Wheels and underwater cleaning equipment

Abstract

To provide a technology suitable for a wheel included in a traveling body that travels underwater.SOLUTION: A wheel used for a traveling body that travels underwater includes: a cylindrical body having a cylindrical shape extending in an axial direction; a pair of lid bodies disposed on both ends in the axial direction of the cylindrical body; and an elastic body disposed at an outer peripheral surface of the cylindrical body.SELECTED DRAWING: Figure 8

Description

[Technical Field]

[0001] The present invention relates to a wheel and an underwater cleaning device. [Background technology]

[0002] Conventionally, there is known a technique for cleaning objects to be cleaned, such as aquaculture fish nets and ship hulls, by spraying high-pressure water (see, for example, Patent Document 1). Patent Document 1 discloses an underwater cleaning robot that includes a robot main body that moves along the surface of the object to be cleaned in water, and a cleaning nozzle unit that is provided within the robot main body and sprays high-pressure water toward the surface of the object to clean it. The robot main body is equipped with four wheels. The robot main body moves along the surface of the object to be cleaned by driving the wheels. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 5340626 Summary of the Invention [Problem to be solved by the invention]

[0004] Wheels used on vehicles that travel underwater are easily crushed by water pressure as the water depth increases. For this reason, wheels used on vehicles that travel underwater are required to be water pressure resistant. In addition, devices such as underwater cleaning robots that have vehicles that travel underwater are convenient because they can be easily retrieved if they float after use in the water. Conventional wheels are heavy and cannot be used as floats, so a large float body is required.

[0005] In view of the above, an object of the present invention is to provide a technology suitable for wheels provided on a running body that runs underwater. [Means for solving the problem]

[0006] An exemplary wheel of the present invention is a wheel used on a vehicle that travels underwater, and comprises a cylindrical tubular body extending in the axial direction, a pair of lid bodies arranged at both axial ends of the tubular body, and an elastic body arranged on the outer surface of the tubular body. [Effects of the Invention]

[0007] According to an exemplary embodiment of the present invention, a wheel suitable for use on a vehicle that travels underwater can be provided. [Brief explanation of the drawings]

[0008] [Figure 1] Schematic perspective view of the underwater cleaning device [Figure 2] Schematic perspective view of the submersible cleaning device as seen from a different direction than in FIG. 1 [Figure 3] Schematic side view of the underwater cleaning device [Figure 4] FIG. 1 is a schematic perspective view illustrating a portion of the configuration of a submerged cleaning device. [Figure 5] Schematic cross-sectional view at VV position in Figure 4 [Figure 6] Schematic perspective view showing the configuration of a wheel [Figure 7] 7 is a schematic perspective view of the wheel seen from a different direction than in FIG. 6. [Figure 8] FIG. 1 is a schematic exploded perspective view of a wheel body provided on a wheel; [Figure 9] Schematic cross-sectional view of a wheel body provided on a wheel [Figure 10] Schematic development of the elastic body of the wheel [Figure 11A] 11 is a schematic side view showing a part of the configuration of the elastic body as seen from the α direction indicated by the white arrow in FIG. [Figure 11B] FIG. 11 is a schematic side view showing a part of the elastic body as viewed from the β direction indicated by the white arrow in FIG. [Figure 12] FIG. 10 is a diagram showing the configuration of one end surface in the longitudinal direction of the unfolded elastic body. [Figure 13] FIG. 10 is a diagram illustrating the state in which the elastic body is attached to the wheel body. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the drawings. In the embodiments described below, the wheels of the present invention are applied to a running body 1 provided in a submersible cleaning device 100. However, the wheels of the present invention are not limited to the running body 1 provided in a submersible cleaning device 100, and can be widely applied to other running bodies that run underwater.

[0010] In the drawings illustrating the submersible cleaning device 100, an XYZ coordinate system is shown as a three-dimensional Cartesian coordinate system. In the following description, in this XYZ coordinate system, the X direction is the front-to-back direction, the Y direction is the left-to-right direction, and the Z direction is the up-down direction. The +X side is the front side, and the -X side is the back side. The +Y side is the right side, and the -Y side is the left side. The +Z side is the top side, and the -Z side is the bottom side.

[0011] In addition, in describing the wheels 12 provided on the running body 1, the direction in which the axis J (see FIGS. 6 and 7) that is the center of rotation of the wheels 12 extends is referred to as the axial direction. In this specification, the axial direction is a direction parallel to the left-right direction described above. Furthermore, the direction perpendicular to the axis J is referred to as the radial direction, and the direction along the arc centered on the axis J is referred to as the circumferential direction.

[0012] The directions mentioned above are names used merely for the purpose of explanation and are not intended to limit the actual positional relationships and directions.

[0013] <1. Overview of the submersible cleaning equipment> FIG. 1 is a schematic perspective view of a submersible cleaning device 100 according to an embodiment of the present invention. FIG. 2 is a schematic perspective view of the submersible cleaning device 100 according to an embodiment of the present invention, viewed from a different direction than that of FIG. 1. FIG. 1 is a view of the submersible cleaning device 100 viewed obliquely from above. FIG. 2 is a view of the submersible cleaning device 100 viewed obliquely from below. FIG. 3 is a schematic side view of the submersible cleaning device 100 according to an embodiment of the present invention. FIG. 3 is a view of the submersible cleaning device 100 viewed from the right.

[0014] The submersible cleaning device 100 cleans an object to be cleaned underwater. In this embodiment, the object to be cleaned is an aquaculture fish net. The submersible cleaning device 100 cleans the aquaculture fish net while traveling along the aquaculture fish net placed underwater. However, the object to be cleaned by the submersible cleaning device 100 may be something other than an aquaculture fish net, such as a bridge pier, a ship hull, or a pool. As shown in Figures 1 to 3, the submersible cleaning device 100 includes a traveling body 1, a cleaning unit 2, and a propeller 3. The submersible cleaning device 100 of this embodiment further includes an annular body 4.

[0015] The running body 1 has a running body main body 11 and wheels 12. In this embodiment, the number of wheels 12 is four. Specifically, the four wheels 12 are a left front wheel 12a, a right front wheel 12b, a left rear wheel 12c, and a right rear wheel 12d. Each wheel 12 is disposed on a side of the running body main body 11 so as to be able to transmit rotational power from a separate motor (not shown) disposed within the running body main body 11. In other words, the running body main body 11 houses a motor for the left front wheel 12a, a motor for the right front wheel 12b, a motor for the left rear wheel 12c, and a motor for the right rear wheel 12d. Each wheel 12 rotates separately when driven by the corresponding motor.

[0016] Specifically, each motor is a water-sealed submersible motor. Each motor is electrically connected to a control box (not shown) located on land or on a ship via a control cord included in a cable (not shown). When the submersible cleaning device 100 is submerged in water, the control cord extends from the control box to each motor, and power is supplied to each motor as appropriate.

[0017] By rotating each motor at the same rotation speed in the same direction, the vehicle 1 moves forward and backward in a straight line. In other words, the vehicle 1 moves forward and backward. Whether the vehicle 1 moves forward or backward is determined by the direction of rotation of the motor. For example, when the vehicle 1 is moving forward, if the rotation speed of the motor for the right wheels 12b and 12d is made higher than the rotation speed of the motor for the left wheels 12a and 12c, the vehicle 1 will turn left. Conversely, if the rotation speed of the motor for the left wheels 12a and 12c is made higher than the rotation speed of the motor for the right wheels 12b and 12d, the vehicle 1 will turn right.

[0018] Note that the traveling direction can be changed in a similar manner even when the traveling vehicle 1 is traveling backward. Furthermore, the traveling vehicle 1 can be turned by rotating the motor for the left wheels 12a and 12c and the motor for the right wheels 12b and 12d in opposite directions. By rotating the left and right wheels 12 in opposite directions, the traveling vehicle 1 can be turned on the spot. The number of motors housed in the traveling vehicle main body 11 is not limited to four, and may be, for example, two. For example, a configuration may be provided with two motors, one for the left front wheel 12a and one for the right front wheel 12b. In this configuration, the left front wheel 12a and the left rear wheel 12c may be connected by a belt mechanism or a chain mechanism, and the right front wheel 12b and the right rear wheel 12d may be similarly connected by a belt mechanism or a chain mechanism.

[0019] The cleaning unit 2 is disposed below the traveling body 1 and cleans the object to be cleaned. In detail, the cleaning unit 2 sprays high-pressure water supplied from a high-pressure water hose (not shown) toward the aquaculture fish net to be cleaned, and cleans the aquaculture fish net with the jet generated by the spray. The high-pressure water hose is a hose for supplying high-pressure water, which is pumped from a high-pressure pump (not shown) disposed on land or on a ship, to the cleaning unit 2.

[0020] Figure 4 is a schematic perspective view showing a partial configuration of the submersible cleaning device 100 according to an embodiment of the present invention. The elements extracted in Figure 4 include the traveling body main body 11, the cleaning unit 2, and the propeller 3. Figure 5 is a schematic cross-sectional view taken along the line VV in Figure 4. The cleaning unit 2 will be described with reference to Figures 4 and 5 in addition to Figures 1 to 3.

[0021] The cleaning unit 2 has a disk-shaped rotating body 21. The rotating body 21 is attached to the lower end of a rotating shaft 5 that extends vertically, and rotates together with the rotating shaft 5. The rotating shaft 5 is inserted into a support tube 13 that is erected in the center of the upper surface of the running body main body 11, and is rotatably supported by the running body main body 11. More specifically, the rotating shaft 5 is rotatably supported by a rotary joint 14 that is arranged inside the running body main body 11. The rotary joint 14 transports high-pressure water supplied from a high-pressure water hose to an in-rotating-shaft high-pressure water flow path 51 formed in the rotating shaft 5. The high-pressure water is supplied to the rotary joint 14 using the above-mentioned high-pressure water hose, a high-pressure water hose connection part 15 connected to the high-pressure water hose, and a piping part 16 that connects the high-pressure water hose connection part 15 to the rotary joint 14.

[0022] A rotor inner high-pressure water flow path 211 that communicates with the rotor inner high-pressure water flow path 51 is formed inside the rotor 21. A cleaning nozzle 22 (see Figures 2 and 5) that connects to the rotor inner high-pressure water flow path 211 is arranged inside the rotor 21 on the outer periphery side. In other words, high-pressure water supplied to the rotary joint 14 is sent to the cleaning nozzle 22 via the rotor inner high-pressure water flow path 51 and the rotor inner high-pressure water flow path 211.

[0023] In this embodiment, the number of cleaning nozzles 22 is two. However, the number of cleaning nozzles 22 may be changed as appropriate. When making this change, it is also necessary to change the configuration of the intra-rotor high-pressure water flow path 211 formed in the rotor 21 as appropriate. As shown in FIG. 2, rotor openings 212 that expose the cleaning nozzles 22 are formed on the outer periphery of the lower surface of the rotor 21. The cleaning nozzles 22 spray high-pressure water below the rotor 21 through the rotor openings 212. In detail, the cleaning nozzles 22 are arranged at an angle downward by a predetermined angle, and during cleaning, the direction in which the high-pressure water from the cleaning nozzles 22 is sprayed is toward the surface of the aquaculture fish net.

[0024] When high-pressure water is sprayed from the cleaning nozzle 22, the rotating body 21 rotates together with the rotation shaft 5 due to the spray reaction force generated by the spray of this high-pressure water. That is, the cleaning unit 2 is supported on the traveling body 1 so as to be rotatable about the rotation shaft 5 extending in the vertical direction, and rotates due to the reaction force of the spray of high-pressure water against the object to be cleaned. The cleaning unit 2 sprays high-pressure water onto the surface of the aquaculture fish net while rotating about the rotation shaft 5, thereby removing seaweed, shellfish, and the like attached to the aquaculture fish net over a wide area.

[0025] The propeller 3 is disposed above the running body 1. The propeller 3 is attached to the rotating shaft 5. More specifically, the propeller 3 is attached to the upper end of the rotating shaft 5 and disposed above the running body 1 (see FIG. 5, etc.). The propeller 3 rotates together with the rotating shaft 5. When high-pressure water is sprayed from the cleaning nozzle 22 and the rotating shaft 5 rotates together with the rotating body 21 due to the reaction force of the spray, the propeller 3 also rotates. When the propeller 3 rotates, it generates a thrust that presses the running body 1 against the object to be cleaned.

[0026] That is, in the submersible cleaning device 100, the cleaning unit 2 and the propeller 3 rotate together via the rotary shaft 5. When high-pressure water is sprayed from the cleaning nozzle 22, the reactive force of the spray causes the propeller 3 to rotate together with the cleaning unit 2, and the rotation of the propeller 3 generates a thrust that presses the traveling body 1 against the object to be cleaned.

[0027] The annular body 4 surrounds the propeller 3. The annular body 4 is annular in shape with a large-diameter opening 41 in the center when viewed from above. The propeller 3 is disposed within the opening 41 of the annular body 4. In this embodiment, the opening 41 is circular in shape when viewed from above. The rotating shaft 5 to which the propeller 3 is attached is located in the center of the opening 41.

[0028] Specifically, the annular body 4 is connected to the running body 1 by a connector 6 arranged between the annular body 4 and the running body main body 11 in the vertical direction. The connector 6 is a support that extends in the vertical direction. In this embodiment, there are two connectors 6, and the two connectors 6 are arranged in the center of the running body main body 11 in the front-to-rear direction. One of the two connectors 6 is arranged at the left end of the running body main body 11, and the other is arranged at the right end of the running body main body 11. The number of connectors 6 may be changed as appropriate.

[0029] In the submersible cleaning device 100, the ring-shaped body 4 functions as a float. In other words, the ring-shaped body 4 can be referred to as a float body. By providing the ring-shaped body 4 that functions as a float, the submersible cleaning device 100 floats when immersed in water. In this embodiment, when the submersible cleaning device 100 is immersed in water, it assumes an orientation with the ring-shaped body 4 on top and the running body 1 on the bottom, and floats with the top surface of the ring-shaped body 4 at the same height as the water surface. When the submersible cleaning device 100 is floating, the propeller 3 is present in the water.

[0030] In this embodiment, camera stays 101 for holding cameras 10 are attached to both the front and rear ends of the ring-shaped body 4. The cameras 10 are underwater cameras with waterproofing. The cameras 10 enable the cleaning status of the aquaculture fish nets to be checked. The photographic information from the cameras 10 is transmitted to a control box via an electric signal line included in a cable (not shown). This allows the captured images of the underwater situation to be displayed on the screen of a monitor device (not shown) located on land or on a ship for real-time confirmation. The number and arrangement of the cameras 10 may be changed as appropriate, and in some cases, the cameras 10 may not be provided at all.

[0031] In the present embodiment, as a preferred embodiment, the submersible cleaning device 100 includes an upper fence 7 that is fixed to the ring-shaped body 4 and positioned above the propeller 3. The upper fence 7 is attached to two camera stays 101 that are attached to the ring-shaped body 4, and extends forward and backward above the opening 41 of the ring-shaped body 4. The upper fence 7 is shaped like a ladder. That is, the upper fence 7 is shaped so as not to provide resistance to the water flow generated by the rotation of the propeller 3. The provision of the upper fence 7 can prevent, for example, a human body from hitting the propeller 3. That is, the provision of the upper fence 7 can improve the safety of the submersible cleaning device 100.

[0032] The traveling body 1 and the ring-shaped body 4 are separated in the vertical direction, and an introduction space 200 that functions as a water introduction channel is formed between the traveling body 1 and the ring-shaped body 4 in the vertical direction. When the propeller 3 rotates, water is introduced from the introduction space 200 toward the propeller 3, and a water current is generated in which the water is sprayed out from the opening 41. In other words, the introduction space 200 into which the rotating propeller 3 introduces water is provided between the traveling body 1 and the ring-shaped body 4 in the vertical direction. The water current generated by the rotation of the propeller 3 generates thrust in the submersible cleaning device 100, and a state in which each wheel 12 is in contact with the aquaculture fish net with a predetermined pressure is maintained.

[0033] It is preferable to make the vertical distance between the traveling body 1 and the ring-shaped body 4 as narrow as possible, provided that the introduction space 200 can be adequately secured. This allows the vertical height of the submersible cleaning device 100 to be reduced. Reducing the height reduces the possibility of the submersible cleaning device 100 tipping over due to, for example, the influence of tidal currents. The length (height) H1 from the lower end of the submersible cleaning device 100 to the upper end of the ring-shaped body 4 is preferably smaller than twice the diameter of the wheels 12. To reduce the height, it is preferable that the vertical height H2 (thickness) of the ring-shaped body 4 is thinner than the diameter of the wheels 12. The vertical height H2 of the ring-shaped body 4 may be equal to or smaller than the radius of the wheels 12.

[0034] In this embodiment, as a preferred form, an annular fence 8 is arranged in the introduction space 200. The annular fence 8 functions as a fence to prevent debris from being sucked in. In other words, by providing the annular fence 8, it is possible to prevent debris in the water from passing through the introduction space 200 and reaching the propeller 3. In detail, the annular fence 8 is arranged to surround the rotation shaft 5. The annular fence 8 has an octagonal shape when viewed from above and below in a plan view. Note that the shape of the annular fence may be changed as appropriate. The support pillars that make up the annular fence 8 include two connecting bodies 6 and a light stay 91 that supports the light 9.

[0035] In this embodiment, the light stays 91 are attached to the undersides of the front and rear ends of the annular body 4 and are fixed to the annular body 4. That is, there are two light stays 91, and the submersible cleaning device 100 is equipped with two lights 9. The front light 9 illuminates the front of the submersible cleaning device 100. The rear light 9 illuminates the rear of the submersible cleaning device 100. Power is supplied to the lights 9 from a power supply line included in a cable (not shown).

[0036] When cleaning aquaculture fish nets using the submersible cleaning device 100, a crane is used from land or a ship to place the submersible cleaning device 100 into the aquaculture space (in the water) surrounded by the aquaculture fish net. When using the crane, a lifting handle 61 attached to the two connecting bodies 6 is used. Once placed in the water, the submersible cleaning device 100 floats. High-pressure water is then supplied to the cleaning unit 2 via a high-pressure water hose, causing the propeller 3 to rotate along with the cleaning unit 2. The thrust generated by the rotation of the propeller 3 presses the submersible cleaning device 100 against the aquaculture fish net. In this state, when the motor is driven to rotate the wheels 12, the submersible cleaning device 100 travels along the surface of the aquaculture fish net. During travel, the cleaning unit 2 rotates and sprays high-pressure water from the cleaning nozzle 22, allowing a wide area of ​​the aquaculture fish net to be cleaned. The submersible cleaning device 100 is operated underwater by a person on land or a ship using a remote control capable of wired or wireless communication with a control box.

[0037] <2. Wheel details> The wheels 12 used in the running body 1 that runs underwater will be described in more detail. As described above, the running body 1 specifically has four wheels 12a to 12d, and these four wheels 12a to 12d have the same structure. In other words, the structure of the wheels 12 described below is a structure common to the four wheels 12a to 12d. Furthermore, the wheels 12 rotate around an axis J.

[0038] Fig. 6 is a schematic perspective view showing the configuration of a wheel 12 according to an embodiment of the present invention. Fig. 7 is a schematic perspective view of a wheel 12 according to an embodiment of the present invention, viewed from a different direction than Fig. 6. Fig. 6 is a perspective view of the wheel 12 viewed from one axial side. Fig. 7 is a perspective view of the wheel 12 viewed from the other axial side. In this embodiment, the one axial side is the side on which the running body main body 11 is not present, and the other axial side is the side on which the running body main body 11 is present.

[0039] As shown in FIGS. 6 and 7, the wheel 12 includes a wheel main body 121. The wheel 12 also includes an elastic body 122. The elastic body 122 is arranged on the outer periphery of the wheel main body 121. FIG. 8 is a schematic exploded perspective view of the wheel main body 121 included in the wheel 12 according to the embodiment of the present invention. As shown in FIG. 8, the wheel main body 121 includes a cylindrical body 1211, a lid body 1212, and a pin member 1213. That is, the wheel 12 includes the cylindrical body 1211, the lid body 1212, and the pin member 1213. The elastic body 122 is arranged on the outer periphery surface of the cylindrical body 1211. In this embodiment, the elastic body 122 is also arranged on the outer periphery surface of the lid body 1212.

[0040] The cylindrical body 1211 has a cylindrical shape extending in the axial direction. More specifically, the cylindrical body 1211 has a cylindrical shape extending in the axial direction with the axis J as the center. The cylindrical body 1211 is made of a metal such as stainless steel. In this embodiment, the cylindrical body 1211 has a screw fastening portion 1211a (see FIG. 8, etc.) for screwing an elastic body fastener 124 (see FIG. 6, etc.) that fastens the elastic body 122 to the wheel main body 121.

[0041] The screw fastening portion 1211a is a protrusion that protrudes radially outward from the outer peripheral surface of the cylindrical body 1211. Specifically, the screw fastening portion 1211a has a rectangular parallelepiped shape extending in the axial direction. The screw fastening portion 1211a has a plurality of screw holes 1211b (see also FIG. 13 described later) on its radially outer end surface. The plurality of screw holes 1211b are arranged at intervals in the axial direction. In this embodiment, the number of screw holes 1211b is five.

[0042] The lid body 1212 includes a first lid body 1212a disposed at one axial end of the cylindrical body 1211 and a second lid body 1212b disposed at the other end. That is, the wheel 12 includes a pair of lid bodies 1212a, 1212b disposed at both axial ends of the cylindrical body 1211. The pair of lid bodies 1212a, 1212b are both disk-shaped. The pair of lid bodies 1212a, 1212b are attached to the cylindrical body 1211 with the center of the circle coinciding with the axis J.

[0043] The pair of lid bodies 1212a, 1212b are made of a metal such as stainless steel, similar to the cylindrical body 1211. The pair of lid bodies 1212a, 1212b and the cylindrical body 1211 are preferably made of the same material. The pair of lid bodies 1212a, 1212b are the same size. The diameters of the pair of lid bodies 1212a, 1212b are slightly larger than the diameter (outer diameter) of the cylindrical body 1211. For this reason, as shown in FIG. 9, the outer edges of the pair of lid bodies 1212a, 1212b protrude radially from the outer peripheral surface of the cylindrical body 1211. Note that FIG. 9 is a schematic cross-sectional view of a wheel main body 121 included in the wheel 12 according to the embodiment of the present invention.

[0044] Because the wheel main body 121 is constructed using a cylindrical body 1211 and a pair of lid bodies 1212a, 1212b, a cavity can be formed inside the wheel 12. Furthermore, by making the cylindrical body 1211 and the pair of lid bodies 1212a, 1212b out of metal, the strength of the wheel 12 can be increased, improving its water pressure resistance. That is, the wheel 12 of this embodiment can improve its water pressure resistance while reducing the weight of the wheel. Furthermore, the reduced weight of the wheel 12 allows the wheel 12 to be used as a float. This allows the size of the ring-shaped body 4 (float body) included in the above-described submersible cleaning device 100 to be reduced. When reducing the size of the ring-shaped body 4, the thickness of the ring-shaped body 4 can be reduced, lowering the center of gravity of the submersible cleaning device 100 and making it less likely to tip over.

[0045] The pin member 1213 is disposed between the pair of lid bodies 1212a and 1212b. Specifically, the space between the pair of lid bodies 1212a and 1212b is the axial space between the pair of lid bodies 1212a and 1212b. The pin member 1213 is disposed inside the cylindrical body 1211. The pin member 1213 contacts the pair of lid bodies 1212a and 1212b in the axial direction inside the cylindrical body 1211. That is, the pin member 1213 has a function of supporting the pair of lid bodies 1212a and 1212b. The pin member 1213 is columnar and made of metal such as stainless steel. In this embodiment, the pin member 1213 is cylindrical.

[0046] The pair of lid bodies 1212a, 1212b are supported by pin members 1213 arranged inside the cylindrical body 1211, thereby further improving the water pressure resistance of the wheel body 121. For example, even when the submersible cleaning device 100 is located in a deep place, such as at a depth of 30 m, the wheels 12 will not be crushed by water pressure, and the running body 1 can run appropriately.

[0047] In this embodiment, there are multiple pin members 1213, specifically four. The four pin members 1213 have the same shape and size. The multiple pin members 1213 are arranged at equal intervals in the circumferential direction around the axis J. Note that the number and arrangement of the pin members 1213 may be changed as appropriate.

[0048] As shown in FIGS. 8 and 9, the pin member 1213 specifically includes a pin main body 1213a, a first small diameter portion 1213b, and a second small diameter portion 1213c. The pin main body 1213a is a cylindrical portion that constitutes the majority of the pin member 1213. The first small diameter portion 1213b is a cylindrical portion located on one axial side of the pin main body 1213a and has a smaller diameter than the pin main body 1213a. The second small diameter portion 1213c is a cylindrical portion located on the other axial side of the pin main body 1213a and has a smaller diameter than the pin main body 1213a. Due to the presence of the first small diameter portion 1213b and the second small diameter portion 1213c, the pin main body 1213a has annular end faces at both axial ends. The first small diameter portion 1213b has a shorter axial length than the second small diameter portion 1213c. A screw hole 1213d extending in the axial direction is provided in the center of the second small diameter portion 1213c.

[0049] The wheel body 121 is assembled, for example, as follows.

[0050] First, first lid 1212a is brought into contact with one axial end face of cylindrical body 1211. Then, cylindrical body 1211 and first lid 1212a are fixed together by welding or the like.

[0051] Next, for each of the four pin members 1213, the first small diameter portion 1213b is inserted into the first small diameter portion hole HO1 provided in the first cover 1212a and penetrating the first cover 1212a in the axial direction. At this time, the annular end face on one axial side of the pin main body 1213a comes into contact with the inner surface of the first cover 1212a (the end face on the other axial side). The first cover 1212a has four first small diameter portion holes HO1, and one first small diameter portion 1213b is inserted into each first small diameter portion hole HO1. The axial length of the first small diameter portion 1213b is equal to the axial length of the first small diameter portion hole HO1. In other words, the first small diameter portion 1213b is configured to slightly protrude toward one axial side of the first cover 1212a or not protrude at all. Each pin member 1213 is fixed to the first lid 1212a by welding or the like in a state where the first small diameter portion 1213b is inserted into the first small diameter portion hole HO1.

[0052] Next, the second cover 1212b is brought into contact with the end face on the other axial side of the cylindrical body 1211. At this time, for each of the four pin members 1213, the second small diameter portion 1213c is inserted into the second small diameter portion hole HO2 provided in the second cover 1212b and passing through in the axial direction. The annular end face on the other axial side of the pin main body 1213a contacts the inner surface (end face on one axial side) of the second cover 1212b. The second cover 1212b has four second small diameter portion holes HO2, and one second small diameter portion 1213c is inserted into each second small diameter portion hole HO2. The axial length of the second small diameter portion 1213c is longer than the axial length of the second small diameter portion hole HO2. That is, the second small diameter portion 1213c protrudes toward the other axial side of the second cover body 1212b. The protruding portion of the second small diameter portion 1213c is used to secure the wheel 12 to the axle 111 (see FIGS. 1 and 2) of the running body 1. The cylindrical body 1211 and the second cover body 1212b are fixed together by welding or the like. Furthermore, each pin member 1213 is fixed to the second cover body 1212b by welding or the like with the second small diameter portion 1213c inserted into the second small diameter portion hole HO2. This completes the wheel main body 121.

[0053] As can be seen from the above, the cylindrical body 1211 is sealed. Therefore, even when the wheel 12 is immersed in water, the wheel 12 has a space containing gas inside, allowing it to function as a float. In this embodiment, as shown in FIG. 8, the second cover 1212b has an airtightness confirmation hole HO3 penetrating in the axial direction during assembly. After the above-described assembly is completed, for example, gas is injected through the airtightness confirmation hole HO3 to confirm whether the airtight state is ensured. Once the airtight state is confirmed, the airtightness confirmation hole HO3 is closed. That is, the wheel 12 specifically has a trace of the airtightness confirmation hole HO3 for confirming the airtightness of the wheel body 121, or a plug 126 (see FIG. 7) that closes the airtightness confirmation hole HO3.

[0054] In this embodiment, the elastic body 122 is strip-shaped and not annular. That is, in the wheel 12, the elastic body 122 is configured as a strip-shaped elastic body that is annular. FIG. 10 is a schematic development view of the elastic body 122 provided in the wheel 12. FIG. 10 shows a state in which the elastic body 122 is not attached to the wheel main body 121. Note that in FIG. 10, the middle portion of the elastic body 122 in the longitudinal direction (the left-right direction in FIG. 10) is omitted. The configuration of the omitted portion is the same as the portion depicted near the omitted portion in the longitudinal direction. FIG. 11A is a schematic side view showing a portion of the elastic body 122 as seen from the α direction indicated by the white arrow in FIG. 10. FIG. 11B is a schematic side view showing a portion of the elastic body 122 as seen from the β direction indicated by the white arrow in FIG. Note that, like FIG. 10, FIGS. 11A and 11B are views showing the elastic body 122 in an unfolded state.

[0055] 10, 11A, and 11B, elastic body 122 has a rectangular flat plate shape in an unfolded state. Elastic body 122 has pressing margins 1221 protruding in the longitudinal direction at its four corners in an unfolded state. In other words, elastic body 122 has two pressing margins 1221 arranged at both ends in the lateral direction (the up-and-down direction in FIG. 10) at one end in the longitudinal direction in an unfolded state. Furthermore, elastic body 122 has two pressing margins 1221 arranged at both ends in the lateral direction at the other end in the longitudinal direction in an unfolded state.

[0056] Furthermore, an uneven pattern 1222 in which unevenness is repeated in the longitudinal direction is provided on the surface of the elastic body 122. In detail, the elastic body 122, in an unfolded state, has a first uneven region 1222a arranged on one side in the short direction (the lower side in FIG. 10) and a second uneven region 1222b arranged on the other side in the short direction (the upper side in FIG. 10) based on a boundary portion BO extending in the longitudinal direction.

[0057] The first uneven region 1222a and the second uneven region 1222b have different configurations. In the first uneven region 1222a, a plurality of first protrusions P1 protruding from the surface of the base member BE and extending in the lateral direction are aligned at regular intervals in the longitudinal direction. This results in repeated unevenness in the longitudinal direction. In the second uneven region 1222b, a plurality of second protrusions P2 protruding from the surface of the base member BE and extending in the lateral direction are aligned at regular intervals in the longitudinal direction. This results in repeated unevenness in the longitudinal direction.

[0058] Specifically, the first uneven region 1222a and the second uneven region 1222b have different widths in the short side direction. More specifically, the first uneven region 1222a has a narrower width than the second uneven region 1222b. In other words, the first convex portion P1 has a shorter length in the short side direction than the second convex portion P2. Furthermore, the first convex portion P1 of the first uneven region 1222a and the second convex portion P2 of the second uneven region 1222b have different heights. More specifically, the first convex portion P1 is taller than the second convex portion P2. Furthermore, the first convex portion P1 of the first uneven region 1222a and the second convex portion P2 of the second uneven region 1222b have different widths in the long side direction. More specifically, the first convex portion P1 has a wider width than the second convex portion P2. The intervals at which the projections and recesses are repeated are different between the first projection region 1222a and the second projection region 1222b. More specifically, the intervals between adjacent first projections P1 in the longitudinal direction are greater than the intervals between adjacent second projections P2 in the longitudinal direction.

[0059] Fig. 12 is a diagram showing the configuration of one longitudinal end surface of unfolded elastic body 122. As shown in Fig. 12, unfolded elastic body 122 has grooves 1223 recessed toward the front surface on the back surfaces of both ends in the short direction. Both of grooves 1223 extend from one end to the other end in the longitudinal direction of elastic body 122. The back surface of elastic body 122 is the surface opposite to the surface on which concave-convex pattern 1222 is provided.

[0060] 13 is a diagram for explaining the attachment state of the elastic body 122 to the wheel body 121. The elastic body 122 is wound around the wheel body 121, with its short side in the unfolded state parallel to the axial direction and its long side aligned along the circumferential direction of the wheel body 121. At this time, the outer edge of the first lid body 1212a is fitted into one of two grooves 1223 of the elastic body 122, and the outer edge of the second lid body 1212b is fitted into the other. When attached to the wheel body 121, the back surface of the elastic body 122 contacts the outer circumferential surface of the cylindrical body 1211. In other words, the elastic body 122 and the cylindrical body 1211 contact each other in the radial direction.

[0061] When the elastic body 122 is wound around the wheel main body 121, pressing margins 1221 provided at both circumferential ends thereof are pressed by the elastic body fixing device 124. In detail, the elastic body fixing device 124 has a flat plate portion 1241 provided with a plurality of through holes 124a for passing screws 125 therethrough, and a pair of legs 1242a, 1242b extending radially inward from the flat plate portion 1241. The flat plate portion 1241 is radially overlapped on the surface of the screw fastening portion 1211a on which the screw holes 1211b are provided, and is fixed to the screw fastening portion 1211a by the screws 125. When the screws 125 are tightened, one of the pair of legs 1242a, 1242b presses the two pressing margins 1221 provided at one circumferential end of the elastic body 122. Additionally, the other of the pair of legs 1242a, 1242b presses down two pressing tabs 1221 provided at the other circumferential end of the elastic body 122. As a result, the elastic body 122 is fixed in a state where it is wound around the wheel main body 121.

[0062] The elastic fixing member 124 is configured so as not to protrude radially outward compared to the portion of the wheel 12 where the diameter is greatest.

[0063] As can be seen from the above, the cylindrical body 1211 has a fixing portion that fixes the elastic body 122 in an annular shape. The fixing portion corresponds to the portion where the screw fastening portion 1211a is provided. By configuring the elastic body 122 to be wound around the wheel main body 121 as in this embodiment, it is possible to easily replace the elastic body 122. It is also possible to easily replace the type of elastic body 122.

[0064] Furthermore, in the wheel 12, the outer peripheral surface of the elastic body 122 is provided with projections and recesses. Specifically, the outer peripheral surface of the elastic body 122 is provided with a projection-recess pattern 1222, in which projections and recesses are repeated in the circumferential direction. The elastic body 122 has a first projection-recess region 1222a and a second projection-recess region 1222b, which have different configurations on one axial side and the other axial side. In other words, the elastic body 122 has a boundary portion BO between the end face on one axial side and the end face on the other axial side, which divides the projection-recess pattern 1222 into the first projection-recess region 1222a and the second projection-recess region 1222b, which have different configurations. The outer peripheral surface of the elastic body 122 may be provided with only one type of projection-recess pattern. However, by providing multiple types of projection-recess pattern 1222, as in this embodiment, it is possible to ensure appropriate running performance tailored to the running purpose of the running body 1 running underwater.

[0065] In this embodiment, the first convex portion P1 of the first uneven region 1222a and the second convex portion P2 of the second uneven region 1222b have different heights. By providing a difference in the height of the convex portions in this manner, the diameter of the wheel 12 can be changed between one axial side and the other axial side, using the boundary portion BO as a reference. By providing a step in which the diameter changes in the axial direction in this manner, the ground contact area of ​​the wheel 12 can be reduced. In this configuration, the ground contact area is reduced by changing the configuration of the elastic body 122 using the boundary portion BO as a boundary. Therefore, when changing the diameter of the wheel 12 in the axial direction, it is not necessary to change the size of the wheel main body 121. Therefore, according to the configuration of this embodiment, the ground contact pressure of the wheel 12 when traveling underwater can be increased while maintaining the float function of the wheel 12. The ground contact pressure can be adjusted by adjusting the axial width of the first uneven region 1222a and the second uneven region 1222b.

[0066] Furthermore, in the wheel 12 of this embodiment, the diameter is larger on one axial side of the boundary portion BO than on the other side. In other words, the diameter of the wheel 12 is larger on the side farther from the running object 1 than on the side closer to the running object 1. With this configuration, improvement in the straight-line running performance of the running object 1 can be expected.

[0067] Furthermore, in the wheel 12 of this embodiment, the spacing between adjacent protrusions in the circumferential direction is larger on one axial side of the boundary BO than on the other side. In other words, the spacing between adjacent protrusions in the circumferential direction of the wheel 12 is larger on the side farther from the running body 1 than on the side closer to the running body 1. In other words, the spacing between the protrusions is larger in parts of the wheel 12 that have a larger diameter and are more likely to come into contact with the ground than in parts that are less likely to come into contact with the ground. With this configuration, for example, it is possible to reduce the possibility that the running body 1 traveling over an aquaculture fish net will get caught in the aquaculture fish net.

[0068] <3. Things to keep in mind> Various modifications can be made to the various technical features disclosed in this specification without departing from the spirit of the technical creation. Furthermore, multiple embodiments and modifications shown in this specification can be combined to the extent possible. [Explanation of symbols]

[0069] 1. Running body 2. Cleaning unit 3. Propeller 12...wheels 100... Underwater cleaning device 122 Elastic body 1211 Cylindrical body 1212···Lid 1212a...1st lid body 1212b Second cover 1213 Pin member 1222a...First uneven area 1222b...Second uneven area J...Axis P1: First convex part P2: Second protrusion

Claims

1. A wheel used on a vehicle that travels underwater, a cylindrical body extending in an axial direction; A pair of lid bodies arranged at both ends of the cylindrical body in the axial direction; an elastic body disposed on the outer peripheral surface of the cylindrical body; a plurality of pin members disposed between the pair of lid bodies; Equipped with Each of the pin members has a portion that contacts the inner surface of each of the pair of lid bodies in the axial direction.

2. The wheel of claim 1 , wherein the cylindrical body is sealed.

3. A wheel used on a vehicle that travels underwater, a cylindrical body extending in an axial direction; A pair of lid bodies arranged at both ends of the cylindrical body in the axial direction; an elastic body disposed on the outer peripheral surface of the cylindrical body; a pin member disposed between the pair of lid bodies; Equipped with the pin member has a portion that contacts each inner surface of the pair of lid bodies in the axial direction, The pin member is a pin body portion extending in the axial direction; a small diameter portion provided at each end of the pin body in the axial direction; and The pin body contacts the inner surfaces of the pair of lids.

4. The elastic body is configured as a band-shaped elastic body that is shaped into a ring, The wheel according to claim 1 , wherein the cylindrical body has a fixing portion for fixing the elastic body.

5. The outer peripheral surface of the elastic body is provided with irregularities, The wheel according to claim 1 , wherein the elastic body has a first uneven region and a second uneven region on one axial side and the other axial side, the first uneven region and the second uneven region having mutually different configurations.

6. The wheel according to claim 5 , wherein the first convex portion of the first uneven region and the second convex portion of the second uneven region have different heights.

7. The running body has the wheel according to any one of claims 1 to 6; a cleaning unit disposed below the traveling body and configured to clean an object to be cleaned; a propeller disposed above the running body, which rotates to generate thrust that presses the running body against the object to be cleaned; An underwater cleaning device comprising:

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