Modelling and response analysis of multibody large-scale displacement of boom-type roadheader

Abstract

Boom-type roadheader is the most widely used equipment in the fully mechanized excavation face of coal mine. Under complicated operation conditions of underground coal mine, multibody large-scale displacement phenomenon of roadheader will occur during cutting process. Specifically, the position and attitude of the body are changing continuously, and radial runout phenomenon of the cutting arm will take place, which will seriously reduce the overall stability of roadheader and drivage efficiency of the roadway. Focused on the vertical cutting condition, the coupling dynamical model of position and attitude of the body is established based on Lagrange equation. Combined with the calculated cutting load, the dynamical model is solved through Simulink simulation method, and the solving results are analysed under different influence factors. Consequently, the response regularities of position and attitude of the body under influence of different factors are obtained. In the similar way, the dynamical model of radial runout quantity of the cutting arm is established, and the dynamic response of radial runout of the cutting arm during vertical cutting process is obtained as well. Finally, the simulation analysis results are validated through field experiments. The research work of this paper provides useful theoretical basis for deviation rectification control of the multibody structures of roadheader, fills the vacancy of theoretical study in this aspect, and contributes to improving the dynamics theory of mining machinery.

Modeling and response analysis of the attitude angles of roadheader for steep coal seam

“…Therefore, the response regularities of the deviation angle during vertical cutting process in steep coal seam, depicted in Fig. 15a, are same to the results in flat coal seam, presented in our previous work [18], which indicates that the response results of the deviation angle are constant in different coal seams. The pressure of the driving cylinders is detected by BYD-60 type mining explosion-proof pressure transmitter.…”

“…The mechanical model diagram of roadheader is shown in Fig. 1 [18]. The fixed coordinate system O c X c Y c Z c represents the roadway space, while the moving coordinate system O b X b Y b Z b is fixed on roadheader and moves with the roadheader.…”

“…It is worth noting that, We have analyzed the body pose responses of boom-type roadheader during the horizontal cutting process [17], and the multibody large-scale displacement responses of roadheader during the vertical cutting process [18], aiming at the flat coal seams. However, concerning the steep coal seams, which are much different from the flat coal seams, theoretical model and response characteristics of roadheader's attitude are still none reported in existed literatures.…”

Cutting Mechanism Rotor System Dynamic Characteristics of Cantilever Roadheader under Random Hard Rock Load

“…The cantilever transmission system of the roadheader provides stable rotating power for the cutting head to cut the rock stratum [24]. The simplified structure of the cutting head rotor system of the roadheader is shown in Figure 2.…”

Rock hardness identification based on optimized PNN and multi-source data fusion

“…[1][2][3] Due to the complexity and variability of the occurrence condition and physical mechanical properties of rock around the roadway, the hardness of rock is changing constantly and randomly, which greatly affects the load on the cutting head. [4][5][6] In the cutting process of roadheader, the operators can not accurately identify the cutting state of roadheader, so that the cutting rotation velocity and swing velocity cannot be adjusted in time to adapt to the change of rock characteristics, which may lead to cutting power overrun, the picks wear and fracture and the fall-off of tool bit, and further lead to cutting head failure and equipment damage. 7 In recent years, many studies, which aimed to increase cutting performance and reduce cutting consumption by using the roadheaders more efficiently, have been conducted by different researchers.…”