Method for simulating coupling dynamics of chassis wheel train of multi-point mobile deep-sea sampling drill

Abstract

The application discloses a kind of multi-point mobile deep-sea sampling drill chassis wheel train coupling dynamics simulation methods, comprising the following steps: 1) establish multi-point mobile deep-sea sampling drill three-dimensional model and import RecurDyn multi-body dynamics analysis software to carry out entity replacement;2) add the constraint and initial stress between each component, such as fixed pair, moving pair, rotary pair;3) add the contact between chassis and guide wheel, supporting wheel, tug, transmission wheel and track, and mesh division is carried out on the wheel train part of hydraulic chassis in the software, and flexible treatment is carried out, and the soil parameters simulating surface sediment at 6000m in deep sea and the hydrodynamic force received by drill are added;4) finally, the rigid-flexible coupling dynamics simulation of multi-point mobile deep-sea sampling drill chassis wheel train is carried out, and the impact result received by chassis wheel train is observed after simulation, which provides theoretical basis and data support for the safe release of multi-point mobile deep-sea sampling drill.

Description

Technical Field

[0001] This invention belongs to the field of deep-sea sampling drilling rig technology, specifically relating to a simulation method for the coupled dynamics of the chassis wheel system of a multi-point mobile deep-sea sampling drilling rig. Background Technology

[0002] This invention simulates a multi-point mobile deep-sea sampling drill rig designed using patent CN214576757U. During deep-sea geological exploration operations, upon initial release and contact with the seabed, the chassis absorbs most of the impact force on its components. To ensure the rig's subsequent operation, including sampling, a multibody dynamics simulation analysis of the landing conditions is necessary. This invention utilizes Recurdyn multibody dynamics software to perform finite element-based flexible processing of the steel wheel system on the chassis, simulating landing conditions of the multi-point mobile deep-sea sampling drill rig under different conditions. The stress and strain results of each wheel are obtained, providing theoretical basis and data support for the safe deployment of the multi-point mobile deep-sea sampling drill rig.

[0003] Currently, the simulation method for this type of multi-point mobile deep-sea sampling drilling rig is to use ANSYS to automatically generate a mesh and then perform a collision simulation upon landing. This technology cannot simulate the tension of the rubber tracks and the buffering performance of the deep-sea sediment characteristics on the whole. It simplifies the interaction forces between key components, which will cause errors in the simulation results and make it impossible to accurately determine the actual acceptable release height and landing slope.

[0004] The impact force experienced by a multi-point mobile deep-sea sampling drill rig upon landing is related not only to the release height, but also to its own weight, buoyancy, water resistance, the characteristics of different seabed materials, and the initial tension of the tracks. Due to limitations in experimental conditions, it is difficult to conduct multiple deployments in situ in the deep sea. The Recurdyn software is used to construct these special environments to simulate the real landing environment of the multi-point mobile deep-sea sampling drill rig. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention provides a multi-point mobile deep-sea sampling drilling rig chassis wheel system coupled dynamics simulation method that can simulate the working performance of rubber tracks and simulate the environment of ocean currents and seabed sediment to the greatest extent.

[0006] The technical solution adopted in this invention is: a simulation method for the coupled dynamics of the chassis wheel system of a multi-point mobile deep-sea sampling drilling rig, used for the rigid-flexible coupling dynamics simulation of the chassis wheel system of the multi-point mobile deep-sea sampling drilling rig in application number 202120499131.4; the chassis wheel system includes guide wheels, support wheels, support rollers and transmission wheels; the transmission wheels are connected to the output shaft of the travel motor; each set of guide wheels, support wheels, support rollers and transmission wheels is wrapped with tracks; the frame is fixedly installed on the track frame; the travel motor is connected to the hydraulic device, and the bottom plate is hinged to the track frame;

[0007] Includes the following steps:

[0008] 1) Based on the actual structure of the multi-point mobile deep-sea sampling drilling rig, a three-dimensional model of the multi-point mobile deep-sea sampling drilling rig was established and imported into the multibody dynamics analysis software RecurDyn; the Track_LM subsystem was used to replace the chassis wheel system and tracks; and the components were combined using the merge command according to the different functions of each component, dividing the multibody dynamics model of the multi-point mobile deep-sea sampling drilling rig into a combination of vision device, multi-point sampling device, traveling vehicle and hydraulic device;

[0009] 2) Based on the actual connection method between each component, connecting pairs are used in the multibody dynamics analysis software RecurDyn to connect different components: the vision device is mounted and fixed on the traveling vehicle; the multi-point sampling device is mounted and fixed at the front end of the traveling vehicle; one end of the swing hydraulic cylinder is hinged to the frame, and the other end is hinged to the upper end of the column; the hydraulic motor is mounted and fixed on the base plate; the frame is fixedly mounted on the track frame; the guide wheel, support roller, track roller, and drive wheel are arranged on the track frame; the drive wheel is connected to the output shaft of the traveling motor.

[0010] 3) Build a bottom model in Ground and set up models with different drop heights and slopes; apply a vertical upward force to the multi-point mobile deep-sea sampling drill to simulate the hydrodynamic forces experienced by the multi-point mobile deep-sea sampling drill during the landing process; set the soil parameters of the bottom to simulate the deep-sea seabed environment.

[0011] 4) The chassis wheel system is divided into eight-node hexahedral meshes with flexible processing. When generating the mesh, the maximum and minimum global mesh size are set, the mesh and its contact point information are previewed and the mesh is saved.

[0012] 5) Set simulation conditions and conduct simulation experiments; analyze the stress on the chassis wheel assembly based on the simulation results, and perform data analysis on the components with the greatest stress and strain.

[0013] In the above-mentioned simulation method for coupled dynamics of the chassis wheel system of a multi-point mobile deep-sea sampling drilling rig, the specific operation process of step 1) is as follows:

[0014] Create a 3D model of the multi-point mobile deep-sea sampling drill rig in the 3D software Creo, save the 3D model of the multi-point mobile deep-sea sampling drill rig as an x_t file, and import the multi-point mobile deep-sea sampling drill rig model into the Track_LM subsystem in the RecurDyn software.

[0015] The specific steps for solid replacement of the chassis wheel system and tracks are as follows: First, enter the solid editing mode of the idler wheel, carrier roller, track roller, and drive wheel respectively. Adjust the wheel surface to be parallel to the xoy plane, move the center of mass to the starting point of the reference frame (0,0,0), and then export the model in x_t form. Delete the original model and import the model with the corrected coordinates. Then, use CADSprocket to perform solid replacement on the drive wheel. Use import to extract the tooth profile from the model, and then input the number of teeth, addendum, and root circle radius to draw the CAD drive wheel. After confirming, enter the solid editing mode of the new drive wheel again, and use the face function to create two planes that contact the tracks. Then, use CAD_SingleFlange to replace the idler wheel, carrier roller, and track roller. For the idler wheel, carrier roller, and track roller, input the required hub width, hub radius, total width, and distance between two hubs in the parameter table. Then, perform solid replacement on the track using CAD_Link. Based on the actual dimensions, input the tooth height, tooth width, and hole spacing of the track teeth in the parameter table. When drawing the tooth profile, use Multi Curve to sequentially click through the outer profile line on the track plate. After completion, set the contact points between the track and the ground. Use ShoePoint to define the 5th to 25th points of the track. At the same time, in Grower Mesh, select Start Node as 5 and End Node as 25, enter Side Contact, select the left and right contact surfaces with the drive wheel, as well as the contact surfaces between the track and the idler wheel, carrier roller, track roller inner side, and hub circumference to define them. After the chassis wheel system and track are modeled, adjust the position of each wheel, and use Assembly to assemble the track onto the chassis wheel system.

[0016] After the physical replacement is completed, the remaining parts of the multi-point mobile deep-sea sampling drill rig are merged. The specific operation is as follows: Click Merge in Home, select the parts of the light source, camera and lens, merge them, and name them Vision Device in Target Body; select the hydraulic motor, mounting base, drill rod, upright, adapter, tray, column, unscrewing device, turntable, drill bit, hydraulic motor b, gear, base plate, hydraulic cylinder, swing hydraulic cylinder and solenoid valve, merge them, and name them Multi-point Sampling Device in Target Body; select all parts of the track frame and chassis, merge them separately, and name them Track Frame and Chassis in Target Body.

[0017] In the above-mentioned simulation method for coupled dynamics of the chassis wheel system of a multi-point mobile deep-sea sampling drilling rig, the specific operation process of step 2) is as follows:

[0018] A fixed joint is used to connect the vision device and the traveling vehicle. Click "Fix" in "Joint," select the vision device first, then click the traveling vehicle, and finally click the connection point between the vision device and the traveling vehicle as the location of the fixed joint. A fixed joint is also used to connect the multi-point sampling device and the traveling vehicle. Click "Fix" in "Joint," select the multi-point sampling device first, then click the traveling vehicle, and finally click the connection point between the multi-point sampling device and the traveling vehicle as the location of the fixed joint. A revolute joint is used at the connection between the swing hydraulic cylinder and the frame and column. Click "Revolute" in "Joint," select the swing hydraulic cylinder first, then... Click on the frame and column, then click on the rotation point of the swing hydraulic cylinder with the frame and column as the position of the revolute joint; click on Fix in Joint, first select the hydraulic motor, then click on the base plate, and finally click on the connection point between the hydraulic motor and the base plate as the position of the fixed joint; click on Fix in Joint, first select the frame, then click on the track frame, and finally click on the connection point between the frame and the track frame as the position of the fixed joint; click on Revolute in Joint, first select the idler wheel, carrier roller, track roller, and drive roller, then click on the track frame, and finally click on the rotation point of the idler wheel, carrier roller, track roller, drive roller, and track frame as the position of the revolute joint.

[0019] In the above-mentioned simulation method for coupled dynamics of the chassis wheel system of a multi-point mobile deep-sea sampling drilling rig, the specific operation process of step 3) is as follows:

[0020] In Professional mode, select Ground to create the ground. For a flat seabed, use a cuboid with a length of 5m, a width of 5m, and a height of 1m. Create multiple files and set the height distance between the seabed and the multi-point mobile deep-sea sampling drill in each file, ensuring that the height distances are different in each file. The steps to set the height distance between the seabed and the multi-point mobile deep-sea sampling drill are as follows: Select Distance in Measure, select the bottom point of the track in First Point, select a point on the upper surface of the seabed in Second Point, click Calculate to calculate the distance between the tracks, select Basic Object Control, select the seabed cuboid, input the calculated rise or fall distance, and click +Y or -Y to adjust to the target position.

[0021] To apply an upward vertical force to a multi-point mobile deep-sea sampling drill rig to simulate the hydrodynamic forces experienced by the rig during its landing, the specific steps for setting this upward vertical force are as follows: First, select Mass in Measure, select the entire multi-point mobile deep-sea sampling drill rig, click Calculate to obtain the centroid of the drill rig, copy the centroid, click Axial Force, select the sediment and the drill rig in sequence, input the centroid coordinates as the starting point, modify the Y coordinate of the base point to 0, and then input the centroid coordinates as the ending point coordinates. When setting the sediment soil parameters, go to TrackAssembly through Database on the right, check Pressure-Sinkage and click Contact Parameter, input the cohesive deformation modulus, frictional deformation modulus, subsidence index, cohesion, shear resistance angle, shear deformation modulus and subsidence ratio of the deep-sea sediment, and confirm to complete the simulation of the deep-sea sediment.

[0022] In the above-mentioned simulation method for coupled dynamics of the chassis wheel system of a multi-point mobile deep-sea sampling drilling rig, the specific operation process of step 4) is as follows:

[0023] For the drive wheel, right-click and select Mesh to enter the mesh generation module. Select Advanced Mesh, set the mesh type to Solid_Hexa8, the maximum mesh size to 12, and the minimum mesh size to 4. Click Mesh to generate the mesh. Click Output in FFlexEdit, select Add by Set, and click the plane on the drive wheel to select the output points. For the guide wheel, set the mesh type to solid4_Tetra4, the maximum mesh size to 20, and the minimum mesh size to 15. After generating the mesh, select the output points. For the tractor wheel, set the mesh type to Solid_Hexa8, the maximum mesh size to 15, and the minimum mesh size to 10. After generating the mesh, select the output points. For the support roller, set the mesh type to Solid_Hexa8, the maximum mesh size to 15, and the minimum mesh size to 10. After generating the mesh, select the output points.

[0024] In the above-mentioned simulation method for the coupled dynamics of the chassis wheel system of the multi-point mobile deep-sea sampling drilling rig, the specific operation process of step 5) is as follows:

[0025] Click on Dynamic / Kinematic Analysis in Analysis, set End Time to 2s, Step to 100, and Maximum Time Step to 0.001, then click on Simulate to start the simulation.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] 1. This invention retains the specific features of the components to be analyzed, and can add contact to the surfaces where contact occurs during simulation. It can also modify the data parameters of different seabed materials according to the different deep seabed materials, so that the analysis results are closer to the real situation.

[0028] 2. This invention adds calculated buoyancy and water resistance during the landing process to the center of mass of the multi-point mobile deep-sea sampling drill, thereby realizing a realistic simulation of the impact of the deep-sea environment on the multi-point mobile deep-sea sampling drill.

[0029] 3. This invention integrates the advantages of Recurdyn software in rapid mesh generation and seabed contact, and utilizes the multibody dynamics algorithm of the track subsystem to make key components such as the chassis wheel system flexible, and establishes a rigid-flexible coupled dynamic model with the track system. This enables the analysis of the stress and strain of key components of the overall multi-point mobile deep-sea sampling drilling rig when it sinks to the bottom. Attached Figure Description

[0030] Figure 1 This is a flowchart of the present invention.

[0031] Figure 2This is the overall structural diagram of a multi-point mobile deep-sea sampling drilling rig.

[0032] Figure 3 This is a structural diagram of the multi-point sampling assembly; Figure 3 (a) Front view of the multi-point sampling assembly, Figure 3 (b) Front view of the multi-point sampling assembly.

[0033] Figure 4 This is a diagram of the chassis structure.

[0034] Figure 5 This is the Recurdyn model and tooth profile parameter table for the track of this invention.

[0035] Figure 6 This is the chassis structure model of the multi-point mobile deep-sea sampling drilling rig of the present invention.

[0036] Figure 7 This invention relates to a multibody dynamics model of a multi-point mobile deep-sea sampling drilling rig.

[0037] Figure 8 This invention relates to the hydrodynamic function and loading diagram.

[0038] Figure 9 These are the soil mechanical parameters of this invention.

[0039] Figure 10 This is the FFlex flexible body mesh model of the transmission wheel of the present invention.

[0040] Figure 11 This is the rigid-flexible coupling assembly model of the present invention.

[0041] Figure 12 This is a stress cloud diagram of the simulation results of the chassis wheel system of this invention.

[0042] Figure 13 This is a schematic diagram showing the change in stress value of the support roller during a drop. Detailed Implementation

[0043] The present invention will be further described below with reference to the accompanying drawings. This invention is used for the rigid-flexible coupling dynamic simulation of the chassis wheel system of a multi-point mobile deep-sea sampling drilling rig as described in application number 202120499131.4; the multi-point mobile deep-sea sampling drilling rig, such as... Figure 2 As shown. The multi-point mobile deep-sea sampling drilling rig features: a multi-point sampling device 1, a vision device 3, a hydraulic device 5, and a traveling vehicle, wherein the traveling vehicle includes a chassis 2 and a frame 4.

[0044] Figure 3 , Figure 4The multi-point sampling device 1 and the chassis 2 are included. The multi-point sampling device 1 includes a hydraulic motor 1-1, a mounting base 1-2, a drill rod 1-3, a vertical rod 1-4, a column 1-10, a hydraulic cylinder 1-5, a tray 1-6, a screw-on / unscrew device 1-7, a turntable 1-8, a drill bit base plate 1-9, and a swing hydraulic cylinder 1-11. The vertical rod and column are fixedly installed on the base plate 1-12, and the base plate is installed on the track frame 2-5.

[0045] The chassis wheel system includes a guide wheel 2-1, a carrier roller 2-3, a support roller 2-4, and a drive roller 2-6. A track is wrapped around each set of guide wheels 2-1, carrier rollers 2-3, support rollers 2-4, and drive rollers 2-6; the chassis 4 is fixedly mounted on the track frame 2-5. The drive roller is connected to the output shaft of the travel motor; a track is wrapped around each set of guide wheels, carrier rollers, support rollers, and drive rollers; the chassis is fixedly mounted on the track frame; the travel motor is connected to a hydraulic system, and the base plate is hinged to the track frame.

[0046] This invention includes the following specific steps:

[0047] 1) Based on the actual structure of the multi-point mobile deep-sea sampling drilling rig, a three-dimensional model of the multi-point mobile deep-sea sampling drilling rig was established and imported into the multibody dynamics analysis software RecurDyn. The Track_LM subsystem was used to replace the chassis wheel system and tracks with solids. The components were combined using the merge command according to their different functions. The multibody dynamics model of the multi-point mobile deep-sea sampling drilling rig was divided into a combination of vision device, multi-point sampling device, traveling vehicle and hydraulic device.

[0048] The specific steps are as follows:

[0049] Create a 3D model of the multi-point mobile deep-sea sampling drill rig in the 3D software Creo, save the 3D model of the multi-point mobile deep-sea sampling drill rig as an x_t file, and import the multi-point mobile deep-sea sampling drill rig model into the Track_LM subsystem in the RecurDyn software.

[0050] The specific steps for solid replacement of the chassis wheel system and tracks are as follows: First, enter the solid editing mode of the idler wheel, carrier roller, track roller, and drive wheel respectively. Adjust the wheel surface to be parallel to the xoy plane, move the center of mass to the starting point of the reference frame (0,0,0), and then export the model in x_t form. Delete the original model and import the model with the corrected coordinates. Then, use CADSprocket to perform solid replacement on the drive wheel. Use import to extract the tooth profile from the model, and then input the number of teeth, addendum, and root circle radius to draw the CAD drive wheel. After confirming, enter the solid editing mode of the new drive wheel again, and use the face function to create two planes that contact the tracks. Then, use CAD_SingleFlange to replace the idler wheel, carrier roller, and track roller. For the idler wheel, carrier roller, and track roller, input the required hub width, hub radius, total width, and distance between two hubs in the parameter table. Then, perform solid replacement on the track using CAD_Link. Based on the actual dimensions, input the tooth height, tooth width, and hole spacing of the track teeth in the parameter table. When drawing the tooth profile, use Multi Curve to sequentially click through the outer profile line on the track plate. After completion, set the contact points between the track and the ground. Use ShoePoint to define the 5th to 25th points of the track. At the same time, in Grower Mesh, select Start Node as 5 and End Node as 25, enter Side Contact, select the left and right contact surfaces with the drive wheel, as well as the contact surfaces between the track and the idler wheel, carrier roller, track roller inner side, and hub circumference to define them. After the chassis wheel system and track are modeled, adjust the position of each wheel, and use Assembly to assemble the track onto the chassis wheel system.

[0051] After the physical replacement is completed, the remaining parts of the multi-point mobile deep-sea sampling drill rig are merged. The specific operation is as follows: Click Merge in Home, select the parts of the light source, camera and lens, merge them, and name them Vision Device in Target Body; select the hydraulic motor, mounting base, drill rod, upright, adapter, tray, column, unscrewing device, turntable, drill bit, hydraulic motor b, gear, base plate, hydraulic cylinder, swing hydraulic cylinder and solenoid valve, merge them, and name them Multi-point Sampling Device in Target Body; select all parts of the track frame and chassis, merge them separately, and name them Track Frame and Chassis in Target Body.

[0052] 2) Based on the actual connection method between each component, connecting pairs are used in the multibody dynamics analysis software RecurDyn to connect different components: the vision device is mounted and fixed on the traveling vehicle; the multi-point sampling device is mounted and fixed at the front end of the traveling vehicle; one end of the swing hydraulic cylinder is hinged to the frame, and the other end is hinged to the upper end of the column; the hydraulic motor is mounted and fixed on the base plate; the frame is fixedly mounted on the track frame; the guide wheel, support roller, track roller, and drive wheel are arranged on the track frame; the drive wheel is connected to the output shaft of the traveling motor.

[0053] The specific steps are as follows:

[0054] A fixed joint is used to connect the vision device and the traveling vehicle. Click "Fix" in "Joint," select the vision device first, then click the traveling vehicle, and finally click the connection point between the vision device and the traveling vehicle as the location of the fixed joint. A fixed joint is also used to connect the multi-point sampling device and the traveling vehicle. Click "Fix" in "Joint," select the multi-point sampling device first, then click the traveling vehicle, and finally click the connection point between the multi-point sampling device and the traveling vehicle as the location of the fixed joint. A revolute joint is used at the connection between the swing hydraulic cylinder and the frame and column. Click "Revolute" in "Joint," select the swing hydraulic cylinder first, then... Click on the frame and column, then click on the rotation point of the swing hydraulic cylinder with the frame and column as the position of the revolute joint; click on Fix in Joint, first select the hydraulic motor, then click on the base plate, and finally click on the connection point between the hydraulic motor and the base plate as the position of the fixed joint; click on Fix in Joint, first select the frame, then click on the track frame, and finally click on the connection point between the frame and the track frame as the position of the fixed joint; click on Revolute in Joint, first select the idler wheel, carrier roller, track roller, and drive roller, then click on the track frame, and finally click on the rotation point of the idler wheel, carrier roller, track roller, drive roller, and track frame as the position of the revolute joint.

[0055] 3) Establish a bottom sediment model within Ground, setting up models with different drop heights and slopes; apply a vertically upward force to the multi-point mobile deep-sea sampling drill to simulate the hydrodynamic forces experienced by the multi-point mobile deep-sea sampling drill during its landing process; set the soil parameters of the bottom sediment to simulate the deep-sea seabed environment.

[0056] The specific steps are as follows:

[0057] In the Professional menu, select "Ground" to create the ground. For a flat seabed, use a cuboid with dimensions of 5m long, 5m wide, and 1m high. Create multiple files, setting the height distance between the seabed and the multi-point mobile deep-sea sampling rig in each file, ensuring that the height distances are different in each file. The steps for setting the height distance between the seabed and the multi-point mobile deep-sea sampling rig are as follows: Select "Distance" in "Measure," choose the bottom point of the track for "First Point," and select a point on the upper surface of the seabed for "Second Point." Click "Calculate" to calculate the distance between the tracks. Select "Basic Object Control," select the seabed cuboid, and input the calculated ascent or descent distance. Click "+Y" or "-Y" to adjust to the target position.

[0058] To simulate the hydrodynamic forces experienced by a multi-point mobile deep-sea sampling drill during its landing, an upward vertical force is applied to it. The specific steps for setting this force are as follows: First, select Mass in Measure, select the entire multi-point mobile deep-sea sampling drill, and click Calculate to obtain its centroid. Copy this centroid, click Axial Force, and then select the sediment and the drill in sequence. Input the centroid coordinates as the starting point, modify the Y-coordinate of the base point to 0, and then input the centroid coordinates as the ending point. When setting the sediment parameters, access TrackAssembly through Database on the right, check Pressure-Sinkage, and click Contact Parameter. Input the cohesive deformation modulus, frictional deformation modulus, subsidence index, cohesion, shear resistance angle, shear deformation modulus, and subsidence ratio of the deep-sea sediments. After confirming, the simulation of the deep-sea sediments is complete.

[0059] 4) The chassis wheel system is meshed using eight-node hexahedral elements with flexible processing. When generating the mesh, the maximum and minimum global mesh sizes are set. The mesh and its contact point information are previewed and then saved. Specific steps are as follows:

[0060] 1) Figure 10 This is a schematic diagram of the finite element mesh generation for the transmission wheel. Figure 11A schematic diagram of the overall mesh generation for all chassis wheel systems is shown below. The specific steps are as follows: Right-click and select Mesh to enter the mesh generation module for the drive wheels. Select Advanced Mesh, with the mesh type being an eight-point hexahedron (Solid_Hexa8), the maximum mesh size being 12, and the minimum mesh size being 4. Click Mesh to generate the mesh. Click Output in FFlex Edit, select Add by Set, and click on the plane on the drive wheel to select the output points.

[0061] 2) For the guide wheel, the mesh type is tetrahedral mesh (solid4_Tetra4), the maximum mesh size is 20, the minimum mesh size is 15, and the output point is selected after the mesh is generated.

[0062] 3) For tugboats, the mesh type is an eight-point hexahedron (Solid_Hexa8), the maximum mesh size is 15, the minimum mesh size is 10, and the output points are selected after the mesh is generated.

[0063] 4) For support rollers, the mesh type is an eight-point hexahedron (Solid_Hexa8), the maximum mesh size is 15, the minimum mesh size is 10, and the output points are selected after the mesh is generated.

[0064] (vi) Set simulation conditions and conduct simulation experiments; analyze the stress situation of the chassis wheel assembly based on the simulation results, and perform data analysis on the components with the greatest stress and strain. Click Dynamic / Kinematic Analysis in Analysis, set End Time to 2S, Step to 100, and Maximum Time Step to 0.001 to facilitate a more detailed analysis of the forces acting on the wheel system. Click Simulate to start the simulation. After the simulation is complete, click Contour, select stress as the display type, and click Calculation to automatically calculate the maximum and minimum stresses. Use user input to set the maximum value point of the stress contour map to 10, and change the color of the maximum and minimum stress and strain displayed in the contour map. After confirming, the stress and strain contour map of the multi-point mobile deep-sea sampling drilling rig chassis wheel system will be displayed. Figure 12 This is a stress variation diagram of the chassis wheel system of the multi-point mobile sampler after the simulation. Figure 13 This is a diagram showing the stress variation experienced by the support roller when the release height is 3m.

Claims

1. A method for simulating the coupled dynamics of the chassis wheel system of a multi-point mobile deep-sea sampling drilling rig, used for the rigid-flexible coupling dynamics simulation of the chassis wheel system of a multi-point mobile deep-sea sampling drilling rig; the chassis wheel system includes guide wheels, support wheels, track wheels, and transmission wheels; the transmission wheels are connected to the output shaft of the travel motor; each set of guide wheels, support wheels, track wheels, and transmission wheels is wrapped with tracks; the chassis is fixedly mounted on the track frame; the travel motor is connected to a hydraulic device, and the base plate is hinged to the track frame; Includes the following steps: 1) Based on the actual structure of the multi-point mobile deep-sea sampling drilling rig, a three-dimensional model of the multi-point mobile deep-sea sampling drilling rig was established and imported into the multibody dynamics analysis software RecurDyn; the Track_LM subsystem was used to replace the chassis wheel system and tracks; and the components were combined using the merge command according to the different functions of each component, dividing the multibody dynamics model of the multi-point mobile deep-sea sampling drilling rig into a combination of vision device, multi-point sampling device, traveling vehicle and hydraulic device; 2) Based on the actual connection method between each component, connecting pairs are used in the multibody dynamics analysis software RecurDyn to connect different components: the vision device is mounted and fixed on the traveling vehicle; the multi-point sampling device is mounted and fixed at the front end of the traveling vehicle; one end of the swing hydraulic cylinder is hinged to the frame, and the other end is hinged to the upper end of the column; the hydraulic motor is mounted and fixed on the base plate; the frame is fixedly mounted on the track frame; the guide wheel, support roller, track roller, and drive wheel are arranged on the track frame; the drive wheel is connected to the output shaft of the traveling motor. 3) Build a bottom model in Ground and set up models with different drop heights and slopes; apply a vertical upward force to the multi-point mobile deep-sea sampling drill to simulate the hydrodynamic forces experienced by the multi-point mobile deep-sea sampling drill during the landing process; set the soil parameters of the bottom to simulate the deep-sea seabed environment. The specific operation process for step 3) is as follows: In Professional mode, select Ground to create the ground. For a flat seabed, use a cuboid with a length of 5m, a width of 5m, and a height of 1m. Create multiple files and set the height distance between the seabed and the multi-point mobile deep-sea sampling drill in each file, ensuring that the height distances are different in each file. The steps to set the height distance between the seabed and the multi-point mobile deep-sea sampling drill are as follows: Select Distance in Measure, select the bottom point of the track as First Point, select a point on the upper surface of the seabed as Second Point, click Calculate to calculate the distance between the tracks, select Basic Object Control, select the seabed cuboid, input the calculated rise or fall distance, and click +Y or -Y to adjust to the target position. To apply an upward vertical force to a multi-point mobile deep-sea sampling drill rig to simulate the hydrodynamic forces experienced by the rig during its landing, the specific steps for setting this upward vertical force are as follows: First, select Mass in Measure, select the entire multi-point mobile deep-sea sampling drill rig, click Calculate to obtain the centroid of the drill rig, copy the centroid, click Axial Force, select the sediment and the drill rig in sequence, input the centroid coordinates as the starting point, modify the Y coordinate of the base point to 0, and then input the centroid coordinates as the ending point coordinates. When setting the sediment soil parameters, go to TrackAssembly through Database on the right, check Pressure-Sinkage and click Contact Parameter, input the cohesive deformation modulus, friction deformation modulus, subsidence index, cohesion, shear resistance angle, shear deformation modulus and subsidence ratio of the deep-sea sediment, and confirm to complete the simulation of the deep-sea sediment. 4) The chassis wheel system is divided into eight-node hexahedral meshes with flexible processing. When generating the mesh, the maximum and minimum global mesh size are set, the mesh and its contact point information are previewed and the mesh is saved. 5) Set simulation conditions and conduct simulation experiments; analyze the stress on the chassis wheel assembly based on the simulation results, and perform data analysis on the components with the greatest stress and strain.

2. The specific operation process of step 1) of the multi-point mobile deep-sea sampling drilling rig chassis wheel system coupling dynamics simulation method according to claim 1 is as follows: Create a 3D model of the multi-point mobile deep-sea sampling drill rig in the 3D software Creo, save the 3D model of the multi-point mobile deep-sea sampling drill rig as an x_t file, and import the multi-point mobile deep-sea sampling drill rig model into the Track_LM subsystem in the RecurDyn software. The specific steps for solid replacement of the chassis wheel system and tracks are as follows: First, enter the solid editing mode of the idler wheel, carrier roller, track roller, and drive wheel respectively. Adjust the wheel surface to be parallel to the xoy plane, move the center of mass to the starting point of the reference frame (0,0,0), and then export the model in x_t form. Delete the original model and import the model with the corrected coordinates. Then, use CADSprocket to perform solid replacement on the drive wheel. Use import to extract the tooth profile from the model, and then input the number of teeth, addendum, and root circle radius to draw the CAD drive wheel. After confirming, enter the solid editing mode of the new drive wheel again, and use the face function to create two planes that contact the tracks. Then, use CAD_SingleFlange to replace the idler wheel, carrier roller, and track roller. For the idler wheel, carrier roller, and track roller, input the required hub width, hub radius, total width, and distance between two hubs in the parameter table. Then, perform solid replacement on the track using CAD_Link. Based on the actual dimensions, input the tooth height, tooth width, and hole spacing of the track teeth in the parameter table. When drawing the tooth profile, use Multi Curve to sequentially click through the outer profile line on the track plate. After completion, set the contact points between the track and the ground. Use ShoePoint to define the 5th to 25th points of the track. At the same time, in Grower Mesh, select Start Node as 5 and End Node as 25, enter Side Contact, select the left and right contact surfaces with the drive wheel, as well as the contact surfaces between the track and the idler wheel, carrier roller, track roller inner side, and hub circumference to define them. After the chassis wheel system and track are modeled, adjust the position of each wheel, and use Assembly to assemble the track onto the chassis wheel system. After the physical replacement is completed, the remaining parts of the multi-point mobile deep-sea sampling drill rig are merged. The specific operation is as follows: Click Merge in Home, select the parts of the light source, camera and lens, merge them, and name them Vision Device in Target Body; select the hydraulic motor, mounting base, drill rod, upright, adapter, tray, column, unscrewing device, turntable, drill bit, hydraulic motor b, gear, base plate, hydraulic cylinder, swing hydraulic cylinder and solenoid valve, merge them, and name them Multi-point Sampling Device in Target Body; select all parts of the track frame and chassis, merge them separately, and name them Track Frame and Chassis in Target Body.

3. The specific operation process of step 2) of the multi-point mobile deep-sea sampling drilling rig chassis wheel system coupling dynamics simulation method according to claim 1 is as follows: A fixed joint is used to connect the vision device and the traveling vehicle. Click "Fix" in "Joint," select the vision device first, then click the traveling vehicle, and finally click the connection point between the vision device and the traveling vehicle as the location of the fixed joint. A fixed joint is also used to connect the multi-point sampling device and the traveling vehicle. Click "Fix" in "Joint," select the multi-point sampling device first, then click the traveling vehicle, and finally click the connection point between the multi-point sampling device and the traveling vehicle as the location of the fixed joint. A revolute joint is used at the connection between the swing hydraulic cylinder and the frame and column. Click "Revolute" in "Joint," select the swing hydraulic cylinder first, then... Click on the frame and column, then click on the rotation point of the swing hydraulic cylinder with the frame and column as the position of the revolute joint; click on Fix in Joint, first select the hydraulic motor, then click on the base plate, and finally click on the connection point between the hydraulic motor and the base plate as the position of the fixed joint; click on Fix in Joint, first select the frame, then click on the track frame, and finally click on the connection point between the frame and the track frame as the position of the fixed joint; click on Revolute in Joint, first select the idler wheel, carrier roller, track roller, and drive roller, then click on the track frame, and finally click on the rotation point of the idler wheel, carrier roller, track roller, drive roller, and track frame as the position of the revolute joint.

4. The specific operation process of step 4) of the multi-point mobile deep-sea sampling drilling rig chassis wheel system coupling dynamics simulation method according to claim 1 is as follows: For the drive wheel, right-click and select Mesh to enter the mesh generation module. Select Advanced Mesh, set the mesh type to Solid_Hexa8, the maximum mesh size to 12, and the minimum mesh size to 4. Click Mesh to generate the mesh. Click Output in FFlex Edit, select Add by Set, and click the plane on the drive wheel to select the output points. For the guide wheel, set the mesh type to solid4_Tetra4, the maximum mesh size to 20, and the minimum mesh size to 15. After generating the mesh, select the output points. For the tractor wheel, set the mesh type to Solid_Hexa8, the maximum mesh size to 15, and the minimum mesh size to 10. After generating the mesh, select the output points. For the support wheel, set the mesh type to Solid_Hexa8, the maximum mesh size to 15, and the minimum mesh size to 10. After generating the mesh, select the output points.

5. The specific operation process of step 5) of the multi-point mobile deep-sea sampling drilling rig chassis wheel system coupling dynamics simulation method according to claim 1 is as follows: Click on Dynamic / Kinematic Analysis in Analysis, set End Time to 2s, Step to 100, and Maximum Time Step to 0.001, then click on Simulate to start the simulation.

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