面向电铲自主装卸的矿用自卸车斗型优化

doi:10.13229/j.cnki.jdxbgxb.20220814

Abstract

Abstract:

To reduce the difficulty in autonomous loading operations， a mining haul truck dump body optimization method for payload balancing is constructed. Firstly， a differential iterative algorithm for reconstruction of material pile in dump body was built for calculation of center of gravity. Secondly，based on such calculation algorithm， the discrete element method （DEM） simulation for loading operation was constructed and validated. Thirdly， the influence of dump body structure on position of piled material gravity center was studied using DEM simulation experiments. At last， an optimization on dump body structure was accomplished with the object of payload balancing in cross section and the restraints of longitudinal payload distribution， safety and capacity. The comparison results indicate that the optimized dump body can generate more balanced payload distribution in extreme loading positions. Besides， it has larger loading area and higher operation efficiency.

Key words: mechanical design and theory, autonomous loading, mining haul truck, payload distribution, dump body optimization

CLC Number:

U469.4

Xiao-dan TAN,Yong-peng WANG,Robert Hall,Tian-shuang XU,Qing-xue HUANG. Haul truck dump body optimization for autonomous shovel loading[J].Journal of Jilin University(Engineering and Technology Edition), 2024, 54(5): 1227-1236.

Figures/Tables 25

Fig.1

Fig.2

Fig.3

Fig.4

Fig.5

Fig.6

Table 1

Measurement and calculation results comparison"

装卸位置	数据	$M s u m$ /kg	x/mm	y/mm	z/mm
1	测量值	6.69	24.65	64.81	-
	计算值	6.53	24.95	64.07	63.79
	$e a$	0.16	0.30	0.74	-
	$e r$ /%	2.39	1.22	1.14	-
2	测量值	7.81	4.63	87.45	-
	计算值	7.93	4.53	87.85	70.00
	$e a$	0.12	0.09	0.41	-
	$e r$ /%	1.54	1.94	0.47	-
3	测量值	5.06	-26.75	117.19	-
	计算值	5.20	-26.55	117.34	60.23
	$e a$	0.14	0.20	0.15
	$e r$ /%	2.77	0.75	0.13	-
P01	测量值	7.94	1.74	65.35	-
	计算值	8.03	1.70	65.98	70.02
	$e a$	0.09	0.04	0.63	-
	$e r$ /%	1.13	2.30	0.96	-
P02	测量值	7.30	0.77	68.92	-
	计算值	7.45	0.76	69.60	69.97
	$e a$	0.15	0.01	0.68
	$e r$ /%	2.05	1.30	0.99	-

Table 1

Table 2

Fig.7

Table 3

Comparison between DEM simulation and tests"

位置	数据	$θ 1$ /（°）	$θ 2$ /（°）	$θ 3$ /（°）	$θ 4$ /（°）	M/kg	x/mm	y/mm	z/mm
1	实测	33	25	25	35	7	25	64	64
	仿真	33	25	26	32	6	25	58	66
	$e a$	0	0	1	3	1	0	6	2
	$e r$ /%	0	0	4	8.6	14.3	0	9.4	3.1
2	实测	20	26	20	17	8	5	88	70
	仿真	22	28	20	19	8	4	85	69
	$e a$	2	2	0	2	0	1	3	1
	$e r$ /%	10	7.7	0	11.8	0	20	3.4	1.4
3	实测	27	33	16	27	5	-27	117	60
	仿真	28	34	17	24	5	-27	126	61
	$e a$	1	1	1	3	0	0	9	1
	$e r$ /%	3.7	3	6.3	11.1	0	0	7.7	1.7
P01	实测	28	22	20	20	8	2	66	70
	仿真	27	22	20	20	8	2	64	71
	$e a$	1	0	0	0	0	0	2	1
	$e r$ /%	3.6	0	0	0	0	0	3	1.4
P02	实测	26	23	19	21	7	1	70	70
	仿真	26	22	18	21	8	1	71	70
	$e a$	0	1	1	0	1	0	1	0
	$e r$ /%	0	4.3	5.3	0	14.3	0	1.4	0

Table 3

Table 4

Parameter setup for DEM simulation"

参数	符号	数值	单位
剪切模量	$E G$	10⁷	Pa
泊松比	$κ r$	0.25	-
物料密度	$μ ρ$	2652	kg/m³
恢复系数（颗粒-颗粒）	$C p$	0.15	-
恢复系数（颗粒-刚体）	$C w$	0.5	-
静摩擦系数（颗粒-颗粒）	$f s$	0.56	-
滚动摩擦系数（颗粒-颗粒）	$f r$	0.1	-
静摩擦系数（颗粒-刚体）	$? s$	0.7	-
滚动摩擦系数（颗粒-刚体）	$? r$	0.15	-

Table 4

Fig.8

Fig.9

Fig.10

Table 5

Simulation results in cross section"

x/mm	$α = 0 °$	$α = 10 °$	$α = 20 °$	$α = 30 °$
$β = 0 °$	-42.1037	-40.4551	-34.5286	-30.7583
$β = 15 °$	-36.0689	-34.9911	-29.7266	-29.9357
$β = 30 °$	-27.5441	-28.562	-25.5524	-26.6968
$β = 45 °$	-24.3589	-23.3156	-23.3531	-23.3987
z/mm	$α = 0 °$	$α = 10 °$	$α = 20 °$	$α = 30 °$
$β = 0 °$	49.9567	55.0207	60.7015	66.4349
$β = 15 °$	50.8874	56.9142	60.9985	66.0667
$β = 30 °$	54.9094	58.6167	61.8147	66.7795
$β = 45 °$	65.4542	66.8402	65.5834	67.3634

Table 5

Table 6

Fig.11

Table 7

Parameters of original and optimized truck body"

参数	$α 1$ /（°）	$α 2$ /（°）	H/mm	B/mm	$β 1$ /（°）	$β 2$ /（°）	L/mm
优化前	0.0	0.0	105	250	12.0	65.0	311
优化后	25.2	0.0	105	250	9.6	68.4	311

Table 7

Table 8

Table 9

Fig.12

Fig.13

Table 10

Fig.14

Table 11

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颗粒类型	真实形状	仿真颗粒	质量分数/%
针片状			20
棱锥状			64
立方体			16

i	p₀₀	p₁₀	p₀₁	p₂₀	p₁₁	p₀₂	R²
x	-29.81	2.079	5.272	-0.032	-1.726	-0.266	0.97
z	59.20	4.273	3.078	0.114	-2.170	1.697	0.97

卸料位置	G_x /mm		G_y /mm		G_z /mm		总质量/kg
卸料位置	原型	优化	原型	优化	原型	优化	原型	优化
1	25.04	17.43	58.40	66.16	65.91	70.72	5.96	6.00
2	3.92	2.93	84.96	89.78	68.86	74.52	7.90	7.73
3	-26.86	-20.04	129.99	136.50	60.53	59.61	4.76	4.72

悬架载荷分布	装卸位置1		装卸位置3
悬架载荷分布	优化前	优化后	优化前	优化后
左前	27.27	23.12	3.41	2.99
右前	12.98	13.96	7.61	5.37
差异	14.29	9.16	4.20	2.38
左后	49.70	45.99	12.83	21.49
右后	10.06	16.93	76.14	70.14
差异	39.64	29.06	63.31	48.65

数值	优化前	优化后
X_l/mm	-7.74	-14.86
X_u/mm	7.74	14.86
△X/mm	15.48	29.72
Y_l/mm	45.43	20.68
Y_u/mm	94.36	81.53
△Y/mm	48.93	60.85
面积/mm²	757.44	1808.46

Haul truck dump body optimization for autonomous shovel loading

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