Design And Research Of 3-DOF Double Parallel Hydraulic Support

Hydraulic support is one of the important parts of mechanized mining equipment in coal mine.It is an important supporting equipment in coal mining face.China is rich in coal resources,but the coal seam condition is complex and changeable.Hydraulic support which supports coal roof will face space load from the direction of action generated by the surrounding rock movement.Because the main support column for the existing hydraulic support is laid out symmetrically,it does not have the ability to resist lateral force.And four bar linkage beam under shield beam,has great self internal force,also do not have the ability to resist lateral force.Aiming at the above problems,we designed a three degree of freedom double parallel hydraulic support with 3-RPC parallel mechanism as the main supporting mechanism.According to Mechanism topology theory,D-H matrix,TRIZ theory,ADAMS software and ANSYS Workbench software,we analyze the structure and workspace of the main supporting mechanism the main support structure,and studied the kinematics,dynamics and optimization of key components.Specific research work is as follows:Based on the domestic and foreign research on the movement law of roof and floor,the surrounding rock and hydraulic support is set up as an associated system,analysis the stress of hydraulic support,and show the relationship among the working resistance,surrounding rock pressure,and the beam by covered pressure force,to study three degree of freedom double parallel hydraulic support theory.Based on analysis of 3-RPC parallel manipulator structure by mechanism topology theory,D-H matrix of working space,the results show that the moving platform has the characteristics of X,Y and Z in three directions.And banalysis of traditional hydraulic optimization by the "TRIZ" theory design,finally show that the design scheme about 3-DOF double parallel hydraulic support.It is proved that it has lateral compressive strength by carrying out stress analysis.The virtual prototype of the new hydraulic support is set up by ADAMS,and the working parameters are set up,and the kinematics and dynamics simulation is carried out.The results show that the parallel hydraulic support has three directions of space and the ability to press the movement.Under the five general conditions of hydraulic support,it has good adaptability of large inclination angle and roof unevenness.Based on the static analysis of the main structural parts.of the new hydraulic support,the overall deformation and stress distribution are obtained based on the ANSYS Workbench.Using the "Design Exploration" module to optimize the structural dimensions of the key components,the structural dimension of the seat is improved,the maximum stress value is greatly reduced,at the same time,the quality and space occupied volume are reduced.The improved model of parallel hydraulic support can meet the use requirements,better performance,and provide a theoretical reference for the research on the product.