支撑掩护式液压支架运动位姿解算  

Resolution on Motion Posture of Chock-Shield Type Hydraulic Powered Support

作　　者：林福严[1] 苗长青[1] 

机构地区：[1]中国矿业大学(北京)机电与信息工程学院,北京100083

出　　处：《煤炭科学技术》2011年第4期97-100,共4页Coal Science and Technology

基　　金：中央高校基本科研业务费专项资金资助项目(2010YJ10)

摘　　要：结合支撑掩护式液压支架,根据运动几何学分析给出了以前连杆倾角和顶梁俯仰角为自变量的液压支架各主要部件的位姿坐标解析表达式;建立了前后立柱的2个伸缩长度与前连杆倾角和顶梁俯仰角2个运动变量之间的解算方法;最后设计了解算程序,在给定液压支架结构参数和前后立柱伸缩长度的条件下就可以快速准确地解算出液压支架各主要部件的位姿参量。通过实例计算结果表明,该算法能够满足实时在线解算要求。In combination with the chock and shield powered support,according to the analysis on the kinematic geometry,the posture coordinate expression formula of each main part for the hydraulic powered support with the automatic variation linking bar angle and the canopy upward angle was provided.The resolution method was established between the two expansion lengths of the front and rear legs and the two kinematic variations of the front linking bar angle and the canopy upward angle.Finally,the designed resolution program could rapidly and accurately resolute the posture parameters of each main part applied in the hydraulic powered support under the given conditions of the structure parameters of the hydraulic powered supports and the expansion length of the front and rear legs.The case calculation results showed that the algorithm could be capable to meet the real-time online resolution.

关 键 词：液压支架 运动分析 位姿解算 立柱长度 

分 类 号：TD35[矿业工程—矿井建设]