自动挖掘机的挖掘阻力函数研究  

RESEARCH ON EXCAVATION RESISTANCE FUNCTION OF AUTOMATIC EXCAVATOR

作　　者：蔡敢为 王芬[3] 田军伟 齐港 CAI GanWei;WANG Fen;TIAN JunWei;QI Gang(School of Construction Machinery,Hunan Sany Polytechnic College,Changsha 410100,China;School of Artificial Intelligence and Manufacturing,Hechi College,Yizhou 546300,China;School of Mechanical Engineering,Guangxi University,Nanning 530004,China)

机构地区：[1]湖南三一工业职业技术学院工程机械学院,长沙410100 [2]河池学院人工智能制造学院,宜州546300 [3]广西大学机械工程学院,南宁530000

出　　处：《机械强度》2023年第5期1152-1158,共7页Journal of Mechanical Strength

基　　金：长沙市自然科学基金资助项目(kq2208085);广西科技重大专项(桂科AA19254021);国家自然科学基金项目(51765005)资助。

摘　　要：对挖掘机的挖掘阻力函数研究是实现自动挖掘的关键步骤,基于经典土壤-铲斗模型提出一种自动挖掘机的挖掘阻力模型,给出了自动挖掘切入、切削、切出三阶段全过程的挖掘阻力函数表达式及各项系数的详细计算过程。对现行铲斗形状模型做了适当修改,使其更符合实际形状。以某条挖掘轨迹和淤泥质黏土为例,计算得到该工况下的理论挖掘阻力变化曲线,与利用Ls-Prepost软件仿真得到的结果相对比,二者形态相近,最大误差小于10.2%,表明该阻力模型适合作为挖掘机动态性能分析的激励函数,对自动挖掘机的动态性能研究具有较好的参考价值。The research on the excavation resistance function of excavator is the key step to realize automatic excavation.Based on the classical soil-bucket model,a digging resistance model of automatic excavator is proposed.The expression of the excavation resistance function for the whole automatic excavation process of three stages of penetration,cutting and loading and the detailed calculation process of its coefficients are given.The existing bucket shape model is modified to make it more in line with the actual shape.Taking a certain excavation track and silty clay as examples,the theoretical excavation resistance curve under this working condition is calculated and compared with the results obtained by Ls-Prepost software simulation.The shape of the two curves is similar,and the maximum error is less than 10.2%,the results show that the resistance model can be used as the excitation function of excavator dynamic performance analysis.It has a good reference value to the dynamic performance research of automatic excavator.

关 键 词：自动挖掘机 挖掘阻力函数 振动激励函数 挖掘机振动 

分 类 号：TU621[建筑科学—建筑技术科学]