回撤吊车拖吊机构运动学性能分析  

Kinematics performance analysis for towing mechanism of shield mule

作　　者：苏芳 李渊 赵海燕 赵聪 SU Fang;LI Yuan;ZHAO Haiyan;ZHAO Cong(School of Mechanical and Engineering,Shanxi Datong University,Datong 037003,Shanxi,China;School of Architectural and Surveying Engineering,Shanxi Datong University,Datong 037003,Shanxi,China)

机构地区：[1]山西大同大学机电工程学院,山西大同037003 [2]山西大同大学建筑与测绘工程学院,山西大同037003

出　　处：《中国工程机械学报》2022年第4期306-309,314,共5页Chinese Journal of Construction Machinery

基　　金：山西省基础研究计划面上项目(20210302124313);大同大学青年科研基金项目(2020Q8)。

摘　　要：回撤吊车是大型矿井的重要设备,拖吊机构是回撤吊车的主要零部件。为深入了解支架回撤吊车拖吊机构的工作性能,对其运动学性能进行分析研究。首先,基于拖吊机构的机械结构,建立空间坐标系,描述机构组成,并基于螺旋理论对机构自由度进行分析;然后,对拖吊机构进行正逆解分析,得到机构正逆解,考查其工作域;最后,基于压力角对工作域内的运动学性能进行分析。结果显示:拖吊机构在全工作域内的运动学性能和力学传递性能非一致性较高。该研究为支架回撤的应用、优化提供参考。The towing mechanism is of great significance to Shield Mule that is an important equipment in large mine.In order to deeply understand the working performance of the towing mechanism of the Shield Mule,the kinematics performance of the mechanism was analyzed and studied.Firstly,based on the mechanical structure of the towing mechanism,a spatial coordinate system is established to describe the composition of the mechanism.And the degree of freedom of the mechanism is analyzed based on the spiral theory.Then,the positive and inverse solutions of the towing mechanism are analyzed,and the workspace is obtained.Finally,the kinematics performance in the working field is analyzed based on the pressure angle.The results show that the kinematic performance and mechanical transfer performance of the towing mechanism has high nonuniformity in the whole working field.This study provides guidance and reference for the application and optimization of stent retraction.

关 键 词：回撤吊车 拖吊机构 运动学 自由度 压力角 

分 类 号：TH22[机械工程—机械制造及自动化]