Xi'an Research Institute Company Limited,China Coal Technology and Engineering Group

为研究巷道修复机工作机构在工作过程中的运动特性,解决在实际操作中易发生工作臂与铲运装置的运动干涉问题,基于旋量运动学理论建立了巷道修复机工作机构的正、逆解运动学模型,应用Matlab软件计算出该工作机构的工作空间,得出工作臂提臂动作时对应油缸的2次阶跃变化是产生运动干涉的直接原因。并进一步对巷道修复机工作机构的运动轨迹和工作臂各油缸伸长量进行分析,提出工作臂斜面扒渣运动方式解决运动干涉的方案。井下现场试验结果表明,该解决方案有效提高了巷道修复机的操控性,降低了运动干涉的概率。研究结果为巷道修复机工作机构的优化设计和智能控制提供了依据。

In order to study the movement features of the working mechanism during the working process of the mine roadway repair machine and to solve the movem ent interference problems between the working boom and scraper device occurred in the actual operation,based on the spinor kinematics theory,the positive solution and in verse solution kinematics models of the working mechanism in the mine roadway repair machine was established. The Matlab software was applied to calculate the workin g space of the working mechanism and two step changes of the related oil cylinders during boom raising operation of working boom would be direct causes of movement in, terferences occurred. An analysis was conducted on the movement trajectory of the working mechanism in mine roadway repair machine and each oil cylinder extension va lue of the working boom. An inclined gathering movement of the working boom was provided to solve the movement interferences. The results of underground mine site tes t showed that the solution could effectively improve the operation and control of the mine roadway repair machine and could reduce the probability of the movement interfer ences. The study results could provide references to the optimized design and intelligent control of the working mechanism in mine roadway repair machine.

国家自然科学基金资助项目(51275061)；中国煤炭科工集团有限公司科技创新基金资助项目(2014MS038)；