自移轨道式液压支架既定轨迹转向路径分析

Analysis of steering path of given trajectory of self-moving orbital hydraulic support

为解决煤矿巷道设备列车转向难的问题,设计了1种适用于巷道弯道转向的交替循环自移轨道式液压支架,探讨了自移轨道式液压支架弯道转向工作原理,通过对该型支架本身原地旋转掉转车头和在狭窄巷道内带动设备列车转弯2种工况的定性分析,建立了转向物理模型计算公式,研究了转向油缸工作循环自移轨道式液压支架关键点的运动位置变化情况;为使设备列车按照既定轨迹强制转向,在巷道底板安装了地锚,构建了支架轨道、设备列车与地锚的碰撞运动状态表达式;应用ADAMS对自移轨道式液压支架转弯两种工况的运动特性进行了虚拟仿真试验。研究结果表明:转向油缸工作状态的改变引起了旋转基点的变化,支架原地旋转时以基点C为圆心,以A、B两点与C点之间的距离为半径在底板形成半圆轨迹,支架原地旋转只需保持转向油缸的行程一致,即可实现支架原地旋转;而带动设备列车转弯过程中,需要在每一步转向步进中改变转向油缸和步进油缸的活塞杆伸缩行程,来微调自移轨道式液压支架的方向,B点轨迹的曲率半径约为1 000 mm,设备列车与地锚相碰撞时平均碰撞力约为60 000 N,平均速度约为450 mm/s。支架转向轨迹路线的研究为煤矿综采工作面设备列车弯道快速转向提供了有效的解决思路和方法。

In order to solve the problem of different steering of trains in the coal mine roadway equipment, an alternate cycle self-moving rail-type hydraulic support suitable for roadway curve steering was designed. The working principle of the self-moving rail-type hydraulic support for turning in corners was discussed;Through the qualitative analysis of the two working conditions of the support itself, rotating the head in place and driving the equipment train to turn in the narrow tunnel, the calculation formula of the steering physical model was established, and the changes of movement position of the key points of the self-moving orbital hydraulic support in the working cycle of the steering cylinder were studied. In order to make the equipment train turn in accordance with the given track, ground anchors were installed on the floor of the roadway, and the collision motion state expression of the support orbit, equipment train and ground anchor were constructed;The virtual simulation test of the kinematic characteristics of the self-moving orbit hydraulic support under two working conditions of turning was carried out by using ADAMS. The research results show that the change of the working state of the steering cylinder causes the change of the rotation base point. When the support rotates in situ, the base point C is taken as the center of the circle, and the distance between points A、B and C are taken as the radius to form a semicircle trajectory on the bottom plate. The in-situ rotation only needs to keep the stroke of the steering cylinder consistent to realize the in-situ rotation of the bracket. In the process of driving the equipment train to turn, it is necessary to change the telescopic stroke of the steering cylinder and the piston rod of and the stepping cylinder in each steering step, to fine tune the direction of the self-moving orbit type hydraulic support, the trajectory curvature radius of point B is about 1 000 mm, the average collision force between the equipment train and ground anchor is about 60 000 N,and the average speed is about 450 mm/s. The research on the steering track route of the support provides an effective solution and method for the rapid turning of the equipment train in the fully mechanized working face of coal mine.