掘锚机机载钻机姿态调整分析

吴迪; 符宝鼎; 孙博; 康乐; 刘治翔; 邹康

doi:10.13272/j.issn.1671-251x.2023060016

掘锚机机载钻机姿态调整分析

doi: 10.13272/j.issn.1671-251x.2023060016

吴迪^1,,
符宝鼎¹,
孙博¹,
康乐¹,
刘治翔²,
邹康^2, ,

1.
辽宁工业大学机械工程与自动化学院，辽宁锦州　121001
2.
辽宁工程技术大学辽宁高等学校矿产资源开发利用技术及装备研究院，辽宁阜新　123000

基金项目: 国家自然科学基金资助项目（51904142）；辽宁省应用基础研究计划项目（2023JH2/101600061）。

详细信息

作者简介:
吴迪（1983—），女，辽宁锦州人，讲师，硕士，主要研究方向为掘进机动态特性研究与控制，E-mail：643116324@qq.com

通讯作者:
邹康（1998—），男，江西瑞金人，硕士研究生，研究方向为煤矿智能掘进成套装备及技术，E-mail：zk451056@163.com。

中图分类号: TD421
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出版历程
- 收稿日期: 2023-06-06
- 修回日期: 2024-01-10
- 网络出版日期: 2024-01-31

Analysis of attitude adjustment for airborne drilling rig of anchor excavator

WU Di^1
,,
FU Baoding¹,
SUN Bo¹,
KANG Le¹,
LIU Zhixiang²,
ZOU Kang^{2
, ,}

1.
College of Mechanical Engineering and Automation, Liaoning University of Technology, Jinzhou 121001, China
2.
Liaoning Institute of Mineral Resources Development and Utilization Technology and Equipment Research Institute, Liaoning Technical University, Fuxin 123000, China

摘要

摘要: 探放水作业前后，前探钻机的部署需耗费大量时间。在掘锚机上装载超前钻探设备可减少设备部署时间，提高钻探效率。目前针对集掘、锚、探于一体的掘进机机组的研究大多聚焦于设备的结构设计及液压控制系统设计，对于不同结构间干涉特性的研究相对较少。分析了机载钻机姿态调整过程中的干涉情况，根据姿态调整时的几何位置关系，建立了掘锚机与机载钻机发生干涉时的数学模型，并推导出掘锚机与机载钻机发生干涉时的最大转角计算公式。以掘锚机和机载钻机发生干涉时的最大转角为指标，研究了掘锚机与机载钻机各个尺寸参数对机载钻机各个方向最大转角的影响。结果表明：① 掘锚机龙骨倾角越大，机载钻机的俯仰调节角度越大，通过调节掘锚机龙骨能有效改变探水钻机工作时仰角的调节范围。② 龙骨高度的变化对俯仰角的影响均很小，龙骨高度的变化不会影响俯角的变动，而对仰角的影响较大，且呈正比关系；龙骨连接绞耳到龙骨尾部长度的增大使俯仰角均增大，但对仰角的影响效果不明显。若要改动仰角，可优先考虑改变龙骨高度；若要改动俯角，可优先考虑改变龙骨连接绞耳到龙骨尾部长度。③ 当掘锚机龙骨护板间距越大，机载钻机的最大水平转角度越大，当增大到一定程度时，最大水平转角度不再受掘锚机龙骨护板间距增大的影响；当掘锚机龙骨护板间距大于某一值时，掘锚机支撑油缸中心距越大，机载钻机的最大水平转角度越大；掘锚机龙骨护板间距对机载钻机最大水平转角度的影响较掘锚机支撑油缸中心距大。 ④ 当机载钻机钻头后端宽度较小时，不影响最大水平转角；当机载钻机钻头后端宽度增大到某一值时，机载钻机钻头后端宽度越大，最大水平转角越小；当机载钻机钻头后端宽度小于某一值时，机载钻机钻头部分前端宽度越大，最大水平转角越小。实例验证结果表明：增大龙骨倾角、龙骨连接螺栓高度、龙骨高度、龙骨连接绞耳到龙骨尾部长度，并减小机载钻机钻头上缘与机载钻机框架连接绞耳的高度差、龙骨上护板长度，机载钻机的最大俯仰角得到了有效增加。
- 掘锚机 /
- 机载钻机 /
- 超前钻探 /
- 协同作业设备间干涉 /
- 姿态调整 /
- 干涉角度
Abstract: The deployment of the front drilling rig requires a significant amount of time before and after water exploration and drainage operations. Loading advanced drilling equipment on the anchor excavator can reduce equipment deployment time and improve drilling efficiency. At present, research on anchor excavator units that integrate excavation, anchoring, and exploration mostly focuses on the structural design of equipment and the design of hydraulic control systems. There is relatively little research on the interference features between different structures. The paper analyzes the interference situation during the attitude adjustment process of the airborne drilling rig. A mathematical model for the interference between the anchor excavator and the airborne drilling rig is established based on the geometric position relationship during the attitude adjustment. The formula for calculating the maximum rotation angle is derived when the anchor excavator interferes with the airborne drilling rig. The maximum angle of interference between the anchor excavator and the airborne drilling rig is taken as the indicator. The influence of various size parameters of the anchor excavator and airborne drilling rig on the maximum angle of the airborne drilling rig in various directions is studied. The results show the following points. ① The larger the inclination angle of the anchor excavator keel, the greater the pitch adjustment angle of the airborne drilling rig. By adjusting the inclination angle of anchor excavator keel, the adjustment range of the elevation angle during the operation of the water exploration drilling rig can be effectively changed. ② The variation of the keel height has little effect on the pitch angle. The variation of the keel height does not affect the variation of the pitch angle, but has a greater impact on the pitch angle, which is proportional. The increase in the length of the keel connecting the twisted ear to the tail of the keel increases the pitch angle, but the effect on the pitch angle is not significant. To change the elevation angle, the value of the keel height can be changed firstly. To change the depression angle, the value of the length of the keel connecting the hinge to the tail of the keel can be changed firstly. ③ When the spacing between the anchor excavator keel protection plates is larger, the maximum horizontal rotation angle of the airborne drilling rig is larger. When it increases to a certain extent, the maximum horizontal rotation angle is no longer affected by the increase in spacing between the anchor excavator keel protection plates. When the distance between the keel protection plates of the anchor excavator is greater than a certain value, the larger the center distance of the support oil cylinder of the anchor excavator, the greater the maximum horizontal rotation angle of the airborne drilling rig. The influence of the spacing between the keel protection plates of the anchor excavator on the maximum horizontal rotation angle of the airborne drilling rig is greater than the center distance of the support oil cylinder of the anchor excavator. ④ When the width of the rear end of the airborne drilling bit is small, it does not affect the maximum horizontal angle. When the width of the rear end of the airborne drilling bit increases to a certain value, the larger the width of the rear end of the airborne drilling bit, the smaller the maximum horizontal angle. When the width of the rear end of the airborne drilling bit is less than a certain value, the larger the width of the front end of the airborne drilling bit, the smaller the maximum horizontal angle. The example verification results show that increasing the inclination angle of the keel, the height of the keel connecting bolts, the height of the keel, and the length of the keel connecting ear to the tail of the keel, while reducing the height difference between the upper edge of the drill bit and the connecting ear of the drill frame, and the length of the keel upper protective plate, effectively increases the maximum pitch angle of the airborne drilling rig.
- anchor excavator /
- airborne drilling rig /
- advanced drilling /
- interference between collaborative work equipment /
- attitude adjustment /
- interference angle

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图 1 机载钻机在掘锚机上的安装位置及设备结构

Figure 1. The installation position of the airborne drilling rig on the anchor excavator and the structure of the equipment

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图 2 机载钻机工做流程

Figure 2. Drilling rig work flow

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图 3 钻机与掘锚机的干涉

Figure 3. Interference between drilling rig and the anchor excavator

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图 4 不同龙骨倾角对干涉特性的影响

Figure 4. Influence of different keel inclination angles on interference features

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图 5 h₁，h₂，L₁对俯仰角的影响

Figure 5. Effects of h₁, h₂ and L₁ on pitch angle

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图 6 点C，D横坐标对仰角的影响

Figure 6. The effect of C and D on elevation

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图 7 B_J1与B_J2同步变化对θ的影响

Figure 7. The influence of synchronous changes between B_J1 and B_J2 on θ

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图 8 B_Z1与B_Z2均变化对θ的影响

Figure 8. The influence of change of B_Z1 and B_Z2 on θ

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表 1 机载钻机俯仰调整时与掘锚机干涉的具体描述

Table 1. Specific description of interference with the anchor excavator during pitch adjustment of airborne drilling rig

调整方向	干涉判别				转动角度
逆时针	C与直线F₁F₂碰撞	D与直线F₁F₂碰撞	F₁与直线CD碰撞	F₂与直线CD碰撞	依据注释确定
逆时针	以点A为圆心，点A到点C的距离为半径作圆，交直线F₁F₂于点m，连接Am，∠CAm即为该点与龙骨碰撞时的最大转角β₁ 注：仅当x_m＞x_F2，h₃＞h₂时，存在此类碰撞	以点A为圆心，点A到点D的距离为半径作圆，交直线F₁F₂于点n，连接An，∠DAn即为该点与龙骨碰撞时的最大转角β₂ 注：仅当x_n＜x_F1，h₃＞h₂时存在此类碰撞	以点A为圆心，点A到点F₁的距离为半径作圆，交直线CD于点u，∠F₁Au即为该点与龙骨碰撞时的最大转角β₃ 注：仅当x_u＜x_D，h₃＞h₂时存在此类碰撞	以点A为圆心，点A到点F₂的距离为半径作圆，交直线CD于点v，∠F₂Av即为该点与龙骨碰撞时的最大转角β₄ 注：仅当x_v＜x_C，h₃＞h₂时存在此类碰撞	依据注释确定
顺时针	直线BE与点G 碰撞				γ
顺时针	以点A为圆心，点A到直线BE的垂直距离为半径作圆A，过点G作圆A的下切线，直线BE与该切线的夹角为掘锚机的最大俯角				γ

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表 2 机载钻机水平调整时与掘锚机干涉的具体描述

Table 2. Specific description of interference with anchor excavator during pitch adjustment of airborne drilling rig

干涉判别		最大水平转角θ
直线MK与圆J的碰撞	点I与钻机龙骨护板碰撞	min（θ₁，θ₂）
以点H为圆心，B_Z2/2为半径作圆H，再作圆H与圆J的公切线，该切线与直线MK的夹角θ₁即为钻机前端与掘锚机支撑发生碰撞时的最大转角	以点H为圆心，HI为半径作圆，交龙骨护板于点k， ∠IHk即为该点与龙骨护板碰撞时的最大转角θ₂	min（θ₁，θ₂）

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表 3 基本尺寸取值区间

Table 3. Value range of basic size

参数	取值区间/mm	参数	取值区间/mm
h₀	（310，350）	h₁	（230,270）
h₂	（120,160）	h₃	（−100,350）
h₄	（480,520）	L₂	（6 000,6 500）
L₁	（2 100,2500）	L₄	（7 500,8 000）
L₃	（2 000,2400）	l₁	（1 600,2 100）
l₀	（1 500,2000）	B_Z1	（500,700）
l₂	（500,800）	B_J1	（800,1 200）
B_Z2	（250,350）	S₀	（4 000,4 500）
B_J2	（1 400,1 500）	R₂	（55,75）
S	（5 500,6 500）

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表 4 优化前后的尺寸

Table 4. Dimensions before and after optimization

参数	优化前	优化后
h₀/m	320	320
h₁/m	250	310
h₂/m	140	190
h₃/m	300	220
h₄/m	500	500
L₁/m	2 300	2 600
L₂/m	6 300	6 300
L₃/m	2 185	1 600
L₄/m	7 830	7 830
l₀/m	1 740	1 740
l₁/m	1 890	1 890
l₂/m	670	670
α/（°）	11	16
S/m	5 775	5 775
B_Z1/m	500	500
B_Z2/m	280	280
R₂/m	65	65
B_J1/m	1 200	1 200
B_J2/m	1 460	1 460

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