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1 前言挖掘范围的区域划分是方位域研究的敲门砖,本文先说明铲斗方位域的概念,而后从求解铲斗方位域的需要来对挖掘范围进行区域划分。将单斗正铲液压挖掘机的工作装置,简化成如图1所示的,以动臂铰点O_1为固定支承,以铲斗尖点M为变动支承(在挖掘范围内可任意变动位置)的四连杆机构模型。在研究四连杆机构各结点集合的基础上,应用作图与分析相结合的方法找到了铲斗方位域与结构参数、初始位置和运动范围的内在关系;并应用图表的形
1 Introduction The regional division of the scope of excavation is the stepping stone for the research of the azimuth domain. This paper first explains the concept of the azimuth domain of the bucket, and then divides the scope of the mining scope from the need of solving the bucket azimuth domain. The working device of the single-bucket front shovel hydraulic excavator is simplified as shown in Fig. 1. The boom hinge point O_1 is a fixed support and the bucket tip M is a variable support (the position can be arbitrarily changed within the digging range). Four-bar linkage model. On the basis of studying the collection of each node of the four-bar linkage mechanism, a combination of mapping and analysis was used to find out the intrinsic relationship between the azimuth domain of the bucket and the structural parameters, the initial position and the range of motion; and the shape of the chart was applied.