深海吊点连接工具的设计与实验研究

发布时间：2019-04-29 07:45

【摘要】：当飞机在深海海域上空失事,黑匣子连同残骸一同落入千米级深海海底,黑匣子的打捞将变得十分困难。为了解决黑匣子被掩埋于飞机残骸下面或包裹在飞机残骸中的特殊情况,提出一种飞机残骸的吊点连接方案。本文研究了飞机机身结构,确定以桁架式残骸为吊点连接目标物,设计一种仅依靠ROV机械手操作,便能在千米级深海海底完成桁架式残骸的吊点连接作业的吊点连接工具。针对给定的残骸参数,对承重机构进行优化设计;根据机械手手爪的尺寸,对驱动机构与自锁机构的尺寸进行设计。对吊点工具进行受力分析,列出工具闭合过程中的力平衡方程,求解驱动机构连接件的受力极限;在Workbench中对安全工况下的吊点工具进行拓扑优化,对优化后结构的危险工况进行强度校核,找出吊点工具设计的薄弱位置,提出改进方案。对吊点工具进行运动学与动力学仿真,验证其作业时运动性能的优劣性;分析工具受机械手挤压力时连接件的受力,求出各个连接件工作时的安全系数,提出连接件的改进方案;对吊点工具进行拓扑优化与强度校核;分析了起吊作业中,打捞船、缆绳、吊点工具与残骸在水下的受力情况,分别对其进行了模型的建立,水深为1000m时,模拟了海流作用下吊点工具布放与残骸起吊的过程,得到工具布放至海底后的水平飘移距离,起吊残骸时残骸对吊点工具的作用力。加工第一代吊点工具样机,对吊点工具进行夹持实验,提出吊点工具的改进方案。
[Abstract]:When the plane crashes over the deep sea and the black box falls along with the wreckage into the ocean floor, the salvage of the black box will become very difficult. In order to solve the special situation in which the black box is buried under the wreckage or wrapped in the wreckage, a hanging point connection scheme for the wreckage is proposed. In this paper, the structure of aircraft fuselage is studied, and the truss wreckage is chosen as the target to connect the truss wreckage. A hanging point connecting tool is designed, which can complete the lifting point connection operation of truss wreckage in the deep sea floor of kilometer level only by the operation of ROV manipulator. According to the given wreckage parameters, the load-bearing mechanism is optimized, and the dimensions of the driving mechanism and the self-locking mechanism are designed according to the size of the manipulator's claw. The force analysis of the lifting point tool is carried out, the force balance equation in the process of tool closure is listed, and the stress limit of the connecting parts of the driving mechanism is solved. The topology optimization of the hoisting point tool under the safe working condition is carried out in Workbench, the strength check of the dangerous working condition of the optimized structure is carried out, the weak position of the hoisting point tool design is found out, and the improvement scheme is put forward. The kinematics and dynamics simulation of the lifting point tool is carried out to verify the advantages and disadvantages of its motion performance. This paper analyzes the force of the connector when the tool is squeezed by the manipulator, finds out the safety factor of each connector, puts forward the improvement scheme of the connector, optimizes the topology and checks the strength of the lifting point tool. In this paper, the forces of salvage ship, cable, lifting point tool and wreckage under water are analyzed, and their models are established respectively. When the depth of water is 1000 m, the process of laying and lifting wreckage under the action of ocean current is simulated, and the process of lifting wreckage is simulated under the action of sea current, and the process of lifting the wreckage under the action of sea current is simulated. The horizontal drift distance after the tool is placed to the bottom of the sea, and the force of the wreckage on the lifting point tool when lifting the wreckage. Machining the prototype of the first generation lifting point tool, carrying on the clamping experiment to the lifting point tool, and putting forward the improvement scheme of the lifting point tool.
【学位授予单位】：大连海事大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：U676.8;V328

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