冲击破岩掘进机工作机构支臂与油缸铰点力仿真

Simulation of arm and hydraulic cylinder hinge point forces for impacting-crushing rock-roadheader working mechanism

为研究冲击破岩掘进机凿岩过程支臂与各油缸铰点的受力情况,根据多体动力学理论建立该机工作机构运动方程,运用ADAMS建立其虚拟样机模型.由波动力学理论确定了破碎头凿岩过程的随机载荷,通过对最大破碎深度、最大破碎高度各支臂与油缸铰点力仿真,得到各铰点受力变化规律.结果表明:各铰点力随凿岩阻力变化,波动明显,且与工作机构位姿有关;最大破碎高度时掘进油缸与支臂Ⅲ所受平均载荷最大,易使工作机构支臂产生疲劳裂纹,影响其使用寿命.与Matlab计算结果对比,两者最大误差为0.29%,证明所建模型及研究方法可行.

In order to find out forces on hinge points between arms and hydraulic cylinders for an impacting-crushing rock-roadheader during drilling, the mechanism＇s kinematic equations were built by means of multi-body dynamic theory and its virtual prototype model was established by ADAMS simulation software. The random load of its crushing head was confirmed by a wave kinetic theory. These hinge point forces under the biggest breakage depth and the biggest broken height were simulated and their sizes and variations were found. The results show that these forces change with drilling resistance and position, attitude of the mechanism, their trends are same and fluctuations are obvious： each hinge point force changing with drilling resistance, it＇s fluctuates significantly and related to the work position; When driving oil cylinder with the biggest broken height, the average load of arm Ⅲ suffered most, this easy to make the work mechanism of arm to produce fatigue crack and affect the service life. Compared with the result of Matlab, the maximum error is 0.29%, which proves that the built model and the research method are feasible.