一种新型正铲液压挖掘机工作机构的研究

doi:10.3901/JME.2021.13.132

机械工程学报 ›› 2021, Vol. 57 ›› Issue (13): 132-143.doi: 10.3901/JME.2021.13.132

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一种新型正铲液压挖掘机工作机构的研究

蔡敢为^1,2, 黄一洋², 田军伟², 龚俊杰², 韦为², 邢树鑫³

1. 河池学院物理与机电工程学院宜州 546300;
2. 广西大学机械工程学院南宁 530004;
3. 广西柳工机械股份有限公司柳州 545007

收稿日期:2020-11-01 修回日期:2021-03-01 出版日期:2021-08-31 发布日期:2021-08-31
通讯作者: 蔡敢为(通信作者),男,1961年出生,博士,教授,博士研究生导师。主要研究方向为机械动力学、机构学。E-mail:caiganwei@163.com
作者简介:黄一洋,男,1995年出生,硕士研究生。主要研究方向为机械动力学、机构学。E-mail:HYY719@163.com;田军伟,男,1989年出生,博士研究生。主要研究方向为机械动力学、机构学。E-mail:1619796829@qq.com
基金资助:
国家自然科学基金（51765005）和广西科技重大专项（桂科AA19254021）资助项目

Research on a New Working Mechanism of Face-shovel Hydraulic Excavator

CAI Ganwei^1,2, HUANG Yiyang², TIAN Junwei², GONG Junjie², WEI Wei², XING Shuxin³

1. Department of Physics and Electronic Engineering, Hechi University, Yizhou 546300;
2. College of Mechanical Engineering, Guangxi University, Nanning 530004;
3. Guangxi Liugong Machinery Co., Liuzhou 545007

Received:2020-11-01 Revised:2021-03-01 Online:2021-08-31 Published:2021-08-31

摘要/Abstract

摘要： 挖掘机工作机构的创新设计对提高其工作性能，增强市场竞争力具有重要意义。提出一种可有效增强挖掘性能的新型挖掘机构，并研究其性能。基于牛顿-欧拉法对新机构进行力学分析，与现行典型挖掘机构对比，在挖掘阻力最大时所需的挖掘机驱动油缸推力明显降低。基于机构拓扑结构理论分析了该挖掘机工作机构的方位特征（POC）集、自由度和耦合度；基于运动链环路理论对新型机构进行运动学特性分析，环路参数求解中建立含有一个虚拟变量的位置方程验证机构耦合度数值的正确性；通过运动学的数值算例验证分析方法的正确性，得到了工作机构的运动空间与水平挖掘最优的铲斗倾角范围；为保证挖掘机自主挖掘过程平稳连续，结合运动学约束，提出了基于活跃目标点粒子群算法（APSO）的无障碍时间最优的新机构多项式插值轨迹规划。工作对挖掘机新机构的研究和工程应用具有较好的参考价值，对正铲液压挖掘机的创新设计有一定意义。

关键词: 正铲挖掘机, 挖掘机构, 挖掘力, 运动学分析, 工作空间

Abstract: The innovative design of excavator working mechanism is of great significance to improve its working performance and enhance its market competitiveness. This research presents a new type working mechanism of face-shovel hydraulic excavator which can effectively improve its performance and studies its properties. The mechanical analysis of the new mechanism based on Newton-Euler method is carried out, and compared with the current typical mechanism, the thrust of excavator driving cylinder is obviously reduced when the digging resistance is the greatest. The position and orientation characteristic (POC),DOF and coupling degree of the excavator working mechanism are analyzed based on the topological structure theory of mechanism. The kinematic characteristics of the new mechanism are analyzed based on the loop algebra theory. A position equation with a dummy variable is established to verify the coupling degree of the mechanism. The kinematics numerical example is used to verify the correctness of the analysis method, and the motion space of the working mechanism and the optimal bucket inclination range of horizontal digging are obtained. In order to ensure that the excavator's automatic digging process is stable and continuous, considering kinematic constraints, a new mechanism polynomial interpolation trajectory planning based on active target particle swarm optimization (APSO) with optimal barrier-free time is proposed. The work has a good reference value for the research and engineering application of the new excavation mechanism and has a certain significance for the innovative design of face-shovel hydraulic excavator.

Key words: face-shovel excavator, excavation mechanism, digging force, kinematics analysis, workspace

中图分类号:

TU621

蔡敢为, 黄一洋, 田军伟, 龚俊杰, 韦为, 邢树鑫. 一种新型正铲液压挖掘机工作机构的研究[J]. 机械工程学报, 2021, 57(13): 132-143.

CAI Ganwei, HUANG Yiyang, TIAN Junwei, GONG Junjie, WEI Wei, XING Shuxin. Research on a New Working Mechanism of Face-shovel Hydraulic Excavator[J]. Journal of Mechanical Engineering, 2021, 57(13): 132-143.

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一种新型正铲液压挖掘机工作机构的研究

Research on a New Working Mechanism of Face-shovel Hydraulic Excavator

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