综采工作面液压支架运装平台研究.pdf

硕士学位论文 综采工作面液压支架运装平台研究 Study on the Hydraulic Support Transportation and Installation Plat Used in Fully Mechanized Face 作 者牛 辉 导 师程志红教授 中国矿业大学 二○一五年四月 万方数据 中图分类号 TH122 学校代码 10290 UDC 621 密 级 公开 中国矿业大学 硕士学位论文 综采工作面液压支架运装平台研究 Study on the Hydraulic Support Transportation and Installation Plat Used in Fully Mechanized Face 作 者 牛 辉 导 师 程志红教授 申请学位 工学硕士 培养单位 机电工程学院 学科专业 机械设计及理论 研究方向 现代设计理论与方法 答辩委员会主席 评 阅 人 二○一五年四月 万方数据 学位论文使用授权声明学位论文使用授权声明 本人完全了解中国矿业大学有关保留、使用学位论文的规定，同意本人所 撰写的学位论文的使用授权按照学校的管理规定处理 作为申请学位的条件之一，学位论文著作权拥有者须授权所在学校拥有学 位论文的部分使用权，即①学校档案馆和图书馆有权保留学位论文的纸质版 和电子版，可以使用影印、缩印或扫描等复制手段保存和汇编学位论文；②为 教学和科研目的，学校档案馆和图书馆可以将公开的学位论文作为资料在档案 馆、 图书馆等场所或在校园网上供校内师生阅读、 浏览。 另外， 根据有关法规， 同意中国国家图书馆保存研究生学位论文。 （保密的学位论文在解密后适用本授权书） 。 作者签名 导师签名 年 月 日 年 月 日 万方数据 论文审阅认定书论文审阅认定书 研究生 在规定的学习年限内，按照研究生培养方 案的要求，完成了研究生课程的学习，成绩合格；在我的指导下完 成本学位论文,经审阅，论文中的观点、数据、表述和结构为我所认 同，论文撰写格式符合学校的相关规定，同意将本论文作为学位申 请论文送专家评审。 导师签字 年 月 日 万方数据 致谢致谢 在本文行将结束之际，首先要感谢我的导师程志红教授。本文的研究工作 是在导师的悉心指导下完成的，从论文的选题、研究计划的制定、技术路线的 选择以及论文的撰写，各个方面都离不开导师热情耐心的帮助和教导。在硕士 研究生阶段，导师开阔的研究视野、渊博的学术知识、严谨的治学态度、求实 创新的科研作风和孜孜不倦的科研精神使我受益匪浅，终生难忘，同时导师还 为我的学习和研究工作提供了各种有利的条件，使我能够不断取得学业的进步 和学术水平的提高。在此，向导师表示由衷的感谢和诚挚的敬意。 感谢实验室魏毅龙、江海波、周春华、王月宏等以及曾经给予我帮助的同 学们，谢谢他们的支持和启发，实验室的团结友爱、互相协作为我的论文写作 创造了一个良好的心理环境。 感谢母校中国矿业大学对我的培养，祝愿母校明天会更好 最后我要特别感谢我的家人，在生活上他们给予了我无微不至的关心和精 神上莫大的支持和鼓励，使我顺利完成了学业，他们是我奋斗的不竭动力，是 我前进的坚实基础 万方数据 I 摘摘 要要 液压支架的运输及安装工作是煤矿生产工作中的重要组成部分，其现代化 建设水平的高低直接影响煤矿企业的发展。目前我国煤矿在液压支架运输及安 装技术上落后于先进采煤国，研究液压支架运输安装技术和设备，不仅有助于 液压支架的快速运输及安装，提高煤矿生产效率，而且也能够降低工作人员的 劳动强度，提高液压支架运输安装工作的安全性。 本文以综采工作面液压支架运装平台为研究对象。首先，对运装平台的工 作环境做了概述，提出液压支架运装方案并设计运装平台的基本结构和功能； 其次，对运装平台的关键零部件进行了设计计算及分析，并借助 SolidWorks、 ANSYS Workbench 等计算机辅助软件对关键零部件的应力进行有限元分析， 优 化零部件中应力过于集中的结构；然后基于 AMESim 软件对运装平台的支撑立 柱液压系统进行建模和仿真运算，研究分析多级液压缸支撑立柱的运动特性； 最后，基于 ADAMS 虚拟样机技术及理论，建立了钢丝绳柔性体模型、起升平 移机构虚拟样机模型，研究分析了钢丝绳的拉力、起升平移机构运动时的动态 特性。 本文提出了一种新的综采工作面液压支架运装平台，完成了运装平台的基 本结构设计。 基于 ANSYS Workbench 有限元分析软件， 对理论计算结果进行验 证， 改进了零部件中应力过于集中的不合理结构。 通过支撑立柱液压系统仿真， 分析支撑立柱的运动特性对安装平台稳定性的影响。基于 ADAMS 虚拟样机技 术及理论，对安装平台起升平移机构的动态特性做重点研究，保证液压支架安 装过程的平稳性。 该运装平台在很大程度上可以提高液压支架安装效率，满足企业的具体要 求，具有较强的实际意义。 该论文图 83 幅，表 6 个，参考文献 86 篇。 关键词辅助运输；液压支架；运装平台；计算机辅助设计；AMESim 仿真； 虚拟样机 万方数据 III Abstract As an important work part in coal production, the level of modernization of hydraulic support transportation and installation impacts on the development of coal mining enterprises directly. At present, China lags behind other advanced country in the technology of hydraulic support transportation and installation. Research on hydraulic support transportation and installation techniques and equipment, not only helps to transport and install hydraulic support quickly and improve the efficiency of coal production, but also can reduce labor intensity and improve work safety of hydraulic support transportation and installation. The hydraulic support transportation and installation plat was the research object. Firstly, a brief overview of the plat working environment was given and basic plat function and structural project was presented. Secondly, the key parts parameters were designed and calculated. With the help of SolidWorks and ANSYS Workbench, some key parts were taken into finite element analysis and optimized. Then the hydraulic system model of multi-stage cylinder column was built and the motion characteristic was analyzed based on AMESim. At last, based on virtual prototyping technology and theory of ADAMS, the wire rope flexible body model and the hoist and shift mechanism virtual prototype were built. Tension transation of rope and dynamic characteristic of hoist and shift mechanism were studied. The project of hydraulic support transportation and installation was presented, and design of the plat basic structure was completed. The theoretical calculation results were tested by ANSYS Workbench and some unreasonable structure of key parts were improved. According to simulation of multi-stage cylinder column hydraulic system, the relationship between motion characteristic of multi-stage cylinder column and stability of the plat was researched. Based on ADAMS, dynamic characteristic of hoist and shift mechanism of the installation plat were studied and the smooth installation process was guaranteed. The plat can improve the efficiency of transportation and installation of hydraulic support greatly and meet the specific requirements of the enterprise, which has a strong practical significance. The paper has 83 figures, 6 tables, 86 article references. Keywords Auxiliary Transportation; Hydraulic Support; Plat; Computer-aided Design; AMESim simulation; Virtual Prototype 万方数据 V 目目 录录 摘摘 要要 ....................................................................................................................... I 目目 录录 ...................................................................................................................... V 图清单图清单 .................................................................................................................... IX 表清单表清单 ................................................................................................................... XII 变量注释表变量注释表 ........................................................................................................ XVII 1 绪论绪论 ...................................................................................................................... 1 1.1 研究的背景及意义 ............................................................................................ 1 1.2 国内外研究现状 ................................................................................................ 5 1.3 主要研究内容 ................................................................................................... 11 1.4 本章小结 ...........................................................................................................12 2 运装平台的结构方案设计运装平台的结构方案设计 ..................................................................................13 2.1 运装平台工作环境分析及方案设计 ................................................................13 2.2 运装平台结构方案概述 ....................................................................................14 2.3 运输平台的结构方案设计 ................................................................................15 2.4 安装平台的结构方案设计 ................................................................................16 2.5 运装平台工序概述 ...........................................................................................19 2.6 本章小结 ...........................................................................................................21 3 运装平台关键零部件的设计与分析运装平台关键零部件的设计与分析 ....................................................................23 3.1 计算机辅助软件介绍 .......................................................................................23 3.2 运输平台关键零部件的参数设计 ....................................................................27 3.3 安装平台关键零部件的参数设计 ....................................................................31 3.4 基于 ANSYS Workbench 的关键零部件有限元分析 .......................................36 3.5 本章小结 ...........................................................................................................42 4 基于基于 AMESim 的多级液压缸支撑立柱运动特性分析的多级液压缸支撑立柱运动特性分析 .......................................43 4.1 基于 AMESim 的理论基础 ..............................................................................43 4.2 多级缸支撑立柱液压系统建模 ........................................................................46 4.3 多级液压缸支撑立柱的仿真分析 ....................................................................51 4.4 本章小结 ...........................................................................................................59 5 安装平台起升平移机构的刚柔动力学仿真安装平台起升平移机构的刚柔动力学仿真 ........................................................61 5.1 基于 ADAMS 的虚拟样机技术 ........................................................................61 5.2 起升平移机构刚柔动力学模型建立 ................................................................65 5.3 起升平移机构的刚柔动力学仿真 ....................................................................74 5.4 本章小结 ............................................................................................................80 6 总结与展望总结与展望 ...........................................................................................................81 万方数据 VI 6.1 总结 ..................................................................................................................81 6.2 创新点...............................................................................................................81 6.3 展望 ..................................................................................................................82 参考文献参考文献 .................................................................................................................83 作者简介作者简介 .................................................................................................................87 学位论文原创性声明学位论文原创性声明 ..............................................................................................89 学位论文数据集学位论文数据集 ......................................................................................................91 1 万方数据 VII Contents Abstract ................................................................................................................. III Contents ................................................................................................................ VII List of Figures ........................................................................................................ IX List of Tables ......................................................................................................... XII List of Variables ................................................................................................. XVII 1 Introduction .......................................................................................................... 1 1.1 Background and Significance............................................................................... 1 1.2 Research Status at Home and Abroad ................................................................... 5 1.3 Main Research Contents ..................................................................................... 11 1.4 Summary ............................................................................................................12 2 Structural Project Design of the Plat ..........................................................13 2.1 The Plat Working Environment Analysis and Scheme Design ......................13 2.2 Introduction of the Plat Structural Project ....................................................14 2.3 Structure Design of the Transportation Plat .................................................15 2.4 Structure Design of the Installation Plat.......................................................16 2.5 Introduction of the Plat Working Procedure .................................................19 2.6 Summary ............................................................................................................21 3 Design and Analysis of The Plat Key Parts.................................................23 3.1 Computer-aided Software Introduction ...............................................................23 3.2 Parameter Design of Transportation Plat Key Parts .....................................27 3.3 Parameter Design of Installation Plat Key Parts ...........................................31 3.4 Finite Element Analysis of Key Parts Based on ANSYS Workbench ...................36 3.5 Summary ............................................................................................................42 4 Motion Characteristics Analysis of Multi-stage Cylinder Column Based on AMESim .................................................................................................................43 4.1 Theoretical foundation based on AMESim ..........................................................43 4.2 Model Process of Multi-stage Column Hydraulic System ...................................46 4.3 Simulation and Analysis of Multi-stage Cylinder Columns .................................51 4.4 Summary ............................................................................................................59 5 Installation Plat Hoist and Shift Mechanism Simulation ...........................61 5.1 Virtual Prototyping Technology Based on ADAMS.............................................61 5.2 Model Process of Virtual Prototype .....................................................................65 5.3 Virtual Prototype Simulation of Hoist and Shift Mechanism ...............................74 5.4 Summary ............................................................................................................80 万方数据 VIII 6 Conclusions and Prospects ..................................................................................81 6.1 Conclusions ........................................................................................................81 6.2 Innovative Points ................................................................................................81 6.3 Prospects ............................................................................................................82 References ...............................................................................................................83 Auther’s Resume ....................................................................................................87 Declaration of Thesis Originality ...........................................................................89 Thesis Data Collection ............................................................................................91 万方数据 IX 图清单图清单 图序号 图名称 页码 图 1-1 煤炭在我国能源结构中的地位 1 Figure 1-1 The statue of coal in energy structure in China 1 图 1-2 我国落后的液压支架运输方式 2 Figure 1-2 The outdated transportation of hydraulic support in China 2 图 1-3 我国液压支架运输设备 3 Figure 1-3 The equipment in hydraulic support transportation 3 图 1-4 平板车运输液压支架 3 Figure 1-4 The flatbed truck used in hydraulic support transportation 3 图 1-5 我国液压支架运输及安装现状 4 Figure 1-5 The situation of transportation and installation of hydraulic support 4 图 1-6 单轨吊运输液压支架 6 Figure 1-6 Hydraulic supports transported by monorail 6 图 1-7 卡轨机车辅助运输系统 7 Figure 1-7 Rail vehicle auxiliary transportation system 7 图 1-8 无轨支架搬运车 8 Figure 1-8 Trackless carrier 8 图 1-9 无轨支架搬运车运输液压支架 8 Figure 1-9 Hydraulic supports transported by trackless carrier 8 图 1-10 液压支架回转安放平台 9 Figure 1-10 Hydr