Four-freedom-degree series-parallel heading machine cutting arm

Abstract

The invention discloses a four-freedom-degree series-parallel heading machine cutting arm which comprises a Y-shaped frame, a parallel-connected working arm, a telescopic guard board and a cutting head. The two sides of the front end of the Y-shaped frame are provided with side lug seats, the two sides of the back end of the Y-shaped frame are provided with hinge seats, and the top of the Y-shaped frame is provided with a back guard board; the parallel-connected working arm is located between the Y-shaped frame and the cutting head, the back end of the parallel-connected working arm is fixedly connected with the front end of the Y-shaped frame through a bolt, and the front end of the parallel-connected working arm is fixedly connected with the back end of the cutting head through a bolt; the telescopic guard board is located over the parallel-connected working arm and connected with the parallel-connected working arm through a screw; three cutting motors jointly drives the cutting head. According to the four-freedom-degree series-parallel heading machine cutting arm, the cutting head has a moving freedom degree and three rotating freedom degrees, and therefore the advantages of being large in operation space and convenient to regulate postures are achieved. The four-freedom-degree series-parallel heading machine cutting arm further has the advantages of being compact in structure, good in decoupling property control, convenient to regulate and maintain 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

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