The Research On Pipeline Upgrading Manipulator And Guiding Device Of Trencher

The trencher is a kind of special underwater machinery for trenching and laying benthal pipeline, whose main function is to complete the trenching and laying operations of submarine pipeline. The research subject originated from the project "The Research on Trenching Technology and Equipment for Hard Clay" of Offshore Oil Engineering Co.Ltd. The require of the subject is to develop the trencher with independent intellectual property. This dissertation mainly studies on the pipeline upgrading manipulator and guiding device section of the trencher, which is an important compositive part of the trencher. The main function of this section is to takeup and deal with the submarine pipeline. The research work of this section can promote the design and manufacture work on the collectivity of the trencher.Firstly, the dissertation introduces the overseas and domestic development survey of the domain on benthal trenching and laying pipeline. According to the design requirements of the trencher, the general design scheme of the trencher was introduced, and the detailed design of mechanical noumenal structure of the pipeline upgrading manipulator and guiding device was completed.Secondly, the force state of several key organs were analyzed and calculated, and the strength of the critical components of the pipeline upgrading manipulator and guiding device was checked by using the finite element analysis software ANSYS, which verified the rationality and reliability of its structural design.Thirdly, the three-dimensional model and virtual assembly of the entire device were performed with SOLIDWORKS 3D design software; also interference checking and explosive view were performed. On this basis, the kinematics analysis of several independent kinetic organs in the entire device was completed, and the kinematics simulation of one kinetic organ was completed by using the dynamic analysis software ADAMS.Finally, the hydraulic pressure control system of the pipeline upgrading manipulator and guiding device has been studied, mainly including the following contents:ascertained the main technical parameters of each hydraulic cylinders; completed the selection design of hydraulic pumps; integrating the operational requirements of machinery, completed its hydraulic system circuit design; controlling hydraulic transmission system of the pipeline upgrade manipulator and guiding device on application of programmable logic controller, completed the selection of PLC and the design of PLC control line graph.