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Tracked walking mechanism for large hydraulic excavators

机译：大型液压挖掘机的履带行走机构

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摘要

The conventional design methods for tracked walking systems of large hydraulic excavators based on empirical formulas, does not take into account the dynamic load of the track. As such, a safety margin factor has to be adopted to ensure adequate working strength. However, the machine weight will be increased, and the hydraulic system will be overmatched. To address this design issue, an electromechanical hydraulic design approach based on co-simulation is proposed in this study. The proposed design approach consists of four parts, namely, 1) a terramechanics model of the track that considers the pressure sinkage relationship and soil shear stress of the individual tracked plate, 2) a tracked multibody dynamics (MBD) model that considers the intermittent transmission between the sprocket and the tracks, 3) the hydraulic systems model, and 4) the data communication interface. To demonstrate the proposed approach, it was used to design a large hydraulic excavator with a bucket capacity of 15 m(3). Experimental results from the prototype showed that the proposed design principle can accurately reflect the impact load and periodic torque fluctuations on the track. The maximum error between the simulated and experimental results is 5.4% in forward walking and 12.7% in backward walking, thus demonstrating the effectiveness and accuracy of the proposed design approach.
机译：基于经验公式的大型液压挖掘机的履带行走系统的常规设计方法没有考虑履带的动态载荷。因此，必须采用安全系数来确保足够的工作强度。但是，机器重量将增加，并且液压系统将不匹配。为了解决这个设计问题，本研究提出了一种基于协同仿真的机电液压设计方法。所提出的设计方法包括四个部分，即：1）轨道的力学模型，其中考虑了单个履带板的压降关系和土壤切应力； 2）履带式多体动力学（MBD）模型，其考虑了间歇性传递在链轮和履带之间； 3）液压系统模型； 4）数据通信接口。为了演示所提出的方法，它被用来设计铲斗容量为15 m（3）的大型液压挖掘机。原型的实验结果表明，所提出的设计原理可以准确反映出轨道上的冲击载荷和周期性扭矩波动。仿真结果与实验结果之间的最大误差在前向行走中为5.4％，在后向行走中为12.7％，从而证明了所提出设计方法的有效性和准确性。

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