【摘要】 为了解决海底管道悬跨现象所带来的疲劳破坏问题,进行了灌浆袋处理装置的研究,提出了一次吊装可完成多处悬跨处理的装置总体方案,介绍了工作原理。运用三维建模、机构受力分析及有限元法进行了托盘托举机构的设计,确定了液压缸参数。针对两侧副液压缸同步性要求,进行了PID控制的液压缸的同步回路设计及仿真分析,采取试凑法确定了比例、积分与微分参数。最后,加工出样机进行了托举机构伸缩运动实验,结果验证了设计的合理性、可行性。该装置能够代替潜水员一次性下海进行海底多处悬跨管道的填充处理作业,提高了作业效率,因而,具有一定的海下工程应用意义。更多还原

【Abstract】 For the purpose of solving the problem of fatigue failure caused by the submarine pipeline of phenomenon of free span,the research of grouting bags device was done,and its overall plan that once hoisting working can fill several suspended span was put forward and introduced the work principle. By using three dimensional( 3D) modeling,stress analysis and the finite element method( FEM),the lift mechanism used for pallet was designed to determine the hydraulic cylinder parameters. According to the synchronization requirements of the hydraulic cylinders on both sides of the device,the synchronous circuit design and simulation analysis of the hydraulic cylinders controlled by propotion integral and differential( PID) were carried out,and the PID parameters were determined by the method of trial and error. In the end,the prototype was made,and the experiments of the lift mechanism of stretching out and pulling back were carried out. The results verify the rationality and feasibility of design. The device can replace divers to fill several submarine pipelines of suspended span parts once at a time,and improves the working efficiency; therefore,it will have a definite meaning in engineering application under the sea.更多还原