悬臂式掘进机仿形截割控制机理  

Control mechanism of profiling cutting for boom-type roadheader

作　　者：李建刚[1] 毛君[1] 李惟慷[1] 陈洪月[1] 

机构地区：[1]辽宁工程技术大学机械工程学院,辽宁阜新123000

出　　处：《辽宁工程技术大学学报（自然科学版）》2009年第4期621-624,共4页Journal of Liaoning Technical University (Natural Science)

基　　金：辽宁省高校重点实验室基金资助项目(20060309);辽宁工程技术大学大型工矿装备实验研究中心基金资助项目(07-64)

摘　　要：为了解决悬臂式掘进机截割中超挖和欠挖问题,采用空间机构运动学和系统仿真的方法,建立了仿形截割的数学模型,确立了悬臂偏移最大角度和油缸伸长量的关系,提出了使用数字液压缸来实现按照所给巷道运动时各个油缸伸长量的自动掘进控制机理,采用MATLAB仿真验证了截割头运动。研究表明,仿真结果曲线符合实际工况。研究结论科学地分析了掘进机仿形截割过程,为复杂环境下掘进机器人自动控制研究提供了理论依据。In order to overcome the over/under excavation problem associated with boom-type roadheader tunnelling, a profiling cutting model for roadheader was proposed based on the methods of space mechanism kinematics and system simulation. Also, in this paper, the relationship between the largest angle of boom deviation and oil cylinder elongation was presented. The auto-tunnelling controlling mechanism using numeric hydraulic cylinder to achieve each cylinder elongation for roadheader is discussed. The cutting motion was simulated using MATLAB. The experimental study shows that the simulated curve conforms to the working condition. The study analyses the process of profiling cutting for roadheader and provides a theoretical basis for the study of automatic control on tunnel robot in complex environment.

关 键 词：掘进机 仿形截割 控制机理 外包络面 

分 类 号：TD421.54[矿业工程—矿山机电]