【摘要】 为解决煤矿井下水仓清挖机构效率低、适应性差等问题，研究一种具有大翻转角度的煤泥正铲清挖机构。采用SolidWorks进行建模装配，利用运动链环路运动学分析方法建立清挖机构运动学模型进行正反解验证，并建立虚拟样机模型，利用ADAMS对虚拟样机模型进行仿真，将仿真值与理论计算值进行对比，最后通过ADAMS对清挖机构展开动力学分析。结果表明：正反解输出值之间存在微小的误差，ADAMS运动学仿真得到的清挖机构铲斗末端的姿态数据与理论计算值相差不大，同时移动轨迹具有连续性和平稳性，符合基本使用要求，证明建立的理论模型、仿真模型的正确性和清挖机构运动学参数的合理性。通过ADAMS动力学仿真得到了清挖机构工作过程中主要构件的受力情况，为后续优化设计及工业性运用提供了理论依据。更多还原

【Abstract】 In order to solve the problems of low efficiency and poor adaptability of coal mine sump cleaning mechanism, a coal slime forward shovel cleaning mechanism with large turnover angle is studied. SolidWorks is used for modeling and assembly, the kinematic model of the excavation mechanism is established by using the kinematic analysis method of the kinematic chain loop for positive and negative solution verification, and the virtual prototype model is established. The virtual prototype model is simulated by using ADAMS, and the simulation value is compared with the theoretical calculation value. Finally, the dynamic analysis of the clearing mechanism is carried out through ADAMS. The results show that there is a very small error between the output values of the positive and negative solutions. The attitude data of the bucket end of the clearing mechanism obtained by ADAMS kinematics simulation is not different from the theoretical calculation value. At the same time, the moving trajectory has continuity and stability, which meets the basic application requirements, and proves that the correctness of the established theoretical model and simulation model and the rationality of the kinematic parameters of the clearing mechanism. The stress of the main components in the working process of the clearing mechanism is obtained through ADAMS dynamic simulation, which provides a theoretical basis for the subsequent optimal design and industrial application.更多还原