| Roadheader is an important tool for roadway construction.At present,manual field operation is the main method,and the working environment is complicated and there are hidden safety hazards.At the same time,the excavation efficiency and construction effect are greatly affected by human factors.Unmanned tunnelling is the realization of intelligent and automated construction on site through automatic tunneling trajectory planning and dynamic feedback control,which is also the development trend of future tunneling technology.In this paper,based on the configuration of the cutting part of the roadheader,the relationship between the extension of the hydraulic cylinder and the position of the cutting head is obtained.On this basis,the dynamic model of the cutting part is established,and the swing speed function of the cutting head is obtained to realize the cutting path Preliminary planning.In order to improve the cutting efficiency of the roadheader,combined with the rock shedding algorithm and topology optimization,the optimized cutting path is further studied.Finally,the correctness of the analysis results is verified through the simulation analysis of the tunneling dynamics.The main research contents are as follows:(1)Establish the relationship model between the extension of the hydraulic cylinder of the roadheader and the position of the cutting head.By analyzing the mechanical model of the roadheader,the cutting arm rotation angle and the position function of the cutting head are established.Then,according to the positional relationship of each member of the roadheader mechanism,the function relationship between the extension of the hydraulic cylinder and the swing angle of the cutting arm is obtained,and then the cutting arm is derived.The position of the cutting head space as a function of the elongation of the hydraulic cylinder.(2)Established the cutting dynamics model of the roadheader,and developed the roadheading path planning software.The cutting dynamics differential equation of the roadheader is deduced,and the swing speed of the cutting head is obtained.According to the relationship between the cutting head and the elongation of the hydraulic cylinder and the swing speed,preliminary path planning of the cutting section frequently encountered in several projects is carried out,and the cutting path planning software of the roadheader is developed according to the preliminary planning results.(3)Research the cutting path optimization algorithm and optimize the cutting section topology.In order to realize the automatic falling off of the rock during the cutting process,based on the falling off algorithm,the smallest blocks of the hard rock and soft rock that fall off automatically are obtained respectively.After the soft rock reaches the smallest block,it can fall off according to its own gravity,while the hard rock needs to be knocked off with external force.Using the topological method,topological optimization of the cutting section and surrounding rock masses is performed,and the force transmission path of the rock near the section is obtained,and the planned path is verified and optimized.(4)Establish a joint simulation model of roadheader cutting based on Recurdyn and EDEM.The optimized cutting path of the entire roadheader is simulated to verify the feasibility of the optimized cutting path and realize the effect of automatic rock falling. |
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