掘锚联合机行走稳定性仿真研究

Simulation of walking stability of dig-anchor machine

研究了EBZ160掘锚联合机爬坡过程中整机的跑偏及振动情况.通过建立整机爬坡行驶力学模型,分析了影响整机稳定性的各种因素;应用多体动力学软件RecurDyn建立掘锚联合机组的虚拟样机模型和煤矿巷道路面模型,仿真研究了掘锚机在爬坡过程中履带部张紧油缸的受力、驱动轮的受力、驱动力矩特性,以及掘锚整机重心的速度、加速度、仰角变化情况.仿真结果表明掘锚机在爬坡过程中履带各关键部件受力存在一定的冲击,当爬坡角度为极值时,重心振动较大,且存在着跑偏现象.通过对仿真结果的分析得出:加大张紧油缸的预张力、为整机添加配重缩小整机重心偏移,能够减小爬坡过程的跑偏及振动.

This paper studies the running deviation and vibration of EBZ160 dig-anchor machine in the climbing process and analyzes various factors affect the stability of the whole machine through establishing mechanical climbing model.Applying RecurDyn,the virtual prototype model of the dig-anchor and the mine excavation roadway pavement model were established.The simulation of the dig-anchor machine in the climbing process researched on the forces and torque characteristics of the track tension cylinders and the driving wheels then studies the whole machine velocity,acceleration,and the changes of the elevation angle.The results of the simulation indicate that in the climbing process there exists certain impact in the force on the track key parts.When the climbing angle is the extreme value,vibration of the gravity center will become larger,and the phenomena of running deviation will come up.Through the analysis of simulation results,enlarging the tension cylinder pretension and adding the machine weight to reduce the gravity center＇s migration can decrease the whole machine running deviation and vibration.