| The submarine is rich in resources, which is the human future sustainable development of food, minerals, water and metal resources base.The active exploration and development for marine resources will provide an ideal solution to some global problems for human. However, the deep sea exploration is very difficult, the equipment working on the ocean seabed should not only withstand water pressure, but also corrosion resistance.At the same time, the visibility underwater is extremely low, and the environment is extremely bad, people can not observe and control the working condition of equipment.Therefore, the human understanding of the deep seabed is even worse than the surface of the moon.This paper studies"Pipe Automatic Transterring System for Seabed Cone-penetration test&Core Drilling System (SCCDS)"is relying on the Central University Basic Research Fund—"marine exploration equipment and instrument" innovation team projects.It is mainly used for seabed drilling equipment automatic Transterring, so as to realize the automation of the process of drilling management.The SCCDS is used to complete cone and drilling of two major tasks. On the analysis and comparison of land drilling process, combined with the seabed complex formation environment, the deep sea drilling technology was studied, we put forward "the discontinuous static cone process","diamond wireline coring technology" and "multilayer drilling, multiaperture drilling "drilling technology, namely using the step hole drilling method. The design of the two step shaped borehole structure well solves the problem of replacing the drill bit. also meets the drilling technology requirements in different Stratum. Deep sea drilling technology has directly decided the structure of pipe automatic transterring system.At present, pipe automatic transterring system of SCCDS mainly has two kinds of typical structure——circular base and square base. The circular base is mainly used for shallow core drilling, and square base has an advantage of containing more pipes, suitable for deep hole drilling process.SCCDS should use many type and number pipes in the construction process, so we choose the square base. Namely, pipe storeroom is immobility, and the manipulator move along the straight guide to realize the transter, storage and positioning of the pipes. Through the analysis and calculation, we make the mechanical structure design for the modules and the key components of the pipe automatic transfer system such as square base, manipulator, walking mechanism of the manipulator and feeding mechanism.After optimizing, we use Solidworks to establish three-dimensional model.Based on geometric models of the pipe automatic transter system, we used ANSYS to analy the contact stress of gear and pinion, and get the congtact stress is223MPa-which meet the design requirements. At the same time, we set the coordinate of each link in the manipulator using D-H method, then use homogeneous coordinates transformation to describe the relative position and orientation between each link, at last set the establishment of the manipulator kinematics equations to determine the position a dorientation of the robot by the parameters of each link.As the drive mode of the pipe automatic transter system underwater, the hydraulic drive has some advantages such as moving smoothly and high power. We design the hydraulic system of the pipe automatic transter system, and use amesim to model and analy the Synchronization of the throttle valve and the flow valve, then we get the conclusion that flow valve can conform the synchronization requirements in unequal load. Control technology of underwater hydraulic system has been studied, and We choose PLC to realize sequence control and multi-point positioning control. At the same time, we put forward the compensation of pressure sealing technology and mechanical seal technology to solve the static seal and the dynamic seal underwater respectively.Using a variety of sensors and NI PXIe-6363data acquisition card to build the monitoring platform of the pipe automatic transter system of SCCDS.The control parameters mainly include: output torque of power head, speed of power head, pressure of the system, walking displacement of the manipulator and the feeding displacement of the power head. Also, we use Labview2010to establish the interface of user login, parameter setting, data acquisition and display, manipulator motion control and data storage so as to realize the automatic transter process of real-time display and control.The main innovations of this paper are:①the cone-penetration test and core drilling technology in complex formation in seabed;②design the pipe automatic transter svstem to meet the submarine drilling process;③design data acquisition and motion control interface to display pipe automatic transter process real-time.This paper provides a good solution to automatic operation underwater.lt also lays theoretical foundation for the development and exploration of marine resources. |
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