Study On Mechanical Characteristics And Self Setting Directional Cutting Method Of Step Type Digging Anchor Machine Set

In order to solve the main problems of support equipment,roadheader tunnelling equipments existing in the process,this paper presents a concept and it is suitable for roadway excavation anchor work unit,the excavation,temporary support and permanent anchorage and transport four major function integrated.This project has been supported by The National Science Foundation for National Science Foundation for natural youth(No.51304107),the key laboratory project of Liaoning Provincial Education Department(No.LJZS006)and the financial support of the enterprise's horizontal issues.The national invention patent "hydraulic walking type forepoling equipment,suitable for hard rock roadway excavation and supporting device of the step type" structure of the foundation,conducts the research of mechanical system and self setting directional cutting control method of unit:(1)The shortcomings of the existing roadway excavation,support,anchor,transport equipment are studied,the mechanical system model of driving and supporting anchor unit of this study,complete structure and working principle of the excavation and anchor unit the main operation mechanism of.It can provide the basis for the study of the mechanical characteristics,kinematics characteristics and the control method of the self setting and directional cutting.(2)Based on the analysis of the working conditions and structural characteristics of the driving anchor set,the static analysis model of the unit under different working conditions is established based on the deformation coordination principle and the singular function analysis method.The differential equations of motion of Newton's second law a dig anchor unit with multi degree of freedom system in discrete coordinates based on equations;by using variable step four-five order Runge-Kutta method,get the dynamic response characteristics of the main and auxiliary support group excavation disturbance.It provides a theoretical basis for further theoretical analysis and structural design and improvement of the mechanical characteristics of the driving anchor set.(3)Through the construction of global coordinate system and kinematic loop of the digging anchor unit,the kinematics model of the two parts of the cutting section and the support mechanism is established and analyzed based on the homogeneous coordinate transformation analysis method.Get the cutting head and the supporting device of relative position and attitude between the forward and inverse kinematics equation;motion control and roadway profiling cutting realize cutting part cutting as well as the implementation of excavation and anchor unit in the tunnel passage control and self setting directional cutting and provide a theoretical basis for control.(4)UWB ultra wideband positioning technology based on self setting on a multi section directional ranging cutting control technology,through a plurality of positioning module are respectively installed on the main and auxiliary support group,each base station and motion label,real-time measurement of the secondary support group winner relative attitude and position information,and compared with a predetermined trajectory,to achieve self setting directional cutting control.(5)Based on the similarity theory of physics,the similarity criterion of the prototype and the prototype of the experimental prototype is established,and the main parameters of the experimental model prototype are established,so as to establish the experimental model prototype under the laboratory conditions.The static and dynamic responses of the unit under different working conditions are studied,and the results of theoretical analysis are verified with each other.The experimental research on the directional cutting method of the anchor set is carried out,and the feasibility of the directional cutting method and the correctness of the theoretical derivation and calculation method are studied.Based on the experimental results,the feasibility of the mechanical characteristics of the prototype machine and and the technology of automatic positioning and orientation are revealed,which provides a basis and basis for the development and improvement of the prototype of the excavating anchor unit.