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研究了钻孔机械手及掘进机工作时整机重心的时域振动特性,分析了机械手对整机工作稳定性的影响。应用多体动力学软件RecurDyn建立掘锚联合机组的虚拟模型,以钻头的随机模拟载荷作为激励条件,以整机重心作为响应输出,研究了机械手钻孔工作时,掘进机重心的振动响应,验证了钻孔机械手工作过程中的稳定性;对比分析了掘进机、掘锚联合机截割工作时,整机重心的振动响应,分析了钻孔机械手对原掘进机截割稳定性的影响;研究结果表明:钻孔机械手工作稳定,并且其对掘进机的工作性能影响很小,能够满足实际工况。
The time-domain vibration characteristics of the center of gravity of drilling machine and boring machine are studied, and the influence of manipulator on the working stability of the machine is analyzed. The multi-body dynamics software RecurDyn is used to establish the virtual model of the combined bolt-and-anchor unit. With the random simulated load of the bit as the excitation condition and the whole machine center of gravity as the response output, the vibration response of the boring machine center of gravity during the drilling operation is studied. The stability of drilling manipulator during its working process was analyzed. The vibration responses of the whole machine center during the cutting work of TBM and TBM were compared and analyzed, and the influence of drilling manipulator on the cutting stability of TBM was analyzed. The results show that the drilling manipulator is stable and its impact on the working performance of boring machine is very small, which can meet the actual working conditions.