Mechanical Characteristics Analysis Of The Traveling Part Of The Articulated Anchor Rod Trolley In Coal Mines

Improving the support efficiency of mine roadway is the premise of realizing automation and intelligence of underground working face.As the main force of roadway support,the supporting speed of bolt trolley determines the efficiency of underground mining.The existing traditional bolt trolley has many limitations.For example,the double-track walking part has many problems,such as difficulty in climbing,easy skidding,insufficient steering power,large steering radius and insufficient fuselage space,resulting in a limited number of installed airborne drilling rigs,unable to place a large number of supporting accessories,etc.Therefore,this paper proposes that the application of multi-degree-of-freedom hinge mechanism to bolt trolley can better solve the above problems.Therefore,this paper combines the actual work requirements of the underground and the direction of intelligent mining in the future to carry out the predevelopment of the articulated bolt trolley walking system.Firstly,the structure of articulated bolt trolley walking system and the soil environment of typical roadway are introduced.Since the whole machine travels underground mainly depends on the interaction of shear and friction between the belt plate and the surface soil of the roadway,the mechanical characteristics of the contact between the roadway floor and the articulated bolt trolley directly affect and determine the reliability of the walking system.Therefore,aiming at the grounding pressure problem of articulated bolt trolley in roadway driving,the distribution law of grounding pressure of the whole machine driving in straight line and steering is obtained.The physical properties of the roadway floor are systematically analyzed,and the mathematical model of soil plastic equilibrium condition and shear displacement is obtained.Aiming at the problem of subsidence and skidding of articulated bolt trolley in roadway driving,the mathematical model of pressure subsidence and slip rate are obtained.Secondly,in order to better express the driving performance of the articulated anchor trolley,the mechanical model of the track soil established above is used to analyze the mechanical properties of the whole machine during driving.Using the method of mathematical theory modeling,the straight-line driving traction force of the articulated anchor trolley is modeled respectively,and the mathematical model between the effective traction force and the slip rate of the whole machine is obtained.The kinematics and dynamics of the articulated mechanism during steering and the kinematics and dynamics of the whole machine are modeled.It is obtained that under the action of centrifugal force,the pressure center of the whole machine is shifted outward during steering,resulting in the slip rate of the inner track is greater than that of the outer track,and the steering torque of the inner track is less than that of the outer track.The pose state of the whole machine is analyzed when the whole machine is turning in the inclined roadway,and the dynamic equation of the whole machine is obtained.Finally,the multi-body dynamics software Recurdyn and the hydraulic simulation software AMESim are selected to build the mechanical-hydraulic co-simulation model of the articulated bolt trolley.The mechanical characteristics of the articulated bolt trolley and the steering performance of the whole machine in the inclined roadway are analyzed.The comparison between the simulation results and the previous theoretical calculation results shows that although there are some errors between the two,the error range is reasonable.The structural strength and stiffness of the existing hinged mechanism are verified by the finite element analysis software Ansys.The simulation results show that the existing hinged mechanism meets the requirements.