Design And Dynamic Performance Of A Multi Degree Of Freedom Controllable Mining Mechanism

In recent years,with the introduction of "green environmental protection" and other relevant policies,traditional construction machinery has been unable to meet the requirements,which also promotes the upgrading of traditional construction machinery.Hydraulic excavators in the market are difficult to maintain,unstable hydraulic system,easy to leak oil,pollution and other problems,environmental pollution to people's life caused some damage.With the gradual improvement of people's awareness of environmental protection,the requirements on construction machinery are becoming higher and higher.Traditional construction machinery has been difficult to adapt to the increasingly demanding machinery market,it is necessary to improve traditional construction machinery from a new perspective,to solve the traditional excavator energy consumption,pollution,maintenance difficulties and other thorny issues.Control mechanism is the modern advanced electronic technology,computer control and traditional electric system combining with traditional institutions,the institutions,has good flexible,electric transmission characteristics such as high efficiency,low noise,environmental protection,so now also become a hot topic in study of mechanisms,the main controlled mechanism used in robot and press,etc.,are gradually applied in the engineering machinery.Based on the controllable mechanism theory and excavator,this paper synthesizes a controllable excavator based on open sub-closed loop method.The mechanism abandoned the traditional hydraulic drive and was driven by the electric cylinder,which has the characteristics of controllable,flexible output and large working space.Relevant research was carried out with this institution as the research object:(1)Based on the general solution method of kinematics closed-loop vector method,the forward and inverse kinematics of the mechanism is solved and analyzed.The singularity of the mechanism is analyzed based on Jacobian matrix,and the working space of the mechanism is obtained according to the position of the connecting rod.(2)The elastic dynamic model of controllable mining mechanism is established by using finite element method,and the elastic dynamic response of the mechanism is obtained by solving the elastic dynamic equation based on Newmark method,which makes the dynamic modeling more accurate.The dynamic simulation of the mechanism is carried out based on the virtual prototype simulation software,and the influence of the elastic bar on the dynamic performance of the mechanism is obtained.Elastodynamics is the theoretical basis of mechanism position deformation and dynamic stress analysis,as well as the important premise of dynamic performance optimization.(3)The finite element simulation analysis of the controllable excavation mechanism,based on the optimized space,the weight optimization of the boom and the stick is carried out,and the weight is significantly reduced under the requirement of strength.The weight of the boom is 16.78%,and the weight of the stick is reduced 9.3%,making the structure light,thereby improving the dynamic performance of the mechanism and the stability of the mechanism.