考虑铰接间隙影响的液压支架四连杆机构运动误差分析  

Kinematic Error Analysis of Four-Bar Linkage Mechanism of Hydraulic Support Considering the Influence of Articulation Clearance

作　　者：王帅[1] WANG Shuai(The Fifth Mine,Pingdingshan Tian’an Coal Industry Co.,Ltd.,Pingdingshan 467000,China)

机构地区：[1]平顶山天安煤业股份有限公司五矿,河南平顶山467000

出　　处：《煤矿机电》2021年第4期44-47,共4页Colliery Mechanical & Electrical Technology

摘　　要：为了研究铰接间隙对支架运动误差的影响,利用闭环矢量原理推导了液压支架四连杆机构的运动方程,采用牛顿-辛普森算法进行求解,根据连杆两端回转副元素,建立了两孔型、孔销型和两销型3种杆件的间隙模型,将间隙模型应用于四连杆机构运动方程进行误差仿真分析。结果表明铰接间隙会使液压支架运动轨迹偏移,横向误差大于纵向误差。该研究可为提高支架设计质量和运动精度控制提供基础。In order to study the influence of articulation clearance on the kinematic error of hydraulic support,the kinematic equation of four-bar linkage mechanism of hydraulic support was derived by using closed-loop vector principle.Newton Simpson algorithm was used to solve the equation.According to the elements of rotation pair at both ends of the linkage,the clearance models of dual hole type,hole pin type and dual pin type were established.The clearance model was applied to the kinematic equation of four-bar linkage mechanism error simulation analysis.The results showed that the articulation clearance could make the trajectory of the hydraulic support offset,and the lateral error was greater than the longitudinal error.The research can provide a basis for improving the design quality and kinematic accuracy control of the support.

关 键 词：液压支架 四连杆机构 铰接间隙 误差分析 

分 类 号：TD355.41[矿业工程—矿井建设]