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

doi:10.3901/JME.2021.13.132

Abstract

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

CLC Number:

TU621

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.

References

[1] 袁瑜. TriPower的奥秘[J]. 矿业装备, 2015(5):38-40. YUAN Yu. The mystery of TriPower[J]. Mining Equipment, 2015(5):38-40.
[2] Rosen M, Radoslav G, Petr P. CAD/CAE Investigation of a large hydraulic mining excavator[J]. Machine Design, 2011, 3(1):17-22.
[3] Mitrev R, Marinković D. Numerical study of the hydraulic excavator overturning stability during performing lifting operations[J]. Advances in Mechanical Engineering, 2019, 11(5):1-14.
[4] 丁华锋, 刘征, 刘帅, 等. 一种新型正铲液压挖掘装置的运动学和动力学分析[J]. 机械工程学报, 2015, 51(1):60-68. DING Huafeng, CHEN Yichao, LIU Shuai. Kinematics and dynamics analysis of an innovative face-shovel hydraulic excavator in mining[J]. Journal of Mechanical Engineering, 2015, 51(1):60-68.
[5] Ding H, Han L, Yang W, et al. Kinematics and dynamics analyses of a new type face-shovel hydraulic excavator[J]. Proceedings of the Institution of Mechanical Engineers, Part C:Journal of Mechanical Engineering Science, 2017, 231(5):909-924.
[6] 刘征, 陈谊超, 丁华锋. 一种新型矿用正铲液压挖掘机的运动学分析[J]. 机械工程学报, 2014, 50(15):28-33. LIU Zheng, CHEN Yichao. DING Huafeng. Kinematics analysis a new hydraulic face-shovel excavator in mining[J]. Journal of Mechanical Engineering, 2014, 50(15):28-33.
[7] Mailloux M, Éné M, Simionescu I, et al. Use of the structomatic method to perform the forward kinematic and kinetostatic analyses of a hydraulic excavator[C]//New Advances in Mechanisms, Mechanical Trans-missions and Robotics. Springer, Cham, 2017:167-175.
[8] Xu C, Xiao H, Zou S, et al. Analysis and verification on mechanics mechanism for flat digging of grab[C]//MATEC Web of Conferences. EDP Sciences, 2019, 256:02016.
[9] 黄德武, 陈进, 庞晓平. 基于法切比影响的反铲液压挖掘机的稳定性研究[J]. 机械科学与技术, 2014, 33(5):630-634. HUANG Dewu, CHEN Jin, PANG Xiaoping. Exploring stability of backhoe hydraulic excavator based on influence of ratio of normal and tangential digging resistance[J]. Mechanical Science and Technology for Aerospace Engineering, 2014, 33(5):630-634.
[10] 梁明锋, 陈进, 庞晓平, 等. 基于极限挖掘力的组合挖掘性能分析[J]. 机械研究与应用, 2018, 31(3):32-35. LIANG Mingfeng, CHEN Jin, PANG Xiaoping. Performance analysis of synthesis digging based on the extreme digging force[J]. Mechanical Research & Application, 2018, 31(3):32-35.
[11] 李海虹, 林贞国, 杜娟, 等. 挖掘机自主挖掘分段可变阶多项式轨迹规划[J]. 农业机械学报, 2016, 47(4):319-325. LI Haihng, LIN Zhenguo, DU Juan. Piecewise polynomial with variable order in trajectory planning for autonomous mining[J]. Transactions of the chinese society for agricultural machinery, 2016, 47(4):319-325.
[12] 蔡敢为, 潘宇晨, 王红州, 等. 基于功能分析的新型装载机构型综合研究[J]. 机械工程学报, 2014, 50(11):50-59. CAI Ganwei, PAN Yuchen, WANG Hongzhou, et al. Function analysis based type synthesis of a novel type of loading mechanisms[J]. Journal of Mechanical Engineering, 2014, 50(11):50-59.
[13] 潘宇晨, 蔡敢为, 王红州, 等. 具有变胞功能的电动装载机构构态进化拓扑结构分析与基因建模[J]. 机械工程学报, 2014, 50(1):38-46. PAN Yuchen, CAI Ganwei, WANG Hongzhou, et al. Topological analysis of configuration evolution and biological modeling of a novel type of electric loading mechanism with metamorphic functions[J]. Journal of Mechanical Engineering, 2014, 50(1):38-46.
[14] 蔡敢为, 李荣康, 唐剑波, 等. 一种四自由度十杆可控机构式码垛机器人:中国, 201610464989.0[P]. 2016-10-26. CAI Ganwei, LI Rongkang, TANG Jianbo. A four-degree-of-freedom ten-bar controllable mechanism stacking robot is presented:China, 201610464989.0[P]. 2016-10-26.
[15] 杨廷力, 刘安心, 罗玉峰, 等. 机器人机构拓扑结构设计[M]. 北京:科学出版社, 2012. YANG Tingli, LIU Anxin, LUO Yufeng, et al. Theory and application of robot mechanism topology[M]. Beijing:Science Press, 2012.
[16] 黄真, 赵永生, 赵铁石. 高等空间机构学[M]. 2版. 北京:高等教育出版社, 2014. HUANG Zhen, ZHAO Yongsheng, ZHAO Tieshi. advanced spatial mechanism[M]. 2nd ed. Beijing:Higher Education Press, 2014.
[17] 左双双, 沈惠平, 孟庆梅, 等. 基于耦合度分析的6-SPS并联机构位置正解的计算机自动生成[J]. 机械设计与研究, 2016, 32(4):37-42. ZUO Shuanshaung, SHEN Huiping, MENG Qingmei. Automatic generation of the forward position solutions for 6-SPS parallel mechanisms based on the coupling degree analysis[J]. Machine Design & Research, 2016, 32(4):37-42.
[18] 吉昊, 沈惠平, 杨廷力. 一种新型低耦合度半对称2T1R并联机构的拓扑设计及运动学[J]. 机械传动, 2020, 44(1):13-22. JI Hao, SHEN Huiping, YANG Tingli. Topology design and kinematics for a novel semi-symmetric 2t1r parallel mechanism with low coupling degree[J]. Journal of Mechanical Transmission, 2020, 44(1):13-22.
[19] Ding H, Huang Z. A new theory for the topological structure analysis of kinematic chains and its applications[J]. Mechanism and Machine Theory, 2007, 42(10):1264-1279.
[20] Lin C, Chang P, Luh J. Formulation and optimization of cubic polynomial joint trajectories for industrial robots[J]. IEEE Transactions on Automatic Control, 1983, 28(12):1066-1074.
[21] 刘征. 新型正铲挖掘装置动力学分析与控制器设计[D]. 秦皇岛:燕山大学, 2015. LIU Zheng. Dynamic analysis and controller design for a new-type face-shovel excavator[D]. Qinhuangdao:Yanshan University, 2015.
[22] 邢欢欢. 基于离散单元法的机械式挖掘机工作阻力模拟[D]. 沈阳:东北大学, 2014. XING Huanhuan. The simulink of the mechanical excavator working resistance based on discrete element method[D]. Shenyang:Northeastern University, 2014.