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| Calculation model derivation and analysis verification of underground scraper working mechanism based on the edge position of underground scraper pan |
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Received:August 19, 2021
Revised:September 10, 2021
Accepted:September 14, 2021
Published Online:April 27, 2022
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| DOI： |
| KeyWord:underground scraper; Planned shovel-loading-curve; cylinder stroke; calculation model |
| Author | Institution |
| Gao Zeyu |
BGRIMM Technology Group;BGRIMM machinery and automation technology Co., Ltd. |
| Zhang Yuanqing |
BGRIMM Technology Group;BGRIMM machinery and automation technology Co., Ltd. |
| Guo Xin |
BGRIMM Technology Group;BGRIMM machinery and automation technology Co., Ltd. |
| Jiang Yong |
BGRIMM Technology Group;BGRIMM machinery and automation technology Co., Ltd. |
| Li Hengtong |
BGRIMM Technology Group;BGRIMM machinery and automation technology Co., Ltd. |
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| Abstract: |
| This paper takes the KCY-2 underground scraper forward-rotating six-bar working mechanism as the research object. By using the motion trajectory equation of the scraper blade which obtained by the kinematic analysis method of the multi-rigid body system, the calculation models of the lifting cylinder and the bucket cylinder is derived, and the error analysis has done by comparing the the actual vehicle measurement data and the model simulation data. The results show that the calculation model can accurately describe the changes of the stroke of lifting cylinder and the bucket cylinder with respect to the edge position of underground scraper pan within the operation range of the forward-rotating six-bar working mechanism, which prove that the calculation model can completely replace the data fitting method to accurately calculate the planned shovel-loading-curve as the stroke of lifting cylinder and bucket cylinder. It has important application value to truly realize the autonomous shoveling of underground scrapers. |
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