Structure Design Of A Detection ROV For Underwater Immersed Tube Tunnel Joint

Compared with the shield method,the immersed tube method plays an important role in the selection of underwater tunnel construction scheme because of its shallow buried depth,good waterproof performance and flexible cross-section.The final joint is a key process in the construction of the immersed tube tunnel,and the final joint measurement and control technology is the guarantee for the accurate joint of the final joint and the smooth penetration of the immersed tunnel.The construction of immersed tunnels is complicated,concealed,important but one-off,so the engineering quality,especially the quality control between submerged butt joint process is of great significance.The present paper first explores underwater inspection works of immersed tunnel engineering,including the main contents,roles,and main technical methods,and also discusses the development direction.Then this thesis attempts to explore how to transform the traditional manual inspection into underwater robot inspection.From the development and employment of underwater detection technology,it can be known that the technology can greatly enhance the quality controllability of the immersed tunnel engineering during the process of underwater construction.It also helps improve the engineering quality,accelerate schedules of the project progress,measure the gap size of the immersed pipe more accurately,and reduce manual errors.Today’s ROVs are the "pioneers" for detecting and exploiting the ocean.They have become an important underwater operation equipment and are widely used in the detection of inland river dykes,installation and maintenance of marine structures,exploration of deep sea resources,maintenance of marine pipelines,underwater emergency search and rescue and other fields.However,most of the existing Rov’s basic functions are underwater searching,recording,detecting and so on,which can not play a role in the detection of Underwater Tunnel Butt joints.On the other hand,the working efficiency of traditional divers’ is low,and the high pressure environment has a great impact on the physiology and psychology of divers,therefore,if we can design a robot which can be used in the joint inspection of underwater immersed tube tunnel,the efficiency and precision of the joint inspection will be greatly improved.In this thesis,the structure,employment background,function equipment and mechanical design of the existing ROV are deeply analyzed.Then the Structure of a detection ROV for underwater immersed tube tunnel Joint are designed,also the designs of the ROV system and propulsion system are completed.It uses multiple transverse and longitudinal thrusters to drive the detection robot,so as to complete the underwater moving and detection task.The underwater immersed tunnel detection robot has strong pertinence and can well complete the detection task of the joint of the immersed tunnel.According to the operation characteristics of underwater immersed tunnel butt joint detection robot,a multiple propeller propulsion system is designed in this thesis.The system consists of two longitudinal thrusters and four top thrusters,which are symmetrically arranged on both sides of the robot mainbody and the top side.Each thruster made up of a propeller and a dome.By controlling the propulsion of six propellers at different speeds,the thrusters in different directions can be combined to push the robot in any direction.In this thesis,the author makes a detailed analysis and design of Underwater Tunnel Butt joint inspection robot.Using Solid Works to complete the virtual modeling,structural layout,and virtual assembly of detection ROV for underwater immersed tube tunnel Joint.The force analysis of underwater immersed tunnel detection robot is carried out,and the parameters of propeller motor are selected through dynamic calculation.Then performs intensity checks of the key carrier frame,the piezoelectric resistance chamber,and the modal switching modules based on the finite element calculation software---Simulation.The results show that the strength and the dynamic parameter of the design meet the requirements for use.The Underwater Tunnel Butt Joint Inspection Robot designed in this thesis has higher pertinence and can solve the problem of difficult and low precision in Underwater Tunnel Butt joint inspection,it can reduce the limitation and risk of diver’s artificial underwater working,and improve the efficiency of underwater tunnel butt joint inspection.The design of the robot structure can provide a reference for the future mechanized inspection of the butt joints of immersed tunnel,which is of great significance in this field and can also promote the innovation of the core technology of our country.