Research On Snake-like Robot For Corrosion Detection Of Underwater Steel Structure

In recent years,with the continuous enhancement of economic strength and the rapid improvement of scientific and technological level,there have been nearly 10,000 oil and gas drilling and production platforms in the world and their supporting marine steel structures distributed from the coastal continental shelf to deep water areas.Corrosion testing of these platforms to ensure their safe use has become increasingly important.This paper analyzes the current distribution of domestic offshore drilling rigs and the causes of corrosion,as well as the research status of underwater robots at home and abroad,combined with China's actual situation and social needs,this paper proposes the corrosion degree of the steel structure of underwater oil drilling platforms Scheme of underwater snake-like robot for inspection operations.First of all,understand the current research status of underwater robots and related technologies,and then analyze the problems in the practical application of robots,and then combine the task of detecting the corrosion degree of the steel structure of the offshore drilling platform to determine the research of this paper Objectives and main research content.Secondly,according to the actual working requirements of the underwater snake-like robot,the overall parameters of the robot are determined,and the six basic modules,namely,the observation module,the load module,the power module,the main propulsion module,the auxiliary propulsion module and the steerable connection module,are designed.The mechanical structure of each module is designed,and the entity prototype is built.Then,according to the calculation result of the motion resistance of the underwater snake-like robot,the thrust is distributed,the appropriate propeller is selected and the propeller is designed.In order to avoid the influence of harmful torque on the operation stability of the fuselage,a counter-rotating propeller propulsion device based on magnetic coupling dynamic seal was designed.Thirdly,determine the overall design of the control system according to the work requirements,select the chips of each functional module according to the specific needs,design the corresponding circuit schematic diagram,solder the circuit board and complete the debugging.Finally,a webots simulation software was used to build an underwater snake-like robot motion control simulation platform.The manual control motion mode of the underwater snake-like robot was analyzed,and several motion patterns used to complete the corrosion detection of the underwater steel structure were analyzed.Simulation.