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力学与实践 ›› 2018, Vol. 40 ›› Issue (4): 409-414.doi: 10.6052/1000-0879-18-043

• 应用研究 • 上一篇    下一篇

深海采矿机构转臂动力学建模与力学分析1)

周知进*,2), 杨智, 刘爱军*   

  1. * 贵州理工学院机械工程学院, 贵阳 550003;
    † 湘电集团有限公司,湖南湘潭 411101
  • 收稿日期:2018-01-23 出版日期:2018-08-08 发布日期:2018-09-11
  • 作者简介:2) 周知进,教授,主要研究方向为机械系统动力学及控制。 E-mail:zjzhou@hnust.edu.cn
  • 基金资助:
    1) 国家自然科学基金资助项目(51174087)

DYNAMIC MODEL AND MECHANICAL ANALYSIS OF THE ROTATING ARM OF THE DEEP SEA MINING MECHANISM1)

ZHOU Zhijin*,2), YANG Zhi, LIU Aijun*   

  1. * School of Mechanical Engineering,Guizhou Institute of Technology,Guiyang 550003, China
    † Xiangtan Electric Manufacturing Group Limited Company, Xiangtan 411101, Hunan, China
  • Received:2018-01-23 Online:2018-08-08 Published:2018-09-11

摘要: 深海采矿机构多关节转臂运动时受到海洋水动力作用,转臂驱动油缸力矩与变幅机构驱动力受到影响。分析了深海采矿机构转臂受水动力的影响,建立采矿转臂在调整采矿姿态时的动力学模型。基于采矿机构特定转臂尺寸实例,得出了关节驱动力矩与变幅机构油缸驱动力曲线,以及基于ADMAS模型关节驱动力矩曲线。通过对采矿转臂进行动力学数值求解与仿真分析,验证其动力学方程的正确性。

关键词: 深海采矿机构|转臂|水动力|动力学模型

Abstract: In the movement of the multi joint swivel arm,the deep-sea mining mechanism is affected by the hydrodynamic force of the ocean, which in turns affects the driving torque of the arm and the driving force of the luffing mechanism. This paper analyzes the influence of the hydrodynamic force on the deep-sea mining mechanism, with a dynamic model of the mining arm in its capacity of adjusting the mining attitude. As an example of a mining mechanism of a specific arm size, we obtain the variation curve of the driving force of the joint driving torque and the variable amplitude mechanism oil cylinder against time, and the change curve of the joint driving torque based on the ADMAS model. By means of the dynamic numerical solution and the simulation analysis of the mining boom, the dynamic equation is verified.

Key words: deep-sea mining|rotating arm|hydrodynamic|dynamics model

中图分类号: 

  • TD424