| Submarine pipelines play a very important role in global economic development.In recent years,with the laying of submarine pipelines such as submarine oil and gas transmission pipelines,submarine transmission cables and submarine communication optical cables,the global petroleum,electric power,communications and other industries have developed rapidly.However,at present,the detection and repair methods of submarine pipelines are backward and expensive.In order to solve this problem,a new type of cableless robot(AUV)for submarine pipeline detection was designed based on the current research status at home and abroad.The main task of the robot is to be able to locate,patrol,flaw detect and operate submarine pipelines.For the AUV,the system design and mechanical structure design of the body and auxiliary parts are carried out,and the mechanical properties of the main structural parts are analyzed according to the working environment,and then the structural optimization design such as lightweight is carried out.Firstly,the overall system design is carried out according to the mission tasks and technical indicators of the AUV,and the overall layout is made according to the working and installation requirements of the detection equipment,control equipment and power equipment installed,and the overall system model of the AUV detection of submarine pipelines is constructed.Then,the design and performance analysis of the housing of the AUV were carried out.The unidirectional fluid-structure interaction method is used to analyze the load and strength of the AUV shell under the conditions of accelerated forward and uniform progression,and a reasonable shell design scheme is obtained.Then,a series of structural design and performance analysis were carried out on the main loadbearing structure of AUV,the frame,and the optimized design was carried out.The force on the overall frame was analyzed according to the equipment installed.In addition,the finite element analysis of the frame under two different working conditions of land and water lifting is carried out,and the strength of the frame under the extreme working conditions is discussed,and the selection and performance analysis of the lifting ring are carried out accordingly.The forward frame with large bearing torque was analyzed and the structure was optimized.The response surface optimization method is used to lighten the main frame by digging holes,and the optimal size of the diameter and spacing of the holes on the main frame is obtained.Then,the finite element mesh of the shell and frame is established by combining solid and area to explore the performance of the shell and frame under two working conditions: lifting in water and underwater navigation.Then,the structural design and performance analysis of several main auxiliary parts inside the AUV,including pressure-resistant chamber,buoyancy adjustment device,center of gravity adjustment device,load throwing device and manipulator door opening and closing mechanism,were carried out,and the main force-bearing components were checked and optimized.Finally,the design and performance analysis of the motor pressure chamber were carried out,and the dynamic seal pressure test was carried out on the prototype,which verified the rationality of the design. |
PDF Full Text Request