海底挖沟机管道力学分析及调整机构设计

发布时间：2018-08-13 08:26

【摘要】：伴随海洋能源的开发向深海不断发展，海底石油管道成为石油资源从深海油田向大陆输送的重要途径，海底石油管道的安全问题日益彰显。现今保护海底管道的主流方法为后挖沟法，即海底管道铺设完成后，沿管道挖掘出一定深度的沟槽并使管道落入其中，增加海底管道的稳定性。海底犁式挖沟机作为一种结构简单、工作效率高、工况适应性强的后挖沟设备具有广阔的应用前景。论文课题来源于海洋石油工程股份有限公司的“硬质土挖沟技术与装备研究”项目，目的是研制具有自主知识产权的海底犁式挖沟机。海底犁式挖沟机的犁体一般设计为可开合的左右对称的分体式结构，作业时左右犁，就位于海底管道上方；位于挖沟机首尾端的管道机械手抓取管道并提升至规定高度，，置于导管架内，左右犁闭合，通过作业母船牵引进行挖沟作业。管道机械手与导管架组成管道调整机构，在挖沟机就位时完成管道的抓取、释放，在作业过程中实现挖沟机的导向，及对管道的保护，在挖沟机的整个作业过程中仅有这部分结构与管道发生直接接触。挖沟机工作的前提是不允许对管道造成机械破坏，因此对于在整个作业过程中管道受力状态及其与管道调整装置关系的研究具有重要的理论意义与应用价值。本论文对作业过程中管道受力状态进行了理论分析，在此基础上进行了挖沟机管道调整装置的结构设计，并进行了试验验证。论文主要内容如下：根据海底挖沟机作业流程提出具有提升，导向功能的管道调整机构设计方案。针对管道调整机构抓取海底管道产生的悬跨段，建立海底管道悬跨段受力分析模型，使用有限元软件计算海底管道受力，通过分析悬跨段在不同刚度土壤表面接触点土抗力及土壤变形分布,确定管道挖沟机初始作业点。根据抓取海底管道所需提升力为依据完成管道调整机构设计受力分析及结构设计，并使用有限元软件进行结构强度校验。为验证海底挖沟机的作业原理、工作流程以及作业过程机构的动作设计海底挖沟机陆上试验，使用安装在管道导向架上的测力传感器测量管道悬跨段提升力，验证管道受力分析。
[Abstract]:With the development of ocean energy resources, subsea oil pipeline has become an important way for oil resources to be transported from deep sea oil field to continent, and the safety problem of submarine oil pipeline is becoming more and more obvious. The main way to protect the submarine pipeline is to dig the trench, that is, after laying the submarine pipeline, dig out the trench of a certain depth along the pipeline and make the pipeline fall into it, so as to increase the stability of the submarine pipeline. As a kind of equipment with simple structure, high working efficiency and strong adaptability to working conditions, the submarine ploughing trench excavator has a broad application prospect. This paper comes from the project of "Research on hard soil trench digging Technology and equipment" of Offshore Petroleum Engineering Co., Ltd. The purpose of this project is to develop a submarine plough trench excavator with independent intellectual property rights. The plough body of the submarine plough type excavator is generally designed as a split structure of left and right symmetry which can be opened and closed. The plough, left and right, is located at the top of the submarine pipeline during the operation; the pipe manipulator at the front and the tail of the dredger grabs the pipe and elevates it to a specified height. Placed in the jacket, the left and right ploughs are closed, and the trenches are dug by the mother ship. The pipe manipulator and the jacket frame constitute the pipeline adjusting mechanism, which can grasp and release the pipe while the trencher is in place, and realize the guide of the excavator and the protection of the pipe during the operation. Only this part of the structure is in direct contact with the pipe during the whole operation of the trencher. The premise of the trench excavator is that it is not allowed to cause mechanical damage to the pipeline, so it is of great theoretical significance and practical value to study the stress state of the pipeline and its relationship with the pipeline adjusting device during the whole operation process. In this paper, the stress state of pipeline in the process of operation is theoretically analyzed, and the structure design of pipeline adjusting device of trencher is carried out on this basis, and the experiment is carried out to verify it. The main contents of this paper are as follows: according to the operation flow of submarine trench excavator, the design scheme of pipeline adjusting mechanism with lifting and guiding function is put forward. Aiming at the overhanging section of submarine pipeline produced by pipeline adjusting mechanism, the stress analysis model of submarine pipeline is established, and the finite element software is used to calculate the stress of submarine pipeline. Based on the analysis of soil resistance and soil deformation distribution at different soil surface contact points of suspended span section, the initial operating point of pipeline trencher was determined. According to the lifting force required to grab the submarine pipeline, the stress analysis and structural design of the pipeline adjustment mechanism are completed, and the structural strength is checked by using the finite element software. In order to verify the operation principle, work flow and operation mechanism of submarine trench excavator on land test, the force sensor installed on the guide frame of pipeline is used to measure the lifting force of the suspended span section of the pipeline. Verify the pipeline stress analysis.
【学位授予单位】：哈尔滨工程大学
【学位级别】：硕士
【学位授予年份】：2013
【分类号】：TE973.8

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