KR20160034453A - Underwater cleaning robot - Google Patents

Abstract

An underwater cleaning robot is disclosed. According to an embodiment of the present invention, the underwater cleaning robot comprises: a magnet package unit having at least one magnet arrangement unit where magnet substances having the predetermined magnetization direction are radially arranged; and an operating wheel comprising a housing storing the magnet package unit. Embodiments of the present invention provide the underwater cleaning robot increasing a magnet force of the operating wheel to be stably operated.

Description

UNDERWATER CLEANING ROBOT

The present invention relates to an underwater cleaning robot.

Since the ship is operated with the lower side being immersed in water, aquatic organisms such as water moss, barnacle, etc. may be attached to the bottom or side of the water. As such, foreign matter adhering to the hulls acts as a resistance when the ship is operating, thereby lowering the speed and increasing the fuel consumption. Therefore, it is necessary to remove it through periodic cleaning.

Conventionally, in order to remove foreign matter adhered to the hull, the ship was moved to a dock on the land, and the operator then cleaned the hull by spraying high-pressure washing water on the outer surface of the hull. This method, however, not only took a long time due to the process of transferring the hull to the dock, but also had to mobilize a lot of personnel during the cleaning process.

Alternatively, the diver directly went into the water to operate the cleaning equipment and clean the hull. However, this method also requires a lot of work because the diver has to work in the water. Due to the foreign substances in the cleaning process, it is difficult to secure the watch in the work area, and there was a burden on the safety accident due to the poor sea environment.

In consideration of these points, recently, an underwater cleaning robot has been proposed which can perform cleaning of the outer surface of the hull while traveling along the hull in water. Such an underwater cleaning robot can refer to an example of Korean Patent Laid-Open No. 10-2011-0062248 (published on Jun. 10, 2011).

On the other hand, a conventional underwater cleaning robot uses a magnetized wheel for traveling on the outer surface of the hull. However, since there is not enough magnetic force, there is a risk that the underwater cleaning robot will fall due to various external conditions, external force (wind, wind, etc.) or self weight.

Korean Patent Laid-Open No. 10-2011-0062248 (Published on Jun. 10, 2011)

An embodiment of the present invention is to provide an underwater cleaning robot that increases the magnetic force of a driving wheel to enable a stable running of an underwater cleaning robot.

According to an aspect of the present invention, there is provided a magnet package comprising: a magnet package portion having at least one magnet array portion in which magnetic materials having a constant magnetization direction are radially arranged; And a housing for housing the magnet package portion.

The magnet array portion includes a first magnet array portion in which a magnetic substance having a first magnetization direction is arranged, a second magnet array portion in which a magnetic substance having a second magnetization direction is arranged, and a third magnet array portion in which a third And a magnet array portion,

Wherein the first magnet array portion is arranged with an S pole on the inner side and an N pole on the outer side so as to have the first magnetization direction, And a magnetic substance having an inner side of N pole and an outer side of S pole may be arranged in the third magnet array portion so as to have the third magnetization direction.

The magnet package unit may include a metal pipe joined to the inner surface of the magnetic body of each of the magnet array portions.

The magnet package unit may include a glass fiber layer for collectively coating the outer surface of the magnet array portion.

Two driving units provided respectively on both sides of the rear of the frame and having a driving part for driving the driving wheels while being supported on the frame so as to be able to be tilted, And a steering unit having a steering wheel attached to the upper surface of the work bench by a magnetic force and a steering driver for operating the steering wheel.

The underwater cleaning robot according to the embodiment of the present invention can increase the magnetic force of the driving wheel to make stable running.

In addition, when driving the upper surface of the workbench, the two driving wheels and the steering wheel implement three points of support, and the driving wheel is tilted corresponding to the inclination of the upper surface of the workbench, so that the upper surface of the workbench having a curved surface can be stably driven.

The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the description of the claims.

FIG. 1 shows an example of cleaning foreign matter adhered to the outer surface of a ship using an underwater cleaning robot according to an embodiment of the present invention.
2 and 3 are perspective views showing the outline of an underwater cleaning robot according to an embodiment of the present invention, Fig. 2 is a top view, and Fig. 3 is a bottom surface configuration.
4 is an exploded perspective view showing the overall configuration of an underwater cleaning robot according to an embodiment of the present invention.
FIG. 5 is a perspective view illustrating main parts mounted on a frame of an underwater cleaning robot according to an embodiment of the present invention. FIG.
Fig. 6 is a side view of Fig. 5. Fig.
7 is a perspective view of a driving unit of an underwater cleaning robot according to an embodiment of the present invention.
8 is a perspective view of a steering unit of an underwater cleaning robot according to an embodiment of the present invention.
9 is a perspective view of a cleaning unit of an underwater cleaning robot according to an embodiment of the present invention.
10 is a perspective view of an elevating device of an underwater cleaning robot cleaning unit according to an embodiment of the present invention.
11 is a perspective view illustrating a foreign matter collecting apparatus of an underwater cleaning robot according to an embodiment of the present invention.
12 is a perspective view showing a configuration of a control unit and a pulling member of an underwater cleaning robot according to an embodiment of the present invention.
FIG. 13 is a perspective view showing an example of a driving wheel of the underwater cleaning robot shown in FIG. 6. FIG.
FIG. 14 is an exploded perspective view of the magnet package unit included in the driving wheel shown in FIG. 13 and the housing for accommodating the magnet package unit.
Fig. 15 is a perspective view of the magnet array portion included in the magnet package portion shown in Fig. 14;
Fig. 16 is a perspective view of each of the magnet array portions shown in Fig. 15 together with the magnetization direction.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The present invention is intended to fully convey the spirit of the present invention to those skilled in the art. The present invention is not limited to the embodiments shown, but may be embodied in other forms. In order to clarify the present invention, it is possible to omit the parts of the drawings that are not related to the description, and the size of the components may be slightly exaggerated to facilitate understanding.

FIG. 1 shows an example of cleaning foreign matters (moss, barn, etc.) attached to an outer surface of a ship using an underwater cleaning robot according to an embodiment of the present invention. As shown in the figure, the underwater cleaning robot 100 of the present embodiment can clean the outer surface of the hull 10 while traveling on the outer surface of the hull 10 immersed in water. FIG. 1 illustrates a case where an underwater cleaning robot cleans the outer surface of the hull 10, but the use range of the underwater cleaning robot 100 is not limited thereto. It can also be used to clean the outer surfaces of various offshore plants and floating structures that float on the sea.

Although not shown in the drawing, the underwater cleaning robot 100 may be connected to a cable 20 extending from a separate manipulation facility and a power supply facility. Maneuvering and power supply facilities may be operated on the ground or on decks of ships or in decks of other ships which are cleaned

2 to 4, the underwater cleaning robot 100 includes an upper cover 101 and a lower cover 102 covering the outer surface thereof. The upper cover 101 and the lower cover 102 are coupled to cover the outside of the underwater cleaning robot 100 at the upper part and the lower part, respectively, to thereby protect the built-in parts. The upper cover 101 and the lower cover 102 may be formed in a streamlined shape so that the resistance of the fluid can be minimized so as to stably travel in water as shown in the drawing.

3 to 6, the underwater cleaning robot 100 includes a frame 110 installed inside the upper cover 101 and the lower cover 102, and two frames installed on the rear sides of both sides of the frame 110, A driving unit 120, a steering unit 140 installed at the center of the front side of the frame 110, a cleaning unit 150 for cleaning the upper surface of the work surface, a foreign matter collecting device for collecting foreign substances, And a control unit 190 for operation control. Here, the expression " forward " means the direction in which the underwater cleaning robot 100 travels, and the rear means the opposite side.

The underwater cleaning robot 100 of the present embodiment may include a plurality of buoyant bodies 103a to 103e installed in the inner space of the upper cover 101 and the lower cover 102 to generate buoyancy. The plurality of buoyant bodies 103a to 103e can cause the cleaning robot to maintain neutral buoyancy at an appropriate depth.

5 and 6, the frame 110 may be provided in a partially cut flat plate shape for weight reduction and installation of parts. Here, the planar frame 110 is illustrated as an example, but the frame 110 is not limited thereto, and can be variously modified to easily support the devices and reduce the resistance of the fluid. The frame 110 may be made of a metal material such as steel or aluminum, or may be made of a composite resin material having high rigidity such as engineering plastic.

As shown in FIGS. 3 and 6, the two drive units 120 are mounted on both sides of the lower surface of the frame 110 in symmetry with each other. 6 and 7, each drive unit 120 may include a support bracket 121, a drive unit 122, and a drive wheel 123.

The support bracket 121 includes a fixed portion 121a fixed to the lower surface of the frame 110 and a front support portion 121b and a rear support portion 121c extending downward from the front end and the rear end of the fixing portion 121a do. The travel driving unit 122 includes a motor 122a for driving the driving wheels 123 and a tilting unit for tilting the front supporting part 121b and the rear supporting part 121c of the supporting bracket 121 while supporting the motor 122a. And a connecting bracket 122b connected to the connecting bracket 122b. The connection shaft 125 connecting the connection bracket 122b and the support bracket 121 is arranged in the direction in which the underwater cleaning robot 100 travels along the axis thereof so that the travel drive unit 122 moves around the connection shaft 125 It can rotate.

The driving wheel 123 is connected to the motor 122a of the traveling driving unit 122 while being positioned inside the supporting bracket 121 and is rotated by the operation of the motor 122a. Further, the drive wheel 123 can be attached to the upper surface of the work table by a magnetic force by incorporating a magnet. The magnet incorporated in the driving wheel 123 may be a permanent magnet or an electromagnet.

Since the driving unit 122 for driving the driving wheel 123 is rotatably connected to the supporting bracket 121 by the connecting shaft 125, the driving unit 120 of the driving unit 120 is connected to the driving wheel 122 123 can be tilted corresponding to the inclination or the curved surface change of the work surface. That is, even when the driving wheel 123 and the travel driving unit 122 rotate about the connecting shaft 125, the driving wheel 123 travels on the upper surface of the work table having a curved surface, .

Since the two drive units 120 are disposed symmetrically on both sides of the frame 110, rotation and turning of the underwater cleaning robot 100 can be realized in a manner that the rotation direction and rotation speed of the two side drive wheels 123 are different from each other have.

The tilting range limiting device for limiting the tilting of the travel driving part 122 to the set range is provided in the front supporting part 121b and the rear supporting part 121c of the supporting bracket 121 and the connecting bracket 122b of the traveling driving part 122 . The tilting range limiting device includes an arcuate tilting restricting hole 126a formed in the front supporting portion 121b and the rear supporting portion 121c and a locking tilting restricting hole 126b which is engaged with the connecting bracket 122b, (126b). This is to prevent excessive tilting of the travel driving part 122 by causing the engagement pin 126b to move within the range of the tilting restricting hole 126a.

3, 6, and 8, the steering unit 140 is installed at a front central portion of the frame 110 while being spaced apart from the driving wheels 123 of the two driving units 120. [ 8, the steering unit 140 includes two steering wheels 141 disposed adjacent to each other on the same axis, a steering wheel 141 that supports two steering wheels 141 and is rotatably supported on the frame 110, A shaft 142, and a steering driver 143 that rotates the steering shaft 142 to implement the steering. The steering driver 143 may include a steering motor 143a and a power transmitting portion 143b for transmitting the rotation of the steering motor 143a to the steering shaft 142. [

The steering unit 140 can control the moving direction by rotating the steering shaft 142 in the forward or reverse direction by the operation of the steering motor 143b. The two steering wheels 141, which are in contact with the upper surface of the work table, are mounted on both sides of the steering shaft 142, and operate in such a manner that the mutual rotational speed is changed instantaneously for steering or vice versa. Therefore, smooth steering can be realized in a state where friction and slip between the top surface of the work bench and the steering wheel are minimized.

The steering wheel 141 can perform rolling motion in a state of being attached to the upper surface of the work bench by the magnetic force of the built-in magnet, like the driving wheel 123. Therefore, it is possible to prevent the underwater cleaning robot 100 from being separated from the upper surface of the workbench during the work.

The steering unit 140 implements three-point support of the frame 110 together with two drive units 120 disposed on both sides of the rear side of the frame 110, as shown in Fig. That is, the steering wheel 141 is arranged in a triangle structure that maintains equidistance from each driving wheel 123, thereby realizing the three-point support of the frame 110. Such a configuration can keep the driving wheels 123 and the steering wheel 141 always attached to the upper surface of the work surface even when the upper surface of the working surface is curved like the outer surface of the hull 10. Therefore, the underwater cleaning robot 100 of the present embodiment can be stably attached to the upper surface of the workbench even when there is a curved surface or an irregular surface on the upper surface of the workbench.

The cleaning unit 150 is installed between the steering unit 140 and the two drive units 120, as shown in Figs. 3, 5 and 6. That is, the cleaning unit 150 is disposed at approximately the middle portion between the steering unit 140 and the two drive units 120, so that the underwater cleaning robot 100 can perform a cleaning operation while traveling in a balanced manner as a whole.

6 and 9, the cleaning unit 150 includes a cleaning unit frame 151, a lifting guide unit 152 for guiding the lifting and lowering of the cleaning unit frame 151, A lifting device 160 mounted on the frame 110 and lifting the cleaning unit frame 151, two cleaning motors 153 installed to be symmetrical on both sides of the cleaning unit frame 151, And two cleaning brushes 154 that are coupled to the axis of the work table and that clean the top surface of the work surface by rotation. Here, a cleaning unit 150 with two cleaning motors 153 and two cleaning brushes 154 arranged symmetrically on both sides is illustrated, but the cleaning motor 153 and the cleaning brush 154 associated therewith are one Or more.

The lifting guide unit 152 for guiding the lifting and lowering of the cleaning unit frame 151 includes a cylinder member 152a fixed to the frame 110 and a lifting and lowering guide coupled to the cylinder member 152a, 151 and a lifting rod 152b connected to the lifting rod 152b. The elevating guide unit 152 may be installed on both sides of the elevating device 160 so as to be symmetric with respect to each other to guide the stable lifting and lowering of the cleaning unit frame 151. Of course, the elevating guide unit 152 may be configured more than one in consideration of the number of the cleaning motors 153 installed in the cleaning unit frame 151 and the like.

The cleaning brush 154 includes a rotating plate 154a coupled to the shaft of each cleaning motor 153 and a brush 154b extending from the bottom surface of the rotating plate 154a toward the upper surface of the working table.

9 and 10, the elevating device 160 includes a gear box 161 mounted on the frame 110, a lower end connected to the cleaning unit frame 151, A plurality of raising and lowering members 163 which are supported by the support member 162 so as to be able to move up and down and have a rack gear portion 163a at a portion located in the gear box 161, A driven bevel gear 166 coupled to the gear shaft 164 and a driven gear 166 engaged with the driven bevel gear 166. The driven gear 166 is coupled to the gear shaft 164 by a plurality of pinion gears 165, A bevel gear 167 and an elevation driving unit 168 mounted on the gear box 161 to drive the driving bevel gear 167. The lifting drive portion 168 may include a lifting motor 168a and a power transmission portion 168b for transmitting the rotational force of the lifting motor 168a to the drive bevel gear 167. [

The gear shaft 164 is arranged in a direction crossing the plurality of elevating members 163 and both ends of the gear shaft 164 are rotatably supported on both sides of the gear box 161. [ The elevating device 160 employs a plurality of elevating members 163 and a plurality of pinion gears 165 so as to realize stable elevating and lowering. However, the elevating member 163 and the pinion gear 165 may have one or more Lt; / RTI >

The elevating device 160 rotates the driven bevel gear 167 by the operation of the elevating motor 168a and rotates the driven bevel gear 166 by the rotation of the driven bevel gear 167 and the driven bevel gear 166 The pinion gear 165 rotates. Therefore, when the pinion gear 165 is rotated forward or reverse due to the operation of the elevating motor 168a, the elevating member 163 is raised or lowered, and the cleaning unit frame 151 connected thereto is raised and lowered. When the cleaning unit frame 151 ascends and descends, the cleaning brush 154 connected to the cleaning motor 153 ascends and descends.

The cleaning unit 150 is operated by the cleaning motor 153 while the underwater cleaning robot 100 is running and the cleaning brush 154 is rotated to clean the foreign material on the upper surface of the work table. Also, since the lifting and lowering device 160 moves up and down the cleaning unit frame 151 in response to a change in curvature or inclination of the upper surface of the work bench during the cleaning process, the height of the two cleaning brushes 153 can be appropriately adjusted in accordance with the cleaning environment.

3, the two cleaning brushes 154 are disposed between the steering wheel 141 and the two driving wheels 123 so that when the underwater cleaning robot 100 travels, Can be cleaned in advance. That is, the maximum width (W, the distance from the outer end of one cleaning brush to the outer end of the other cleaning brush) formed by the two cleaning brushes 154 is the maximum separation distance L of the two driving wheels 123, The upper surface of the work bench on which the driving wheel 123 passes can be previously cleaned by the cleaning brush 154. [ Therefore, since the driving wheel 123 travels in a state of being attached to the upper surface of the workbench which has always been cleaned, the driving wheel 123 can be stably attached to the upper surface of the workbench, so that slip during driving can be minimized. That is, stable running is possible.

As shown in FIGS. 11 and 12, the dust collecting device includes a cover member (not shown) installed on the cleaning unit frame 151 so as to cover the upper surface and the periphery of the two cleaning brushes 154 and to move up and down together with the cleaning brushes 154 A foreign matter collection pump 172 mounted on the frame 110 for sucking and discharging the foreign matter inside the cover member 141 together with water and for discharging the foreign matter together with the water and connected to the outlet of the foreign matter collection pump 172, And at least one foreign matter collecting unit 173 for collecting foreign matter.

The cover member 171 includes an upper cover portion 171a that covers the upper side of the two cleaning brushes 154 and is fixed to the cleaning unit frame 151 and a lower cover portion 171b having an upper end connected to the upper cover portion 171a, And a skirt portion 171b covering the circumferential portion of the two cleaning brushes 154 so as to form an opening 171c in front of the direction in which the underwater cleaning robot 100 travels. The skirt portion 171b may be made of a rubber or a soft resin to prevent damage to the upper surface of the work surface.

As shown in Fig. 11, the foreign matter collecting pump 172 includes a pump section 172a for pumping fluid and a motor section 172b for driving an impeller in the pump section 172a. The suction side of the pump part 172a is connected to the inside of the cover member 171 through the suction pipe 172d and the discharge side of the pump part 172a is connected to the foreign matter collecting unit 173 through the discharge pipe 172e do. The suction pipe 172d may be a pipe that can be expanded and contracted so as to correspond to the lifting and lowering of the cover member 171 or a tube that can be adjusted in length by a telescopic method.

The foreign matter collecting unit 173 can be mounted inside the upper cover 101 on the upper part of the frame 110 as shown in Fig. That is, two of them may be disposed symmetrically on top of the frame 110. Each foreign object collecting unit 173 includes a collecting case 173a mounted on the frame 110 and a filtering unit 173b which is accommodated in the collecting case 173a and collects foreign substances contained in the fluid discharged from the foreign object collecting pump 172, (Not shown). The filtration member in the collecting case 173a separates the foreign matter in the process of discharging the fluid discharged together with the foreign matter through the inside thereof, thereby collecting the foreign matter and discharging only the water to the outside. Such a filtration member can be opened by opening the collection case 173a when foreign matter is accumulated.

Since the foreign matter collecting device collects the foreign substances separated from the upper surface of the work table when the cleaning unit 150 operates, the foreign matter collecting device collects the foreign substances separated from the upper surface of the workpiece together with the water and then collects them by the foreign substance collecting unit 173. can do. In addition, since the foreign object is collected while being cleaned, a clock can be secured in the working area, so that a smooth cleaning operation can be performed.

The control unit 190 includes two control boxes 191 mounted on both sides of the rear upper surface of the frame 110 and a cable connection block 192 provided between the two control boxes 191 . In the two control boxes 191, various control devices including a control panel for controlling the operation of the devices installed in the frame 110 are accommodated. The cable connection block 192 is connected to a cable 20 extending from an external steering facility and a power supply facility.

In addition, as shown in FIGS. 5 and 6, the underwater cleaning robot 100 of the present embodiment is provided with cameras for monitoring the front and rear conditions in the process of traveling on the work surface. A front camera 201 installed in front of the frame 110 and a rear camera 202 installed in the rear of the frame 110. [ The front and rear cameras 201 and 202 may be panoramic cameras capable of photographing wide angles. A plurality of illumination devices 205 are installed in front of and behind the frame 110 and a detection device 206 for detecting an obstacle ahead in the course of the underwater cleaning robot 100 is disposed in front of the frame 110 Is installed. A sonar system may be employed as the detection device 206.

6 and 12, at the rear end of the frame 110, a pulling member 180 for launching and recovering the underwater cleaning robot 100 is installed. The pulling member 180 includes an extension part 181 extending a predetermined length rearward in a state of being fixed to the rear end of the frame 110 and a circular hooking part 181 connected to the extension part 181, (182). Such a pulling member 180 can be used for connecting a connecting device of a lifting means such as a crane when entering or recovering the cleaning robot.

 Next, the operation and usage of the underwater cleaning robot will be described.

When cleaning foreign objects such as water moss, barnacle, etc. attached to the outer surface of the vessel, the vessel is moored at the dock. In this state, the underwater cleaning robot 100 is connected to the manipulating equipment and the power supply equipment provided on the ground or the deck of the ship by the cable 20. The length of the cable 20 can be adjusted to be longer or shorter depending on the position of the underwater cleaning robot 100 entering the water by keeping the state of being wound around the winding drum. After connecting the cable 20, the submersible cleaning robot 100 enters the water. In this case, the cleaning robot can be lifted by using lifting means such as a ship or a crane provided on the ground.

In the underwater cleaning robot 100, the two driving wheels 123 and the steering wheel 141 can be attached to the upper surface of the work surface by the magnetic force, and in this state, in accordance with the instruction of the manager using the program or the steering facility, So that the cleaning can be performed. At this time, traveling can be performed by the operation of the two drive units 120, and the traveling direction can be controlled by the operation of the steering unit 140. [ In addition, while the cleaning unit 150 is running, cleaning of the upper surface of the workbench is performed, and foreign substances that are separated in the cleaning process can be collected by the foreign material collecting device.

Since the driving wheels 123 and the steering wheel 141 implement three-point support in the traveling process, they can always be kept attached to the upper surface of the work table. Therefore, the underwater cleaning robot 100 can stably travel even when a curved surface or an uneven surface exists on the upper surface of the work surface. Also, since the height of the cleaning brush 154 is adjusted when the height or slope of the upper surface of the work table is changed due to the curved surface on the upper surface of the work surface, the best cleaning condition can be maintained at all times. In this case, since the driving wheel 123 also tilts in correspondence with the upper surface of the workbench, it can travel stably.

In the cleaning process, the manager who remotely controls the underwater cleaning robot 100 can determine the state before cleaning and the state after cleaning while viewing the images obtained through the front and rear cameras 201 and 202. If necessary, the traveling speed, (150) operation, and the like. Particularly, in this embodiment, since the foreign substances which are separated during the cleaning process are collected and collected by the suction method, it is easy to secure the watch area and the surrounding area. Therefore, the manager can easily confirm the traveling direction of the underwater cleaning robot 100, the cleaning state, and the like through the camera.

On the other hand, there is a need to increase the magnetic force so that the driving wheel 123 of the underwater cleaning robot can be effectively traveled in a state where it is attached to the upper surface of the work surface.

FIG. 13 is a perspective view showing an example of a driving wheel of the underwater cleaning robot shown in FIG. 6. FIG. FIG. 14 is an exploded perspective view of the magnet package unit included in the driving wheel shown in FIG. 13 and the housing for accommodating the magnet package unit. FIG. 15 is a perspective view of the magnet array portion included in the magnet package portion shown in FIG. FIG. 15 shows the magnet array portions 311 to 313 before the glass fiber layer 310b is coated.

13 to 15, the driving wheel 123 includes a magnet package unit 310 having a plurality of magnet array units 311 to 313 in which magnetic elements M1 to M3 having a predetermined magnetization direction are radially arranged, And a housing 320 for housing the magnetic package unit 310. The configuration of the magnet package 310 of the driving wheel 123 may also be applied to the steering wheel 141.

The housing 320 includes a first housing 321 and a second housing 322. The first housing 321 is coupled to the second housing 322 through a penetration portion of the magnet package 310. [ The first housing 321 and the second housing 322 may be protected by a urethane-coated rubber cover 330. The housing 320 may be made of aluminum, brass or the like to prevent the magnetic force from being reduced.

 The magnet package unit 310 includes a metal pipe 310a which is bonded to the inner surfaces of the magnetic bodies M1 to M3 of the magnet array units 311 to 313 and the magnet array units 311 to 313, And a glass fiber layer 310b for collectively coating an outer surface of the glass fiber layer 310b. The glass fiber layer 310b allows the magnetic materials M1 to M3 to remain radially attached to the metal pipe 310a.

The magnet array portions 311 to 313 include a first magnet array portion 311 in which magnetic bodies M1 having a first magnetization direction are radially arranged and a second magnet array portion 311 in which magnetic bodies M2 having a second magnetization direction are radially arranged 2 magnet array portion 312 and a third magnet array portion 313 in which a magnetic body M3 having a third magnetization direction is radially arranged. The first to third magnet array units 311 to 313 are arranged to be connected to each other in a row. Each of the magnetic bodies M1 to M3 of the first to third magnet array units 311 to 313 is radially arranged while being adhered to the outer circumferential surface of the metal pipe 310a with reference to the metal pipe 310a.

Fig. 16 is a perspective view of each of the magnet array portions shown in Fig. 15 together with the magnetization direction. In order to facilitate understanding, each of the magnet array portions is shown separately in FIG. The first to third magnetization directions formed in the first to third magnet array portions 311 to 313 are indicated by arrows.

As shown in Fig. 16, the first magnet array 311 is provided with magnetic elements M1 whose inner sides are S poles and whose outer sides are N poles so as to have a first magnetization direction, A magnetic body M2 having an N pole at the inner side and an S pole at the outer side is arranged in the third magnet array portion 313 so as to have a third magnetization direction, . The magnet array portions 311 to 313 having the first to third magnetization directions concentrate the magnetic force to one side to increase the magnetic flux density. Therefore, due to the increase of the magnetic force, the underwater cleaning robot 100 can be effectively run while being attached to the work surface.

Although the magnet array portions having three kinds of magnetization directions have been described in the above embodiments, two magnet arrays each having two or more kinds of magnetization directions may be provided in another example.

The foregoing has shown and described specific embodiments. However, it is to be understood that the present invention is not limited to the above-described embodiment, and various changes and modifications may be made without departing from the scope of the technical idea of the present invention described in the following claims It will be possible.

100: underwater cleaning robot, 110: frame,
120: drive unit, 123: drive wheel,
140: Steering unit, 141: Steering wheel,
150: cleaning unit, 151: cleaning unit frame,
152: lift guide unit, 153: cleaning motor,
154: cleaning brush, 160: lifting device,
161: gear box, 163: lifting member,
164: gear shaft, 165: pinion gear,
166: driven bevel gear, 167: driven bevel gear,
168: lift moving part, 171: cover member,
172: foreign matter collecting pump, 173: foreign matter collecting unit,
180: pulling member, 182: hooking ring portion,
190: control unit, 192: cable connection block,
201: front camera, 202: rear camera,
206: detection device, 310: magnet package part,
311 to 313: magnet array portion, 320: housing,
330: Rubber cover.

Claims (6)

A magnet package portion provided with at least one magnet array portion in which magnetic bodies having a constant magnetization direction are radially arranged; And
And a housing for housing said magnet package portion. The method according to claim 1,
The magnet array portion
A first magnet array portion in which magnetic bodies having a first magnetization direction are arranged,
A second magnet array portion in which magnetic bodies having a second magnetization direction are arranged,
And a third magnet array portion in which magnetic bodies having a third magnetization direction are arranged,
Wherein the first to third magnet array units are arranged in a line so as to be connected to each other. 3. The method of claim 2,
Wherein the first magnet array portion is provided with a magnetic body having an inner S pole and an outer N pole so as to have the first magnetization direction,
A magnetic body having an S pole at the front end and an N pole at the rear end is arranged in the second magnet array portion so as to have the second magnetization direction,
And a magnetic body having an inner side of N pole and an outer side of S pole is arranged in the third magnet array portion so as to have the third magnetization direction. The method according to claim 1,
The magnet package portion
And a metal pipe joined to an inner side surface of the magnetic body of each of the magnet array portions. The method according to claim 1,
The magnet package portion
And a glass fiber layer for collectively coating the outer surface of the magnet array portion. The method according to claim 1,
Frame,
Two drive units each provided on both sides of the rear side of the frame and having a drive portion for driving the drive wheels while being supported on the frame in a tiltable manner,
A steering wheel mounted in front of the frame and cooperating with each of the driving wheels to implement three-point support of the frame and attached to the top surface of the work table by a magnetic force; and a steering unit having a steering driver for operating the steering wheel robot.

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