PURPOSE: To save energy on moving and on cleaning by providing a robot body, moving fins and cleaning brushes for cleaning the wall surface of a channel and providing a cable for regulating the position of the robot body in the flow direction.
CONSTITUTION: When a robot body 1 is made to flow together with fluid from the upstream side to the downstream side and reaches a fixed position, it is given position regulation by a cable 7 to stop at the fixed position. And, moving fins 2A-2D, 3A-3D are inclined in fluid, causing a swirling flow to be generated around the fins, permitting the robot body 1 to be moved sideways and vertically by the lift caused by the swirling flow. Therefore, the robot body 1 is moved to the desired position to be cleaned of the wall surface of the channel, and simultaneously, a cleaning brushes 4A-4H are surely pressed against the position to be cleaned by the lift caused by the moving fins 2A-2D, 3A-3D to perform cleaning.
YAMADA YUTAKA
YAMADA KAZUSHI
TAKAHASHI AKIO
TAKASE KENZO
MIURA MANABU
HIUGA MINORU
KOTANI YASUNOBU
