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英文部分
Study of electro-hydraulic feed System of Hydraulic Roof Bolter based on fuzzy reliability theory
Huang Zizhai,Zhao Jingyi
Hebei Key Laboratory of Heavy Machinery Fluid Power Transmission and Control, Yanshan University,
Qinhuangdao, Hebei
Abstract: Based on the theory of fuzzy mathematics to describe working conditions of the system, which combined with experiments, to be a calculation method with membership function of normal distribution. It was closer to the actual conditions, so as to ensure system reliability. To introduce construction conditions and performance characteristics of electro-hydraulic feed System of Hydraulic Roof Bolter, and connected with experiment data of practical construction, the feasibility of research method was verified.
Keywords: Fuzzy Reliability; Hydraulic Roof Bolter; The Electro-hydraulic System; Normal Distribution
I. INTRODUCTION
Electro-hydraulic system is a key part of construction machinery. Now, electrical and hydraulic is more and more closely integrated, it is necessary to study the integrated reliability of the system with the part of electric control[1]. And the key factor to guarantee normal working of Hydraulic Roof Bolter is higher reliability of electro-hydraulic system. But, the system from normal to failure shows many the states of transition. And it is often so difficult to use accurately numeric to describe the probability of reliability. It is more scientific and rational way, with fuzzy theory, to solve the problems of fuzzy reliability between totally invalid and completely normal [2].
Hydraulic Roof Bolter is a important equipment in rock bolting. It is applied to improve ability of laterally loaded in dam foundation, pile foundation, retaining wall, slope treatment, and deep foundation pit (Fig.1). For using electro-hydraulic feed System, the unfavorable factors were heavy and complexity load, long work time, frequent fro movement and adverse working environment etc. So the failure rate was high.
Figuer.1 Hydraulic Roof Bolter
II. THE CALCULATION METHOD OF FUZZY RELIABILITY
A. The definition of fuzzy reliability of components
For independent components in system, it was described as i (i = 1, 2,3, n). The inherent performance indexes were rated pressure, voltage, flow and current etc, which were discrete random variable. It was expressed as S . The function indexes in system were tempera-ture and humidity, pressure, voltage, flow and current of system and cleanliness of oil etc, which were discrete fuzzy variable. It was expressed as . The formula of fuzzy reliability of components was:
(1)
Where, -----the value of the i th inherent performance index of component i (i =1,2,3,… n)
----- the i th value of function index of component i (i =1,2,3,… n)
----- the probability of the i th inherent performance index of the n th component
----- the subordinate function of the i th function index of the n th component
---- the subordinate function of the i th function index of the n th component in threshold
The f was worked out by fuzzy component failure rate, its calculation formula was:
(2)
B. The Calculation Model of Fuzzy Reliability
The method of L A Zadeh is:
(3)
Where, the did not expressed fraction, but expressed a corresponding relation from (elements in universe ( U)) to (membership function). And the“+” was not summation but signs integral of fuzzy set in universe U . For failure series system, the system was normal when every component was normal working, otherwise, it was failure. To set the U was real number field, and the was fuzzy reliability of system that was approximately normal working. That was:
Where, ----- the fuzzy reliability of the i th component
----- the number of components
The general calculation method was that set the U as real number field, and the as fuzzy reliability of component that was approximately normal working.
Fig.2 linear representation
That was:
Where, : the mean of the fuzzy number
: the lower confidence limit
: the upper confidence limit
The linear representation of it is:
If the function of and the function of were linear, the was 1. If the variable was or , the was 0. If it was in , was .If the was more closely , the was more closely 1.
By the calculation method used normal distribution，the general calculation method was simple and easy[3]. But the sample space of failure probability of many components was accord with normal distribution. So the calculation method was used by normal distribution that was accurate and reasonably.
To set the U was real number field, and thewas fuzzy reliability of component that was approximately normal working. That was:
Where, : the mean of the fuzzy number
: the lower confidence limit
: the upper confidence limit
Fig.3 the normal distribution
Theandwere obtained by calculation of interval estimation of normal distribution, the calculation formula was:
Where, : the unbiased estimation of
、:the percentile value of standard normal distribution
：the confidence level
：the value is obtained by different components parameter
：the number of sample
As stated above, the confidence interval was：
Namely：
The number of was corresponding to the 1 of membership degree.
If , assumed the membership degree was 0.
If ，the membership degree was .
The was:
III. THE CALCULATION OF FUZZY RELIABILITY OF ELECTRO-HYDRAULIC FEED SYSTEM OF HYDRAULIC ROOF BOLTER
The study calculation was a example by electro-hydraulic feed System of Hydraulic Roof Bolter.The feed System that was the longest work time was in the electro-hydraulic of Hydraulic Roof Bolter. That was favorable factor for the calculation.
Fig.4 structure diagram of Hydraulic Roof Bolter
Fig.5 structure diagram of feed System
Fig.6 The Electro-hydraulic System Logic
The electro-hydraulic feed System of Hydraulic Roof Bolterwere formed with variable pump (I1), gear pump(I2), oil handle(I3), proportional valve(I4), pressure sensor(I5),controller(I6), unravelcylinder(I7). Fig.5. The unravel cylinder drove the power head to unravel and fallback. The construction process of the system was: the first, for drilling, the unravel cylinder provided power to overcome load. The load was large and several variable. The second, for adding pipe, the worker needed to add the other pipe after drilling in a pipe for the demand of depth. For clamping the pipe by fixture, providing overcome power by cylinder to shackle, driving the power head on start point and connecting pipe, the process was accomplished. The third, for drawing water slag discharge, which was needed slag discharge by water into enough depth. The crushed stone and soil was exhaust with water by fro movement of inside drill rod. The inside drill rod was drove by unravel cylinder, which was linked together the power head. For pulling out pipe, the process was opposite to adding pipe, when the construction of the one of borehole. But the load was largest and the pressure was highest.
For electro-hydraulic feed System, the system was normal when every component was normal working, otherwise, it was failure. So that was failure series system, which were composed of seven components.
As stated above, obtain the fuzzy number of the i th component. That was:
When two components were in the system:
Then, n components were in the system, deducing the calculation formula:
The calculation of fuzzy reliability of electro-hydraulic feed System of Hydraulic Roof Bolter was:
Fig.7 experiment in workshop
Fig.8 experiment in construction site
With the maintain and repair work eight-hour records each day for ten months, to every work week for the cycle, collecting pressure, temperature and other signals, obtained the necessary experiment data. By applying the data provided by manufacturer, reference documents and experiment, the of every component was obtained. And it was into equation from (6) to (9), calculating out the value of and. Such as:
Tab-1
The value of tab-1induced into (12) calculating to obtain that:
Fig.9 the failure components
The results showed that the fuzzy reliability was 0.72817, the membership degree was 1, when the electro-hydraulic feed System of Hydraulic Roof Bolter was working. The reliability of the system was among 0.55024 and 0.90526. In other words, the probability of the value of reliability of the system was about normal distribution.
IV. Conclusions
To comparatively completely describe the changing rules of the reliability of the electro-hydraulic feed system on the basis that fuzzy theory and reliability theory. The calculation method with membership function of normal distribution was proposed, with tracking experiments, that the result was dependability and accuracy. To introduce construction conditions and performance characteristics of electro-hydraulic feed System of Hydraulic Roof Bolter, and connected with experiment data of practical construction, the feasibility of research method was verified. Then, the analysis method was showed effective to study reliability for the electro-hydraulic feed system of Hydraulic Roof Bolter, and providing the scientific theory reference for the reliability design and failure diagnosis which is more and more nowadays.
REFERENCES
[1] Zhao Jingyi; Yao Chengyu. Progress of reliab- ility research on hydraulic system [J]. Hydraulics Pneumatics & Seals, 2006(3):50~52
[2] Zhao Jingyi, Guo Rui and Wang Zhiyong. The developing of independent suspension and its electro-hydraulic control system of heavy platform vehicle. Journal of Northeastern University, 2008, vol.29, pp237-240
[3] Guo Rui, Li Na, Zhao Jingyi. Design and Development of SPC90 Slag Pot Carrier of Large Steel Slag TransportationSpecial Device for Steel Mills. 2010 WASE International conference on Information Engineering. Beidai River, China, 2010, pp320-323
[4] Wang Peizhuang. Fuzzy Set Theoryand its App- lication[M]. SHANGHAI SCIENCE & TECH- NOLOGY PUBLISHINGHOUSE , 1983.
[5] Xu Yaoming. The Basis of Hydraulic Reliability Engineering [M]. HARBIN INSTITUTE OF TE- CHNOLOGY PRESS.1991.
New generation automated drilling machine for tunneling and underground mining work
Jacek Karliński
Abstract：
Selected problems of designing a new generation automated drilling machine for tunnelling and underground mining work are presented. The requirements needed to build a machine of this class were identified and collected. An original concept of the self-propelled drilling machine was developed. A virtual model of the machine was created and subjected to different numerical cases of loading. FEM strength calculations of the load- bearing structures were carried out. All the machine's work operations have been fully automated. The result is a new original automated drilling machine.@2007Elsevoer B.VAll righrs reserved.
Keywords: FEM; Drilling machine; Mining
1. Introduction
Drilling machines find application in tunnelling and mining excavation. Such machines must be functional and meet user expectations. A new original automated modular drilling machine shown in Fig. 1 is proposed.
Depending on the model, the Self-Propelled Mining Machine can be used to drill shot holes or anchor holes. All its types and varieties have an identical complete tractor and afront platform (Fig. 1) and differ mainly in the work booms and their attachments. The new generation drilling machine's intended use is roof bolting or (after retooling and hydraulic system modification) shot hole boring in tunnelling and underground mining excavation.
Fig. 1. Self-propelled modular drilling machine with two booms.
The drilling machine consists of a universal tractor, a front platform with an operator protecting structure and a straight-line boom to which different work tools can be attached. The machine can fit expansion and adhesive anchors with a length of 1.8–2.6 m and a diameter of 28–38 mm and drill shot holes 45–76 mm in diameter and up to 4340 mm long. Thanks to the load-sensing hydraulic system equipped with ergonomic joysticks the work tools can be quickly reset and the hydraulic feed can be quickly adjusted to the power demand of the drifter drills boring shot holes or anchor holes. The modern hydrostatic drive unit allows the machine to negotiate longitudinal elevations at an angle of up to 12°in underground excavations and ensures flexible transfer of drive from the combustion engine to the road wheels. Meeting all the noise and exhaust cleanliness the drive unit ensures excellent ergonomic conditions for the operator during driving.
Since the operator will work in very difficult environmental conditions, i.e. at high ambient temperatures (above 35 °C), high humidity (around 95%) and in enclosed areas with limited air movement (mine faces), the machine should be equipped with an air-conditioned ergonomic cabin. The machine has an original straight-line boom (Fig. 2) rotatable by 360° whose kinematics enables boring parallel holes in mining excavations 35 m2 in cross-section and roof bolting in 7.5 m wide and 7.0 m high excavations at one setting of the machine.
Fig. 2. Kinematics of boom rotatable by 360°
Fig. 3. 3D virtual model of self-propelled drilling machine.
中文部分
基于模糊可靠性理論的液壓錨桿鉆機(jī)的電液進(jìn)料系統(tǒng)的研究
摘 要
基于模糊數(shù)學(xué)理論來描述系統(tǒng)的工作條件，與實(shí)驗(yàn)相結(jié)合，形成了一個(gè)采用正態(tài)分布隸屬函數(shù)的計(jì)算方法。它更接近實(shí)際情況，確保了系統(tǒng)的可靠性。介紹了液壓錨桿鉆機(jī)電液進(jìn)料系統(tǒng)的建立條件和性能特點(diǎn)，并且聯(lián)系實(shí)際施工中的實(shí)驗(yàn)數(shù)據(jù)，驗(yàn)證了研究方法的可行性。
關(guān)鍵詞:模糊可靠性；液壓錨桿鉆機(jī)；電液控制系統(tǒng)；正態(tài)分布
I. 引言
電液系統(tǒng)是工程機(jī)械的重要組成部分。目前，電氣和液壓越來越緊密地結(jié)合起來，因此很有必要研究有電氣控制部分的集成系統(tǒng)的可靠性[1]。以保證液壓錨桿鉆機(jī)正常工作的關(guān)鍵因素是較高的電液系統(tǒng)的可靠性。然而，從系統(tǒng)正常運(yùn)行到出現(xiàn)故障顯示了過渡過程中的多種狀態(tài)。并且，往往很難用準(zhǔn)確的數(shù)字來描述可靠性的概率。更加科學(xué)合理的方法是，應(yīng)用模糊理論解決完全失效和完全正常之間的模糊可靠性問題[2]。
液壓錨桿鉆機(jī)是巖石錨桿支護(hù)中的重要設(shè)備。它用于提高大壩地基、打樁地基、擋土墻、擋土墻、邊坡治理、深層地基等的橫向承載能力（如圖1）。由于使用電動(dòng)液壓進(jìn)料系統(tǒng)時(shí)，存在復(fù)雜的重負(fù)荷、工作時(shí)間長、頻繁往復(fù)運(yùn)動(dòng)和惡劣的工作環(huán)境等不利的因素，因此失效率較高。
圖1液壓錨桿鉆機(jī)
II.模糊可靠性的計(jì)算方法
A各組件的模糊可靠性定義
對(duì)于系統(tǒng)中的獨(dú)立分量，可描述為i（I = 1，2,3，N）。固有性能指標(biāo)為額定壓力、電壓、流量、電流等，均為離散型隨機(jī)變量，記作S。系統(tǒng)功能指標(biāo)包括溫度和濕度、壓力、電壓、系統(tǒng)的流量和電流以及石油清潔度等，均為離散的模糊變量，記作。分量的模糊可靠性計(jì)算公式為：
(1)
式中，-----第i分量的第i個(gè)固有性能指標(biāo)值（i= 1,2,3，...，N）
-----第i分量的第i個(gè)功能指標(biāo)值（i= 1,2,3，...，N）
-----第n個(gè)分量第i個(gè)固有的性能指標(biāo)的概率
-----第n 個(gè)分量第i個(gè)功能指標(biāo)的隸屬函數(shù)
----在閾值中第n個(gè)分量第i個(gè)功能指標(biāo)的隸屬函數(shù)
B模糊可靠性的計(jì)算模型
L. A. Zadeh方法為：
(3)
式中，不表示分?jǐn)?shù)，而是表示從（總體中的元素）到（隸屬函數(shù)）的對(duì)應(yīng)關(guān)系。 “+”不是和，而是在全域U中的模糊集的符號(hào)積分。對(duì)串聯(lián)故障系統(tǒng)，當(dāng)每個(gè)組件的正常工作，該系統(tǒng)才是正常的。否則，它是存在故障的。把U設(shè)置為實(shí)數(shù)域，設(shè)置為近似正常的工作系統(tǒng)的模糊可靠性。即：
式中，-----第i個(gè)分量的模糊可靠性
-----分量的數(shù)目
一般的計(jì)算方法，是將U設(shè)為實(shí)數(shù)域，設(shè)為近似工作組件的模糊可靠性。
圖2 線性表示
即：
式中，:模糊數(shù)的平均值
:置信下限
:置信上限
它的線性表示含義為：
如果關(guān)于的函數(shù)和關(guān)于的函數(shù)均是線性的，則等于1；如果變量或者，則等于0；如果，且，則越趨近于，就越趨近于1。
應(yīng)用正態(tài)分布的計(jì)算方法，使一般的計(jì)算方法簡易明了[3]。但是，許多組件的故障概率的樣本空間是符合正態(tài)分布。這樣用正態(tài)分布的計(jì)算方法精確合理的。
把U設(shè)置為實(shí)數(shù)域，設(shè)置為近似工作組件的模糊可靠性。則：
式中，:模糊數(shù)的平均值
:置信下限
:置信上限
圖3 正態(tài)分布
和是通過正態(tài)分布的區(qū)間估計(jì)獲得的，其計(jì)算公式為：
式中，：的無偏估計(jì)量
、:標(biāo)準(zhǔn)正態(tài)分布的百分值
：置信度
：由不同分量參數(shù)獲得的值
：樣本容量
如前所述，置信區(qū)間是：
即：
的數(shù)量對(duì)應(yīng)的隸屬度為1。
如果，假設(shè)隸屬度為0。
如果，隸屬度為，。
為：
III.液壓錨桿鉆機(jī)電液進(jìn)料系統(tǒng)的模糊可靠性計(jì)算
這項(xiàng)研究的計(jì)算以液壓錨桿鉆機(jī)的電液進(jìn)料系統(tǒng)為例。在液壓錨桿鉆機(jī)的電液系統(tǒng)中，進(jìn)料系統(tǒng)是工作時(shí)間最長的，這對(duì)計(jì)算來講是有利因素。
圖4 液壓錨桿鉆機(jī)結(jié)構(gòu)圖
圖5 進(jìn)料系統(tǒng)的結(jié)構(gòu)圖
圖6 電液系統(tǒng)邏輯圖
液壓錨桿鉆機(jī)的電液進(jìn)料系統(tǒng)由變量泵(I1)、齒輪泵(I2)、油處理(I3)、比例閥(I4)、壓力傳感器(I5)、控制器(I6)、解開缸(I7)組成，見圖5。解開缸驅(qū)動(dòng)動(dòng)力頭瓦解和后援。該系統(tǒng)的建設(shè)過程是：第一，解開缸提供動(dòng)力，以克服負(fù)載用于鉆井。負(fù)載較大，且為幾個(gè)分量。第二，加管，在管道鉆孔到需求深度時(shí)，工人需要添加其他管道。由夾具夾緊管道，提供由缸束縛克服的力量，駕駛動(dòng)力頭的起點(diǎn)上，連接管，完成這個(gè)過程。第三，給水排渣，排放渣水排放到足夠的深度是必要的。碎石和土壤和水一起通過內(nèi)鉆桿來回運(yùn)動(dòng)排出。內(nèi)鉆桿由解開缸驅(qū)動(dòng)，解開缸是和動(dòng)力頭聯(lián)系在一起的。拉出管道，當(dāng)一個(gè)鉆孔施工時(shí)，這個(gè)過程與加入管相反，。但此時(shí)有最大的負(fù)荷和最高的壓力。
對(duì)于電液進(jìn)料系統(tǒng)，當(dāng)每個(gè)組件正常工作時(shí)，該系統(tǒng)才是正常的。否則，它是存在故障的。所以這是一個(gè)由七個(gè)部分組成串聯(lián)故障系統(tǒng)。
當(dāng)系統(tǒng)中的兩個(gè)部分正常工作，則：
當(dāng)系統(tǒng)中的n個(gè)部分正常工作，推導(dǎo)出計(jì)算公式：
液壓錨桿鉆機(jī)的電液進(jìn)料系統(tǒng)模糊可靠性的計(jì)算方法是：
圖7車間實(shí)驗(yàn)
圖8施工現(xiàn)場實(shí)驗(yàn)
隨著十個(gè)月每天工作8小時(shí)的維護(hù)和修復(fù)記錄，每工作周為1個(gè)周期，采集壓力、溫度和其他信號(hào)，獲得了必要的實(shí)驗(yàn)數(shù)據(jù)。通過應(yīng)用制造商、參考文件和實(shí)驗(yàn)提供的數(shù)據(jù)，得到了每一個(gè)組件的模糊數(shù)的平均值。將其代入方程式（6）到（9），計(jì)算出值和。見表1：
表1
將表1中的數(shù)據(jù)帶入到式子（12）得：
圖9 失效的部件
結(jié)果顯示液壓錨桿鉆機(jī)的電液進(jìn)料系統(tǒng)正常工作時(shí)，模糊可靠性是0.72817，隸屬度為1時(shí)。該系統(tǒng)的可靠性在0.55024和0.90526之間。換句話說，系統(tǒng)的可靠性值的概率符合正態(tài)分布。
IV. 結(jié)論
基于模糊理論和可靠性理論，比較完整地描述了的電液進(jìn)料系統(tǒng)的可靠性的變化規(guī)律。通過跟蹤試驗(yàn)，提出了采用正態(tài)分布隸屬函數(shù)計(jì)算方法，結(jié)果可靠精確。介紹了液壓錨桿鉆機(jī)電液進(jìn)料系統(tǒng)的建立條件和性能特點(diǎn)，并聯(lián)系實(shí)際施工中的實(shí)驗(yàn)數(shù)據(jù)，驗(yàn)證了研究方法的可行性。另外，結(jié)果表明，這種分析方法對(duì)研究液壓錨桿鉆機(jī)的電液進(jìn)料系統(tǒng)的可靠性比較有效，并且為當(dāng)今越來越普遍的可靠性設(shè)計(jì)和故障診斷提供了科學(xué)的理論依據(jù)的。
新一代隧道和地下采礦工作自動(dòng)鉆孔機(jī)
摘 要
本文介紹了在設(shè)計(jì)新一代隧道和地下采礦用自動(dòng)鉆機(jī)時(shí)的選擇問題。要求須建一臺(tái)機(jī)器的這一類分別鑒定和收集。發(fā)展（開發(fā)）了這些自行研制的鉆孔機(jī)的原始概念。建立了一個(gè)虛擬的模型,并將該模型應(yīng)用到各種不同數(shù)值載荷的情況。提出了負(fù)荷—軸承結(jié)構(gòu)相結(jié)合的有限元強(qiáng)度計(jì)算的方法。所有的機(jī)器的操作工作已經(jīng)完全自動(dòng)化。因而產(chǎn)生了一種新的原創(chuàng)的自動(dòng)鉆孔機(jī)。
關(guān)鍵詞：有限元建模；鉆孔機(jī)；礦用
1介紹
鉆孔機(jī)在隧道和采礦挖掘中得到應(yīng)用。這類機(jī)器必須功能齊全并滿足用戶的需求。圖1顯示了一個(gè)新的獨(dú)創(chuàng)的自動(dòng)化模塊鉆床。
圖1 自走式模塊化有兩個(gè)臂鉆床。
根據(jù)該模型,這種自推進(jìn)采礦機(jī)械可用于鉆孔或錨索孔。它所有的類型和品種有一個(gè)相同的完整的牽引機(jī)和一個(gè)前面的平臺(tái)(圖1),和不同的工作主要在吊桿和他們的附件。新一代鉆孔機(jī)的用途是屋頂螺栓或(后重新組合和液壓系統(tǒng)修正)隧道和地下礦山鉆孔開挖。
鉆井機(jī)器由一個(gè)通用牽引機(jī)、前面具有一個(gè)具有保護(hù)操作者的結(jié)構(gòu)的平臺(tái)，另外給平臺(tái)還具有一個(gè)用于放不同工具的直線吊桿。這臺(tái)機(jī)器能適合擴(kuò)張和膠粘劑的1.8—2.6錨長度和直徑28—38米和鉆洞45—76毫米直徑射擊和4340毫米長。另外由于負(fù)載敏感液壓系統(tǒng)配備有符合人體工學(xué)的操縱桿，工作元件可以迅速復(fù)位，液壓動(dòng)力機(jī)構(gòu)可以快速調(diào)整以適應(yīng)鉆機(jī)鉆頭鏜孔或錨索的動(dòng)力需求?，F(xiàn)代靜液壓傳動(dòng)裝置可以調(diào)整使機(jī)器適應(yīng)高達(dá)12°角的地下挖掘，并可確保驅(qū)動(dòng)從內(nèi)燃機(jī)到車輪靈活轉(zhuǎn)移。駕駛室擁有出色的人體工程學(xué)操縱條件，并可使所有的噪音和廢氣減少。
由于操作者工作條件非常艱苦，比如高溫度（高于35 °C）高濕度（約95％）的封閉區(qū)，空氣流動(dòng)（礦面）有限，機(jī)器要配備一個(gè)配有空調(diào)的人性化的操作室。本機(jī)擁有一個(gè)可旋轉(zhuǎn)360°的直線吊臂（圖2），通過一次設(shè)置機(jī)器，該吊臂的運(yùn)動(dòng)可以在35㎡截面上挖掘7.5米寬7.0米高的錨桿支護(hù)平行孔。
設(shè)計(jì)這款機(jī)器的建議和指導(dǎo)方針是基于市場調(diào)查而制定的
第一組指導(dǎo)方針包括機(jī)器的外型尺寸和參數(shù)：
— 運(yùn)輸高度：最大 2500毫米；
—一個(gè)帶空調(diào)的可選擇駕駛室；
—錨固挖掘高度：最大 6.5米，鉆孔截面積：30÷35平方米；
— 駕駛挖掘?qū)挾龋鹤畲?4.5米；
—開挖的縱向坡度：12 °，橫坡：7°；
—機(jī)器的寬度：最大 2200毫米；
—機(jī)器的速度：一檔— 高達(dá)5公里/小時(shí)，二檔 —高達(dá)12公里/小時(shí)；
—與一靜液壓傳動(dòng)裝置，驅(qū)動(dòng)裝置可選hydrokinetic標(biāo)準(zhǔn)模型
—操縱室強(qiáng)度必須滿足要求：能量11600J（根據(jù)保護(hù)操作機(jī)構(gòu)的需要）
—無論駕駛和工作時(shí)，操縱室需要開空調(diào);有效的冷卻溫度：最小 282K（5℃），
礦山表層外部溫度：308÷345 K，高濕度，當(dāng)移動(dòng)到一個(gè)新的工作面時(shí)溫度和濕度頻繁變化。
圖2 吊桿360°動(dòng)力旋轉(zhuǎn)。 圖3自走式鉆機(jī)三維虛
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