Development Of A Robot For Inspecting The Outer Wall Of The Submarine Cable In The Steel Pipeline

In the development of marine resources,submarine oilfields have always occupied a pivotal position,and the exploitation of submarine oilfields cannot be separated from the laying of submarine cables.In the development of marine resources,submarine oilfields have always occupied a pivotal position,and the exploitation of submarine oilfields cannot be separated from the laying of submarine cables.In the laying of submarine cables,considering the issue of environmental protection,the topography and landform cannot be damaged too much during construction,and the construction method of horizontal directional drill become a suitable choice.However,the long-distance submarine cable crossing task in this construction method is prone to mechanical damage to the submarine cable.Therefore,it is of important practical significance and value to study a submarine cable outer wall inspection robot that walks inside a submarine casing.Firstly,this article analyzes the current research status of tube-climbing robots at home and abroad,and summarizes the driving mode,holding mode and movement mode of the tube-climbing robot.According to the working condition of the submarine cable pulling in the pipeline,combined with the performance index parameters required by the project,the overall scheme of the submarine cable outer wall inspection robot was researched and designed.The submarine cable outer wall detection robot is divided into a wheel arm module,a driving wheel module,a driven wheel module,and an underwater electronic cabin module according to functions.Among them,the most critical wheel arm module is designed for the working condition of the submarine cable in the pipeline,using a non-encircling clamping method to maintain the position of the detection robot on the submarine cable;at the same time,the underwater electronic cabin module is responsible for protection and control Circuit to avoid water ingress.Secondly,in order to clarify the specific location where the submarine cable damage may occur,as a reference for the actual engineering application of the submarine cable outer wall detection robot,a detailed study of the submarine cable crossing project was carried out.The submarine cable crossing project is divided into two stages for analysis,namely the submarine cable towing stage and the submarine cable towing stage.In the submarine cable towing stage,the catenary theory is used to analyze the force of the submarine cable,and the drag-back stage of the submarine cable was compared with the pipeline drag-back stage in the horizontal directional drilling,and the force analysis was carried out.Finally,the finite element software was used to simulate and analyze the towing process,and the locations where mechanical damage was most likely to occur during the towing process of the submarine cable were analyzed.Thirdly,the motion analysis of the designed submarine cable outer wall inspection robot is carried out,including the force analysis of the driving wheel module and the force analysis of the wheel arm module.By establishing its force analysis model,the key driving torque parameter values in motor selection are obtained.At the same time,the kinematics of the wheel arm module was analyzed,and the structure was simplified into a mechanical diagram for parametric analysis,and the coordinate parameters of each point were obtained.Then analyzed the relationship between the screw rotation and the real-time diameter of the submarine cable.Finally,a model was established in ADAMS to complete the motion simulation of the virtual prototype as a reference for the actual motion of the submarine cable outer wall inspection robot.Finally,the control system design research of the submarine cable outer wall inspection robot is carried out.The control system is divided into the main control module and the auxiliary control module to design separately,and the control program framework is combined to complete the control and monitoring interface of the host computer.At the same time,the first-generation experimental prototype was made,combined with the analysis of the previous chapter,the function verification experiment was designed pertinently.The experiment verifies the stability of the submarine cable outer wall detection robot walking on the submarine cable.At the same time,the wheel arm module and the camera module work well,and the data of each sensor can be stably transmitted to the upper computer.The experimental results prove the submarine cable outer wall detection The feasibility of each function of the robot.