重型掘进机掘进过程的动态特性研究
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摘要
重型掘进机硬岩掘进时,工况恶劣,载荷复杂,针对目前国内掘进机截割头设计大多凭经验进行以及截割负载的非线性、时变性和强耦合等特点,通过对纵轴式掘进机截割头的分析与研究,建立了截割头负载的瞬态动力学模型。
基于VC++和MATLAB联合开发了用于掘进机截割头设计和负载计算的计算机辅助设计软件。应用此软件可以获得截割头各截齿齿尖空间位置参数、截割头载荷波动曲线及波动系数、生成截割头瞬时负载的文本等,以评价截割头设计的合理性并进一步指导截割头的优化设计;解决了掘进机截割头设计中盲目缩放几何尺寸及其负载计算因人而异造成设计与计算结果迥异的问题;为新型截割头的研发及对现有机型的改进提供了新的方法和手段。软件界面友好、操作简单、方便实用,使基于科学方法的截割头计算机辅助设计在工程中的应用和推广成为可能。
建立截割部三维实体模型并导入到动力学仿真软件ADAMS中,建立基于ADAMS/Hydraulics模块的机液耦合模型并进行截割部向上摆动截岩过程的液压仿真,分析液压系统和机械系统特性,为研究掘进机截割部机械系统和液压系统的可靠性提供依据。
When the heavy Roadheader is tunneling the hard rock, the working condition is bad and the load is complex. Aimed at the problems that domestic design on cutting head of Roadheader is usually dependent on experience, and the characteristic of cutting load is nonlinearity, time-varying, strong-coupling, and so on, transient dynamics model about its load is established by analyzing and studying it.
The computer-aided design software is developed by VC++ and MATLAB for design and load calculation of cutting head. The undulation curve and fluctuation coefficient of cutting head load are obtained. The spatial parameters of all picks and the text of cutting head momentary load are generated,so as to evaluate the rationality of cutting head design and guide the optimal design of cutting head. Therefore the problems from scaling geometry blindly and load calculation result’s difference between human and computer in cutting head’s design are solved. New means are provided for development of a new-type cutting head and improvement of existing models. The software has friendly interface, convenient and practical. It makes the application and extension of cutting head computer-aided design based on science method in the engineering field possible.
The three-dimensional solid model of cutting unit is built and imported into ADAMS, the Mechanical-Hydraulic coupled model is established on ADAMS / Hydraulics for hydraulic simulation when it is lifting and cutting rock, and the characteristics of the hydraulic system and mechanical system are analyzed, which provides the basis to study the reliability of mechanical system and hydraulic systems of Roadheader cutting unit.
基于VC++和MATLAB联合开发了用于掘进机截割头设计和负载计算的计算机辅助设计软件。应用此软件可以获得截割头各截齿齿尖空间位置参数、截割头载荷波动曲线及波动系数、生成截割头瞬时负载的文本等,以评价截割头设计的合理性并进一步指导截割头的优化设计;解决了掘进机截割头设计中盲目缩放几何尺寸及其负载计算因人而异造成设计与计算结果迥异的问题;为新型截割头的研发及对现有机型的改进提供了新的方法和手段。软件界面友好、操作简单、方便实用,使基于科学方法的截割头计算机辅助设计在工程中的应用和推广成为可能。
建立截割部三维实体模型并导入到动力学仿真软件ADAMS中,建立基于ADAMS/Hydraulics模块的机液耦合模型并进行截割部向上摆动截岩过程的液压仿真,分析液压系统和机械系统特性,为研究掘进机截割部机械系统和液压系统的可靠性提供依据。
When the heavy Roadheader is tunneling the hard rock, the working condition is bad and the load is complex. Aimed at the problems that domestic design on cutting head of Roadheader is usually dependent on experience, and the characteristic of cutting load is nonlinearity, time-varying, strong-coupling, and so on, transient dynamics model about its load is established by analyzing and studying it.
The computer-aided design software is developed by VC++ and MATLAB for design and load calculation of cutting head. The undulation curve and fluctuation coefficient of cutting head load are obtained. The spatial parameters of all picks and the text of cutting head momentary load are generated,so as to evaluate the rationality of cutting head design and guide the optimal design of cutting head. Therefore the problems from scaling geometry blindly and load calculation result’s difference between human and computer in cutting head’s design are solved. New means are provided for development of a new-type cutting head and improvement of existing models. The software has friendly interface, convenient and practical. It makes the application and extension of cutting head computer-aided design based on science method in the engineering field possible.
The three-dimensional solid model of cutting unit is built and imported into ADAMS, the Mechanical-Hydraulic coupled model is established on ADAMS / Hydraulics for hydraulic simulation when it is lifting and cutting rock, and the characteristics of the hydraulic system and mechanical system are analyzed, which provides the basis to study the reliability of mechanical system and hydraulic systems of Roadheader cutting unit.
引文
[1]邢印成,王凤林,郭滨.掘进机的发展[J].煤炭技术,2005,5.
[2]陈同宝,钱沛云,陶峥.我国悬臂式巷道掘进机技术的现状与发展[J].煤矿机电,2000,5.
[3]陶永芹.浅谈悬臂式掘进机发展趋势[J].矿山机械,2005(11):13-14.
[4]李贵轩主编,掘进机械设计[M]。阜新矿业学院,1994.
[5]徐萃萍,赵灿,何凡等.现代机械设计方法与应用[M].北京:高等教育出版社,2004.
[6]张士勇.纵轴式悬臂掘进机断面成形控制基础研究〔J].陕西理工学院学报,2005(3):18-19.
[7] K.G.Hurt , K.M.Maeandraw.Cutting effieieney and life of roek一eutting Pieks.Minign.SeieneeandTeehonlogy 1985.2.
[8]李晓豁著,掘进机截割头设计与研究[M],北京:中国华侨出版社,1997.12.
[9]成大先.机械设计手册[M].北京:化学工业出版社,1993.1.
[10]赵丽娟,董萌萌.含硫化铁结核薄煤层采煤机工作机构载荷问题[J].煤炭学报,2009,34(6):840-844.
[11]李晓豁著,掘进机截割的关键技术研究[M],北京:机械工业出版社,2007.
[12]彭天好,汲方林,孙继亮,童小东.横轴式掘进机截割头运动载荷的优化及模拟分析[J],矿山,2006(9) .
[13]张红兵.振动截割式掘进机工作机构的动力学分析及其构件的优化和可靠性分析[D].西安:西安矿业学院,1994.
[14]哈尔滨工业大学理论力学教研室.理论力学[M].北京:高等教育出版社,1992.269-276.
[15]刘春生,漆利平,赵汗青.悬臂式掘进机悬臂水平摆动机构的建模与仿真[J].黑龙江科技学院学报1671-0118(2008)01—0001—04.
[16]徐开国,张文博.S55型掘进机截割头的设计计算[J].煤矿机械,2005,(4):6-7.
[17]Hekimoglu O.Z,Fowell R.J.Theoretical and practical aspects of circumferential pick spacing on boom tunneling machine cutting heads.Mining Sci.&Tech.2001(13):257-270.
[18]刘剑,原思聪等.MATLAB在机械设计专家系统中的应用[J].机电产品开发与创新, 2005,18(2).63-65.
[19]赵丽娟,马永志.基于多体动力学的采煤机截割部可靠性研究[J].煤炭学报,2009,34(8):1271-1275.
[20]康博创作室,薛静峰.Visual C++6.0高级开发教程[M].北京:人民邮电出版社,1999.Compro Workshops,Xue Jingfeng. Visual C + +6.0 advanced development tutorial[M].Beijing:Posts and Telecom Press,1999.
[21]施晓红,周佳.精通GUI图形界面编程[M].北京:北京大学出版社,2003.
[22]张铮,扬文平,石博强等.MATLAB程序设计与实例应用[川.北京:中国铁道出版社,2003.
[23]黄漫玲.机械设计专家系统中设计方案的评价与决策子系统的研究[J].机械设计,2005,22(10).19-21.
[24]石林祥,叶建平.基于专家系统技术的智能CAD系统的研究与设计[J].CAD/CAM,2005,21(7).133-135.
[25]郝建生.掘进机纵轴式截割头截割效率的优化设计[J].煤炭科学技术,2007,35(2):80-83.
[26]李晓豁.纵轴式掘进机钻进工况切屑图模拟研究[J].辽宁工程技术大学学报(自然科学版),2005,24(5).737-738.
[27]陈世教,杜波.VC++与MATLAB接口编程方法与实现[J].计算机与信息技术,2007(11):46-49.
[28]孙印杰等.野火中文版Pro/ENGINEER零部件造型设计[M].北京:电子工业出版社,2004.
[29]林清安. Pro/ENGINEER野火3.0中文版零件设计应用实例[M].北京:电子工业出版社,2007 .
[30] Bo Hu Li,Xingren Wang,Kedi Huang,etc. Futher Research on Synthetic Simulation Environment,2000,12(5):285-290.
[31]梁超,张安宁.基于Adams的纵轴式掘进机动态分析[J].煤矿机械,2009.1.
[32]王国强,张进平,马若丁.虚拟样机技术及其在ADAMS上的实践[M].西安:西北工业大学出版社,2002.3.
[33]张强,毛君,田大丰.基于遗传算法掘进机截割头多目标模糊可靠性优化[J].煤炭学报,2008.12.
[34]李薇.虚拟样机技术的研究和实现[D].南京理工大学硕士学位论文,2002.6.
[35]刘贤喜.机械系统虚拟样机仿真软件的实用化研究:[D].北京:中国农业大学,2001.
[36]李军. ADAMS实例教程[M].北京:北京理工大学出版社,2002械与电子,2006.12.
[37]汤涤军.虚拟样机仿真技术在产品开发中的应用[J].数字化制造与装备.2005.4.
[38]郑凯.ADAMS 2005机械设计高级应用实例[M].北京:机械工业出版社,2006.
[39]赵丽娟,王天博等.柔性多体系统动力学理论应用于轧制工业的综述[J].中国工程机械学报,2006.10.
[40]朱春霞等.基于ADAMS的并联机床刚柔耦合系统的协同建模研究[J].组合机床与自动化加工技术, 2007.11
[41]申胜利.采煤机和掘进机截齿的失效分析及对策[J].煤矿机械,2005,(7):53-54.
[42]汪西应,郭京波,赖涤泉.一种隧道悬臂式振动掘进机的稳定性分析[J].机械与电子,2005,4 .
[43]赵丽娟,李世旭,刘杰.基于Pro/E与ADAMS协同仿真中的图形数据交换[J].机械与电子,2006.12.
[44]赵丽娟,刘杰.复杂机电系统的建模与仿真研究[M].沈阳:辽宁大学出版社,2007.3.
[45] Brown, D.L., Allemang, R.J., Zimmerman, R., and Mergeay, M., Parameter Estimation Techniques for Modal Analysis, SAE, 709221, 1979.
[46]Rostami J,Ozdemir L.Computer modeling for cutterhead design and layout of mechanical excavators.Proc. of institute of shaft drilling technology(ISDT)annual technical meeting.1993.5 .
[47]刘进志.JSBZ132掘进机液压系统和供水系统的设计[J],煤矿机械,2005(1).
[48]许贤良.电液比例控制技术[M].北京:机械工业出版社,2006.
[49]朱小明.比例多路方向阀及其应用[J].现代零部件,2005(12)54-5.
[50]赵丽娟,王铜.薄煤层采煤机截割部可靠性分析[J].制造业制动化,2009.11.
[51]H.Ergin,O.Acatoglu..The effect of machine design parameter on the stability of aRoadheader[J].Tunnelling and Underground Space Technology,2007(22)80-89.
[2]陈同宝,钱沛云,陶峥.我国悬臂式巷道掘进机技术的现状与发展[J].煤矿机电,2000,5.
[3]陶永芹.浅谈悬臂式掘进机发展趋势[J].矿山机械,2005(11):13-14.
[4]李贵轩主编,掘进机械设计[M]。阜新矿业学院,1994.
[5]徐萃萍,赵灿,何凡等.现代机械设计方法与应用[M].北京:高等教育出版社,2004.
[6]张士勇.纵轴式悬臂掘进机断面成形控制基础研究〔J].陕西理工学院学报,2005(3):18-19.
[7] K.G.Hurt , K.M.Maeandraw.Cutting effieieney and life of roek一eutting Pieks.Minign.SeieneeandTeehonlogy 1985.2.
[8]李晓豁著,掘进机截割头设计与研究[M],北京:中国华侨出版社,1997.12.
[9]成大先.机械设计手册[M].北京:化学工业出版社,1993.1.
[10]赵丽娟,董萌萌.含硫化铁结核薄煤层采煤机工作机构载荷问题[J].煤炭学报,2009,34(6):840-844.
[11]李晓豁著,掘进机截割的关键技术研究[M],北京:机械工业出版社,2007.
[12]彭天好,汲方林,孙继亮,童小东.横轴式掘进机截割头运动载荷的优化及模拟分析[J],矿山,2006(9) .
[13]张红兵.振动截割式掘进机工作机构的动力学分析及其构件的优化和可靠性分析[D].西安:西安矿业学院,1994.
[14]哈尔滨工业大学理论力学教研室.理论力学[M].北京:高等教育出版社,1992.269-276.
[15]刘春生,漆利平,赵汗青.悬臂式掘进机悬臂水平摆动机构的建模与仿真[J].黑龙江科技学院学报1671-0118(2008)01—0001—04.
[16]徐开国,张文博.S55型掘进机截割头的设计计算[J].煤矿机械,2005,(4):6-7.
[17]Hekimoglu O.Z,Fowell R.J.Theoretical and practical aspects of circumferential pick spacing on boom tunneling machine cutting heads.Mining Sci.&Tech.2001(13):257-270.
[18]刘剑,原思聪等.MATLAB在机械设计专家系统中的应用[J].机电产品开发与创新, 2005,18(2).63-65.
[19]赵丽娟,马永志.基于多体动力学的采煤机截割部可靠性研究[J].煤炭学报,2009,34(8):1271-1275.
[20]康博创作室,薛静峰.Visual C++6.0高级开发教程[M].北京:人民邮电出版社,1999.Compro Workshops,Xue Jingfeng. Visual C + +6.0 advanced development tutorial[M].Beijing:Posts and Telecom Press,1999.
[21]施晓红,周佳.精通GUI图形界面编程[M].北京:北京大学出版社,2003.
[22]张铮,扬文平,石博强等.MATLAB程序设计与实例应用[川.北京:中国铁道出版社,2003.
[23]黄漫玲.机械设计专家系统中设计方案的评价与决策子系统的研究[J].机械设计,2005,22(10).19-21.
[24]石林祥,叶建平.基于专家系统技术的智能CAD系统的研究与设计[J].CAD/CAM,2005,21(7).133-135.
[25]郝建生.掘进机纵轴式截割头截割效率的优化设计[J].煤炭科学技术,2007,35(2):80-83.
[26]李晓豁.纵轴式掘进机钻进工况切屑图模拟研究[J].辽宁工程技术大学学报(自然科学版),2005,24(5).737-738.
[27]陈世教,杜波.VC++与MATLAB接口编程方法与实现[J].计算机与信息技术,2007(11):46-49.
[28]孙印杰等.野火中文版Pro/ENGINEER零部件造型设计[M].北京:电子工业出版社,2004.
[29]林清安. Pro/ENGINEER野火3.0中文版零件设计应用实例[M].北京:电子工业出版社,2007 .
[30] Bo Hu Li,Xingren Wang,Kedi Huang,etc. Futher Research on Synthetic Simulation Environment,2000,12(5):285-290.
[31]梁超,张安宁.基于Adams的纵轴式掘进机动态分析[J].煤矿机械,2009.1.
[32]王国强,张进平,马若丁.虚拟样机技术及其在ADAMS上的实践[M].西安:西北工业大学出版社,2002.3.
[33]张强,毛君,田大丰.基于遗传算法掘进机截割头多目标模糊可靠性优化[J].煤炭学报,2008.12.
[34]李薇.虚拟样机技术的研究和实现[D].南京理工大学硕士学位论文,2002.6.
[35]刘贤喜.机械系统虚拟样机仿真软件的实用化研究:[D].北京:中国农业大学,2001.
[36]李军. ADAMS实例教程[M].北京:北京理工大学出版社,2002械与电子,2006.12.
[37]汤涤军.虚拟样机仿真技术在产品开发中的应用[J].数字化制造与装备.2005.4.
[38]郑凯.ADAMS 2005机械设计高级应用实例[M].北京:机械工业出版社,2006.
[39]赵丽娟,王天博等.柔性多体系统动力学理论应用于轧制工业的综述[J].中国工程机械学报,2006.10.
[40]朱春霞等.基于ADAMS的并联机床刚柔耦合系统的协同建模研究[J].组合机床与自动化加工技术, 2007.11
[41]申胜利.采煤机和掘进机截齿的失效分析及对策[J].煤矿机械,2005,(7):53-54.
[42]汪西应,郭京波,赖涤泉.一种隧道悬臂式振动掘进机的稳定性分析[J].机械与电子,2005,4 .
[43]赵丽娟,李世旭,刘杰.基于Pro/E与ADAMS协同仿真中的图形数据交换[J].机械与电子,2006.12.
[44]赵丽娟,刘杰.复杂机电系统的建模与仿真研究[M].沈阳:辽宁大学出版社,2007.3.
[45] Brown, D.L., Allemang, R.J., Zimmerman, R., and Mergeay, M., Parameter Estimation Techniques for Modal Analysis, SAE, 709221, 1979.
[46]Rostami J,Ozdemir L.Computer modeling for cutterhead design and layout of mechanical excavators.Proc. of institute of shaft drilling technology(ISDT)annual technical meeting.1993.5 .
[47]刘进志.JSBZ132掘进机液压系统和供水系统的设计[J],煤矿机械,2005(1).
[48]许贤良.电液比例控制技术[M].北京:机械工业出版社,2006.
[49]朱小明.比例多路方向阀及其应用[J].现代零部件,2005(12)54-5.
[50]赵丽娟,王铜.薄煤层采煤机截割部可靠性分析[J].制造业制动化,2009.11.
[51]H.Ergin,O.Acatoglu..The effect of machine design parameter on the stability of aRoadheader[J].Tunnelling and Underground Space Technology,2007(22)80-89.