| The monitoring and operation of Remote Operated Vehicle(ROV)is inseparable from the service of the underwater oil and gas production system to the emergency repair of the fault,from the regular maintenance to the decommissioning and recycling.Most of the equipment of the underwater production system is equipped with a rotary docking interface in accordance with ISO13628-8,which requires ROV external torque tools to provide driving torque,but at present,the domestic underwater operation field is more dependent on imported technology and equipment.Therefore,according to the current situation of fewer ROV torque tool research and development cases in China,the design and research of ROV torque tools and their control systems have been carried out,which is of great significance for improving the independent research and development capabilities of underwater operation equipment in China and breaking the monopoly of foreign technology.In this paper,the underwater ROV torque system controlled by electro-hydraulic control is designed,and the torque tool and its control system are studied in combination with the design indicators of the torque tool and the interface and load capacity provided by the ROV;the locking mechanism and reset spring are analyzed by using Ansys Workbench software,and the three-layer nested four-blade cross structure and the double-tooth embedded clutch shift drive mechanism are designed.The design of torque tool control system is completed by introducing the connection mode of electric power,hydraulic pressure and communication from water to underwater;In order to meet the functional requirements of the hydraulic actuator of torque tool,the hydraulic control circuit and key hydraulic components are designed,and the pressure compensation volume of torque tool and hydraulic valve box is calculated;The structural scheme of the control system is determined,and the theoretical calculation and strength analysis of the pressure chamber shell of the electric control system are carried out;In order to meet the requirements of tool control and feedback,the electronic control system is designed,including the determination of control principle,the selection of control components and the design of control circuit;The design and configuration of torque tool control interface are completed by WinCC host computer software.The Planetary gear transmission,a key component of the torque tool power transmission route,was designed and verified.According to the workload of the Planetary gear transmission and the requirements of the external structure size of the torque tool,the force and strength analysis of the main components of the Planetary gear transmission are carried out,and the dynamic mathematical model of the torque tool is constructed by the Lagrange method,and the dynamic simulation of the torque tool is carried out by Adams to verify the correctness of the dynamic model.By building the experimental platform,the key torque sensors and long-distance cables in the torque tool are tested,and the control function of the upper computer is tested;Build a torque sensor test platform and analyze the feedback of the torque sensor to verify the working accuracy of the torque sensor;The underwater cable signal transmission test platform is built,the cable voltage attenuation is obtained through the test,and the transmission accuracy of torque feedback millivolt signal is verified;The debugging test platform of the upper computer and the control system is built,and the function realization of the software and hardware is verified by controlling the upper computer to read the feedback information;After the torque tool and its control system are assembled,a torque tool test platform is built to test the control function of the overall structure of the torque tool,which verifies the feasibility of designing the control function of each part of the torque tool. |
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