地下铲运机铲斗斗刃运动轨迹方程的中间参变量推导及分析验证.docVIP

地下铲运机铲斗斗刃运动轨迹方程的中间参变量推导及分析验证 高泽宇1,2，张元清1,2，郭鑫1,2，石峰1,2，赵晓燕1,2 （1.矿冶科技集团有限公司，北京 100160； 2.北矿机电科技有限责任公司，北京 100160） 摘要：本文以KCY-2地下铲运机正转六杆工作机构为研究对象，通过多刚体系统运动学分析方法，获得了铲运机斗刃的运动轨迹方程。针对运动轨迹方程中所涉及到的三个中间参变量，进行了中间参变量关于动臂油缸和转斗油缸行程的数学模型的推导，并通过对实车数据进行测量和模型仿真数据对比进行了误差分析。结果表明，数学模型可以准确描述中间参变量关于动臂油缸和转斗油缸行程变化的变化，可以完全替代通过数据拟合进行中间参变量求解的方法，具有更小的计算误差，使铲运机斗刃的运动轨迹方程可以更为准确的描述动臂油缸和转斗油缸行程在变化过程中的铲运机斗刃的位置，对地下铲运机真正实现自主铲装具有重要的应用价值。 关键词：地下铲运机；运动轨迹；中间参变量；数学模型 Derivation, analysis and verification of the intermediate parameter variable of the motion path equation of the underground scraper bucket-blade Gao Zeyu1,2, Zhang Yuanqing1,2, Guo Xin1,2, Shi Feng1,2 , Zhao Xiaoyan1,2 (1.BGRIMM Technology Group, Beijing 100160, China; 2. BGRIMM machinery and automation technology Co., Ltd., Beijing 100160, China) Abstract：This paper takes the KCY-2 underground scraper forward-rotating six-bar working mechanism as the research object, by using the kinematic analysis method of the multi-rigid body system, the motion trajectory equation of the scraper blade is obtained. Aiming at the three intermediate parameters involved in the motion trajectory equation, the mathematical model of each intermediate parameter about the stroke of the boom cylinder and the lifting cylinder is derived, and do the error analysis by comparing the the actual vehicle measurement data and the model simulation data. The results show that the mathematical model can accurately describe the changes of each intermediate parameter with respect to the stroke changes of the boom cylinder and the lifting cylinder, which prove that the mathematical model can completely replace the data fitting method for solving the intermediate parameter. the mathematical model has a smaller calculation error, and makes the motion trajectory equation of the scraper blade can more accurately describe the position of the blade in changing the stroke of the boom and the lifting cylinder. It has important application value to truly realize the autonomous shoveling