Modeling of the compound digging force of the hydraulic excavator based on the resistance characteristic

Abstract

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

Key words: Hydraulic excavator, Theoretical digging force, Compound digging force, Resistance characteristic, Orientation angle, Digging ability

References

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