Cutting arm of four-degree-of-freedom hybrid roadheader

Abstract

The invention discloses a cutting arm of a four-degree-of-freedom hybrid roadheader, which comprises a fork frame, a parallel working arm, a retractable guard plate and a cutting head. Side ear seats are provided on both sides of the front end of the yoke, hinge seats are provided on both sides of the rear end of the yoke, and a rear guard is provided on the top of the yoke; the parallel working arm is located on the fork Between the frame and the cutting head, the rear end of the parallel working arm is fixedly connected to the front end of the fork frame by bolts, and the front end of the parallel working arm is connected to the rear end of the cutting head by bolts; It is located above the parallel working arm and connected with the parallel working arm through screws; the cutting head is jointly driven by three cutting motors. The cutting head of the present invention has four degrees of freedom of movement in one space, three rotations, and has the advantages of large working space and convenient attitude adjustment. The invention also has the characteristics of compact structure, good control decoupling performance, convenient adjustment and maintenance, and the like.

Description

technical field [0001] The invention relates to a roadheader, in particular to a cutting arm of a four-degree-of-freedom mixed-connection roadheader, which can realize at most four degrees of freedom in one translation and three rotations in the space of the cutting head at the same time. Background technique [0002] my country's coal mining is dominated by underground mining. The coal seam occurrence conditions in my country are complex and diverse, and the thickness of the coal seam varies from a few tenths of meters to tens of meters. In order to mine coal, a large number of coal and rock roadways need to be excavated. At the same time, with the development of fully mechanized mining technology, super working faces with an annual output of several million tons or even tens of millions of tons have appeared in China, which has greatly increased the number of mining roadways consumed annually, thus making roadway excavation an efficient and intensive coal mine. The commona...

AI Technical Summary

Problems solved by technology

[0006] Aiming at the problems of insufficient freedom of movement and limited working space of existing roadheaders, existing patent documents have also proposed some solutions. For example, the Chinese patent with application number 201520089134.5 discloses a telescopic cutting part of roadheaders, which is relatively traditional The cutting arm only adds a telescopic function. The telescopic arm is set between the reducer and the cutting head, and the telescopic action of the telescopic arm is driven by the telescopic oil cylinder group, which can reduce the frequent forward and reverse of the whole machine and reduce the damage to the bottom plate. The telescopic cutting part of the roadheader; the Chinese patent application number 201210289363.2 discloses a roadheader propulsion device and a full-face roadheader. The roadheader propulsion device forms a redundantly driven 6SPS six-degree-of-freedom parallel mechanism. It has decoupling and difficult control; due to the use of a large number of difficult-to-process ball hinges, it is difficult to manufacture the equipment and increase the cost, and it also affects the working space of the cutting head

The Chinese patent application number 201510146648.4 discloses a roadheader with a cantilever using a parallel mechanism. The structure of the parallel mechanism used is 2RPS+2SPS. Although the cutting head has four degrees of freedom in space, its rotation degrees of freedom The amplitude is limited, which affects the actual working space of the cutting head

The model selection of the parallel mechanism in the above design scheme is unreasonable, the strength of the selected support chain is not high, and the range of motion realized by the parallel mechanism cannot meet the needs of underground work

Although the parallel mechanism has the characteristics of high structural rigidity, high positioning and motion precision, strong bearing capacity, and many degrees of freedom of movement, it also has shortcomings such as small working space. The cantilever of the roadheader solves the technical problems existing in the existing roadheader

Images