船用蠕动式连续拖曳行走装置运动分析及优化

Kinematic Analysis and Optimization Design of Marine Creeping and Continuously Dragging Travel Device

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,提出了一种具有蠕动行走和交替拖曳功能的行走装置。对装置进行了运动分析,建立了以被拖曳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,对装置垂向及横向运动时间进行了优化。最后通过某海底管道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铺管装备运动速度的影响情况。

In order to achieve a stable, continuous and rapid travel movement of marine engineering equipment allocated on ships or floating bodies, A travel device with the performance of both creeping and alternative dragging was proposed. Kinematic analysis was conducted and kinematic optimization mathematical model with 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 the pipe-laying equipment was verified.