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

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.

Measurements of PM10 particles made in the Rosia of Jiu quarry as a result of the use of Komatsu PC4000-11 hydraulic excavator

This paper studies the Roșia Jiu quarry area in Romania. This research highlights the working method of hydraulic excavators and the values of particles released into the atmosphere by them. Improving technological equipment not only helps build a better world, but also restores and preserves the environment. The measurements were made during 2020, using DSM501A sensors, which were located at four points in the quarry, namely in the north, southeast and west of the quarry.

Analysis and Experimental Investigation of Vibration Characteristics of Rotary Platform of Hydraulic Excavator under Complex Working Conditions

The rotary platform is the load-bearing substrate of a hydraulic excavator. The dynamic characteristics of the rotary platform directly affect the reliability and safety of the whole machine of a hydraulic excavator. In this work, the characteristics of the main external excitations acting on the hydraulic excavator such as the engine excitation, pressure pulsation excitation of the piston pump, inertial excitation of the working device, and road excitation are analyzed. The vibration transmission paths under the action of external excitations are ascertained. A vibration test method for the rotary platform of the hydraulic excavator is proposed. The vibration characteristics of the rotary platform under complex working conditions are researched, and the internal relationships between the vibration characteristics of the rotary platform and the engine excitation, pressure pulsation excitation of the piston pump, and road excitation are analyzed experimentally. The results show that the rotary platform is subjected to different excitations when it is under different working conditions. Moreover, the internal relationships between the dynamic characteristics of the rotary platform and the external excitation characteristics can be discovered by analyzing the vibration signals of the rotary platform, and the dynamic characteristics of the whole machine of the hydraulic excavator can be deeply studied based on the vibration characteristics of the rotary platform.

Сomparative analysis of economic efficiency application of milling excavator working equipment for pipeline undermining

Introduction. The use of pipeline transport for the movement of hydrocarbons and petroleum products is the main strategic system of Russia with a huge volume of cargo turnover. The share of pipeline transport in the freight turnover of the Russian transport system is over 48 %. Maintenance of the pipeline system is impossible without the use of mechanization and special equipment. So, to restore its working condition, various options for sets of machines are used.Implementation of the methodology. As a result of the research carried out, a set of machines was selected for performing the technological operations of the overhaul of a section of the steel main pipeline. The main technical and economic indicators are calculated, taking into account the efficiency and expediency of using a set of machines.Results. The economic efficiency of a set of machines, including a hydraulic excavator with a developed milling working equipment, the novelty of which is confirmed by patents for a useful model of the Russian Federation, has been determined.Discussion and conclusions. The directions of further research are the calculation and substantiation of the necessary operating parameters for the introduction into operation of the milling working equipment of a hydraulic excavator.

Collaborative Tracking Control Strategy for Autonomous Excavation of a Hydraulic Excavator

A hydraulic excavator consists of multiple electrohydraulic actuators (EHA). Due to uncertainties and nonlinearities in EHAs, it is challenging to devise a proper control strategy. To tackle this issue, a major goal of our study is to provide an efficient control strategy to minimize tracking errors of the bucket tip position for autonomous excavation. To accomplish the goal, the study offers a collaboration of PID and fuzzy controllers that are used to compensate for contour errors and achieve accurate actuator position control, respectively. Co-simulation models including control algorithms and hydraulic components were created using Matlab and Amesim to validate the performance of the designed controllers. Simulations indicate that the proposed method enables achieving accurate tracking control for autonomous excavation with small tracking errors despite the nonlinear characteristics of the hydraulic excavator system.

Design Based on Changing the Bucket of Small Hydraulic Excavator to Clamp Brick Machine

Small hydraulic excavators have the characteristics of multi-function and wide application range. It is an important mechanical equipment widely used in mechanized construction. It can not only be used for excavation of earth and stone, but also plays an irreplaceable role in various engineering constructions. Moreover, through the replacement of working devices, it can also be used for various operations such as lifting, loading, grabbing, piling, and drilling. This article takes a small excavator as an example. By disassembling the original bucket, the newly designed brick clamping mechanism is installed in the position of the bucket, so as to realize the purpose of clamping or moving bricks and increase the scope of use of the original excavator.

Study on Dynamic Characteristics of Negative Flow Control Variable Axial Piston Pump for Hydraulic Excavator

Hydraulic excavator is important mechanical equipment in engineering construction, which is widely used in mining enterprises, construction industry, etc. Variable axial piston pump is the main power component of hydraulic excavator. The negative flow control variable axial piston pump is deduced and the mathematical model is established. The dynamic simulation model of negative flow control variable axial piston pump is built by using SIMULINK in MATLAB software, and the simulation analysis is carried out. The influence of the main parameters of negative flow control mechanism on the dynamic characteristics of negative flow control variable axial piston pump is obtained, which provides a reference for the parameter design of negative flow control mechanism.