基于正铲液压挖掘机挖掘轨迹的机构运动学分析

Mechanism movement analysis based on excavating track in hydraulic face-shovel excavators

通过将坐标变换的矩阵法引入到挖掘机工作装置的运动学分析当中,运用作图法,深入地研究了正铲液压挖掘机工作装置各运动部件的运动关系。通过建立基于坐标的矩阵变换的各运动部件的数学模型,得到了铲斗齿关于动臂缸、斗杆缸以及铲斗缸的函数关系式。揭示了铲斗运动轨迹与各运动缸的运动关系,为正铲液压挖掘机的自动控制、整机优化等提供了理论基础。

Through introducing the coordinate alternation matrix law into the motive analysis of excavator＇s working device, the motive relation of excavator working device is studied by the graphic method. And through building mathematic models based on coordinate alternation of motive devices, the bucket tooth function relational expression about the boom cylinder, the ann cylinder and the bucket cylinder is obtained. So, the motive relationship between bucket track and every cylinder is detected, and a basic theory of the automatic control and thorough optimization for the hydraulic face-shovel excavators is provided.