智能化掘进机悬臂和铲台机构关联位置干涉解算模型

刘若涵; 刘永立; 刘爽

doi:10.13272/j.issn.1671-251x.2023090014

智能化掘进机悬臂和铲台机构关联位置干涉解算模型

doi: 10.13272/j.issn.1671-251x.2023090014

刘若涵^{1, 2,},
刘永立³,
刘爽⁴

1.
黑龙江科技大学电气与控制工程学院，黑龙江哈尔滨　150022
2.
黑龙江科技大学安全工程学院，黑龙江哈尔滨　150022
3.
黑龙江科技大学矿业工程学院，黑龙江哈尔滨　150022
4.
黑龙江科技大学机械工程学院，黑龙江哈尔滨　150022

基金项目: 国家自然科学基金青年基金资助项目（52104130）；国家自然科学基金面上资助项目（51974111）。

详细信息

作者简介:
刘若涵（1987—），女，山东莱阳人，讲师，博士研究生，研究方向为矿山机械电气传动与智能控制，E-mail：wzdq_2011@126.com

中图分类号: TD632
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- 被引次数: 0
出版历程
- 收稿日期: 2023-09-04
- 修回日期: 2024-03-19
- 网络出版日期: 2024-04-11

A calculation model for the associated position interference between the boom and shovel table mechanisms of intelligent roadheader

LIU Ruohan^{1, 2
,},
LIU Yongli³,
LIU Shuang⁴

1.
School of Electrical and Control Engineering, Heilongjiang University of Science and Technology, Harbin 150022, China
2.
School of Safety Engineering, Heilongjiang University of Science and Technology, Harbin 150022, China
3.
School of Mining Engineering, Heilongjiang University of Science and Technology, Harbin 150022, China
4.
School of Mechanical Engineering, Heilongjiang University of Science and Technology, Harbin 150022, China

摘要

摘要: 智能化悬臂式掘进机在工作状态感知与控制过程中悬臂和铲台机构关联位置干涉，而现有悬臂式掘进机防干涉碰撞的研究主要是基于单一的控制方法，将防干涉碰撞条件融入到控制中的较少。针对上述问题，提出了一种悬臂和铲台机构关联位置干涉解算模型。基于多自由度悬臂式掘进机悬臂和铲台机构运动过程中的相对空间位置关系，将悬臂机构简化为分段空间直线、铲台机构简化为空间平面，根据悬臂边界等效分段空间直线上特定点和截割刀具边界点至铲台等效空间平面的距离，判断悬臂与铲台是否干涉。悬臂与铲台机构关联位置干涉解算模型应用实例表明：当铲台处在中位状态时，主悬臂和辅助悬臂无相对摆动下，悬臂和铲台不发生干涉碰撞的极限约束条件为主悬臂下摆动位置角不超过29.5°，截割刀具卧底量不超过42 mm；主悬臂和辅助悬臂协同摆动下，悬臂和铲台不发生干涉碰撞的极限约束条件为截割刀具卧底量不超过163 mm。悬臂和铲台机构关联位置干涉解算模型为悬臂与铲台干涉碰撞全域预测预警的数字化与智能自主控制奠定了基础。
- 悬臂式掘进机 /
- 悬臂 /
- 铲台 /
- 关联位置 /
- 防干涉
Abstract: In the process of working state perception and control, the intelligent boom-type roadheader interferes with the position of the boom and shovel table mechanism. However, the existing research on the prevention of interference and collision in boom-type roadheader is mainly based on a single control method. There are relatively few studies that integrate the prevention of interference and collision conditions into the control. In order to solve the above problems, a calculation model for associated position interference between the boom and shovel table mechanism is proposed. Based on the relative spatial position relationship between the boom and shovel table mechanism of a multi degree of freedom boom-type roadheader during the movement process, the boom mechanism is simplified as a segmented spatial straight line, and the shovel table mechanism is simplified as a spatial plane. Based on the distance between the specific points on the equivalent segmented spatial straight line of the boom boundary and the boundary point of the cutting tool to the equivalent spatial plane of the shovel table, the interference between the boom and shovel table is determined. The application example of the interference calculation model for the relationship between the boom and the shovel table mechanism show the following points. When the shovel platform is in the middle position, under the condition that the main boom and auxiliary boom have no relative swing, the ultimate constraint condition for the boom and shovel table to not interfere and collide is that the swing position angle of the main boom does not exceed 29.5°, and the cutting tool's bottom depth does not exceed 42 mm. The ultimate constraint condition for the boom and shovel table to not interfere and collide under the coordinated swing of the main boom and auxiliary boom is that cutting tool's bottom depth does not exceed 163 mm. The interference calculation model for the position interference between the boom and the shovel table mechanism lays the foundation for the digital and intelligent autonomous control of the full domain prediction and warning of the interference and collision between the boom and the shovel table.
- boom-type roadheader /
- boom /
- shovel table /
- associated position /
- anti interference

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图 1 传统的悬臂式掘进机

Figure 1. Traditional boom-type roadheader

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图 2 巷道修复机

Figure 2. Roadway repair machine

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图 3 多自由度悬臂式掘进机

Figure 3. Multi-degree of freedom boom-type roadheader

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图 4 悬臂机构控制原理

Figure 4. Control principle of boom mechanism

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图 5 悬臂与铲台机构位置关联

Figure 5. Position correlation between boom mechanism and shovel table mechanism

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图 6 悬臂和铲台工作摆动范围

Figure 6. Working swing range of boom and shovel table

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图 7 主悬臂随铲台的极限摆动位置角

Figure 7. The ultimate swing angle of main boom with shovel table

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图 8 辅助悬臂随主悬臂的极限摆动位置角

Figure 8. The ultimate swing angle of auxiliary boom with main boom

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表 1 悬臂和铲台极限摆动位置角

Table 1. Limit swing angle of boom and shovel table

机构	位置角/（°）
机构	水平摆动	向上摆动	向下摆动
主悬臂	δ=40	β₂=30	β₂=34
辅助悬臂	δ₁=50	β₁=35	β₁=25
铲台	—	β₄=6.5～15	β₄=15～21.7

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表 2 各液压缸长度

Table 2. Length of each hydraulic cylinder mm

液压缸	最小长度	最大长度	最大行程
辅助悬臂摆动液压缸	L₁₀=915	L₁₀+S₁=1 365	S₁=450
主悬臂水平摆动液压缸	L₀₀=1 336	L₀₀+ S₀=2 044	S₀=708
主悬臂上下摆动液压缸	L₂₀=950	L₂₀+ S₂=1 400	S₂=450
铲台上下摆动液压缸	L₃₀=950	L₃₀+ S₃=1 400	S₃=450

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