防爆履带式液压支架搬运车越障分析

Analysis on Obstacles Crossing of Explosion-Proof Crawler Hydraulic Support Carrier

摘要: 履带车以履带、轮系代替了传统轮式行走，具有承载能力大、抓地力强、噪音低、可原地转弯的优点，同时采用履带式行走装置还增大了与地面的接触面积，使支架车具有良好的行驶性能，对路面产生的伤害小，增强了自身的越障能力，地形适应能力强。因此，研发防爆履带式液压支架搬运车对井下支架搬运运输具有现实意义。本文基于履带式液压搬运车结构设计，对其进行动力学建模，并通过虚拟样机仿真与实验手段，研究了履带式液压支架搬运车的力学与运动特性。本文的研究工作主要有：建立履带支架搬运车运动学分析模型，分析防爆履带式液压支架搬运车越障工况的运动学特性。研究防爆履带式液压支架搬运车在越障过程的运动分析，得出了防爆履带式液压支架搬运车驱动转矩与仰角的关系。

Abstract: Tracked vehicle replaces traditional wheeled walking with track and wheel train. It has the ad-vantages of large carrying capacity, strong grip, low noise and turning in situ. At the same time, the use of tracked walking device also increases the contact area with the ground, which makes the bracket vehicle have good driving performance, less damage to the road surface, and strengthens its ability to cross obstacles, and strong adaptability to terrain. Therefore, the research and de-velopment of explosion-proof crawler-type hydraulic support carrier has practical significance for underground support transportation. Based on the structure design of the crawler hydraulic carrier, the dynamic model of the crawler hydraulic carrier is established. The mechanical and kinematic characteristics of the crawler hydraulic support carrier are studied by means of virtual prototype simulation and experiment. The main work of this paper is to establish the kinematics analysis model of crawler support carrier and analyze the kinematics characteristics of explosion-proof crawler hydraulic support carrier under obstacle-crossing conditions. This paper studies the movement analysis of explosion-proof crawler hydraulic support carrier in the process of obstacle crossing, and obtains the relationship between driving torque and elevation angle of explosion-proof crawler hydraulic support carrier.