Prediction of motion stability of large shovel hydraulic excavators based on ADAMS

doi:10.16265/j.cnki.issn1003-3033.2023.S2.0033

Abstract

Abstract:

In order to improve the controllability and stability of the working device of a large shovel hydraulic excavator, the working device of a 350 t shovel hydraulic excavator was studied. Firstly, the basic structure of the shovel hydraulic excavator was introduced. Based on the D-H method, the forward and inverse kinematics solutions of the working device were solved, and the coordinates of each hinge point of the excavator working device and the displacement and angle change functions of the boom, bucket rod, and bucket cylinders were obtained. Then, the software Matlab was used to verify the displacement and angle function model, and the function change curve was obtained. Finally, SolidWorks and ADAMS were used to establish a virtual prototype of a 350 t large shovel hydraulic excavator. The kinematics simulation of the boom cylinder, bucket rod cylinder, and bucket cylinder of the working device was carried out, and the displacement curve was drawn. The simulation curve obtained by comparative analysis was compared with the function model curve obtained by Matlab. The results show that the displacement function curves of the boom, bucket rod, and bucket cylinder obtained by the D-H method are basically consistent with the simulation curves obtained by ADAMS simulation. The accuracy of the theoretical value and the simulation value is proved.

Key words: shovel hydraulic excavator, boom cylinder, bucket rod cylinder, bucket cylinder, D-H method, automatic dynamic analysis of mechanical systems (ADAMS)

CLC Number:

X936

JIA Feng, SU Honggang, RONG Bao, WEI Zhidan, WEI Lidong. Prediction of motion stability of large shovel hydraulic excavators based on ADAMS[J]. China Safety Science Journal, 2023, 33(S2): 128-134.

Figures/Tables 18

Fig.1

Fig.2

Tab.1

Fig.3

Fig.4

Fig.5

Tab.2

Fig.6

Fig.7

Fig.8

Fig.9

Fig.10

Fig.11

Fig.12

Fig.13

Fig.14

Fig.15

Fig.16

References 9

[1]	史青录. 液压挖掘机[M]. 北京: 机械工业出版社,2012:4-5.
[2]	陈正利. 我国挖掘机行业的行成与发展、现状及前景[J]. 建设机械技术与管理, 2004, 17(11):25-29.
	CHEN Zhengli. Formation, development,current situation and outlook of excavator industry in China.[J]. Construction Machinery Technology and Management, 2004, 17(11):25-29.
[3]	张永明, 刘吉亮. 大型正铲式挖掘机的发展与进步[J]. 机械管理开发, 2009, 24(6):38-39.
	ZHANG Yongming, LIU Jiliang. Development and advancement of the excavators in mine[J]. Machinery Management Development, 2009, 24(6):38-39.
[4]	DING Huanfeng, HAN Lei, YANG Wenjian, 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. doi: 10.1177/0954406215625675
[5]	聂保珍. 正铲挖掘装置运动分析及控制系统研究[D]. 秦皇岛: 燕山大学, 2017.
	NIE Baozhen. Research on motion analysis and control system of face-shovel digging device[D]. Qinhuangdao: Yanshan University, 2017.
[6]	张俊, 孙树礼, 谭孝天. 基于NX的挖掘机关键部件参数化设计系统构建与分析[J]. 煤炭技术, 2019, 38(6): 132-135.
	ZHANG Jun, SUN Shuli, TAN Xiaotian. Construction and simulation of parametric design system for excavator key components based on NX[J]. Coal Technology, 2019, 38(6): 132-135.
[7]	LYU Guangming, XU Guosheng, XIE Shuai. Dynamics analysis and fuzzy control for the working device of hydraulic excavator[C]. International Conference on Oriental Thinking and Fuzzy Logic, 2016: 151-160.
[8]	李因武, 吴庆文, 常志勇. 基于仿生斗齿的反铲液压挖掘机动臂仿真优化设计[J]. 吉林大学学报:工学版, 2018, 48(3): 821-827.
	LI Yinwu, WU Qingwen, CHANG Zhiyong. Simulation and optimization design of backhoe hydraulic excavationbased on bionic teeth[J]. Journal of Jilin University:Engineering and Technology Edition, 2018, 48(3): 821-827.
[9]	李泉儒. 基于ADAMS的液压挖掘机工作装置仿真分析[D]. 西安: 长安大学, 2018.
	LI Quanru. Simulation analysis of hydraulic excavator working device based on ADAMS[D]. Xi'an: Chang'an University, 2018.

i	a_i_-1	θ_i
1	0	θ₁
2	OA	θ₂
3	AC	θ₃
4	CE	—

参数名称	取值/ mm	参数名称	取值/ mm	参数名称	取值/ mm
OA	7 867	AB	4 457	OG	4 672
AC	5 088	AH	3 208	AG	3 798
CE	4 581	CH	2 083	EF	4 920
OI	6 947	AI	1 582	CF	1 223

[1]	ZHANG Zunguo, YUAN Xinli, CHEN Yi, TANG Chao, MA Kaixin, CHEN Yongqiang. Energy evolution characteristics of sandstone under different stress cycle paths [J]. China Safety Science Journal, 2024, 34(2): 144-152.
[2]	YOU Bo, CUI Daxiong, LIU Heqing, LU Yi, YANG Xinyu. Simulation study on heat insulation and cooling of deep shaft tunnel with different heat insulation materials [J]. China Safety Science Journal, 2024, 34(2): 153-160.
[3]	WANG Yongjun, ZHENG Qian, ZHANG Hemeng, DONG Wei, ZHANG Xiaoming, SASAKI Kyuro. Correlation analysis between combustion of underground residual coal and surface carbon flux in goaf [J]. China Safety Science Journal, 2024, 34(2): 161-167.
[4]	GUO Xin, LU Yi, SHI Shiliang, LI He, LI Dafang. Mechanical properties and hydration mechanism of high-flow sealing hole grouting material [J]. China Safety Science Journal, 2024, 34(2): 168-175.
[5]	SHEN Xiaojing, YUE Jiwei, LIANG Yuehui, WANG Chen, XU Jinlin, HAN Qijun. Study on gas adsorption characteristics of coal under high temperature and high pressure atmosphere [J]. China Safety Science Journal, 2024, 34(2): 176-184.
[6]	DUAN Jichao, ZONG Qi, WANG Haibo, WANG Hao. Study on influence of initiation sequence on fragmentation of step rock and blasting vibration [J]. China Safety Science Journal, 2024, 34(2): 192-199.
[7]	ZHANG Jihui, MA Yankun, TAN Hui, ZHAO Aohan. Experimental study on characteristics of rock fracturing by high-pressure gas under different impact directions [J]. China Safety Science Journal, 2024, 34(2): 200-207.
[8]	QI Yun, XUE Kailong, WANG Wei, CUI Xinchao, WANG Hongxiang, QI Qingjie. Assessment model of emergency response capability for coal and gas outburst accidents in mines [J]. China Safety Science Journal, 2024, 34(2): 225-230.
[9]	ZHANG Yutao, GUO Qiang, ZHANG Yuanbo, LI Yaqing, SUN Yali. Correlation analysis and prediction of coal spontaneous combustion risk based on correlation coefficient method [J]. China Safety Science Journal, 2024, 34(1): 125-132.
[10]	YUAN Yue, ZHANG Fengbin, SHANG Xi, LIU Zhaoqiang, PENG Gang. Deformation and failure analysis and control of deep roadway with intercalated coal seam in roof [J]. China Safety Science Journal, 2024, 34(1): 158-165.
[11]	LI Junping, GUAN Tingting, FENG Jiayu, WANG Haiquan. Research progress on prevention and control of mine earthquake and rock burst [J]. China Safety Science Journal, 2024, 34(1): 85-93.
[12]	WEN Hu, LI Zhuofeng, ZHANG Duo, TANG Rui, LI Jie. Investigation of adsorption characteristics of C₂H₄ from coal in low-temperature stage [J]. China Safety Science Journal, 2024, 34(1): 94-105.
[13]	LI Lin, ZHANG Jinpeng, FU Ensan, LIU Guangwei. Study on coal mine risk hidden danger evaluation system [J]. China Safety Science Journal, 2023, 33(S2): 1-6.
[14]	DONG Haiqing, LAN Tianwei, YUAN Yongnian, LING Xiangdong, LI Yabin, LI Yang. Inversion and zoning characteristics of in-situ stress field in Limin Coal Mine [J]. China Safety Science Journal, 2023, 33(S2): 105-110.
[15]	DU Zhiyong. Analysis of influencing factors of safe passing capacity of large materials in crushing station [J]. China Safety Science Journal, 2023, 33(S2): 111-115.