摘要
现有复合挖掘力模型缺少对实际作业中挖掘阻力存在阻力矩的考虑,导致计算的复合挖掘力偏小,不能反映真实作业中挖掘机的复合挖掘性能。因此,基于挖掘阻力特性建立了以阻力矩和复合挖掘力方向角的主值区间为依据的极限复合挖掘力模型,选取某22 t反铲液压挖掘机任一常态复合挖掘轨迹,求解其挖掘阻力和不同理论挖掘力模型的挖掘力大小,证实了极限复合挖掘力在挖掘作业中是最大的。此外,基于某36 t反铲液压挖掘机两种不同工况的实际挖掘轨迹求解了不同理论挖掘力模型的轨迹挖掘力和主挖区内图谱挖掘力。结果表明:极限复合挖掘力模型能更为确切地表征复合挖掘轨迹挖掘力性能,并给出挖掘轨迹的最佳理论挖掘力表征方式。主挖区图谱挖掘力表明不同挖掘方式不同作业域所发挥的最大挖掘力是各有差异的。
The existing compound digging force model of hydraulic excavators does not take into account the existence of resistance moments in the actual work of the digging resistance,which results in the calculated compound digging force being smaller and does not reflect the compound digging performance of the excavator in real operation.Therefore,this paper proposes a limit compound digging force model based on the main value interval of the resistance moment and the directional angle of the compound digging force.Selecting any normal compound digging trajectory of a 22 t backhoe hydraulic excavator,its digging resistance and the digging force size are calculated by the proposed model and other theoretical digging force models respectively,and it is verified that the limit compound digging force is the maximum in the digging operation.In addition,based on a 36 t backhoe hydraulic excavator,the trajectory digging force of different theoretical digging force models and the digging force of the main digging area map were solved for the measured digging trajectories under two different working conditions.The results show that the limit compound digging force model can more accurately characterize the digging force performance of the compound digging trajectory,and give the best theoretical digging force characterization of the digging trajectory.The main digging area mapping force shows that the digging force exerted by different digging methods in different working areas is inconsistent.
作者
李佳豪
任志贵
庞晓平
刘菊蓉
李天瑜
俞松松
LI Jiahao;REN Zhigui;PANG Xiaoping;LIU Jurong;LI Tianyu;YU Songsong(School of Mechanical Engineering,Shaanxi University of Technology,Hanzhong 723001,Shaanxi,China;Shaanxi Key Laboratory of Industrial Automation,Hanzhong 723001,Shaanxi,China;College of Mechanical and Vehicle Engineering,Chongqing University,Chongqing 400030,China;Guangxi Liugong Machinery Co.,Ltd.,Liuzhou 545007,Guangxi,China)
出处
《机械科学与技术》
CSCD
北大核心
2024年第11期1980-1992,共13页
Mechanical Science and Technology for Aerospace Engineering
基金
陕西省技术创新引导专项(2021QFY05-03)
陕西省科技厅自然科学基础研究项目(2020JM-600)。
关键词
液压挖掘机
极限复合挖掘力
挖掘方式
轨迹理论挖掘力
图谱理论挖掘力
hydraulic excavators
limit compound digging forces
digging methods
trajectory theoretical digging forces
mapping theoretical digging forces
