【摘要】：當(dāng)飛機(jī)在深海海域上空失事,黑匣子連同殘骸一同落入千米級(jí)深海海底,黑匣子的打撈將變得十分困難。為了解決黑匣子被掩埋于飛機(jī)殘骸下面或包裹在飛機(jī)殘骸中的特殊情況,提出一種飛機(jī)殘骸的吊點(diǎn)連接方案。本文研究了飛機(jī)機(jī)身結(jié)構(gòu),確定以桁架式殘骸為吊點(diǎn)連接目標(biāo)物,設(shè)計(jì)一種僅依靠ROV機(jī)械手操作,便能在千米級(jí)深海海底完成桁架式殘骸的吊點(diǎn)連接作業(yè)的吊點(diǎn)連接工具。針對(duì)給定的殘骸參數(shù),對(duì)承重機(jī)構(gòu)進(jìn)行優(yōu)化設(shè)計(jì);根據(jù)機(jī)械手手爪的尺寸,對(duì)驅(qū)動(dòng)機(jī)構(gòu)與自鎖機(jī)構(gòu)的尺寸進(jìn)行設(shè)計(jì)。對(duì)吊點(diǎn)工具進(jìn)行受力分析,列出工具閉合過(guò)程中的力平衡方程,求解驅(qū)動(dòng)機(jī)構(gòu)連接件的受力極限;在Workbench中對(duì)安全工況下的吊點(diǎn)工具進(jìn)行拓?fù)鋬?yōu)化,對(duì)優(yōu)化后結(jié)構(gòu)的危險(xiǎn)工況進(jìn)行強(qiáng)度校核,找出吊點(diǎn)工具設(shè)計(jì)的薄弱位置,提出改進(jìn)方案。對(duì)吊點(diǎn)工具進(jìn)行運(yùn)動(dòng)學(xué)與動(dòng)力學(xué)仿真,驗(yàn)證其作業(yè)時(shí)運(yùn)動(dòng)性能的優(yōu)劣性;分析工具受機(jī)械手?jǐn)D壓力時(shí)連接件的受力,求出各個(gè)連接件工作時(shí)的安全系數(shù),提出連接件的改進(jìn)方案;對(duì)吊點(diǎn)工具進(jìn)行拓?fù)鋬?yōu)化與強(qiáng)度校核;分析了起吊作業(yè)中,打撈船、纜繩、吊點(diǎn)工具與殘骸在水下的受力情況,分別對(duì)其進(jìn)行了模型的建立,水深為1000m時(shí),模擬了海流作用下吊點(diǎn)工具布放與殘骸起吊的過(guò)程,得到工具布放至海底后的水平飄移距離,起吊殘骸時(shí)殘骸對(duì)吊點(diǎn)工具的作用力。加工第一代吊點(diǎn)工具樣機(jī),對(duì)吊點(diǎn)工具進(jìn)行夾持實(shí)驗(yàn),提出吊點(diǎn)工具的改進(jìn)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.
【學(xué)位授予單位】：大連海事大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類(lèi)號(hào)】：U676.8;V328

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