WO2013001015A1 - Underwater vehicle for cleaning submerged surfaces - Google Patents

Underwater vehicle for cleaning submerged surfaces Download PDF

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Publication number
WO2013001015A1
WO2013001015A1 PCT/EP2012/062588 EP2012062588W WO2013001015A1 WO 2013001015 A1 WO2013001015 A1 WO 2013001015A1 EP 2012062588 W EP2012062588 W EP 2012062588W WO 2013001015 A1 WO2013001015 A1 WO 2013001015A1
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WO
WIPO (PCT)
Prior art keywords
brush
rotation
machine
cleaning
axis
Prior art date
Application number
PCT/EP2012/062588
Other languages
French (fr)
Inventor
Sébastien FONTAINE
Original Assignee
Hulltimo
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hulltimo filed Critical Hulltimo
Priority to EP12730958.1A priority Critical patent/EP2726367A1/en
Priority to US14/125,770 priority patent/US20140116316A1/en
Publication of WO2013001015A1 publication Critical patent/WO2013001015A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
    • B63B59/06—Cleaning devices for hulls
    • B63B59/08—Cleaning devices for hulls of underwater surfaces while afloat
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
    • B63B59/06—Cleaning devices for hulls
    • B63B59/10—Cleaning devices for hulls using trolleys or the like driven along the surface

Definitions

  • the present invention relates to an underwater vehicle for cleaning underwater surfaces.
  • the waste is generally sucked by a stream of water created by a turbine which also keeps the robot against the hull of the boat by creating a depression.
  • robots comprise displacement means, such as wheels or caterpillars, ensuring the movement of the robot against the hull.
  • the invention relates to an underwater submerged surface cleaning machine comprising a frame and at least one cleaning brush for the surface rotated by a motor around a central axis, the brush being mobile, by relative to a fixed part of the machine, in translation along its axis of rotation so as to be pressed against the surface to be cleaned under the effect of a depression created by the rotation of the brush, the brush comprising a shaft of rotation inserted into a sleeve integral in rotation with the brush and rotated by a drive system.
  • This cleaning machine is characterized in that the brush is secured in rotation with the sleeve by fingers fixed on the sleeve and inserted into holes of the brush with the possibility of sliding parallel to the axis of rotation of the brush.
  • such a cleaning machine may incorporate one or more of the following features, taken in any technically permissible combination:
  • the machine comprises transmission means, between the brush and the fixed part of the machine, a plating force of the brush on the surface to be cleaned generated by the depression created by the rotation of the brush.
  • the transmission means of the plating force comprises a spring mounted between the brush and the sleeve and adapted to exert a force tending to bring the brush of the fixed part of the machine.
  • the machine includes moving members on the surface to be cleaned.
  • the machine comprises two ring-shaped brushes each centered around its axis of rotation.
  • the displacement members comprise two wheels driven in pairs on two opposite sides of the frame by two belts each driven by a motor.
  • the brush is movable in translation along its axis of rotation between a first position, wherein the brush is recessed relative to the contact surfaces between the wheels and the surface to be cleaned on the side of a bottom of the frame, and a second position, in which the brush is protruding from the contact surfaces between the wheels and the surface to be cleaned, opposite the bottom of the frame.
  • the machine has rollers interposed between the wheels and on which the belts come into support.
  • the belts are mounted in grooves set back from the outer edges of the wheels.
  • the invention also relates to a use of an underwater cleaning apparatus as mentioned above for the cleaning of submerged hulls of boats.
  • FIG. 2 is a perspective view from below, the cleaning machine of Figure 1;
  • FIG. 3 is a side view of the cleaning machine of FIGS. 1 and 2;
  • FIG. 4 is a section along the plane III in Figure 3;
  • FIG. 6 is an enlarged view of detail VI in FIG. 5;
  • Figure 7 is a view similar to Figure 5, in a second brush positioning configuration of the cleaning machine, in contact with the hull of a boat;
  • FIG. 8 is a view similar to FIGS. 5 and 7, for a third position configuration of the brushes of the cleaning machine
  • FIG. 9 is a view similar to FIG. 6, in the configuration of FIG. 8.
  • the underwater cleaning apparatus 2 shown in the figures comprises a frame
  • X-X ' denotes a longitudinal axis of the vehicle 2 parallel to the side walls 41 and 42.
  • the machine 2 is provided with displacement members comprising two pairs 6 and 7 of synchronized wheels mounted parallel to the side walls 41 and 42.
  • the pairs 6 and 7 respectively comprise two toothed wheels 63, 64 and 73, 74.
  • the wheels 63 , 64, 73 and 74 are driven and synchronized in rotation by the drive belts 61 and 71 about axes parallel to a transverse axis YY 'of the machine 2, perpendicular to the axis X-X'.
  • the belts 61 and 71 are mounted in central grooves 700 of the outer edges of the wheels 63, 64, 73 and 74.
  • ZZ ' denotes an axis perpendicular to the axes XX' and Y-Y 'and which defines the normal to the contact surfaces between the wheels 63, 64, 73 and 74 and a submerged surface to be cleaned, here the hull of the boat referenced C and shown only in Figure 7.
  • the invention can also be implemented to clean other types of submerged surfaces, including submerged surfaces of a mast of a wind turbine installed at sea, pool walls, lock gates, pontoons or pontoons. aquarium walls.
  • the machine 2 comprises two motors M1 and M2 each adapted to rotate one of the belts 61 and 71.
  • the motors M1 and M2 each comprise a drive system 65 and 75 possibly comprising speed reduction means.
  • the drive systems 65 and 75 include gears 66 and 76 for transmitting the rotational torque to the belts 61 and 71. These drive systems 65 and 75 are protected by covers 710.
  • the belts 61 and 71 are also adapted to cooperate with the shell C by acting as caterpillars to increase the traction of the machine 2 on the hull C.
  • the machine 2 also comprises a turbine 8, driven in rotation by an engine
  • the motor M3 is preferably an electric motor powered by cables connected to a surface power supply.
  • the volume V10 is delimited, on the side of the lateral faces 41 and 42 and the side of the rear wall 46, by a flexible peripheral skirt January 1 having side brushes 12 and a rear brush 14. This flexible peripheral skirt 1 1 can limit the passage of water to the volume V10, to promote the depression of this volume by the action of the turbine 8.
  • the vacuum is generated by the suction of water along the arrow F1 of the volume V10 to the 2 inside the machine 2, the stream of water drawn F1 is filtered and the cleaning waste is stored in a storage tank waste, not shown, installed inside the machine 2. After filtering, the water is discharged from the machine 2 by a discharge outlet 82.
  • the water flow sucked can be discharged directly from the machine 2 and be filtered in an external device.
  • the flexible skirt 11 may be made using flexible rubber walls or other materials.
  • the machine 2 is equipped with two cleaning brushes 16 and 18.
  • the brushes 16 and 18 each comprise a plate 160 and 180 of annular shape from which brush bristles 162 and 182 arranged in a visible annular configuration extend. in particular in Figure 2. According to this configuration, the bristles 162 and 182 are disposed near the outer edges of the trays 160 and 180 and the central areas of the trays are devoid of hair.
  • the brushes may comprise cleaning elements of different types such as sponges.
  • the brush bristles 162 and 182 may also be arranged in a cylindrical configuration and occupy the entire surface of the trays 160 and 180.
  • the brushes 16 and 18 each comprise a central rotation shaft 161 or 181 fixed to the plate 161 or 181 by a flange 170.
  • X16 and X18 denote the respective axes of rotation of the brushes 16 and 18, parallel to the Z-Z axis.
  • Each brush 16 or 18 is rotated by a drive system comprising a blind sleeve 163 or 183 mounted with possibility of rotation about the axis X16 or X18 in an intermediate partition 48 of the frame of the machine 2 and in the bottom 10.
  • the rotation of the sleeve 163 relative to the partition 48 and the bottom 10 is ensured respectively by bearings 172 and 173, visible in particular in Figures 6 and 9 in the form of ball bearings.
  • Each sleeve 163 or 183 is integral in rotation with a toothed wheel 165 or 185.
  • the toothed wheel 165 is rotated by a pinion 200, itself driven in rotation by a motor M4 via unrepresented torque transmission means.
  • the second gear 185 is rotated by the gear 165 via a gear train 202.
  • the shafts 161 and 181 are mounted in the respective open ends of the sleeves 163 and 183 with possibility of translation along the axes X16 and X18, that is to say parallel to the axis ZZ '.
  • the plates 160 and 180 of the brushes 16 and 18 are integral in rotation with the sleeves 163 and 183 by means of fixed fingers 190 relative to these sleeves, extending from a radial portion of the sleeves 163 and 183 parallel to the axis ZZ 'and inserted in corresponding holes 192 of the trays, with the possibility of sliding parallel to the axis ZZ' relative to the brushes 16 and 18.
  • the flange 170 has holes 175 allowing the passage of the fingers 190.
  • the fingers 190 make it possible to drive the brushes 16 and 18 in rotation, while allowing the brushes 16 and 18 to be translated along the axes X16 and X18, parallel to the axis ZZ '.
  • the translational guidance of the brushes 16 and 18 is also ensured by the sliding of the shafts 161 and 181 in rings 177 fixed at the center of the radial portions of the sleeves 163 and 183.
  • Springs 194 are interposed between the shafts 161 and 181 and the sleeves 163 and 183 about the axes X16 and X18. More specifically, the springs 194 are mounted inside the sleeves 163 and 183 between the rings 177 and rings, only one of which is visible in FIGS. 6 and 9 with the reference 161 1, fastened to the ends of the opposite shafts 161 and 181. to the plates 160 and 180.
  • the springs 194 each exert a compression force F194 on the end rings of the shafts 161 and 181. The force F194 tends to move the ring 161 1 and the end ring of the shaft 181 away from the rings 177, thus tending to bring the brushes 16 and 18 closer to the partition 48.
  • the hydraulic effect created by the brushes 16 and 18 also accentuates the plating of the machine 2 against the hull C of the boat thanks to the action of the springs 194, in cooperation with the depression created by the turbine 8 and which applies between the bottom 10 and the shell C.
  • the springs 194 constitute a transmission means of the plating force Fp between the brushes 16 and 18 and the fixed part of the machine 2, via the sleeves 163 and 183, which are fixed in translation relative to the bottom 10 and to the intermediate partition 48.
  • the machine 2 may not include springs 194 for returning the brushes 16 and 18 towards the fixed part of the machine.
  • the brushes do not participate in the plating of the machine 2 against the hull C.
  • the freedom in translation of the brushes 16 and 18 towards the upper part of the machine 2 is limited by a bottom 196 of the sleeves 163 and 183.
  • the mobility in translation of the brushes 16 and 18 towards the shell C is limited by a stop not shown .
  • the translation movements of the brushes 16 and 18 may be independent of each other in order to adapt, as shown in FIG. 7, to localized level differences in the hull C of the boat. Also, in order to adapt to differences in the level of the shell that may exist between the pairs of wheels 6 and 7 and in particular to convex portions of the shell C, the brushes 16 and 18 have the possibility of retracting in such a way that the position of the brushes is set back from the contact surface between the wheels 63, 64, 73 and 74 and the hull of the boat.
  • the freedom in translation of the brushes 16 and 18 also makes it possible to clean the surfaces of the hull C of the boat which are locally concave, that is to say that the brushes can be positioned in a position in which they project relative to each other. to the contact surfaces between the wheels 63, 64, 73 and 74 and the hull C of the boat.
  • the cleaning machine 2 further comprises a roller 22 interposed between the wheels 63, 64 on the wall 41 and a roller 24 interposed between the wheels 73 and 74 on the wall 42.
  • the belts 61 and 71 rest on the rollers 22 and 24.
  • These rollers 22 and 34 allow a cooperation of the belts 61 and 71 with a protruding surface that could present the shell C, so as to prevent the locking of the machine 2, in case the projecting surface would be positioned between two Wheels 63, 64 or 73 and 74 on the same side 41, 42 of the machine 2 and improve the traction in such a case.
  • the cleaning machine 2 may comprise a single cleaning brush or comprise more than two brushes.
  • the machine 2 is devoid of displacement means such as the wheels and rollers mentioned above. This is particularly the case when the machine 2 is mounted at the end of a handling pole.

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  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Cleaning In General (AREA)

Abstract

This underwater vehicle (2) for cleaning submerged surfaces comprises a chassis and at least one brush (16, 18) for cleaning the surface that is to be cleaned and rotationally driven by a motor about an axis of rotation of this brush (16, 18). The brush (16, 18) is able to move, with respect to a fixed part of the vehicle (2), in a translational movement along its axis of rotation so that it can be pressed firmly against the surface that is to be cleaned under the effect of a vacuum created by the rotation of the brush (16, 18). The brush (16, 18) comprises a rotation shaft (161, 181) inserted in a sleeve (163, 183) that rotates as one with the brush (16, 18) and is driven in rotation by a drive system (165, 185, 200, 202). The brush (16, 18) rotates as one with the sleeve (163, 183) because of fingers (190) fixed to the sleeve and inserted in holes (192) in the brush (16, 18) with the possibility of sliding parallel to the axis (X16, X18) of rotation of the brush.

Description

ENGIN SOUS-MARIN DE NETTOYAGE DE SURFACES IMMERGEES  SUBMARINE ENGINE FOR CLEANING IMMERSE SURFACES
La présente invention concerne un engin sous-marin de nettoyage de surfaces immergées. The present invention relates to an underwater vehicle for cleaning underwater surfaces.
II est connu de nettoyer les surfaces immergées dans l'eau, notamment les coques de bateaux en utilisant des engins sous-marins ou robots qui parcourent la surface immergée des coques en retirant les salissures, telles que des végétaux, minéraux ou coquillages, à l'aide de brosses rotatives.  It is known to clean the submerged surfaces in the water, in particular the hulls of boats by using underwater gear or robots which traverse the immersed surface of the hulls by removing the soils, such as plants, minerals or shells, from the hulls. using rotating brushes.
Les déchets sont généralement aspirés par un courant d'eau créé par une turbine qui assure également le maintien du robot contre la coque du bateau en créant une dépression. De tels robots comportent des moyens de déplacement, tels que des roues ou des chenilles, assurant le déplacement du robot contre la coque.  The waste is generally sucked by a stream of water created by a turbine which also keeps the robot against the hull of the boat by creating a depression. Such robots comprise displacement means, such as wheels or caterpillars, ensuring the movement of the robot against the hull.
Lorsque la coque du bateau présente des irrégularités ou des différences de niveaux par rapport aux brosses, l'efficacité du nettoyage est réduite. De plus, le plaquage du robot contre la coque peut perdre en efficacité.  When the hull of the boat has irregularities or differences in levels with respect to the brushes, the cleaning efficiency is reduced. In addition, the plating of the robot against the hull can lose efficiency.
Il est connu de US-A-3 946 692 de tirer parti de l'effet de dépression causé par la rotation des brosses de nettoyage qui tend à attirer les brosses vers la surface à nettoyer. Dans ce but, les brosses sont libres en translation selon leur axe de rotation, de manière à se plaquer sur la surface à nettoyer, ce qui améliore l'efficacité du nettoyage. Cette technique met en œuvre un arbre de rotation des brosses pourvu de cannelures coopérant avec des cannelures des arbres de rotation des moteurs des brosses, pour permettre les mouvements de translation. Ces cannelures ont l'inconvénient d'être coûteuses à réaliser et de causer des frottements relativement importants entre les arbres des moteurs et les arbres des brosses.  It is known from US-A-3,946,692 to take advantage of the vacuum effect caused by the rotation of the cleaning brushes which tends to attract the brushes to the surface to be cleaned. For this purpose, the brushes are free in translation along their axis of rotation, so as to press against the surface to be cleaned, which improves the efficiency of cleaning. This technique uses a brush rotation shaft provided with splines cooperating with splines of the rotation shafts of the brush motors, to allow translational movements. These grooves have the disadvantage of being expensive to produce and cause relatively significant friction between the motor shafts and brush shafts.
C'est à ces inconvénients qu'entend remédier l'invention en proposant un nouvel engin sous-marin de nettoyage de surfaces immergées, qui permet une liberté en translation et en rotation des brosses par des moyens peu coûteux et plus efficaces que ceux de l'état de la technique.  It is these drawbacks that the invention intends to remedy by proposing a new submarine device for cleaning underwater surfaces, which allows freedom in translation and rotation of the brushes by means that are inexpensive and more effective than those of the invention. state of the art.
A cet effet, l'invention concerne un engin sous-marin de nettoyage de surfaces immergées comprenant un châssis et au moins une brosse de nettoyage de la surface entraînée en rotation par un moteur autour d'un axe central, la brosse étant mobile, par rapport à une partie fixe de l'engin, en translation selon son axe de rotation de manière à pouvoir être plaquée contre la surface à nettoyer sous l'effet d'une dépression créée par la rotation de la brosse, la brosse comportant un arbre de rotation inséré dans un manchon solidaire en rotation de la brosse et entraîné en rotation par un système d'entraînement. Cet engin de nettoyage est caractérisé en ce que la brosse est solidarisée en rotation avec le manchon par des doigts fixés sur le manchon et insérés dans des trous de la brosse avec possibilité de coulissement parallèlement à l'axe de rotation de la brosse. To this end, the invention relates to an underwater submerged surface cleaning machine comprising a frame and at least one cleaning brush for the surface rotated by a motor around a central axis, the brush being mobile, by relative to a fixed part of the machine, in translation along its axis of rotation so as to be pressed against the surface to be cleaned under the effect of a depression created by the rotation of the brush, the brush comprising a shaft of rotation inserted into a sleeve integral in rotation with the brush and rotated by a drive system. This cleaning machine is characterized in that the brush is secured in rotation with the sleeve by fingers fixed on the sleeve and inserted into holes of the brush with the possibility of sliding parallel to the axis of rotation of the brush.
Grâce à l'invention, la liberté en translation des brosses selon leur axe de rotation est assurée par des moyens simples, peu coûteux à réaliser et qui génèrent peu de frottements. Selon des aspects avantageux de l'invention mais non obligatoires de l'invention, un tel engin de nettoyage peut incorporer une ou plusieurs des caractéristiques suivantes, prises dans toute combinaison techniquement admissible :  Thanks to the invention, the freedom in translation of the brushes along their axis of rotation is provided by simple means, inexpensive to produce and which generate little friction. According to advantageous but non-compulsory aspects of the invention, such a cleaning machine may incorporate one or more of the following features, taken in any technically permissible combination:
- L'engin comprend des moyens de transmission, entre la brosse et la partie fixe de l'engin, d'une force de plaquage de la brosse sur la surface à nettoyer générée par la dépression créée par la rotation de la brosse.  - The machine comprises transmission means, between the brush and the fixed part of the machine, a plating force of the brush on the surface to be cleaned generated by the depression created by the rotation of the brush.
- Les moyens de transmission de la force de plaquage comprennent un ressort monté entre la brosse et le manchon et adapté pour exercer une force tendant à rapprocher la brosse de la partie fixe de l'engin.  - The transmission means of the plating force comprises a spring mounted between the brush and the sleeve and adapted to exert a force tending to bring the brush of the fixed part of the machine.
- L'engin comprend des organes de déplacement sur la surface à nettoyer.  - The machine includes moving members on the surface to be cleaned.
- L'engin comporte deux brosses de forme annulaire centrées chacune autour de son axe de rotation.  - The machine comprises two ring-shaped brushes each centered around its axis of rotation.
- Les organes de déplacement comprennent deux roues entraînées par paires sur deux côtés opposés du châssis par deux courroies entraînées chacune par un moteur.  - The displacement members comprise two wheels driven in pairs on two opposite sides of the frame by two belts each driven by a motor.
- La brosse est mobile en translation selon son axe de rotation entre une première position, dans laquelle la brosse est en retrait par rapport aux surfaces de contact entre les roues et la surface à nettoyer du côté d'un fond du châssis, et une deuxième position, dans laquelle la brosse est en saillie par rapport aux surfaces de contact entre les roues et la surface à nettoyer, à l'opposé du fond du châssis.  - The brush is movable in translation along its axis of rotation between a first position, wherein the brush is recessed relative to the contact surfaces between the wheels and the surface to be cleaned on the side of a bottom of the frame, and a second position, in which the brush is protruding from the contact surfaces between the wheels and the surface to be cleaned, opposite the bottom of the frame.
- L'engin comporte des galets interposés entre les roues et sur lesquels les courroies viennent en appui.  - The machine has rollers interposed between the wheels and on which the belts come into support.
- Les courroies sont montées dans des gorges en retrait des bords externes des roues.  - The belts are mounted in grooves set back from the outer edges of the wheels.
L'invention concerne également une utilisation d'un engin sous-marin de nettoyage tel que mentionné ci-dessus pour le nettoyage de coques immergées de bateaux.  The invention also relates to a use of an underwater cleaning apparatus as mentioned above for the cleaning of submerged hulls of boats.
D'autres avantages et caractéristiques ressortiront plus clairement de la description qui va suivre d'un mode de réalisation d'un engin de nettoyage selon l'invention, donnée à titre d'exemple non limitatif et faite en référence aux dessins annexés dans lesquels : - la figure 1 est une vue en perspective de dessus d'un engin de nettoyage selon l'invention ; Other advantages and features will emerge more clearly from the following description of an embodiment of a cleaning machine according to the invention, given by way of nonlimiting example and with reference to the appended drawings in which: - Figure 1 is a perspective view from above of a cleaning machine according to the invention;
- la figure 2 est une vue en perspective de dessous, de l'engin de nettoyage de la figure 1 ;  - Figure 2 is a perspective view from below, the cleaning machine of Figure 1;
- la figure 3 est une vue de côté de l'engin de nettoyage des figures 1 et 2 ;  FIG. 3 is a side view of the cleaning machine of FIGS. 1 and 2;
- la figure 4 est une coupe selon le plan III à la figure 3 ;  - Figure 4 is a section along the plane III in Figure 3;
- la figure 5 est une coupe à plus grande échelle selon le plan V à la figure 4 ; - Figure 5 is a larger scale section on the plane V in Figure 4;
- la figure 6 est une vue à plus grande échelle du détail VI à la figure 5 ; FIG. 6 is an enlarged view of detail VI in FIG. 5;
- la figure 7 est une vue analogue à la figure 5, dans une deuxième configuration de positionnement de brosses de l'engin de nettoyage, en contact avec la coque d'un bateau ;  - Figure 7 is a view similar to Figure 5, in a second brush positioning configuration of the cleaning machine, in contact with the hull of a boat;
- la figure 8 est une vue similaire aux figures 5 et 7, pour une troisième configuration de position des brosses de l'engin de nettoyage ;  FIG. 8 is a view similar to FIGS. 5 and 7, for a third position configuration of the brushes of the cleaning machine;
- la figure 9 est une vue similaire à la figure 6, dans la configuration de la figure 8. L'engin sous-marin de nettoyage 2 représenté sur les figures comporte un châssis FIG. 9 is a view similar to FIG. 6, in the configuration of FIG. 8. The underwater cleaning apparatus 2 shown in the figures comprises a frame
4 présentant deux parois latérales 41 , 42, une paroi frontale 44 et une paroi arrière 46. On note X-X' un axe longitudinal de l'engin 2 parallèle aux parois latérales 41 et 42. 4 having two side walls 41, 42, a front wall 44 and a rear wall 46. X-X 'denotes a longitudinal axis of the vehicle 2 parallel to the side walls 41 and 42.
L'engin 2 est muni d'organes de déplacement comportant deux paires 6 et 7 de roues synchronisés montées parallèlement aux parois latérales 41 et 42. Les paires 6 et 7 comprennent respectivement deux roues dentées 63, 64 et 73, 74. Les roues 63, 64, 73 et 74 sont entraînées et synchronisées en rotation par les courroies d'entrainement 61 et 71 autour d'axes parallèles à un axe transversal Y-Y' de l'engin 2, perpendiculaire à l'axe X-X'. Les courroies 61 et 71 sont montées dans des gorges centrales 700 des bords externes des roues 63, 64, 73 et 74.  The machine 2 is provided with displacement members comprising two pairs 6 and 7 of synchronized wheels mounted parallel to the side walls 41 and 42. The pairs 6 and 7 respectively comprise two toothed wheels 63, 64 and 73, 74. The wheels 63 , 64, 73 and 74 are driven and synchronized in rotation by the drive belts 61 and 71 about axes parallel to a transverse axis YY 'of the machine 2, perpendicular to the axis X-X'. The belts 61 and 71 are mounted in central grooves 700 of the outer edges of the wheels 63, 64, 73 and 74.
On note Z-Z' un axe perpendiculaire aux axes X-X' et Y- Y' et qui définit la normale aux surfaces de contact entre les roues 63, 64, 73 et 74 et une surface immergée à nettoyer, ici la coque du bateau référencée C et représentée uniquement à la figure 7.  ZZ 'denotes an axis perpendicular to the axes XX' and Y-Y 'and which defines the normal to the contact surfaces between the wheels 63, 64, 73 and 74 and a submerged surface to be cleaned, here the hull of the boat referenced C and shown only in Figure 7.
L'invention peut également être mise en œuvre pour nettoyer d'autres types de surfaces immergées, notamment des surfaces immergées d'un mât d'une éolienne implantée en mer, des parois de piscine, des portes d'écluses, des pontons ou des parois d'aquarium.  The invention can also be implemented to clean other types of submerged surfaces, including submerged surfaces of a mast of a wind turbine installed at sea, pool walls, lock gates, pontoons or pontoons. aquarium walls.
L'engin 2 comporte deux moteurs M1 et M2 adaptés chacun pour entraîner en rotation l'une des courroies 61 et 71 . Les moteurs M1 et M2 comportent chacun un système d'entrainement 65 et 75 comportant éventuellement des moyens de réduction de vitesse. Les systèmes d'entrainement 65 et 75 incluent des roues dentées 66 et 76 permettant de transmettre le couple de rotation aux courroies 61 et 71 . Ces systèmes d'entraînement 65 et 75 sont protégés par des capots 710. The machine 2 comprises two motors M1 and M2 each adapted to rotate one of the belts 61 and 71. The motors M1 and M2 each comprise a drive system 65 and 75 possibly comprising speed reduction means. The drive systems 65 and 75 include gears 66 and 76 for transmitting the rotational torque to the belts 61 and 71. These drive systems 65 and 75 are protected by covers 710.
Les courroies 61 et 71 sont également adaptées pour coopérer avec la coque C en jouant le rôle de chenilles pour augmenter la motricité de l'engin 2 sur la coque C.  The belts 61 and 71 are also adapted to cooperate with the shell C by acting as caterpillars to increase the traction of the machine 2 on the hull C.
L'engin 2 comporte également une turbine 8, entraînée en rotation par un moteur The machine 2 also comprises a turbine 8, driven in rotation by an engine
M3, permettant à la fois de déplacer l'engin 2 sous l'eau et de créer une dépression au voisinage d'un fond 10 de l'engin qui définit un volume V10 délimité par la surface de la coque C du bateau et le fond 10. Le moteur M3 est de préférence un moteur électrique alimenté par des câbles reliés à une alimentation de surface. Le volume V10 est délimité, du côté des faces latérales 41 et 42 et du côté de la paroi arrière 46, par une jupe périphérique souple 1 1 comportant des brosses latérales 12 et une brosse arrière 14. Cette jupe périphérique souple 1 1 permet de limiter le passage d'eau vers le volume V10, afin de favoriser la mise en dépression de ce volume par l'action de la turbine 8. La dépression est générée par l'aspiration de l'eau selon la flèche F1 du volume V10 vers l'intérieur de l'engin 2 à travers des trous non représentés ménagés dans le fond 10. A l'intérieur de l'engin 2, le flux d'eau aspiré F1 est filtré et les déchets de nettoyage sont stockés dans un réservoir de stockage de déchets, non représenté, installé à l'intérieur de l'engin 2. Après filtrage, l'eau est rejetée hors de l'engin 2 par une sortie d'évacuation 82. M3, making it possible both to move the machine 2 underwater and to create a depression in the vicinity of a bottom 10 of the craft which defines a volume V10 delimited by the surface of the hull C of the boat and the bottom 10. The motor M3 is preferably an electric motor powered by cables connected to a surface power supply. The volume V10 is delimited, on the side of the lateral faces 41 and 42 and the side of the rear wall 46, by a flexible peripheral skirt January 1 having side brushes 12 and a rear brush 14. This flexible peripheral skirt 1 1 can limit the passage of water to the volume V10, to promote the depression of this volume by the action of the turbine 8. The vacuum is generated by the suction of water along the arrow F1 of the volume V10 to the 2 inside the machine 2, the stream of water drawn F1 is filtered and the cleaning waste is stored in a storage tank waste, not shown, installed inside the machine 2. After filtering, the water is discharged from the machine 2 by a discharge outlet 82.
En variante, le flux d'eau aspiré peut être évacué directement de l'engin 2 et être filtré dans un dispositif externe.  Alternatively, the water flow sucked can be discharged directly from the machine 2 and be filtered in an external device.
En variante, la jupe souple 1 1 peut être réalisée à l'aide de parois de caoutchouc souple ou d'autres matériaux.  Alternatively, the flexible skirt 11 may be made using flexible rubber walls or other materials.
L'engin 2 est équipé de deux brosses de nettoyage 16 et 18. Les brosses 16 et 18 comportent chacune un plateau 160 et 180 de forme annulaire à partir duquel s'étendent des poils de brosse 162 et 182 arrangés selon une configuration annulaire, visible notamment à la figure 2. Selon cette configuration, les poils 162 et 182 sont disposés à proximité des bords externes des plateaux 160 et 180 et les zones centrales des plateaux sont dépourvues de poils.  The machine 2 is equipped with two cleaning brushes 16 and 18. The brushes 16 and 18 each comprise a plate 160 and 180 of annular shape from which brush bristles 162 and 182 arranged in a visible annular configuration extend. in particular in Figure 2. According to this configuration, the bristles 162 and 182 are disposed near the outer edges of the trays 160 and 180 and the central areas of the trays are devoid of hair.
Selon une variante non représentée de l'invention, les brosses peuvent comprendre des éléments nettoyants de types différents comme des éponges. Les poils de brosses 162 et 182 peuvent également être arrangés selon une configuration cylindrique et occuper toute la surface des plateaux 160 et 180.  According to a variant not shown of the invention, the brushes may comprise cleaning elements of different types such as sponges. The brush bristles 162 and 182 may also be arranged in a cylindrical configuration and occupy the entire surface of the trays 160 and 180.
Les brosses 16 et 18 comportent chacune un arbre central de rotation 161 ou 181 fixé au plateau 161 ou 181 par une bride 170. On note X16 et X18 les axes de rotation respectifs des brosses 16 et 18, parallèles à l'axe Z-Z'. Chaque brosse 16 ou 18 est entraînée en rotation par un système d'entraînement comportant un manchon borgne 163 ou 183 monté avec possibilité de rotation autour de l'axe X16 ou X18 dans une cloison intermédiaire 48 du châssis de l'engin 2 et dans le fond 10. La rotation du manchon 163 par rapport à la cloison 48 et au fond 10 est assurée respectivement par des paliers 172 et 173, visibles notamment aux figures 6 et 9 sous la forme de roulements à billes. Le montage du manchon 183 dans la cloison 48 et le fond 10 est réalisé selon le même principe. Chaque manchon 163 ou 183 est solidaire en rotation d'une roue dentée 165 ou 185. La roue dentée 165 est entraînée en rotation par un pignon 200, lui-même entraîné en rotation par un moteur M4 via des moyens de transmission de couple non représentés. La deuxième roue dentée 185 est entraînée en rotation par la roue dentée 165 via un train d'engrenage 202. The brushes 16 and 18 each comprise a central rotation shaft 161 or 181 fixed to the plate 161 or 181 by a flange 170. X16 and X18 denote the respective axes of rotation of the brushes 16 and 18, parallel to the Z-Z axis. . Each brush 16 or 18 is rotated by a drive system comprising a blind sleeve 163 or 183 mounted with possibility of rotation about the axis X16 or X18 in an intermediate partition 48 of the frame of the machine 2 and in the bottom 10. The rotation of the sleeve 163 relative to the partition 48 and the bottom 10 is ensured respectively by bearings 172 and 173, visible in particular in Figures 6 and 9 in the form of ball bearings. The mounting of the sleeve 183 in the partition 48 and the bottom 10 is made according to the same principle. Each sleeve 163 or 183 is integral in rotation with a toothed wheel 165 or 185. The toothed wheel 165 is rotated by a pinion 200, itself driven in rotation by a motor M4 via unrepresented torque transmission means. . The second gear 185 is rotated by the gear 165 via a gear train 202.
Les arbres 161 et 181 sont montés dans les extrémités ouvertes respectives des manchons 163 et 183 avec possibilité de translation selon les axes X16 et X18, c'est-à- dire parallèlement à l'axe Z-Z'. Les plateaux 160 et 180 des brosses 16 et 18 sont solidaires en rotation des manchons 163 et 183 par l'intermédiaire de doigts 190 fixes par rapport à ces manchons, s'étendant à partir d'une partie radiale des manchons 163 et 183 parallèlement à l'axe Z-Z' et insérés dans des trous correspondants 192 des plateaux, avec possibilité de coulissement parallèlement à l'axe Z-Z' par rapport aux brosses 16 et 18. La bride 170 présente des trous 175 permettant le passage des doigts 190. Les doigts 190 permettent d'assurer l'entraînement en rotation des brosses 16 et 18, tout en permettant la translation des brosses 16 et 18 le long des axes X16 et X18, parallèlement à l'axe Z-Z'. Le guidage en translation des brosses 16 et 18 est également assuré par le coulissement des arbres 161 et 181 dans des bagues 177 fixées au centre des parties radiales des manchons 163 et 183.  The shafts 161 and 181 are mounted in the respective open ends of the sleeves 163 and 183 with possibility of translation along the axes X16 and X18, that is to say parallel to the axis ZZ '. The plates 160 and 180 of the brushes 16 and 18 are integral in rotation with the sleeves 163 and 183 by means of fixed fingers 190 relative to these sleeves, extending from a radial portion of the sleeves 163 and 183 parallel to the axis ZZ 'and inserted in corresponding holes 192 of the trays, with the possibility of sliding parallel to the axis ZZ' relative to the brushes 16 and 18. The flange 170 has holes 175 allowing the passage of the fingers 190. The fingers 190 make it possible to drive the brushes 16 and 18 in rotation, while allowing the brushes 16 and 18 to be translated along the axes X16 and X18, parallel to the axis ZZ '. The translational guidance of the brushes 16 and 18 is also ensured by the sliding of the shafts 161 and 181 in rings 177 fixed at the center of the radial portions of the sleeves 163 and 183.
Des ressorts 194 sont interposés entre les arbres 161 et 181 et les manchons 163 et 183 autour des axes X16 et X18. Plus précisément, les ressorts 194 sont montés à l'intérieur des manchons 163 et 183 entre les bagues 177 et des bagues, dont une seule est visible aux figures 6 et 9 avec la référence 161 1 , fixées aux extrémités des arbres 161 et 181 opposés aux plateaux 160 et 180. Les ressorts 194 exercent chacun une force de compression F194 sur les bagues d'extrémité des arbres 161 et 181 . La force F194 tend à éloigner la bague 161 1 et la bague d'extrémité de l'arbre 181 des bagues 177, donc tend à rapprocher les brosses 16 et 18 de la cloison 48.  Springs 194 are interposed between the shafts 161 and 181 and the sleeves 163 and 183 about the axes X16 and X18. More specifically, the springs 194 are mounted inside the sleeves 163 and 183 between the rings 177 and rings, only one of which is visible in FIGS. 6 and 9 with the reference 161 1, fastened to the ends of the opposite shafts 161 and 181. to the plates 160 and 180. The springs 194 each exert a compression force F194 on the end rings of the shafts 161 and 181. The force F194 tends to move the ring 161 1 and the end ring of the shaft 181 away from the rings 177, thus tending to bring the brushes 16 and 18 closer to the partition 48.
Lors de la rotation des brosses 16 et 18, un effet hydraulique, analogue à celui d'une pompe centrifuge, induit une dépression au centre des brosses 16 et 18. Cette dépression s'applique sous la surface constituée par les poils 162 et 182 des brosses 16 et 18 en créant une force de plaquage Fp normale à cette surface et parallèle aux axes X16 et X18, et qui tend à plaquer ces brosses contre la coque C du bateau. Du fait de la liberté en translation des brosses 16 et 18, le plaquage des brosses contre la coque C est accru et le rendement du nettoyage et du détachage des déchets fixés à la coque est amélioré. During the rotation of the brushes 16 and 18, a hydraulic effect, similar to that of a centrifugal pump, induces a depression in the center of the brushes 16 and 18. This depression is applied under the surface formed by the bristles 162 and 182 of the brushes 16 and 18 by creating a plating force Fp normal to this surface and parallel to the axes X16 and X18, and which tends to press these brushes against the hull C of the boat. Because of the freedom in translation of the brushes 16 and 18, the plating of the brushes against the shell C is increased and the efficiency of cleaning and stain removal of the waste attached to the shell is improved.
L'effet hydraulique créé par les brosses 16 et 18 accentue également le plaquage de l'engin 2 contre la coque C du bateau grâce à l'action des ressorts 194, en coopération avec la dépression créée par la turbine 8 et qui s'applique entre le fond 10 et la coque C. En effet, les ressorts 194 constituent un moyen de transmission de la force de plaquage Fp entre les brosses 16 et 18 et la partie fixe de l'engin 2, par l'intermédiaire des manchons 163 et 183, qui sont fixes en translation par rapport au fond 10 et à la cloison intermédiaire 48.  The hydraulic effect created by the brushes 16 and 18 also accentuates the plating of the machine 2 against the hull C of the boat thanks to the action of the springs 194, in cooperation with the depression created by the turbine 8 and which applies between the bottom 10 and the shell C. Indeed, the springs 194 constitute a transmission means of the plating force Fp between the brushes 16 and 18 and the fixed part of the machine 2, via the sleeves 163 and 183, which are fixed in translation relative to the bottom 10 and to the intermediate partition 48.
Selon une variante non représentée, l'engin 2 peut ne pas comprendre de ressorts 194 de rappel des brosses 16 et 18 en direction de la partie fixe de l'engin. Dans ce cas, les brosses ne participent pas au plaquage de l'engin 2 contre la coque C.  According to a variant not shown, the machine 2 may not include springs 194 for returning the brushes 16 and 18 towards the fixed part of the machine. In this case, the brushes do not participate in the plating of the machine 2 against the hull C.
La liberté en translation des brosses 16 et 18 vers la partie supérieure de l'engin 2 est limitée par un fond 196 des manchons 163 et 183. La mobilité en translation des brosses 16 et 18 vers la coque C est limitée par une butée non représentée.  The freedom in translation of the brushes 16 and 18 towards the upper part of the machine 2 is limited by a bottom 196 of the sleeves 163 and 183. The mobility in translation of the brushes 16 and 18 towards the shell C is limited by a stop not shown .
Les mouvements de translation des brosses 16 et 18 peuvent être indépendants l'un de l'autre afin de s'adapter, comme représenté à la figure 7, à des différences de niveau localisées de la coque C du bateau. Egalement, afin de s'adapter aux différences de niveau de la coque qui peuvent exister entre les paires de roues 6 et 7 et notamment à des parties convexes de la coque C, les brosses 16 et 18 ont la possibilité de se rétracter de manière que la position des brosses soit en retrait de la surface de contact entre les roues 63, 64, 73 et 74 et la coque du bateau.  The translation movements of the brushes 16 and 18 may be independent of each other in order to adapt, as shown in FIG. 7, to localized level differences in the hull C of the boat. Also, in order to adapt to differences in the level of the shell that may exist between the pairs of wheels 6 and 7 and in particular to convex portions of the shell C, the brushes 16 and 18 have the possibility of retracting in such a way that the position of the brushes is set back from the contact surface between the wheels 63, 64, 73 and 74 and the hull of the boat.
La liberté en translation des brosses 16 et 18 permet également de nettoyer les surfaces de la coque C du bateau qui sont localement concaves, c'est-à-dire que les brosses peuvent se positionner dans une position dans laquelle elles sont en saillie par rapport aux surfaces de contact entre les roues 63, 64, 73 et 74 et la coque C du bateau.  The freedom in translation of the brushes 16 and 18 also makes it possible to clean the surfaces of the hull C of the boat which are locally concave, that is to say that the brushes can be positioned in a position in which they project relative to each other. to the contact surfaces between the wheels 63, 64, 73 and 74 and the hull C of the boat.
L'engin de nettoyage 2 comporte en outre un galet 22 intercalé entre les roues 63, 64 sur la paroi 41 et un galet 24 intercalé entre les roues 73 et 74 sur la paroi 42. Les courroies 61 et 71 s'appuient sur les galets 22 et 24. Ces galets 22 et 34 permettent une coopération des courroies 61 et 71 avec une surface saillante que pourrait présenter la coque C, de manière à empêcher le blocage de l'engin 2, au cas où la surface saillante se positionnerait entre deux roues 63, 64 ou 73 et 74 d'un même côté 41 , 42 de l'engin 2 et d'améliorer la motricité dans un tel cas. Selon une variante non représentée de l'invention, l'engin de nettoyage 2 peut comprendre une unique brosse de nettoyage ou comprendre plus de deux brosses. Selon une variante non représentée de l'invention, l'engin 2 est dépourvu de moyens de déplacement tels que les roues et les galets mentionnés ci-dessus. Tel est notamment le cas lorsque l'engin 2 est monté à l'extrémité d'une perche de manipulation. The cleaning machine 2 further comprises a roller 22 interposed between the wheels 63, 64 on the wall 41 and a roller 24 interposed between the wheels 73 and 74 on the wall 42. The belts 61 and 71 rest on the rollers 22 and 24. These rollers 22 and 34 allow a cooperation of the belts 61 and 71 with a protruding surface that could present the shell C, so as to prevent the locking of the machine 2, in case the projecting surface would be positioned between two Wheels 63, 64 or 73 and 74 on the same side 41, 42 of the machine 2 and improve the traction in such a case. According to a not shown variant of the invention, the cleaning machine 2 may comprise a single cleaning brush or comprise more than two brushes. According to a not shown variant of the invention, the machine 2 is devoid of displacement means such as the wheels and rollers mentioned above. This is particularly the case when the machine 2 is mounted at the end of a handling pole.

Claims

REVENDICATIONS
1 . - Engin (2) sous-marin de nettoyage de surfaces (C) immergées comprenant un châssis (4) et au moins une brosse (16, 18) de nettoyage de la surface (C) à nettoyer entraînée en rotation par un moteur (M4) autour d'un axe de rotation (X16, X18) de cette brosse (16, 18), la brosse (16, 18) étant mobile, par rapport à une partie fixe (10, 48) de l'engin (2), en translation selon son axe de rotation (X16, X18) de manière à pouvoir être plaquée contre la surface (C) à nettoyer sous l'effet d'une dépression créée par la rotation de la brosse (16, 18), la brosse (16, 18) comportant un arbre (161 , 181 ) de rotation inséré dans un manchon (163, 183) solidaire en rotation de la brosse (16, 18) et entraîné en rotation par un système d'entraînement (165, 185, 200, 202), caractérisé en ce que la brosse (16, 18) est solidarisée en rotation avec le manchon (163, 183) par des doigts (190) fixés sur le manchon et insérés dans des trous (192) de la brosse (16, 18) avec possibilité de coulissement parallèlement à l'axe (X16, X18) de rotation de la brosse. 1. Underwater submerged surface cleaning machine (2) comprising a frame (4) and at least one cleaning brush (16, 18) for cleaning the surface (C) to be rotated by a motor (M4) ) about an axis of rotation (X16, X18) of this brush (16, 18), the brush (16, 18) being movable relative to a fixed part (10, 48) of the machine (2) in translation along its axis of rotation (X16, X18) so as to be pressed against the surface (C) to be cleaned under the effect of a depression created by the rotation of the brush (16, 18), the brush (16, 18) having a rotation shaft (161, 181) inserted in a sleeve (163, 183) rotatably connected to the brush (16, 18) and rotated by a drive system (165, 185, 200, 202), characterized in that the brush (16, 18) is secured in rotation with the sleeve (163, 183) by fingers (190) fixed on the sleeve and inserted into holes (192) of the brush ( 16, 18) with possibility sliding direction parallel to the axis (X16, X18) of rotation of the brush.
2. - Engin sous-marin de nettoyage selon la revendication 1 , caractérisé en ce qu'il comprend des moyens (194) de transmission, entre la brosse (16, 18) et la partie fixe (10, 48) de l'engin (2), d'une force de plaquage (Fp) de la brosse (16, 18) sur la surface (C) à nettoyer générée par la dépression créée par la rotation de la brosse. 2. - underwater cleaning apparatus according to claim 1, characterized in that it comprises means (194) for transmission, between the brush (16, 18) and the fixed part (10, 48) of the machine (2), a plating force (Fp) of the brush (16, 18) on the surface (C) to be cleaned generated by the depression created by the rotation of the brush.
3. - Engin sous-marin de nettoyage selon la revendication 2, caractérisé en ce que les moyens de transmission de la force de plaquage (Fp) comprennent un ressort (194) monté entre la brosse (16, 18) et le manchon (163, 183) et adapté pour exercer une force (F194) tendant à rapprocher la brosse (16, 18) de la partie fixe (10, 48) de l'engin (2). 3. - underwater cleaning apparatus according to claim 2, characterized in that the plating force transmission means (Fp) comprise a spring (194) mounted between the brush (16, 18) and the sleeve (163). , 183) and adapted to exert a force (F194) tending to bring the brush (16, 18) of the fixed part (10, 48) of the machine (2).
4. - Engin sous-marin de nettoyage selon l'une des revendications précédentes, caractérisé en ce qu'il comprend des organes de déplacement (63, 64, 73, 74, 22, 24) de l'engin (2) sur la surface (C) à nettoyer. 4. - Underwater cleaning unit according to one of the preceding claims, characterized in that it comprises displacement members (63, 64, 73, 74, 22, 24) of the machine (2) on the surface (C) to be cleaned.
5.- Engin sous-marin de nettoyage selon l'une des revendications précédentes, caractérisé en ce qu'il comporte deux brosses (16, 18) de forme annulaire centrées chacune autour de son axe de rotation (X16, X18). 5.- underwater cleaning apparatus according to one of the preceding claims, characterized in that it comprises two brushes (16, 18) of annular shape each centered around its axis of rotation (X16, X18).
6.- Engin sous-marin de nettoyage selon l'une des revendications précédentes, caractérisé en ce que les organes de déplacement comprennent deux roues (63, 64, 73, 74) entraînées par paires (6, 7) sur deux côtés opposés (41 , 42) du châssis (4) par deux courroies (61 , 71 ) entraînées chacune par un moteur (M1 , M2). 6.-underwater cleaning device according to one of the preceding claims, characterized in that the displacement members comprise two wheels (63, 64, 73, 74) driven in pairs (6, 7) on two opposite sides (41, 42) of the frame (4) by two belts (61, 71) each driven by a motor (M1, M2).
7. - Engin sous-marin de nettoyage selon la revendication 5, caractérisé en ce que la brosse (16, 18) est mobile en translation selon son axe de rotation (X16, X18) entre : 7. - underwater cleaning apparatus according to claim 5, characterized in that the brush (16, 18) is movable in translation along its axis of rotation (X16, X18) between:
- une première position, dans laquelle la brosse (16, 18) est en retrait par rapport aux surfaces de contact entre les roues (63, 64, 73, 74) et la surface (C) à nettoyer du côté d'un fond (10) du châssis (4), et  a first position, in which the brush (16, 18) is recessed with respect to the contact surfaces between the wheels (63, 64, 73, 74) and the surface (C) to be cleaned on the side of a bottom ( 10) of the frame (4), and
- une deuxième position, dans laquelle la brosse (16, 18) est en saillie par rapport aux surfaces de contact entre les roues (63, 64, 73, 74) et la surface (C) à nettoyer, à l'opposé du fond (10) du châssis (4).  a second position, in which the brush (16, 18) is projecting with respect to the contact surfaces between the wheels (63, 64, 73, 74) and the surface (C) to be cleaned, opposite the bottom (10) of the frame (4).
8. - Engin sous-marin de nettoyage selon l'une des revendications 6 et 7, caractérisé en ce qu'il comporte des galets (22, 24) interposés entre les roues (63, 64, 73, 74) et sur lesquels les courroies (61 , 71 ) viennent en appui. 8. - underwater cleaning apparatus according to one of claims 6 and 7, characterized in that it comprises rollers (22, 24) interposed between the wheels (63, 64, 73, 74) and on which the straps (61, 71) are supported.
9. - Engin sous-marin de nettoyage selon l'une des revendications 6 à 8, caractérisé en ce que les courroies (61 , 71 ) sont montées dans des gorges (700) en retrait des bords externes des roues (63, 64, 73, 74). 9. - underwater cleaning apparatus according to one of claims 6 to 8, characterized in that the belts (61, 71) are mounted in grooves (700) set back from the outer edges of the wheels (63, 64, 73, 74).
10.- Utilisation d'engin sous-marin (2) de nettoyage selon l'une des revendications précédentes pour le nettoyage de coques (C) immergées de bateaux. 10.- Use of underwater vehicle (2) cleaning according to one of the preceding claims for cleaning submerged hulls (C) of boats.
PCT/EP2012/062588 2011-06-29 2012-06-28 Underwater vehicle for cleaning submerged surfaces WO2013001015A1 (en)

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FR1155805A FR2977231B1 (en) 2011-06-29 2011-06-29 SUBMARINE ENGINE FOR CLEANING IMMERSE SURFACES

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EP2726367A1 (en) 2014-05-07
FR2977231A1 (en) 2013-01-04
FR2977231B1 (en) 2014-06-27
US20140116316A1 (en) 2014-05-01

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