Design And Analysis Of Walking Support Device For Submarine Equipment

The seafloor drill is the necessary heavy technical equipment to carry out the marine geology and environmental science research,the marine mineral resources exploration and the submarine engineering geology investigation.As an important part of the submarine drilling rig,the support device has the functions of supporting the body of the drilling rig and leveling the position of the drilling rig,which plays an important role in the process of the drilling rig's bottom laying and drilling operation.At present,the support device of seafloor drilling rig at home and abroad is fixed support,without walking function.When drilling and sampling at different submarine positions,it must be realized by means of cable and mother ship winch and moving through mother ship,which greatly increases the drilling and sampling operation time and operation cost of seafloor drilling rig.In this paper,under the support of the national natural science foundation of China,a walking support device is developed,which not only maintains the principle of fixed support,but also has the function of mobility,in order to develop the high efficiency and low cost drilling sampling technology of deep-sea subsea drilling rig.Firstly,this paper summarizes the research status of typical submarine support devices at home and abroad,and analyzes and summarizes the problems existing in the current research.According to the working principle of the undersea drilling rig's support device,and considering the working environment and requirements of the drilling rig,the basic structure,operation process and the basic scheme of the hydraulic system of the walking support device are constructed by adopting the reconfigurable design idea.Secondly,this paper carries out mechanical modeling and analysis on the walking support device,and obtains the maximum load of the translation cylinder,the upper platform leg cylinder,the lower platform leg cylinder and the rotary drive,which provides basic parameters for the design of the mechanical structure of the walking support device and the selection and calculation of key parts.The stability of the walking support device is analyzed to verify whether the maximum climbing Angle of the submarine equipment walking support device meets the design requirements.Then the paper designs and calculates the hydraulic system of the device to determine the models of the main components such as hydraulic cylinder,hydraulic pump and compensator.The heating power,heat dissipation area and oil temperature rise of the hydraulic system are calculated theoretically to verify whether the structure of the oil tank meets the heat dissipation requirements.Finally,the performance of the support loop is simulated by AMESim software.Finally,the manufacture and test verification of the prototype are carried out.After the assembly of the prototype,the test verification of the prototype is carried out in the laboratory.The main contents include: the underwater sealing performance of the box body and the heat dissipation performance of the tank are verified through the test of the underwater hydraulic power source;The accuracy of the remote control operating system was verified by testing the functions of the device under no-load condition;The walking test of the device under full load was carried out to verify whether the walking speed of the device met the design requirements and was compared with the simulation results.