浅海移动平台履带行走机构设计与分析  

Design and analysis of shallow-sea mobile platform's crawler walking mechanism

作　　者：陈斌[1,2] 董奇峰 吴中正 纪晓宇 CHEN Bin;DONG Qifeng;WU Zhongzheng;JI Xiaoyu(CCCC Second Harbor Engineering Co.,Ltd.,Wuhan 430040;Key Laboratory of Large-span Bridge Construction Technology,Wuhan 430040;Research and Development Center of Transport Industry of Intelligent Manufacturing Technologies of Transport Infrastructure,Wuhan 430040;CCCC Highway Bridge National Engineering Research Centre Co.,Ltd.,Beijing 100032)

机构地区：[1]中交第二航务工程局有限公司,湖北武汉430040 [2]长大桥梁建设施工技术交通行业重点实验室,湖北武汉430040 [3]交通运输行业交通基础设施智能制造技术研发中心,湖北武汉430040 [4]中交公路长大桥建设国家工程研究中心有限公司,北京100032

出　　处：《机械设计》2023年第5期96-102,共7页Journal of Machine Design

摘　　要：浅海移动平台作为浅海地域施工的工程装备,其行走机构性能决定了施工平台的可作业范围。为提高浅海移动平台在浅海地域的适应性和通过性,设计了一种具有2自由度铰接轴的履带式行走机构,使其具备良好的地面适应能力和越障能力。基于虚拟样机技术对行走机构核心部件进行了机械结构有限元静力学分析和模态分析,发现极限工况下履带主梁最大应力和最大形变均在设计范围以内,其强度和刚度均满足要求;行走时地面冲击频率远小于主梁的1阶固有频率,不会引起主梁的共振。对施工平台行走机构作业性能进行试验分析,结果表明:浅海移动平台履带式行走机构在地面适应性和越障方面有着良好的性能表现。The shallow-sea mobile platform serves as the engineering equipment of shallow-sea construction,and the performance of its walking mechanism determines the working range of the construction platform.In this article,in order to improve adaptability and passability of the shallow-sea mobile platform in the shallow-sea area,the crawler walking mechanism with the two-degree-of-freedom articulated shaft is designed,so as to ensure a higher standard of ground adaptability and obstacle-surmounting ability.By means of the virtual prototype technology,both the finite-element static analysis and the modal analysis are carried out on the mechanical structure of the walking mechanism's core components.The results show that under the extreme working conditions,the maximum stress and deformation of the crawler's main beam are within the design range,and its strength and stiffness meet the requirements.During operation,the ground impact frequency is far less than the main beam's first-order natural frequency,which will not cause resonance of the main beam.Efforts are made to test and explore the operating performance of the walking mechanism of the construction platform.It is shown that the shallow-sea mobile plaform's crawler walking mechanism has good performance in ground adaptability and obstacle surmounting.

关 键 词：浅海移动平台 履带式行走机构 有限元法 静力学分析 模态分析 

分 类 号：TH122[机械工程—机械设计及理论] TU69[建筑科学—建筑技术科学]