JPH0976712A - Tire for underwater robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To increase the gripping force of a tire so as to surely run it and prolong the life, in the tire for an underwater robot running on a fishing net and performing cleaning and the like of the fishing net. SOLUTION: In a tire for an underwater robot being pressed against a fishing net 4 and moving on the fishing net 4, spike-like projections 6 capable of biting in the meshes of the fishing net 4 are provided on the surface 7 of the tire.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tire for underwater robots for cleaning aquaculture fish nets and the like.

[0002]

2. Description of the Related Art As a conventional driving tire for an underwater robot for cleaning fish nets such as cultured fish, a tire 5 made of soft rubber or the like is used as shown in FIG. It has a plurality of parallel grooves 1 parallel to the axle. The tire 5 is pressed against the fishnet 4, which is an object to be cleaned, by the thruster 3 of the robot body 2 shown in FIG. 5, and the tire bites into the mesh to obtain a required grip force. Parallel groove 1
Is an escape when the rubber material of the tire is deformed when the tire bites into the net.

[0003]

Since the conventional underwater robot tire has parallel grooves on its surface, in order to obtain a required grip force, the robot body is pressed against the fishnet with a large pressing force. To get friction force,
It is necessary to improve the grip force by using a soft material (soft rubber) for the tire and making the tire bite into the fishnet.

In this case, in the former case, a very large thruster is required for the robot main body, and in the latter, the tire material is soft and the fish net is scratched while the tire bites into the fish net, so that the abrasion due to friction with the fish net is severe. , The life will be shortened.

The present invention is intended to provide a tire for an underwater robot which can solve the above problems.

[0006]

A tire for an underwater robot according to the present invention is a tire for an underwater robot which is pressed against a fish net and moves on the fish net. The tire has a spike-like shape capable of digging into the mesh of the fish net on the surface of the tire. It is characterized in that it is provided with a protrusion.

In the present invention, the spike-like projections provided on the tire surface catch the mesh of the fish net and cut into it. Therefore, the tire can obtain a required grip force and can reliably move on the fishnet.

[0008]

BEST MODE FOR CARRYING OUT THE INVENTION A first embodiment of the present invention will be described with reference to FIGS. The entire tire for an underwater robot according to the present embodiment is shown in FIG. For tire 5,
A plurality of spike-shaped projections 6 arranged in one row at equal intervals in the circumferential direction of the tire are provided on the surface of the object to be cleaned that is in contact with the fishnet.

Like the conventional underwater robot tire shown in FIGS. 5 and 6, the tire according to the present embodiment is pressed against the fishnet 4 to be cleaned by the thruster of the underwater robot body, and As shown in FIG. 2, the movement is performed by the protrusion 6 biting into the mesh of the fish net 4 and being caught by the wire of the net, and the tire 5 rotating.
The projections 6 separate from the mesh of the fish net 4 as the tire 5 rotates, but the next projection 6 catches the mesh of the next fish net 4 as the underwater robot advances.

If the protrusion 6 is higher than necessary, it becomes difficult to separate the fish net 4 from the mesh, which impairs the running property. Therefore, it is necessary to optimize the height of the protrusions 6 so that the protrusions 6 do not get caught in the mesh of the fish net 4 and hinder the rotation of the tire 5 when the tire 5 rotates. The optimum height of the protrusion 6 is that the protrusion 6 on the advancing side must catch the mesh of the fish net 4 and the protrusion 6 on the opposite side must be separated from the mesh of the fish net 4, so that the relationship shown in FIG. It can be represented by the number 1.

[0011]

[Equation 1]

Therefore, the height H and the pitch Q of the protrusions 6 are determined by the following equation 2.

[0013]

[Equation 2]

Further, the projection 6 is a cylinder or a truncated cone so as not to hinder the direction change of the underwater robot body, and is smaller than the diameter of the circle inscribed in the mesh of the fish net 4 in order to bite into the mesh. .

In the present embodiment configured as described above, the protrusions 6 of the tire 5 cut into the mesh of the fish net 4,
Moreover, when the tire 5 rotates, the protrusions 6 that penetrate into the mesh
Moves away from the mesh and the next protrusion 6 on the forward side bites into the next mesh. Therefore, the tire 5 pressed against the fishnet 4 has a sufficient grip force,
It is possible to drive reliably on the top.

A second embodiment of the present invention will be described with reference to FIGS. 3 and 4. FIG. 3 shows the entire tire for an underwater robot according to the present embodiment. In the present embodiment, the protrusions provided in one row in the circumferential direction of the tire according to the first embodiment of the present invention are changed to a plurality of rows (three rows in the figure). At this time, two or more protrusions are formed on the fish net 4 at the same time.
When it is caught in the mesh, it prevents the direction of the underwater robot body from changing direction, so the projections are arranged in different phases for each row.

In FIG. 4, adjacent protrusions 6 in the right column
Are designated by the reference numerals 9 and 10, the adjacent projections 6 in the middle row are designated by the reference numerals 11 and 12, and the adjacent projections 6 in the left row are designated by the reference numerals 13 and 14.

The height H and the pitch θ of the protrusions 6 are determined by the equations 1 and 2 based on the relationship shown in FIG. 2 as in the embodiment of the present invention.

In the case of the first embodiment of the present invention in which the projections 6 are in one row, the projections 6 that catch the mesh 4 of the fish net are separated from the mesh by the rotation of the tire 5, and the next projection 6 forms the mesh. The tire may slip depending on the pitch of the mesh 4 and the protrusion 6 until the tire is caught (see FIG. 2). However, in the present embodiment, as shown in FIG. 4, since the protrusions 6 are arranged in a plurality of rows in the circumferential direction of the tire, the protrusions 9 are separated from the mesh 4 by the rotation of the tire and the next row of the same row is removed. While the projection 10 catches the mesh 4, the projection 11 in the next adjacent row catches the mesh 4, the projection 11 is separated from the mesh by the rotation of the tire, and the next projection 12 in the same row catches the mesh. The projections 13 in the adjacent rows catch the mesh. For this reason, the idling of the tire is reduced as compared with the case of the first embodiment of the present invention, and the runnability is further improved as compared with the case where the protrusions are arranged in one row.

As the material of the tire used in the first and second embodiments of the present invention and the protrusions provided on the surface thereof, soft rubber, hard rubber, metal and the like can be widely used. The material and the material of the protrusion may be the same or different.

[0021]

According to the present invention, the spike-like projections provided on the tire surface dig into the mesh of the fish net,
It is possible for the tire to obtain a desired grip force. Therefore, a large thruster is not required for the underwater robot to obtain the frictional force, and the tire material is not limited, so that it is possible to obtain a tire for an underwater robot having a longer life than in the past.

[Brief description of drawings]

FIG. 1 shows an entire tire for an underwater robot according to a first embodiment of the present invention, FIG. 1 (a) is a front view thereof, and FIG. 1 (b) is a side view thereof.

FIG. 2 is an explanatory diagram showing an operating state of a tire for an underwater robot according to the first embodiment of the present invention.

3A and 3B show an entire underwater robot tire according to a second embodiment of the present invention, FIG. 3A being a front view thereof, and FIG. 3B being a side view thereof.

FIG. 4 is a detailed view of a protrusion of a tire for an underwater robot according to the second embodiment of the present invention.

FIG. 5 is an explanatory diagram of a traveling state of a conventional underwater robot.

FIG. 6 shows a conventional tire for an underwater robot, and FIG.
6A is a front view thereof, and FIG. 6B is a side view thereof.

[Explanation of symbols]

 1 parallel groove 2 underwater robot body 3 thruster 4 fishnet 5 tire 6 protrusion 7 tire surface 8 tire center 9-14 protrusion

Claims (1)

[Claims] 1. A tire for an underwater robot which is pressed against a fishnet and moves on the fishnet, wherein a spike-shaped projection capable of digging into the mesh of the fishnet is provided on the surface of the tire. tire.