Structure Design of a Cleaning Robot for Underwater Hull Surface

A cleaning robot for underwater hull surface is designed, which mainly includes adsorption mode, track driving mode, driving mechanism and cleaning mechanism. The double track moving mode has the advantages of large contact area with the hull surface, good adaptability to the wall surface, large magnetic adsorption capacity, strong bearing capacity and stable movement. The form of rear drive was adopted. When the track passes through the obstacle, the magnetic track that the robot fits on the hull surface is lengthened, so that the track can better adapt to the fluctuation of the hull surface. Washing tools are divided into soft material cleaning tools and hard material cleaning tools. Only the soft material cutter is close to the hull surface, which can avoid the damage of the hull surface. Electromagnet adsorption mode was adopted, which is easy to realize rapid movement. In addition, the working range can be increased with the rotary mechanism, and the working efficiency can be greatly improved with the rotary cleaning head.