Design And Research Of Multi Dof Controllable Backhoe Digging Mechanism

The excavator is a traditional mechanical engineering,which plays an irreplaceable role in the process of construction of earthwork engineering.Currently on the market single bucket hydraulic excavator is commonly used.Although Hydraulic excavators are widely used and its’ technology is mature and reliable,however,Hydraulic excavators also have many shortcomings.On the one hand hydraulic excavator’s hydraulic components need high machining precision and high maintenance costs.On the other hand,the hydraulic transmission consume a lot of energy and the vibration is relatively large.Moreover the hydraulic oil is easy to be affected by the temperature and environment and also easy to appear the problem of low efficiency.However,the traditional single degree of freedom mechanical excavator technology is backward,and its’ output trajectory is simple that can not meet the needs of modern constructionIn order to solve the above problems,this paper proposes a multi degree of freedom controllable backhoe mechanism which adopts advanced theory of controlled mechanism.This backhoe excavator uses multi linkage instead of hydraulic transmission.The mechanism is driven by a plurality of multiple servo motor.So the mechanism’s motion output is more flexible that can achieve a variety of mining and realize intelligent control to a certain extent.In this paper,the kinematics and dynamics of the mining mechanism are studied in detail.Combining with the simulation of ANSYS and ADAMS,which is the basis for the optimization of the mining mechanism and the design of the physical prototype.The main work is given as follows:(1)Based on topology theory,we get the best mechanism sketch of controllbale backhoe excavator.Then we analyze and explain structure and operation process of the mechanism.(2)Calculate its degree of freedom by screw theory.Solve the forward and reverse solution of the position of the mechanism.Then Analysing velocity and acceleration.(3)Based on the kinematic analysis of the previous paper,we analysis the singularity of the mechanism and the boundary conditions of the working space.(4)Convert the instantaneous force system into a static system by dynamic statics method and establish the mechanism’s dynamic static model.(5)The simulation of the model is carried out in the adams and ansys.The related data are obtained to verify the rationality and feasibility of the designed mining mechanism.