Force balance analysis method of clay type drag head excavator based on production model

Abstract

The present invention discloses a method for analyzing the force balance of a rake head of a clay-type rake head excavator based on a production model, and relates to the technical field of excavators. In order to solve the problem that traditional rake head force analysis methods are often based on experience or simple mechanical models, which are difficult to accurately reflect the actual force conditions of the rake head during the excavation process, and have the problems of low accuracy and poor timeliness; by establishing a rake suction pipe system model and combining it with the analysis of soil mechanical properties, the actual force conditions of the rake head during the excavation process are 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 force state and operation parameters of the rake head, unnecessary energy consumption is reduced.

Description

Technical Field

[0001] The present 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 draghead is one of the primary dredging components of a clay-type draghead excavator. It uses scouring and mechanical action to disrupt soil cohesion, thereby extracting mud or sediment. Traditional draghead force analysis methods are often based on empirical evidence or simple mechanical models, which fail to accurately reflect the actual forces acting on the draghead during excavation. Furthermore, existing draghead yield prediction methods suffer from low accuracy and poor timeliness, making them ineffective 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 hoisting 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 objectives, the present invention provides the following technical solutions:

[0005] 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:

[0006] Step 1: Establish a model of the rake suction system: Obtain the geometric parameters of each component of the rake suction 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 system, and analyze the soil mechanical properties of the target operation area;

[0007] Step 2: Force balance analysis of the harrow head: Build a three-dimensional model of the harrow head, analyze the forces acting on the harrow head based on 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;

[0008] 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.

[0009] Furthermore, in step 1, the rake suction pipe system model is established, specifically:

[0010] Modeling the rake suction pipe system and its hanging system: The components of the rake suction pipe system for a clay-type rake excavator are obtained, including the elbow, straight joint, upper rake pipe, cross joint, lower rake pipe, rake head, elbow hanger, middle rake hanger, and rake head hanger. The geometric parameters of each component of the rake suction pipe system are determined, and a rake arm posture sensor model is established to obtain rake arm angle data in real time.

[0011] Drag head geometric modeling: the geometric parameters of each component of the drag suction pipe system are input into the rake arm posture sensor model for calculation to determine the geometric relationship of each component of the drag suction pipe system;

[0012] Soil mechanical properties analysis: Collect the mechanical properties data of the soil in the target operation area and establish a soil mechanical properties model to calculate the support and friction of the mud surface on the harrow head.

[0013] Furthermore, the geometric parameters of each component of the rake suction pipe system, including inherent parameters and dynamic process parameters, are specifically:

[0014] 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 attitude sensors installed on each component of the rake suction pipe system;

[0015] Combined with inherent parameters, the data of the angle between the upper rake tube and the horizontal and the data of the angle between the lower rake tube and the horizontal are input into the rake arm attitude sensor model for calculation;

[0016] And according to the calculation results, the geometric relationship and state of each component of the rake head are determined.

[0017] Furthermore, the force balance analysis in step 2 is specifically as follows:

[0018] Force balance analysis of the harrow head: A three-dimensional model of the harrow head is established based on the geometric relationship of the components of the harrow suction pipe system. Combined with the results of soil mechanical properties analysis, the three-dimensional model of the harrow head analyzes the forces acting on the harrow head;

[0019] 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;

[0020] Dynamic cutting depth analysis: Determine the soil's bearing capacity and the harrow head's pressure on the ground based on the results of soil mechanical properties analysis, and judge the harrow head's cutting status;

[0021] 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.

[0022] Furthermore, the drag head force balance analysis also includes:

[0023] Before analyzing the force on the rake head, a rake pipe force analysis model is constructed, and the forces acting on the upper and lower rake pipes are analyzed based on the rake pipe force analysis model.

[0024] Among them, the forces acting on the upper rake pipe include: the support force of the suction chute, the lifting force of the lifting point in the rake, the weight of the upper rake pipe, the force of the water flow and the force of the lower rake pipe;

[0025] The forces acting on the lower harrow pipe include: the weight of the harrow pipe, the force of water flow, the tension of the wire rope for hanging the lower harrow pipe, and the horizontal and vertical forces acting on the harrow head by the mud surface.

[0026] Establish the force balance equations in the horizontal and vertical directions of the upper and lower rake pipes and the moment balance equation of the cross joint respectively, and determine the forces acting on the rake head by the upper and lower rake pipes based on the analytical results of the force balance equations and moment balance equations;

[0027] 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 immersed weight and water flow resistance of the upper rake pipe, the tension of the lower rake pipe hoisting wire rope, the immersed 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.

[0028] Furthermore, the dynamic cutting depth analysis specifically includes:

[0029] The soil type is obtained based on the results of soil mechanical property analysis, and the corresponding bearing capacity calculation model is matched. The force acting on the harrow head is input into the bearing capacity calculation model to calculate the relative state between the harrow head and the soil.

[0030] Comparing the calculated bearing capacity of the soil with the calculated three-dimensional model of the rake head to determine whether the bearing capacity of the soil is greater than the ground pressure under the current rake head state, and determining the cutting state of the rake head based on the judgment result;

[0031] 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;

[0032] 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;

[0033] Based on the force balance calculation results, the soil bearing capacity 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 equilibrium is reached, and the cutting depth and the force parameters of each component of the rake head are obtained.

[0034] Furthermore, the force compensation in step three is specifically as follows:

[0035] Real-time monitoring data collection: Based on the dynamic cutting depth analysis results, real-time monitoring data of the rake head cutting depth, soil bearing capacity and erosion conditions are collected;

[0036] Dynamic force compensation: Establish a wave compensator hydraulic system model, input the collected real-time monitoring data into the wave compensator hydraulic system model, combine the preset stiffness coefficient and damping coefficient to perform force analysis, and perform corresponding compensation calculations.

[0037] Furthermore, real-time monitoring data collection also includes:

[0038] Real-time detection of rake head cutting depth, soil bearing capacity and erosion conditions; data collection response time corresponding to each data collection;

[0039] Obtaining a collection response stability parameter corresponding to the rake head cutting depth, soil bearing capacity and erosion condition according to the data collection response time corresponding to the rake head cutting depth, soil bearing capacity and erosion condition;

[0040] The acquisition response stability parameters corresponding to the rake head cutting depth, soil bearing capacity and erosion conditions are obtained by the following formula:

[0041]

[0042] Where G represents the acquisition response stability parameter corresponding to the rake head cutting depth, soil bearing capacity, and erosion conditions; n represents the number of data acquisitions corresponding to the rake head cutting depth, 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;

[0043] 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.

[0044] Furthermore, 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, including:

[0045] The acquisition response stability parameters corresponding to the rake head cutting depth, soil bearing capacity, and erosion conditions are compared with preset constraints; wherein the preset constraints are as follows:

[0046]

[0047] 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;

[0048] 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;

[0049] Using the target parameters, adjusting the data collection frequency corresponding to the target parameters, the cutting depth of the harrow head, the soil bearing capacity, and the erosion condition, to obtain an adjusted data collection frequency;

[0050] The adjusted data collection frequency is obtained by the following formula:

[0051]

[0052] Among them, F t F represents the adjusted data acquisition frequency corresponding to the target parameter and the target parameter corresponding to the harrow head cutting depth, soil bearing capacity and erosion condition; c G represents the data acquisition frequency before adjustment of the target parameter corresponding to the harrow head cutting depth, soil bearing capacity and erosion condition; x Indicates the parameter value corresponding to the target parameter; G 01 and G 02 Indicates the acquisition response stability parameters corresponding to 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;

[0053] 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.

[0054] Furthermore, the force compensation in step three also includes: dynamic parameter optimization: calculating the drag head lifting point tension based on the acquired ship roll and heave data, inputting the drag head lifting point tension into the drag tube force analysis model, calculating the impact of waves on cutting depth and excavation output, and performing parameter optimization based on the calculation results.

[0055] Compared with the prior art, the present invention has the following beneficial effects:

[0056] By establishing a rake suction pipe system model and combining it with soil mechanical property analysis, the actual stress conditions of the rake head during the excavation process can be more accurately simulated, 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

[0057] Figure 1 This is a step diagram of the force balance analysis method for the drag head of a clay-type drag head excavator based on the production model of the present invention. DETAILED DESCRIPTION

[0058] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts are within the scope of protection of the present invention.

[0059] 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;

[0060] 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:

[0061] Step 1: Establish a model of the rake suction system: Obtain the geometric parameters of each component of the rake suction system, build a rake arm posture sensor model, and obtain rake arm angle data in real time to ensure that the model accurately reflects the actual working status; clarify the geometric relationship between the components of the rake suction system, and analyze the soil mechanical properties of the target operating area;

[0062] Step 2: Force balance analysis of the harrow head: Build a three-dimensional model of the harrow head, analyze the forces acting on the harrow head based on 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;

[0063] 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.

[0064] In this embodiment, by establishing a rake suction pipe system and a hoisting system model based on the production model, the actual stress conditions of the rake head during the excavation process are obtained more accurately, avoiding errors caused by reliance on experience or simple mechanical models, and obtaining rake arm angle data in real time, ensuring the real-time and dynamic nature of the rake head stress analysis. Rapid adjustments are made according to the actual working conditions, and combined with the results of soil mechanical property analysis, the cutting state of the rake head is judged more accurately, thereby optimizing excavation efficiency, improving operation quality, adapting to excavation needs under different soil conditions, and improving the adaptability and flexibility of the equipment. In addition, 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, reduce maintenance costs, and improve safety during operation.

[0065] In this embodiment, the step 1 of establishing the rake suction pipe system model is as follows:

[0066] Modeling the rake suction pipe system and its hanging system: The components of the rake suction pipe system for a clay-type rake excavator are obtained, including the elbow, straight joint, upper rake pipe, cross joint, lower rake pipe, rake head, elbow hanger, middle rake hanger, and rake head hanger. The geometric parameters of each component of the rake suction pipe system are determined, and a rake arm posture sensor model is established to obtain rake arm angle data in real time.

[0067] Drag head geometric modeling: The geometric parameters of each component of the rake suction pipe system are input into the rake arm posture 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 and the distance from the rake tooth tip to the movable cover reference plane.

[0068] Soil mechanical properties analysis: Collect 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.

[0069] 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 the 、 , H varies with α1 and α2, where It is expressed as the height from the suction port to the cross-point 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:

[0070] 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 attitude sensors installed on each component of the rake suction pipe system;

[0071] Combined with inherent parameters, the data of the angle between the upper rake tube and the horizontal and the data of the angle between the lower rake tube and the horizontal are input into the rake arm attitude sensor model for calculation;

[0072] And according to the calculation results, the geometric relationship and state of each component of the rake head are determined.

[0073] In this embodiment, by accurately obtaining 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 risks are reduced, and the service life of the equipment is extended, thereby providing efficient, safe and reliable technical support for excavation operations.

[0074] In this embodiment, the angle calculation formula of the rake arm wire rope is as follows:

[0075]

[0076] Where α1 is the angle between the upper harrow tube and the horizontal, β1 is the angle between the wire rope at the harrow center and the horizontal, L lift1 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 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;

[0077]

[0078] Where, α2 is the angle between the lower harrow tube and the horizontal, β2 is the angle between the harrow head hanging point wire rope and the horizontal, L lift2 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, Hgantry2 It is expressed as the vertical distance from the lifting point of the drag crane to the suction port;

[0079]

[0080] Where H is the height from the suction port to the suction port of the rake head, L1 is 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 tube, Expressed as the height from the cross-rotation point to the suction port of the rake head;

[0081] In this embodiment, the above formula is used to calculate the tangent value of the angle between the wire rope of the drag center lifting point and the drag head lifting point and the horizontal and the height difference at different positions. By optimizing the angle of the wire rope of the drag arm, the trailing suction hopper vessel is ensured to be more efficient during operation. When the angle of the wire rope of the drag 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 wire rope angle helps 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.

[0082] In this embodiment, the drag head force balance analysis further includes:

[0083] Before analyzing the force on the rake head, a rake pipe force analysis model is constructed, and the forces acting on the upper and lower rake pipes are analyzed based on the rake pipe force analysis model.

[0084] Among them, the forces acting on the upper rake pipe include: the support force of the suction chute, the lifting force of the lifting point in the rake, the weight of the upper rake pipe, the force of the water flow and the force of the lower rake pipe;

[0085] The forces acting on the lower harrow pipe include: the weight of the harrow pipe, the force of water flow, the tension of the wire rope for hanging the lower harrow pipe, and the horizontal and vertical forces acting on the harrow head by the mud surface.

[0086] Establish the force balance equations in the horizontal and vertical directions of the upper and lower rake pipes and the moment balance equation of the cross joint respectively, and determine the forces acting on the rake head by the upper and lower rake pipes based on the analytical results of the force balance equations and moment balance equations;

[0087] 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 of the upper rake pipe and the water flow resistance, the tension of the lower rake pipe hoisting wire rope, the submerged weight of the lower rake pipe and the water flow resistance, and the horizontal and vertical forces acting on the rake head by the mud surface;

[0088] In this embodiment, by 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 respectively, the force condition of the rake pipe system during the excavation process can be comprehensively evaluated, ensuring the comprehensiveness and accuracy of the analysis, and ensuring that the interaction forces between the various components are accurately calculated, thereby 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 force, and extending the service life of the equipment.

[0089] In this embodiment, the force balance analysis in step 2 is specifically as follows:

[0090] Force balance analysis of the rake head: A three-dimensional model of the rake head is established based on the geometric relationships 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 the cutting force of the rake teeth, the weight of the movable cover, the pressure difference force, the adsorption force, the friction force, and the reaction force of the high-pressure water jet.

[0091] 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;

[0092] Dynamic cutting depth analysis: Determine the soil's bearing capacity and the harrow head's pressure on the ground based on the results of the soil mechanical properties analysis, and judge the harrow head's cutting state (whether the harrow teeth are partially embedded in the soil, the wear-resistant blocks are in contact with the mud surface, etc.);

[0093] Calculate the dynamic cutting depth and input the dynamic cutting depth into the three-dimensional model of the rake to analyze the stress of each component of the rake head at different cutting depths until the rake head reaches a balanced state. Specifically, it includes:

[0094] The soil type is obtained based on the results of soil mechanical property analysis, and the corresponding bearing capacity calculation model is matched. The force acting on the harrow head is input into the bearing capacity calculation model to calculate the relative state between the harrow head and the soil.

[0095] Comparing the calculated bearing capacity of the soil with the calculated three-dimensional model of the rake head to determine whether the bearing capacity of the soil is greater than the ground pressure under the current rake head state, and determining the cutting state of the rake head based on the judgment result;

[0096] 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;

[0097] 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;

[0098] Based on the force balance calculation results, the soil bearing capacity 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 equilibrium is reached, and the cutting depth and the force parameters of each component of the rake head are obtained.

[0099] In this embodiment, a three-dimensional model of the rake head is established and a force balance analysis is performed, taking into account various forces such as the rake tooth cutting force, the weight of the movable cover, and the pressure difference force. Combined with the mechanical properties of the soil, the cutting depth and the force conditions of the various components 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.

[0100] In this embodiment, the force compensation in step three is specifically as follows:

[0101] Real-time monitoring data collection: Based on the dynamic cutting depth analysis results, real-time monitoring data of the rake head cutting depth, soil bearing capacity and erosion conditions are collected;

[0102] Dynamic force compensation: A hydraulic system model of the wave compensator is established, including components such as hydraulic cylinders, hydraulic pumps, and control valves. The collected real-time monitoring data is input into the wave compensator hydraulic system model. Force analysis is performed in combination with preset stiffness coefficients and damping coefficients to simulate the dynamic response in actual work and perform corresponding compensation calculations.

[0103] Dynamic parameter optimization: The drag head lifting point tension is calculated based on the acquired ship roll and heave data. The drag head lifting point tension is input into the drag tube force analysis model, and the impact of waves on cutting depth and excavation output is calculated. Parameter optimization is then performed based on the calculation results.

[0104] In this embodiment, real-time monitoring of data collection ensures that the cutting depth, soil bearing capacity and erosion conditions of the scraper head during the excavation process are accurately monitored, thereby providing a reliable data basis for dynamic force compensation; by establishing a wave compensator hydraulic system model and taking into account 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 lifting point tension, optimizes the scraper pipe force analysis model, effectively reduces the impact of waves on the cutting depth and excavation output, and significantly improves the operating 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.

[0105] Specifically, real-time monitoring data collection also includes:

[0106] Real-time detection of rake head cutting depth, soil bearing capacity and erosion conditions; data collection response time corresponding to each data collection;

[0107] Obtaining a collection response stability parameter corresponding to the rake head cutting depth, soil bearing capacity and erosion condition according to the data collection response time corresponding to the rake head cutting depth, soil bearing capacity and erosion condition;

[0108] The acquisition response stability parameters corresponding to the rake head cutting depth, soil bearing capacity and erosion conditions are obtained by the following formula:

[0109]

[0110] Where G represents the acquisition response stability parameter corresponding to the rake head cutting depth, soil bearing capacity, and erosion conditions; n represents the number of data acquisitions corresponding to the rake head cutting depth, 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;

[0111] 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.

[0112] The technical benefits of this solution are: by monitoring the rake head's cutting depth, soil bearing capacity, and erosion in real time, it can quickly acquire key operating parameters, which are crucial for precise control of construction machinery and improved operational efficiency. Each data collection period is associated with a data collection response time, which helps assess the real-time and efficiency of data collection.

[0113] By calculating the acquisition response stability parameter G corresponding to the rake head cutting depth, soil bearing capacity, and erosion conditions, this solution can quantitatively assess the stability of the data acquisition process. The calculation of the stability parameter G takes into account the standard deviation of the data acquisition response time, CPU utilization, and memory utilization. These indicators comprehensively reflect the performance of the data acquisition system. By comparing the stability parameter G with the preset constraints, potential problems in the data acquisition process can be promptly identified and corresponding adjustments can be taken to ensure the stability and accuracy of data acquisition. Through real-time monitoring and intelligent adjustment of the data acquisition frequency, the solution can promptly detect abnormal conditions during the operation, such as excessive cutting depth, insufficient soil bearing capacity, or increased erosion, so that timely measures can be taken to avoid potential safety hazards. At the same time, the optimized data acquisition frequency helps to more accurately assess the operation status, provide operators with reliable decision support, and further improve operation efficiency.

[0114] 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.

[0115] Specifically, the acquisition response stability parameters corresponding to the rake head cutting depth, soil bearing capacity, and erosion conditions are compared with preset constraints, 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:

[0116] The acquisition response stability parameters corresponding to the rake head cutting depth, soil bearing capacity, and erosion conditions are compared with preset constraints; wherein the preset constraints are as follows:

[0117]

[0118] 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;

[0119] 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;

[0120] Using the target parameters, adjusting the data collection frequency corresponding to the target parameters, the cutting depth of the harrow head, the soil bearing capacity, and the erosion condition, to obtain an adjusted data collection frequency;

[0121] The adjusted data collection frequency is obtained by the following formula:

[0122]

[0123] Among them, F t F represents the adjusted data acquisition frequency corresponding to the target parameter and the target parameter corresponding to the harrow head cutting depth, soil bearing capacity and erosion condition; c G represents the data acquisition frequency before adjustment of the target parameter corresponding to the harrow head cutting depth, soil bearing capacity and erosion condition; x Indicates the parameter value corresponding to the target parameter; G 01 and G 02 Indicates the acquisition response stability parameters corresponding to 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;

[0124] 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.

[0125] The technical effect of the above-mentioned technical solution is that it achieves refined management and intelligent control of the data collection process by comparing the acquisition response stability parameters corresponding to the rake head cutting depth, soil bearing capacity, and erosion conditions with pre-set constraints. This comparison mechanism promptly detects anomalies in the data collection process, ensuring data accuracy and reliability. When the acquisition response stability parameters do not meet the pre-set constraints, the solution automatically sets the unsatisfactory parameters as target parameters and adjusts the corresponding data collection frequency based on the target parameters. This dynamic adjustment mechanism flexibly adjusts the data collection density and frequency 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 more efficiently utilizes system resources, avoiding unnecessary data redundancy and data waste. Furthermore, the dynamically adjusted data collection frequency more accurately reflects the actual situation during the operation, providing more reliable data support for subsequent decision-making and analysis. By introducing the acquisition response stability parameters and pre-set constraints, the solution enhances the robustness and stability of the data collection system. Even in complex and changing operating environments, the system can dynamically adjust the data collection frequency to meet various challenges, ensuring continuous and stable data collection. By monitoring and adjusting data collection frequency in real time, this solution optimizes operational processes, reducing unnecessary waiting time and wasted resources. Furthermore, more accurate data collection and faster response times improve overall operational efficiency, providing strong support for the efficient operation of construction machinery. The flexible and scalable design of this technical solution facilitates integration and expansion with other systems or modules. This contributes to the development of a more comprehensive data collection and analysis system, providing stronger support for the intelligent and automated development of construction machinery.

[0126] In summary, this technical solution, by introducing acquisition response stability parameters and pre-set constraints, enables refined management and intelligent control of the data acquisition process. This solution can dynamically adjust data acquisition frequency, improve data acquisition efficiency and accuracy, enhance system robustness and stability, optimize operational processes, and improve overall efficiency. Furthermore, this solution is easily scalable and integrated, providing strong support for the intelligent and automated development of construction machinery.

[0127] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection 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 model of the rake suction system: Obtain the geometric parameters of each component of the rake suction 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 system, and analyze the soil mechanical properties of the target operation area; Step 2: Force balance analysis of the harrow head: Build a three-dimensional model of the harrow head, analyze the forces acting on the harrow head based on 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, and 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. Specifically: Real-time monitoring data collection: Based on the dynamic cutting depth analysis results, real-time monitoring data of the rake head cutting depth, soil bearing capacity and erosion conditions are collected; Dynamic force compensation: Establish a hydraulic system model for the wave compensator, input the collected real-time monitoring data into the hydraulic system model, perform force analysis based on the preset stiffness coefficient and damping coefficient, and perform corresponding compensation calculations; Real-time detection of rake head cutting depth, soil bearing capacity and erosion conditions; data collection response time corresponding to each data collection; Obtaining a collection response stability parameter corresponding to the rake head cutting depth, soil bearing capacity and erosion condition according to the data collection response time corresponding to the rake head cutting depth, soil bearing capacity and erosion condition; 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 rake head cutting depth, soil bearing capacity, and erosion conditions; n represents the number of data acquisitions corresponding to the rake head cutting depth, 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.

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, wherein: The step 1 is to establish a rake suction pipe system model, specifically: Modeling of the rake suction pipe system and the hoisting 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 rake arm posture sensor model for calculation to determine the geometric relationship of each component of the drag suction pipe system; Soil mechanical properties analysis: 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 according to claim 2, wherein: 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 attitude 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 and the data of the angle between the lower rake tube and the horizontal are input into the rake arm attitude sensor model for calculation; And according to the calculation results, the geometric relationship and state of each component of the rake head are determined.

4. 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 3, wherein: The force balance analysis in step 2 is specifically as follows: Force balance analysis of the harrow head: A three-dimensional model of the harrow head is established based on the geometric relationship of the components of the harrow suction pipe system. Combined with the results of soil mechanical properties analysis, the three-dimensional model of the harrow head analyzes the forces acting on the harrow 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's bearing capacity and the harrow head's pressure on the ground based on the results of soil mechanical properties analysis, and judge the harrow head's cutting status; 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 according to claim 4, wherein: The drag head force balance analysis also includes: Before analyzing the force on the rake head, a rake pipe force analysis model is constructed, and the forces acting on the upper and lower rake pipes are analyzed based on the rake pipe force analysis model. Among them, the forces acting on the upper rake pipe include: the support force of the suction chute, the lifting force of the lifting point in the rake, the weight of the upper rake pipe, the force of the water flow and the force of the lower rake pipe; The forces acting on the lower harrow pipe include: the weight of the harrow pipe, the force of water flow, the tension of the wire rope for hanging the lower harrow pipe, and the horizontal and vertical forces acting on the harrow head by the mud surface. 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. Based on the analytical results of the force balance equations and moment balance equations, the forces acting on the rake head by the upper and lower rake pipes are determined.

6. 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 5, wherein: The dynamic cutting depth analysis specifically includes: The soil type is obtained based on the results of soil mechanical property analysis, and the corresponding bearing capacity calculation model is matched. The force acting on the harrow head is input into the bearing capacity calculation model to calculate the relative state between the harrow head and the soil. Comparing the calculated bearing capacity of the soil with the calculated three-dimensional model of the rake head to determine whether the bearing capacity of the soil is greater than the ground pressure under the current rake head state, and determining 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 soil bearing capacity 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 equilibrium is reached, and the cutting depth and the force 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, wherein: Comparing the acquisition response stability parameters corresponding to the rake head cutting depth, soil bearing capacity, and erosion conditions with preset constraint conditions, and determining whether it is necessary to adjust the data acquisition frequency of the rake head cutting depth, soil bearing capacity, and erosion conditions, including: The acquisition response stability parameters corresponding to the rake head cutting depth, soil bearing capacity, and erosion conditions are compared with 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 target parameters, the cutting depth of the harrow head, the soil bearing capacity, and the erosion condition, to obtain an adjusted data collection frequency; The adjusted data collection frequency is obtained by the following formula: ； Among them, F t F represents the adjusted data acquisition frequency corresponding to the target parameter and the target parameter corresponding to the harrow head cutting depth, soil bearing capacity and erosion condition; c G represents the data acquisition frequency before adjustment of the target parameter corresponding to the harrow head cutting depth, soil bearing capacity and erosion condition; x Indicates the parameter value corresponding to the target parameter; G 01 and G 02 Indicates the acquisition response stability parameters corresponding to 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.

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, wherein: The force compensation in step three also includes: dynamic parameter optimization: calculating the drag head lifting point tension based on the acquired ship roll and heave data, inputting the drag head lifting point tension into the drag tube force analysis model, calculating the impact of waves on cutting depth and excavation output, and performing parameter optimization based on the calculation results.

Images