Dynamic load acquisition method for a crawler driving structure of a roadheader robot under random road

IF 1.5 4区工程技术 Q3 ENGINEERING, MECHANICAL Journal of Mechanical Science and Technology Pub Date : 2024-09-05 DOI:10.1007/s12206-024-0814-5

Yang Liu, Hong Zhang, Yang Song, Xiaobing Chen, Guozhu Yin

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Abstract

A method utilizing an embedded sensing system to determine the dynamic load is proposed to address the problem of not being able to directly obtain the dynamic load time history of a crawler driving structure in the harsh underground working environment of a coal mine roadheader robot. A crawler driving structure and its embedded sensing system are designed. A rigid–flexible coupling simulation model of the roadheader robot is established, and the dynamic load time history parameters of the crawler obtained from the simulation and test data are compared and analyzed. Results show that the load fluctuation of the tested track plate at the idler and sprocket is significant. By contrast, the fluctuation of the free segment is minimal. The load fluctuation range of the support segment of the hard road is −5–15 MPa, and that of the soft sand road is −10–25 MPa. Moreover, the track plate exhibits noticeable warping and winding phenomenon relative to the road wheel on the soft sand road. The changing trend of the crawler dynamic load time history obtained from simulation and test is relatively consistent. This study provides a reference for the crawler driving structure’s structural optimization and reliability research.

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随机路面下掘进机器人履带驱动结构的动态负载采集方法

针对煤矿掘进机器人在恶劣的井下工作环境中无法直接获取履带式驱动结构的动态载荷时间历程的问题，提出了一种利用嵌入式传感系统确定动态载荷的方法。设计了一种履带式驱动结构及其嵌入式传感系统。建立了掘进机器人的刚柔耦合仿真模型，并对仿真得到的履带动态载荷时间历程参数与试验数据进行了对比分析。结果表明，测试履带板在惰轮和链轮处的载荷波动很大。相比之下，自由段的波动很小。硬质路面支撑段的载荷波动范围为-5-15 兆帕，软质沙质路面支撑段的载荷波动范围为-10-25 兆帕。此外，在软沙路面上，履带板相对于路轮表现出明显的翘曲和缠绕现象。仿真和试验得到的履带动载荷时间历程的变化趋势比较一致。本研究为履带式驱动结构的结构优化和可靠性研究提供了参考。

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来源期刊

Journal of Mechanical Science and Technology 工程技术-工程：机械

CiteScore

2.90

自引率

6.20%

发文量

517

审稿时长

7.7 months

期刊介绍： The aim of the Journal of Mechanical Science and Technology is to provide an international forum for the publication and dissemination of original work that contributes to the understanding of the main and related disciplines of mechanical engineering, either empirical or theoretical. The Journal covers the whole spectrum of mechanical engineering, which includes, but is not limited to, Materials and Design Engineering, Production Engineering and Fusion Technology, Dynamics, Vibration and Control, Thermal Engineering and Fluids Engineering. Manuscripts may fall into several categories including full articles, solicited reviews or commentary, and unsolicited reviews or commentary related to the core of mechanical engineering.