Research On Structure Scheme And Driving Method Of Torque Tool For ROV

With the development of marine resources in China,the scope of subsea oil and gas operation has gradually changed from shallow sea to deep sea.The ability of subsea operation is more and more high.The previous operation mode can not meet the demand of deep water operation.According to the actual working conditions,the key to solve the problem is to accelerate the development of subsea robot and its auxiliary operating system,expand the application scope of subsea robot,enrich its operation function and improve the working efficiency.In this paper,according to the characteristics of deep water operation,an torque tool for ROV is designed based on the subsea ROV equipped with operating manipulator and other operating systems,so that ROV can rotate the subsea production equipment in deep water environment.According to the existing standards of rotary butt joint of subsea production system,the design requirements and technical indexes of torque tool for ROVs are determined.Referring to the current ROV performance,a design scheme of torque tool for ROV is proposed,which can connect multiple levels of interfaces and provide wide range of torque change.The overall scheme design of hydraulic drive scheme,butt locking scheme,hydraulic drive and monitoring scheme,seal and pressure compensation scheme of torque tool for ROV is completed.According to the torque output demand of ROV torque tool in a wide range,the torque transmission route of hydraulic drive mechanism is planned,the torque output range of a single hydraulic motor is expanded,the structural design and strength check of transmission mechanism including clutch,shift mechanism,torque multiplier and its locking mechanism are completed,and the key structure is analyzed by finite element method to ensure the structure meets the requirements of use.By analyzing the influence of the structure size of the torque tool interface on the docking accuracy,the optimal dimension of the interface and the maximum allowable error in the docking process are calculated.The design index can be used to measure the capture ability of the interface of the twist tool interface to the operating object,and the interface size with the maximum allowable docking range is obtained under the requirement of structural strength.The structure design and statics analysis of the torque tool interface and locking mechanism are completed.Through analyzing the working environment and operation requirements of torque tool for ROV,the principle design and component selection of hydraulic control system and monitoring system are completed.The mathematical model of hydraulic motor circuit is established and simulated.The PID controller value is found by trial and error method.The hydraulic system is built in AMESim software,and the three hydraulic circuits are simulated respectively,and the output characteristic curve of hydraulic system is obtained,which proves that the performance can meet the design requirements.The research results of this paper provide theoretical basis for the development and subsea operation of torque tool for ROV engineering prototype,and provide reference experience for the localization of torque tools for ROV.