液压挖掘机挖掘力计算新方法

Novel Digging Force Calculation Method for Hydraulic Excavator

摘要:

以工作区域和挖掘点为对象,提出了一种研究理论挖掘力大小及其分布规律的新方法.首先求得挖掘点的空间位置，再利用逆运动学原理求解每个挖掘点对应的挖掘姿态，根据对应的限制不等式组求解每个挖掘姿态的理论挖掘力，最后得到每个挖掘点的理论挖掘力和整个挖掘区域的挖掘力分布规律.以某36 t反铲液压挖掘机为例，验证了相邻挖掘点或相似挖掘姿态的理论挖掘力相近的假设.结果表明:在大多数挖掘点上新方法得到的理论挖掘力比传统方法有较大程度(>20.2%)的提高,且更能准确地反映挖掘机在给定挖掘点上所能发挥的最大挖掘力.

Abstract:

A new method for the researching of the theoretical digging forces and its regularities of distribution was presented based on the workspace and digging points. The spatial position of digging points was calculated first, the digging gestures corresponding to each digging point were solved by the inverse kinematics principle. The theoretical digging forces of each digging gesture were calculated according to the relevant limit equations. A case study of a 36 t backhoe hydraulic excavator proved the hypothesis that the theoretical digging forces, corresponding to two adjacent digging points or two similar digging gestures, be similar. The calculation results show that the theoretical digging forces obtained by the new approach are improved obviously (>20.2%). The experimental result proves that the new approach reflects the maximum digging force of the backhoe hydraulic excavator more accurately at the given digging point.