【作者】 杨华；

【导师】 秦四成；

【作者基本信息】 吉林大学 ， 机械设计及理论， 2007， 硕士

【摘要】 本文针对ZY-220型旋挖钻机的钻挖支撑系统,结合解析方法和ADAMS虚拟样机仿真方法,对其在调整定位过程和钻挖作业过程中的多体动力学问题进行了研究。本文首先介绍了旋挖钻机的功能结构、国内外发展现状、选题背景及研究意义。然后针对钻挖支撑系统的调整定位过程,采用解析法对其进行运动学分析,又应用拉格朗日-欧拉方法对其进行动力学分析。在此基础上,采用动力学分析软件ADAMS建立了旋挖钻机钻挖支撑系统的虚拟样机模型,并对所建模型进行了调整定位过程中的运动学仿真,重点分析了各构件的位移、速度和加速度等运动学参数的变化规律。最后分调整定位和钻挖作业两种工况,分别对钻挖支撑系统进行动力学仿真,研究了各铰点的受力、摩擦力矩及油缸压力等主要参数特性,分析了钻挖支撑系统工作时的动力性能。本文的研究结果对于研究钻挖支撑系统动力学方面的特性、钻挖支撑系统的控制理论以及钻挖支撑系统的优化都具有重要的参考价值,为进一步开展钻挖支撑系统的研究工作提供了理论依据,具有工程应用价值。更多还原

【Abstract】 Rotary drilling rig is a kind of construction facilities introduced into China in recent years. It is applied widely to the building project’s stake foundation, such as Highway Bridge, high-rise construction, power plant, airfield, large-scale port, deep-water dock and so on. Cooperating with different drilling tools, it is used in many different kinds of holing works. Rotary drilling rig has big installing power, big output torque, large axial pressure, mobile work, high automatization, high construction efficiency, little pollute and so on. It adapts to the majority of soil geology conditions in our country. It represents the development direction of pile machinery. It is promising pile machinery.Rotary drilling rig is widely used only in recent years. The lack of product standards, technical training and systematic construction method brings on further study on the basic theory of rotary drilling rig. At present, foreign technology of this product has become mature, but the majority of domestic products only reach the level of the foreign products’in late 1980s. There is a big gap in the technological level of rigs between in and out of China. Therefore, in order to develop genuine products, which reach advanced international level, we still need to increase research investment.The tunneling support system studied in this paper is one of the key institutions of rotary drilling rig. In the whole structure of rotary drilling rig, it plays a role in supporting; adjusting the mast’s working scope or the height of the mast in transportation state, angle with the ground, and the rapid translation adjustment aim at holes. At the same time it connects the mast and base, making a reasonable layout of whole machine and playing an important role in the stability of manipulation. Calculating and simulation analysis of the tunneling support system’s kinematics and dynamic is a need to ensure the secure and efficient work of rotary drilling rig.The general movement of tunneling support system is that the mast tank operates first with its piston rod extending uniformly until working equipment has angle of some degrees with the ground; then the luffing tank operates until piston rod extends to some position; finally the mast tank continues to work with its piston rod extending to an appointed position.This paper analyzes the kinematics of tunneling supporting device with the analytical method and gives calculating equations of the hinge points’displacement, velocity, acceleration, and angle velocity and angle acceleration.With virtual prototyping technology used in the text, dynamic model is founded on the main structural parameters of tunneling supporting device on ADAMS software platform. Tunneling support system is two-degree-of-freedom system. In order that tunneling support system moves along the tracks, we must ensure that all bars move in order. We need add driver functions to Motions of two tanks to start kinematics simulation. The main purpose of simulation is to investigate kinematics and dynamic indexes of tunneling support system during the process of its adjustment and excavating, mainly hinge point angular displacement, velocity and displacement of the center of mass of every link. Element force on the hinge Anti point, pressure in luffing tank and mast tank, friction moment on the hinge Anti point are also measured in the course of the movement. Computer simulation of positioning adjustment and excavating not only reflects moving state of every bar, but also provides basis for tunneling support system in actual working condition. With the ADAMS software’s powerful measurement and analysis functions, we can easily detect omnibus parameters of tunneling support system to do further analysis and evaluation of the relevant parameters. It is beneficial to the study of kinematics and dynamic, improvement ofthe structure and properties of tunneling support systems.In this paper, my work can be summarized as follows:1. According to the relevant parameters, its kinematics model and derived equations of kinematics in the analytical method were established.2. Parametric model of tunneling support system was set up on ADAMS platform .It can be used as the basis for simulation. Parametric modeling helps simulation, optimization and analysis of tunneling support system.3. Through simulation in ADAMS, excavation support device‘s working process was factually recurred during its adjustment of positioning and excavating. Data of kinematics and dynamic analysis that was given in can provide a theoretical basis for both actual work and further study of the excavation support device.Because of time limitations, boring support device model is disposed not subtly enough in the dynamic simulation process. If you hope that the simulation data can be more accurate, I propose extract driver system and transmission system of the boring support device from the whole model to form a single simulation module with a separate dynamic analysis. In dynamic analysis, effect of dynamic compensation was not reflected in the model, so the model needs further revision. In addition, correlative factors that were not considered in this paper will be one aspect of further work.Tunneling support system’s dynamic analysis has important reference value for the study of dynamic characteristics, control theoretics and optimization of tunneling support system. This paper makes a detailed kinematics and dynamic analysis of rotary drilling rig with virtual prototyping technology. It improves the calculation’s accuracy and efficiency. At the same time, it provides effective data for product design improvement .I believe that it will have significant economic benefits.更多还原