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

摘要：

振动挖掘系统流量控制参数决定了振动挖掘力的特性，对振动挖掘作业效能具有重要的影响。建立了振动挖掘多连杆机构的运动学模型，推导了铲斗油缸伸长量与振动挖掘振幅的灵敏度计算公式,给出了振动挖掘力和铲斗油缸压力的求解方法，在流量控制信号输入模型中，应用傅里叶级数解决了方波、三角波振动控制信号求导问题，用数值分析方法对流量振动控制中的波形、灵敏度系数和油缸压力分布进行了分析,最后通过试验对流量振动控制模型进行了验证。

关键词: 振动挖掘, 运动学, 挖掘力, 波形, 灵敏度