NGHIEN ClJfU-TRAODOl THI^T Kt K^T CAU PHAO XICH MAY XUC LOI NU-QC FIREWORKS CHAIN STRUCTURE DEGIGN AJMPHIBIOUS LOADERS ThS Bui Van Hai', PGS,TS Tr4n Quang Hung^ TS Lg Hong Quan^ Nguyen Thi^n Hi^n' 'Truong Dai hgc Cong nghiep Ha Ngi ^Hpe vien Ky thuat Quan su ^Bp Tu lenh Cong binh TOM TAT Mdy xiic loi nu&c lam viec dugc nhitng viing sinh lay ciing nhu noi (bai) dugc tren nuac chinh la nha vdo bp phdn phao xich Do tinh todn thiit ki ket cdu phao xich la mpt phdn rdt quan trpng de cho mdy xuc loi nu&c Idm viec dugc cdc viing dia chdt phitc tgp, cung nhu dua nhihig nhdn xet lam ca s& khoa hpc cho viec thiet ke phao xich dgng bai Tir khoa: Phao xich mdy xuc ABSTRACT Amphibious excavator working in the swamp as well (swimming) is on the water to the buoy chain parts Therefore, structural design calculations buoy chain is a very important part for amphibious excavator working in complex geological areas, as well as made the remarks as the scientific basis for the design fioat chain form swimming Keywords: Floating chain Excavatora ISSN 0866 - 7056 TAP CHf CO KHi VIET NAM, S6 I + n a m www.cokhivietnam.vn NGHIEN CUTU - TRAO Ddi l.DATVANDE Dac diem ket cdu ca ban cua may xiic Ipi nuoc la may co th6 noi dugc tren nuoc nha vao phan phao xich, co kha nang di chuyen tren dia hinh phiic tap, tren nen dat rat yeu, vung smh lay, boi nuac K6t cdu may xuc lgi nuac gom hai phdn co ban (hinh 1): Phdn gdm duoi (khung duoi, phao, xich, truyen dpng di chuyin) Phdn tren (ngu6n dgng lyc va thik bi cong tac) Hinh Cdu tgo phao xich thiet ke vd tinh todn Nguyen ly lam viee Ket cau cua may xiic Igi nuac chia hai phdn chinh Phdn tren gom he thong nguon dpng lyc, he thong dieu khien, cac thiet bi cong tac nhu can, tay can, gau Phan duoi gom khung gam, phao, xich, he truyen dpng di chuySn Hinh Mdy xuc loi nu&c lam viec tren song - Phan chi tiet may xiic: May xiic Ipi nuac thye te no giong nhu may xiie thiiy lyc binh thudng, nhung de noi dugc tren nuoc va lam viec dugc o nhiing viing dia chat khac nhau, nhu viing Sinh lay va viing bi ngap nuoc thi may xiic loi nuac dupe dat tren hai phao xich va bp phan di chuyen dugc thiet ke nham di chuyen tren hai Hinh Bo tri chung mdy xiic loi nUdc phao xich Hai phao xich co the gian hai ben Ca bin; Cdn; Xi lanh cdn; Xi lanh tayg&u; de COtietdien lan han nham mue dich tao Tay gdu;6 Thiet bi tdng tdm vdi; Xi lanh gau; on dinh may Iam viSc Gau xuc; Dong cd vd hdm thiiy lUc; 10 Cd cdu - Ket eau phao xich (Structural buoy chain) quay sdn; 11 Phao xich; 12 Doi trgng; 13.Hop dien dieu khien CO Sd TINH TOAN 1.2 Tinh toan kich thtrdrc phao Kich thuoc phao xich dugc tinh toan dua tren co so co ban la dam bao dieu kien noi va^ ISSN 0866 - 7056 TAP CHi CO KHi VIET NAM, S6 I +2 nam 2015 www.cokhivietnam.vn NGHIEN cufu ' TRAO DCII dam bao goc nghieng phao cho phep lam vice Vai pham vi bai bao, tac gia chi khao sat /„c 1^ khdi lupng rieng ciia nudc goc nghieng tinh - Dieu kien ndi cua may: 2.D = G - Kh6i lupng cua toan bp may la G ^ 8600kg; => 2.0, ^.S.H.r„^ = 8600 o 2.0,8.5.// 1000 = 8600 - Khdi lugng cdn G^=600kg - 5,886 KN; =>2.5.// = - ^ ^ ^ = I0,6=>5i/ = 5,3(m^) 0,8.1000 - Khdi lugng tay gdu G^= 370kg - 3,630KN; - Chpn S ^ 5,3m^ suy H=lm Khdi lugng cua thiet hi tang tdm voi Gtb=I20kg= 1,177 KN; - Tir S = L.B suy L.B = 5,3 Chpn B= 1,15m ta tun dupe L = 4,6m - Khdi lugng gdu Gg=300kg - 2,943 KN; - Nhu vay, ta da tinh dugc so bp kich - Khdi lugng dat gau gau day dat thudc can thiet ciia phao Tuy nhien, can kiem duge tinh ddi voi loai dat canh tac, he sd toi nghiem lai gdc nghieng liiih cua phao thiet bj cdng tac Iam viec theo phuang dpc theo xop 1^ = 1,1, khdi lugng lieagp = 13{KN / m^) phao va vudng goe vdi phao Suy khoi lugng dat gau la Gj=V.^,| =0,3.1,1.13-4,29 KN = 437kg Trgng lugng - Dieu kien lam viec nang nhat cua may eua gau day dat la: dupe tinh may boat ddng d tam vdi xa nhat de xa dat Liie nay, gau day ddt Gg+d = G^ + G^ = 2,943 + 4,29 = 7,233(KN) - Hai so dd tinh goc nghieng tinh cua - Trong dieu kien may lam viec ndi hoan toan d phao the hien tren hinh tren hinh ve trang thai tinh, gia sir phao ngap 80% thi tich De don gian tinh toan, ta coi phao hinh hop chii - Khi tinh toan ta da gia thilt bd qua anh nhat vdi cac chieu dai L, chieu rgng B va chieu hudng cua sdng, gio may Iam viec h-en m^t cao H nudc - Theo phucmg thang diing, phao chiu tae dung ciia toan bd khdi lugng may G, lyc ddy ndi cua nudc D va ap lyc nen cua nudc tac dung len day phao Hinh Sa tinh goc nghieng dpc - Lye day noi tac dung len I phao xac dinh theo cong thiic: D^OM.r^=OXSJI.y„^ =(i,&.L.B.H.y^^ Trong dd: S la dien tich tilt dien mat cdt ngang ciia phao; Hinh Sa tinh gdc nghieng ngang ISSN 0866 - 7056 TAP CHi CO KHi VIET NAM, Sd 1+2 nam 2015 www.cokhivietnam.vn NGHIEN C U T U - T R A O D O I Mdmen gay nghieng ca hai trudng hpp la nhu Khdi lugng cua ddi trgng idy gdn diing theo thuc nghiem la: D.h„ G„ = 0,OIG - 0,01.8600 = 86(kg) = 0,84(KN) Vdi: + D, HQ la lyc day ndi va chieu cao dinh khuynh ngang cua phao Vdi may xiic Idi - Mdmen gay nghieng cua may Iam nudc da thiet ke, ta idy h^ = 8m vipc d dieu kien da neu dugc tinh nhu sau: + la gdc nghieng ngang ciia phao M„ = M^, - M^, = M^, - G^, Ij, Thay so vao ta cd =>M„ =82,8-0,84.1 = 81,96(/^) Trong d6: M^, I^^ Ian lucrt la mdmen doi trgng gay ddi vdi trgng tam cua may va canh tay don cua Gdt ddi vdi trgng tam cita may ^ M„ 81,96.10^ ^ , ^ , ^ ^nno sm(9 = —"- = ^ = 0,12144 => 6* = 6,97° D.h^ 8600.9,81.8 Nhu vay, ta da tinh dugc gdc nghieng tmh ciia phao lam viec d dieu kien mdmen gay nghieng la Idn nhat Ket qua tinh dupe - Dieu kien can bang tiiih phao hoan toan c6 the chap nhan Kich thudc phao nghieng dgc dugc xac dinh theo cdng thiic: dua dam bao dieu kien lam viec • Vi tri thii nhat: M„ =M^ =>M„ -D.//o.sin4^ >sin»? = M„ BAI TOAN THIET KE BEN PHAO XICH 1.3 Thiet ke khung phao D.H, Khung phao dupe thiet ke vdi nhiem Vdi: + D, Hg la luc day ndi va chieu vu la phan chju lyc chinh ciia phao Yeu cau eao djnh khuynh dpc cua phao Vdi may xuc loi ve hinh dang ciia phao phai dam bao cd hinh dang thiiy ddng hgc, de giam siic can may nudc da thiet ke, ta lay H^, ^ lOm di chuyen dudi nudc, tao dieu kien thuan loi de + ij; la gdc nghieng dpc cua phao cac dai xich chuyen ddng Vdi kich thudc phao nhu tren, ta thilt kl phao khoang dgc Thay so vao ta dupe: lap Khung phao bao gdm cac thep dinh hinh dugc ban vdi Mdi khoang se dugc M„ 81,96.10' gia cd them cac chdng dgc va ngang bang 0,09715 => 4^ = 5,6" >sin»I' D.Ha 8600.9,81.10 thep djnh hinh ciing vdi cac giang dugc thilt kl dh dam bao tang eiing vimg ciia khung phao Hai vift-ide da xa do, ta gia ed * Vj tii thii hai: them cac chdng dpc vdi nhiem vu chinh Dilu kien can bang tinh phao la dd dugcti-pnglupng cua toan bd phan ben tren cua may thdng qua xa thay vi dung cac ^ nghieng dgc dugc xac dinh theo cdng thiic: ISSN 0866 - 7056 TAP CHi CO KHi VI$T NAM, Sd 1+2 nam 2015 www.cokhivietnam.vn NGHIEN CUTU - TRAO D I tdm bao kin de phan ti-png lucmg dd Kich thudc va loai thep dugc chgn trudc sau kiem nghiem lai phdn mem de dam bao dieu kien ben va chju lyc Phao dugc thiet ke ddi xiing qua mat phang tiet dien ngang chinh giua ciia phao Md hinh khung phao thiet ke dugc bieu diln nhu hinh ve ben dudi; G^, G^^, G^^, G^ idn lugt la trgng lugng ciia cdn, tay gau, thiet bi tang tdm vdi va trgng lupng toan bd dSt va gau gau day ddt I tucmg ling la cac canh tay don ciia Mc, ^ Trong mo hinh, moi doan th5ng se tuong ling voi thep dinh hinh chu V hoac cho L TiSt dien cu tiie cua cac thanli a m6i vi tri dugc cho bang phu luc sau Iciem bin bSng phjn mSm SAP 2000-VlO Hinh Mo hinh luc tdc dung len xd da phan thiet bi cong tdc gdy nen Nhan xet: Tu mo hinh de dang suy phan luc tai A va B chi co phdn theo phuang thing diing ky hieu la R_, va R_j 1.4 Xac dinh lyre tac dung Kn phao 1.4.1 Xdc dfnh luc tupbhn thih bi cong tdc, khung gdm va xd HO tdc dung len phao Mo hmh tinh toan luc tac dung len xa lugng phSn tren ciia may, khung gjm, xa va lugng ddt giu a vi tri may lam viec nang nhgc nhdt gay nhu hinh 1.4 Quy trgng luong ciia cSn, tay gSu, thiSt bi tang tdm vol, gdu chua ddy ddt ve trgng tam cua may ta dugc mgt luc 0^, va mgt mdmen M^, Ve gia tri cua chiing nhu sau: = G, =437 + 300 + 120 + 370 + 0 - % - , J f « «-=G,J,+G,.J,.+G.J,+C.„4., =>M„ =5,886 !,3! + l,177.4,09 + 3,63.5,49 + 7,233.7,03 ».W„=82,8(/OVm) ^ M ^ =0=>;;^,.l,9 = A/„+G„.0,95 ^_ ' ' M„ + G„.0,95 82,8 + 17,92.0,95 „ , V9 ° 1^ ="•'" J^M, =0=>fl,j.l,9 = M„-G„.0,95 ^ ^ _ ^ , M ^ , _ < ^ ^ 82,8-17,92*95 1,9 1,9 • Xac dinh khoi liigng phao: Gia sil phao dugc bao kin bdi cac tam thep day 3mm Tong dien tich bao quanh mpt phao tinh gan dung la S ^ = 2(L.B+B.H)=2 (4,6.1,15+1,15.1)=12,88(m!) Khoi lugng thep tfcn bao quanh phao la: m, = 3.10-3.S_,^_^Y^^=3.103.12,88.7850=304(kg) Tinh den ca khoi lugng ciia k^t cau th^p khung phao, ta lay khoi lugng phao 14 M ,„, = Trong do: ISSN 0866-7056 TAP CHi CO KHi VIET NAM, S6 1+2 nam 2015 www.cokhivietnam.vn NGHIEN CUTU - TRAO D O I • Xac djnh khdi lugng xich: Moi ngang xich co cac kich thudc chiSu dai L_^ = 1,2m; chieu rdng B^ = 0,1m; chidu cao H^= 0,05m; chi6u day D^ - 0,005m bd trpng luong cua may de tinh den kha nang chju tai Khdi luong phan bd deu trdn vi tri tiep xiic dai giua gam va xa dd Khi do, ap luc phan bd cd gia tri: = —= ^-ll,377'/m-ll,37.9,8IAW/m = !ll,5AW/m 4/ 4.0,2 Khdi iugng cua mdt ng^ig xich la: Trong do: I =20cm la dp dai doan tiep /rt„ - 2.(4./?, + L,.{//, -2Z),)).Z),.7850 xiie giua gam va xa = 2(1,2.0,1 +1,2.(0,05 - 2.0,005)).0,005.7850 = 13fcg Tdng khdi lupng cua cac ihanh ngang xich; Khoang each AB dupe lay phao d vi tri each xa nhat: m^ = 58m„ = 58.13 = ( % ) Loai xich tua ta chgn la xich K-2 Attachment hang Hitachi san xuat vdi khdi lugng tren mpt met chieu dai la: q ^ 6kg/m Tir do, khdi lupmg cua dai xich tya ciia mpt ben phao la m ^ = 2.q.(L+H).2=2.6.(4,6+I).2-I3 5(kg) q = l l l ^ KN/m q=lll,5 KN/m III > 'f^ 0,*n ill 0,2m kivv 0,2m 0,4m >K 1,5m Hinh Sa chiu luc cita xd dd Khdi luong mgt dai xich hoan chinh sau lap ghep la: V e bidu dd ngi luc cho xa d o s u dung phdn m d m S A P 0 cho ket qua n h u sau: G, = » ^ + m, ^ , = 754 + = 889(jtg) Nhu vay, tdng khdi lugng I phao lap xich hoan chinh la • Xac dinh ti6t dien hpp li cua xa do: De giam khdi lugng cua may, ta chgn xa CO dang hinh try rdng thiet ke Mat khac, may Iam viec, nhd cd cac xi lanh day phao nen vi tri tuang doi giiia phao va xa khdng thay ddi, ta coi mdi mpt ben xa dugc tya len gdi cd djnh Md hinh chju lyc ciia I xa nhu (hinh 1.5) Khi tinh todn, ta coi nhu xa da chju toan @' ^ I 8,47 1Q,49 / I I I I I I 8,47 Hinh Bieu npi luc ciia xd d& ISSN 0866 - 7056 TAP C H l CO KHf V I £ T NAM, Sd I +2 nam www.cokhivietnam.vn 2015 NGHIEN CCKU - TRAO D I Tir biSu d6 ngi luc ta ±ay, momen uon Ion nhit M^=10,49KNm = 8600 - 2.1489 - 2.206 -1827 = 3383(kg) U'ng suit phap Ion nhfa xac dinh theo bieu thuc: = 8,3KN" • G, = G,,/4 = 3383/4 = 845,75 (kg) = 8300 N _M„„ Af„ ;r.—(1-)?') Voi G, la trgng lugng cua khung gSm va phan tren cua may ( ki hieu la G^^) phan deu len xa 32 Chgn loai thep che tao la thep CT^ co la] = i6000N/cm', r„ =1850kg/m' Dieu kien ben cua ung suat phap la CT„„ i?^2men xa chiu tac dung ciia phan luc R^, lam viec n ^ g ne hon Do kha nang quay vong ciia ca cau quay san la 360" nen ta chi can tinh toan doi v6i xa, xa ben tuong tu Trong mo hinh tinh toan (hinh 9), phaDR\, = -R^, la vec ta luc tu khung gam tac dung len xa 32 ' Thay so ta co: '0.49 0,23^ 32 ,,^„„„„ _, ^ - < 160000-* I-77': (l-"?) Gxa*n X 10,49.32 3.14.0,23'.160000 -> < VI-0,055 = 0,98 Chgn;; = 0,91 taco d D = 0,91^rf = 0,91i) = 0,91.0,23»0,21m Trong D, d lan lugt la duang kinh ngoai va duang kinh cua xa Khoi lugng cua Ixa d a la ,_^,EiSl^^^ ^ J W i ^ ^ 3 ,g,„„ 4 ^ G^ = 206.9,81 = 202IJV ^ 2,02/OT Hinh Md hinh tinh luc ticxd da tdc dyng len 2phao Tir md hinh tinh toan (hinh ) ta ciing nit nhan xet, tinh ddi xiing, nen phan luc xa tac dung len phao la nhu Ta d6 dang suy dugc: Nhu vay: G^^= G-2Gp^-2.G^^-G^, 1,4.2 Xdc dinh ap lire dat tdc dung len bS mgt ngang xich ISSN 0866 - 7056 TAP CHI CO KHi V I £ T NAM, Sd 1+2 nam 2015 www.cokhivietnam.vn NGHIEN Cl]fU - TRAO D I S, =B^.L^ = 0,01.1,2 = 0,012 (m^) lam viec tren can, neu coi may lam viee ed djnh tai mdt vj tri thi ta cd the coi gdc phao la goi Vdi B^, L^ Ian lugrt la chieu rgng va cd dinh chieu dai cua ngang xich (m) - Mdi tua tren Ian Nhu vay, day phao nam tren tdng cdng 17.4 ^ 68 - Can cu vao hinh dang va kich thudc Ian Mdi lan se la mdt niit dat lyc tren phao da thiet ke, ta tinh dupe sd ngang mdi trudng SAP vdi gia hi lyc tai mdi niit la P xich thudng xuyen tilp xiic vdi nin dat la = p.Sy4 = 390.0,012/4= 1,I7(KN) 3600/20 =18 - Khoang each gi&a cac niit la 100 mm (theo ket cau xich da chgn) - Tdng dien tich cua cac ngang xich tiep xiic vdi nen dat la: K£T LUAN 5j = 18.5^ = 18.0,012 = 0,216(m^) - Bai bao dua vao phdn mim SAP200 - Ap lue phan bd tren mdt dcm vi dien de tinh ben va kiem nghiem phao xich cua may xiic he Idi tich ngang xich la: r-39815(Ag/m')-390(/aV/m=) - Dua vao tinh bSn phao xich dl md phdng may xiic lgi nudc Iam viec d cae vung sinh lay khac 1.5 Tmh bin khung phao sir dung phSn - Ket qua nghien ciiu de danh gia va san mim SAP2000 xuat cac loai phao xich khac nhau, ciing nhu ung dung cho viec san xuat dai cac loai may Md hmh tinh toan duoc dat nhdm xiic Igi nudc ed dung tich gau khae nhau.*> muc dich dan gian hda viec tinh ben chi tiet Khi xay dyng md hinh, ta dua mdt sd gia Ngay nhan bai: 08/12/2014 thiet sau: Ngay phan bien: 12/01/2015 - Phan chju lyc chinh cua phao la khung thep cua phao Cac tam thep bao ben ngoai chi cd tac dung lam kin - Chi tinh toan dieu kien may Iam viec hoan toan tren can d vj tri ed dinh, may dang tien hanh xa dat d tam vdi xa nhat CJ trang thai nay, xich khdng chuyen ddng, phao chiu dieu kien lam viec nang ne nhat, ap lyc ciia nen dat tac dung len phao thdng qua tdng dien tich eiia cac ngang xich tiep xiic vdi dat - Phao nam tren mat phang ngang - Cac giang dupe luge bd bdt tai nhirng vi tri khdng gay anh hudng Idn dl don gian hda md hmh - Tir cac gia thiet da neu md hinh tinh toan va kit cdu idp ghep da thilt kl, Tai lieu tham khao: [1] Pham Van Lang (1974), Nghien cim khd ndng di ddng cua mdy keo MTZ- 50/80 lam Iren rupng bun Tuyen Tap cong trinh nghien cuu vien cong cu va CO gidi hoa nong nghiep , Ha Noi [2] VU Thi Loc, Vu Thanh Binh (1985), Mdy lam ddt, NXB Khoa hpc Ky thuat Ha Noi [3] Tran Xuan Tiiy, Tran Minh Chinh, He thdng truyen dong thuy khi, NXB Da Ning (2005) [4] Nguyen Tang Cudng, Le Chung, Huynh Luong NghTa, Matlab, Hpc vien Ky thuat Quan sir (2001) [5] Nguyen Phiing Quang, Matlab vd Simulink ddnh cho ky su dieu khien tu dong, NXB Khoa hpc ky thuat (2000) ISSN 0866 - 7056 TAP CHi CO KHI VIET NAM, Sd +2 nam 2015 www.cokhivietnam.vn ... KE BEN PHAO XICH 1.3 Thiet ke khung phao D.H, Khung phao dupe thiet ke vdi nhiem Vdi: + D, Hg la luc day ndi va chieu vu la phan chju lyc chinh ciia phao Yeu cau eao djnh khuynh dpc cua phao Vdi... 10 Cd cdu - Ket eau phao xich (Structural buoy chain) quay sdn; 11 Phao xich; 12 Doi trgng; 13.Hop dien dieu khien CO Sd TINH TOAN 1.2 Tinh toan kich thtrdrc phao Kich thuoc phao xich dugc tinh... liigng phao: Gia sil phao dugc bao kin bdi cac tam thep day 3mm Tong dien tich bao quanh mpt phao tinh gan dung la S ^ = 2(L.B+B.H)=2 (4,6.1,15+1,15.1)=12,88(m!) Khoi lugng thep tfcn bao quanh phao