Analysis of the Outer Contour Characteristics of Roadway Forming under the Influence of Cutting Head Vibration

Abstract

Considering that the trajectory of the cutting head of the longitudinal axis roadheader directly affects the surface morphology of the roadway, the formation mechanism of the outer profile of the roadway obtained by the cutting head is analyzed, and the dynamic model of the cutting part was constructed. The variation law of the vibration swing angle of the cutting head under different working conditions was obtained, and the coordinate of the cutting head of the roadheader in the roadway space coordinate system was determined by using the robot kinematics analysis method. The mathematical model of cutting the outer outline of the roadway by the cutting head is constructed. Through the numerical calculation and analysis, the characteristics of the formed outer profile of the roadway were analyzed considering the influence of the vibration of the cutting head. The results show that the difference between the “pit” and the “peak ridge” obtained by considering the vibration of the cutting head is larger than that without considering the vibration of the cutting head, which shows that the outer outline of the roadway obtained by the real cutting is more rougher than that without considering the vibration of the cutting head. With the increase of the cutting lifting angle, the maximum and average value of the difference between the “pit” and the uplift “peak ridge” on the coal and rock shows an increasing trend, and with the increase of the cylinder pressure, the maximum values of the horizontal swing angle “pit” and the uplift “peak ridge” gradually increase. The vibration of the cutting head when cutting coal and rock will have a great influence on the outer profile of the roadway, which cannot be ignored in the research of accurate autonomous cutting control algorithm of roadheader. The research results of this paper can provide a basis for the optimization of cutting parameters and high-precision forming control method of roadheader.

Analysis of the quality of tunnel roof topography by automatic cutting control under the coupling of multiple factors

“…Zhang et al [2] studied the cutting trajectory during the cutting process, the relationship between the plastic deformation of the surrounding rock after cutting and the surface roughness of the roadway. Liu et al [3] studied the irregular morphology of the surrounding rock in the tunnel space after cutting based on the excavation process of the excavation machine and the external dimensions of the cutting head, and proposed an evaluation method for the roughness of the roof of the excavation working face. Zhang et al [4] studied the distribution and height characteristics of the roof of the excavation face after cutting, and analyzed the influence of the geometric motion of the cutting head on it.…”

“…3,4) in the cutting head coordinate system are shown inFig 4. As shown in Fig4, α is the half included angle of the arc of the cutting head ball crown, β is the cone angle of the cutting head cone, r 1 is the radius of the cutting head spherical crown, n 1 is the height of the cylindrical part of the cutting head, and n 2 is the height of the cutting head cone.…”