胶轮牵引两臂锚索机动力特性与试验研究.pdf

万方数据 Dynamic Characteristic and Experimental Study of Twin Boom Anchor Cable Drilling with Rubber Tyred Traction 学校代码10112 密 级公开 硕 士 学 位 论 文 （专（专 业业 学学 位）位） 论文题目 胶轮牵引两臂锚索机动力特性与试验研究 英文题目 作者姓名 张恩华 学 号 2017520059 专业领域 动力工程 研究方向 机械动力学设计 指导教师 武 兵 副教授 校外导师 申进杰 研究员 论文提交日期 2020 年 6 月 万方数据 万方数据 学位论文原创性声明 本人郑重声明所呈交的学位论文，是本人在导师的指导下，独立进 行研究所取得的成果。除文中已经注明引用的内容外，本论文不包含其他 个人或集体已发表或撰写过的科研成果。对本文的研究做出贡献的个人和 集体，均已在文中以明确方式标明。本声明的法律责任由本人承担。 论文作者签名 签字日期 年 月 日 学位论文版权使用授权书 本学位论文作者和指导教师完全了解太原理工大学有关保留、使用学 位论文的规定学校有权保留并向国家有关部门或机构送交学位论文的复 印件和电子版；允许本学位论文被查阅和借阅；学校可以将本学位论文的 全部或部分内容编入有关数据库进行检索，可以采用影印、缩印或其他复 制手段保存和汇编本学位论文。 本学位论文属于保密 □ 在 年解密后适用本授权书 不保密■ 论文作者签名 导师签名 签字日期 年 月 日 签字日期 年 月 日 万方数据 万方数据 硕士工程类专业学位 学位论文答辩信息表 论文题目 胶轮牵引两臂锚索机动力特性与试验研究 课题来源* 企事业单位委托项目 论文类型 在[ ]内打 “√” [ ]产品研发 [ ]工程设计 [√]应用研究 [ ]工程/项目管理 [ ]调研报告 [ ]基础研究 论文答辩日期 2020.6.6 答辩秘书 钮晨光 学位论文答辩委员会成员 姓名 职称 博导/硕导 工作单位 答辩委员 会主席 闫红红 教授 硕导 太原科技大学 答辩委员 1 兰媛 副教授 硕导 太原理工大学 答辩委员 2 郝惠敏 副教授 硕导 太原理工大学 *课题来源可填国家重点研发计划项目、国家自然科学基金项目、国家社 科基金项目、教育部人文社科项目、国家其他部委项目、省科技厅项目、 省教育厅项目、企事业单位委托项目、其他 万方数据 万方数据 摘 要 I 摘 要 锚杆-锚索支护是一种快速、安全、经济的煤矿巷道支护型式，将顶板 较松软的煤岩悬吊于上部稳固的岩体上，从而提高巷道顶板的整体强度和 稳定性。锚杆钻车是煤矿井下用于对巷道顶板和侧帮打孔、以及安装锚杆 的支护配套设备，技术比较成熟，极大地提高了锚杆支护速度。然而，目 前国内煤巷锚索钻孔眼施工一直沿用的设备为单体式锚杆钻机，这种锚索 钻孔眼方式需要工人近距离操作，有很大的制约性及安全隐患。部分矿区 尝试采用锚杆钻车兼顾实施锚索钻眼，但效果不太理想，普通的锚杆钻机 难以满足钻装锚索的要求。因此，研究安全快捷的车载锚索支护设备，提 高锚索成孔速度成为当前井下巷道支护急需解决的问题。 本文综合考虑 CMM 系列锚杆钻车和顺槽用胶轮运输车的特点，分析 计算了锚索机的扭矩、转速、推力等钻削动力特性，确定了胶轮牵引液压 锚索机的总体技术方案，设计了锚索机的结构及液压系统，并采用 SolidWorks 软件建立了锚索机三维模型。 锚索机井下工作条件恶劣，承受载荷复杂多变，其工作可靠性直接关 系到锚索机的使用性能。本文应用多刚体动力学理论及 ADAMS 软件，建 立了锚索机实体模型及拓扑关系，考虑空载状态和虚拟加载的不同工况， 研究锚索机全行程工作循环过程中主要运动部件的受力变化分布，求解得 到近似真实的锚索机运动学和动力学的性能参数。结果表明，平台最低位 置为受力状态最恶劣工况，左右举升油缸力最大可达 1.29e5N，前后连杆受 力也较大，为分析整车零部件的强度、耐久性以及液压系统的初始设定提 供数据支持。 钻头钻杆在钻削煤岩过程中，锚钻系统会产生较为严重的振动问题， 影响钻架的使用寿命。本文应用模态分析理论对单钻架约束模态、两钻架 同时打顶约束模态、两钻架分别打帮打顶约束模态进行了固有频率及模态 振型分析，阐明钻头与煤岩层相互作用使钻架产生的激励振动、以及钻机 马达的旋转运动对锚钻系统工作过程成孔精度的影响。结果表明，将钻箱 转速控制在 450-500rpm 之间可以避免锚索机发生共振。 在研究锚索机的力学性能时，有限元方法有助于给出有效地方向性预 测评估。以锚索机多体动力学分析的结构件所受载荷和调研获取的煤巷实 际工况参数及载荷为基础， 运用 ANSYS Workbench 软件对推进架、 钻架座、 链传动装置、滑轨机构等锚索机关键元部件进行复杂工况下的静强度校核 万方数据 太原理工大学硕士学位论文 II 分析，有针对性的修改和优化结构，提高锚索机在各种极限状态下工作的 可靠性和适应性。另外，本文针对滚子链条进行了极限拉伸载荷试验，得 出了具有实际工程应用的定量结论。 为了研究实际工况下系统压力、流量、转速等随负载的分布状态和变 化规律，本文分别展开外场空载液压系统工作性能试验和钻进假煤岩壁面 性能试验，构建了锚索机外场测试系统。试验表明，锚索钻孔眼时要根据 不同岩石普氏系数及时调整锚索机动力参数，测试数据与仿真曲线的数量 级基本一致。 本文的研究工作和结论，可以为锚索机的选型计算、动力响应特性分 析及定型结构设计提供理论依据和参考。 关键词关键词锚索机设计；多刚体动力学建模；模态特性与成孔精度；性能试 验 万方数据 ABSTRACT III ABSTRACT Bolt-anchor support is a fast, safe and economical support for coal mine roadways. It suspends the soft coal roof on the upper stable rock strata, so as to improve the overall strength and stability of the roadway roof. Bolter is supporting equipment for drilling roadway roof and lateral wall and installing bolt in underground coal mine. Its technology is relatively mature, which greatly improves the bolt support speed. However, the single boom bolter is always used in the construction of anchor cable drilling in domestic coal roadway at present. This drilling of anchor hole requires close operation by workers, which has great restrictions and safety hazards. Some mining areas tried to use bolter implement anchor cable hole, but the effect was not satisfactory. Ordinary bolter is difficult to meet the requirements of drilling anchor. Thereby, it has become an urgent problem to study the safe and fast vehicle-mounted anchor support equipment and improve the speed of anchor cable hole-ing for the current underground roadway support. In this paper, the characteristics of CMM series bolter and rubber tyred trucks for crossheading were comprehensively considered. The drilling dynamic characteristics of anchor cable drilling such as torque, rotation speed and thrust were analyzed and calculated. The general technical scheme of hydraulic anchor cable drilling with rubber tyred was determined. The structure and the hydraulic system of anchor cable drilling were designed. Three-dimensional model of anchor cable drilling was established by SolidWorks software. The underground working conditions of the anchor cable drilling are bad, the load is complex and changeable, and its working reliability is directly related to the perance of anchor cable drilling. Based on the theory of multi-rigid body dynamics and ADAMS software, this paper established the physical model and the topological relationship of anchor cable drilling. Considering the different working conditions of no-load state and virtual loading, the force distribution of main moving parts during the whole working cycle of anchor cable drilling were studied. The approximate real perance parameters of kinematics and dynamics of anchor cable drilling were obtained. The results show that the load state of the lowest position of plat is the worst case. The 万方数据 太原理工大学硕士学位论文 IV maximum force of left and right lifting cylinder can reach 1.29e5N, and the force of front and rear connecting rods is also larger. It provides data support for analyzing the strength and durability of vehicle parts and the initial setting of hydraulic system. In the process of drilling coal rock with drill bit and drill rod, the anchor drill system will generate serious vibration problems, which will affect the service life of the drill rig. In this paper, the modal analysis theory was applied to analyze the natural frequency and modal shape of the constraint mode of single drill rig, the constraint mode of two drill rig hitting roof simultaneously, and the constraint mode of two drill rig hitting lateral wall and roof respectively. The influence of exciting vibration of drill rig caused by the interaction between drill bit and coal seam and rotating motion of drill motor on hole-ing accuracy of anchor drilling system working process were expounded. The results show that the resonance of anchor cable drilling can be avoided by controlling the rotation speed of drill box between 450 and 500 rpm. When studying the mechanical properties of anchor cable drilling, the finite element is helpful to give effective direction prediction and uation. Based on the loads on the structural parts of the multi-body dynamic analysis of anchor cable drilling and the actual working conditions parameters and loads of the coal roadway obtained from the investigation, static strength of the key components of anchor cable drilling such as the drill mast, the drill stand, the chain device and the slide mechanism under complex working conditions were checked and analyzed by ANSYS Workbench software. So then, the structure can be modified and optimized to improve the reliability and adaptability of anchor cable drilling under various extreme conditions. In addition, the ultimate tensile load test of roller chain was carried out, and the quantitative conclusions with practical engineering application were obtained. In order to study the distribution state and variation law of system pressure, flow rate and rotational speed with load under actual working condition; this paper carried out external field no-load hydraulic system perance experiment and drilling pseudo-coal rock wall perance experiment respectively, and constructed the external field test system of anchor cable drilling. The experiment results show that the dynamic parameters of anchor cable drilling should be adjusted in time according to the different rock 万方数据 ABSTRACT V Protodyakonov coefficient when drilling hole. The order of magnitude of the test data is basically the same as the simulation curve. The research work and conclusions of this paper can provide theoretical basis and reference for the selection calculation, dynamic response characteristic analysis and design of the finalized structure of anchor cable drilling. Key Words Anchor Cable Drilling Design; Multi-rigid Body Dynamics Modeling; Modal Characteristics and Hole-ing Accuracy; Perance Experiment 万方数据 太原理工大学硕士学位论文 VI 万方数据 目 录 VII 目 录 摘 要 ......................................................................................................................................... I ABSTRACT ............................................................................................................................. III 第一章 绪论 ............................................................................................................................ 1 1.1 问题的提出及研究意义 ............................................................................................ 1 1.2 井工巷道锚杆锚索机研究现状 ................................................................................ 2 1.2.1 国外锚杆支护设备的发展概况 ...................................................................... 2 1.2.2 国内锚杆锚索机支护技术的研究现状 .......................................................... 4 1.3 本论文研究内容与方法 ............................................................................................ 9 1.3.1 研究内容 .......................................................................................................... 9 1.3.2 技术路线与方法 ............................................................................................ 10 第二章 胶轮牵引两臂液压锚索机设计方法研究 .............................................................. 11 2.1 胶轮锚索钻车工作特点 .......................................................................................... 11 2.2 锚索机钻削动力特性及工作参数确定 .................................................................. 12 2.2.1 锚索机工作原理 ............................................................................................ 12 2.2.2 锚索钻头锚固孔钻进动力特征 .................................................................... 13 2.2.3 锚索机关键技术参数确定 ............................................................................ 15 2.3 胶轮牵引锚索机结构设计及技术特征 .................................................................. 18 2.3.1 结构设计和连接方式 .................................................................................... 18 2.3.2 巷道适用范围及主要技术特征 .................................................................... 23 2.4 本章小结 .................................................................................................................. 24 第三章 锚索机多体动力学建模仿真与模态特性分析 ...................................................... 25 3.1 锚索机运动过程 ...................................................................................................... 25 3.2 锚索机施工过程动力学仿真技术研究 .................................................................. 26 3.2.1 多刚体动力学建模理论与 ADAMS ............................................................. 26 3.2.2 实体模型及拓扑关系的建立 ........................................................................ 29 3.2.3 锚索机空载状态铰接销轴和油缸受力分析 ................................................ 30 3.2.4 虚拟加载运动承载特性分析 ........................................................................ 37 3.3 锚索机模态特性与成孔精度研究 .......................................................................... 42 万方数据 太原理工大学硕士学位论文 VIII 3.3.1 模态分析基本理论与方法 ............................................................................ 42 3.3.2 锚钻系统振动特性分析 ................................................................................ 43 3.3.3 模态分析在锚钻系统动力特性分析中的应用 ............................................ 44 3.4 本章小结 .................................................................................................................. 53 第四章 基于有限元的锚索机力学特性分析与链条抗拉载荷试验 .................................. 55 4.1 关于有限元法及 ANSYS Workbench .................................................................... 55 4.2 滚子链条力学特性研究 .......................................................................................... 56 4.2.1 滚子链传动受力分析 .................................................................................... 56 4.2.2 链传动装置结构组成及特征参数确定 ........................................................ 57 4.2.3 有限元模型建立及分析设置 ........................................................................ 58 4.2.4 仿真结果分析讨论 ........................................................................................ 59 4.3 基于有限元法的推进架力学特性分析 .................................................................. 61 4.3.1 输入模型及边界条件设定 ............................................................................ 61 4.3.2 应力位移变形计算结果 ................................................................................ 62 4.4 钻架座静力学特性研究 .......................................................................................... 64 4.4.1 钻架座模型建立及网格划分 ........................................................................ 64 4.4.2 钻架座计算结果与分析 ................................................................................ 65 4.5 滑轨机构静力学特性分析 ...................................................................................... 65 4.5.1 有限元模型建立及载荷施加 ........................................................................ 65 4.5.2 仿真模拟分析 ................................................................................................ 66 4.6 滚子链条极限拉伸载荷试验 .................................................................................. 68 4.6.1 滚子链条测试系统 ........................................................................................ 68 4.6.2 拉伸测试数据处理 ........................................................................................ 69 4.7 本章小结 .................................................................................................................. 71 第五章 锚索机地面外场试验研究 ...................................................................................... 73 5.1 锚索机测试系统 ...................................................................................................... 73 5.2 外场运行调试及空载液压系统工作性能试验 ...................................................... 74 5.2.1 空载测试数据采集处理 ................................................................................ 74 5.2.2 空载测试结果分析与讨论 ............................................................................ 79 5.3 锚索机钻进假煤岩壁面性能试验 .......................................................................... 80 5.3.1 钻进测试数据采集处理 ................................................................................ 80 5.3.2 钻进测试结果分析与讨论 ............................................................................ 85 万方数据 目 录 IX 5.4 本章小结 .................................................................................................................. 85 第六章 结论与展望 .............................................................................................................. 87 6.1 工作结论 .................................................................................................................. 87 6.2 工作展望 .................................................................................................................. 88 参考文献 .....................................................................................................