| Rubber wheeled transporters employ the advantages of high load capacity and high efficiency,but there are the problems of little climbing ability and skidding during the transportation of auxiliary materials and are not suitable for coal mine roadways with unhardened ground and many slopes.In order to solve the problem of transporting auxiliary materials in the roadway of excavation and mining face,this paper explores the crawler-type electric transporter and focuses on the travel mechanism of this transporter.This paper selects the crawler chassis as the travel system of the auxiliary material transporter,which has the advantages of strong climbing ability,small grounding ratio pressure and strong terrain adaptability.Based on the overall scheme design of the crawler-type electric transporter,this paper analyzes the driving theory of the crawler-type transporter,establishes the kinematics and dynamics model of the crawler-type transporter,and finally uses the virtual prototype simulation technology to study the dynamic stability of the crawler-type transporter under different working conditions.The research contents of this paper are as follows.Firstly,the limiting parameters before the design of the scheme are summarized,focusing on the development of quantitative indicators related to the crawler-type transporter based on the market survey and the research of the coal mine environment.The overall scheme design of the crawler-type transporter is completed,including the overall structure layout of the whole vehicle and the design of the basic technical parameters according to the research route of the paper,and the independent drive scheme with two motors is adopted.Moreover,the parameter matching and selection of the drive motor,power battery and reducer are completed.The driving theory of the crawler-type transporter is analyzed,focusing on theoretical calculation of important parameters such as driving resistance,traction force,adhesion force,tipping limit angle and slope slip angle.Secondly,the kinematics and dynamics of the crawler-type transporter are analyzed,and the kinematic equations of the crawler-type transporter are established based on RPY to derive the position coordinates of the crawler-type transporter at any moment when it moves in the plane.The longitudinal 14-degree of freedom dynamics model of the travel mechanism of the crawler-type transporter is established using the discrete body dynamics model method,and the Lagrange dynamics equations are used to establish the differential equations of longitudinal motion of the crawler transporter mechanism are established using Lagrange dynamics equations.The vibration of the system is solved using a numerical solution method in the MATLAB software.Finally,based on the above analysis of the kinematics and dynamics of the transport vehicle,the virtual prototype model of the whole tracked transport vehicle is established by using the multi-body dynamics Recur Dyn simulation software,and the simulation results are verified with each other and the theoretical calculations to study the dynamics of the tracked transport vehicle under typical working conditions,the results of which show that the tracked transport vehicle has good dynamic stability and the theoretical analysis and the established dynamics model are correct.Through the study of the above problems,this paper provides the theoretical basis for further dynamics analysis of the crawler-type transporter and improvement of the overall vehicle stability.There are 71 figures,14 tables and 70 references in this paper. |
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