观测型ROV车库式TMS研究
摘要
远程遥控水下机器人(ROV)项目在全球的日渐兴起,使得该领域在国际市场上的竞争日趋激烈。而因脐带缆无法承受海浪和船舶颠簸等引起的过大变动载荷发生断裂,导致ROV丢失的事故时有发生,使得作为水下机器人下游产业的脐带管理系统(TMS)变得炙手可热。然而,这一产业却一直被外国几家大型ROV公司所垄断,以至于我国所有的水下机器人都需要从国外购买成套脐带管理系统。因此,研发一款具有自主知识产权的水下机器人脐带管理系统已经变得极为迫切。
本文根据课题组研制的“海螺二号”ROV的工作环境与性能参数,参考国外脐带管理系统的设计理念与工作原理,自主研发出一台与“海螺二号”ROV配套的车库式脐带管理系统试验样机,该试验样机能完成脐带缆收放、自动排缆以及对ROV车库的摄像照明,并为将来功能的进一步完善提供一个试验平台。全文共分为六章,每章主要内容如下：
第一章：介绍了水下机器人和脐带管理系统的分类,提出了研究和发展国产水下机器人脐带管理系统的必要性,并详细介绍了观测型ROV车库式TMS国内外的研究背景与发展方向,最后概述了本文的研究目的、研究意义以及研究内容。
第二章：根据“海螺二号”观测型ROV的功能特性与作业场合,分析了车库式TMS的作业环境；随后就TMS的主要结构原理图与系统功能作详细的阐述,并对TMS的几个核心系统进行了原理分析与功能实现方案的论述；最后结合各系统的原理特点设计出TMS系统布局图,作为本文设计和研究的主要原理依据。
第三章：通过对排缆系统自动排揽功能实现方案的研究,对排缆丝杠的结构作一定的优化,并且设计研究了摆动式排缆机构的机械结构；最后对滑动螺块在排缆过程中的受力情况进行分析研究,并通过运动仿真研究滑动螺块的动态受力状况。
第四章：介绍储缆牵引系统的具体机械结构与功能的实现方法与张紧系统的机械结构研究结果,通过对摩擦轮和整个张紧系统作运动受力分析,并以获得的分析结果为依据对部分系统参数作优化研究。
第五章：对车库式TMS的整体框架结构进行安全性校核,协调各部件的安装与配合,完成整个系统的集成与试验台架的搭建,然后制定排缆试验方案并完成预紧张力下的排缆试验,获得试验结果并对排缆效果进行分析评定。
第六章：总结全文并展望课题下一步工作。
The project of Remote Operated Vehicle in the world is rising. It makes this field in the哈international market competition increasingly fierce. ROV lost in the accident occur caused by the umbilical can't afford to the sea and the ship pitched and others cause of a major change in the load. This made TMS as Remote Operated Vehicle downstream industries become very popular. However, this industry has been abroad for several large ROV company monopolized that all the underwater robots from our country need buy the TMS from outside. So, research and development section with independent intellectual property rights underwater robot Tether Management System has become extremely urgent.
The paper according to the development of a "Hello Two Remote Operated Vehicle" working environment and the capability parameters, reference TMS of the design and foreign works, has developed a TMS test sample which can mating with Hello Two Remote Operated Vehicle. The test sample can make umbilical to close put nature, self range umbilical and cameras lighting the ROV garage. This will be further improved capabilities to provide an experiment platform in the future. There six chapters in this paper, and the main contents are as following:
CHAPTER I:This paper introduces the classification of Remote Operated Vehicle and Tether Management System. Proposed research and development of necessity of domestic Remote Operated Vehicle Tether Management System-And particularly introduce home and abroad research and development of the background about the ROV observable form, TMS garage form. Finally, the paper describes the aim of this investigation, the research significance and contents.
CHAPTER II:According to the function and work occasion of a "Hello Two" ROV observable form, analyzed operation areas of TMS garage form. Then main structure schematic diagram and the system of the TMS function detail descriptions, and analyze a few core principles of system of TMS and function realization of expositions, finally combine the principle, features of each system, devise the system of TMS layout. To base on as the main principle of this design and research.
CHAPTER III:Through the study of arrange umbilical system automatically rows looking functional realization scheme. A certain amount of optimization of arranging umbilical of structure. And design the swing type of mechanical structures for arranging umbilical mechanism. Finally study on an analysis of screw block in row of umbilical in the process of force. And through motion simulation research on dynamic stress of sliding screw block.
CHAPTERⅣ:Describes the specific machinery storage umbilical traction system implementation and tensioning system structure and function of the mechanical structure of the results. By friction and the tensioning system for stress analysis of movement. And analyze the basis of the results obtained and on the part of the system parameters for optimization study.
CHAPTERⅤ:On the overall framework structure of the garage-TMS security check, coordinate installation and coordination of the various components, complete all system integration and test bench build, and develop line umbilical row under the completion of the pilot scheme and pre-tension umbilical test. Access to test results and arrange umbilical discharge analysis of the effectiveness evaluation.
CHAPTER VI:Full text of the summary and prospect of subjects next.
本文根据课题组研制的“海螺二号”ROV的工作环境与性能参数,参考国外脐带管理系统的设计理念与工作原理,自主研发出一台与“海螺二号”ROV配套的车库式脐带管理系统试验样机,该试验样机能完成脐带缆收放、自动排缆以及对ROV车库的摄像照明,并为将来功能的进一步完善提供一个试验平台。全文共分为六章,每章主要内容如下：
第一章：介绍了水下机器人和脐带管理系统的分类,提出了研究和发展国产水下机器人脐带管理系统的必要性,并详细介绍了观测型ROV车库式TMS国内外的研究背景与发展方向,最后概述了本文的研究目的、研究意义以及研究内容。
第二章：根据“海螺二号”观测型ROV的功能特性与作业场合,分析了车库式TMS的作业环境；随后就TMS的主要结构原理图与系统功能作详细的阐述,并对TMS的几个核心系统进行了原理分析与功能实现方案的论述；最后结合各系统的原理特点设计出TMS系统布局图,作为本文设计和研究的主要原理依据。
第三章：通过对排缆系统自动排揽功能实现方案的研究,对排缆丝杠的结构作一定的优化,并且设计研究了摆动式排缆机构的机械结构；最后对滑动螺块在排缆过程中的受力情况进行分析研究,并通过运动仿真研究滑动螺块的动态受力状况。
第四章：介绍储缆牵引系统的具体机械结构与功能的实现方法与张紧系统的机械结构研究结果,通过对摩擦轮和整个张紧系统作运动受力分析,并以获得的分析结果为依据对部分系统参数作优化研究。
第五章：对车库式TMS的整体框架结构进行安全性校核,协调各部件的安装与配合,完成整个系统的集成与试验台架的搭建,然后制定排缆试验方案并完成预紧张力下的排缆试验,获得试验结果并对排缆效果进行分析评定。
第六章：总结全文并展望课题下一步工作。
The project of Remote Operated Vehicle in the world is rising. It makes this field in the哈international market competition increasingly fierce. ROV lost in the accident occur caused by the umbilical can't afford to the sea and the ship pitched and others cause of a major change in the load. This made TMS as Remote Operated Vehicle downstream industries become very popular. However, this industry has been abroad for several large ROV company monopolized that all the underwater robots from our country need buy the TMS from outside. So, research and development section with independent intellectual property rights underwater robot Tether Management System has become extremely urgent.
The paper according to the development of a "Hello Two Remote Operated Vehicle" working environment and the capability parameters, reference TMS of the design and foreign works, has developed a TMS test sample which can mating with Hello Two Remote Operated Vehicle. The test sample can make umbilical to close put nature, self range umbilical and cameras lighting the ROV garage. This will be further improved capabilities to provide an experiment platform in the future. There six chapters in this paper, and the main contents are as following:
CHAPTER I:This paper introduces the classification of Remote Operated Vehicle and Tether Management System. Proposed research and development of necessity of domestic Remote Operated Vehicle Tether Management System-And particularly introduce home and abroad research and development of the background about the ROV observable form, TMS garage form. Finally, the paper describes the aim of this investigation, the research significance and contents.
CHAPTER II:According to the function and work occasion of a "Hello Two" ROV observable form, analyzed operation areas of TMS garage form. Then main structure schematic diagram and the system of the TMS function detail descriptions, and analyze a few core principles of system of TMS and function realization of expositions, finally combine the principle, features of each system, devise the system of TMS layout. To base on as the main principle of this design and research.
CHAPTER III:Through the study of arrange umbilical system automatically rows looking functional realization scheme. A certain amount of optimization of arranging umbilical of structure. And design the swing type of mechanical structures for arranging umbilical mechanism. Finally study on an analysis of screw block in row of umbilical in the process of force. And through motion simulation research on dynamic stress of sliding screw block.
CHAPTERⅣ:Describes the specific machinery storage umbilical traction system implementation and tensioning system structure and function of the mechanical structure of the results. By friction and the tensioning system for stress analysis of movement. And analyze the basis of the results obtained and on the part of the system parameters for optimization study.
CHAPTERⅤ:On the overall framework structure of the garage-TMS security check, coordinate installation and coordination of the various components, complete all system integration and test bench build, and develop line umbilical row under the completion of the pilot scheme and pre-tension umbilical test. Access to test results and arrange umbilical discharge analysis of the effectiveness evaluation.
CHAPTER VI:Full text of the summary and prospect of subjects next.
引文
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[2]晏勇,马培荪,王道炎,高雪官.深海ROV极其作业系统综述.机器人ROBOT.2005(1)：1-7.
[3]Smallwood D, Bachmayer R, Whitcomb L. A new remotely operated underwater vehicle for dynamics and control research[A]. Proceedings of the 11th International Symposium on Unmanned Untethered Submersible Technology[C]. Durham, USA:1990.370-377.
[4]徐良波,于文峰.水下绞车及其在海洋内波现场测量系统的应用.舰船科学技术.2009(11)：11-31.
[5]Liu J T, An G, et al. RH6-based multi-robots teleoperation experimental system [A]. IEEE International Conference on Robotics and Automation [C]. Changsha:2003.820-824.
[6]Y.Urata, H.Umiyama, Shimizu, Y.Fujiyoshi, H.Sono, K.Fukuo. A Study of Vehicle Equipped with Non-Throttling S.I Engine with Early Intake Valve Closing Mechanism. SAE paper 930820.
[7]Marchand E, Chaumette F, Spindler F, et al. Controlling the manipulator of an underwater ROV using a coarse calibrated pan/tilt camera [A]. Proceedings of the 2001 IEEE International Conference on Robotics and Automation [C]. Seoul, Korea:2001, vol.3. 3238-3243.
[8]Yuh J. Design and control of autonomous underwater robots:a survey [J]. Autonomous Robots,2000,8(1):7-24.
[9]Ryu J H. Kwon J H, Lee P M. Control of underwater manipulatoes mounted on an ROV using base force information [A]. Proceedings of the 2001 IEEE International Conference on Robotics and Automation [C]. Seoul, Korea:2001, vol.3.3238-3243.
[10]徐国华,张军胜,向先波,郭莹,黄嘉陵.直流无刷电机驱动的水下电缆绞车系统.海洋工程.2006(4)：24(2).
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