CAJ | 학술논문

提出一种可有效增大铲斗液压缸的推力和行程的新型正铲液压挖掘装载装置。通过对机构自由度分析，验证了该工作装置满足挖掘机铲斗作业要求的一个转动自由度和两个移动自由度。基于模块化图形组态和运动链环路理论，建立该机构的运动学分析流程图，并根据流程图对新型机构进行运动学特性分析。采用数值验证的方法给出五组数值算例，通过运动学正解和反解分析结果的对比，验证了分析方法的可靠性和准确性。基于凯恩方法对该新型机构进行动力学分析，将驱动力等效为关节转矩，推导并建立了动力学数学模型。参考卡特彼勒矿用正铲挖掘机的相关尺寸，给定该新型正铲液压挖掘装载装置的结构参数，基于 Matlab 分别在空载和变阻力情况下对挖掘机水平作业工况下进行动力学仿真研究，结果验证了动力学模型的准确性。研究结果为该新型机构的设计和应用提供了重要的理论依据。
제출일충가유효증대산두액압항적추력화행정적신형정산액압알굴장재장치。통과대궤구자유도분석，험증료해공작장치만족알굴궤산두작업요구적일개전동자유도화량개이동자유도。기우모괴화도형조태화운동련배로이론，건립해궤구적운동학분석류정도，병근거류정도대신형궤구진행운동학특성분석。채용수치험증적방법급출오조수치산례，통과운동학정해화반해분석결과적대비，험증료분석방법적가고성화준학성。기우개은방법대해신형궤구진행동역학분석，장구동력등효위관절전구，추도병건립료동역학수학모형。삼고잡특피륵광용정산알굴궤적상관척촌，급정해신형정산액압알굴장재장치적결구삼수，기우 Matlab 분별재공재화변조력정황하대알굴궤수평작업공황하진행동역학방진연구，결과험증료동역학모형적준학성。연구결과위해신형궤구적설계화응용제공료중요적이론의거。
A new face-shovel hydraulic excavator is proposed, which can effectively increase the thrust and stroke of the bucket cylinder. By analyzing the degrees of freedom of the working device, the result shows that the degrees of freedom are two translations and one rotation on a plane, which can meet the requirements of face-shovel excavators. Based on the graphical modularization and loop algebra theory, a universal mechanical kinematics analysis flow diagram is established, with which the kinematics of the mechanism is investigated. By numerical analysis method, five numerical examples are given to verify the correctness of kinematics analysis. Comparative analyses of the results show that the algorithm is reliable and accurate. Based on Kane’s method and the equivalent torque principle, the dynamics analyses of the new-type mechanism are conducted, and the dynamic mathematical model is deduced and established. Referring to dimension parameters of the caterpillar face-shovel excavator, the structural parameters of the new hydraulic face-shovel excavator are given. Based on Matlab, simulation researches are worked according to the dynamics equations, in the case of horizontal operation, respectively for no load and variable resistance. The analysis results show that the method is reliable. The research result will lay the foundation for the design and application of the novel mechanism.