Analysis of steering path of given trajectory of self-moving orbital hydraulic support

In order to solve the problem of different steering of trains in the coal mine roadway equipment,an alternate cycle self-moving rail-type hydraulic support suitable for roadway curve steering was designed. The working principle of the self-moving rail-type hydraulic support for turning in corners was discussed; Through the qualitative analysis of the two working conditions of the support itself,rotating the head in place and driving the equipment train to turn in the narrow tunnel,the calculation formula of the steering physical model was established,and the changes of movement position of the key points of the self-moving orbital hydraulic support in the working cycle of the steering cylinder were studied. In order to make the equipment train turn in accordance with the given track,ground anchors were installed on the floor of the roadway,and the collision motion state expression of the support orbit,equipment train and ground anchor were constructed; The virtual simulation test of the kinematic characteristics of the self-moving orbit hydraulic support under two working conditions of turning was carried out by using ADAMS. The research results show that the change of the working state of the steering cylinder causes the change of the rotation base point. When the support rotates in situ,the base point C is taken as the center of the circle,and the distance between points A、B and C are taken as the radius to form a semicircle trajectory on the bottom plate. The in-situ rotation only needs to keep the stroke of the steering cylinder consistent to realize the in-situ rotation of the bracket. In the process of driving the equipment train to turn,it is necessary to change the telescopic stroke of the steering cylinder and the piston rod of and the stepping cylinder in each steering step,to fine tune the direction of the self-moving orbit type hydraulic support,the trajectory curvature radius of point B is about 1 000 mm,the average collision force between the equipment train and ground anchor is about 60 000 N,and the average speed is about 450 mm/s. The research on the steering track route of the support provides an effective solution and method for the rapid turning of the equipment train in the fully mechanized working face of coal mine.