油缸位移传感器精度对掘进机截割成形误差影响规律研究

Research on the influence of oil cylinder displacement sensor accuracy on cutting forming error of roadheader

考虑到掘进机截割部油缸内位移传感器的检测误差会影响到掘进机截割成形精度,运用机器人运动学分析方法,建立考虑油缸位移传感器误差的截割头在巷道断面坐标系中的运动学方程,然后利用蒙特卡洛模拟方法模拟分析不同油缸位移传感器误差等级对截割头在巷道空间内定位偏差精度影响规律。基于巷道外轮廓的创成机理,构建截割头截割巷道外轮廓的数学模型,通过数值计算分析油缸位移传感器误差对截割表面形貌特征的影响规律。研究结果表明,截割头坐标误差概率密度分布呈细长型的椭圆空间区域,水平回转油缸传感器的误差,主要影响截割头在X轴上的偏差;升降油缸传感器的误差,主要影响截割头在Y轴上的偏差。截割后在煤岩上形成"凹坑"和隆起"峰脊"之差的最大值是主要取决于截割头形状,外轮廓平均值会受油缸传感器误差影响。当升降油缸传感器误差超过±10‰FS时,巷道成形轮廓偏差超过了掘进机自动成形的要求。

Considering that the detection error of the displacement sensor in the oil cylinder of the cutting part of roadheader will affect the cutting forming accuracy of the roadheader, the kinematics equation of the cutting head considering the error of the displacement sensor of the oil cylinder in the coordinate system of the tunnel section is established using the kinematics analysis method of the robot, then Monte Carlo simulation method is used to simulate and analyze the influence of different oil cylinder displacement sensor error grades on the accuracy of cutting head positioning deviation in the tunnel space. Based on the generating mechanism of the tunnel external contour, the mathematical model of the cutting head cutting the tunnel external contour is established and the influence law of the oil cylinder displacement sensor error on the cutting surface topography is analyzed with numerical calculation. The study results show that the distribution of the probability density of the coordinate error of the cutting head is a slender ellipse space area, the error of the horizontal rotary oil cylinder sensor mainly affects the deviation of the cutting head on the x axis and the error of the lifting oil cylinder sensor mainly affects the deviation of the cutting head on the y-axis. The maximum difference between the "pit"and the "ridge" formed on coal and rock after cutting is mainly determined by the shape of the cutting head and the the average value of outer contour is affected by the oil cylinder sensor error. When the sensor error of lifting oil cylinder exceeds 10‰ FS, the tunnel profile deviation exceeds the requirement of roadheader auto-forming.