Research On Deflection Deformation Of Boom And Smooth Lifting Method In Mine Rescue Hoist Truck

After the occurrence of the mine accident,the drilling vertical rescue technology can carry out effective and reliable rescue.The mine rescue elevator,as the lifting equipment of the rescue,can rush to the site of the mine accident in time depending on the flexible mobility performance and has strong environmental adaptability.However,in the process of rescue lifting,the deformation of the boom will cause the deflection of the rescue capsule,and there are safety problems.In order to improve the smoothness and rescue efficiency,this paper has studied the deformation of the boom and the control method of the relief capsule swing.In this paper,based on the analysis of the stress and deformation of the boom during the lifting process of the mine rescue elevator,the pendulum momentum of the rescue compartment is controlled by using the amplitude variation compensation control method,the rigid and flexible coupling dynamic model of the lifting system is established,and the oscillation characteristics of the rescue compartment before and after the amplitude variation compensation are compared and analyzed.The differential equation method is used to analyze the nonlinear deformation of the boom.The 3d model of the boom was established,and the deformation law of the boom was simulated based on Workbench software.Aiming at the problem of lifting smoothness,the structure of three hinge points of the luffing mechanism is analyzed,and the luffing compensation method based on the luffing hydraulic cylinder expansion control is studied.A virtual prototype of mine rescue elevator system is established,a wire rope model is created based on ADAMS/Cable module,rigid and flexible coupling dynamic simulation method is adopted to analyze the displacement of rescue capsule in horizontal direction during the hoisting process,and the feasibility of compensation control method adopted in this paper is verified.The results show that the average error is 2.79% for different working conditions.Through the variable amplitude compensation control scheme,the difference of working amplitude before and after lifting cabin working condition is within 1mm;Through the simulation analysis of rigid-flexible coupling dynamics,after adopting the amplitude compensation control method,the swing amplitude of the rescue capsule in the Y direction is reduced to 14 mm,and the swing amplitude in the X direction is reduced to 13 mm,and the swing of the rescue capsule is effectively controlled.It is lower than the horizontal gap between the rescue well and the rescue capsule to meet the lifting requirements.