JPH09221099A - Underwater reaction force generator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a compact, light and low-priced device for generating reaction force, the device being installed on a underwater cleaner for cleaning underwater structures such as a shipbottom or a fish net. SOLUTION: The cleaning part mouted on the bottom surface of an underwater cleaner body cleans the underwater structure by injecting water toward the surface of the structure to be cleaned, while keeping the rotation of the lower guard 7 by utilizing an circumferential component of a reaction force acting on the nozzles 17. The upward component of the reaction force which pushes up the cleaner body is absorbed by reaction force generating blade 9 attached on struts 8 of the lower guard 7 and lifting force (thrust force) is generated downward 6 by using rotation force of the lower guard 7 by reaction force generating blade 9.

Description

Detailed Description of the Invention

[0001]

TECHNICAL FIELD The present invention relates to a fish net for aquaculture, a ship bottom,
The present invention relates to an underwater reaction force generator applied to an underwater cleaning device used for cleaning underwater structures such as offshore oil storage tanks in water and removing paint.

[0002]

2. Description of the Related Art FIG. 4 shows an example of a conventional underwater cleaning device used for this kind of cleaning.

In the figure, reference numeral 1 denotes a body part of a body of a cleaning robot of an underwater moving type. The robot juxtaposes underwater screw type thrusters 18, 18 for generating a reaction force on a moving carriage having tires 3 arranged on both sides thereof. In addition, a plurality of water jet injection nozzles 17 are installed facing the surface to be cleaned.

During the cleaning, the electric power thruster 18 is rotated in order to cancel the force of the cleaning robot device itself receiving the reaction force as shown by the arrow 16 in the direction of the arrow 16 to remove from the surface 4 to be cleaned during the cleaning. , The surface to be cleaned 4 by the pressing force (direction of arrow 19) by the thruster
Keeps a distance from the robot.

[0005]

In the conventional underwater cleaning robot apparatus as described above, the robot is moved close to the surface to be cleaned by the underwater screw type reaction force generating thruster utilizing the water jet force and the electric motor. The water jet force is used as a jet jet force for cleaning.When cleaning a Fujitsubo or white shell, it is necessary to increase the jet jet force on the cleaning side, which reduces the size and weight of the device. There is a problem that can not be done.

Moreover, when the waves are rough, there is a problem in that the jet force for pressing is insufficient in terms of pumping capacity.

Further, the screw thruster for generating a reaction force for canceling the reaction force generated at the time of cleaning has a problem that it is apt to become inoperable when dust is caught therein.

In addition, the number of components increases, the price increases, and the failure rate increases.

It is an object of the present invention to provide a new underwater cleaning device that solves the above-mentioned problems of the conventional device.

[0010]

As a structure for achieving the above object, the underwater reaction force generator of the present invention is an underwater cleaning used for washing underwater structures such as fishing nets and ship bottoms in water, and peeling paint. In the apparatus, a cleaning section is provided on the opposite surface side of an underwater cleaning apparatus that moves close to the surface to be cleaned of the underwater structure, and a nozzle that injects a water jet to a column on a rotatable link provided in the cleaning section. And a plurality of reaction force generating blades made of vane type fins or flat plates for canceling the reaction force of the jet force at the time of cleaning the jet jet, each of which is directed toward the surface to be cleaned at the time of link rotation by the reaction force generating blades. It is characterized by generating thrust.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An example of the best mode for carrying out the present invention will be described below with reference to FIGS.

1 and 2 show a first example of an embodiment of the present invention. FIG. 1 (a) is a front view and FIG. 1 (b) is (a).
FIG. 7 is a bottom view taken along the line AA of FIG. 2 is an enlarged detailed view of the cleaning unit of FIG. 1, FIG. 2 (a) is a front view, FIG. 2 (b) is a view taken along the line BB of FIG. 2 (a), and FIG. 2 (c) is a water jet force. 2 (d) is an explanatory view of the action of the reaction force generation blade.

In FIG. 1, reference numeral 1 denotes a main body of an underwater cleaning apparatus, which is provided with a plurality of cleaning portions 2 arranged side by side below the body. The body 1 is underwater by tires 3 provided on both sides. The body of the underwater cleaning robot is configured to move along the surface 4 to be cleaned in the structure.

In FIG. 2, the cleaning portion is provided in parallel on the bottom surface of the body 1 and has link-shaped lower guards 7 supported rotatably, four pillars radially attached to the lower guards 7, and each pillar 8. The nozzle 17 for injecting a water jet from the rotation force center portion of the reaction force generating blade 9 attached to and toward the surface 4 to be cleaned is provided.

The reaction force generating blade 9 may be, for example, a flat plate or the like in addition to the wing type fin as shown in FIG. 2 (d), and the reaction force generating blade moves in the water by the rotation of the cleaning section. Any member may be used as long as it is a member that generates lift (thrust) on the surface.

Next, the operation of the above device will be described.
Underwater cleaning device Cleaning unit 2 attached to the bottom of body 1
Is a surface to be cleaned 4 of an underwater structure (fish net, ship bottom, etc.) by a jet force 12 (shown in FIG. 2C) by a water jet 20 ejected from a nozzle 17 attached to the cleaning section.
And the lower guard 7 is rotated while being rotated by the component force of the water jet 20.

At this time, a jet reaction force (1) 14 is applied to the upper body 5 as a reaction force of the jet force 12 for cleaning.

This force acts so that the body 1 moves to the upper side 5 of the body.

In order to absorb some or all of this force,
The reaction force generating blade 9 is attached to the column 8 of the lower guard 7, and the reaction force generating blade 9 is utilized by utilizing the rotational force of the lower guard 7.
As a result, as shown in FIG. 2D, lift force (thrust) 11 is generated in the lower direction 6 of the body.

This makes it possible to reduce or eliminate the pressing force 19 by the thruster 18 in the conventional apparatus shown in FIG.

By the way, in this example, the NACA4424 airfoil-shaped reaction force generating blade 9 has a length of 10 cm and a width of 5 cm.
When used by attaching to each of the columns, the number of rotations is 5
r. p. In s, a thrust of 1 kgf per column was theoretically obtained.

As a result, a total downward lifting force (thrust) of 8 kgf (one blade is attached to each of the eight columns of the two cleaning sections arranged in parallel) is obtained.

The arrow 10 in FIG. 2 (d) indicates the direction in which the water flow is caused by the rotation.

Next, FIG. 3 shows a second embodiment of the present invention, (a) is a side view and (b) is an explanatory view of the operation of the same apparatus.

In this example, a cleaning unit 2 having the same structure as in the first example is mounted on a manipulator 15 to clean a surface 4 to be cleaned.

Also in this example, since the reaction force generating blades 9 are attached to the columns, respectively, the lift force generated by the reaction force generating blades acts in the direction of arrow 11 and the reaction force 16 by the water jet 20 (reaction by water jet injection) The force generation direction arrow) can be reduced, and the load on the manipulator 15 is reduced, so that a smaller manipulator can be used.

The several embodiments of the present invention have been described above, and the operation of the present invention is summarized as follows.

Since the blade (or the flat plate or the like) is attached to the rotating cleaning unit, the rotation of the cleaning unit causes the blade to move in water, and lift (thrust) is generated on the blade surface. As a total force, a force acts in a direction of canceling a reaction force (or a wave force) generated by cleaning, and it is possible to maintain a distance from the target surface.

Originally, since the cleaning unit normally rotates the cleaning nozzle in order to increase the cleaning area, no special device is required to rotate the blades, so a small, lightweight and inexpensive device can be realized. .

Further, since no functional parts are required, the failure rate is low.

If a flat plate for generating thrust is used as a reaction force generation blade, the rotation resistance is reduced as compared with the case of the conventional support, so that the energy required for the cleaning unit to rotate is different from the conventional one. It is possible to obtain the required thrust at the same level or at or below the conventional level.

[0032]

As described above, according to the underwater reaction force generating device of the present invention, it is not necessary to separately install a large reaction force generating device, and since the rotating portion has the wing shape, the resistance against rotation is small. Since it does not require a special device such as a thruster motor unlike the conventional device,
A compact, lightweight and inexpensive device can be obtained.

Since no functional parts are required, the failure rate can be reduced.

[Brief description of drawings]

FIG. 1 shows an underwater cleaning apparatus according to an example of an embodiment of the present invention, (a) is a front view, and (b) is an AA arrow view of (a).

FIG. 2 is a detailed view of a cleaning unit of the submersible cleaning device, in which (a) is an enlarged front view, (b) is a view taken along the line BB of (a), and (c) is an explanatory view of water jet force. FIG. 6D is an explanatory view of the action of the reaction force generation blade.

FIG. 3 shows an underwater cleaning device according to another example of the embodiment of the present invention, (a) is a side view, and (b) is an operation explanatory view.

FIG. 4 is an overall view of a conventional underwater cleaning device.

[Explanation of symbols]

 1 Body 2 Washing Section 3 Tire 4 Surface to be Washed 5 Body Upper Side 6 Body Lower Side 7 Lower Guard 8 Pillar 9 Reaction Force Generation Blade 10 Rotation Direction 11 Lifting Force (Thrust) Generation Direction 12 Jet Force for Cleaning 13 Jet Reaction Force (2 ) 14 Jet reaction force (1) 15 Manipulator 16 Direction of reaction force generated by water jet injection 17 Nozzle 20 Water jet

Claims (1)

[Claims] 1. An underwater cleaning device used for underwater cleaning of an underwater structure such as a fishing net or a ship bottom, paint removal, and the like, the facing surface of the underwater cleaning device moving in proximity to the surface to be cleaned of the underwater structure. A cleaning unit is provided on the side, a nozzle for injecting a water jet to a support on a rotatable link provided in the cleaning unit, and a blade fin or a flat plate for canceling the reaction force of the jet force at the time of cleaning the jet jet A plurality of reaction force generation blades each having the following structure are attached, and the reaction force generation blades generate thrust force toward the surface to be cleaned during link rotation.