Structure Design And Research On Key Technology Of ROV

ROVs possessing wide application prospect (Remotely Operated Vehicles) are widely used in many fields such as ocean salvage, ocean petroleum exploitation, underwater project construction and military industry. This paper is supported by an 863 program that is aimed to invent a ROV system with independent intellectual property for subsea tie-in system. Based on successful experience of ROVs at home and aboard, by analyzing the points of ROV structure design this paper presents the design a frame-shape ROV with 6 thrusters and performs related researches.Firstly, after deep analyses of related technology of existing frame-shape ROVs, according to the design characters defined by operation mission, the prototype of the ROV is planned, which is composed of six modules such as buoyancy blocks, bearing frame, propulsion module, operation tools, sealed cabin and auxiliary fittings. The buoyancy blocks are used to produce sufficient buoyancy. The bearing frame is used to carry sensors, control system, working tools and so on. Propulsion module is made up of six cooperating thrusters to ensure the agility of ROV in 3D space.Secondly, After finding out characteristic parameters of ROVs, structure types of all major function modules are decided based on these parameters, with the optimized structure design being performed through Pro/E software. Following the general design of the ROV, the distribution is proved by examining balance of the ROV with the method of integral balance. Moreover, detailed structures of key parts including pressure shell, bearing frame and lifting ring are introduced. In addition, according to the results of strength check of all the key parts with ANSYS software, the materials and mechanical structures all meet the design requirement. Thirdly, virtual assembly of the ROV is finished with Pro/E software in order to predict performance for further improvement. After establishing the coordinates system and their transition relationship of ROV, parameters vital to ROV modeling are analyzed in the view of kinematics and dynamics. Meanwhile, referring to related documents, derivation methods are introduced to get kinematical and dynamical model of ROV.At last, during the research of ROV control system the control system is decided, in which control type of the system is chosen according to the requirements of navigation system. The control system is centered on bit bus distributed control system and the hardware and software are designed.The research presented in this paper can be refered by similar researches.