纵轴式掘进机截割头横摆时的运动学分析及其仿真

Kinematics analysis and computer simulation on longitudinal cutting head of roadheader

利用坐标变换 ,建立了纵轴式掘进机截割头横摆时的截齿运动轨迹、运动速度和加速度方程 ,通过计算机仿真研究了截割头转速和截割臂水平摆动速度对截齿运动速度和加速度以及其相对变化率的影响 .根据仿真结果 ,截齿运动速度和加速度随截割头转速增加而快速增加 ,但其相对变化率在减小 ;截齿运动速度和加速度不会随截割臂水平摆动速度的增加而明显增加 ,但速度相对变化率增加很快 ,加速度相对变化率很小 .这些为合理选择截割头工作参数提供了理论基础 .

This paper establishes the pick locus, velocity and acceleration equations on the longitudinal cutting head by use of coordinate transfer, when cutting gibbet horizontal swings. The effect of the rotation velocity and the horizontal swinging velocity of cutting head on the pick velocity and acceleration and their relative variations are studied through computer simulation. According to the results, the pick velocity and acceleration are increases rapidly with the rotation velocity. But their relative variations are reduces. The pick velocity and acceleration increase are not evident with the horizontal swinging velocity. But the velocity relative variation increase rapidly and the acceleration small. All above that provide theory base for choosing work parameters.