CN107044282A - A kind of Vertical Axis Road-header virtual prototype cutterhead LOAD FOR and loading method - Google Patents
A kind of Vertical Axis Road-header virtual prototype cutterhead LOAD FOR and loading method Download PDFInfo
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- 238000011068 loading method Methods 0.000 title claims abstract description 19
- 239000003245 coal Substances 0.000 claims abstract description 48
- 238000005520 cutting process Methods 0.000 claims abstract description 31
- 238000011161 development Methods 0.000 claims abstract description 19
- 238000000034 method Methods 0.000 claims abstract description 14
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- 239000011435 rock Substances 0.000 claims description 14
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Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C25/00—Cutting machines, i.e. for making slits approximately parallel or perpendicular to the seam
- E21C25/16—Machines slitting solely by one or more rotating saws, cutting discs, or wheels
- E21C25/18—Saws; Discs; Wheels
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
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Abstract
A kind of Vertical Axis Road-header virtual prototype cutterhead LOAD FOR and loading method, belong to extractive equipment Virtual Prototype Technique field；Including obtaining coal petrography occurrence condition；The spin velocity of cutterhead is obtained, cutterhead cut rotating speed is calculated；The swing angular velocity of cantilever is obtained, the horizontal swing speed of pick is calculated；Calculate cutting resistance, tractive resistance and the lateral resistance of pick；The cutting resistance of pick, tractive resistance and lateral resistance are subjected to Orthogonal Decomposition, each pick stress is transformed at cutterhead barycenter, three axis force suffered by cutterhead and three-dimensional torque is obtained；Load is put at cutterhead barycenter by ADAMS；Only coal petrography occurrence condition need to be changed can complete the application of cutterhead load under different operating modes to the present invention, simplify load and apply flow, improve operating efficiency；The time variation of cantilever slew rate and cutterhead rotating speed is considered, result of calculation is accurate；It can be found that it is not enough present in development machine design, find out the weak link in development machine parts.
Description
Technical field
The invention belongs to extractive equipment Virtual Prototype Technique field, and in particular to a kind of Vertical Axis Road-header virtual prototype is cut
Cut a LOAD FOR and loading method.
Background technology
Boom-type roadheader is one of fully mechanized workface key equipment, and cutterhead crushes the crucial portion of coal petrography as development machine
Part, it consumes 70%~80% that power accounts for the whole power of development machine.The quality of cutterhead designing quality can not only influence pick
Enter machine functional reliability and service life, the also Cutting Performance to development machine and cut economy plays a decisive role, and based on real
The cutterhead LOAD FOR of border operating mode is the essential step of cutterhead design.
Extractive equipment manufacturer of China continues to use traditional design pattern and carries out research and development of products always, and a kind of new product is usual
It can just be put on market by repeatedly trial-production, experiment with improving.Trial-production, the experimentation cost of mining machinery are high, cause repeatability
Experiment is not abundant enough, in addition cognitive to coal petrography cutting mechanism not enough, it is difficult to find the essential defect that product is present, directly results in
China's extractive equipment causes the product put on market in all many backwardnesss such as performance indications, technical merit and operational factor
With inadequate natural endowment, commercially lack competitiveness, seriously constrain improving for product quality fast with China's equipment manufacture
Speed development.At present, the large scale equipment that China's high yield and high efficiency mine is used, mostly foreign vendor are manufactured, and are lacked from chief creating
New product.
The load that bilateral coupled effect between coal petrography occurrence condition and cutterhead and coal petrography causes cutterhead to be subject to has
Non-linear, impact and strong coupling, is difficult to be described using simple combination of function in a computer, therefore, needs
A kind of reasonable, efficient method is found, the simulation and loading of cutterhead load is realized, development machine, which is studied, and designed has weight
Want meaning.
The content of the invention
In view of the deficienciess of the prior art, the present invention provides a kind of Vertical Axis Road-header virtual prototype cutterhead loadometer
Calculate and loading method.
Technical scheme is as follows：
A kind of Vertical Axis Road-header virtual prototype cutterhead LOAD FOR and loading method, including：
Step 1：Coal petrography occurrence condition is obtained, and is stored in static storage area；
The coal petrography occurrence condition includes the occurrence condition of coal and the occurrence condition of rock, and the occurrence condition of the coal is including non-
The ground pressure coal seam cutting resistance average value of the zone of influence, the Factor of Brittleness of coal, ore deposit pressure influence coefficient, the uniaxial compressive strength of coal and
Coal body pressured state coefficient；The occurrence condition of rock includes rock contact intensity.
Step 2：The spin velocity of cutterhead is obtained by the ADAMS function interfaces provided, and calculates cutterhead cut
Rotating speed；
Step 3：The swing angular velocity of cantilever is obtained by the ADAMS function interfaces provided, and calculates the horizontal pendulum of pick
Dynamic speed；
Step 4：Break that coal is theoretical according to pick tooth, using coal petrography occurrence condition, cutterhead cut rotating speed, pick horizontal swing
Cutting resistance, tractive resistance and the lateral resistance of the calculation of design parameters pick of speed and pick；
Step 5：The cutting resistance of pick, tractive resistance and lateral resistance are subjected to Orthogonal Decomposition, and according to the flat of power
Move theorem each pick stress is transformed at cutterhead barycenter, obtain three axis force suffered by cutterhead and three-dimensional torque i.e. cutterhead and carry
Lotus；
The rule of three axis force suffered by above-mentioned cutterhead and three-dimensional torque calculating process according to ADAMS secondary development, using C languages
Speech writes realization, and is compiled as dynamic link library file.
The cutterhead load is described in ADAMS using GForce, and is realized with adams_c_Gfosub functions.
Step 6：Load is put at cutterhead barycenter by ADAMS, detailed process is：Run ADAMS development machines empty
Intend model machine, ADAMS loads the dynamic link library file, and by the ID of the mark point of cutterhead, cantilever and each centre of gyration
Adams_c_Gfosub functions are passed to, after the completion of function is performed, ADAMS regard the current result of calculation of function as GForce institutes
Comprising three axis force and three-dimensional torque value participate in virtual prototype simulation calculate among, realize load at cutterhead barycenter
Loading.
Beneficial effect：A kind of Vertical Axis Road-header virtual prototype cutterhead LOAD FOR and loading method and prior art phase
Than with following advantage：
(1) using ADAMS second development interface, development machine virtual prototype cutterhead load is realized using C language
Calculate and load in real time；
(2) only need to change coal petrography occurrence condition can complete the application of cutterhead load under different operating modes, simplify load
Apply flow, improve operating efficiency；
(3) the time-varying factor of cantilever slew rate and cutterhead rotating speed is considered during LOAD FOR, makes result of calculation more accurate
Really；
(4) this method is used, in the virtual experimental carried out based on development machine virtual prototype, it can be found that development machine is designed
Present in it is not enough, find out the weak link in development machine parts.
Brief description of the drawings
Fig. 1 is the Vertical Axis Road-header virtual prototype cutterhead LOAD FOR and loading method of one embodiment of the present invention
Flow chart；
Fig. 2 is the pick stress diagram of one embodiment of the present invention；
Fig. 3 converts schematic diagram for the pick stress of one embodiment of the present invention；
Fig. 4 is the LOAD FOR process flow diagram flow chart of one embodiment of the present invention；
Fig. 5 for one embodiment of the present invention operating mode once cutterhead load history curve map；
Fig. 6 is two times cutterhead load history curve maps of operating mode of one embodiment of the present invention；
Fig. 7 is three times cutterhead load history curve maps of operating mode of one embodiment of the present invention；
Fig. 8 is four times cutterhead load history curve maps of operating mode of one embodiment of the present invention.
Embodiment
One embodiment of the present invention is elaborated below in conjunction with the accompanying drawings.
In present embodiment, as shown in figure 1, a kind of Vertical Axis Road-header virtual prototype cutterhead LOAD FOR and loading side
Method, comprises the following steps：
Step 1：Coal petrography occurrence condition is obtained, and is stored in static storage area；
The coal petrography occurrence condition includes the occurrence condition of coal and the occurrence condition of rock, and the occurrence condition of the coal is including non-
The ground pressure coal seam cutting resistance average value of the zone of influence, the Factor of Brittleness of coal, ore deposit pressure influence coefficient, the uniaxial compressive strength of coal and
Coal body pressured state coefficient；The occurrence condition of the rock includes rock contact intensity.
Step 2：The spin velocity of cutterhead is obtained by the ADAMS function interfaces provided, and calculates cutterhead cut
Rotating speed；
Step 3：The swing angular velocity of cantilever is obtained by the ADAMS function interfaces provided, and calculates the transverse direction of each pick
Swing speed；
Step 4：The design parameter of pick is extracted, coal theory is broken according to pick tooth, utilizes coal petrography occurrence condition, cutterhead cut
The cutting resistance of the calculation of design parameters pick of rotating speed, the horizontal swing speed of pick and pick, tractive resistance and lateral
Resistance；
As shown in Fig. 2 stress diagram during for pick cutting coal petrography；
Step 4-1：Calculate successively and participate in the cutting resistance Z that the pick j of cutting coal petrography is subject tojWith tractive resistance Yj：
J=1,2 ..., N, N is pick sum, in present embodiment, N=42；When pick j is in coal cutting, pick j by
Cutting resistance ZjWith tractive resistance YjComputational methods it is as follows：
The cutting resistance Z that sharp keen pick is subject in coal cutting0With tractive resistance Y0Respectively：
Y0=(0.5~0.8) Z0
In formula：--- the coal seam cutting resistance average value of the zone of influence, N/mm are pressed non-ly；
bp--- pick working portion calculates width, cm；
hjmax--- the maximum thickness of cutting of pick, cm；
tcp--- the chip width of pick, cm；
Kz--- exposed Free Surface coefficient；
Ky--- the influence coefficient of rescinded angle；
--- pick lip surface shape influences coefficient；
KC--- cut parameter mode coefficient；
Kot--- ground pressure influences coefficient to rib；
β --- pick is for the deflection angle of lead, (°)；
Kψ--- the Factor of Brittleness of coal；
θ --- pick present position angle, (°).
Wherein, the maximum depth of cut calculation formula of j-th of pick is on cutterhead：
In formula：hjmax--- the maximum depth of cut of j-th of tooth, mm；
Vbj--- j-th of pick swings laterally speed, m/min；
βj--- j-th of pick mounting axis and the angle of cutterhead rotation axis；
M --- pick number on same transversal；
N --- cutterhead cut rotating speed, r/min.
For by the pick of blunt, the cutting resistance Z being subject in coal cuttingjWith tractive resistance YjFor：
Zj=Z0+100f′δcmSaKδ
Yj=Y0+100δcmSaKδ
In formula：F ' --- cutting resistance coefficient；
δcm--- the unidirectional compression strength of coal, MPa；
Sa--- projected area of the pick wear surface in cut plane, cm2；
Kδ--- ore body stress state volume factor.
When pick j is in the rock stratum such as cut dirt band, tomography, roof and floor or rock, the cutting resistance Z being subject tojWith traction resistance
Power YjComputational methods are as follows：
Zj=PK[kTkψk′ψkdk′y(0.25+1.8hjmaxsinθ·tcp)+0.1Sj]
Yj=2.5Zj(0.15+0.00056PK)/(10hjmaxsinθ)0.4
In formula：PK--- the contact strength P of rockK=44f1.5, MPa；
kT--- the genre modulus of pick；
kψ--- hard alloy head form factor；
k′ψ--- cutter head portion form factor；
kd--- carbide bit diameter quotient；
k′y--- pick rescinded angle influences coefficient；
Sj--- when cutting dirt band after pick abrasion, projected area of the wear surface in cut plane, mm2；
Step 4-2：The pick j for participating in cutting coal petrography is calculated by lateral resistance Xj：
Pick no matter cut coal seam or rock, in addition to by cutting resistance and tractive resistance, will also laterally be hindered
Power, its calculation formula is：
In formula：Xj--- lateral resistance, N；
C1、C2、C3--- relevant with the arrangement mode of pick, sequential takes 1.4,0.3,0.15 respectively；Staggered form takes respectively
1.0,0.22,0.10.
Step 5：The cutting resistance of pick, tractive resistance and side force are subjected to Orthogonal Decomposition, and according to the translation of power
Each pick stress is transformed at cutterhead barycenter by theorem, obtains three axis force suffered by cutterhead and three-dimensional torque；
As shown in figure 3, the schematic diagram of cutterhead stress is converted into for pick stress, wherein, CM is cutterhead barycenter；
According to the shifting theorem of power, by the cutting resistance Z suffered by pick jjWith tractive resistance YjIt is transformed into the cutterhead axis of rotation
Line and the point of intersection of the plane of transversal residing for the pick, and Orthogonal Decomposition is carried out, obtain pick j three axis forces Rxj、Ryj、Rzj, simultaneously
Produce cut torque Mzj：
Rxj=Zj·sin(ω·t+φj)-Yj·cos(ω·t+φj)
MZj=-Zj·Dj/2
In formula：The angular speed that ω --- cutterhead is rotated, rad/s；
φj--- in t, j-th of pick is in the position angle of cutterhead circumferencial direction, rad；
Dj--- two times of the radial distance of j-th of tooth are diameter；
In present embodiment, pick is arranged using staggered form on cutterhead, its spiral head number and the ratio per line pick number
For 2, pick participates in cut with the order at one, an interval, and forming both sides tends to symmetrical kerf, makes the stress of pick both sides
It is in a basic balance, therefore the negligible side force when calculating, therefore Rzj=0.
The power and torque that obtained each reference coordinate is fastened are transformed at cutterhead barycenter CM, obtain t cutterhead
Transient force R on barycenterx、RyAnd torque Mx、My、Mz：
Rx=∑ Rxj
Ry=∑ Ryj
Mx=∑ Ryj×Lj
My=-∑ Rxj×Lj
Mz=∑ MZj=-∑ Zj×Dj/2
Wherein, for the pick close to cutterhead head, LjTake on the occasion of close to the pick of end face, LjTake negative value；The ginseng
Examine the coordinate system that coordinate system is cutterhead rotation axis and the point of intersection of the plane of transversal residing for pick j, its direction and RxjEtc. power
Direction it is identical.
Three axis force suffered by above-mentioned cutterhead and three-dimensional torque calculating process, according to the rule of ADAMS secondary development, using C
Language writes realization, and is compiled as dynamic link library file.
The cutterhead load is described in ADAMS using GForce, and is realized with adams_c_Gfosub functions.
In present embodiment, adopt and show a C language three axis force and three-dimensional Calculating Torque during Rotary and load loading procedure, implement
Method is as follows：
According to the establishment user's favorite subroutine of cutterhead LOAD FOR flow shown in Fig. 4, wherein principal function is provided according to ADAMS
C language version GFOSUB type function is write, and it is defined as：
typedefvoid
adams_c_Gfosub(const struct sAdamsGforce*gfo,double TIME,int DFLAG,
int IFLAG,double*RESULT)；
The kinematic parameters such as cutterhead rotational angular velocity, pick yaw velocity are obtained by ADAMS SYSFNC functions, its
C language version definition is：
void
c_sysfnc(const char*fncnam,const int*ipar,int nsize,double*states,
int*errflg)；
After the completion of c program is write, load.c files are saved as.
Compile LOAD FOR c program：
ADAMS CMD program Adams-CommandPrompt, the following life of input are opened in load.c storing directories
Order：
adams2015_1_x64cr-user n load.c-n ch_load.dll
Compiling obtains ch_load.dll.
Step 6：Load is put at cutterhead barycenter by ADAMS, specific method is：
GForce is added at cutting head of roadheader barycenter with ADAMS softwares；
Modification GForce dialog box is opened, described dynamic link library is inputted in the corresponding text box of " program " label
The title i.e. adams_c_Gfosub functions in the path of file, title and its LOAD FOR function included, " user joins
The ID of the mark point of input cutterhead, cantilever and each centre of gyration in number " the corresponding text box of label；
Run ADAMS development machine virtual prototypes, ADAMS loads the dynamic link library file, and by cutterhead, cantilever with
And the ID of the mark point of each centre of gyration passes to adams_c_Gfosub functions, after the completion of function is performed, ADAMS works as function
Preceding result of calculation participates in virtual prototype simulation as the value of the GForce three axis forces included and three-dimensional torque and calculates central,
Realize loading of the load at cutterhead barycenter.
Development machine virtual prototype in operation ADAMS, obtains cut under four kinds of operating modes under four kinds as shown in table 1 emulation operating modes
The suffered curve of load of head, as shown in figures 5-8.
1 four kinds of emulation duty parameters of table set table
| Operating mode sequence number | Valve port opens ratio | The solid coefficient of coal | The solid coefficient of rock |
| One | 100% | 1.4 | 9 |
| Two | 100% | 2.5 | 0 |
| Three | 100% | 2 | 6 |
| Four | 100% | 0 | 9 |
It should be appreciated that for those of ordinary skill in the art, can according to the above description be improved or converted,
And all these modifications and variations should be all fallen into the protection domain of application claims.
Claims (5)
1. a kind of Vertical Axis Road-header virtual prototype cutterhead LOAD FOR and loading method, it is characterised in that including following step
Suddenly：
Step 1：Coal petrography occurrence condition is obtained, and is stored in static storage area；
Step 2：The spin velocity of cutterhead is obtained by the ADAMS function interfaces provided, and calculates cutterhead cut rotating speed；
Step 3：The swing angular velocity of cantilever is obtained by the ADAMS function interfaces provided, and calculates the horizontal swing speed of pick
Degree；
Step 4：Break that coal is theoretical according to pick tooth, using coal petrography occurrence condition, cutterhead cut rotating speed, pick horizontal swing speed
And cutting resistance, tractive resistance and the lateral resistance of the calculation of design parameters pick of pick；
Step 5：The cutting resistance of pick, tractive resistance and lateral resistance are subjected to Orthogonal Decomposition, and according to the shifting theorem of power
Each pick stress is transformed at cutterhead barycenter, three axis force suffered by cutterhead and three-dimensional torque i.e. load is obtained；
Step 6：Load is put at cutterhead barycenter by ADAMS.
2. Vertical Axis Road-header virtual prototype cutterhead LOAD FOR according to claim 1 and loading method, its feature
It is, three axis force suffered by the cutterhead of the step 1 to step 5 and three-dimensional torque calculating process are according to ADAMS secondary development
Rule, adopts and shows a C language realization, and be compiled as dynamic link library file.
3. Vertical Axis Road-header virtual prototype cutterhead LOAD FOR according to claim 1 and loading method, its feature
It is, the load is described in ADAMS using GForce, and is realized with adams_c_Gfosub functions.
4. Vertical Axis Road-header virtual prototype cutterhead LOAD FOR according to claim 1 and loading method, its feature
It is, the coal petrography occurrence condition includes the occurrence condition of coal and the occurrence condition of rock, the occurrence condition of the coal is included non-ly
Press coal seam cutting resistance average value, the Factor of Brittleness of coal, ore deposit pressure influence coefficient, the uniaxial compressive strength and coal of coal of the zone of influence
Body pressured state coefficient；The occurrence condition of the rock includes rock contact intensity.
5. Vertical Axis Road-header virtual prototype cutterhead LOAD FOR according to claim 2 and loading method, its feature
It is, the detailed process put on load at cutterhead barycenter by ADAMS is as follows：
Run ADAMS development machine virtual prototypes, ADAMS loads the dynamic link library file, and by cutterhead, cantilever and each
The ID of the mark point of the centre of gyration passes to adams_c_Gfosub functions, after the completion of function is performed, and ADAMS is by function current
Result of calculation participates in virtual prototype simulation as the value of the GForce three axis forces included and three-dimensional torque and calculates central, realizes
Loading of the load at cutterhead barycenter.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110795804A (en) * | 2019-11-19 | 2020-02-14 | 山西大学 | Analysis method and device for dynamic load of cutting head of heading machine |
| CN111881589A (en) * | 2020-07-30 | 2020-11-03 | 三一重型装备有限公司 | Cutting head design method and device based on computer |
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| CN112196531A (en) * | 2020-11-10 | 2021-01-08 | 山西潞安环保能源开发股份有限公司 | Intelligent tunneling method for small section of coal mine rock roadway |
| CN112228083A (en) * | 2020-11-10 | 2021-01-15 | 山西潞安环保能源开发股份有限公司 | Rock breaking path selection method for small-section tunneling machine of coal mine |
| CN112196531B (en) * | 2020-11-10 | 2022-10-21 | 山西潞安环保能源开发股份有限公司 | Intelligent tunneling method for small section of coal mine rock roadway |
| CN113866549A (en) * | 2021-10-11 | 2021-12-31 | 辽宁工程技术大学 | System and method for testing cutting performance of heading machine |
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