【摘要】：傳統(tǒng)打撈作業(yè)普遍采用浮筒打撈法。在打撈作業(yè)中,需要潛水員在水下手動(dòng)操作攻泥器來攻打出千斤洞。若打撈作業(yè)在深水區(qū)及污染嚴(yán)重的港灣、航道中進(jìn)行,作業(yè)困難并有危險(xiǎn)。由此,需要開發(fā)設(shè)計(jì)能自動(dòng)攻泥作業(yè)以完成穿纜任務(wù)的攻泥機(jī)器人代替潛水員進(jìn)行海底穿纜作業(yè)。為了完成穿纜作業(yè),在土質(zhì)滿足攻泥機(jī)器人的工作條件下,需要相應(yīng)土質(zhì)下攻泥機(jī)器人的運(yùn)動(dòng)參數(shù)以設(shè)計(jì)其運(yùn)動(dòng)軌跡并編寫自動(dòng)攻泥運(yùn)動(dòng)程序。攻泥機(jī)器人是在土體對其作用的支撐力和阻力的協(xié)調(diào)作用下驅(qū)動(dòng)前進(jìn)的,攻泥機(jī)器人的運(yùn)動(dòng)參數(shù)是兩者共同作用的結(jié)果。那么,研究攻泥機(jī)器人的工作條件和不同土質(zhì)下的運(yùn)動(dòng)參數(shù)以及攻泥機(jī)器人的運(yùn)動(dòng)機(jī)理是此文的主要任務(wù)。攻泥機(jī)器人直行攻泥運(yùn)動(dòng)由連續(xù)多個(gè)攻泥步組成,在每個(gè)攻泥步,土體產(chǎn)生較大變形以致破壞。此文基于CEL(Coupled Eulerian-Lagrangian Method)大變形有限元法模擬攻泥機(jī)器人在飽和海洋粘土中的直行攻泥運(yùn)動(dòng)和轉(zhuǎn)動(dòng)攻泥運(yùn)動(dòng),土體為理想彈塑性體,采用Treseca準(zhǔn)則、相關(guān)流動(dòng)法則,通過歐拉-拉格朗日耦合算法實(shí)現(xiàn)攻泥機(jī)器人與土體相互作用和三維空間中土體大變形破壞的模擬計(jì)算,通過ABAQUS中的連接單元實(shí)現(xiàn)攻泥機(jī)器人的伸縮運(yùn)動(dòng)。模擬結(jié)果表明:對于確定尺寸的攻泥機(jī)器人,其使用條件與土體的不排水強(qiáng)度及剛度和攻泥機(jī)器人的運(yùn)動(dòng)方向有關(guān);攻泥機(jī)器人的攻泥平均速度和平均加速度可用作主要設(shè)計(jì)參數(shù);收尾步驟,攻泥機(jī)器人的受力情況對運(yùn)行速度大小起到?jīng)Q定性作用;支撐A受到的端部支撐力和側(cè)面支撐力對轉(zhuǎn)動(dòng)攻泥運(yùn)動(dòng)影響較大。
[Abstract]:The traditional fishing operation generally adopts buoy fishing method. In the salvage operation, divers are required to manually operate the dredger under water to attack a thousand catty holes. If salvage operations are carried out in deep water areas and polluted harbors and waterways, the operation is difficult and dangerous. Therefore, it is necessary to develop and design a dredging robot capable of automatic dredging to complete the cable penetration task instead of submarine cable penetration by divers. In order to complete the cable penetrating operation, under the condition that the soil quality satisfies the working condition of the mud attack robot, the corresponding motion parameters of the mud penetrating robot are required to design its motion track and write the automatic mud attack motion program. The robot is driven forward by the coordinated action of soil supporting force and resistance, and the motion parameters of the robot are the result of the interaction between the two. Therefore, the main task of this paper is to study the working conditions of mud tapping robot, the motion parameters under different soil quality and the motion mechanism of mud tapping robot. The movement of mud attack robot is composed of successive mud tapping steps. In each mud attack step, the soil is deformed and destroyed. Based on CEL (coupled Eulerian-Lagrangian method) large deformation finite element method (FEM) is used to simulate the direct and rotational movement of mud attack robot in saturated marine clay. The soil is an ideal elastoplastic body. Treseca criterion is adopted and the relevant flow rule is used. The simulation calculation of the interaction between mud tapping robot and soil and the large deformation and failure of soil in three dimensional space is realized by Euler-Lagrangian coupling algorithm, and the expansion and expansion motion of dredging robot is realized by the connection unit in Abaqus. The simulation results show that the operating conditions are related to the undrained strength and stiffness of the soil mass and the movement direction of the dredging robot. The average velocity and average acceleration of mud tapping robot can be used as the main design parameters, and the force condition of the robot plays a decisive role in the final stage. The end support force and side support force of support A have great influence on the movement of rotary mud attack.
【學(xué)位授予單位】：天津大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2016
【分類號(hào)】：U676.63

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