Proyecto de robot de inspección de cañería submarina

Detalhes bibliográficos
Autor(a) principal: Fernandez da Costa, Alejandro Marcelo
Data de Publicação: 2017
Tipo de documento: Dissertação
Idioma: spa
Título da fonte: Biblioteca Digital de Teses e Dissertações da UFRGS
Texto Completo: http://hdl.handle.net/10183/171358
Resumo: Offshore oil production presents major challenges due to extreme environmental conditions. With present state of the art robotics, precision mechanics and automation it is now possible to provide solutions to those working conditions. The present work is part of a solution to the problem of the unblocking a subsea oil pipeline of small diameter and extensive length by designing and manufacturing a robot capable of moving inside the pipeline. Based on the previous study of an interdisciplinary group, the implementation of an umbilical cable was defined with the purpose of assuring the supply of electrical power for the robot’s energy requirements, control signals and a mechanical link to avoid the possibility of getting stuck. Similarly, the robot's movement strategy was defined based on a high reliability mechanism, capable of overcoming the great tension resulting from the interaction of the long umbilical cable with the inside of the pipe. In this work, the mechanical design is performed to implement a robot capable of overcoming big cable tensions with small components, integrating commercial components and others custom made. A solution was implemented to convert the electric power received through the cable to the mechanical power in the form required by the displacement mechanism. For this, a detailed engineering design is presented that integrates a high performance electric motor, a two-stage planetary gear transmission for high reduction ratio, a power split transmission driven by disc clutches and a mechanical power distribution stage required by the mechanism responsible for the displacement.
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spelling Fernandez da Costa, Alejandro MarceloPerondi, Eduardo André2017-12-20T02:27:27Z2017http://hdl.handle.net/10183/171358001054203Offshore oil production presents major challenges due to extreme environmental conditions. With present state of the art robotics, precision mechanics and automation it is now possible to provide solutions to those working conditions. The present work is part of a solution to the problem of the unblocking a subsea oil pipeline of small diameter and extensive length by designing and manufacturing a robot capable of moving inside the pipeline. Based on the previous study of an interdisciplinary group, the implementation of an umbilical cable was defined with the purpose of assuring the supply of electrical power for the robot’s energy requirements, control signals and a mechanical link to avoid the possibility of getting stuck. Similarly, the robot's movement strategy was defined based on a high reliability mechanism, capable of overcoming the great tension resulting from the interaction of the long umbilical cable with the inside of the pipe. In this work, the mechanical design is performed to implement a robot capable of overcoming big cable tensions with small components, integrating commercial components and others custom made. A solution was implemented to convert the electric power received through the cable to the mechanical power in the form required by the displacement mechanism. For this, a detailed engineering design is presented that integrates a high performance electric motor, a two-stage planetary gear transmission for high reduction ratio, a power split transmission driven by disc clutches and a mechanical power distribution stage required by the mechanism responsible for the displacement.La producción de petróleo offshore presenta grandes desafíos por las condiciones en que se lleva a cabo, actualmente es posible darle solución con la ayuda de la robótica, la mecánica de precisión y la automatización. El presente trabajo es parte de una solución al problema de la desobstrucción en una tubería de petróleo submarina de pequeño diámetro y largo tendido mediante el diseño y la construcción de un robot capaz de trasladarse por el interior de la misma. En base al estudio previo de un grupo interdisciplinario se definió la implementación de un cable umbilical con el propósito de asegurar el suministro de potencia eléctrica para los requerimientos de energía de robot, el enlace de señales destinadas al control y un vínculo mecánico para proveer seguridad ante un eventual desperfecto. Similarmente se definió la estrategia de movimiento del robot en base a un mecanismo de alta confiabilidad, capaz de vencer una gran tensión producto de la interacción del largo cable umbilical con el interior de la tubería. En este trabajo se realiza el diseño mecánico para implementar un robot capaz de realizar grandes esfuerzos con componentes de tamaño reducido, integrando componentes comerciales y otros hechos a medida. Para ello, se implementó una solución para convertir la potencia eléctrica recibida a través del cable a la potencia mecánica en la forma requerida por el mecanismo que da lugar al movimiento. Para dicha solución se presenta un diseño detallado que integra un motor eléctrico de alto desempeño, una transmisión planetaria reductora de dos etapas, una transmisión inversora accionada por embragues de discos y una etapa de distribución de potencia mecánica requerida por el mecanismo responsable del movimiento.application/pdfspaRobóticaTubosPipe inspection robotPower split transmissionPlanetary gear transmissionPrecision mechanicsRobot de inspección de tuberíasTransmisión inversora de potencia mecánicaTransmisión planetariaMecánica de precisiónProyecto de robot de inspección de cañería submarinainfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/masterThesisUniversidade Federal do Rio Grande do SulEscola de EngenhariaPrograma de Pós-Graduação em Engenharia MecânicaPorto Alegre, BR-RS2017mestradoinfo:eu-repo/semantics/openAccessreponame:Biblioteca Digital de Teses e Dissertações da UFRGSinstname:Universidade Federal do Rio Grande do Sul (UFRGS)instacron:UFRGSORIGINAL001054203.pdf001054203.pdfTexto completo (espanhol)application/pdf2860302http://www.lume.ufrgs.br/bitstream/10183/171358/1/001054203.pdfd202e58eea42fa1bed47587838c5ad20MD51TEXT001054203.pdf.txt001054203.pdf.txtExtracted Texttext/plain207635http://www.lume.ufrgs.br/bitstream/10183/171358/2/001054203.pdf.txt88dcf3e6531cd2ac82830c128a373bf3MD52THUMBNAIL001054203.pdf.jpg001054203.pdf.jpgGenerated Thumbnailimage/jpeg1036http://www.lume.ufrgs.br/bitstream/10183/171358/3/001054203.pdf.jpg9f4f402c83f15ad85c54cdcb6fda6aa7MD5310183/1713582021-05-26 04:42:50.791113oai:www.lume.ufrgs.br:10183/171358Biblioteca Digital de Teses e Dissertaçõeshttps://lume.ufrgs.br/handle/10183/2PUBhttps://lume.ufrgs.br/oai/requestlume@ufrgs.br||lume@ufrgs.bropendoar:18532021-05-26T07:42:50Biblioteca Digital de Teses e Dissertações da UFRGS - Universidade Federal do Rio Grande do Sul (UFRGS)false
dc.title.pt_BR.fl_str_mv Proyecto de robot de inspección de cañería submarina
title Proyecto de robot de inspección de cañería submarina
spellingShingle Proyecto de robot de inspección de cañería submarina
Fernandez da Costa, Alejandro Marcelo
Robótica
Tubos
Pipe inspection robot
Power split transmission
Planetary gear transmission
Precision mechanics
Robot de inspección de tuberías
Transmisión inversora de potencia mecánica
Transmisión planetaria
Mecánica de precisión
title_short Proyecto de robot de inspección de cañería submarina
title_full Proyecto de robot de inspección de cañería submarina
title_fullStr Proyecto de robot de inspección de cañería submarina
title_full_unstemmed Proyecto de robot de inspección de cañería submarina
title_sort Proyecto de robot de inspección de cañería submarina
author Fernandez da Costa, Alejandro Marcelo
author_facet Fernandez da Costa, Alejandro Marcelo
author_role author
dc.contributor.author.fl_str_mv Fernandez da Costa, Alejandro Marcelo
dc.contributor.advisor1.fl_str_mv Perondi, Eduardo André
contributor_str_mv Perondi, Eduardo André
dc.subject.por.fl_str_mv Robótica
Tubos
topic Robótica
Tubos
Pipe inspection robot
Power split transmission
Planetary gear transmission
Precision mechanics
Robot de inspección de tuberías
Transmisión inversora de potencia mecánica
Transmisión planetaria
Mecánica de precisión
dc.subject.eng.fl_str_mv Pipe inspection robot
Power split transmission
Planetary gear transmission
Precision mechanics
dc.subject.spa.fl_str_mv Robot de inspección de tuberías
Transmisión inversora de potencia mecánica
Transmisión planetaria
Mecánica de precisión
description Offshore oil production presents major challenges due to extreme environmental conditions. With present state of the art robotics, precision mechanics and automation it is now possible to provide solutions to those working conditions. The present work is part of a solution to the problem of the unblocking a subsea oil pipeline of small diameter and extensive length by designing and manufacturing a robot capable of moving inside the pipeline. Based on the previous study of an interdisciplinary group, the implementation of an umbilical cable was defined with the purpose of assuring the supply of electrical power for the robot’s energy requirements, control signals and a mechanical link to avoid the possibility of getting stuck. Similarly, the robot's movement strategy was defined based on a high reliability mechanism, capable of overcoming the great tension resulting from the interaction of the long umbilical cable with the inside of the pipe. In this work, the mechanical design is performed to implement a robot capable of overcoming big cable tensions with small components, integrating commercial components and others custom made. A solution was implemented to convert the electric power received through the cable to the mechanical power in the form required by the displacement mechanism. For this, a detailed engineering design is presented that integrates a high performance electric motor, a two-stage planetary gear transmission for high reduction ratio, a power split transmission driven by disc clutches and a mechanical power distribution stage required by the mechanism responsible for the displacement.
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