| The Remotely Operated Vehicle(ROV)has the characteristics of safety,efficiency,deep operation and long time underwater work.It has been widely applied in the fields of marine resources development,underwater engineering,seafloor survey,salvage operation and others.This subject comes from a technology research project of CNPC,which will design a detection robot.The ROV is mainly applied to the offshore platform jacket to avoid safety accidents caused by failure to detect in time of structural damage in the long-term operation period.Based on the analysis of the existing underwater vehicles at home and abroad,an open-shelf underwater vehicle is developed,which is applied to the detection of offshore jacket platform.First of all,according to the purpose,task and working mode of ROV,the selection of body,the scheme of pressure shell and the scheme of propeller are studied.Furthermore,the concept of multi-objective cooperative optimization is introduced to optimize the ROV structure,and a reasonable structure scheme is determined.The mechanical design of the key parts in the design is carried out in detail,and the strength and stability of the frame and pressure-resistant shell are analyzed by using the finite element analysis software.Secondly,the commonly used coordinate system(fixed coordinate system and motion coordinate system)and the transformation relationship between them are studied.The kinematics model and dynamics model of ROV are established,and the correctness of the model is verified by motion simulation.Then,according to the designed ROV,the resistance of ROV at different speed is obtained by using Fluent,and the characteristic of propeller is analyzed,and then the influence of different parameters of propeller on thrust and drag matching is compared.At the same time,considering the matching of propeller power and motor power,the steady-state matching of ROV is completed.On this basis,the final dynamic matching is obtained by adding dynamic analysis,and it is proved that it has good kinematic stability.Finally,the common structure of the jacket and the conventional detection methods used in the jacket are investigated and summarized,and then the movement of the ROV used in the jacket detection is analyzed.The usability of the designed ROV in jacket detection is proved by motion simulation. |
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