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Multifactor Analysis of Roadheader’s Body Pose Responses during the Horizontal Cutting Process

机译：水平切割过程中掘进机的人体姿势反应的多因素分析

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摘要

Based on the Lagrange equation in system dynamics, aiming at the horizontal cutting process, the dynamical coupling model of boom-type roadheader’s body pose was established. According to input problem of solving the model, a calculation method of the cutting head load was proposed, and the relationship between the cutting head load and pressure of the driving cylinders and swing angle of the cutting arm was obtained through simulating analysis. The simulation model was established to solve the dynamical coupling model. The cutting head load, horizontal swing angle of the cutting arm, and dip angle of coal seam were regarded as independent variables to perform changing parameter analysis in variations of the body pose. The field experiment was carried out, and the measured data is basically consistent with the simulation values. The results show that lateral displacement of the body can reach up to 6.5 cm, backward displacement can reach up to 5.2 cm, floor-based quantity can reach up to 11 cm, pitch angle of the body can reach up to 7.8°, and roll angle can reach up to 2.1°. Variations of the body pose parameters are influenced greatly by the cutting head load, while the influence from horizontal swing angle of the cutting arm and dip angle of coal seam is slighter. Among the pose parameters, floor-based quantity and pitch angle of the body vary relatively greatly, which tend to seriously influence forming quality of the roadway and should be mainly considered in deviation rectification of the roadheader’s body pose.
机译：基于系统动力学中的拉格朗日方程，针对水平切割过程，建立了动臂式掘进机人体姿态的动力学耦合模型。针对模型求解的输入问题，提出了切削头载荷的计算方法，并通过仿真分析得出了切削头载荷与驱动缸压力，切削臂摆角之间的关系。建立了仿真模型以解决动力耦合模型。刀头负荷，刀臂水平摆动角和煤层倾角被视为独立变量，以根据人体姿势的变化进行变化参数分析。进行了现场实验，实测数据与模拟值基本一致。结果表明，车身的侧向位移可达6.5 cm，向后位移可达5.2 cm，地基量可达11​​ cm，车身的俯仰角可达7.8°，滚动角度可以达到2.1°。切割头负荷对人体姿势参数的变化影响很大，而切割臂的水平摆角和煤层倾角的影响较小。在姿态参数中，车体的地板基数量和俯仰角变化较大，这往往会严重影响巷道的形成质量，应主要在掘进机的姿态校正中考虑。

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