| Drilling platform is an important equipment of modern marine petroleum exploitation. Asthe steel-pipe is always immersed in water, the sea creatures attached on the surface can be aserious threat for the production safety. Now this problem is mainly solved by cleaning gunhandheld by divers submerging into the sea, which can be a great labor intensity, high cost, lowefficiency, and easily affected by the weather. Taking the harsh environment of marine operationsand the complexity structure of drilling platform into consideration, this research focused on theoffshore platform cleaning robots, which can be used as underwater cleaning robot to replacemanual cleaning, to improve the cleaning efficiency and to reduce the cleaning cost. The maincontents and achievements of this paper are as follows:1. The purpose and significance of the subject is presented, and the development statuses ofoffshore platform steel-pipe cleaning both domestic and overseas are analyzed. Based on theanalysis of main problems existing in this field, appropriate solutions are put forward.2. Based on the Integrated Design Theory, combined with the working conditions forcleaning robots, the structure design of adsorption mechanism and the actuator for spray gunmovement was finished. Three finger clamping scheme of adsorption mechanism andelectromagnetic adsorption method for the robot was adopted, which can fit the different catheterdiameter size of adsorption. As the pipe dimensions changes greatly, in order to improve thecleaning efficiency and to ensure the high pressure water jet flow into the firing angle anddistance of the target remained unchanged, a5degree of freedom gun was designed. Thethree-dimensional modeling of mechanism on the implementation of the adsorption and thespray gun movement actuator was established through SolidWorks.3. To reduce the design cost and increase the reliability of products, considering all kinds ofrobot pose when working under the stress, the analysis of strength and stiffness of adsorptionmechanism and each structure part was performed by ANSYS Workbench. It shows that thestrength and rigidity of adsorption mechanism can meet the application requirements.4. Through Adams for kinematic analysis of gun motor execution, the torque output curveof each joint of gun motion actuators in the cleaning process were obtained. which can provide areference for the selection of the spray gun moving actuator motor. |
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