迈步式自移机尾的运动规划及液压控制系统设计  

Motion Planning and Hydraulic Control System Design of Step-type Self-moving Tail

作　　者：张西洋 王成军[1] 任东海 赵其所 Zhang Xiyang;Wang Chengjun;Ren Donghai;Zhao Qisuo(School of Artificial Intelligence,Anhui University of Science and Technology,Huainan 232001,China;Huaibei Zhongtai Electromechanical Engineering Co.,Ltd.,Huaibei 235000,China.)

机构地区：[1]安徽理工大学人工智能学院,安徽淮南232001 [2]淮北市众泰机电工程有限公司,安徽淮北235000

出　　处：《煤矿机械》2024年第6期1-3,共3页Coal Mine Machinery

基　　金：安徽省同心科创工程项目(202206e08020005);安徽理工大学高层次引进人才科研启动基金资助(2023yjrc109)。

摘　　要：为适应现代煤矿安全高效快速掘进的发展需要,研发了迈步式自移机尾。对迈步式自移机尾的运动进行了规划,采用调高液压缸、推移液压缸、侧移液压缸实现其调高、前移、侧移、调平和调偏。完成了迈步式自移机尾的液压控制系统设计,以高压乳化液为工作动力,选用BRW125系列乳化液泵和XR125/10型乳化液箱组成乳化液泵站系统。每个液压缸都装有液压锁,确保迈步式自移机尾不会因自重自行滑落。迈步式自移机尾结构合理、适用性强,液压控制系统具备就地、遥控、远控3种模式,提高了其使用安全性能和煤矿开采效率。In order to meet the needs of modern coal mine safety,efficiency,and rapid excavation development,a step-type self-moving tail has been developed.Planned the movement of the step-type self-moving tail,using height adjustment hydraulic cylinder,pushing hydraulic cylinder,and side displacement hydraulic cylinder to achieve its height adjustment,forward movement,side movement,leveling,and deviation adjustment.Completed the design of the hydraulic control system for the step-type self-moving tail,using high-pressure emulsion as the working power.The BRW125 series emulsion pump and XR125/10 emulsion tank were selected to form the emulsion pump station system.Each hydraulic cylinder is equipped with a hydraulic lock to ensure that the tail of the step by step self-moving machine does not slide off due to its own weight.The structure of the step-type self-moving tail is reasonable and has strong applicability.The hydraulic control system has three modes:local,remote,remote control,which improves its safety performance and coal mining efficiency.

关 键 词：迈步式自移机尾 运动规划 液压控制系统 

分 类 号：TD528.1[矿业工程—矿山机电]