EBJ-160掘进机上机载锚杆钻机的动力学特性研究
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摘要
随着工业的发展,煤炭在国民经济中的主导地位不断提升,生产规模也不断扩大。进入二十世纪以来,采煤机械化和综合机械化技术逐渐被世界各主要采煤国所追踪。随着高产高效采煤机械在煤矿生产中的应用,井下工作面的开采强度大大提高,工作面的推进速度也越来越快,这就要求加快成巷速度,以达到采掘平衡。国内外的生产实践证明:只有实现掘进和锚杆支护一体化才能满足这一要求。因而,研制新型高效的巷道掘锚机组,实现掘锚一体化快速成巷技术已经成为掘进机械化发展的主要方向。
本文基于对国内外现有掘锚机组发展情况的分析和研究,分析了EBJ-160掘进机的机型特点及工作状况,研究与之配套的机载锚杆钻机工作时的动力学特性。建立了机载锚杆钻机钻柱纵向振动的简化力学模型和数学模型,同时采用了微分方程和有限元两种方法。
利用拉格朗日方程建立了机载锚杆钻机的整机振动数学模型。利用计算机辅助设计软件SolidWorks建立了机载锚杆钻机的简化三维模型,然后使用ADAMS软件对简化模型进行计算机模拟,得到了相关的模拟数据,并对数据进行分析和讨论。结果表明:机载锚杆钻机的钻架和悬臂受到的振动影响最大。
本文最后优化了机载锚杆钻机的结构,优化后的钻架与钻柱采用轨道式的轴向浮动连接方式。锚杆钻机与EBJ-160掘进机之间的连接采用在两者间安装铅芯橡胶隔振支座的柔性连接方式,从而为顺利实现掘锚一体化提供了有力的保证。
With the development of the industry, the priority position of coal promotes unceasingly in national economy, the scale of production also expands unceasingly. Since the 20th century, the mining coal mechanization and the synthesizes mechanized technology have been gradually traced by the major coal-mining country in the world. With the application of high production and high efficiency coal-mining machine in the coal mine production, the mining rate of the underground working surface enhances greatly, the working surface advancement speed is also becoming quicker and quicker, This requires to speed up completing roadway in order to achieve the extraction of balance. The domestic and foreign production practice has been proved: only achieve boring and bolting integration to meet this requirement. Therefore, researching and manufacturing new types of efficient roadway bolterminer, achieving boring and bolting integration to speed up completing roadway technology has become the main direction of the heading mechanization development.
Based on the analysis and the research of the development of the existing domestic and foreign bolterminer, the machine-type characteristic and the working condition of EBJ-160 roadheader have been analyzed, and the dynamics of roof bolter on EBJ-160 roadheader at work has been researched. Simplified mechanical and mathematical models of the drillstring longitudinal vibration of roof bolter on EBJ-160 roadheader were built,which used two methods of differential equations and the finite element at the same time.
Lagrange formulation has been used to build the vibration math model of the roof bolter on EBJ-160 roadheader. Simplified 3D model of the roof bolter on EBJ-160 roadheader was finished by CAD software SolidWorks. Simplified 3D model was simulated by ADAMS,Some simulation datas were gotten and they were analysised and discussed. The result indicated: The vibration of the drill tower and the bracket of roof bolter on EBJ-160 are most affected.
This article optimized the structure of the roof bolter on EBJ-160 roadheader finally, the rail-mounted the axial float joint way were used by the optimized drill tower and the column. The flexibility connection way of installing the lead-rubber isolation bearings was used between roof bolter and EBJ-160 roadheader, thus to realize boring and bolting integration to provide the powerful guarantee.
本文基于对国内外现有掘锚机组发展情况的分析和研究,分析了EBJ-160掘进机的机型特点及工作状况,研究与之配套的机载锚杆钻机工作时的动力学特性。建立了机载锚杆钻机钻柱纵向振动的简化力学模型和数学模型,同时采用了微分方程和有限元两种方法。
利用拉格朗日方程建立了机载锚杆钻机的整机振动数学模型。利用计算机辅助设计软件SolidWorks建立了机载锚杆钻机的简化三维模型,然后使用ADAMS软件对简化模型进行计算机模拟,得到了相关的模拟数据,并对数据进行分析和讨论。结果表明:机载锚杆钻机的钻架和悬臂受到的振动影响最大。
本文最后优化了机载锚杆钻机的结构,优化后的钻架与钻柱采用轨道式的轴向浮动连接方式。锚杆钻机与EBJ-160掘进机之间的连接采用在两者间安装铅芯橡胶隔振支座的柔性连接方式,从而为顺利实现掘锚一体化提供了有力的保证。
With the development of the industry, the priority position of coal promotes unceasingly in national economy, the scale of production also expands unceasingly. Since the 20th century, the mining coal mechanization and the synthesizes mechanized technology have been gradually traced by the major coal-mining country in the world. With the application of high production and high efficiency coal-mining machine in the coal mine production, the mining rate of the underground working surface enhances greatly, the working surface advancement speed is also becoming quicker and quicker, This requires to speed up completing roadway in order to achieve the extraction of balance. The domestic and foreign production practice has been proved: only achieve boring and bolting integration to meet this requirement. Therefore, researching and manufacturing new types of efficient roadway bolterminer, achieving boring and bolting integration to speed up completing roadway technology has become the main direction of the heading mechanization development.
Based on the analysis and the research of the development of the existing domestic and foreign bolterminer, the machine-type characteristic and the working condition of EBJ-160 roadheader have been analyzed, and the dynamics of roof bolter on EBJ-160 roadheader at work has been researched. Simplified mechanical and mathematical models of the drillstring longitudinal vibration of roof bolter on EBJ-160 roadheader were built,which used two methods of differential equations and the finite element at the same time.
Lagrange formulation has been used to build the vibration math model of the roof bolter on EBJ-160 roadheader. Simplified 3D model of the roof bolter on EBJ-160 roadheader was finished by CAD software SolidWorks. Simplified 3D model was simulated by ADAMS,Some simulation datas were gotten and they were analysised and discussed. The result indicated: The vibration of the drill tower and the bracket of roof bolter on EBJ-160 are most affected.
This article optimized the structure of the roof bolter on EBJ-160 roadheader finally, the rail-mounted the axial float joint way were used by the optimized drill tower and the column. The flexibility connection way of installing the lead-rubber isolation bearings was used between roof bolter and EBJ-160 roadheader, thus to realize boring and bolting integration to provide the powerful guarantee.
引文
[1]马跃.谈我国悬臂式掘进机的发展趋势.煤,2006(2): 29~32
[2]邢福康,蔡坫,刘玉堂等.煤矿支护手册[M].北京:煤炭工业出版社,1993
[3]何满潮,袁和生等.中国煤矿锚杆支护理论与实践[M].北京:科学出版社,2004
[4]牛宝玉.采掘锚、掘锚一体化快速掘进成巷技术[J].煤炭工程,2003(11):9~12
[5] Indraratna B,ed;Desingn for Grouted Rock Bolts on Convergence Control Mezhod. Int.J.Rock Mech,Min.Sci.&Geomech.Abstr,1990(27):237~247
[6] Itasca Consulting;Inc.FLAC(Fast Lagrangian Analysis of Continua)User Manuals,Version 5.0 Minnesota,2005(5):25~29
[7]张书诚,王明远.巷道掘进[M],北京:煤炭工业出版社,1989.7
[8] (苏)普洛克宾克.矿井巷道的掘进和支架[M],北京:煤炭工业出版社,1955.2
[9]黄日恒.悬臂式掘进机[M],徐州:中国矿业大学出版社1996.1
[10]邹敢.锚杆钻机的发展现状[J]。煤矿机械[J],2006(3):364~365。
[11]侯朝炯,郭宏亮.我国煤巷锚杆支护技术的发展方向[J]。煤炭学报,1996(4):116~117
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[13] http://www.chinasafety.gov.cn/zhuantibaodao/2007-04/26/content_234289.htm
[14]刘念全,陈苗虎. ABM20型掘锚机在高瓦斯复杂地质条件下的试用[J],2008(8):152~153
[15] http://www.coal.com.cn/CoalNews/ArticleDisplay_109050.html
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[17]侯祥明.横轴式掘进机截割头受力及整机振动分析[D]。淮南:安徽理工大学学位论文,2008.5
[18]田晶.纵轴式掘进机动态模型与动态特性的研究[D]。阜新:辽宁工程技术大学硕士学位论文,2002.5
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[22]任葆锐,刘建平.煤巷快速掘进设备的使用与发展[J].煤矿机电,2003(5):52~54
[23]徐锁庚.综掘工作面乳化液锚杆钻机组设计分析[J].煤矿机械,2004(25):3~5
[24] Ma N J,Hu C S,Liu X C,et al;The underground stress design method of coal entry bolt supporting[J]. Ground Pressure and Strata Control, 1997(14):195~197
[25]章扬烈.钻柱运动学与动力学[M].北京:石油工业出版社,2001.5
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[27]王立平.振动钻削动态特性及变参数振动钻削微机控制的研究[D].吉林大学机械科学与工程学院,1997
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[29] Parkle R G,Mote C D Jr ;Tunning of the natural frequency spectrum of a circular plate by in-plane stress[J].Journal of Sound and Vibration,1991(1):95~100
[30] Mark W D;Nonlinear Drill String Dynamics.Ph D Dissertation, The University of Tulsa:1996
[31]赵国珍,龚伟安.钻井力学基础[M].北京:石油工业出版社,1990
[32]尹松,冯定等.钻井钻柱的纵向振动模型的建立与分析[J].振动与冲击,2006(25):906~908
[33] Jansen J D;Non-linear rotor dynamics as applied to oilwell drillstring vibrations.J of Sound and Vibration, 1991,(1): 115～135
[34]周德胜.三牙轮钻头机械钻速的计算机仿真研究[D].西南石油学院博士论文,1992
[35]刘清友.三牙轮钻头动力学计算机仿真与研究[D].四川:西南石油学院博士论文,1997
[36]高岩,郭学增等.钻柱振动分析技术的应用前景[J].建井技术,1997(1)
[37]龚伟安.钻柱固有频率的计算理论[J].石油钻探技术,1983(2):35~39
[38]高岩.三牙轮钻头条件下钻柱轴向振动波谱分析研究[D].北京:石油大学,1994
[39]李晓豁.横轴掘进机的振动模型及求解程序[J].煤矿机械, 2000(7): 1~2
[40]李晓豁.横轴掘进机水平截割的动力学建模[J].黑龙江科技学院学报,2006(11): 335~337
[41] Ma,B,A.Hr, J.F.F. inite element analysis of viscoelastically damped sandwich plates. Journal of Sound and Vibration,1992,
[42]顾秀娟,侯贵东.掘进机截割头平均负荷的模拟.黑龙江科技学院学报,2001(12)
[43]彭天好等.横轴式掘进机截割头运动参数优化及载荷模拟分析.安徽理工大学硕士学位论文,2006
[44]李军.部分断面横轴悬臂式掘进机截割头设计参数的验算与优化设计.吉林大学硕士学位论文,2005
[45] K.G.HURT, K.M.MACANDREW;Designing Roadheader Cutting Heads,1889
[46] Evans I;Basic mechanic of the point–attack pick. Colliery Gardian ,1984
[47]李佐民等.掘进机截割头最佳截线间距的探讨.煤炭技术,2000(2): 5~6
[48]郑凯等. ADAMS 2005机械设计高级应用实例.机械工业出版社.北京,2006
[49]曹树谦等.振动结构模态分析——理论、试验与应用.天津大学出版社.天津:2001
[50]崔嵩.轨道车辆动态特性分析研究与优化[D] .同济大学硕士学位论文,2004
[51] Wu T, Chang Y W;Seidensticker, R w. Benefits of Vertical and Horizontal Seismic Isolation for LMR(Liquid Metal Reactor) Nuclear Reactor Units. Performer:Argonne Nation Lab, IL. Sponsor: Department of Energy, Washington, DC. 1988. 18p. Report: CONF-880661-6
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[59]唐伟力.地铁诱发建筑物振动的隔振控制[D].北京:北京工业大学硕士论文,2007
[2]邢福康,蔡坫,刘玉堂等.煤矿支护手册[M].北京:煤炭工业出版社,1993
[3]何满潮,袁和生等.中国煤矿锚杆支护理论与实践[M].北京:科学出版社,2004
[4]牛宝玉.采掘锚、掘锚一体化快速掘进成巷技术[J].煤炭工程,2003(11):9~12
[5] Indraratna B,ed;Desingn for Grouted Rock Bolts on Convergence Control Mezhod. Int.J.Rock Mech,Min.Sci.&Geomech.Abstr,1990(27):237~247
[6] Itasca Consulting;Inc.FLAC(Fast Lagrangian Analysis of Continua)User Manuals,Version 5.0 Minnesota,2005(5):25~29
[7]张书诚,王明远.巷道掘进[M],北京:煤炭工业出版社,1989.7
[8] (苏)普洛克宾克.矿井巷道的掘进和支架[M],北京:煤炭工业出版社,1955.2
[9]黄日恒.悬臂式掘进机[M],徐州:中国矿业大学出版社1996.1
[10]邹敢.锚杆钻机的发展现状[J]。煤矿机械[J],2006(3):364~365。
[11]侯朝炯,郭宏亮.我国煤巷锚杆支护技术的发展方向[J]。煤炭学报,1996(4):116~117
[12]陈荣君,梁明东,黄忠东.浅析锚杆钻机的现状及其发展[J]。煤矿机电,2001(4):28~30
[13] http://www.chinasafety.gov.cn/zhuantibaodao/2007-04/26/content_234289.htm
[14]刘念全,陈苗虎. ABM20型掘锚机在高瓦斯复杂地质条件下的试用[J],2008(8):152~153
[15] http://www.coal.com.cn/CoalNews/ArticleDisplay_109050.html
[16]徐春江.掘进机工作机构动态特性研究[D]。阜新:辽宁工程技术大学硕士学位论文,1993
[17]侯祥明.横轴式掘进机截割头受力及整机振动分析[D]。淮南:安徽理工大学学位论文,2008.5
[18]田晶.纵轴式掘进机动态模型与动态特性的研究[D]。阜新:辽宁工程技术大学硕士学位论文,2002.5
[19] http://www.cnsb.cn/html/products/1049/info_show_1049219.html
[20] http://www.3jjj.com/user/comp/pro_view.asp?nid=26750&uname=bjcytd&lid=76
[21]徐锁庚.刘斌坤等.JMZ型机载锚杆钻机研制及其应用[J],建井技术,1999(4)
[22]任葆锐,刘建平.煤巷快速掘进设备的使用与发展[J].煤矿机电,2003(5):52~54
[23]徐锁庚.综掘工作面乳化液锚杆钻机组设计分析[J].煤矿机械,2004(25):3~5
[24] Ma N J,Hu C S,Liu X C,et al;The underground stress design method of coal entry bolt supporting[J]. Ground Pressure and Strata Control, 1997(14):195~197
[25]章扬烈.钻柱运动学与动力学[M].北京:石油工业出版社,2001.5
[26]鉄摩辛柯.工程中的振动问题[M],胡人礼译.北京:人民铁道出版社,1978
[27]王立平.振动钻削动态特性及变参数振动钻削微机控制的研究[D].吉林大学机械科学与工程学院,1997
[28] Mote C D J r;Free vibration of initially stressed circular diske[J]. Transanctions of the ASME,1965:258~264
[29] Parkle R G,Mote C D Jr ;Tunning of the natural frequency spectrum of a circular plate by in-plane stress[J].Journal of Sound and Vibration,1991(1):95~100
[30] Mark W D;Nonlinear Drill String Dynamics.Ph D Dissertation, The University of Tulsa:1996
[31]赵国珍,龚伟安.钻井力学基础[M].北京:石油工业出版社,1990
[32]尹松,冯定等.钻井钻柱的纵向振动模型的建立与分析[J].振动与冲击,2006(25):906~908
[33] Jansen J D;Non-linear rotor dynamics as applied to oilwell drillstring vibrations.J of Sound and Vibration, 1991,(1): 115～135
[34]周德胜.三牙轮钻头机械钻速的计算机仿真研究[D].西南石油学院博士论文,1992
[35]刘清友.三牙轮钻头动力学计算机仿真与研究[D].四川:西南石油学院博士论文,1997
[36]高岩,郭学增等.钻柱振动分析技术的应用前景[J].建井技术,1997(1)
[37]龚伟安.钻柱固有频率的计算理论[J].石油钻探技术,1983(2):35~39
[38]高岩.三牙轮钻头条件下钻柱轴向振动波谱分析研究[D].北京:石油大学,1994
[39]李晓豁.横轴掘进机的振动模型及求解程序[J].煤矿机械, 2000(7): 1~2
[40]李晓豁.横轴掘进机水平截割的动力学建模[J].黑龙江科技学院学报,2006(11): 335~337
[41] Ma,B,A.Hr, J.F.F. inite element analysis of viscoelastically damped sandwich plates. Journal of Sound and Vibration,1992,
[42]顾秀娟,侯贵东.掘进机截割头平均负荷的模拟.黑龙江科技学院学报,2001(12)
[43]彭天好等.横轴式掘进机截割头运动参数优化及载荷模拟分析.安徽理工大学硕士学位论文,2006
[44]李军.部分断面横轴悬臂式掘进机截割头设计参数的验算与优化设计.吉林大学硕士学位论文,2005
[45] K.G.HURT, K.M.MACANDREW;Designing Roadheader Cutting Heads,1889
[46] Evans I;Basic mechanic of the point–attack pick. Colliery Gardian ,1984
[47]李佐民等.掘进机截割头最佳截线间距的探讨.煤炭技术,2000(2): 5~6
[48]郑凯等. ADAMS 2005机械设计高级应用实例.机械工业出版社.北京,2006
[49]曹树谦等.振动结构模态分析——理论、试验与应用.天津大学出版社.天津:2001
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