Multifactor Analysis of Roadheader’s Body Pose Responses during the Horizontal Cutting Process

Abstract EN

Based on the Lagrange equation in system dynamics, aiming at the horizontal cutting process, the dynamical coupling model of boom-type roadheader’s body pose was established.

According to input problem of solving the model, a calculation method of the cutting head load was proposed, and the relationship between the cutting head load and pressure of the driving cylinders and swing angle of the cutting arm was obtained through simulating analysis.

The simulation model was established to solve the dynamical coupling model.

The cutting head load, horizontal swing angle of the cutting arm, and dip angle of coal seam were regarded as independent variables to perform changing parameter analysis in variations of the body pose.

The field experiment was carried out, and the measured data is basically consistent with the simulation values.

The results show that lateral displacement of the body can reach up to 6.5 cm, backward displacement can reach up to 5.2 cm, floor-based quantity can reach up to 11 cm, pitch angle of the body can reach up to 7.8°, and roll angle can reach up to 2.1°.

Variations of the body pose parameters are influenced greatly by the cutting head load, while the influence from horizontal swing angle of the cutting arm and dip angle of coal seam is slighter.

Among the pose parameters, floor-based quantity and pitch angle of the body vary relatively greatly, which tend to seriously influence forming quality of the roadway and should be mainly considered in deviation rectification of the roadheader’s body pose.