Patent Description:
Patent Literature <NUM> discloses an underwater sweeper that removes shellfish, algae, and the like adhering to the seawater-immersed surface of a ship. Such an underwater sweeper includes multiple drive apparatuses, such as a brush rotation pump for rotating the brush used for cleaning, a motor for rotating the screw for crimping the sweeper toward the hull, and a dirty water pump that suctions and discharges dirty water generated during cleaning. Thus, the machine itself is a heavy object, which causes problems in handleability and operability. Patent Literature <NUM> discloses an underwater cleaning machine in accordance with the preamble of claim <NUM>, and a method of autonomous hull cleanliness detection including positioning an autonomous cleanliness detection system over a portion of a hull of a vessel. Patent Literature <NUM> relates to a device for the removal of paint from painted surfaces, whereby the pollution of the environment is minimized and the removal of paint from painted surfaces is realized. Patent Literature <NUM> discloses a submersible cleaning robot which generates a propulsion force by rotation of a propeller without the necessity to use a dedicated drive source for obtaining a propeller rotating drive force.

Therefore, in view of the above problems, an object of the present invention is to provide an underwater cleaning machine for cleaning underwater that is lighter in weight and capable of reliably preventing seawater contamination. This object is achieved by the underwater cleaning machine in accordance with claim <NUM>.

An underwater cleaning machine according to the present invention cleans an object to be cleaned while moving along the surface of the object to be cleaned residing in the water, the underwater cleaning machine including.

Since the underwater cleaning machine according to the present invention includes a suction device for suctioning the dirty water after cleaning by the cleaning device, contamination of seawater can be reliably prevented. In the underwater cleaning machine according to the present invention, since the cleaning device and the suction device are driven by the high-pressure water supplied from the external high-pressure water pump, multiple drive devices for driving the cleaning device and the suction device need not to be mounted on the machine body, and thus the work equipment is lightweight.

<FIG> illustrate an underwater cleaning machine <NUM> according to an embodiment. The underwater cleaning machine <NUM> cleans an object to be cleaned while moving along the surface of the object to be cleaned (for example, a hull, a farmed fish net, etc.) residing in the water. The underwater cleaning machine <NUM> includes a work machine body <NUM>, a traveling device <NUM>, propulsive-force generating propellers <NUM>, a cleaning nozzle unit <NUM> (corresponding to a cleaning device), and a suction device <NUM>.

The work machine body <NUM> includes a propeller-side body 2A in which the propulsive-force generating propellers <NUM> are disposed, a nozzle-side body 2B in which the cleaning nozzle unit <NUM> is disposed, and a coupling body 2C that couples the propeller-side body 2A and the nozzle-side body 2B. The coupling body 2C is composed of a plurality of pipes extending in the vertical direction.

The propeller-side body 2A includes a plurality of (three in this embodiment) tubular ducts 20A, 20B, and 20C having openings <NUM>. The ducts 20A, 20B, and 20C are disposed in the left-right direction of the work machine body <NUM>, and the propulsive-force generating propellers <NUM> are housed inside the respective openings <NUM>.

A traveling device <NUM> is disposed on the nozzle-side body 2B. The traveling device <NUM> includes motor cases 31A and 31B that house underwater motors M1 and M2, respectively, four wheels <NUM>, <NUM>, <NUM>, <NUM> in the front, rear, left and right, and a pair of left and right crawler devices <NUM>, <NUM>.

The underwater motor M1 housed in the front motor case 31A rotationally drives the right front wheel <NUM>. The underwater motor M2 housed in the front motor case 31B rotationally drives the left rear wheel <NUM>. The underwater motors M1 and M2 are composed of DC motors.

A left crawler device <NUM> includes a drive wheel 36a, a first driven wheel 36b, a second driven wheel 36c, and an annular crawler 36d. The drive wheel 36a is fixed to the rotary shaft of the left rear wheel <NUM> and rotationally driven by the underwater motor M2. The first driven wheel 36b is fixed to the rotary shaft of the left front wheel <NUM>. The second driven wheel 36c is rotatably supported above the drive wheel 36a and the first driven wheel 36b, between the drive wheel 36a and the first driven wheel 36b. The annular crawler 36d is wound around the drive wheel 36a, the first driven wheel 36b, and the second driven wheel 36c. In this way, in the crawler device <NUM>, as the crawler 36d is rotated by the rotation of the underwater motor M2, the left front wheel <NUM> also rotates. That is, the underwater motor M2 simultaneously rotates the left rear wheel <NUM>, the left front wheel <NUM>, and the left crawler device <NUM> in the same direction.

A right crawler device <NUM> includes a drive wheel 37a, a first driven wheel 37b, a second driven wheel 37c, and an annular crawler 37d. The drive wheel 37a is fixed to the rotary shaft of the right front wheel <NUM> and rotationally driven by the underwater motor M1. The first driven wheel 37b is fixed to the rotary shaft of the right rear wheel <NUM>. The second driven wheel 37c is rotatably supported above the drive wheel 37a and the first driven wheel 37b, between the drive wheel 37a and the first driven wheel 37b. The annular crawler 37d is wound around the drive wheel 37a, the first driven wheel 37b, and the second driven wheel 37c. In this way, in the crawler device <NUM>, as the crawler 37d is rotated by the rotation of the underwater motor M1, the right rear wheel <NUM> also rotates. That is, the underwater motor M1 simultaneously rotates the right front wheel <NUM>, the right rear wheel <NUM>, and the right crawler device <NUM> in the same direction.

A power supply cable (not illustrated) is connected to each of the underwater motors M1 and M2, and power is supplied to each of the underwater motors M1 and M2 from a power supply device on board or on land through the power supply cable.

The cleaning nozzle unit <NUM> ejects high-pressure water supplied from a high-pressure hose (not illustrated) toward the object to be cleaned, and cleans the object to be cleaned by a jet stream. The cleaning nozzle unit <NUM> is fixed to the lower portions of rotary shafts <NUM> rotatably supported by the nozzle-side body 2B. Rotary joints <NUM> are disposed in the middle portions of the rotary shafts <NUM>. The rotary joints <NUM> are for transporting high-pressure water to the rotating cleaning nozzle unit <NUM>. Since the rotary joints <NUM> each have substantially the same configuration as that of a rotary joint <NUM> described below, detailed description thereof will be omitted. The rotary joints <NUM> are supplied with high-pressure water pumped from a high-pressure water pump (not illustrated) on board or on land through a high-pressure hose. The high-pressure hose is connected to a branch joint <NUM>, and the high-pressure water branched by the branch joint <NUM> is supplied to the respective rotary joints <NUM> via connection hoses <NUM>, <NUM>, and <NUM> extending from the branch joint <NUM>. The high-pressure water supplied to the rotary joints <NUM> is supplied to the cleaning nozzle unit <NUM> through flow paths inside the rotary shafts <NUM>.

The cleaning nozzle unit <NUM> includes discoid cleaning bodies <NUM> fixed to the lower ends of the rotary shafts <NUM>, and multiple cleaning nozzles <NUM> respectively disposed on the outer peripheral portion of the cleaning bodies <NUM>.

The cleaning bodies <NUM> are each composed of, for example, stainless steel, and can rotate and come into contact with shellfish or the like attached to the object to be cleaned to remove the shellfish or the like. A diffusion prevention cover <NUM> is disposed on the outer peripheral sides of the cleaning bodies <NUM> so as to protrude from the lower surface of the nozzle-side body 2B. By providing the diffusion prevention cover <NUM>, the diffusion of dirty water can be prevented during cleaning. The diffusion prevention cover <NUM> includes a first cover portion 53a that surrounds the front and back of the three cleaning bodies <NUM>, and a second cover portion 53b that is disposed along the outer peripheries of the respective cleaning bodies <NUM> between the adjacent cleaning bodies <NUM>. A rubber packing (not illustrated) is disposed at the tip of the first cover portion 53a. In the present embodiment, since the wheels <NUM>, <NUM>, <NUM>, and <NUM> and the crawler devices <NUM> and <NUM> that come into contact with the surface of the object to be cleaned are arranged on the outer periphery of the nozzle-side body 2B, the diffusion of dirty water during cleaning can be further prevented.

In the present embodiment, the two cleaning nozzles <NUM> are arranged so as to face each other across the axial center of each of the cleaning bodies <NUM>. The cleaning nozzles <NUM> eject high-pressure water pumped from the high-pressure water pump. Each cleaning nozzle <NUM> tilts downward by a predetermined angle so that the ejection direction of the high-pressure water faces the object to be cleaned (see <FIG>). In this way, when high-pressure water is ejected from the cleaning nozzles <NUM>, the cleaning nozzle unit <NUM> rotates together with the rotary shafts <NUM> by the reaction force of the ejection generated by the high-pressure water being sprayed onto the surface of the object to be cleaned.

The propulsive-force generating propellers <NUM> are fixed to the upper end of the rotary shafts <NUM>. Therefore, when high-pressure water is ejected from the cleaning nozzles <NUM> and the rotary shaft <NUM> rotates together with the cleaning nozzle unit <NUM> by the ejection reaction force, the propulsive-force generating propellers <NUM> also rotate integrally.

The rotation of the propulsive-force generating propellers <NUM>, causes water between the propeller-side body 2A and the nozzle-side body 2B to be introduced into the ducts 20A, 20B, and 20C, and a water flow ejected from the openings <NUM> to be generated. This provides a propulsive force for the underwater cleaning machine <NUM>, and thereby the underwater cleaning machine <NUM> is pressed against the object to be cleaned. Therefore, the wheels <NUM>, <NUM>, <NUM>, and <NUM> and the crawler devices <NUM> and <NUM> do not float from the object to be cleaned, and the underwater cleaning machine <NUM> can clean the object to be cleaned while stably running along the surface of the object to be cleaned.

The suction device <NUM> suctions dirty water (residual water) after cleaning by the cleaning nozzle unit <NUM>. The suction device <NUM> includes water suction ports <NUM> for suctioning dirty water and a suction pump <NUM> for suctioning dirty water.

The water suction ports <NUM> are formed on the lower surface of the nozzle-side body 2B. The water suction ports <NUM> are disposed on the inner side of the cleaning bodies <NUM>, that is, above the cleaning bodies <NUM>. In the present embodiment, two water suction ports <NUM> are provided for each cleaning body <NUM>, and the two water suction ports <NUM> are arranged so as to face each other across the axial center of the rotary shaft <NUM>.

The dirty water after the cleaning by the cleaning nozzle unit <NUM> is suctioned from the water suction ports <NUM> through the voids on the outer peripheral sides and the inner sides of the cleaning bodies <NUM> as indicated by the dashed-dotted line in <FIG>. At this time, the diffusion prevention cover <NUM> disposed around the cleaning bodies <NUM> causes the dirty water to be effectively suctioned from the water suction ports <NUM>.

The suction pump <NUM> is fixed on the upper surface of the nozzle-side body 2B. <FIG> is a side view of the suction pump <NUM>. For illustrative purposes, the vertical direction in <FIG> is referred to as the vertical direction of the suction pump <NUM>.

The suction pump <NUM> includes a hollow cylindrical casing <NUM>, an impeller <NUM> disposed inside the casing <NUM>, and a plurality of suction ports <NUM> formed in the casing <NUM>.

A lower bearing 621c is fixed to the upper end surface 621a of the casing <NUM>. A suction portion 621d projecting in a columnar shape is formed on the lower end surface (bottom surface) 621b of the casing <NUM>, and the suction ports <NUM> are arranged on the outer peripheral portion of the suction portion 621d. In the present embodiment, six suction ports <NUM> are arranged at equal intervals along the circumferential direction of the suction portion 621d. Each suction port <NUM> opens toward a tangential direction of the casing <NUM>, specifically, in the tangential direction of the suction portion 621d (see <FIG>). Each suction port <NUM> is connected to the corresponding water suction port <NUM> by a suction hose (not illustrated) (see <FIG>). In this way, the dirty water suctioned from the water suction ports <NUM> is suctioned into the casing <NUM> through the suction hose and the suction ports <NUM>.

A discharge portion 621e for discharging the suctioned dirty water is disposed on the outer peripheral portion of the casing <NUM>. A dirty water transfer hose (not illustrated) is connected to the end of the discharge portion 621e, and the dirty water discharged from the suction pump <NUM> is transferred to the ship or land through the dirty water transfer hose.

A middle case cover 621f is fixed to the upper end surface 621a of the casing <NUM>, and an upper case cover <NUM> is fixed to the upper surface of the middle cover 621f. The middle case cover 621f covers the lower bearing 621c. A rotary joint <NUM>, which will be described below, is housed inside the upper case cover <NUM>. An upper bearing <NUM> is fixed on the upper surface of the upper case cover <NUM>.

The impeller <NUM> includes a discoid impeller body 622a, a plurality of ejection nozzles 622b disposed on the outer peripheral portion of the impeller body 622a, a plurality of blade portions 622c disposed on the lower surface of the impeller body 622a, and a rotary shaft 622d fixed to the upper surface of the impeller body 622a.

A pair of ejection nozzles 622b are disposed across the rotary shaft of the impeller <NUM>. In other words, the two ejection nozzles 622b are arranged so as to face each other across the axial center of the impeller body 622a. The ejection nozzles 622b eject high-pressure water pumped from the high-pressure water pump (not illustrated) described above. Each ejection nozzle 622b is disposed so that the ejection direction of the high-pressure water faces the tangential direction of the impeller body 622a. Therefore, when high-pressure water is ejected from the ejection nozzles 622b, the impeller body 622a rotates by the reaction force of the ejection of the high-pressure water. That is, the impeller <NUM> is driven by the reaction force of the ejection of high-pressure water from the ejection nozzles 622b.

The blade portions 622c rotate together with the impeller body 622a to apply a centrifugal force to the liquid in the casing <NUM>. In the present embodiment, six blade portions 622c are arranged at equal intervals along the circumferential direction of the impeller body 622a.

The lower end of the rotary shaft 622d is fixed to the impeller body 622a. The rotary shaft 622d is rotatably supported by the lower bearing 621c and the upper bearing <NUM>. A flow path 622e for transporting high-pressure water in the axial direction is formed on the rotary shaft 622d. The upper end of the flow path 622e is positioned at the central area of the rotary shaft 622d. The lower end of the flow path 622e extends to the impeller body 622a and communicates with the ejection nozzles 622b via connection pipes 622f.

The rotary joint <NUM> is for transporting high-pressure water to the rotating impeller <NUM>. The rotary joint <NUM> includes the rotary shaft 622d of the impeller <NUM> and a fixed housing 624a surrounding the rotary shaft 622d.

A receiving hole 624b that communicates with the flow path 622e is formed in the rotary shaft 622d. A supply hole 624c is formed in the fixed housing 624a at a height corresponding to the receiving hole 624b.

The fixed housing 624a is fixed to the upper surface of the middle case cover 621f. A crank joint <NUM> is connected to the supply hole 624c in the fixed housing 624a. A connecting hose <NUM> (see <FIG>) extending from the branch joint <NUM> is connected to the crank joint <NUM>.

In this way, high-pressure water pumped from a high-pressure water pump (not illustrated) on board or on land is supplied to the rotary joint <NUM> through the high-pressure hose, the branch joint <NUM>, the connecting hose <NUM>, and the crank joint <NUM>. The high-pressure water supplied to the rotary joint <NUM> is supplied to the ejection nozzles 622b through the flow path 622e of the rotary shaft 622d and the connection pipe 622f, and is ejected from the ejection nozzles 622b.

The impeller <NUM> is rotationally driven by the reaction force of the ejection of high-pressure water from the ejection nozzles 622b. Since a centrifugal force is applied to the liquid inside the casing <NUM> by the rotation of the impeller <NUM>, the suction pump <NUM> discharges the dirty water from the discharge portion 621e and suctions dirty water from the suction ports <NUM>. That is, since the suction pump <NUM> is driven by the high-pressure water supplied from an external high-pressure water pump, it is not necessary to mount a drive device such as a motor for driving the suction device <NUM> on the machine body.

As described above, the underwater cleaning machine <NUM> of the present embodiment is an underwater cleaning machine <NUM> that cleans an object to be cleaned while moving along the surface of the object to be cleaned residing underwater, and includes a cleaning nozzle unit <NUM> that cleans the object to be cleaned by ejecting high-pressure water toward the object to be cleaned, a suction device <NUM> that suctions dirty water after cleaning by the cleaning nozzle unit <NUM>. The cleaning nozzle unit <NUM> and the suction device <NUM> are driven by high-pressure water supplied from an external high-pressure water pump.

In this way, since the suction device <NUM> for suctioning the dirty water after cleaning by the cleaning nozzle unit <NUM> is provided, contamination of seawater can be reliably prevented. Since the cleaning nozzle unit <NUM> and the suction device <NUM> are driven by the high-pressure water supplied from the external high-pressure water pump, multiple drive devices for driving the cleaning nozzle unit <NUM> and the suction device <NUM> need not to be mounted on the machine body, and thus the work equipment is lightweight.

In the present embodiment, the high-pressure water pumped from the high-pressure water pump through one high-pressure hose is distributed between the cleaning nozzle unit <NUM> and the suction device <NUM>. However, the cleaning nozzle unit <NUM> and the suction device <NUM> may be supplied with high-pressure water pumped from a plurality of high-pressure water pumps through high-pressure hoses.

In the present embodiment, the cleaning nozzle unit <NUM> includes the discoid cleaning bodies <NUM> that rotate by the reaction force of ejection of high-pressure water on the object to be cleaned; the suction device <NUM> has the water suction ports <NUM> on the inner side of the cleaning bodies <NUM>; and dirty water is suctioned from the water suction ports <NUM> through the voids on the outer peripheral side and the inner side of the cleaning bodies <NUM>.

In the present embodiment, the diffusion prevention cover <NUM> for preventing the diffusion of dirty water disposed on the outer peripheral sides of the cleaning bodies <NUM>.

In the present embodiment, the suction device <NUM> includes the suction pump <NUM> for suctioning dirty water; the suction pump <NUM> includes the hollow cylindrical casing <NUM>, the impeller <NUM> disposed inside the casing <NUM>, and the plurality of suction ports <NUM> formed in the casing <NUM>; and the impeller <NUM> is driven by the reaction force of the ejection of high-pressure water from the ejection nozzles 622b disposed on the impeller <NUM>.

In the present embodiment, the plurality of suction ports <NUM> are disposed on the bottom surface of the casing <NUM> along the circumferential direction, and the suction ports <NUM> are opened toward a tangential direction of the casing <NUM>.

In the present embodiment, the ejection nozzles 622b are disposed across the rotary shaft 622d of the impeller <NUM>.

Claim 1:
An underwater cleaning machine (<NUM>) configured to clean an object to be cleaned while moving along a surface of the object to be cleaned residing underwater, the underwater cleaning machine (<NUM>) comprising:
a cleaning device (<NUM>) configured to clean the object to be cleaned by ejecting high-pressure water toward the object to be cleaned; and
a suction device (<NUM>) configured to suction dirty water after cleaning by the cleaning device,
characterized in that the cleaning device and the suction device (<NUM>) are configured to both be driven by high-pressure water supplied from an external high-pressure water pump.