基于阻力特性的液压挖掘机复合挖掘力建模

doi:10.12068/j.issn.1005-3026.2015.07.022

东北大学学报:自然科学版 ›› 2015, Vol. 36 ›› Issue (7): 1015-1019.DOI: 10.12068/j.issn.1005-3026.2015.07.022

基于阻力特性的液压挖掘机复合挖掘力建模

陈进¹，任志贵^1,2，吕梁³，雍彬¹

(1.重庆大学机械传动国家重点实验室，重庆400030； 2.陕西理工学院机械工程学院，陕西汉中723000；3.三一重机有限公司，江苏昆山215300)

收稿日期:2013-12-06 修回日期:2013-12-06 出版日期:2015-07-15 发布日期:2015-07-15
通讯作者: 陈进
作者简介:陈进(1956-)，男，重庆人，重庆大学教授，博士生导师.
基金资助:
国家自然科学基金资助项目(51475056)；江苏省科技成果转化专项基金资助项目(BA2009071).

Modeling of the Compound Digging Force of Hydraulic Excavator Based on Resistance Characteristics

CHEN Jin¹， REN Zhi-gui^1,2， LYU Liang³， YONG Bin¹

1.State Key Laboratory of Mechanic Transmission， Chongqing University， Chongqing 400030， China; 2.School of Mechanical Engineering， Shanxi University of Technology， Hanzhong 723000， China； 3.SANY Heavy Industry Co.，Ltd.， Kunshan 215300， China.

Received:2013-12-06 Revised:2013-12-06 Online:2015-07-15 Published:2015-07-15
Contact: REN Zhi-gui
About author:-
Supported by:
-

摘要/Abstract

摘要： 基于挖掘过程中三缸联动的实际作业状态，提出复合挖掘力概念.根据动臂、斗杆和铲斗的各自分工确定复合挖掘力限制条件；利用阻力角和差值角的主值区间确定复合挖掘力方向角的取值范围；假设给定挖掘姿态下复合挖掘力大小随方向角渐变，建立复合挖掘力计算模型.以某36 t反铲液压挖掘机为例，验证了该假设的正确性.以真实挖掘轨迹和测试挖掘阻力为基准，对比现有理论挖掘力模型和复合挖掘力模型的计算结果，结果表明后者能够更准确地估算挖掘机的复合挖掘能力.该研究为挖掘机工作装置的优化设计和强度分析提供了评价标准和计算依据.

关键词: 液压挖掘机, 理论挖掘力, 复合挖掘力, 阻力特性, 方向角, 挖掘能力

Abstract: The compound digging force concept was proposed based on the digging process in actual operation conditions of the composite motion of three hydraulic cylinders. According to the main function of boom， arm and bucket， the restricted conditions of the compound digging force were determined. The value range of orientation angle was up to the resistance angle and the difference angle. The calculating model of compound digging force was established based on a compound digging force hypothesis， which is changing gradually with the orientation angle. Taking a 36 t backhoe hydraulic excavator as an example， the validity of the hypothesis was proved. Taking the actual digging trajectory and the digging resistance obtained by testing as the reference， the calculating results of the existing theoretical digging force model were compared with that of the actual one. The comparative results indicate that the model can exactly estimate the real compound digging ability of the excavator. In this way， it can provide evaluation criterion and calculation basis to optimal design and strength analysis of the excavator working device.

Key words: hydraulic excavator, theoretical digging force, compound digging force, resistance characteristics, orientation angle, digging ability

中图分类号:

TU621

陈进，任志贵，吕梁，雍彬. 基于阻力特性的液压挖掘机复合挖掘力建模[J]. 东北大学学报:自然科学版, 2015, 36(7): 1015-1019.

CHEN Jin， REN Zhi-gui， LYU Liang， YONG Bin. Modeling of the Compound Digging Force of Hydraulic Excavator Based on Resistance Characteristics[J]. Journal of Northeastern University Natural Science, 2015, 36(7): 1015-1019.

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基于阻力特性的液压挖掘机复合挖掘力建模

Modeling of the Compound Digging Force of Hydraulic Excavator Based on Resistance Characteristics

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