关键词: 振动挖掘, 运动学, 挖掘力, 波形, 灵敏度

Abstract:

Flow control parameters play an important role in controlling excavating force and improving vibratory excavation effectiveness for different soil types. A kinematics model of multi mechanical linkages for vibratory excavation was established. Sensitivity coefficient relation between cylinder rod displacement and bucket tooth amplitude was derived, and solution method for vibratory excavation force and cylinder rod pressure was given. The key problems of square wave and triangular wave which could not be differentiated under normal conditions were solved using Fourier series in the flow control signals. The flow control parameters of waveform, sensitivity coefficient and pressure distribution were analyzed using numerical calculation. The vibration model of flow control was verified by tests. The results will provide theoretical basis for vibratory excavation control system development.

Key words: vibratory excavation, kinematics, excavation force, waveform, sensitivity