井下应急排水车行走机构的设计研究
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摘要
随着煤炭开采量的不断增加,随之而来的安全问题也日益突出,尤其以矿山水患的灾害性影响较为显著。虽然已有多项较成熟的排水技术应用在矿山生产当中,但由于灾害的不可预测性,使现有的排水技术在应急救援中有些显得捉襟见肘。此时具有集成度高、紧急排水需求响应迅速、排水设备流量大、现场准备时间短、井下复杂路面通过性好、可实现快速救援、保障井下工作人员的生命及物资安全等特点的应急排水车应运而生。
本文针对应用于垂直深度为300米以下斜井应急排水的作业车的行走机构进行设计研究。由于井下地形复杂和工作环境恶劣,作业车必须具备优良的机动性、稳定性和良好的越障能力。因此提出一种采用履带式底盘,液压驱动,轨道及履带行驶方式自由切换,车身防水的总体设计方案。根据履带车辆的设计经验及行走机构的主要技术指标,对应急排水车履带行走机构主要结构参数、液压驱动系统的参数进行了设计计算；对行走机构的组成零部件进行三维建模,并对其履带架进行有限元分析。
基于RecurDyn平台建立履带行走机构的虚拟样机,并进行动力学仿真来验证方案设计的可行性。对应急排水车在几种复杂地形上的行驶性能和平地转向性能以及稳定性影响因素进行分析研究。对各工况相关运动学、动力学参数进行了分析,并对履带行走机构行走性能作出了评价与预测。仿真分析结果表明,履带式行走机构结构设计合理,运动灵活,能平稳通过所设计的地形指标。可以顺利直行转向,可以跨越0.3米高障碍,0.9米宽濠沟,小于25度斜坡等复杂地形,具备良好的越障通过性能和良好的机动性。
最后,对样机进行模拟试验,考察液压驱动系统与行走系之间的匹配以及行走机构的性能反映。
With the development of coal mining quantity unceasing increase, the attendant security issues have become increasingly prominent, especially in mine flood disaster. Although there are a number of mature drainage technology applied in mine production, because of unpredictable disasters, the existing drainage technology in emergency rescue of some appeared to catch the collar. Emergency drainage car with characteristics of high integration, emergency water demand rapid response, large flow, short preparation time,which can also realize the rapid rescue, and protect underground work personnel's life and material safety, emerges as the times require.
This article studies on walking mechanism of emergency drainage working vehicle which is applied in vertical depth below300m inclined. Due to the complex terrain and harsh working environment, working vehicle must have excellent maneuverability, stability and good ability of obstacle surmounting. Therefore, a overall design scheme of crawler chassis, hydraulic drive, track and track the running mode switch was put forward.Based on tracked vehicle design experience and running mechanism of the major technical indicators, the main structure parameters of walking mechanism of hydraulic drive system emergency drainage crawler was designed, the design and calculation of parameters; three-dimensional model of running mechanism of component parts was built, and the crawler frame was analysed with finite element.
Based on RecurDyn platform, establishment of the virtual prototype model of the crawler system and simulation, demonstrate the feasibility of the program design by simulation results, analyze the driving performance, peaceful transition and stability factors of emergency drainage car on several complex terrains. Setting up parameters of kinematics and dynamics for several kinds of working conditions, evaluate and predict the walking performance of the crawler system. The simulation results show that the structural design of the crawler traveling mechanism is reasonable, flexible movement, smooth through the design of the topographic index. It can be smoothly straight steering, span0.3m high barriers to0.9m wide trenches, less than25degrees slope and other complex terrain, and has a good performance on surmounting obstacles and flexibility.
Finally, test the prototype and simulation, examining the match between the hydraulic drive system and the walking system and reflect ion of walking mechanism performances.
本文针对应用于垂直深度为300米以下斜井应急排水的作业车的行走机构进行设计研究。由于井下地形复杂和工作环境恶劣,作业车必须具备优良的机动性、稳定性和良好的越障能力。因此提出一种采用履带式底盘,液压驱动,轨道及履带行驶方式自由切换,车身防水的总体设计方案。根据履带车辆的设计经验及行走机构的主要技术指标,对应急排水车履带行走机构主要结构参数、液压驱动系统的参数进行了设计计算；对行走机构的组成零部件进行三维建模,并对其履带架进行有限元分析。
基于RecurDyn平台建立履带行走机构的虚拟样机,并进行动力学仿真来验证方案设计的可行性。对应急排水车在几种复杂地形上的行驶性能和平地转向性能以及稳定性影响因素进行分析研究。对各工况相关运动学、动力学参数进行了分析,并对履带行走机构行走性能作出了评价与预测。仿真分析结果表明,履带式行走机构结构设计合理,运动灵活,能平稳通过所设计的地形指标。可以顺利直行转向,可以跨越0.3米高障碍,0.9米宽濠沟,小于25度斜坡等复杂地形,具备良好的越障通过性能和良好的机动性。
最后,对样机进行模拟试验,考察液压驱动系统与行走系之间的匹配以及行走机构的性能反映。
With the development of coal mining quantity unceasing increase, the attendant security issues have become increasingly prominent, especially in mine flood disaster. Although there are a number of mature drainage technology applied in mine production, because of unpredictable disasters, the existing drainage technology in emergency rescue of some appeared to catch the collar. Emergency drainage car with characteristics of high integration, emergency water demand rapid response, large flow, short preparation time,which can also realize the rapid rescue, and protect underground work personnel's life and material safety, emerges as the times require.
This article studies on walking mechanism of emergency drainage working vehicle which is applied in vertical depth below300m inclined. Due to the complex terrain and harsh working environment, working vehicle must have excellent maneuverability, stability and good ability of obstacle surmounting. Therefore, a overall design scheme of crawler chassis, hydraulic drive, track and track the running mode switch was put forward.Based on tracked vehicle design experience and running mechanism of the major technical indicators, the main structure parameters of walking mechanism of hydraulic drive system emergency drainage crawler was designed, the design and calculation of parameters; three-dimensional model of running mechanism of component parts was built, and the crawler frame was analysed with finite element.
Based on RecurDyn platform, establishment of the virtual prototype model of the crawler system and simulation, demonstrate the feasibility of the program design by simulation results, analyze the driving performance, peaceful transition and stability factors of emergency drainage car on several complex terrains. Setting up parameters of kinematics and dynamics for several kinds of working conditions, evaluate and predict the walking performance of the crawler system. The simulation results show that the structural design of the crawler traveling mechanism is reasonable, flexible movement, smooth through the design of the topographic index. It can be smoothly straight steering, span0.3m high barriers to0.9m wide trenches, less than25degrees slope and other complex terrain, and has a good performance on surmounting obstacles and flexibility.
Finally, test the prototype and simulation, examining the match between the hydraulic drive system and the walking system and reflect ion of walking mechanism performances.
引文
[1]汪龙琴.基于GIS的矿井水灾应急救援管理系统的研究[D].贵州：贵州大学,2008
[2]王公忠.开采二#煤扰动破坏对底板隔水层的影响分析[J].煤炭工程,2010-08
[3]周心权,常文杰.煤矿重大灾害应急救援技术[M].徐州：中国矿业大学出版社,2007-11
[4]蒋猛.矿山抢险排水方法综述[J].中州煤炭.2003-02
[5]秦永法.履带式移动应急排灌车的设计研究[J].农业装备与车辆工程,2010-7
[6]姚友良.履带车辆行走装置动力学仿真[J].科技信息,2011-11
[7]包峥嵘.履带式车辆车架设计优化及工艺研究[D].扬州：扬州大学,2010
[8]张娟利,师帅兵.拖拉机行走机构的研究现状[J].农机化研究,2010
[9]赵文生.履带式行走机构设计分析[J].湖北农机化,2010-04
[10]国家安全生产监督管理总局.煤矿安全规程[M].北京：煤炭工业出版社,2009.
[11]谢锋珠.煤矿井巷设计和图形绘制的研究与实现[D].北京：太原理工大学,2006
[12]李兴春.矿山应急救援车结构与布置[J].现代制造技术与装备,2007-05
[13]梁荣朝.万向防翻特种车行走装置的设计与研究[D].武汉：武汉理工大学,2006
[14]姚怀新,陈波.工程机械底盘理论[M].北京：人民交通出版社,2002-02
[15]申艳斌.农业拖拉机履带行走系研究[D].洛阳：河南科技大学,2008
[16]潘腾.基于虚拟样机的四驱采煤机搬运车的研究[D].太原：太原理工大学,2010
[17]巩青松.履带式工作车辆设计及分析的关键技术研究[D].扬州：扬州大学.2008
[18]梁荣朝.万向防翻特种车行走装置的设计与研究[D].武汉：武汉理工大学,2006
[19]赵瑜.履带式行走机构设计分析和研究[J].新技术新工艺,2010-5
[20]Bodin A. Development of a tracked vehiele to study the influence of vehicle parameters on tractive performance in soft terrain[J].Journal of Terralnechanies, 1999,36(3)
[21]Michael D, Letherwood. Ground vehicle modeling and simulation of military vehicles using high performance computing[J].Parallel Computing,2001,27
[22]周汉林.履带式联合收割机行走装置的研究[J].现代农业装备.2006-5
[23]杨春海.掘进机履带式行走机构的研究[J].科学之友：B版,2008-03
[24]孙运强.橡胶履带底盘结构设计与实验仿真研究[D].秦皇岛：大庆石油学院,2010.3
[25]秦四成.工程机械设计[M].北京：科学出版社.2003-08
[26]林慕义,张福生.车辆底盘构造与设计[M].北京：冶金工业出版社,2007
[27]孙振杰.微型农用履带式行走装置的设计方法[J].农机化研究,2011-10
[28]李永志.连续运输系统履带行走机构主要参数的确定[J].煤矿机械.2007-09
[29]Cicek Karaoglu, N.Sefa Kuralay. Stress analysis of a truck chassis with riveted joints. Finite Elements in Analysis and Design, 2002.3
[30]M.Javed Hyder, M.Asif. Optimization of location and size of opening in a pressure vessel cylinder using ANSYS. Engineer Failure Analysis,2007.06
[31]Choi J H, Lee H C, Shabana A A. Spatial Dynamics of Multibody Tracked Vehicles, Partl,Spatial Equation of Motion. Vehicle System Dynamic, 1998,29
[32]Choi J H, Lee H C, Shabana A A. Spatial Dynamics of Multibody Tracked Vehicles, Part2,Contact Force and Simulation Results. Vehicle System Dynamic,1998,29.
[33]李鄂民.基于ANSYS的叉车架体有限元分析[J].科学技术与工程.2011-11
[34]陈思栋.履带式车架结构设计与验证[J].农业装备与车辆工程,2010-12
[35]王梁.井下搜救探测机器人的虚拟样机建模技术与研究[D].太原：太原理工大学,2011-4
[36]Xu D,YAP F F,Han X,Wen G L.Identification of Spring-Force Factors of Suspension Systems Using Progressive Neural Network on A Validated Computer Model.Inverse Problems in Engng[J],2003,11(1).
[37]Thavarnani P. Bhowmiek. A. K. Wear of Tank Track Pad Rubber Vuleanizates by VariousRoeks. Rubb Chem Technol,1992.
[38]黄国权.有限元法基础及ANSYS应用[M].北京：机械工业出版社,2004-06
[39]王晓方.液压与气动技术[M],北京：中国轻工业出版社,2006
[40]张利平,邓钟明.液压气动系统设计手册[M],北京：机械工业出版社,1997.6
[41]方志强,高连华,王红岩.履带车辆转向功率与直驶功率对比分析[J],装甲兵工程学院学报报,2005(6)：2-6
[42]袁英,寇子明,陈乾麟.井下履带式应急排水车传动系统的理论分析[J].煤矿机械.2012(5).
[43]钟智攀.基于数字样机技术的曲轴多体动力学和有限元分析[D].合肥：合肥工业大 学,2009
[44]马涛.基于虚拟样机技术的矿用掘进机行走减速器仿真研究[D].太原：太原理工大学,2008
[45]姚宗伟.四履带车辆稳态滑移转向特性研究[J].建筑机械,2011-01
[46]成大先.机械设计手册(第五版)[M].北京：化学工业出版社,2008-01
[47]Bodin A. Study of the Influence of Vehicle Parameters on Tractive Performance in Deep Snow[J]. Journal of Terramechanics.2001(38).
[48]FalkA.Advanced Mobility in Difficult Terrain [J]. Journal of Terramechanics.2004(41).
[49]周良.铰接式履带车动力学仿真与有限元分析[D].长沙：中南大学,2009.6
[50]赵辉.铰接履带式海底作业车行走与控制仿真研究[D].长沙：中南大学,2008.6
[2]王公忠.开采二#煤扰动破坏对底板隔水层的影响分析[J].煤炭工程,2010-08
[3]周心权,常文杰.煤矿重大灾害应急救援技术[M].徐州：中国矿业大学出版社,2007-11
[4]蒋猛.矿山抢险排水方法综述[J].中州煤炭.2003-02
[5]秦永法.履带式移动应急排灌车的设计研究[J].农业装备与车辆工程,2010-7
[6]姚友良.履带车辆行走装置动力学仿真[J].科技信息,2011-11
[7]包峥嵘.履带式车辆车架设计优化及工艺研究[D].扬州：扬州大学,2010
[8]张娟利,师帅兵.拖拉机行走机构的研究现状[J].农机化研究,2010
[9]赵文生.履带式行走机构设计分析[J].湖北农机化,2010-04
[10]国家安全生产监督管理总局.煤矿安全规程[M].北京：煤炭工业出版社,2009.
[11]谢锋珠.煤矿井巷设计和图形绘制的研究与实现[D].北京：太原理工大学,2006
[12]李兴春.矿山应急救援车结构与布置[J].现代制造技术与装备,2007-05
[13]梁荣朝.万向防翻特种车行走装置的设计与研究[D].武汉：武汉理工大学,2006
[14]姚怀新,陈波.工程机械底盘理论[M].北京：人民交通出版社,2002-02
[15]申艳斌.农业拖拉机履带行走系研究[D].洛阳：河南科技大学,2008
[16]潘腾.基于虚拟样机的四驱采煤机搬运车的研究[D].太原：太原理工大学,2010
[17]巩青松.履带式工作车辆设计及分析的关键技术研究[D].扬州：扬州大学.2008
[18]梁荣朝.万向防翻特种车行走装置的设计与研究[D].武汉：武汉理工大学,2006
[19]赵瑜.履带式行走机构设计分析和研究[J].新技术新工艺,2010-5
[20]Bodin A. Development of a tracked vehiele to study the influence of vehicle parameters on tractive performance in soft terrain[J].Journal of Terralnechanies, 1999,36(3)
[21]Michael D, Letherwood. Ground vehicle modeling and simulation of military vehicles using high performance computing[J].Parallel Computing,2001,27
[22]周汉林.履带式联合收割机行走装置的研究[J].现代农业装备.2006-5
[23]杨春海.掘进机履带式行走机构的研究[J].科学之友：B版,2008-03
[24]孙运强.橡胶履带底盘结构设计与实验仿真研究[D].秦皇岛：大庆石油学院,2010.3
[25]秦四成.工程机械设计[M].北京：科学出版社.2003-08
[26]林慕义,张福生.车辆底盘构造与设计[M].北京：冶金工业出版社,2007
[27]孙振杰.微型农用履带式行走装置的设计方法[J].农机化研究,2011-10
[28]李永志.连续运输系统履带行走机构主要参数的确定[J].煤矿机械.2007-09
[29]Cicek Karaoglu, N.Sefa Kuralay. Stress analysis of a truck chassis with riveted joints. Finite Elements in Analysis and Design, 2002.3
[30]M.Javed Hyder, M.Asif. Optimization of location and size of opening in a pressure vessel cylinder using ANSYS. Engineer Failure Analysis,2007.06
[31]Choi J H, Lee H C, Shabana A A. Spatial Dynamics of Multibody Tracked Vehicles, Partl,Spatial Equation of Motion. Vehicle System Dynamic, 1998,29
[32]Choi J H, Lee H C, Shabana A A. Spatial Dynamics of Multibody Tracked Vehicles, Part2,Contact Force and Simulation Results. Vehicle System Dynamic,1998,29.
[33]李鄂民.基于ANSYS的叉车架体有限元分析[J].科学技术与工程.2011-11
[34]陈思栋.履带式车架结构设计与验证[J].农业装备与车辆工程,2010-12
[35]王梁.井下搜救探测机器人的虚拟样机建模技术与研究[D].太原：太原理工大学,2011-4
[36]Xu D,YAP F F,Han X,Wen G L.Identification of Spring-Force Factors of Suspension Systems Using Progressive Neural Network on A Validated Computer Model.Inverse Problems in Engng[J],2003,11(1).
[37]Thavarnani P. Bhowmiek. A. K. Wear of Tank Track Pad Rubber Vuleanizates by VariousRoeks. Rubb Chem Technol,1992.
[38]黄国权.有限元法基础及ANSYS应用[M].北京：机械工业出版社,2004-06
[39]王晓方.液压与气动技术[M],北京：中国轻工业出版社,2006
[40]张利平,邓钟明.液压气动系统设计手册[M],北京：机械工业出版社,1997.6
[41]方志强,高连华,王红岩.履带车辆转向功率与直驶功率对比分析[J],装甲兵工程学院学报报,2005(6)：2-6
[42]袁英,寇子明,陈乾麟.井下履带式应急排水车传动系统的理论分析[J].煤矿机械.2012(5).
[43]钟智攀.基于数字样机技术的曲轴多体动力学和有限元分析[D].合肥：合肥工业大 学,2009
[44]马涛.基于虚拟样机技术的矿用掘进机行走减速器仿真研究[D].太原：太原理工大学,2008
[45]姚宗伟.四履带车辆稳态滑移转向特性研究[J].建筑机械,2011-01
[46]成大先.机械设计手册(第五版)[M].北京：化学工业出版社,2008-01
[47]Bodin A. Study of the Influence of Vehicle Parameters on Tractive Performance in Deep Snow[J]. Journal of Terramechanics.2001(38).
[48]FalkA.Advanced Mobility in Difficult Terrain [J]. Journal of Terramechanics.2004(41).
[49]周良.铰接式履带车动力学仿真与有限元分析[D].长沙：中南大学,2009.6
[50]赵辉.铰接履带式海底作业车行走与控制仿真研究[D].长沙：中南大学,2008.6