全液压凿岩台车液压系统的分析
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摘要
本文以瑞典Atlas Copco的全液压凿岩台车BOOMER282为研究对象,分析了液压凿岩台车的构造及其液压系统。就H型支腿伸缩回路、双三角钻臂变幅系统和液压凿岩机冲击工作系统三部分进行重点分析。
首先,分析了H型液压支腿伸缩回路的工作原理,并利用仿真软件AMESim建立其仿真模型,从中发现发动机转速、系统压力和液压锁通径对支腿伸缩效率的影响。
其次,分析了双三角钻臂变幅系统,使钻臂准确定位。将双三角钻臂变幅机构虚拟样机和其液压系统模型结合,进行联合仿真,模拟钻臂变幅的实际运动。分析泵的出口压力和流量变化,支臂缸与俯仰缸的速度和位移变化及其受力情况,仿真结果表明建立的模型是正确的,同时也说明联合仿真方法可以将双三角钻臂机构和其变幅液压系统结合起来进行仿真分析。
最后,以三位四通芯阀双面回油型液压凿岩机为研究对象,分析了其冲击工作系统,利用仿真软件AMESim中的HCD库分别建立控制阀和液压缸的模型。对主要参数进行批处理,从中找到影响冲击性能的参数。
通过以上仿真分析可知:在液压凿岩台车设计中,选择通径较大的液压锁和增大溢流阀压力可提高支腿伸缩速度;保证俯仰缸和支臂缸初始位置平行且其行程比与其初始长度比相同,及回油路上选择合适的阻尼可提高钻臂的定位精度;减小液压凿岩机冲击系统中控制阀芯质量、容腔容积和阀芯行程,都可增大其冲击频率。在支腿伸出和液压凿岩机冲击工作时,加大油门可提高支腿伸出速度及凿岩机冲击频率和冲击速度。
The research object of the paper is the product BOOMER 282 of Atlas Copco, analyses the structure of the hydraulic rock drill rig and the main hydraulic systems, focuses on the analysis of the hydraulic outrigger, the amplitude system of the double triangle boom and the impact system of the hydraulic rock drill.
The operational principle of the hydraulic outrigger was illustrated, and set up the model of the extending and retracting system of the outrigger with the simulation software AMESim, then find the influence of rotate speed of the engine, the system pressure and the displacement of the hydraulic lock to the extending and retracting efficiency of the outrigger.
To make the boom orientation accurately, the amplitude system of the double triangle boom was analyzed, then combine the virtual prototype with the model of the hydraulic system. The output pressure and rate of flow of pump respond the variety of load quickly, the velocity and displacement of the supporting cylinders and pitching cylinders are coincide with the movement of the virtual prototype, and its force is coincide with the fact, The simulation has showed: the models are true and the method of co-simulation that could combine the amplitude mechanism of the double triangle boom with its hydraulic system is a method of modeling and simulation.
The impact system of the hydraulic rock drill was analyzed: the three-position and four-way core valve was the research object, set up the model of the control valve and the cylinder with HCD in AMESim. In the condition of the rate of flow invariableness of the pump, batched the masses of the valve, fraction area of valve, strokes of valve, volume of chamber, aperture of the cylinder and the rate of flow separately, and then discovered the influence of them to the impact performance.
The simulations above show: in the design of the hydraulic rock drill rig , enther chooses larger displacement of the hydraulic lock or increases the system pressure could improve the extending and retracting efficiency of the outrigger;Keep the pitching cylinders and the supporting cylinders parallel in the initial position and make the ratio of their initial length equal with the ratio of their stroke and match the diameters of their cylinders and positions can improve the accuracy of position of the boom; Choose the fit damp in the oil return system can improve the stability and the rapidity of the position of the boom; Decreasing the mass of control valve or the volume of the chamber or the stroke of valve could increase the impact frequency of the hydraulic rock drill. During the period of the extending of the outrigger and the impacting of the hydraulic rock drill, increases the rotate speed of the engine could improve the extending speed of the outrigger jack and the impact frequency and impact velocity.
首先,分析了H型液压支腿伸缩回路的工作原理,并利用仿真软件AMESim建立其仿真模型,从中发现发动机转速、系统压力和液压锁通径对支腿伸缩效率的影响。
其次,分析了双三角钻臂变幅系统,使钻臂准确定位。将双三角钻臂变幅机构虚拟样机和其液压系统模型结合,进行联合仿真,模拟钻臂变幅的实际运动。分析泵的出口压力和流量变化,支臂缸与俯仰缸的速度和位移变化及其受力情况,仿真结果表明建立的模型是正确的,同时也说明联合仿真方法可以将双三角钻臂机构和其变幅液压系统结合起来进行仿真分析。
最后,以三位四通芯阀双面回油型液压凿岩机为研究对象,分析了其冲击工作系统,利用仿真软件AMESim中的HCD库分别建立控制阀和液压缸的模型。对主要参数进行批处理,从中找到影响冲击性能的参数。
通过以上仿真分析可知:在液压凿岩台车设计中,选择通径较大的液压锁和增大溢流阀压力可提高支腿伸缩速度;保证俯仰缸和支臂缸初始位置平行且其行程比与其初始长度比相同,及回油路上选择合适的阻尼可提高钻臂的定位精度;减小液压凿岩机冲击系统中控制阀芯质量、容腔容积和阀芯行程,都可增大其冲击频率。在支腿伸出和液压凿岩机冲击工作时,加大油门可提高支腿伸出速度及凿岩机冲击频率和冲击速度。
The research object of the paper is the product BOOMER 282 of Atlas Copco, analyses the structure of the hydraulic rock drill rig and the main hydraulic systems, focuses on the analysis of the hydraulic outrigger, the amplitude system of the double triangle boom and the impact system of the hydraulic rock drill.
The operational principle of the hydraulic outrigger was illustrated, and set up the model of the extending and retracting system of the outrigger with the simulation software AMESim, then find the influence of rotate speed of the engine, the system pressure and the displacement of the hydraulic lock to the extending and retracting efficiency of the outrigger.
To make the boom orientation accurately, the amplitude system of the double triangle boom was analyzed, then combine the virtual prototype with the model of the hydraulic system. The output pressure and rate of flow of pump respond the variety of load quickly, the velocity and displacement of the supporting cylinders and pitching cylinders are coincide with the movement of the virtual prototype, and its force is coincide with the fact, The simulation has showed: the models are true and the method of co-simulation that could combine the amplitude mechanism of the double triangle boom with its hydraulic system is a method of modeling and simulation.
The impact system of the hydraulic rock drill was analyzed: the three-position and four-way core valve was the research object, set up the model of the control valve and the cylinder with HCD in AMESim. In the condition of the rate of flow invariableness of the pump, batched the masses of the valve, fraction area of valve, strokes of valve, volume of chamber, aperture of the cylinder and the rate of flow separately, and then discovered the influence of them to the impact performance.
The simulations above show: in the design of the hydraulic rock drill rig , enther chooses larger displacement of the hydraulic lock or increases the system pressure could improve the extending and retracting efficiency of the outrigger;Keep the pitching cylinders and the supporting cylinders parallel in the initial position and make the ratio of their initial length equal with the ratio of their stroke and match the diameters of their cylinders and positions can improve the accuracy of position of the boom; Choose the fit damp in the oil return system can improve the stability and the rapidity of the position of the boom; Decreasing the mass of control valve or the volume of the chamber or the stroke of valve could increase the impact frequency of the hydraulic rock drill. During the period of the extending of the outrigger and the impacting of the hydraulic rock drill, increases the rotate speed of the engine could improve the extending speed of the outrigger jack and the impact frequency and impact velocity.
引文
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3 Ulf Sellgren. Simulation-Driven Design-Motives, Means and Opportunities. [Doctoral Thesis of the Royal Institute of Technology]. 1999: 43-48
4 Lees DJ, History of the Rock Drill[J]. AUCT, 2001:10-13
5 Karl Kure, Tunnelling Capacities and Tunnelling Equipment Factors[M]. Norwegian Tunnelling Society, 1988:107-120
6何清华.隧道凿岩机器人[M].长沙:中南大学出版社, 2005:55-62
7王恒升,何清华,邓春萍.凿岩台车自动化控制系统的发展、现状及展望[J].测控技术, 2007, 26(3):1-4
8 Ramstrfim M. Atlas Copco drill rigs for mine automation and communication-A totally new technology platform for advanced mining systems[J]. CIM Bulletin, 2005, 98(1088):23-25
9林宏武,吴志虎.浅谈矿山钻机的配置及选型[J].矿山机械, 2008, 36(5):25-26
10谢梦飞.国外液压凿岩设备的发展与应用[J].工程设计与研究, 1993, 12(82):22-27
11李军.液压凿岩机的发展与应用[J].有色金属,2008, 60(3):36-38
12朱建新,何清华,郭勇,等.液压凿岩设备的研制现状思路[J].凿岩机械气动工具, 1999 (2):21-24
13赵宏强,林宏武,陈欠根,等.国内外液压潜孔钻机发展概况[J].工程机械与维修. 2006, (4):72-73
14高澜庆.国外凿岩(穿孔)设备的发展动态[J].矿山机械. 2000, (3):9-10
15赵昱东.地下矿山凿岩设备的发展历程[J].江西有色冶金. 2001, (7): 6-10
16姜正军.液压凿岩设备在我国地下矿山的应用[J].矿冶研究与开发, 1995, (3): 81-84
17 E. V. Kimber, A. L. Lundstrom. Drill Boom Arrangement[P]. US.Patent:4232849, Nov. 1980:53-59
18 Atlas. Hydraulic drill rigs and booms[J]. Tunnels&Tunnelling/Machinery, Plant&Equipment issue. 1982, (8):15-17
19 G. Zhong, P. N. Nikiforuk, P. R. Ukrainetz. Kinematics of a Robot Manipulator-A Hydraulic Drilling Boom[A]. Proceedings of the First International Symposium on Fluid Power Transmission and Control, Beijing, P.R.China:1991, (10):556-559
20王恒升.凿岩机器人双三角臂定位及CAN总线控制系统研究. [中南大学博士学位论文]. 2006:9-11
21 George. Guozhen. Zhong. Development of a Hydraulic Robot for Tunnel Drilling·Manipulator Kinematics and Tracking Control[Ph . D . Thesis]. Saskatchewan:University of Saskatchewan, 1995:18-24
22陈世涛.钻臂类型分析[J].凿岩机械气动工具, 1998, (4):24-29
23 Sellgren U. Simulation-Driven Design.Motives.means and Opportunities[Doctoral Thesis].Dep.of Machine Design, Royal Institute of Technology, (KTH).Stockholm Sweden, 1999:56-58
24 Sellgren U. FINITE ELEMENT MODELING AND SIMULATION OF THE TRANSPORT BEHAVIOR OF A TUNNELING RIG[Technical Report]. Dep.of Machine Design, RoyalInstitute of Technology, Stockholm, Sweden, 2000: 8-16
25 Sellgren U. Finite element modeling and optimization of a robot boomer[Technical Report]. Dep.of Machine Design, Royal Institute of Technology, Stockholm, Sweden: 1999:21-29
26 Andersson K.Simulation of a tunnel drilling sequence to determine loads on a rock drilling equipment[A]. ADAMS User Conference,Rome, November, 2000:24-36
27陈世涛.关于用符号表示钻车钻臂类型的设想[J].凿岩机械与风动工具, 1984, (1):27-29
28王恒升,何清华.用OpenGL实现关节变量参数化的双三角臂的三维实体模型[J].凿岩机械气动工具, 2003, (01):46-50
29刘东生,包次生. TYBS25型钻臂运动分析及可钻范围的计算[J].凿岩机械气动工具, 1993, (4) :10-18
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