Method for analyzing stress balance of rake head of clay type rake head excavator based on yield model

Abstract

The invention discloses a clay type rake head excavator rake head stress balance analysis method based on a yield model, and relates to the technical field of excavators. The problems that a traditional drag head stress analysis method is often based on experience or a simple mechanical model, the actual stress condition of a drag head in the excavation process is difficult to accurately reflect, precision is low, and timeliness is poor are solved. By establishing a rake suction pipe system model and combining soil mechanical property analysis, the actual stress condition of a rake head in the digging process is more accurately simulated, the adaptability and flexibility of equipment are enhanced, equipment faults caused by excessive stress or uneven stress are prevented through dynamic cutting depth analysis and stress compensation, equipment loss is reduced, and the working efficiency is improved. The cutting efficiency of the rake head is optimized, continuity and stability of excavation operation are guaranteed, and therefore the overall operation efficiency and quality are improved, and unnecessary energy consumption is reduced by optimizing the stress state and operation parameters of the rake head.

Description

Technical Field

[0001] The invention relates to the technical field of excavators, and in particular to a method for analyzing the force balance of a drag head of a clay-type drag head excavator based on a production model. Background Art

[0002] The drag head is one of the main dredging equipment of the clay drag head excavator. It destroys the cohesion of the soil through scouring and mechanical action to achieve the absorption of mud or sediment. The traditional drag head force analysis method is often based on experience or simple mechanical models, which is difficult to accurately reflect the actual force of the drag head during the excavation process. In addition, the existing drag head production prediction method also has the problems of low accuracy and poor timeliness, and cannot provide strong support for optimizing excavation operations. Summary of the invention

[0003] The purpose of the present invention is to provide a force balance analysis method for the rake head of a clay-type rake head excavator based on a production model. By establishing an accurate rake suction pipe system and a lifting system model and real-time monitoring of the dynamic behavior of the rake head and the mechanical properties of the soil, the adaptability and operating efficiency of the equipment are significantly improved. At the same time, through force compensation and dynamic parameter optimization, the maintenance cost is effectively reduced, the service life of the equipment is extended, and the operation safety is greatly improved, ultimately achieving the purpose of energy saving and consumption reduction, thereby comprehensively optimizing the working performance of the rake head excavator to solve the problems raised in the above background technology.

[0004] To achieve the above object, the present invention provides the following technical solutions: The force balance analysis method of the drag head of a clay type drag head excavator based on the production model includes the following steps: Step 1: Establish a rake suction pipe system model: obtain the geometric parameters of each component of the rake suction pipe system, build a rake arm posture sensor model, obtain rake arm angle data in real time, clarify the geometric relationship of each component of the rake suction pipe system, and analyze the soil mechanical properties of the target operation area; Step 2: Force balance analysis of the harrow head: construct a three-dimensional model of the harrow head, analyze the forces acting on the harrow head in combination with the results of soil mechanical properties analysis, and determine whether the harrow head is in a balanced state based on the cutting state of the harrow head; Step 3: Force compensation: Based on the force balance analysis results of the drag head, the drag head is monitored in real time, a wave compensator hydraulic system model is established, the real-time monitoring data is input into the wave compensator hydraulic system model for calculation, and force compensation is performed based on the calculation results.

[0005] Furthermore, in step 1, a rake suction pipe system model is established, specifically: Modeling of the rake suction pipe system and the hanging system: Obtain the components of the rake suction pipe system of the clay-type rake head excavator, including the bent pipe, straight joint, upper rake pipe, cross joint, lower rake pipe, rake head, bent pipe hanger, rake middle hanger and rake head hanger, determine the geometric parameters of each component of the rake suction pipe system, and establish the rake arm posture sensor model to obtain the rake arm angle data in real time; Drag head geometric modeling: the geometric parameters of each component of the drag suction pipe system are input into the drag arm posture sensor model for calculation to determine the geometric relationship of each component of the drag suction pipe system; Analysis of soil mechanical properties: Collect soil mechanical property data in the target operation area and establish a soil mechanical property model to calculate the support and friction of the mud surface on the harrow head.

[0006] Furthermore, the geometric parameters of the components of the rake suction pipe system include inherent parameters and dynamic process parameters, specifically: The data of the angle between the upper rake pipe and the horizontal and the data of the angle between the lower rake pipe and the horizontal are read by the rake arm posture sensors installed on each component of the rake suction pipe system; Combined with inherent parameters, the data of the angle between the upper rake tube and the horizontal plane and the data of the angle between the lower rake tube and the horizontal plane are input into the rake arm attitude sensor model for calculation; And the geometric relationship and state of each component of the rake head are determined based on the calculation results.

[0007] Furthermore, the force balance analysis in step 2 is specifically as follows: Force balance analysis of the rake head: A three-dimensional model of the rake head is established based on the geometric relationship of the components of the rake suction pipe system. Combined with the results of soil mechanical properties analysis, the three-dimensional model of the rake head analyzes the forces acting on the rake head. Based on the analysis results of the three-dimensional model of the drag head, the force conditions of each component of the drag head are obtained to determine whether the drag head is in a balanced state; Dynamic cutting depth analysis: Determine the soil bearing capacity and the pressure of the rake head on the ground based on the results of soil mechanical properties analysis, and judge the cutting state of the rake head; Calculate the dynamic cutting depth, input the dynamic cutting depth into the rake three-dimensional model for calculation, and analyze the stress conditions of each component of the rake head at different cutting depths until the force on the rake head reaches a balanced state.

[0008] Furthermore, the drag head force balance analysis also includes: Before analyzing the force of the rake head, a rake pipe force analysis model is constructed, and the forces acting on the upper rake pipe and the lower rake pipe are analyzed based on the rake pipe force analysis model; Among them, the forces acting on the upper rake pipe include: the suction chute support force, the lifting force of the lifting point in the rake, the weight of the upper rake pipe, the water flow force and the lower rake pipe force; The forces acting on the lower rake pipe include: the weight of the rake pipe, the force of water flow, the tension of the wire rope for hanging the lower rake pipe, and the horizontal and vertical forces of the mud surface on the rake head; Establish the force balance equations of the upper and lower rake pipes in the horizontal and vertical directions and the moment balance equation of the cross joint respectively, and determine the force of the upper and lower rake pipes acting on the rake head based on the analytical results of the force balance equation and the moment balance equation; The calculation results of the force balance equation and the moment balance equation specifically include: the lifting force of the upper rake pipe, the reaction force of the suction port support, the submerged weight and water flow resistance of the upper rake pipe, the tension of the lower rake pipe hanging wire rope, the submerged weight and water flow resistance of the lower rake pipe, and the horizontal and vertical forces acting on the rake head by the mud surface.

[0009] Furthermore, the dynamic cutting depth analysis specifically includes: The soil type is obtained based on the results of soil mechanical property analysis, the corresponding bearing capacity calculation model is matched, the force acting on the harrow head is input into the bearing capacity calculation model, and the relative state between the harrow head and the soil is calculated; Compare the soil bearing capacity calculation result with the three-dimensional model calculation result of the rake head to determine whether the soil bearing capacity is greater than the ground pressure under the current rake head state, and determine the cutting state of the rake head based on the judgment result; When the wear-resistant block contacts the soil, the additional bulldozing resistance and the bearing capacity of the soil on the wear-resistant block are input into the bearing capacity calculation model for force balance calculation; Calculate the depth and width of the erosion groove formed by flushing water on the bottom of the wear-resistant block, analyze the erosion flow of flushing water on the wedge cutting area and the rake cutting area, and calculate the thickness of the wedge cutting layer and the rake cutting layer based on the erosion flow; Based on the force balance calculation results, the bearing capacity of the soil on the rake teeth and the ground pressure of the rake head in the current state are compared when the wear-resistant block contacts the soil until a balance is reached, and the cutting depth and the force result parameters of each component of the rake head are obtained.

[0010] Furthermore, the force compensation in step three is specifically as follows: Real-time monitoring data collection: Collect real-time monitoring data of the rake head cutting depth, soil bearing capacity and erosion based on the dynamic cutting depth analysis results; Dynamic force compensation: Establish a wave compensator hydraulic system model, input the collected real-time monitoring data into the wave compensator hydraulic system model, conduct force analysis in combination with the preset stiffness coefficient and damping coefficient, and perform corresponding compensation calculations.

[0011] Furthermore, real-time monitoring data collection also includes: Real-time detection of the cutting depth of the rake head, soil bearing capacity and erosion conditions. The corresponding data collection response time for each data collection; Obtaining acquisition response stability parameters corresponding to the rake head cutting depth, soil bearing capacity and erosion conditions according to the data acquisition response duration corresponding to the rake head cutting depth, soil bearing capacity and erosion conditions; The acquisition response stability parameters corresponding to the rake head cutting depth, soil bearing capacity and erosion conditions are obtained by the following formula:

[0012] Where G represents the acquisition response stability parameter corresponding to the cutting depth of the rake head, soil bearing capacity and erosion conditions; n represents the number of data collections corresponding to the cutting depth of the rake head, soil bearing capacity and erosion conditions; T bi represents the standard deviation of the data collection response time corresponding to the i-th data collection; T bc Indicates the preset data collection response time standard deviation reference value; T i represents the data collection response time corresponding to the i-th data collection; P ci and P ni They represent the CPU utilization and memory utilization corresponding to the i-th data collection respectively; The acquisition response stability parameters corresponding to the rake head cutting depth, soil bearing capacity and erosion conditions are compared with preset constraints to determine whether the data acquisition frequency of the rake head cutting depth, soil bearing capacity and erosion conditions needs to be adjusted.

[0013] Further, the acquisition response stability parameters corresponding to the rake head cutting depth, soil bearing capacity and erosion conditions are compared with the preset constraint conditions, and it is determined whether the data acquisition frequency of the rake head cutting depth, soil bearing capacity and erosion conditions needs to be adjusted, including: The acquisition response stability parameters corresponding to the cutting depth of the rake head, soil bearing capacity and erosion conditions are compared with the preset constraints; wherein the preset constraints are as follows:

[0014] Where G represents the acquisition response stability parameter corresponding to the cutting depth of the rake head, soil bearing capacity and erosion conditions; G b represents the standard deviation of the acquisition response stability parameter corresponding to the rake head cutting depth, soil bearing capacity and erosion conditions of n data acquisitions; G bc Indicates the preset reference value of the standard deviation of the acquisition response stability parameter; G bmax Indicates the preset maximum allowable acquisition response stability parameter standard deviation value; G c Indicates the preset reference value of the acquisition response stability parameter; When the acquisition response stability parameters corresponding to the rake head cutting depth, soil bearing capacity and erosion conditions do not meet the preset constraint conditions, the acquisition response stability parameters corresponding to the rake head cutting depth, soil bearing capacity and erosion conditions that do not meet the preset constraint conditions are used as target parameters; Using the target parameters, adjusting the data collection frequency corresponding to the rake head cutting depth, soil bearing capacity and erosion conditions corresponding to the target parameters to obtain an adjusted data collection frequency; The adjusted data collection frequency is obtained by the following formula:

[0015] Among them, F t represents the adjusted data acquisition frequency corresponding to the target parameter and the harrow head cutting depth, soil bearing capacity and erosion condition corresponding to the target parameter; F c represents the data acquisition frequency before adjustment of the target parameter to the rake head cutting depth, soil bearing capacity and erosion condition corresponding to the target parameter; G x Indicates the parameter value corresponding to the target parameter; G 01 and G 02 Indicates the acquisition response stability parameters corresponding to the acquisition of the other two data types except the target parameter; G xb Indicates the parameter standard deviation corresponding to the target parameter; G xbmax Indicates the preset maximum allowable acquisition response stability parameter standard deviation; G c Indicates the preset reference value of the acquisition response stability parameter; The data collection operation corresponding to the cutting depth of the rake head, the soil bearing capacity and the erosion condition is controlled according to the adjusted data collection frequency.

[0016] Furthermore, the force compensation in step three also includes: dynamic parameter optimization: calculating the pulling force of the drag head hanging point according to the acquired ship roll and heave data, inputting the pulling force of the drag head hanging point into the drag tube force analysis model, calculating the influence of waves on the cutting depth and excavation output, and optimizing parameters based on the calculation results.

[0017] Compared with the prior art, the beneficial effects of the present invention are: By establishing a rake suction pipe system model and combining it with soil mechanical properties analysis, the actual stress conditions of the rake head during the excavation process can be simulated more accurately, thereby enhancing the adaptability and flexibility of the equipment. Through dynamic cutting depth analysis and force compensation, it helps to prevent equipment failures caused by excessive or uneven force, reduce equipment losses, optimize the cutting efficiency of the rake head, ensure the continuity and stability of the excavation operation, thereby improving the overall operation efficiency and quality. By optimizing the stress state and operating parameters of the rake head, unnecessary energy consumption is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a step diagram of the force balance analysis method of the drag head of a clay-type drag head excavator based on the production model of the present invention. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] In order to solve the technical problem that the traditional rake head force analysis method is often based on experience or simple mechanical models, it is difficult to accurately reflect the actual force situation of the rake head during the excavation process. Figure 1 , this embodiment provides the following technical solutions; The force balance analysis method of the drag head of a clay type drag head excavator based on the production model includes the following steps: Step 1: Establish a rake suction pipe system model: obtain the geometric parameters of each component of the rake suction pipe system, build a rake arm posture sensor model, obtain rake arm angle data in real time, and ensure that the model accurately reflects the actual working status; clarify the geometric relationship of each component of the rake suction pipe system, and analyze the soil mechanical properties of the target operation area; Step 2: Force balance analysis of the harrow head: construct a three-dimensional model of the harrow head, analyze the forces acting on the harrow head in combination with the results of soil mechanical properties analysis, and determine whether the harrow head is in a balanced state based on the cutting state of the harrow head; Step 3: Force compensation: Based on the force balance analysis results of the drag head, the drag head is monitored in real time, a wave compensator hydraulic system model is established, the real-time monitoring data is input into the wave compensator hydraulic system model for calculation, and force compensation is performed based on the calculation results.

[0021] In this embodiment, by establishing a rake suction pipe system and a lifting system model based on the production model, the actual stress condition of the rake head during the excavation process is obtained more accurately, avoiding errors caused by reliance on experience or simple mechanical models, and obtaining rake arm angle data in real time to ensure the real-time and dynamic nature of the rake head force analysis. Rapid adjustments are made according to the actual working conditions, and the cutting state of the rake head is judged more accurately in combination with the analysis results of soil mechanical properties, thereby optimizing excavation efficiency, improving operation quality, and adapting to excavation needs under different soil conditions. The adaptability and flexibility of the equipment are improved, and the rake head is monitored and force compensated in real time through the wave compensator hydraulic system model, optimizing the stress state of the rake head and reducing unnecessary energy consumption. Accurate force analysis and compensation can effectively prevent equipment failures caused by excessive or uneven force, help reduce equipment losses caused by unbalanced force, extend equipment service life, and reduce maintenance costs, thereby improving safety during operations.

[0022] In this embodiment, the step 1 is to establish a rake suction pipe system model, specifically: Modeling of the rake suction pipe system and the hanging system: Obtain the components of the rake suction pipe system of the clay-type rake head excavator, including the bent pipe, straight joint, upper rake pipe, cross joint, lower rake pipe, rake head, bent pipe hanger, rake middle hanger and rake head hanger, determine the geometric parameters of each component of the rake suction pipe system, and establish the rake arm posture sensor model to obtain the rake arm angle data in real time; Rake head geometric modeling: The geometric parameters of each component of the rake suction pipe system are input into the rake arm attitude sensor model for calculation, such as the fixed body inclination angle, the movable cover reference plane, the movable cover angle, the rake tooth cutting angle, etc., to determine the geometric relationship of each component of the rake suction pipe system, such as the maximum cutting depth of the rake tooth tip, the distance from the rake tooth tip to the movable cover reference plane, etc.; Analysis of soil mechanical properties: Collect the mechanical property data of the soil in the target operation area, including cohesion, internal friction angle, shear strength, etc., and establish a soil mechanical property model to calculate the support and friction of the mud surface on the harrow head.

[0023] The geometric parameters of the components of the rake suction pipe system include inherent parameters (such as the length of each section of the rake pipe, etc.) and dynamic process parameters, such as the inclination angles α1 and α2 of the upper and lower rake pipes, the angles β1 and β2 of the rake arm wire rope, and , , H varies with α1 and α2, where It is expressed as the height from the suction port to the cross-shaped rotation point. It is expressed as the height from the cross-shaped rotation point to the suction port of the rake head. L1 is the length of the upper rake tube, and L2 is the length of the lower rake tube. Specifically: The data of the angle between the upper rake pipe and the horizontal and the data of the angle between the lower rake pipe and the horizontal are read by the rake arm posture sensors installed on each component of the rake suction pipe system; Combined with inherent parameters, the data of the angle between the upper rake tube and the horizontal plane and the data of the angle between the lower rake tube and the horizontal plane are input into the rake arm attitude sensor model for calculation; And the geometric relationship and state of each component of the rake head are determined based on the calculation results.

[0024] In this embodiment, by accurately acquiring the geometric parameters of each component of the rake suction pipe system and establishing a rake arm posture sensor model, the dynamic behavior of the rake head is monitored in real time. Combined with the analysis of soil mechanical properties, the accuracy of the rake head force prediction is effectively improved, the rake head design is optimized, the operating efficiency is improved, the adaptability of the equipment to different soil conditions is enhanced, the operating risk is reduced, and the service life of the equipment is extended, thereby providing efficient, safe and reliable technical support for excavation operations.

[0025] In this embodiment, the angle calculation formula of the rake arm wire rope is as follows:

[0026] In the formula, α1 represents the angle between the upper harrow tube and the horizontal, β1 represents the angle between the wire rope at the harrow center and the horizontal, L lift1 It is expressed as the distance from the center of the suction port to the upper rake pipe hanging point, L gantry1 It is expressed as the horizontal distance from the hanging point of the hanger in the rake to the suction port, H gantry1 It is expressed as the vertical distance from the hanging point of the hanger in the rake to the suction port;

[0027] Where, α2 represents the angle between the lower rake tube and the horizontal, β2 represents the angle between the wire rope at the rake head hanging point and the horizontal, L lift2 It is expressed as the distance from the cross joint rotation point to the lower rake pipe hanging point, L gantry2 It is expressed as the horizontal distance from the lifting point of the rake head hanger to the suction port, H gantry2 It is expressed as the vertical distance from the lifting point of the rake head crane to the suction port;

[0028] In the formula, H represents the height from the suction port to the suction port of the rake head, L1 represents the length of the upper rake pipe, It is expressed as the height from the suction port to the cross-shaped rotation point, L2 is expressed as the length of the lower rake pipe, It is expressed as the height from the cross-shaped rotation point to the suction port of the rake head; In this embodiment, the tangent value of the angle between the steel wire rope of the center lifting point of the rake and the lifting point of the rake head and the horizontal and the height difference at different positions are calculated by the above formula, and the angle of the steel wire rope of the rake arm is optimized to ensure that the drag suction vessel is more efficient during operation. When the angle of the steel wire rope of the rake arm is adjusted to the optimal state, the required energy consumption will be reduced, thereby reducing the load of the drive system and saving energy. The accurately calculated steel wire rope angle is helpful to evenly distribute the load and reduce the pressure on key components (such as bearings and pulleys), thereby extending the service life and maintenance cycle of the equipment.

[0029] In this embodiment, the drag head force balance analysis further includes: Before analyzing the force of the rake head, a rake pipe force analysis model is constructed, and the forces acting on the upper rake pipe and the lower rake pipe are analyzed based on the rake pipe force analysis model; Among them, the forces acting on the upper rake pipe include: the suction chute support force, the lifting force of the lifting point in the rake, the weight of the upper rake pipe, the water flow force and the lower rake pipe force; The forces acting on the lower rake pipe include: the weight of the rake pipe, the force of water flow, the tension of the wire rope for hanging the lower rake pipe, and the horizontal and vertical forces of the mud surface on the rake head; Establish the force balance equations of the upper and lower rake pipes in the horizontal and vertical directions and the moment balance equation of the cross joint respectively, and determine the force of the upper and lower rake pipes acting on the rake head based on the analytical results of the force balance equation and the moment balance equation; The calculation results of the force balance equation and the moment balance equation specifically include: the lifting force of the upper rake pipe, the reaction force of the suction port, the submerged weight and water flow resistance of the upper rake pipe, the tension of the wire rope for the lower rake pipe, the submerged weight and water flow resistance of the lower rake pipe, and the horizontal and vertical forces acting on the rake head by the mud surface; In this embodiment, by respectively establishing the force balance equations in the horizontal and vertical directions of the upper rake pipe and the lower rake pipe and the torque balance equation of the cross joint, the stress condition of the rake pipe system during the excavation process can be comprehensively evaluated, ensuring the comprehensiveness and accuracy of the analysis, ensuring that the interaction forces between the various components are accurately calculated, and thus accurately determining the forces acting on the rake head by the upper rake pipe and the lower rake pipe, effectively improving the operating stability of the rake head excavator in complex environments, preventing equipment failures due to excessive or uneven stress, and extending the service life of the equipment.

[0030] In this embodiment, the force balance analysis in step 2 is specifically as follows: Force balance analysis of the rake head: A three-dimensional model of the rake head is established based on the geometric relationship of the components of the rake suction pipe system. Combined with the results of soil mechanical properties analysis, the three-dimensional model of the rake head analyzes the forces acting on the rake head, including rake tooth cutting force, movable cover weight, pressure difference force, adsorption force, friction force, high-pressure water jet reaction force, etc. Based on the analysis results of the three-dimensional model of the drag head, the force conditions of each component of the drag head are obtained to determine whether the drag head is in a balanced state; Dynamic cutting depth analysis: Determine the soil bearing capacity and the ground pressure of the rake head according to the results of soil mechanical properties analysis, and judge the cutting state of the rake head (the rake teeth are partially in the soil, the wear-resistant blocks are in contact with the mud surface, etc.); Calculate the dynamic cutting depth, input the dynamic cutting depth into the rake 3D model, and analyze the stress of each component of the rake head at different cutting depths until the rake head reaches a balanced state, including: The soil type is obtained based on the results of soil mechanical property analysis, the corresponding bearing capacity calculation model is matched, the force acting on the harrow head is input into the bearing capacity calculation model, and the relative state between the harrow head and the soil is calculated; Compare the soil bearing capacity calculation result with the three-dimensional model calculation result of the rake head to determine whether the soil bearing capacity is greater than the ground pressure under the current rake head state, and determine the cutting state of the rake head based on the judgment result; When the wear-resistant block contacts the soil, the additional bulldozing resistance and the bearing capacity of the soil on the wear-resistant block are input into the bearing capacity calculation model for force balance calculation; Calculate the depth and width of the erosion groove formed by flushing water on the bottom of the wear-resistant block, analyze the erosion flow of flushing water on the wedge cutting area and the rake cutting area, and calculate the thickness of the wedge cutting layer and the rake cutting layer based on the erosion flow; Based on the force balance calculation results, the bearing capacity of the soil on the rake teeth and the ground pressure of the rake head in the current state are compared when the wear-resistant block contacts the soil until a balance is reached, and the cutting depth and the force result parameters of each component of the rake head are obtained.

[0031] In this embodiment, by establishing a three-dimensional model of the rake head and performing a force balance analysis, various forces such as the rake tooth cutting force, the weight of the movable cover, the pressure difference force, etc. are comprehensively considered, and combined with the soil mechanical properties, the cutting depth and the force conditions of each component of the rake head are dynamically analyzed. By judging whether the rake head is in a balanced state and adjusting it to a balanced state, the rake head design is optimized, ensuring the stability and excavation efficiency of the rake head under different soil conditions, reducing equipment loss, effectively preventing equipment failures caused by unbalanced forces, and improving the safety and reliability of operations.

[0032] In this embodiment, the force compensation in step three is specifically as follows: Real-time monitoring data collection: Collect real-time monitoring data of the rake head cutting depth, soil bearing capacity and erosion based on the dynamic cutting depth analysis results; Dynamic force compensation: Establish a hydraulic system model of the wave compensator, including components such as hydraulic cylinders, hydraulic pumps, and control valves. Input the collected real-time monitoring data into the hydraulic system model of the wave compensator, and perform force analysis in combination with the preset stiffness coefficient and damping coefficient to simulate the dynamic response in actual work and perform corresponding compensation calculations; Dynamic parameter optimization: Calculate the drag head lifting point tension based on the acquired ship roll and heave data, input the drag head lifting point tension into the drag tube force analysis model, calculate the impact of waves on cutting depth and excavation output, and optimize parameters based on the calculation results.

[0033] In this embodiment, by real-time monitoring of data collection, the cutting depth, soil bearing capacity and erosion of the scraper head during the excavation process are ensured to be accurately monitored, thereby providing a reliable data basis for dynamic force compensation; by establishing a wave compensator hydraulic system model and considering the stiffness coefficient and damping coefficient of the system, the dynamic response of the scraper head in actual work is effectively simulated, making the force compensation more accurate and timely; in addition, the implementation of dynamic parameter optimization, combined with the ship's roll and heave data, further improves the calculation accuracy of the scraper head hanging point tension, optimizes the scraper pipe force analysis model, effectively reduces the impact of waves on cutting depth and excavation output, and significantly improves the operation stability and efficiency of the scraper head excavator in complex sea conditions, reduces the equipment failure rate, extends the equipment service life, and ensures the safety of operators.

[0034] Specifically, real-time monitoring data collection also includes: Real-time detection of the cutting depth of the rake head, soil bearing capacity and erosion conditions. The corresponding data collection response time for each data collection; Obtaining acquisition response stability parameters corresponding to the rake head cutting depth, soil bearing capacity and erosion conditions according to the data acquisition response duration corresponding to the rake head cutting depth, soil bearing capacity and erosion conditions; The acquisition response stability parameters corresponding to the rake head cutting depth, soil bearing capacity and erosion conditions are obtained by the following formula:

[0035] Where G represents the acquisition response stability parameter corresponding to the cutting depth of the rake head, soil bearing capacity and erosion conditions; n represents the number of data collections corresponding to the cutting depth of the rake head, soil bearing capacity and erosion conditions; T bi represents the standard deviation of the data collection response time corresponding to the i-th data collection; T bc Indicates the preset data collection response time standard deviation reference value; T i represents the data collection response time corresponding to the i-th data collection; P ci and P niThey represent the CPU utilization and memory utilization corresponding to the i-th data collection respectively; The acquisition response stability parameters corresponding to the rake head cutting depth, soil bearing capacity and erosion conditions are compared with preset constraints to determine whether the data acquisition frequency of the rake head cutting depth, soil bearing capacity and erosion conditions needs to be adjusted.

[0036] The technical effect of the above technical solution is: by real-time monitoring of the cutting depth of the rake head, soil bearing capacity and erosion, the solution can quickly obtain key operating parameters, which is crucial for the precise control of construction machinery and the improvement of operating efficiency. Each data collection corresponds to a data collection response time, which helps to evaluate the real-time and efficiency of data collection.

[0037] By calculating the collection response stability parameter G corresponding to the cutting depth of the rake head, soil bearing capacity and erosion conditions, the solution can quantitatively evaluate the stability of the data collection process. The calculation of the stability parameter G takes into account the standard deviation of the data collection response time, CPU utilization and memory utilization, which comprehensively reflect the performance of the data collection system. By comparing the stability parameter G with the preset constraints, potential problems in the data collection process can be discovered in time, and corresponding adjustment measures can be taken to ensure the stability and accuracy of data collection. Through real-time monitoring and intelligent adjustment of data collection frequency, the solution can promptly discover abnormal conditions during the operation, such as excessive cutting depth, insufficient soil bearing capacity or aggravated erosion, so as to take timely measures to avoid potential safety hazards. At the same time, the optimized data collection frequency helps to more accurately evaluate the operation status, provide reliable decision support for operators, and further improve operation efficiency.

[0038] In summary, this technical solution achieves precise control and optimization of the construction machinery operation process through real-time monitoring, stability assessment and intelligent adjustment of data collection frequency, thereby improving operation safety, efficiency and resource utilization.

[0039] Specifically, the acquisition response stability parameters corresponding to the rake head cutting depth, soil bearing capacity and erosion conditions are compared with the preset constraint conditions, and it is determined whether the data acquisition frequency of the rake head cutting depth, soil bearing capacity and erosion conditions needs to be adjusted, including: The acquisition response stability parameters corresponding to the cutting depth of the rake head, soil bearing capacity and erosion conditions are compared with the preset constraints; wherein the preset constraints are as follows:

[0040] Where G represents the acquisition response stability parameter corresponding to the cutting depth of the rake head, soil bearing capacity and erosion conditions; G brepresents the standard deviation of the acquisition response stability parameter corresponding to the rake head cutting depth, soil bearing capacity and erosion conditions of n data acquisitions; G bc Indicates the preset reference value of the standard deviation of the acquisition response stability parameter; G bmax Indicates the preset maximum allowable acquisition response stability parameter standard deviation value; G c Indicates the preset reference value of the acquisition response stability parameter; When the acquisition response stability parameters corresponding to the rake head cutting depth, soil bearing capacity and erosion conditions do not meet the preset constraint conditions, the acquisition response stability parameters corresponding to the rake head cutting depth, soil bearing capacity and erosion conditions that do not meet the preset constraint conditions are used as target parameters; Using the target parameters, adjusting the data collection frequency corresponding to the rake head cutting depth, soil bearing capacity and erosion conditions corresponding to the target parameters to obtain an adjusted data collection frequency; The adjusted data collection frequency is obtained by the following formula:

[0041] Among them, F t represents the adjusted data acquisition frequency corresponding to the target parameter for the harrow head cutting depth, soil bearing capacity and erosion condition corresponding to the target parameter; F c represents the data acquisition frequency before adjustment of the target parameter to the harrow head cutting depth, soil bearing capacity and erosion condition corresponding to the target parameter; G x Indicates the parameter value corresponding to the target parameter; G 01 and G 02 Indicates the acquisition response stability parameters corresponding to the acquisition of the other two data types except the target parameter; G xb Indicates the parameter standard deviation corresponding to the target parameter; G xbmax Indicates the preset maximum allowable acquisition response stability parameter standard deviation; G c Indicates the preset reference value of the acquisition response stability parameter; The data collection operation corresponding to the cutting depth of the rake head, the soil bearing capacity and the erosion condition is controlled according to the adjusted data collection frequency.

[0042] The technical effect of the above technical solution is: the solution realizes the refined management and intelligent control of the data collection process by comparing the acquisition response stability parameters corresponding to the cutting depth of the rake head, the soil bearing capacity and the erosion situation with the preset constraints. This comparison mechanism can timely discover abnormal situations in the data collection process to ensure the accuracy and reliability of the data. When the acquisition response stability parameters do not meet the preset constraints, the solution can automatically use the parameters that do not meet the conditions as the target parameters and adjust the corresponding data collection frequency based on the target parameters. This dynamic adjustment mechanism can flexibly adjust the density and frequency of data collection according to different operating environments and working conditions, thereby optimizing the data collection process and improving data quality. By adjusting the data collection frequency, the solution can more effectively utilize system resources and avoid unnecessary data redundancy and collection waste. At the same time, the dynamically adjusted data collection frequency can more accurately reflect the actual situation in the operation process and provide more reliable data support for subsequent decision-making analysis. The solution enhances the robustness and stability of the data acquisition system by introducing the acquisition response stability parameters and preset constraints. Even in a complex and changeable operating environment, the system can respond to various challenges by dynamically adjusting the data collection frequency to ensure the continuity and stability of data collection. By real-time monitoring and adjusting the frequency of data collection, the solution can optimize the operation process and reduce unnecessary waiting time and waste of resources. At the same time, more accurate data collection and faster response speed can improve the overall operation efficiency and provide strong support for the efficient operation of construction machinery. The design of this technical solution is flexible and scalable, which is easy to integrate and expand with other systems or modules. This helps to build a more complete data collection and analysis system, and provide stronger support for the intelligence and automation of construction machinery.

[0043] In summary, this technical solution achieves refined management and intelligent control of the data acquisition process by introducing acquisition response stability parameters and preset constraints. This solution can dynamically adjust the data acquisition frequency, improve data acquisition efficiency and accuracy, enhance system robustness and stability, optimize the operation process and improve overall efficiency. At the same time, the solution is easy to expand and integrate, providing strong support for the intelligence and automation of construction machinery.

[0044] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A method for analyzing the force balance of a clay-type drag head excavator based on a production model, characterized in that: The following steps are involved: Step 1: Establish a rake suction pipe system model: obtain the geometric parameters of each component of the rake suction pipe system, build a rake arm posture sensor model, obtain rake arm angle data in real time, clarify the geometric relationship of each component of the rake suction pipe system, and analyze the soil mechanical properties of the target operation area; Step 2: Force balance analysis of the harrow head: construct a three-dimensional model of the harrow head, analyze the forces acting on the harrow head in combination with the results of soil mechanical properties analysis, and determine whether the harrow head is in a balanced state based on the cutting state of the harrow head; Step 3: Force compensation: Based on the force balance analysis results of the drag head, the drag head is monitored in real time, a wave compensator hydraulic system model is established, the real-time monitoring data is input into the wave compensator hydraulic system model for calculation, and force compensation is performed based on the calculation results.

2. The method for analyzing the force balance of a drag head of a clay-type drag head excavator based on a production model according to claim 1, characterized in that: In the step 1, a rake suction pipe system model is established, specifically: Modeling of the rake suction pipe system and the lifting system: Obtain the components of the rake suction pipe system of the clay type rake head excavator, determine the geometric parameters of each component of the rake suction pipe system, and establish the rake arm posture sensor model; Drag head geometric modeling: the geometric parameters of each component of the drag suction pipe system are input into the drag arm posture sensor model for calculation to determine the geometric relationship of each component of the drag suction pipe system; Analysis of soil mechanical properties: Collect soil mechanical property data in the target operation area and establish a soil mechanical property model.

3. The method for analyzing the force balance of a drag head of a clay-type drag head excavator based on a production model as claimed in claim 2, characterized in that: The geometric parameters of each component of the rake suction pipe system include inherent parameters and dynamic process parameters, specifically: The data of the angle between the upper rake pipe and the horizontal and the data of the angle between the lower rake pipe and the horizontal are read by the rake arm posture sensors installed on each component of the rake suction pipe system; Combined with inherent parameters, the data of the angle between the upper rake tube and the horizontal plane and the data of the angle between the lower rake tube and the horizontal plane are input into the rake arm attitude sensor model for calculation; And the geometric relationship and state of each component of the rake head are determined based on the calculation results.

4. The method for analyzing the force balance of a drag head of a clay-type drag head excavator based on a production model as claimed in claim 3, characterized in that: The force balance analysis in step 2 is specifically as follows: Force balance analysis of the rake head: A three-dimensional model of the rake head is established based on the geometric relationship of the components of the rake suction pipe system. Combined with the results of soil mechanical properties analysis, the three-dimensional model of the rake head analyzes the forces acting on the rake head. Based on the analysis results of the three-dimensional model of the drag head, the force conditions of each component of the drag head are obtained to determine whether the drag head is in a balanced state; Dynamic cutting depth analysis: Determine the soil bearing capacity and the pressure of the rake head on the ground based on the results of soil mechanical properties analysis, and judge the cutting state of the rake head; Calculate the dynamic cutting depth, input the dynamic cutting depth into the rake three-dimensional model for calculation, and analyze the stress conditions of each component of the rake head at different cutting depths until the force on the rake head reaches a balanced state.

5. The method for analyzing the force balance of a drag head of a clay-type drag head excavator based on a production model as claimed in claim 4, characterized in that: The drag head force balance analysis also includes: Before analyzing the force of the rake head, a rake pipe force analysis model is constructed, and the forces acting on the upper rake pipe and the lower rake pipe are analyzed based on the rake pipe force analysis model; Among them, the forces acting on the upper rake pipe include: the suction chute support force, the lifting force of the lifting point in the rake, the weight of the upper rake pipe, the water flow force and the lower rake pipe force; The forces acting on the lower rake pipe include: the weight of the rake pipe, the force of water flow, the tension of the wire rope for hanging the lower rake pipe, and the horizontal and vertical forces of the mud surface on the rake head; The force balance equations of the upper and lower rake pipes in the horizontal and vertical directions and the moment balance equation of the cross joint are established respectively, and the forces acting on the rake head by the upper and lower rake pipes are determined based on the analytical results of the force balance equations and moment balance equations.

6. The method for analyzing the force balance of a drag head of a clay-type drag head excavator based on a production model as claimed in claim 5, characterized in that: The dynamic cutting depth analysis specifically includes: The soil type is obtained based on the results of soil mechanical property analysis, the corresponding bearing capacity calculation model is matched, the force acting on the harrow head is input into the bearing capacity calculation model, and the relative state between the harrow head and the soil is calculated; Compare the soil bearing capacity calculation result with the three-dimensional model calculation result of the rake head to determine whether the soil bearing capacity is greater than the ground pressure under the current rake head state, and determine the cutting state of the rake head based on the judgment result; When the wear-resistant block contacts the soil, the additional bulldozing resistance and the bearing capacity of the soil on the wear-resistant block are input into the bearing capacity calculation model for force balance calculation; Calculate the depth and width of the erosion groove formed by flushing water on the bottom of the wear-resistant block, analyze the erosion flow of flushing water on the wedge cutting area and the rake cutting area, and calculate the thickness of the wedge cutting layer and the rake cutting layer based on the erosion flow; Based on the force balance calculation results, the bearing capacity of the soil on the rake teeth and the ground pressure of the rake head in the current state are compared when the wear-resistant block contacts the soil until a balance is reached, and the cutting depth and the force result parameters of each component of the rake head are obtained.

7. The method for analyzing the force balance of a drag head of a clay-type drag head excavator based on a production model according to claim 6, characterized in that: The force compensation in step 3 is specifically as follows: Real-time monitoring data collection: Collect real-time monitoring data of the rake head cutting depth, soil bearing capacity and erosion based on the dynamic cutting depth analysis results; Dynamic force compensation: Establish a wave compensator hydraulic system model, input the collected real-time monitoring data into the wave compensator hydraulic system model, conduct force analysis in combination with the preset stiffness coefficient and damping coefficient, and perform corresponding compensation calculations.

8. The method for analyzing the force balance of a drag head of a clay-type drag head excavator based on a production model according to claim 7, characterized in that: Real-time monitoring data collection also includes: Real-time detection of the cutting depth of the rake head, soil bearing capacity and erosion conditions. The corresponding data collection response time for each data collection; Obtaining acquisition response stability parameters corresponding to the rake head cutting depth, soil bearing capacity and erosion conditions according to the data acquisition response duration corresponding to the rake head cutting depth, soil bearing capacity and erosion conditions; The acquisition response stability parameters corresponding to the rake head cutting depth, soil bearing capacity and erosion conditions are obtained by the following formula: ； Where G represents the acquisition response stability parameter corresponding to the cutting depth of the rake head, soil bearing capacity and erosion conditions; n represents the number of data collections corresponding to the cutting depth of the rake head, soil bearing capacity and erosion conditions; T bi represents the standard deviation of the data collection response time corresponding to the i-th data collection; T bc Indicates the preset data collection response time standard deviation reference value; T i represents the data collection response time corresponding to the i-th data collection; P ci and P ni They represent the CPU utilization and memory utilization corresponding to the i-th data collection respectively; The acquisition response stability parameters corresponding to the rake head cutting depth, soil bearing capacity and erosion conditions are compared with preset constraints to determine whether the data acquisition frequency of the rake head cutting depth, soil bearing capacity and erosion conditions needs to be adjusted.

9. The method for analyzing the force balance of a drag head of a clay-type drag head excavator based on a production model as claimed in claim 8, characterized in that: The acquisition response stability parameters corresponding to the rake head cutting depth, soil bearing capacity and erosion conditions are compared with preset constraint conditions, and it is determined whether the data acquisition frequency of the rake head cutting depth, soil bearing capacity and erosion conditions needs to be adjusted, including: The acquisition response stability parameters corresponding to the cutting depth of the rake head, soil bearing capacity and erosion conditions are compared with the preset constraints; wherein the preset constraints are as follows: ； Where G represents the acquisition response stability parameter corresponding to the cutting depth of the rake head, soil bearing capacity and erosion conditions; G b G represents the standard deviation of the acquisition response stability parameter corresponding to the rake head cutting depth, soil bearing capacity and erosion conditions of n data acquisitions; bc Indicates the preset reference value of the standard deviation of the acquisition response stability parameter; G bmax Indicates the preset maximum allowable acquisition response stability parameter standard deviation value; G c Indicates the preset reference value of the acquisition response stability parameter; When the acquisition response stability parameters corresponding to the rake head cutting depth, soil bearing capacity and erosion conditions do not meet the preset constraint conditions, the acquisition response stability parameters corresponding to the rake head cutting depth, soil bearing capacity and erosion conditions that do not meet the preset constraint conditions are used as target parameters; Using the target parameters, adjusting the data collection frequency corresponding to the rake head cutting depth, soil bearing capacity and erosion conditions corresponding to the target parameters to obtain an adjusted data collection frequency; The adjusted data collection frequency is obtained by the following formula: ； Among them, F t represents the adjusted data acquisition frequency corresponding to the target parameter for the harrow head cutting depth, soil bearing capacity and erosion condition corresponding to the target parameter; F c represents the data acquisition frequency before adjustment of the target parameter to the harrow head cutting depth, soil bearing capacity and erosion condition corresponding to the target parameter; G x Indicates the parameter value corresponding to the target parameter; G 01 and G 02 Indicates the acquisition response stability parameters corresponding to the acquisition of the other two data types except the target parameter; G xb Indicates the parameter standard deviation corresponding to the target parameter; G xbmax Indicates the preset maximum allowable acquisition response stability parameter standard deviation; G c Indicates the preset reference value of the acquisition response stability parameter; The data collection operation corresponding to the cutting depth of the rake head, the soil bearing capacity and the erosion condition is controlled according to the adjusted data collection frequency.

10. The method for analyzing the force balance of a drag head of a clay-type drag head excavator based on a production model according to claim 7, characterized in that: The force compensation in step three also includes: dynamic parameter optimization: calculating the pulling force of the drag head hanging point according to the acquired ship roll and heave data, inputting the pulling force of the drag head hanging point into the drag tube force analysis model, calculating the influence of waves on cutting depth and excavation output, and optimizing parameters based on the calculation results.

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