Proyecto de robot de inspección de cañería submarina

• 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
• 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

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.