Research On Dynamic Characteristics Of Multi-section Articulated Pipeline In Deep Sea Mining

In order to study the dynamic behavior of the whole system of deep-sea mining under different obstacle avoidance modes,a virtual prototype model of 2.5 km hard pipe + hose hydraulic conveying system was established based on virtual prototype technology.Two possible obstacle avoidance modes(vertical and horizontal).were analyzed The influence of obstacle size and middle bin mass on the dynamic behavior of the model was studied by simulation experiment.The main research contents and achievements are as follows(1)Under the two kinds of obstacle avoidance modes,when the hose is double arched,the stress of each important connection point of the system is roughly the same,but under the double arched state,the stress of the system is more stable,and the stress fluctuation of each important node is smaller.Because of the large fluctuation of the stress amplitude of the single arch,the stability of the structure will be affected,and the system is constantly affected by the cyclic load,Fatigue failure is easy to occur.(2)Under the two obstacle avoidance modes,changing the height of vertical obstacle avoidance and the width of horizontal obstacle crossing has little effect on the force of the whole system,which indicates that under the depth and structure of the system,the stable operation of the system can be ensured when the height of obstacle crossing is less than 1.5m and the width is less than 100.(3)The results show that when the obstacle speed exceeds a certain value of1.5m/s,the stability of the system begins to decline sharply,and the overall state can not meet the requirements of stable obstacle avoidance.Therefore,the obstacle speed of the two obstacle avoidance modes is not recommended to be greater than 1.5m/s,and try to avoid obstacles at low speed.(4)Under the two obstacle avoidance modes,the greater the mass of the intermediate bin is,the higher the stress state and stability of the system are.Under certain system conditions,it is suggested to increase the number of intermediate bins to 60 t,so as to offset the force of hydrodynamic force on the system and improve the obstacle avoidance efficiency.