| Switching device of underwater tools is the main component of underwater operating system,Some foreign countries have distinct advantages over China in the field of underwater switching technology and equipment.According to the project of “Research on the fast switching device and its intelligence force/position hybrid control of deep-water operation system”,an independent switching device was developed for the switch of underwater tools on the basis of the related key technologies analysis and the operation requirements of underwater switching device combination.These have great realistic significances for improving Chinese technological level in this field.Firstly,this paper introduces the development of underwater operating system and the key technology of underwater switching device at home and abroad.The overall designing scheme of switching device was proposed by combining with the project requirements.The main structure including oil docking device,locking device,and compliant device of the switching device were designed.And then the operation flow of switching device was planned according to the design.The non-returning oil docking device and the locking device of switching device were designed,respectively,according to the parameters,technical requirements and characteristics summary of switching device.The main parameters of the male head and female head springs in the oil docking device were calculated to ensure the docking device can keep sealing in the depth of 500 meters under the water.The reliability of sealing rings of the docking device was verified by using Ansys Workbench to get the contact pressure between the sealing ring and the sealing face.The resistance during the docking was estimated and the pressure of the locking device hydraulic cylinder was designed.The lock column's shear stress was checked to ensure its reliability.Finally,the main pressurized parts of underwater switching tool were checked by Ansys Workbench to verify the rationality of design.Based on the theory of remote compliance center,a RCC device was designed to compensate for the error in the docking of switching device.The mathematical expressions of main performance parameters were derived by analyzing the mechanics of materials,mechanical characteristics of elastic element and elastic column in the RCC device.The calculation of performance parameters of the RCC device lays a foundation for the further studying of the docking of switching device.The mechanical analysis of simplified model of the RCC device was performed by Ansys,which can tell the device is suitable or not for the underwater switching.The modal analysis and harmonic response analysis of elastic column and compliant device were performed.Studying the dynamic performance of elastic column and compliant device in order to avoid vibration caused damage.The docking was divided into three stages including initial docking stage,cylindrical pin docking stage and oil docking device docking stage according to the planned working process of switching device.The correlations between the contact force and the docking depth during the initial docking stage of switching device were analyzed based on the theory of robot compliant assembly,and to get the mathematical expressions between them.The curve between the contact force and the docking depth was drawn by Matlab.The dynamic simulation of the initial docking stage was carried out by ADAMS to obtain the influences of different parameters on contact force.Based on the probability theory,the probability model of cylindrical pin was established,and the relationship between the docking probability and cylindrical pin and pin hole tolerance in size and position were derived.The tolerance in size and position of cylindrical pin and pin hole which meet the design requirements can be gained with plugging relevant parameters into equation.Finally,the dynamic analysis on the stage of oil road docking was carried out. |
PDF Full Text Request