Aiming at the problem of severe vibration and abnormal wear and tear of various components in coal shearer under slant-cutting conditions, a non-linear dynamics model with 13 degrees of freedom for a coal shearer under slant-cutting conditions is developed using vibration mechanics and multi-body dynamics theory, and the characteristics of the slide shoes-middle groove contact, the ranging arm-haulage unit connection with gaps and the guidance sliding boots-pin rail multi-surface contact with gaps are described based on three-dimensional fractal theory and Hertz contact theory. Based on Huco's law, the ranging arm and the hydraulic rod are assumed to be flexible beams, the rigidity characteristics of the ranging arm itself, the connection characteristics of the haulage unit and the fuselage are described, a drum correction load with a traction speed correction factor is proposed as the external excitation of the system, and the model is solved and analyzed. The research results show that the change of traction speed has a greater influence on the vibration swing angle and displacement of the front drum, front ranging arm and front walking unit, and the vibration swing angle and displacement of the three increase with the increase of traction speed, while the change of coalface hardness coefficient has less influence on the vibration displacement of the key components of the coal shearer. Under the working parameters of v = 3 m/min and f = 3, the swing angle and displacement of the front ranging arm and front drum fluctuate in the ranges of − 0.4–0.1 rad and – 15–15 mm respectively; the vibration acceleration is – 300–300 rad/s² and – 200–200 mm/s² respectively, the main vibration frequencies are 16.63 Hz and 12.14 Hz respectively, and finally the results are verified by experimental methods.

针对采煤机在斜切工况下振动剧烈和各部件异常磨损的问题，利用振动力学，建立了采煤机在斜切工况下的13自由度非线性动力学模型。多体动力学理论，基于三维分形理论描述了滑靴-中槽接触、摇臂-牵引单元带间隙连接和导向滑靴-销轨多面带间隙接触的特性和赫兹接触理论。根据Huco定律，假设摇臂和液压杆为柔性梁，描述了摇臂本身的刚度特性，牵引单元与机身的连接特性，提出了具有牵引速度修正系数的滚筒修正载荷作为系统的外激励，并对模型进行了求解和分析。研究结果表明，牵引速度的变化对前滚筒、前摇臂和前行走单元的振动摆角和位移影响较大，且三者的振动摆角和位移均随着牵引力的增加而增大。速度，而煤面硬度系数的变化对采煤机关键部件的振动位移影响较小。在工作参数下 研究结果表明，牵引速度的变化对前滚筒、前摇臂和前行走单元的振动摆角和位移影响较大，且三者的振动摆角和位移均随着牵引力的增加而增大。速度，而煤面硬度系数的变化对采煤机关键部件的振动位移影响较小。在工作参数下 研究结果表明，牵引速度的变化对前滚筒、前摇臂和前行走单元的振动摆角和位移影响较大，且三者的振动摆角和位移均随着牵引力的增加而增大。速度，而煤面硬度系数的变化对采煤机关键部件的振动位移影响较小。在工作参数下v  = 3 m/min 和f  = 3，前摇臂和前鼓的摆动角和位移分别在 - 0.4-0.1 rad 和 - 15-15 mm 范围内波动；振动加速度分别为– 300–300 rad/s ²和– 200–200 mm/s ²，主要振动频率分别为16.63 Hz和12.14 Hz，最后通过实验方法验证了结果。