Elastic model of shearer walking mechanism and traction characteristics

Variable pitch and variable center distance of walking mechanism of shearer is the main cause of complexity of walking wheel and pin tooth meshing characteristics. Based on the relative motion theory and Newton's second law of motion, walking mechanism walking wheel-pin gear, rack rail-rack rail elastic connection mechanical model are built under variable pitch and variable center distance conditions. And the dynamic meshing expression and the dynamic equation of shearer walking mechanism are developed. The changing curves of angular velocity of walking wheel and the meshing force of pins tooth are deduced by utilizing the variable step Runge-Kutta method, and on the bases of the dynamic simulation and the regression analysis method, the data of walking wheel velocity fluctuation and dynamic force of pin teeth meshing affected by stiffness, and the regression equations among the walking wheel velocity fluctuation, pin teeth meshing force and the stiffness are acquired. The researches indicate that the established model can accurately reflect the system dynamic characteristics, and the stiffness characteristics have a significant impact on walking mechanism dynamic. The analysis results have a certain reference value on studying the shearer walking mechanism dynamic characteristics, improving the stress between walking wheel and rack rail and increasing the walking wheel life.