基于双缸联动的液压挖掘机复合挖掘力分析及优化

doi:10.3969/j.issn.1004-132X.2026.10.029

摘要/Abstract

摘要：

针对液压挖掘机中传统基于单油缸驱动的静态力学模型导致理论值显著低于实际工况值引发“挖不动”的技术瓶颈问题，提出了基于双缸联动机制的整机理论复合挖掘力动态分析方法。通过建立多油缸协同作用下的复合力学模型，系统分析了挖掘过程中的运动学约束、机构奇异位形等关键限制因素，创新性地引入姿态空间奇异阈值判别准则，构建了覆盖全工作空间的复合挖掘力解析模型。通过对三款典型机型的理论计算与实机测试来进行交叉验证。研究结果表明：复合挖掘力分析值较传统理论值更接近实际的最大挖掘力，与操作人员实际作业评价吻合，有效解决了理论分析偏离工程实际的问题。在此基础上，建立基于复合挖掘力模型的反铲工作装置多目标优化设计体系，通过机构参数协同优化获得新型工作装置。样机测试结果表明，优化后机型在表层、1 m、2 m深度工况下的平均复合挖掘力分别提高3.28%、3.30%和5.96%，作业效率显著提高。

关键词: 液压挖掘机, 整机理论挖掘力, 挖掘性能分析, 复合挖掘

Abstract:

To address the inherent flaw in traditional hydraulic excavator digging force analysis—where theoretical values derived from single-cylinder static models are significantly lower than actual conditions， leading to “digging difficulty”—a dynamic analysis method for whole-machine theoretical compound digging force based on dual-cylinder linkage was proposed in this study. A compound mechanical model under multi-cylinder collaborative interaction was established， kinematic constraints and mechanism singularity configurations during digging were systematically analyzed， and an innovative posture-space singularity threshold criterion was introduced. A compound digging force analytical model encompassing the entire workspace was subsequently constructed. A comparative experimental method was utilized with cross-validation on three typical models via theoretical calculations and field tests. The results indicated that compound digging force analysis values are closer to actual maximum digging force than traditional values， matching operator evaluations and effectively resolving theoretical deviations from practical engineering. A multi-objective optimization design framework for backhoe working mechanisms was established based on the compound digging force model. Novel working mechanisms were developed through collaborative optimization of mechanism parameters. Prototypes were tested， and the optimized models demonstrated average compound digging force increases of 3.28%， 3.30%， and 5.96% under surface layer， 1 m， and 2 m depth conditions， respectively， with operational efficiency markedly enhanced.

Key words: hydraulic excavator, theoretical digging force of the entire excavator, digging performance analysis, compound digging

中图分类号:

TU621

庞晓平, 向俊滔, 冯原林, 杨中翔, KABAGEMA Benjamin, 赵卫东. 基于双缸联动的液压挖掘机复合挖掘力分析及优化[J]. 中国机械工程, 2026, 37(10): 2667-2675.

PANG Xiaoping, XIANG Juntao, FENG Yuanlin, YANG Zhongxiang, KABAGEMA Benjamin, ZHAO Weidong. Analysis and Optimization of Compound Excavation Force in Hydraulic Excavators Based on Dual-cylinder Linkage[J]. China Mechanical Engineering, 2026, 37(10): 2667-2675.

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链接本文: https://www.cmemo.org.cn/CN/10.3969/j.issn.1004-132X.2026.10.029

https://www.cmemo.org.cn/CN/Y2026/V37/I10/2667

图/表 20

表1 测试样机基本参数

Tab.1 Basic parameters of the test prototype

机型	质量/t	动臂长度L_AB /m	斗杆长度L_BG /m	铲斗长度L_GJ /m
1	21	5.71	2.915	1.48
2	21	5.71	2.930	1.51
3	21	5.68	2.910	1.57

图1 实际作业循环油缸长度

Fig.1 Actual operating circulating cylinder length

图2 机型2单一挖掘阶段实测数据

Fig.2 Measured data of model 2 in a single mining stage

图3 复合挖掘力学模型

Fig.3 The compound digging mechanics model

图4 斗杆受力分析

Fig.4 Stick force analysis

图5 铲斗受力分析

Fig.5 Bucket force analysis

图6 奇异区域判定

Fig.6 Singular-region determination

图7 整机理论复合挖掘力分析方法流程图

Fig.7 Flow chart of the analysis method of the theoretical compound digging force of the whole machine

图8 各机型在不同轨迹上的复合挖掘力

Fig.8 The compound digging force of each model on different trajectories

图9 不同机型在轨迹1工况的复合挖掘力

Fig.9 Compound digging force of different models in trajectory 1

表2 三位操作手对三款机型的操作评价（单项满分5分）

Tab.2 Evaluation of the operation of three models by three operators （with a maximum score of 5 points）

综合评估		力度	速度	灵敏性	柔和性	协调性	得分	平均总分
机型1	操作手1	2	3	3	2	2	12	12.33
	操作手2	2	3	2	2	3	12
	操作手3	2	3	3	3	2	13
机型2	操作手1	2	2	2	3	2	11	11.33
	操作手2	2	2	3	2	3	12
	操作手3	2	3	2	2	2	11
机型3	操作手1	4	3	4	4	4	19	19.33
	操作手2	5	4	4	4	4	21
	操作手3	4	3	4	3	4	18

图10 不同理论挖掘力分析方法与实测阻力对比

Fig.10 Comparison of different theoretical mining force analysis methods and measured resistance

图11 优化模型采用的11条挖掘轨迹

Fig.11 The 11 digging trajectories used in the optimization model

图12 基于复合挖掘力的遗传算法优化设计

Fig.12 Genetic algorithm optimization design based on compound digging force

表3 优化前后设计变量对比

Tab.3 Comparison of design variables before and after optimization

设计变量	优化前	优化后	设计变量	优化前	优化后	设计变量	优化前	优化后
L_AO /mm	146.00	143.19	L_BG /mm	2915.00	2863.88	L_GJ /mm	1480	1473
H/mm	1806.00	1806.45	L_BH /mm	850.00	859.92	L_GL /mm	475.0	484.5
X_F /mm	486.00	495.52	∠GBH	163.59°	164.05°	∠LGJ	107.74°	117.00°
Y_F /mm	630.00	622.86	L_BE /mm	664.80	663.37	L_1，max/mm	3185	3185
L_AB /mm	5710.00	5692.08	∠GBE	60.81°	61.54°	L_1，min/mm	2075	2070
L_AC /mm	2528.00	2544.15	L_BN /mm	2506	2575	L_2，max/mm	3565	3560
∠BAC	22.77°	22.45°	∠GBN	0.61°	0.60°	L_2，min/mm	1680	1680
L_AD /mm	3410.00	3430.34	L_KN /mm	640.0	654.5	L_3，max/mm	2800	2805
∠BAD	21.24°	22.45°	L_KL /mm	600.0	611.5	L_3，min/mm	1680	1680

表4 优化前后各轨迹的平均复合挖掘力对比

Tab.4 Comparison of the average composite excavation force of each trajectory before and after optimization

优化轨迹	优化前/kN	优化后/kN	变化率/%
轨迹1	122.10	128.06	4.88
轨迹2	123.21	129.26	4.91
轨迹3	124.38	129.15	3.83
轨迹4	123.28	128.48	4.21
轨迹5	122.10	127.71	4.59
轨迹6	122.50	128.61	4.98
轨迹7	120.85	127.82	5.76
轨迹8	122.62	128.22	4.56
轨迹9	122.61	125.54	2.38
轨迹10	121.11	130.91	8.09
轨迹11	124.69	132.26	6.07

图13 优化前后机型样机

Fig.13 The model of the excavators before and after optimization

图14 优化前后机型在不同挖掘深度下的挖掘力对比

Fig.14 Comparison of digging force at different excavation depths before and after optimization

表5 优化前后机型挖掘数据

Tab.5 Data of model excavation before and after optimization

挖掘深度	挖掘力	优化前/kN	优化后/kN	增长比例/%
表面挖掘	平均挖掘力	118.31	122.19	3.28
表面挖掘	最大挖掘力	145.17	151.04	4.04
1 m挖掘	平均挖掘力	121.76	125.78	3.30
1 m挖掘	最大挖掘力	151.51	160.09	5.67
2 m挖掘	平均挖掘力	123.32	130.67	5.96
2 m挖掘	最大挖掘力	150.69	172.86	14.40

表6 优化后机型相比优化前机型实际操作评价结果

Tab.6 The actual operational evaluation results of the optimized model compared to the pre-optimized model

综合评估	评价项	优化后机型相比优化前机型评价
综合评估	评价项	操作手1	操作手2	操作手3
力度	感觉有力	稍好	稍好	稍好
整机稳定性	感觉最远挖掘时的整机稳定	相当	相当	相当
动作协调性	感觉动作协调	相当	相当	相当

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