Research On Underwater Steel Structure Washing Robot And Its Motion Characteristic

With the social progress and the rapid development of science and technology, the demand for oil and gas resources become more heavily all over the world. Underwater jacket is an important device during the development of underwater gas and oil resources. And at present, jacket platform is part of the most used platform around the world. No matter on design theory or building technology, it is the most mature and general platform. As the ocean environment of the jacket is quite complex and wicked, under all kinds of random load and marine organism erosion, it is more and more important to improve the safety performance and durability of the sea platform.This topic comes from CNOOC Project — "The robot for underwater steel washing".Traditionally, jacket cleaning and testing is done by divers, low efficiency and poor safety.The purpose of this paper is to improve the washing efficiency of underwater jacket cleaning.Applied underwater robot technology to jacket cleaning, the device should have the ability to complete the washing task instead of manpower. The robot for washing underwater steel structure has been raised. It will wash and maintain the underwater jacket safely and effectively.In this paper, the current domestic and foreign development situation of washing technology of underwater jacket and washing robot was reviewed. And the cavitation water jets technology was introduced briefly. Considering the relative research achievements and the technology used from domestic and overseas, overall design scheme was raised on account of the topic. Put forward the technical indicators and determine the working principle.Analyze each module of the robot and design the control method.As the absorbing and washing performance the robot has, the main mechanical structure of the robot was in deep study firstly, including absorbing system, propelling system, washing system and auxiliary clamping system. To make sure the robot work steadily on the jacket,the mechanics of the cleaning robot is analyzed in the water under stationary and working state.On the basis of mechanical structure design, the motion characteristic of the robot was studied. Establish D-H coordinate and kinematics equations of the robot and conduct forward and inverse kinematics analysis to the cleaning manipulator. The dual cleaning manipulator workspace was analyzed and improved based on Monte Carlo method. The kinetic analysis was made on the 4-DOF manipulator. And Simulation analysis was made on the working process of the robot.Finally, according to the robot's operating features and requirements of the control system, the control system of the washing robot was studied. The control system of the cleaning robot consists of monitoring system and airborne systems. The monitoring system's main task is monitoring the robot's working state. Worker can control the robot when necessary. Human-machine interface of the monitoring software was designed by using Lab VIEW.