船用蠕动式连续拖曳行走装置运动分析及优化

为了实现大型海洋工程装备在船舶或浮体等运动物表面的稳定、连续、快速行走运动,对船用蠕动式连续拖曳行走装置进行了研究。介绍了在模拟尺蠖蠕动基础上增加了交替拖曳功能的行走装置运动原理,并设计了相应的机械结构及液压驱动系统。对行走装置进行了运动分析,建立了以被拖体运动速度最大为目标,以液压系统流量限制为约束条件的优化数学模型,对行走装置垂向及横向运动时间进行了优化。最后通过某海底管线铺设装备上配置的行走装置样机试验,验证了其运动性能以及各环节运动时间对被拖体运动速度的影响情况。

Kinematic analysis and optimization design ofmarine creeping and continuously dragging travel device

In order to achieve a stable, continuous and rapid travel movement of marine engineering equipment allocated on ships or floating bodies, theoretical study was performed on marine creeping and continuously dragging travel device. Kinematic principle of the travel device based on inchworm motion and continuously dragging was proposed, and mechanical structure together with the corresponding hydraulic driving system were designed. Kinematic analysis was conducted and kinematic optimization mathematical modelSwith the optimization objective of maximum dragging velocity was established. Optimization calculation was conducted on vertical and lateral movement time of the travel device with the flow constraints of the hydraulic system. Prototype test was done on a certain travel device equipped with marine pipe-laying equipment, kinematic performance and influence law of movement time on the velocity of dragged object was verified.