving | running | working wheel of an underwater inspection robot main body as the said travel cleaning apparatus, the said cleaning apparatus is integrated in the commercially available underwater inspection robot from which a form differs. It is difficult to remove the cleaning device when there is a limitation in the case where the user wants to perform the cleaning and the cleaning function is unnecessary and only the inspection is to be performed.

  Therefore, the main problem of the present invention is to provide an underwater cleaning device with a simple structure and higher versatility, in order to efficiently perform internal inspection by the underwater inspection robot, and to clean the deposits on the surface. is there.

In order to solve the above-mentioned problem, the present invention according to claim 1 is an underwater cleaning apparatus attached to an underwater inspection robot for cleaning the ground contact surface of the underwater inspection robot,
A suspension device having a mounting mechanism for the underwater inspection robot, a cleaning device main body attached to the suspension device for cleaning the ground surface of the underwater inspection robot, and a floating body attached to the cleaning device main body,
The cleaning device main body is provided so as to be movable at least in a vertical direction with respect to the ground plane, and is maintained in a substantially neutral buoyancy by the buoyancy of the floating body in a state of being attached to the suspension device, and is in sliding contact with the ground plane A rotating disk provided with a brush is provided, and by rotating the rotating disk, the liquid between the rotating disk and the ground surface is pushed outward to become negative pressure and pressed against the ground surface. An underwater cleaning apparatus is provided.

  In the first aspect of the invention, since the rotating disk is driven to rotate, the liquid between the rotating disk and the grounding surface is pushed out to a negative pressure, and the cleaning device body is pressed against the grounding surface. It will be possible to clean the adhering material. On the other hand, if the pressing force of the cleaning device body becomes too large and the frictional force between the cleaning brush and the ground surface increases, and the rotation speed of the rotating disk decreases accordingly, the cleaning device body becomes substantially neutral buoyancy (floating in water). In other words, the negative pressure is reduced and the cleaning device main body is slightly separated from the ground contact surface. As a result, the frictional force with the ground contact surface is reduced, and the cleaning device body is pressed against the ground contact surface again by the rotation of the rotating disk, so that the cleaning effect is restored. As described above, in the underwater cleaning apparatus according to the present invention, the cleaning effect by the optimum rotation of the rotating disk is maintained, so that the surface deposits can always be cleaned cleanly.

  In addition, since the underwater cleaning device is provided with a suspension device having a mechanism for attaching to the underwater inspection robot, the underwater inspection robot and the cleaning device are not integrated. It becomes easy to incorporate or remove the underwater cleaning apparatus, and it is possible to provide a more versatile underwater cleaning apparatus with a simple structure.

  As the present invention according to claim 2, the suspension device has a guide shaft suspended from the top plate, and a movable gantry that is movable in the axial direction along the guide shaft. The underwater cleaning apparatus according to claim 1, further comprising a main body support for attaching the cleaning apparatus main body.

  The invention according to claim 2 defines a specific configuration for providing the cleaning apparatus main body so as to be movable in a direction perpendicular to the ground plane.

  According to a third aspect of the present invention, there is provided the underwater cleaning apparatus according to the second aspect, wherein the main body support frame is provided so as to be swingable with respect to the movable frame.

  In the third aspect of the invention, for example, when a grounding surface such as a hydraulic iron pipe is inclined and an underwater cleaning device is provided at both bottoms of the underwater inspection robot, the main body support frame can be swung with respect to the movable frame. Since the underwater cleaning device is inclined outward and the cleaning brush comes into sliding contact with the wall surface of the hydraulic iron pipe in a vertical direction, the surface deposits can be cleaned cleanly.

  As a fourth aspect of the present invention, the suspension device is provided with a shock absorber for absorbing an impact caused by the movable base moving in the axial direction along the guide shaft. 3. An underwater cleaning apparatus according to any one of 3 is provided.

  According to the fourth aspect of the present invention, there is provided a shock absorber for absorbing an impact generated when the movable frame moves in the vertical direction. The shock absorber can be a coil spring wound around the upper and lower guide shafts of the movable frame.

  As for this invention which concerns on Claim 5, the said rotary disk covers the substantially whole surface of the area | region where the said cleaning brush is arrange | positioned, It is the disk shape which does not have an opening, The underwater in any one of Claims 1-4 A cleaning device is provided.

  The invention described in claim 5 is a preferred structure of the rotating disk, specifically, it is preferable to form a disk shape that covers almost the entire surface of the region where the cleaning brush is disposed and does not have an opening on the inner side. . As a result, when the rotating disk is driven to rotate, the liquid between the rotating disk and the grounding surface is pushed outward to easily form a negative pressure, and the underwater cleaning device is more pressed against the grounding surface.

  As the present invention according to claim 6, there is provided the underwater cleaning apparatus according to any one of claims 1 to 5, wherein the cleaning brush is provided inclined with respect to a radial direction of the rotating disk.

  In the invention described in claim 6, by providing the cleaning brush inclined with respect to the radial direction of the rotating disk, it is easy to push the liquid between the rotating disk and the ground surface to the outside, and more negative pressure is formed. It is easy to be done. The cleaning brush is preferably provided so as to be inclined in the rotational direction with respect to the radial direction line of the rotating disk, because the effect of pushing out the liquid by the action of centrifugal force is more likely to be exerted.

  As for this invention which concerns on Claim 7, the said cleaning brush is installed so that the circumferential direction space | interval may become larger toward the outer peripheral side rather than the center side of a rotary disk. Is provided.

  In the invention of claim 7, the negative pressure effect due to the rotation of the rotating disk is improved by installing the cleaning brush so that the circumferential interval is larger on the outer peripheral side than on the center side of the rotating disk. ing.

  As the present invention according to claim 8, there is provided the underwater cleaning device according to any one of claims 1 to 7, wherein the cleaning brush is combined with a plurality of brushes having different brush shapes and brush hardnesses. .

  In the invention described in claim 8 above, by installing a combination of a plurality of brushes having different brush shapes and brush hardnesses, it is possible to flexibly cope with the unevenness of the ground contact surface, the property of the deposit, and the like. Will be able to.

  As described above, according to the present invention, in order to efficiently perform the internal inspection by the underwater inspection robot, it is possible to clean the surface deposits and provide a more versatile underwater cleaning apparatus with a simple structure. It becomes like this.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 is a side view of an underwater inspection robot R provided with an underwater cleaning apparatus 1 according to the present invention, and FIG. 2 is a front view thereof.

  In the illustrated example, the underwater cleaning apparatus 1 according to the present invention is attached to the bottoms of both sides of the underwater inspection robot R one by one on the left and right sides, and is an apparatus for cleaning the ground contact surface of the underwater inspection robot.

  As shown in FIG. 3, the underwater cleaning device 1 has a suspension device 2 having a mechanism for attaching to the underwater inspection robot R, and a cleaning device that is attached to the suspension device 2 and cleans the ground contact surface of the underwater inspection robot R. An apparatus main body 3 and a floating body 4 attached to the cleaning apparatus main body 3 are configured.

  The cleaning device main body 3 is provided so as to be movable at least in the vertical direction with respect to the ground surface, and is maintained at a substantially neutral buoyancy by the buoyancy of the floating body 4 while being attached to the suspension device 2. Further, a rotating disk 33 provided with a cleaning brush 34 that is in sliding contact with the ground surface is provided. By rotating the rotating disk 33, the liquid between the rotating disk 33 and the ground surface is pushed outward and negative. Pressure is applied to the ground plane.

  The underwater inspection robot R is provided with four wheels for traveling on the ground contact surface at the bottom, and propelled backward and upward in the water by rotating the rotating blades provided in the front-rear direction and the vertical direction. It is possible to descend. Further, by providing a container having buoyancy at the center of the underwater inspection robot R, the robot as a whole is in a state of substantially neutral buoyancy in which mass and buoyancy are balanced. As a result, the underwater inspection robot R is configured such that the wheels can be grounded in all directions in the vertical and horizontal directions inside a large-scale fresh water channel facility such as a hydraulic iron pipe or a surge tank. Further, the underwater inspection robot R is equipped with an underwater camera so that the ground contact surface of the underwater inspection robot R can be photographed after cleaning. In addition, the underwater inspection robot R is equipped with various devices such as an underwater light and a detection sonar, which can be remotely controlled.

  Hereinafter, the underwater cleaning device 1 will be described in detail. As shown in FIG. 5, the suspension device 2 is provided with a guide shaft 22 that is suspended from the top plate 21 and a movable base 23 that is movable in the axial direction along the guide shaft 22. A main body support base 24 for attaching the cleaning device main body 3 to the movable base 23 is provided. Further, the main body support frame 24 is provided so as to be swingable with respect to the movable frame 23.

  As shown in FIG. 6, the top plate 21 is provided with an opening 21b at the center of a substantially rectangular plate-like body, and a plurality of bolt holes 21a, 21a,. Bolt holes 21c, 21c... For inserting connection bolts 22a protruding from the upper end of the guide shaft 22 are provided outside the four corners of the portion 21b.

  Four guide shafts 22 are suspended from the top plate 21 as described above, and a flange 22b is fixed to the bottom of the guide shaft 22 to prevent the movable base 23 from falling off.

  The movable pedestal 23 is formed of a frame body that is framed in a substantially quadrilateral shape, and engagement holes 23 a for engaging the guide shafts 22, 22... 23a ... are provided.

  Since the movable pedestal 23 moves in the axial direction along the guide shaft 22, the movable pedestal 23 absorbs an impact caused by collision with both ends of the guide shaft 22. Coil springs 27 and 27 around which the guide shaft 22 is wound are provided.

  The main body support frame 24 includes an upper main body fixing frame 24 a to which the cleaning device main body 3 is fixed, and front and rear legs 24 b and 24 b, and a lower portion of the leg body 24 b is disposed before and after the movable frame 23. By being pivotally supported by support shafts 25 and 25 inside the central portion, the support shaft 25 is pivotably mounted around the support shaft 25. Thus, the cleaning device main body 3 is swingably provided on the suspension device 2 by the main body support stand 24 being provided swingably with respect to the movable stand 23. Here, as shown in FIG. 2, the cleaning device main body 3 is provided so as to swing in both directions of the robot while the underwater cleaning device 1 is attached to the underwater inspection robot R. Accordingly, the cleaning brush 34 can be brought into perpendicular contact with the wall surface even on a wall surface inclined on both sides, such as a hydraulic iron pipe.

  Here, with the underwater cleaning device 1 attached to the underwater inspection robot R, the main body support pedestal 24 tilts the bottom of the cleaning device main body 3 only in the outward direction of the underwater inspection robot R, as shown in FIG. Thus, a structure that allows only tilting in one direction, such as by providing a stopper, may be used.

  Further, inside the movable gantry 23, in order to prevent the cleaning device main body 3 from directly hitting the movable gantry 23 when the cleaning device main body 3 is attached to the main body support gantry 24 and is swung, it is made of urethane. Stoppers 26, 26 such as are attached.

  In the suspension device 2 configured as described above, the movable pedestal 23 moves in the axial direction along the guide shaft 22, as shown in FIG. The cleaning device main body 3 can be moved in a direction perpendicular to the ground plane, and the main body support frame 24 is pivotally supported by the movable frame 23 so that the cleaning device main body 3 can swing. ing.

  As shown in FIG. 7, the cleaning device main body 3 includes a rotary drive device 31, a rotary disk 33 that is rotationally driven by being pivotally supported on the rotary shaft 32, and an underwater inspection robot R. It comprises a plurality of cleaning brushes 34, 34... That are in sliding contact with the ground to clean the surface. Further, in a state where the cleaning device main body 3 is attached to the suspension device 2, the floating body 4 is attached to the cleaning device main body 3, so that the buoyancy of the floating body 4 holds the substantially neutral buoyancy.

  The rotary drive device 31 is a device in which various electric motors are surrounded by a substantially cylindrical casing having water tightness and pressure resistance, and a rotary shaft 32 projects from the lower surface thereof. As the electric motor, it is preferable to use a brushless geared motor that is excellent in weight reduction and miniaturization, and can be highly efficient and labor-saving because the cleaning device main body 3 is premised on an underwater floating type. In the middle of the body portion of the casing, there is provided a step that engages with a step portion provided on the main body fixing frame 24a of the main body support frame 24, and bolt holes 31a, 31a that communicate with the through holes of the main body fixing frame 24a. Are provided in the circumferential direction.

  As shown in FIG. 8, the rotating disk 33 is preferably formed in a disk shape that covers almost the entire area where the cleaning brushes 34,... See Example (4)). In the illustrated example, the rotary disk 33 is configured by fixing the plate material 33b to the aggregate 33a, but may be configured by only the plate material.

  As a method of cleaning the ground contact surface, a brush type that scrapes off wall surface deposits with a cleaning brush and a scraper type that scrapes wall surface deposits with a plate-shaped scraper made of rubber, metal, or the like can be considered. The scraper type can remove hard deposits, but there is a risk that the wall surface may be damaged, and if the pressing force against the grounding surface is increased, the rotation of the rotating disk tends to be hindered. The brush type enables fine cleaning, and rotation is not easily inhibited even when the pressing force against the ground surface is increased, but there is a drawback that the brush material is easily worn by long-term use. Here, the inventor is concerned with fresh water channels such as hydraulic iron pipes and surge tanks such as hydroelectric power plants, and hard attachments such as shellfish when seawater is targeted. As a result of considering that it is important to adopt a configuration in which it is difficult to be hindered, a brush type using the cleaning brush 34 is used as a method for cleaning the ground plane.

  The cleaning brush 34 may have a flat shape shown in FIG. 9A and a waveform shown in FIG. By arranging the flat and corrugated cleaning brushes in combination, it is possible to effectively clean even uneven surfaces.

  Further, the wire diameter of the brush can be 0.1 to 1.5 mm, preferably 0.5 to 0.8 mm. Furthermore, as a material of the brush, various synthetic fibers such as polypropylene and nylon can be used. These wire diameters and materials can also be arranged in combination with cleaning brushes 34 made of various wire diameters or materials.

  When the cleaning brush 34 is disposed on the rotating disk 33, it is preferable that the cleaning brush 34 is provided so as to be inclined with respect to the radial direction of the rotating disk 33, as shown in FIG. Specifically, when the angle formed by the longitudinal axis of the cleaning brush 34 with respect to the center line CL of the rotating disk 33 passing through the center edge of the disk of the cleaning brush 34 is θ, the angle in the rotation direction is positive. Then, it is preferable to arrange within a range of −25 ° ≦ θ ≦ + 25 °, and more preferably within a range of −25 ° ≦ θ ≦ −15 °. By disposing the cleaning brush 34 at an angle in this range, a centrifugal force acts more, and water between the disk and the grounding surface is pushed outward to easily form a negative pressure.

  In addition, the cleaning brush 34 is preferably arranged so that the circumferential interval is larger on the outer peripheral side than on the central side of the rotating disk 33. In order to arrange in this way, for example, as shown in FIG. 8, assuming the large, medium, small and three virtual circumferential lines on the rotating disk 33, the same number (large in the illustrated example) is placed on each of the circumferential lines. The cleaning brushes 34 may be arranged equally on the virtual imaginary line 34a, three on the medium imaginary circumferential line 34b, and 34c on the small imaginary circumferential line. Thereby, the water between a disk and a grounding surface is pushed out efficiently, and it becomes easy to form a negative pressure.

(1) Pressing force test on wall surface In order to grasp the relationship between the pressing force on the wall surface and the cleaning effect, as shown in FIG. The test which measures was carried out. The test apparatus installs the cleaning apparatus 1 in water with the cleaning brush 34 pressed against the pseudo-hydraulic iron pipe wall surface 41 in the water tank 40, and attaches only a spring 42 to the chain block suspended from the ceiling. When the rotating disk 33 is rotated with the motor rotation command voltage from the motor control device 43 as a variable in a state where the cleaning device 1 and the cleaning device 1 are connected, the chain block is pulled up and immediately before the cleaning brush 34 is separated from the simulated hydraulic iron pipe wall surface 41. The pulling force acting on the spring 42 was measured. The contact state between the cleaning brush 34 and the pseudo-hydraulic iron pipe wall surface 41 was observed with a video camera 44.

  As a result, as shown in FIG. 11, the higher the rotation command voltage (the higher the rotation speed of the rotating disk 33), the greater the measured pulling force, and the greater the pressing force against the wall surface can be obtained. This is because when the cleaning brush 34 rotates while being in contact with the pseudo-hydraulic iron pipe wall surface 41, water between the rotating disk 33 and the wall surface is pushed out, so that a negative pressure is generated between the rotating disk 33 and the wall surface. And it is estimated that this negative pressure increases as the rotational speed increases. However, if the rotation command voltage exceeds 2.6V, the pressing force becomes excessive, the friction between the cleaning brush and the wall surface exceeds the rotational force of the motor, and step-out (a phenomenon in which the motor's magnet coupling comes off) occurs. It was.

(2) Abrasion test of wall surface and cleaning brush When cleaning the wall surface with the underwater cleaning device 1, the cleaning brush is rotated in a state of being pressed against the wall surface. Therefore, the cleaning device is installed in the water with the cleaning brush pressed against the wall surface of the pseudo hydraulic iron pipe, the motor rotation command voltage is operated at 2 V for 4 hours, the wall wear state (measurement of coating film pressure), and the cleaning brush The wear state (measurement of the length dimension) of the tip of each was investigated.

  As a result, the coating thickness wear amount is 1.46 μm per 5 minutes, which is an assumed cleaning time in an actual machine, and the coating thickness on the inner surface of a general hydraulic iron pipe is about 350 to 500 μm. The effect on the membrane is considered to be very small. Further, it was confirmed that the amount of wear of the cleaning brush 34 was very small, and it was not necessary to replace it during one underwater inspection.

(3) Simulated deposit scraping test In this test, simulated deposits simulating actual deposits were attached to the wall of the hydraulic iron pipe, and the scraping performance of the underwater cleaning device 1 was investigated. As a result of collecting and analyzing deposits adhering to the actual hydraulic iron pipe, the main components were manganese and silicon, and the particle size was 90% or more in viscosity and silt. Therefore, as the simulated deposit, paying attention to the particle size of the actual deposit, we decided to use the ceramic viscosity with many silt components as the simulated deposit, and adjusted it to three types: dry state, clay state, and semi-clay state. It was supposed to be. The application thickness of the simulated deposit was set to 10 mm corresponding to the actual deposit. In the test method, after washing for 30 seconds, the state of the adhered matter was confirmed, and if it was not completely washed, the motor rotation command voltage was raised and washing was continued for another 30 seconds until it was completely washed.

  As a result, in the case of a highly viscous deposit such as a clay state, the cleaning brush is buried in the deposit and the rotation of the rotating disk stops, so it is necessary to increase the motor rotation command voltage for complete cleaning. However, it was confirmed that the adhering substance having a high water content such as a semi-clay state can be sufficiently washed.

(4) Examination of the pressing force against the disc shape of the rotating disc In order to examine the disc shape of the rotating disc that can make full use of the pressing force due to the negative pressure, as shown in FIG. 12, (A) a framework type, (B The pulling force was measured in the same manner as in the test method of Example (1) above for four types of rotating discs: small disc type, (C) donut type, and (D) full disc type.

  As a result, as shown in FIG. 13, in the case of an all-disc type, the pressing force (pulling force) due to negative pressure can be significantly increased without reducing the rotation of the rotating disc. confirmed. This is because there is no opening in the rotating disk, and pushing the water between the rotating disk and the wall surface tends to create a negative pressure between the rotating disk and the wall surface, increasing the pulling force. It is thought that.

(5) Examination of cleaning brush optimization The shape of the tip of the cleaning brush is improved to improve the cleaning function when there is unevenness on the surface of concrete walls such as lining concrete, and in particular to allow the cleaning brush to enter the recess as well (Fig. 9), a cleaning test was conducted by trial and error using the material and the wire diameter as parameters, and the effects were investigated.

  As a result, as shown in FIG. 14, the brush shape is a combination of a rectangular brush (3 brushes A and 3 brushes B) and a corrugated brush (3 brushes C), and the brush wire diameter. Is a combination of a diameter of 0.5 mm (brush A) and a diameter of 0.8 mm (brushes B and C), and the material made of polypropylene was confirmed to have the highest cleaning effect.

It is a side view of the underwater inspection robot R carrying the underwater washing apparatus 1. It is the front view. 2 is a side view of the underwater cleaning device 1. FIG. It is a figure which shows the movement state of the washing | cleaning apparatus main body 3 with respect to the suspension apparatus 2. FIG. (A) of the suspension device 2 is a front view, and (B) is a side view. It is a top view of 2 A of top plates. 4 is a side view of the cleaning apparatus main body 3. FIG. 4 is a bottom view of the cleaning apparatus main body 3. FIG. (A) and (B) are external views of the cleaning brush 34. It is a schematic diagram of a test apparatus. It is a graph which shows the result of a pulling power test. It is a bottom view of various rotary disks used in the test. It is a graph which shows the result of the pulling-up force test with respect to various rotation discs. It is the arrangement | sequence examination result of a cleaning brush.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Underwater washing | cleaning apparatus, 2 ... Suspension apparatus, 3 ... Cleaning apparatus main body, 4 ... Floating body, 21 ... Top plate, 22 ... Guide shaft, 23 ... Movable stand, 24 ... Main body support stand, 31 ... Rotary drive device, 32 ... Rotating shaft, 33 ... Rotating disk, 34 ... Cleaning brush, R ... Underwater inspection robot

Claims (8)

An underwater cleaning device attached to the underwater inspection robot for cleaning the ground contact surface of the underwater inspection robot,
A suspension device having a mounting mechanism for the underwater inspection robot, a cleaning device main body attached to the suspension device for cleaning the ground surface of the underwater inspection robot, and a floating body attached to the cleaning device main body,
The cleaning device main body is provided so as to be movable at least in a vertical direction with respect to the ground plane, and is maintained in a substantially neutral buoyancy by the buoyancy of the floating body in a state of being attached to the suspension device, and is in sliding contact with the ground plane. A rotating disk provided with a brush is provided, and by rotating the rotating disk, the liquid between the rotating disk and the ground surface is pushed outward to become negative pressure and pressed against the ground surface. An underwater cleaning device characterized by that.   The suspension device has a guide shaft suspended from the top plate, and a movable gantry that is movable in the axial direction along the guide shaft. A main body for attaching the cleaning device body to the movable gantry. The underwater cleaning apparatus according to claim 1, further comprising a support frame.   The underwater cleaning apparatus according to claim 2, wherein the main body support frame is provided so as to be swingable with respect to the movable frame.   The underwater cleaning device according to any one of claims 1 to 3, wherein the suspension device is provided with a shock absorber for absorbing an impact generated by the movable base moving in the axial direction along the guide shaft. .   The underwater cleaning apparatus according to any one of claims 1 to 4, wherein the rotating disk covers a substantially entire surface of the region where the cleaning brush is disposed and has a disk shape having no opening.   The underwater cleaning apparatus according to claim 1, wherein the cleaning brush is provided so as to be inclined with respect to a radial direction of the rotating disk.   The underwater cleaning apparatus according to any one of claims 1 to 6, wherein the cleaning brush is installed such that a circumferential interval is larger on the outer peripheral side than on the center side of the rotating disk.   The underwater cleaning apparatus according to any one of claims 1 to 7, wherein the cleaning brush is a combination of a plurality of brushes having different brush shapes and brush hardnesses.

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