摘要
对挖掘机主泵的特性进行了分析,从工作装置的运动学分析出发,利用D-H法的标准形式建立了铲斗末端的位置和姿态表达式;采用几何法获得关节空间与驱动机构空间的转换关系,得到了铲斗的姿态与液压缸之间的转化关系,据此对挖掘机的工作循环进行了划分,判别出了油缸的溢流状态,并降低泵的排量和发动机转速;通过动力学分析,并结合仿真曲线,获取了液压缸受力算式,通过空载试验对油缸的受力进行了修正,给出了不同负载和不同姿态下主泵压力的调节区间,最后通过试验验证倾角传感器与系统压力相结合的方法,可以有效减少液压缸在极限位置的溢流损失,并可以有效实现负载和工况的识别。
The paper analyses characteristic of hydraulic pump and the kinematics mode of excavator＇s manipulator, it puts out position and posture expression for the tip of bucket on the standard D-H arithmetic and obtains the transform equations among joint coordinate and driven coordinate. It gives corresponding relationship between posture of bucket and hydraulic cylinders by using geometrical method.It divides the operating mode into different parts depended on these relationship, and gets the overflow position of the hydraulic cylinder, according to these, decreases the displacement of pump and engine speed in advance. The paper gets and validates mechanical equation of cylinder in free load condition through dynamic analyze and emulation curve. It puts out working zero for hydraulic pump when the excavator works at different position and also load. Finally, put the excavator work under three different load condition, it proved that depend on manipulator posture and system pressure, spill losses decreased through keeping the cylinders away from limiting position and the load and operating mode can be identified.
出处
《液压气动与密封》
2008年第5期8-13,共6页
Hydraulics Pneumatics & Seals
基金
国家"863"计划项目资助
项目编号:2003AA430200
关键词
挖掘机
D-H法
姿态
负载
工况
识别
excavator
D-H arithmetic
posture
load
operating mode
identification
