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Design and application research of ship cargo hold water jet cleaning robot
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Shengfu BA1, Weizhou WANG2, Hu LI3, Xiaojun LI4, Xiangjie LIU3, Qile REN1, Lei PANG1, Zhengwen CHEN1, Zhiqiang WANG5
Fluid Machinery | 2025, 53(6) : 111 - 118
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Fluid Machinery | 2025, 53(6): 111-118
Design and application research of ship cargo hold water jet cleaning robot
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Shengfu BA1, Weizhou WANG2, Hu LI3, Xiaojun LI4, Xiangjie LIU3, Qile REN1, Lei PANG1, Zhengwen CHEN1, Zhiqiang WANG5
Affiliations
  • 1National Innovation Center for Basic Components of General Machinery，Hefei General Machinery Research Institute Co.，Ltd.，Hefei 230031，China
  • 2Lianyungang Ocean Fluid Handling Equipment Co.，Ltd.，Lianyungang 222062，China
  • 3COSCO SHIPPING（Qingdao） Co.，Ltd.，Qingdao 266071，China
  • 4College of Mechanical Engineering，Zhejiang Sci-Tech University，Hangzhou 310018，China
  • 5China First Highway Engineering Co.，Ltd.，Beijing 100020，China
Published: 2025-06-30 doi: 10.3969/j.issn.1005-0329.2025.06.015
Outline
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In response to the efficient and safe cleaning needs of bulk cargo holds，starting from the analysis of the mechanical characteristics of the four‑wheel drive robot，key components of the robot were designed.A detailed analysis was conducted on the force and torque characteristics during the process of crawling through obtuse angled walls，reverse inclined surfaces，and obstacle crossing in cargo holds.A mechanical equilibrium equation was then constructed considering the friction force of the wheels and the magnetic adsorption force.Combined with the actual working conditions on site，the adsorption ability of the robot was analyzed and verified.A cargo hold water jet cleaning robot carrying an adaptive cleaning robotic arm is developed and applied on site.The results show that the safety factor of the developed cleaning robot is 1.98，indicating excellent wall attachment ability of the robot.During cleaning operations，the jet radius can reach 25 m at a rated pressure of 1 MPa.Compared with manual cleaning，the cleaning efficiency has been improved to 900 m2/h，and the cleaning time has been reduced by about 50%.The research results can provide reference for the application of automated cleaning of cargo holds in bulk carriers.

hold cleaning  /  robot  /  water jet  /  wall attachment  /  mechanical characteristics
巴胜富, 王为周, 李虎, 李晓俊, 刘祥杰, 任启乐, 庞雷, 陈正文, 王志强. 货舱水射流清洗机器人设计与应用研究. 流体机械, 2025 , 53 (6) : 111 -118 . DOI: 10.3969/j.issn.1005-0329.2025.06.015
Shengfu BA, Weizhou WANG, Hu LI, Xiaojun LI, Xiangjie LIU, Qile REN, Lei PANG, Zhengwen CHEN, Zhiqiang WANG. Design and application research of ship cargo hold water jet cleaning robot[J]. Fluid Machinery, 2025 , 53 (6) : 111 -118 . DOI: 10.3969/j.issn.1005-0329.2025.06.015
Appendix
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Year 2025 volume 53 Issue 6
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Article Info
doi: 10.3969/j.issn.1005-0329.2025.06.015
  • Receive Date：2024-12-15
  • Online Date：2026-10-20
  • Published：2025-06-30
Article Data
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History
  • Received：2024-12-15
  • Revised：2025-03-25
Affiliations
    1National Innovation Center for Basic Components of General Machinery，Hefei General Machinery Research Institute Co.，Ltd.，Hefei 230031，China
    2Lianyungang Ocean Fluid Handling Equipment Co.，Ltd.，Lianyungang 222062，China
    3COSCO SHIPPING（Qingdao） Co.，Ltd.，Qingdao 266071，China
    4College of Mechanical Engineering，Zhejiang Sci-Tech University，Hangzhou 310018，China
    5China First Highway Engineering Co.，Ltd.，Beijing 100020，China
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https://castjournals.cast.org.cn/joweb/ltjx/EN/10.3969/j.issn.1005-0329.2025.06.015
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表12种不同金属材料的力学参数
科
Family		 属数
Number of
genus		 种数
Number of
species		 占总种数比例
Percentage of
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Genus		 种数
Number of
species		 占总种数比例
Percentage of total
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鹅膏菌科Amanitaceae 2 11 5.26 鹅膏菌属 Amanita 10 4.78
小菇科 Mycenaceae 2 12 5.74 丝盖伞属 Inocybe 5 2.39
多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39
红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
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