| Drilling platform is an important equipment for new offshore oil drilling, the jacket after a long time of soaking in water, attached to an abundance of sea life to the safety in production constitutes a serious threat, currently rely mainly on the diver hand washing gun dive into the sea to clean it, high labor intensity, high cost of washing, low efficiency and affected by the weather. Therefore, in view of the limitation of the current offshore platform cleaning work, the development of a kind of underwater cleaning robot can replace the manual cleaning. The main work of this paper is summarized as follows:1. The paper describes the purpose and significance of the topic in the and the development and succession of marine organism were analyzed, of underwater cleaning and climbing robot research status are analyzed, problems encountered in the offshore platform cleaning were in-depth analysis, and put forward the solution.2. Analysis the cleaning scheme of various offshore platforms, and according to the jacket the actual size of data selected the best adsorption, walking, driving scheme, also the robot in water under static and moving the force analysis and of the robot were gait analysis.3. The robot is the detailed design, especially on the robot’s driving mode, each axis actuator specific forms were determined. The also because of the special working environment of the robot, the anti-corrosion of the robot, sealing technology of the inquiry, and design a new type of sealing way.4. Using 3D Software Solidworks to robot overall were virtual assembly, through the virtual assembly can fully understand the robot to all parts of the structure, and the assembly process can get reasonable assembly process, in order to lay the foundation for the actual assembly, followed by virtual assembly technology can understand the design process in the presence of faults, or that did not take into account the, and amended in a timely manner. |
PDF Full Text Request