叠加Ⅱ级杆组的正铲液压挖掘机工作机构型综合

Configuration Synthesis of Working Mechanisms of Face-shovel Hydraulic Excavators by AddingⅡ-class Basic Bar Group

提出了一种正铲液压挖掘机工作机构型综合方法——Ⅱ级基本杆组叠加法。针对正铲液压挖掘机工作机构的自由度数目、性质和驱动单元,将其结构分解为基本结构和辅助连杆,并给出了8条构型综合约束条件,进而根据辅助连杆上的运动副数目,分5种情况添加Ⅱ级基本杆组RRR对正铲液压挖掘机工作机构进行了型综合,获得了一系列12杆构型。从中选取了3种构型,针对其多环耦合的结构特点,采用拆杆-等效法分析了其自由度,并建立了相应的仿真模型,开展了运动仿真分析,验证了构型综合方法的可行性。

A method of configuration synthesis for the working mechanisms of face-shovel hydrau-lic excavators was proposed,that was the superposition method based onⅡ-class basic bar group.Considering the number and property of degree of freedom(DOF)and driving elements of the working mechanisms of a face-shovel hydraulic excavator,the structure was divided into basic structure and auxiliary links.Eight constraints for configuration synthesis were given.Then,according to the num-ber of joints on the auxiliary links,Ⅱ-class basic bar group RRR was added in five cases to carry out configuration synthesis of the working mechanisms of face-shovel hydraulic excavators,and a series of configurations with 12links were obtained.Three configurations were selected from them,and in view of the multi-loop coupling structural characteristics of those three configurations,their DOFs were an-alyzed by using the link-demolishing and equivalent method.Further,the simulation models of three working mechanisms were established,and the motion simulation was carried out,which verified the feasibility of the proposed method.