文章摘要
孙浩然,任志贵,刘菊蓉,冯明豪,李佳豪.极限挖掘载荷下挖掘机铲斗轻量化设计[J].机床与液压,2022,50(12):64-69.
SUN Haoran,REN Zhigui,LIU Jurong,FENG Minghao,LI Jiahao.Lightweight Design of Excavator Bucket under Limiting Digging Load[J].Machine Tool & Hydraulics,2022,50(12):64-69
极限挖掘载荷下挖掘机铲斗轻量化设计
Lightweight Design of Excavator Bucket under Limiting Digging Load
  
DOI:10.3969/j.issn.1001-3881.2022.12.013
中文关键词: 挖掘机器人  铲斗  极限挖掘力  强度分析  轻量化
英文关键词: Digging robot  Bucket  Limiting digging force  Strength analysis  Lightweight
基金项目:国家自然科学基金青年科学基金项目(51605270);陕西省科技厅自然科学基金(2020JM-600)
作者单位E-mail
孙浩然 陕西理工大学机械工程学院 ysushr@163.com 
任志贵 陕西理工大学机械工程学院  
刘菊蓉 陕西理工大学机械工程学院  
冯明豪 陕西理工大学机械工程学院  
李佳豪 陕西理工大学机械工程学院  
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中文摘要:
      为研究如何在满足强度要求的前提下降低铲斗的质量,提出一种基于连续挖掘轨迹和极限挖掘力的铲斗轻量化设计方法。基于连续轨迹理论选定当挖掘机器人动臂处于主挖区内,由铲斗、斗杆液压缸交替挖掘的4段轨迹作为研究前提,计算并分析了连续轨迹上极限挖掘力的数值变化规律;使用APDL语言建立铲斗参数化模型,以极限挖掘力为外载荷研究铲斗结构强度的变化规律;以铲斗质量和应力为优化目标建立铲斗结构优化模型,使用遗传算法对铲斗进行优化。结果表明:铲斗液压缸挖掘时铲斗的应力、变形明显大于斗杆挖掘;优化后铲斗的质量减少了5.27%、最大应力减少了6.23%,验证了优化方法的可行性。
英文摘要:
      In order to study how to reduce the quality of the bucket on the premise of meeting the strength requirements, a bucket lightweight design method based on continuous digging trajectory and limiting digging force was proposed. Based on the continuous trajectory theory, when the arm of the digging robot was in the main excavation area, the four tracks excavated alternately by the bucket and rod hydraulic cylinder were selected as the research premise, and the numerical variation law of the limiting digging force on the continuous trajectory was calculated and analyzed. The bucket parametric model was established by using APDL language, and the variation law of bucket structure strength was studied by taking the limiting digging force as the external load. Taking the bucket quality and stress as the optimization goal, the bucket structure optimization model was established, and the genetic algorithm method was used to optimize the bucket. The results show that the stress and deformation of the bucket during the bucket hydraulic cylinder excavation is obviously larger than that of the rod digging. After optimization, the quality of the bucket is reduced by 527%, and the maximum stress is reduced by 623%, which verifies the feasibility of the optimization method.
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