基于销轴传感器的挖掘阻力测量方法  

Method for Measuring Digging Resistance With Pin Sensors

作　　者：陈欠根[1,2] 郭超[1] 胡鹏[1,2] 

机构地区：[1]中南大学高性能复杂制造国家重点实验室,长沙410083 [2]山河智能装备股份有限公司,长沙410100

出　　处：《北京工业大学学报》2017年第8期1135-1140,共6页Journal of Beijing University of Technology

基　　金：国家科技支撑计划项目(2015BAF07B02)

摘　　要：针对反铲挖掘机挖掘阻力难以直接测量的问题,提出了一种利用销轴传感器测量铲斗与斗杆之间的相互作用力,反推挖掘阻力的间接测量方法.首先,分析挖掘阻力的特性,基于牛顿-欧拉方程建立铲斗动力学模型.然后,针对某反铲挖掘机的常态挖掘过程,设计一种基于弯矩测量的销轴传感器,搭建油压、位移、力同步采集测试平台;再通过弹簧测力计在斗齿尖施加模拟载荷,采集数据并计算挖掘阻力.最后,对比计算挖掘阻力与模拟挖掘阻力,验证测量方法的有效性.对比结果表明:计算挖掘阻力与模拟挖掘阻力之间的误差为8.6%,本测量方法能有效地测量斗齿尖挖掘阻力.An indirect method was presented to measure the digging resistance of a hydraulic excavator by sensing the interaction between the bucket and stick with a special pin sensor. With detailed analysis of digging resistance, a dynamic model of bucket based on Newton-Euler Dynamic Equation was established. Then,based on the general excavation process,a synchronous acquisition test platform for measuring oil pressure, displacement and force was set up with a special pin sensor and other test devices. The simulation load performed on one bucket teeth through spring dynamometer and digging resistance could be drawn as a curve with the test data calculated by the dynamic model of bucket. Finally,the calculating result was compared with the simulation load to verify the test method. Result shows that the error of these two curves is 8. 6% and this method is efficient in measuring the digging resistance.

关 键 词：挖掘阻力 牛顿-欧拉动力学方程 销轴传感器 液压挖掘机 模拟载荷 

分 类 号：TH113[机械工程—机械设计及理论]