| With the continuous expansion of the scope of infrastructure construction in my country,the increase in the application of bolting rigs in various fields,and the improvement of basic construction methods,the demand for bolting rigs has gradually increased,especially the multi-functional and high-performance integrated anchor and protection machine.The demand is greater.The luffing mechanism,as the main working part of the anchor and protection integrated machine,plays a vital role in the anchoring operation at the designated position and angle of the power head and the support operation of the temporary support device.Based on the large size of foreign bolt supporting equipment,which is not suitable for the use of small-section coal mine roadways in my country,domestic bolt supporting equipment has more or less problems such as slow supporting operations,poor reliability,and serious constraints on floor conditions.Designed a new type of anchor and protection integrated machine suitable for medium and small roadway support operations,carried out structural design of the whole machine,analyzed and established the kinematic equation of the luffing mechanism,analyzed the dynamic characteristics of the prototype and the luffing mechanism through the ADAMS software Optimization design methods,etc.,the main work content is as follows:According to the design plan,a three-dimensional model of each structural device of the new type of anchor protection integrated machine is established.The structure and working principle of each part are elaborated in detail,the overall design idea of the whole machine and the selection of standard parts,and the operation of each structure is described in sequence according to the sequence of the work flow of different mechanisms of the whole machine.The D-H method is used to study the luffing mechanism,the movement of the moving parts in space and the meaning of the rotation matrix equation in the D-H method are introduced,and the movement of the local luffing mechanism is introduced.The main parameters of the working process of the local luffing mechanism are analyzed,and the kinematic equation of the luffing mechanism is established.Finally,the equation is verified with the actual motion of the prototype.The dynamic simulation analysis of the luffing mechanism of the anchor and protection integrated machine shows that the luffing mechanism movement mainly includes the linear motion and rotation of the boom and the top frame of the temporary support device,and the deflection and rotation of the drill arm and the drill frame.Establish a virtual prototype model of the whole machine in the ADAMS software,add material attributes,constraints,driving and other parameters to complete the pre-simulation processing.Perform mechanism kinematics and dynamics analysis on the prototype to obtain the movement and dynamics parameters of key parameters such as the displacement,speed,acceleration,force and moment of the key hinge points of the mechanism,and obtain the motion law and key connections of the mechanism components The force curve of the hinge point,and the result is analyzed.Taking the luffing mechanism of the temporary support device as the research object,the mathematical models of the top frame luffing mechanism and the boom luffing mechanism are established,and the kinematics equations are established.The relationship equation between the hydraulic cylinder lever arm and the boom luffing angle is deduced and verified,and the relationship between the distance changes between the hinge points of the mechanism is obtained,and the Matlab optimization toolbox is used to compare the three hinge points of the boom luffing mechanism in space.The position distance is optimized to reduce the maximum force of the luffing cylinder in the working process.The structure of each luffing mechanism of the whole machine can be analyzed and optimized according to this method.Figure[77]table[8]reference[82]... |
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