Design Of Hull Cleaning Robot For Cavitation Water Jet And Researching Of Cleaning Efficiency

At present,dry dock cleaning still is the most widely way for the large-scale ship in the domestic,which using manpower to drag the ship on the land and clean the surface.Therefore,the ship can only wait for the cleaning until the surface has grown a large number of marine organisms.During the waiting time,because the ship cannot maintain the hull streamlined,so the consumption of fuel will has a great increase and the speed of navigation will has a great reduce.Although the international developed countries have using the semi-automatic equipment for cleaning,for the reason of high price,purchase difficulties,and after-sales inconvenience,they do not suitable for domestic ship brushing industry.The technology of cavitation water jet using the cavitation bubble,which grown by the changing of pressure,to clean the ship with high efficiency,environment protection and low costs.It is very practical to design a brush cleaning robot with cavitation water jet technology,which can reduce the transportation cost of domestic ships,the emission of greenhouse gases and the labor intensity of ship brushing.Firstly,this paper introduces and analyzes the development process of cavitation water jet and designs the main structure,which includes movement structure,cleaning structure,adsorption structure and other auxiliary structures,according to the operating environment.The advantage of the robot is using the brush and adsorption integrated structure,reducing the quality,volume and complexity of structure.Secondly,design analyzes and optimizes the strength of watertight box and the outer flow field of shell by the function of ANSYS Workbench's Static Structural and Fluid Flow.Thirdly,paper introduces the design of general frame of control system,software and hardware.Describing the communication protocol design,motion control design,acquisition design and control system software realization by a few words.Finally,in this thesis the surface cleaning efficiency of cavitation water jet is studied.Base on the former research results,design analyzes the mechanism of cavitation,the principle of cavitation brushing,and the design experience of cavitation nozzle.And get the data of the influence for cleaning efficiency,by using Fluid Flow analysis software.And the clearance between the bottom of the cleaning disc and the surface of the vessel was determined by experiment.The maximum brushing speed was calculated by the analysis of the brush trajectory.The stability and brush cleaning ability of the hull cleaning robot for cavitation water jet are verified by the pictures of the vessel surface between before and after brush cleaning,and get the conclusion of that the brush cleaning ability for the robot reaches HPW2 level.