疏浚抓斗平挖作业的实现与仿真研究

发布时间：2018-05-09 06:37

本文选题：抓斗挖泥船 + 疏浚抓斗　；参考：《武汉理工大学》2014年硕士论文

【摘要】：世界疏浚事业的不断兴旺发展，带动着疏浚设备的更新升级。抓斗挖泥船作为一种通用的疏浚设备也正朝着大型化、智能化、低能耗化的方向发展，以适应疏浚工程的大型化和规模化。能实现平挖作业的抓斗挖泥船可大幅降低疏浚平整作业的工程成本，但该平挖控制技术我国基本从国外引进。为突破抓斗挖泥船实现平挖作业的技术指标，打破国外同类相关产品的技术封锁，实现同类产品的国产化，我国应加大对相关疏浚技术的研发投入。因此，对疏浚抓斗的平挖作业进行研究具有重要的意义。本文以斗容为3.5m3的长撑杆双颚板四绳疏浚抓斗为研究对象，分析出控制疏浚抓斗实现平挖作业的支持绳和闭合绳之间的位移补偿量和相互运动关系，期望达到设计要求为±50mm的平挖作业精度水平，超越现有国外抓斗挖泥船±100mm的平挖作业精度水平。本文主要做了以下研究：（1）结合疏浚抓斗的工作原理和结构尺寸图，建立其运动学方程，用Matlab软件编写程序并推导出疏浚抓斗的挖掘曲线。（2）以疏浚抓斗的闭合绳运动（速度时间表达式、位移时间表达式）作为初始条件，结合疏浚抓斗的挖掘曲线研究出支持绳的位移时间表达式、速度时间表达式。（3）在Solidworks软件中建立疏浚抓斗的模型，并导入ADAMS软件中，建立上、下承梁的滑轮组和钢丝绳卷绕系统，对疏浚抓斗在水下挖掘过程中进行力学分析，并考虑水流和浮力对疏浚抓斗的影响，仿真疏浚抓斗的平挖作业。（4）将仿真所得平挖挖掘曲线结果与设计要求的±50mm “平挖精度”相对比，，发现误差过大，对位移的补偿量做进一步修正，得到二次补偿的钢丝绳位移量，以及支持绳和闭合绳的位移时间和速度时间表达式。（5）再次进行平挖作业仿真并分析结果，得到了符合设计精度要求的平挖挖掘曲线，以及疏浚抓斗在正面迎水工作下的摆动曲线和钢丝绳的受力曲线。通过以上研究，验证了上述研究疏浚抓斗实现平挖工况方法的可行性，并为研究该平挖技术提供了一定的理论依据和参考方法。
[Abstract]:The continuous development of dredging in the world leads to the renewal and upgrading of dredging equipment. As a kind of general dredging equipment, grab dredger is developing towards the direction of large scale, intelligent and low energy consumption, in order to adapt to the large-scale and large-scale dredging engineering. The grab dredger which can realize the flat excavation operation can greatly reduce the engineering cost of dredging and leveling operation, but the flat excavation control technology is basically imported from abroad in our country. In order to break through the technical index of grabbing dredger to realize leveling operation break the technical blockade of foreign similar related products and realize the localization of the same kind of products our country should increase the R & D investment in relevant dredging technology. Therefore, it is of great significance to study the dredging operation of dredging grab. In this paper, the displacement compensation and mutual motion relationship between support rope and closed rope which control dredging grab to realize flat excavation operation are analyzed, taking the long braced double-jaw plate four-rope dredging grab with bucket capacity as 3.5m3 as the research object, and the relation between the displacement compensation and the mutual motion between the support rope and the closing rope which control the dredging grab to realize the flat excavation operation is analyzed. It is expected to reach the level of precision of flat excavation with 卤50mm as the design requirement, and exceed the level of precision of flat excavation of grab dredger 卤100mm in foreign countries. This paper mainly does the following research: 1) combined with the working principle and structure size diagram of dredging grab, the kinematics equation of dredging grab is established. The program is written with Matlab software and the excavating curve of dredging grab is deduced. (2) the movement of closed rope (velocity time expression, displacement time expression) of dredged grab is taken as the initial condition, and the displacement time expression and velocity time expression of support rope are obtained by combining the excavation curve of dredging grab. The model of dredging grab is established in Solidworks software, and introduced into ADAMS software, and the pulley group and wire rope winding system of upper and lower beam are established, and the mechanical analysis of dredging grab during underwater excavation is carried out. Considering the influence of water flow and buoyancy on dredging grab, the flat excavation operation of dredging grab is simulated. 4) comparing the simulation results with the 卤50mm "flat excavation accuracy" required by design, it is found that the error is too large, and the displacement compensation amount is further modified to obtain the secondary compensated displacement of wire rope. And support rope and closed rope displacement time and speed time expressions. 5) the simulation and analysis results of flat excavation operation are carried out again, and the cutting curve of flat excavation, the swinging curve of dredging grab and the stress curve of steel wire rope are obtained according to the requirements of design precision. Through the above research, the feasibility of the above research on dredging grab is verified, and the theoretical basis and reference method are provided for the study of the flat excavation technology.
【学位授予单位】：武汉理工大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：U616.21

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