本文選題：錨桿支護　切入點：作業(yè)平臺　出處：《安徽理工大學》2015年碩士論文

【摘要】：錨桿支護是煤礦巷道的主要支護形式,但隨著綜采工作面機械化的普及,對巷道支護速度提出了新要求,目前國內(nèi)外的錨桿支護設(shè)備均不能很好的滿足我國煤礦巷道支護的要求。安徽理工大學研發(fā)的掘進巷道快速支護設(shè)備機械化程度高、支護速度快,可滿足巷道機械化快速支護要求,但其功能單一,只能實現(xiàn)棚梁支護。針對這一狀況,本文開展了對單軌道錨桿支護作業(yè)平臺的關(guān)鍵技術(shù)研究。 首先對單軌吊錨桿支護作業(yè)平臺進行結(jié)構(gòu)設(shè)計,主要進行工作平臺、錨桿鉆機結(jié)構(gòu)改進設(shè)計以及連接裝置的結(jié)構(gòu)設(shè)計,探討了錨桿鉆機的加載方案,并設(shè)計了適應(yīng)不同工況臨時支護裝置的結(jié)構(gòu)。 計算了鉆頭的破巖阻力矩和破巖阻力,建立了鉆具縱向振動力學數(shù)學模型,推導(dǎo)出鉆具縱向振動頻譜方程,分析了鉆具的固有頻率,并借助AWE軟件對鉆具的振動進行仿真模擬,結(jié)果表明鉆具主要受到橫向振動、扭轉(zhuǎn)振動和縱向振動,為機載錨桿鉆具選用及單軌吊作業(yè)平臺的穩(wěn)定性分析和指導(dǎo)作業(yè)平臺錨桿支護作業(yè)等提供了一定的參考依據(jù)。 建立了機載錨桿鉆機運動學模型,分析了機載錨桿鉆機的運動學正解、逆解問題；利用MATLAB Robotics工具箱對錨桿鉆機運動學進行計算,驗證了錨桿鉆機運動學正解、逆解分析的正確性；利用ADAMS軟件對錨桿鉆機運動學進行仿真,分析了鉆頭的位移、速度、加速度隨時間變化規(guī)律,說明機載錨桿鉆機可以達到預(yù)定動作；利用MATLAB軟件對錨桿鉆機打錨桿工作空間進行仿真,表明可對巷道斷面進行0～180。全方位錨桿支護,符合錨護施工及設(shè)計要求。 分析了機載錨桿鉆機各關(guān)節(jié)的動力學特性,推導(dǎo)出各關(guān)節(jié)的動力學方程。再利用ADAMS軟件對機載錨桿鉆機動力學進行仿真,分析了錨桿鉆機連接裝置中的液壓缸、滑塊和錨桿鉆機中的回轉(zhuǎn)驅(qū)動裝置、一次進給液壓缸、馬達的動力學特性,表明機載錨桿鉆機能夠滿足單軌吊錨桿支護的使用要求；利用AWE對單軌吊錨桿支護作業(yè)平臺進行安全性分析,表明工作平臺、滑塊和臨時支護裝置的強度滿足要求。
[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.
【學位授予單位】：安徽理工大學
【學位級別】：碩士
【學位授予年份】：2015
【分類號】：TD353.6

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