Journal of Jilin University(Engineering and Technology Edition) ›› 2023, Vol. 53 ›› Issue (11): 3062-3068.doi: 10.13229/j.cnki.jdxbgxb.20220784

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Analysis on cleaning performance and experiment of underwater cleaning robot for surface

Xiao-ming WANG(),Teng LI   

  1. School of Mechanical Engineering，Tianjin University of Science and Technology，Tianjin 300222，China
  • Received:2022-06-22 Online:2023-11-01 Published:2023-12-06

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Abstract:

In order to solve the problem that it is difficult to manually clean the pollutants and residual bait attached to the bulkhead of aquaculture， an underwater robot which can automatically clean the wall is developed. The robot is a design scheme of rotary brush cleaning， thrust adsorption and wheel mobile mechanism. By analyzing the cleaning rate and cleaning energy consumption of the experimental brush plate， the design and layout of the brush plate are determined， and the matching between the robot moving speed and the brush plate rotating speed is completed. The results show that when the rotating speed of the brush disk is constant， increasing the number of bristles or reducing the moving speed of the robot can improve the cleaning rate； The cleaning energy consumption can be reduced when the robot is arranged with a small size brush plate. Through the test， the robot can stick to the wall and navigate stably. When the moving speed of the robot is 0.2 m/s and the rotating speed of the brush disc is 200 r/min， the cleaning effect is remarkable， and the cleaning efficiency is 388 m2/h， which can meet the requirements of the actual working conditions.

Key words: surface cleaning, underwater robot, cleaning performance, brush

CLC Number: 

  • TP242

Fig.1

Cleaning robot"

Fig.2

Brush disc section"

Fig.3

Power of brush disc with different resistance torque"

Fig.4

Experimental brush plate"

Fig.5

Cleaning rate with different bristle layers"

Fig.6

Cleaning rate with different brush disc diameters"

Fig.7

Experimental test platform"

Fig.8

Rotating speed and power of brush disc with different bristle layers"

Fig.9

Rotating speed and power of brush discs with different diameters"

Fig.10

Cleaning energy consumption with different bristle layers of brush disc"

Fig.11

Cleaning energy consumption with different brush disc diameters"

Fig.12

Cleaning module"

Fig.13

Robot test"

Fig.14

Robot automatic cleaning process"

Fig.15

Wall cleaning effect"

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