Overall Design Of Underwater Hull Surface Cleaning Robot

With the increasing problem of ship surface pollution,ship hull cleaning technology has witnessed rapid development.Compared to traditional methods such as manual cleaning by divers or sandblasting in dry docks,ship hull cleaning robots have gained popularity among shipowners due to their efficiency,safety,and reliability.However,current ship hull cleaning robots face challenges such as poor underwater maneuverability,limited flexibility,and outdated cleaning mechanisms.Therefore,this study aims to design a new type of robot for ship hull surface cleaning and investigate its hydrodynamic characteristics,structural strength,and cleaning system.Firstly,an analysis of the research status and engineering challenges in ship hull surface cleaning robots is conducted,summarizing the advantages and disadvantages of different overall designs.Based on this analysis,the overall concept and key technological components of the robot are determined.The main components of the structural design are identified,and a scheme design is conducted for each system module.Power requirements analysis and static stability calculations are also performed.Subsequently,the structure design of the robot’s framework and sealing compartment is carried out,followed by strength verification and stability analysis using finite element theory.To enhance the cleaning efficiency,auxiliary cleaning devices such as anti-bubble devices and center of gravity adjustment devices are designed.The structural design of the cleaning mechanism includes the design of the disk structure and cleaning spray rod.Response surface optimization is employed to achieve the goal of lightweight design and improve the stiffnessto-mass ratio of the robot.Next,computational fluid dynamics(CFD)analysis is conducted to study the hydrodynamic performance of the robot.A hydrodynamic model is established for simulation and evaluation of the robot’s performance,providing support for control and motion prediction.The hydrodynamic performance of the robot is compared under different operating conditions,and the impact of the ship hull sidewall on the hydrodynamic performance is quantified.Finally,a static underwater model of the robot is established to verify the feasibility of underwater adhesion.CFD techniques and adhesion experiments are used to explore the variations in suction force of the cleaning mechanism.Structural parameter optimization of the angled nozzle is studied to improve cleaning efficiency.Comparative experiments are conducted to validate the enhancement of cavitation efficiency.The findings of this study will provide valuable references for the design and application of ship hull cleaning robots,addressing the issue of ship surface pollution,improving cleaning efficiency,and promoting the development of clean ship technologies.