非均质底板下掘锚机履带系统散-动耦合行驶性能分析

Analysis of DEM-MBD coupling traveling performance of crawler system of drive-bolting machine under heterogeneous floor

为研究掘锚机在巷道底板平整度发生改变时的行驶性能,以MB670-1型掘锚机为对象,以张家峁煤矿5-2煤层为背景,建立了掘锚机的运动分析模型,并运用多体动力学理论和离散元理论,对掘锚机履带系统和巷道底板进行了精细化描述,最后采用DEM-MBD耦合方法分析了掘进机在巷道底板行驶过程中的运动状态及其履带系统的力学特性。研究结果表明:掘锚机在巷道底板改变时的行驶状态良好,其中纵向平均滑移率为19%,竖直方向的最大沉陷量为20.2 mm,横向最大偏移量为3.8 mm;位于承重轮下方的履带板张紧力随驱动轮转矩增大而变大,其余位置履带板的张紧力基本不变;在履带系统中驱动轮受到的载荷最大,平均值为129.6 kN;位于机头下方位置的承重轮受到的载荷最大,平均值为78 kN;位于机身中后部的拖带轮受到的载荷最大,为5.7 kN。研究结果为提高掘锚机可靠性以及稳定性控制提供一定参考。

In order to study the travel performance of the drive-bolting machine when the roadway floor flatness changes,taking MB670-1 drive-bolting machine as the object and 5-2 coal seam of a coal mine as the background,the motion analysis model of the machine was established,and the multi-body dynamics theory and discrete element theory are used to describe the track system of machine and roadway floor in detail.Finally,the DEM-MBD coupling method is used to analyze the movement state of the machine and the mechanical characteristics of its track system on roadway floor.The results show that the travel condition of the machine on the roadway floor is good,and the average longitudinal slip rate is 19%,the maximum vertical settlement is 20.2 mm,and the maximum transverse offset is 3.8 mm.The tensioning force of the track plate located below the bearing wheel increases with the increase of the driving wheel torque,while the tensioning force of the track plate in other positions is basically unchanged.In the track system,the driving wheel receives the maximum load,with an average value of 129.6 kN;the bearing wheel located below the nose receives the maximum load,with an average value of 78 kN;the tow wheel,located in the middle rear of the fuselage,receives the largest load of 5.7 kN.The research results provide some reference for improving the reliability and stability control of the drive-bolting machine.