单轨吊锚杆支护作业平台关键技术研究

发布时间：2018-04-04 05:06

本文选题：锚杆支护　切入点：作业平台　出处：《安徽理工大学》2015年硕士论文

【摘要】：锚杆支护是煤矿巷道的主要支护形式,但随着综采工作面机械化的普及,对巷道支护速度提出了新要求,目前国内外的锚杆支护设备均不能很好的满足我国煤矿巷道支护的要求。安徽理工大学研发的掘进巷道快速支护设备机械化程度高、支护速度快,可满足巷道机械化快速支护要求,但其功能单一,只能实现棚梁支护。针对这一状况,本文开展了对单轨道锚杆支护作业平台的关键技术研究。首先对单轨吊锚杆支护作业平台进行结构设计,主要进行工作平台、锚杆钻机结构改进设计以及连接装置的结构设计,探讨了锚杆钻机的加载方案,并设计了适应不同工况临时支护装置的结构。计算了钻头的破岩阻力矩和破岩阻力,建立了钻具纵向振动力学数学模型,推导出钻具纵向振动频谱方程,分析了钻具的固有频率,并借助AWE软件对钻具的振动进行仿真模拟,结果表明钻具主要受到横向振动、扭转振动和纵向振动,为机载锚杆钻具选用及单轨吊作业平台的稳定性分析和指导作业平台锚杆支护作业等提供了一定的参考依据。建立了机载锚杆钻机运动学模型,分析了机载锚杆钻机的运动学正解、逆解问题；利用MATLAB Robotics工具箱对锚杆钻机运动学进行计算,验证了锚杆钻机运动学正解、逆解分析的正确性；利用ADAMS软件对锚杆钻机运动学进行仿真,分析了钻头的位移、速度、加速度随时间变化规律,说明机载锚杆钻机可以达到预定动作；利用MATLAB软件对锚杆钻机打锚杆工作空间进行仿真,表明可对巷道断面进行0～180。全方位锚杆支护,符合锚护施工及设计要求。分析了机载锚杆钻机各关节的动力学特性,推导出各关节的动力学方程。再利用ADAMS软件对机载锚杆钻机动力学进行仿真,分析了锚杆钻机连接装置中的液压缸、滑块和锚杆钻机中的回转驱动装置、一次进给液压缸、马达的动力学特性,表明机载锚杆钻机能够满足单轨吊锚杆支护的使用要求；利用AWE对单轨吊锚杆支护作业平台进行安全性分析,表明工作平台、滑块和临时支护装置的强度满足要求。
[Abstract]:Bolt support is the main support form in coal mine roadways, but with the popularization of mechanization of fully mechanized coal face, new requirements for roadway support speed are put forward.At present, domestic and foreign bolting equipment can not meet the requirements of mine roadway support in China.The fast support equipment developed by Anhui University of Science and Technology has high mechanization degree and fast supporting speed, which can meet the requirement of mechanized fast support of roadway, but its function is single, so it can only realize shed beam support.In view of this situation, the key technology of single track bolt supporting platform is studied in this paper.First of all, the structure design of monorail crane bolt support platform is carried out, which mainly includes the working platform, the structure improvement design of anchor rig and the structural design of connection device, and the loading scheme of anchor drill is discussed.The structure of temporary support device adapted to different working conditions is designed.The rock breaking resistance moment and rock breaking resistance of drill bit are calculated, the dynamic mathematical model of longitudinal vibration of drilling tool is established, the spectrum equation of longitudinal vibration of drill tool is derived, the natural frequency of drill tool is analyzed, and the vibration of drilling tool is simulated by AWE software.The results show that the drilling tools are mainly subjected to lateral vibration, torsional vibration and longitudinal vibration, which provides a certain reference basis for the selection of airborne anchor rod drilling tools, the stability analysis of monorail crane platform and the guidance of the working platform anchor support operation.The kinematics model of airborne anchor drill rig is established, the kinematics forward solution and inverse solution problem of airborne anchor drill rig are analyzed, and the kinematics of anchor drill rig is calculated by using MATLAB Robotics toolbox, and the kinematics forward solution of anchor drill rig is verified.The inverse solution analysis is correct, the kinematics of the anchor drill is simulated by ADAMS software, and the variation law of displacement, velocity and acceleration with time is analyzed, which shows that the on-board anchor drill can achieve the predetermined action.Using MATLAB software to simulate the working space of bolt drilling machine, it is shown that the roadway section can be carried out in 0 ~ 180.All-directional bolt support meets the requirements of construction and design of anchor protection.The dynamic characteristics of each joint of an airborne anchor drill are analyzed and the dynamic equations of each joint are derived.The dynamic characteristics of hydraulic cylinder, sliding block and rotary drive device, primary feed hydraulic cylinder and motor in the connection device of anchor drill are analyzed by using ADAMS software to simulate the dynamics of airborne anchor drill rig, and the dynamic characteristics of the hydraulic cylinder, the rotary drive device, the primary feed hydraulic cylinder and the motor of the anchor drill rig are analyzed, and the dynamic characteristics of the hydraulic cylinder and the motor are analyzed.The results show that the airborne bolting rig can meet the requirements of monorail hoist bolt support, and the safety analysis of monorail crane bolt support platform by using AWE shows that the strength of the working platform, slider and temporary supporting device can meet the requirements.
【学位授予单位】：安徽理工大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TD353.6

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