重载深井调绳系统研究
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摘要
随着矿井提升运输设备面向高效、大型化、自动化方向的迈进,矿井提升技术已得到了飞速发展,千米深井也越来越多。这种矿井具有提升载荷能力强、运转效率高、矿井深的特点。然而,对于这种重载深井工况来说,现有的调绳装置已很难满足其使用要求,调绳的过程中存在工序繁琐、安全隐患多、占用时间长等难题。
本课题充分考虑了影响调绳作业的关键因素,并对现有调绳工艺进行对比分析,针对其存在的局限性,设计了一套能够适应各种立井工况(尤其重载深井工况)的重载深井调绳系统。采用机电液一体化的设计思想,对系统的机、电、液三方面进行了详细设计。阐述了系统工作原理、调绳工艺过程及各装置的功能。
通过锁紧机构方案论证,应用楔形块自锁机理,并辅以增力机构,对锁绳装置进行详细设计。通对其关键机构进行了理论分析,确定了双楔形块机构中各楔形块的楔形角,使锁绳装置不仅能实现自锁,而且能达到快速松绳的目的；利用杠杆原理对增力机构进行了结构设计,使之结构紧凑且增力可靠。应用ANSYS/LS—DYNA软件对锁绳装置进行了动力学仿真研究,仿真结果表明锁绳装置实现了对首绳的“自锁”；且增设增力机构可以有效提高锁绳的安全性和稳定性,降低了对首绳的磨损。为锁绳装置的设计提供了理论依据。锁紧装置中的上、下锁绳器互锁控制保证了系统在调绳过程中始终保持对首绳及提升容器的稳定锁紧。
应用同步阀控制回路,实现了提升装置的四个步进液压缸的同步伸缩动作,从而保证了两组同步提升装置对首绳及提升容器的同步提升与下放,同时也有效改善了调绳系统结构的受载工况。同步提升装置与锁紧装置的协调动作实现了对首绳连续不断地在线调节,保证一次性可将首绳长度在线调节合适。
移动承载装置采用“汽车起重机”的工作原理,利用提升千斤顶和移动车轮组的交替承载,使调绳系统实现了快速就位调绳、快速离位完成调绳。运用ANSYS对上、下承载梁进行了有限元优化分析,得出了合理的结构尺寸,为结构件的设计提供了理论依据。
制作了样机,并搭建试验平台进行了试验研究。试验结果表明,锁绳装置能够实现对自重为60t首绳和提升容器进行锁紧与提升；各机构的协调动作可实现了连续不断的在线调节；移动承载装置也实现了调绳系统快速就位和离位。该调绳系统能够实现对各种工况(尤其重载深井工况)首绳的调节。
With the development of mine elevator equipment for efficient, large-scale and automation direction, mine elevator technology has been developing rapidly. And kilometers deep mine will be more and more. This type of mine is characteristic of heavy load, high efficiency, shaft bottom deep etc. However, for this condition of heavy load and deep mine, the present adjust rope device is difficult to meet the application requirements. The adjust rope process exist the problem of tedious steps, potential safety hazard and occupancy long time etc.
This paper fully considers the key influence factors of adjust rope work and compares the present adjust rope process. And then, aimed at the limit of the present adjust rope device, design a set of adjust rope system which can adapt to all kind of vertical shaft (especially heavy load and deep) condition. Adopting the mechatronics and hydraulics integration thought, the system is designed in detail from machine, electricity and liquid three aspects. Meanwhile, its working principle and adjusting rope technological process are introduced.
Through the common lock institutions scheme comparison, this paper designs the lock rope device which adopt the wedge self-locking principle and add increase force institutions. Wedge angle of the double wedge mechanism is determined through theoretical analysis, which makes the lock rope device not only realize self-locking, but also achieve the purpose of fast release rope. The increase force institutions is designed by lever principle, and make it have compact structure and reliable increase force. The lock rope device is dynamic simulated by ANSYS/IS-DYNA. The simulation results show that the lock rope device realize self-locking, the increase force can effectively improve the lock rope security and stability, and reduce rope wear. The simulation results provide a theoretical basis for design. The interlock control of lock rope device ensure the system always maintain stability lock for the hoist vessel in the process of adjust rope.
Through apply the synchronous valve control circuit in the hydraulic systems, the four stepping cylinder of lifting device realize synchronous expansion action, and ensure the synchronizing lifting device simultaneously ascend and down the hoist vessel, also effectively improve the load conditions of the system structure. The coordinate of synchronizing lifting device and locking device can realize to online continuous adjust the first-rope, and ensure the first-rope length can be adjusted properly once.
Mobile bearing device adopts "truck crane" work principle, the ascending jack and mobile wheels alternately bear the instant load, which make the system realizes fast in place and rapid offline. Above and under bearing beam are optimized by ANSYS finite element analysis and get a reasonable structure, which provides theory basis for structure design.
Make a prototype, build experimental platform and conduct experiment research. Test results show that the lock rope device can realize to lock and ascend the 60t first-rope and ascend vessels; the coordinate action of each device can realize to online continuous adjust the first-rope; Mobile bearing device can realize fast in place and rapid offline. In short, the system can adapt to all kind of vertical shaft (especially heavy load and deep) condition.
本课题充分考虑了影响调绳作业的关键因素,并对现有调绳工艺进行对比分析,针对其存在的局限性,设计了一套能够适应各种立井工况(尤其重载深井工况)的重载深井调绳系统。采用机电液一体化的设计思想,对系统的机、电、液三方面进行了详细设计。阐述了系统工作原理、调绳工艺过程及各装置的功能。
通过锁紧机构方案论证,应用楔形块自锁机理,并辅以增力机构,对锁绳装置进行详细设计。通对其关键机构进行了理论分析,确定了双楔形块机构中各楔形块的楔形角,使锁绳装置不仅能实现自锁,而且能达到快速松绳的目的；利用杠杆原理对增力机构进行了结构设计,使之结构紧凑且增力可靠。应用ANSYS/LS—DYNA软件对锁绳装置进行了动力学仿真研究,仿真结果表明锁绳装置实现了对首绳的“自锁”；且增设增力机构可以有效提高锁绳的安全性和稳定性,降低了对首绳的磨损。为锁绳装置的设计提供了理论依据。锁紧装置中的上、下锁绳器互锁控制保证了系统在调绳过程中始终保持对首绳及提升容器的稳定锁紧。
应用同步阀控制回路,实现了提升装置的四个步进液压缸的同步伸缩动作,从而保证了两组同步提升装置对首绳及提升容器的同步提升与下放,同时也有效改善了调绳系统结构的受载工况。同步提升装置与锁紧装置的协调动作实现了对首绳连续不断地在线调节,保证一次性可将首绳长度在线调节合适。
移动承载装置采用“汽车起重机”的工作原理,利用提升千斤顶和移动车轮组的交替承载,使调绳系统实现了快速就位调绳、快速离位完成调绳。运用ANSYS对上、下承载梁进行了有限元优化分析,得出了合理的结构尺寸,为结构件的设计提供了理论依据。
制作了样机,并搭建试验平台进行了试验研究。试验结果表明,锁绳装置能够实现对自重为60t首绳和提升容器进行锁紧与提升；各机构的协调动作可实现了连续不断的在线调节；移动承载装置也实现了调绳系统快速就位和离位。该调绳系统能够实现对各种工况(尤其重载深井工况)首绳的调节。
With the development of mine elevator equipment for efficient, large-scale and automation direction, mine elevator technology has been developing rapidly. And kilometers deep mine will be more and more. This type of mine is characteristic of heavy load, high efficiency, shaft bottom deep etc. However, for this condition of heavy load and deep mine, the present adjust rope device is difficult to meet the application requirements. The adjust rope process exist the problem of tedious steps, potential safety hazard and occupancy long time etc.
This paper fully considers the key influence factors of adjust rope work and compares the present adjust rope process. And then, aimed at the limit of the present adjust rope device, design a set of adjust rope system which can adapt to all kind of vertical shaft (especially heavy load and deep) condition. Adopting the mechatronics and hydraulics integration thought, the system is designed in detail from machine, electricity and liquid three aspects. Meanwhile, its working principle and adjusting rope technological process are introduced.
Through the common lock institutions scheme comparison, this paper designs the lock rope device which adopt the wedge self-locking principle and add increase force institutions. Wedge angle of the double wedge mechanism is determined through theoretical analysis, which makes the lock rope device not only realize self-locking, but also achieve the purpose of fast release rope. The increase force institutions is designed by lever principle, and make it have compact structure and reliable increase force. The lock rope device is dynamic simulated by ANSYS/IS-DYNA. The simulation results show that the lock rope device realize self-locking, the increase force can effectively improve the lock rope security and stability, and reduce rope wear. The simulation results provide a theoretical basis for design. The interlock control of lock rope device ensure the system always maintain stability lock for the hoist vessel in the process of adjust rope.
Through apply the synchronous valve control circuit in the hydraulic systems, the four stepping cylinder of lifting device realize synchronous expansion action, and ensure the synchronizing lifting device simultaneously ascend and down the hoist vessel, also effectively improve the load conditions of the system structure. The coordinate of synchronizing lifting device and locking device can realize to online continuous adjust the first-rope, and ensure the first-rope length can be adjusted properly once.
Mobile bearing device adopts "truck crane" work principle, the ascending jack and mobile wheels alternately bear the instant load, which make the system realizes fast in place and rapid offline. Above and under bearing beam are optimized by ANSYS finite element analysis and get a reasonable structure, which provides theory basis for structure design.
Make a prototype, build experimental platform and conduct experiment research. Test results show that the lock rope device can realize to lock and ascend the 60t first-rope and ascend vessels; the coordinate action of each device can realize to online continuous adjust the first-rope; Mobile bearing device can realize fast in place and rapid offline. In short, the system can adapt to all kind of vertical shaft (especially heavy load and deep) condition.
引文
[1]庄严.矿山运输与提升[M].徐州：中国矿业大学出版社,2009：161-190,268.
[2]毋虎城,裴文喜.矿山运输与提升设备[M].北京：煤炭工业出版社,2004：130-1 31.
[3]吴娟.多绳摩擦提升机快速换绳系统的研究[D].太原：太原理工大学,2004.
[4]杨访明.多绳摩擦提升机首绳截绳新方法探讨[J].煤矿现代化,2008,5：85.
[5]赵志武.多绳摩擦提升机新绳长度的控制[J].矿山机械,1989,11：54-57.
[6]S.Kaczmarczyk, W.Ostachowicz. Transient vibration phenomena in deep mine hoisting cables[J]. Journal of Sound and Vibration,2003,262:219-244.
[7]S. Kaczmarczyk. The passage through resonance in a catenary-vertical cable hoisting system with slowly varying length [J]. Journal of Sound and Vibration,1997,208: 243-269.
[8]杨荣生.多绳摩擦式提升机新主绳长度的确定[J].有色设备,2004,3：54-57.
[9]Y.Terumichi, M.Ohtsuka, M.Yoshizawa etc. Non-stationary vibrations of a string with time-varying length and a mass-spring system attached at the lower end[J]. Nonlinear Dynamics,1997,12:39-55.
[10]尼新平.多绳摩擦轮提升机首绳长度及张紧力的调整[J].建井技术,1991,06：7-8.
[11]赵志武.采用收放结合的方法调整摩擦式矿井提升机钢丝绳张力[J].矿山机械,1990,07：53-55.
[12]王长利.浅谈改进多绳摩擦轮提升机换绳工艺[J].中国高新技术企业,2009,12：7.
[13]王建军,苏树常.立井塔式多绳摩擦式提升机换绳工艺[J].山东煤炭科技,2009,02：29,31.
[14]李穆然.多绳提升调绳悬挂装置[P].中国专利：91101425X,1992-09-23.
[15]陈徐州,胡长华,杜庆永等.液压调绳器[P].中国专利：98227304.5,1999-08-04.
[16]徐书林.可调式楔形绳环[P].中国专利：01227961.7,2002-05-01.
[17]罗戎,邓波.立井摩擦轮式提升机用液压调绳装置[P].中国专利：200620032089.0,2007-09-12.
[18]孙如海,栾正,许庆友等.多绳摩擦提升机钢丝绳张力平衡装置现状和发展趋势[J].矿山机械,2005,33(5)：59-60.
[19]Zhang Jianhong, Yi Jianqiang, Yu Yi etc. Intelligent control of a four-rope-driven level-adjustment device with constrained outputs[J].2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009:1860-1865.
[20]Yu Yi, Yi Jianqiang, Li Chengdong etc. Control of a rope-driven self-leveling device for leveling adjustment[J]. Proceedings of the American Control Conference,2009: 5115-5120.
[21]董孟娟,贾福音,姜小环.YT型调绳装置的研究[J].煤矿机械,2008,29(07)157-158.
[22]Qin Qiang, Wu Yanming, Zhao Han etc. Analyses on dynamic supporting process of cage supporting device[J]. Meitan Xuebao/Journal of the China Coal Society,2007, 32 (12):1324-1327.
[23]A.M.吉罗多,E.N.斯帕格.Blair多绳提升系统在南非的应用[J].国外金属矿山,1996,01：57-64.
[24]Precek, Hynek1, Ziegler etc. Ropes for use at great depths in mining[J]. Wire Industry, 1989,56 (661):40-41.
[25]Anon. THE PRESENT STATUS AND DEVELOPMENT OF LARGE MINE HOISTS IN CHINA [J]. Coal Science and Technology,1982,12:15-19.
[26]高大军,文小顺.多绳摩擦式提升机钢丝绳的抽绳方法[J].煤矿机械,2004,04：108-109.
[27]姜文河,董庆波,张新春.多绳摩擦式提升机钢丝绳串绳工艺的改进[J].矿山机械,2008,36(14)：62-63.
[28]郭文平.摩擦式多绳提升机的调绳与截绳[J].矿山机械,1998,02：40.
[29]王太远,丁峰.煤矿多绳摩擦式提升机钢丝绳的抽绳方法[J].中国新技术新产品,2010,07：150.
[30]陈杰.摩擦式提升机钢丝绳缩绳的改进方法[J].山东煤炭科技,2005,02：59-60.
[31]李锐平,王广丰.多绳摩擦提升调绳和车槽问题综述[J].煤矿机械,1998,10：4-6.
[32]黄建伟,杨建奎.多绳摩擦提升机快速卡绳装置的研究及应用[J].矿山机械,2008,36(13)：46-49.
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[2]毋虎城,裴文喜.矿山运输与提升设备[M].北京：煤炭工业出版社,2004：130-1 31.
[3]吴娟.多绳摩擦提升机快速换绳系统的研究[D].太原：太原理工大学,2004.
[4]杨访明.多绳摩擦提升机首绳截绳新方法探讨[J].煤矿现代化,2008,5：85.
[5]赵志武.多绳摩擦提升机新绳长度的控制[J].矿山机械,1989,11：54-57.
[6]S.Kaczmarczyk, W.Ostachowicz. Transient vibration phenomena in deep mine hoisting cables[J]. Journal of Sound and Vibration,2003,262:219-244.
[7]S. Kaczmarczyk. The passage through resonance in a catenary-vertical cable hoisting system with slowly varying length [J]. Journal of Sound and Vibration,1997,208: 243-269.
[8]杨荣生.多绳摩擦式提升机新主绳长度的确定[J].有色设备,2004,3：54-57.
[9]Y.Terumichi, M.Ohtsuka, M.Yoshizawa etc. Non-stationary vibrations of a string with time-varying length and a mass-spring system attached at the lower end[J]. Nonlinear Dynamics,1997,12:39-55.
[10]尼新平.多绳摩擦轮提升机首绳长度及张紧力的调整[J].建井技术,1991,06：7-8.
[11]赵志武.采用收放结合的方法调整摩擦式矿井提升机钢丝绳张力[J].矿山机械,1990,07：53-55.
[12]王长利.浅谈改进多绳摩擦轮提升机换绳工艺[J].中国高新技术企业,2009,12：7.
[13]王建军,苏树常.立井塔式多绳摩擦式提升机换绳工艺[J].山东煤炭科技,2009,02：29,31.
[14]李穆然.多绳提升调绳悬挂装置[P].中国专利：91101425X,1992-09-23.
[15]陈徐州,胡长华,杜庆永等.液压调绳器[P].中国专利：98227304.5,1999-08-04.
[16]徐书林.可调式楔形绳环[P].中国专利：01227961.7,2002-05-01.
[17]罗戎,邓波.立井摩擦轮式提升机用液压调绳装置[P].中国专利：200620032089.0,2007-09-12.
[18]孙如海,栾正,许庆友等.多绳摩擦提升机钢丝绳张力平衡装置现状和发展趋势[J].矿山机械,2005,33(5)：59-60.
[19]Zhang Jianhong, Yi Jianqiang, Yu Yi etc. Intelligent control of a four-rope-driven level-adjustment device with constrained outputs[J].2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009:1860-1865.
[20]Yu Yi, Yi Jianqiang, Li Chengdong etc. Control of a rope-driven self-leveling device for leveling adjustment[J]. Proceedings of the American Control Conference,2009: 5115-5120.
[21]董孟娟,贾福音,姜小环.YT型调绳装置的研究[J].煤矿机械,2008,29(07)157-158.
[22]Qin Qiang, Wu Yanming, Zhao Han etc. Analyses on dynamic supporting process of cage supporting device[J]. Meitan Xuebao/Journal of the China Coal Society,2007, 32 (12):1324-1327.
[23]A.M.吉罗多,E.N.斯帕格.Blair多绳提升系统在南非的应用[J].国外金属矿山,1996,01：57-64.
[24]Precek, Hynek1, Ziegler etc. Ropes for use at great depths in mining[J]. Wire Industry, 1989,56 (661):40-41.
[25]Anon. THE PRESENT STATUS AND DEVELOPMENT OF LARGE MINE HOISTS IN CHINA [J]. Coal Science and Technology,1982,12:15-19.
[26]高大军,文小顺.多绳摩擦式提升机钢丝绳的抽绳方法[J].煤矿机械,2004,04：108-109.
[27]姜文河,董庆波,张新春.多绳摩擦式提升机钢丝绳串绳工艺的改进[J].矿山机械,2008,36(14)：62-63.
[28]郭文平.摩擦式多绳提升机的调绳与截绳[J].矿山机械,1998,02：40.
[29]王太远,丁峰.煤矿多绳摩擦式提升机钢丝绳的抽绳方法[J].中国新技术新产品,2010,07：150.
[30]陈杰.摩擦式提升机钢丝绳缩绳的改进方法[J].山东煤炭科技,2005,02：59-60.
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