| China is a big Nuclear Industry country, which has a lot of military and civilian nuclear facilities, so we need to strengthen the safe disposal technology and equipment research of the decommissioning nuclear facilities and nuclear leakage accident. During the process of the decommissioning nuclear facilities and nuclear leakage accident, the health and life of workers are threatened directly by the radiation, general operation technology and equipment can’t be used. personnal and the public’s health and property safety can be ensured by the radiation protection device, which has a good Shielding performance. Because the operation equipment was shielded and modified, its volume and load weight increased, power plant and power load has changed. The environment of nuclear facilities is bad, and its soil structure is mostly concrete or clay soil of wetlands. The working device of excavator has a direct contact with radioactive weight, the state of stress is very complicated, the reliability of the system is low. The rational design of working device is related to the digging force, operation rang and movement characteristics of excavator. So, it is meaningful to study the digging force, kinematics and dynamics of preventing radiation excavator for improving the ability of working device.The movement characteristics of working device is studied based on the theoretical analysis, combining numerical simulation and experimental validation in this paper. The preventing radiation excavator resistance force and digging force of different working condition is analysed. And the characteristic of kinematics, dynamics and digging force are simulated in different working condition. At last optimization is studied based on the former analysis and the main content is summarized as follows:(1) The resistance forces are calculated in the case of bucket rod cylinder and bucket cylinder works individually. For the question of maximum excavating force under the two conditions, which is a focus of attention between engineers, some related experiments were conducted on the basis of theoretical analysis. The experimental results show that the maximum bucket digging force is 130.83 KN, while the maximum stick digging force is 96.726 KN.(2) Due to the complexity of establishing the hydraulic excavator model, this paper use the third-party software —Pro/E to build model. Then the built model is turned into a neutral file format and inputted into the ADAMS software. In the case that each of the key points is ensured the position of geometric constraints unchanged, the working device was simplified.(3) The popular software(ADMAS) in the multi-body dynamics is used to analyse the working device. The whole digging range and other important related date are got with the analyzed kinematics, and there is no big difference between simulation and measured values; In the case of bucket rod cylinder and bucket cylinder works individually, the force situation of key points on the working device are analyzed with the dynamics. It turns out the force situation are complex in the actual work process.(4)Maximum digging force is simulated by the means of spring dynomometer in bucket digging and bucket rod excavation process. The result shows there is no big difference between simulation and measured values.(5) After analyzing the work device which have been parameterized, we undertake to have the link mechanism optimized. The simulation promotes the linkage force and the force of working device key points is down in the process of working. |
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