System of Digging Force Monitoring and Backhoe Tip Localization for Medium-Sized Hydraulic Excavator

The urgency of the work is due to the need for design departments involved in the design of hydraulic excavators in techniques. Allowing to reduce the weight of excavators while providing at the same time sufficient reliability. The purpose of the work: development of a technique for application in the design of excavators of calculation modules based on the use of finite elements. Research methodology: modeling of working equipment. For a hydraulic excavator with a “direct” shovel working equipment, a mathematical model for calculating effort, an algorithm and a program in an algorithmic language have been developed, which allow to determine the working area of the excavator, possible digging forces, and efforts in the elements of the working equipment. To calculate stresses in the design of the working equipment, two modeling options are proposed: the models for the Strucrure 3D computational module are compiled separately for the bucket of the handle and the boom, the interaction of the models is carried out by efforts that are determined by the specified digging forces; a complete model of all the working equipment for the calculation module is compiled, without the need to calculate the loads between the elements, the calculation is carried out directly by the digging force. For the first variant formulas of calculation of efforts in elements of the working equipment are resulted. For the second variant, it is suggested to use a plate-rod model, and recommendations are given for the implementation of the relationships between the boom, the handle and the bucket. The results of stress calculations for the working equipment are presented.

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Modeling of the limiting digging force of hydraulic excavator based on resistance characteristics

Mechanika ◽

10.5755/j01.mech.25.5.22805 ◽

2019 ◽

Vol 25 (5) ◽

pp. 357-362

Author(s):

Zhigui REN ◽

Junli WANG ◽

Zhihong ZOU ◽

Yanyan WANG ◽

Haojie ZHU

Keyword(s):

Tangential Force ◽

Bending Moment ◽

Resistance Coefficient ◽

Hydraulic Excavator ◽

Moment Coefficient ◽

Resistance Moment ◽

Constraint Inequalities ◽

Comparative Results ◽

Digging Resistance ◽

Digging Force

Based on the resistance characteristics, a model of theoretical digging force was proposed in this paper, taking the tangential force, the normal force, and the bending moment into account simultaneously. Utilizing the relation among the normal resistance, the resistance moment, and the tangential resistance in practical digging process, three independent unknown quantities are transformed into only one variable. Afterwards, according to different digging patterns and complete machine limiting conditions, this research derived the constraint inequalities of the limiting digging force (LDF) and established the calculation models for LDF. Then, based on the value distribution laws of the digging resistance coefficient and the resistance moment coefficient, the calculation process and corresponding method of LDF under a given digging posture were obtained. Taking the digging resistance obtained by testing for 35 t hydraulic excavator with backhoe attachment as the reference, this paper compared the calculation results of the theoretical digging force for complete machine with those of the LDF model proposed in this research. The comparative results indicate that the LDF is consistent with the fact that the theoretical digging force is larger than or at least equal to the actual digging resistance. So, the LDF can exactly show the real limiting digging ability of the excavator more accurately. In this way, it can provide basis for mechanism optimization, structural strength design, trajectory planning, and control automation of the excavator.

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Determination of the Area of Energy-efficient Working Equipment Position and Effective Digging Radius of Hydraulic Excavators in Open-pit Mining

10.21203/rs.3.rs-1134395/v1 ◽

2022 ◽

Author(s):

Sergey Markov ◽

Maxim Tyulenev

Keyword(s):

Fuel Consumption ◽

Hydraulic Drive ◽

Open Pit ◽

Open Pit Mining ◽

Hydraulic Excavator ◽

Clear Understanding ◽

Efficient Operation ◽

Optimal Position ◽

Hydraulic Excavators ◽

Digging Force

Abstract Since the end of the last century, a significant number of hydraulic excavators have arrived on Russian quarries. Most of these excavators are equipped with backhoe operating equipment. The widespread use of such excavators in open-pit mining proves their exceptional efficiency. However, at the same time there is no clear understanding of the conditions under which a hydraulic excavator will be most effective: a theory of the face block of hydraulic shovels has not yet been developed. The available scientific studies are limited to determining the rational height of the excavation layer for efficient operation. If to take the quality of preparation of rock mass and the scheme of its loading into dump trucks as external parameters, i.e. not depending on the features of excavator design, then the position of its working equipment relative to the rock block has a decisive influence on operation of the hydraulic drive and fuel consumption. This is due to the changing value of digging force at various points of the bucket teeth position in the range of their possible positions at constant power of the hydraulic drive. Thus, application of optimal position of hydraulic excavator working equipment elements (bucket, arm, and boom) relative to the rotary platform and the rock massive during the digging cycle allows both to reduce fuel consumption and to increase the digging force. The application of the developed methodology is promising in terms of improving the energy efficiency of both individual excavation and loading units and the enterprise as a whole.

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Confederation Bridge Ice Force Monitoring

Structures Congress 2008 ◽

10.1061/41016(314)118 ◽

2008 ◽

Cited By ~ 1

Author(s):

Thomas Brown

Keyword(s):

Force Monitoring ◽

Ice Force

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Construction of the Index to Evaluate the Operating Skill Based on the Motion of CoM for a Hydraulic Excavator

IEEJ Transactions on Electronics Information and Systems ◽

10.1541/ieejeiss.139.388 ◽

2019 ◽

Vol 139 (4) ◽

pp. 388-394 ◽

Cited By ~ 1

Author(s):

Masatoshi Kozui ◽

Kazushige Koiwai ◽

Toru Yamamoto ◽

Koji Ueda ◽

Koji Yamashita ◽

...

Keyword(s):

Hydraulic Excavator

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IMPROVEMENT OF THE HYDRAULIC EXCAVATOR BUCKET DESIGN

The Russian Automobile and Highway Industry Journal ◽

10.26518/2071-7296-2019-3-202-213 ◽

2019 ◽

Vol 16 (3) ◽

pp. 202-213 ◽

Cited By ~ 1

Author(s):

G. G. Buriy ◽

V. S. Shherbakov ◽

S. B. Skobelev ◽

V. F. Kovalevskiy

Keyword(s):

Cost Reduction ◽

Production Costs ◽

Hydraulic Excavator ◽

Engineering Structures ◽

Excavator Bucket ◽

Productivity Increase ◽

Hydraulic Excavators ◽

Reducing Costs ◽

Rational Operation ◽

Resistance Forces

Introduction.Construction of engineering structures is impossible without building and road machines. The large volume of financing is allocated for such machines’ purchase. The main ways of reducing costs of the equipment consist in more rational operation of the equipment and also in decrease of equipment’s cost by constructive changes. The paper demonstrates the new design of the single-bucket hydraulic excavator with smaller cost.Materials and methods.The main ways of cost reduction for construction machines are more rational operation and depreciation of a design with the required characteristics’ maintaining. The paper describes constructive changes of the working equipment of the single-bucket hydraulic excavator, which allow decreasing the production costs.Results.The authors describe the new bucket design of the single-bucket hydraulic excavator. Moreover, the authors carry out the analysis of the existing buckets’ design. The paper also illustrates the functioning on bucket forces while digging process. The authors describe the solutions of the problem for productivity increase of the single-bucket in hydraulic excavators. In addition, the authors make the scheme of the bucket loading while digging process. Such scheme helps to reduce resistance forces of digging.Discussion and conclusions.As a result, the paper presents the design of the working equipment of the hydraulic excavator’s single-bucket, which allows reducing resistance forces of digging. Such results would help to establish buckets of bigger capacity and would lead to the productivity increase.

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