摘要
水下大口径管道沟槽式连接件安装作业机器人是有缆机器人,缆索中包含有液压管路和通讯线路。为了减小缆索对水下作业主体运动的影响,将电磁阀由控制柜移到水下作业主体上,使用水声通讯代替部分电缆通讯,并改进了相应的控制软件和硬件系统。该方法可以有效精简液压系统管路,减小缆索直径,降低缆索对水下作业主体运动的影响,同时也降低了母船上绞车的复杂程度。
The underwater large diameter trench type pipe connector installation robot is remotely operated vehicle （ROV）. Marine cable contains hydraulic pipeline and communication line. For reducing the influence on underwa- ter operate equipment movements caused by cable, removed the electromagnetic valve from the control cabinet to underwater operate equipment, underwater acoustic communication was utilized to instead part of the communication line, the controlling program and man-machine interface were given. With the help of decreasing the diameter of cable, the influence of underwater operate equipment for cable was decreased and what＇ s more the complex degree of a winch on the mother-ship was decreased as well.
出处
《液压与气动》
北大核心
2015年第10期36-39,共4页
Chinese Hydraulics & Pneumatics
基金
2014年国家级大学生创新创业训练计划(201410424092)
2015年度山东省青少年教育科学规划课题大学生学术课题(15BSH089)
山东科技大学2014年度大学生创业创新扶持资金资助项目(1)
关键词
水下机器人
管道连接
液压系统
优化设计
underwater vehicle, pipe connection, hydraulic system, reduced design
