ROV扭矩工具系统研制与应用

ROV扭矩工具(TT)是深水水下油气田开发过程中使用的水下机器人(ROV)作业装备。ROV扭矩工具系统是以ROV为核心，包括扭矩工具本体和控制系统，其结构尺寸和工作能力与工作效率是影响水下作业的便利性与作业成本的关键因素。依托南海某气田水下生产系统，参考ISO13628-8等规范，设计出具有多尺寸自适应接口、牙嵌离合换挡结构和锁紧机构的扭矩工具及其控制系统。采用有限元分析软件对扭矩工具关键部件进行仿真分析。完成了扭矩工具的样机研制并进行测试。测试结果表明：水下ROV扭矩工具的锁紧、解锁功能，换挡功能，马达闭环控制功能均可实现，技术参数满足设计要求。研究成果对ROV扭矩工具及其控制系统的技术发展和产品开发均有借鉴意义。

Structural Design and Simulation Study of the ROV Torque Tool

ROV Torque Tool(TT)is an indispensable underwater robot(ROV)operation equipment during the development of deep-water underwater oil and gas fields. The ROV torque tool system is based on ROV, including one of the underwater operating tools of the torque tool body and the control system. Its structural size and work efficiency are key factors that affect the convenience and operating cost of underwater operations. In order to solve the above problems, relying on the underwater production system of a gas field in the South China Sea and referring to the international standard ISO13628-8 and other specifications, the torque tool and its control system with multi-dimensional adaptive interface, jaw clutch shift structure and locking mechanism were studied, and the key components of the torque tool were simulated and analyzed by using finite element analysis software. The prototype of the torque tool was developed and tested. The test results show that the locking and unlocking functions, gear shifting functions, and motor closed-loop control functions of the ROV torque tool can be realized, and the torque tool can meet the design requirements through the calibration test of the torque tool. The research results have the significance of the reference to the technologies and products of ROV torque tools and their control system.