面向电铲自主装卸的矿用自卸车斗型优化
Haul truck dump body optimization for autonomous shovel loading
谭晓丹 1王勇澎 2Robert Hall 3徐天爽 1黄庆学4
作者信息
- 1. 吉林大学 机械与航空航天工程学院,长春 130022
- 2. 太原重型机械集团有限公司 矿山采掘装备及智能制造国家重点实验室,太原 030024
- 3. 南达科他州矿业理工大学 采矿工程与管理学院,拉皮德城 57701
- 4. 太原理工大学 机械与运载工程学院,太原 030024
- 折叠
摘要
针对现有电铲自主装卸功能在料堆重构、环境感知、目标识别等领域存在技术难度的现状,从降低自主装卸作业任务难度的角度出发,本文提出了一种以载荷均衡分布为目标的矿用自卸车斗型优化方法.首先,构建了一种基于差分迭代的装卸后自卸车斗内料堆的轮廓重构方法,并对料堆质心位置进行计算;其次,建立并验证了模拟电铲装卸过程的离散元仿真方法;再次,利用离散元仿真实验,研究了不同斗型结构参数对斗内料堆质心位置的影响;最后,以横向载荷均布为目标,以纵向载荷分布、行驶安全性、斗容变化为约束对斗型进行优化.结果表明:优化后的斗型与原斗型相比,在保持装载能力和行驶安全性的前提下,极端装卸位置时的载荷分布均匀性显著提升,并具有更大的合理装卸面积和更高的作业效率.
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.
关键词
机械设计及理论/自主装卸/矿用自卸车/载荷分布/斗型优化Key words
mechanical design and theory/autonomous loading/mining haul truck/payload distribution/dump body optimization引用本文复制引用
基金项目
山西省揭榜招标项目(20191101014)
国家自然科学基金(52105100)
国家自然科学基金(52005208)
出版年
2024
NETL
NSTL
万方数据