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首页> 外文期刊>Mathematical Problems in Engineering >Active-Side Calculation Method for a Backhoe Hydraulic Excavator with Incomplete Digging Resistance in a Normal State
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Active-Side Calculation Method for a Backhoe Hydraulic Excavator with Incomplete Digging Resistance in a Normal State

机译：反铲液压挖掘机的主动侧计算方法，在正常状态下挖掘阻力

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摘要

The digging resistance in a normal state is the key to excavator design and automated excavation. It is difficult to accurately predict, simulate, or directly measure the digging resistance in a normal state due to uncertainties in the soil properties and excavation parameters. In this paper, a research idea is proposed that uses the working device as the entry point to indirectly calculate the digging resistance in a normal state by measuring the motion parameters and the cylinder pressure intensity. Based on the rule of combination for spatial force systems, a method for combining and projecting the system of the digging resistance is proposed in which the system is projected as six parts, and the tangential force, normal force, and bending moment in the plane of symmetry of the working device are the objects of the solution to avoid redundant equations. Based on kinematics and dynamics models of the excavator and the force and moment equilibrium conditions of the working device, equations for the active-side calculation of the incomplete digging resistance are derived. Based on these equations, the motion parameters of the working device and data on the cylinder pressure intensity obtained by measurement are used to calculate the incomplete digging resistance. The validation scheme and process proposed use the incomplete digging resistance as the external load to obtain the simulated stress of the working device through transient analysis. The simulated stress and the measured stress corresponding to the position of the measurement point are extracted and compared. The results show that there is a difference in the size of the numerical value between the simulated and measured stress, but the variation law is highly consistent, which validates the calculation method. In this paper, an active-side calculation method is provided for the incomplete digging resistance in a normal state without considering the soil-tool interaction relationships, which lays a theoretical foundation for the study of the digging resistance characteristics in a normal state, as well as excavator design and automated excavation.
机译：正常状态下的挖掘电阻是挖掘机设计和自动挖掘的关键。由于土壤性质和挖掘参数的不确定性，难以准确地预测，模拟或直接测量正常状态下的挖掘电阻。在本文中，提出了一种使用工作装置作为间接计算正常状态下的入口电阻的研究理念，通过测量运动参数和气缸压力强度。基于适用于空间力系统的组合规则，提出了一种组合和突出挖掘电阻系统的方法，其中系统被投射为六个部分，以及平面中的切向力，正常力和弯矩工作装置的对称性是解决方案的对象，以避免冗余方程。基于挖掘机的运动学和动力学模型以及工作装置的力和力矩平衡条件，导出了不完全挖掘电阻的主动侧计算的方程。基于这些等式，使用通过测量获得的气缸压力强度的工作装置和数据的运动参数来计算不完全挖掘电阻。验证方案和过程建议使用不完整的挖掘电阻作为外部负载，通过瞬态分析获得工作装置的模拟应力。提取并比较了与测量点的位置对应的模拟应力和测量应力。结果表明，模拟和测量应力之间的数值的大小存在差异，但变化法是高度一致的，这验证了计算方法。在本文中，提供了一种处于正常状态下不完全挖掘电阻的主动侧计算方法，而不考虑土壤工具相互作用关系，这为正常状态下的挖掘电阻特性进行了理论基础作为挖掘机设计和自动挖掘。

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  • 来源
    《Mathematical Problems in Engineering》 |2019年第17期|9846305.1-9846305.13|共13页
  • 作者

    Ren Zhigui; Wang Junli; Chen Jin; Zhang Junfeng; Liu Jurong; Liang Yang; Sun Haoran;

  • 作者单位

    Shaanxi Univ Technol Sch Mech Engn Hanzhong 723000 Peoples R China|Shaanxi Univ Technol Shaanxi Key Lab Ind Automat Hanzhong 723000 Peoples R China;

    Shaanxi Univ Technol Sch Mech Engn Hanzhong 723000 Peoples R China|Shaanxi Univ Technol Shaanxi Key Lab Ind Automat Hanzhong 723000 Peoples R China;

    Chongqing Univ State Key Lab Mech Transmiss Chongqing 400030 Peoples R China;

    Shaanxi Univ Technol Sch Mech Engn Hanzhong 723000 Peoples R China;

    Shaanxi Univ Technol Sch Mech Engn Hanzhong 723000 Peoples R China;

    Shaanxi Univ Technol Sch Mech Engn Hanzhong 723000 Peoples R China;

    Shaanxi Univ Technol Sch Mech Engn Hanzhong 723000 Peoples R China;

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