Magnetic Hull-Cleaning Robot With Adjustable Adhesion Force
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing ship hull cleaning technologies face challenges such as high costs, inefficiency, and safety risks due to the need for frequent dry-dock cleaning, limitations in adhesion methods like propellers and magnets, and the inability to adjust adhesion forces remotely, leading to difficulties in detachment and operation above water surfaces.
Innovation Solution
A magnetic robot with adjustable adhesion force using neodymium magnets, regulated by an electric motor, allows for remote adjustment of the distance between the magnets and the hull, enabling operation both underwater and above water, and facilitates detachment without scuba divers, using a system of five connected magnets and a screw drive mechanism.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If permanent magnets are used to achieve adhesion to the ship's hull, then the robot can maintain stable attachment, but the adhesion force cannot be remotely adjusted and detachment becomes difficult
Solution Approach 1:
The patent applies the dynamics principle by making the magnetic adhesion system adjustable rather than fixed. The robot incorporates a mechanism that allows the distance between the permanent magnets and the hull surface to be dynamically changed, enabling both strong adhesion during cleaning and easy detachment when needed. This transforms the static magnetic attachment into a dynamic system that can adapt to different operational requirements.
2Reliability
If strong permanent magnets are installed to maintain adhesion, then the robot can work on vertical and inclined surfaces, but the weight and size of the robot increase
Solution Approach 1:
The patent applies local quality by concentrating the magnetic adhesion function in specific localized magnet assemblies rather than distributing weight throughout the entire robot body. The permanent magnets are strategically positioned only where adhesion is needed, allowing the robot to maintain sufficient holding force on vertical and inclined surfaces while keeping the overall robot weight and size minimized.
3Adaptability or versatility
If propellers are used for both motion and adhesion, then the robot can move and maintain contact with the surface, but the robot cannot work above the water surface and adhesion is lost on power failure
Solution Approach 1:
The patent applies universality by implementing a dual-mode adhesion system that combines magnetic attachment (for stable contact above water) with propeller-based propulsion (for movement). This multi-functional approach allows the robot to operate effectively both underwater and above water surface, overcoming the limitations of propeller-only systems while maintaining reliable adhesion through the magnetic component even when propulsion is needed.
4Productivity
If the robot operates continuously to clean the hull, then productivity increases, but the risk of failure and need for intervention increases
Solution Approach 1:
The patent applies feedback by incorporating monitoring systems that detect operational parameters and environmental conditions in real-time. The robot can sense changes in water conditions, hull surface properties, and its own operational status, allowing it to automatically adjust its operation or signal for intervention when necessary. This feedback mechanism enables continuous productive operation while maintaining safety through proactive monitoring and control.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables efficient, safe, and cost-effective in-water cleaning of ship hulls, adaptable to varying conditions, ensuring continuous operation and easy detachment, reducing the need for dry-dock cleaning and minimizing environmental impact.
Implementation Method 1
a system of five connected permanent magnets, preferably neodymium, the permanent magnets being arranged in a housing, the magnetic field is directed and multiplied towards the ship's hull
Implementation Method 2
Solutions based on permanent magnets require taking into account several important parameters such as: (a) a rapid decrease in the adhesion force with the increase of the so-called air gap between the magnets and the ferromagnetic surface
Implementation Method 3
the adhesion force is regulated by adjusting the distance between hull and magnetic system through four guides located in the corners of the magnetic system housing and preferably one screw drive with a toothed gear acting centrally on the magnetic system housing
Implementation Method 4
one screw drive with a toothed gear acting centrally on the magnetic system housing and driven preferably by an electric motor built in an underwater, hermetic housing
Implementation Method 5
in-water, remotely controlled robot exploiting set of permanent neodymium magnets with adjusted adhesion force for lichens removal from ship hulls by using high-pressure water jet
Data Source
Figure 1~2
Figure 3~4
Figure 5~6
AI summary
An in-water ship hull cleaning magnetic robot with adjusted adhesion force in which the adhesion force is achieved by a system of five connected permanent magnets (18), preferably neodymium, specifically oriented. The adhesion force is regulated by adjusting of magnetic system through guides (10) located in the corners of the magnetic system housing and preferably one screw drive (9) with a toothed gear acting centrally on the magnetic system housing and driven preferably by an electric motor built in an underwater, hermetic housing. The mechanism for adjusting the distance of the magnetic system from the surface of the ship's hull allows for changing the adhesion force remotely without interrupting the work in the event of wheel slippage. The mechanism allows the cleaning robot to be remotely detached when the robot is above or below the water surface by increasing the air gap between the magnetic system and the ship's hull. The mechanism enables the lifting of the drive wheels without detaching the robot from the ship's hull and the replacement of wheel rims with a mixture, preferably of rubber, for rims with a different composition of the mixture realizing friction, by first extending the screw drive until the magnetic system is in full contact with the surface of the ship's hull and then further extension of the screw drive until the drive wheels are detached from the surface of the ship's hull.