Geometric and force relationships for the development of a scaled model hydraulic excavator

Hydraulic excavators in the mining industry are widely used owing to the large payload capabilities these machines can achieve. However, there are very few optimisation studies for producing efficient hydraulic excavator backets. An efficient bucket can avoid unnecessary weight; greatly influence the payload and optimise the efficiency of hydraulic mining excavators. This paper presents a framework for the development of a scaled hydraulic excavator by examining the geometry and force relationships. A small hydraulic excavator was purchased and fitted with a broom scaled to a factor. Geometric and force relationships of the model were derived to assist computer instrumentation to retrieve necessary variable input for bucket design.

Three-dimensional imaging for a very large excavator

In this paper we describe the development of a three-dimensional (3D) imaging system for a 3500 tonne mining machine (dragline).Draglines are large walking cranes used for removing the dirt that covers a coal seam. Our group has been developing a dragline swing automation system since 1994. The system so far has been `blind' to its external environment. The work presented in this paper attempts to give the dragline an ability to sense its surroundings. A 3D digital terrain map (DTM) is created from data obtained from a two-dimensional laser scanner while the dragline swings. Experimental data from an operational dragline are presented.

Trajectory Control of Electro Hydraulic Excavator using Fuzzy Self Tuning Algorithm with Neural Network

This paper presents the trajectory control of a 2DOF mini electro-hydraulic excavator by using fuzzy self tuning with neural network algorithm. First, the mathematical model is derived for the 2DOF mini electro-hydraulic excavator. The fuzzy PID and fuzzy self tuning with neural network are designed for circle trajectory following. Its two links are driven by an electric motor controlled pump system. The experimental results demonstrated that the proposed controllers have better control performance than the conventional controller.

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Robust bucket position tracking for a large hydraulic excavator

The device we study is the excavation arm of a large hydraulic mining shovel having a multi-loop kinematic form. We describe an iterative algorithm that allows the position of the bucket to be tracked from measurements of the linear actuator extensions. The important characteristic of this algorithm is that it is numerically well-behaved when the linkage is close to singular configurations. While we focus on a specific device, the algorithm is easy to adapt to other multi-loop linkages. (C) 2004 Elsevier Ltd. All rights reserved.

Off-world robotic excavation for Large-scale habitat construction and resource extraction

This paper describes technologies we have developed to perform autonomous large-scale off-world excavation. A scale dragline excavator of size similar to that required for lunar excavation was made capable of autonomous control. Systems have been put in place to allow remote operation of the machine from anywhere in the world. Algorithms have been developed for complete autonomous digging and dumping of material taking into account machine and terrain constraints and regolith variability. Experimental results are presented showing the ability to autonomously excavate and move large amounts of regolith and accurately place it at a specified location.

Real-time volume estimation of a dragline payload

This paper presents a method for measuring the in-bucket payload volume on a dragline excavator for the purpose of estimating the material's bulk density in real-time. Knowledge of the payload's bulk density can provide feedback to mine planning and scheduling to improve blasting and therefore provide a more uniform bulk density across the excavation site. This allows a single optimal bucket size to be used for maximum overburden removal per dig and in turn reduce costs and emissions in dragline operation and maintenance. The proposed solution uses a range bearing laser to locate and scan full buckets between the lift and dump stages of the dragline cycle. The bucket is segmented from the scene using cluster analysis, and the pose of the bucket is calculated using the Iterative Closest Point (ICP) algorithm. Payload points are identified using a known model and subsequently converted into a height grid for volume estimation. Results from both scaled and full scale implementations show that this method can achieve an accuracy of above 95%.

Integrated approach to optimize open-pit mine block sequencing

Critical stage in open-pit mining is to determine the optimal extraction sequence of blocks, which has significant impacts on mining profitability. In this paper, a more comprehensive block sequencing optimisation model is developed for the open-pit mines. In the model, material characteristics of blocks, grade control, excavator and block sequencing are investigated and integrated to maximise the short-term benefit of mining. Several case studies are modeled and solved by CPLEX MIP and CP engines. Numerical investigations are presented to illustrate and validate the proposed methodology.

Pond apple (Annona glabra L.) - Investigating novel mechanical control options

Pond apple usually occurs in swampy areas, but mechanical control may be a viable option in some locations during drier periods. Two machines, the Positrack™ and the Tracksaw™, have been trialled for initial kill rate, amount of follow-up control required, safety to field operators, cost-efficiency and selectivity (effect on native vegetation), compared to other control options. The Positrack™ is a tracked bobcat with a slasher-type attachment that cuts individual trees off near ground level and mulches them. It has no on-board herbicide application capability and requires an additional on-ground operator to apply herbicide by hand. The Tracksaw™ is a tracked mini-excavator with a chainsaw bar and spray applicator on the boom that cuts individual trees off near ground level and applies chemical immediately to the cut stump, requiring only a single operator. Initial trials were done in infestations of similar sizes and densities at the Daintree (Positrack™) and in Innisfail (Tracksaw™) in late 2009. Kill rates to date are 83% for Positrack™ mechanical, 95% for Positrack™ mechanical plus herbicide, and 78% for the Tracksaw™ combined treatment. If ongoing comparison proves either of these machines to be more cost effective, selective, and safer than traditional control methods, mechanical control methods may become more widely used.

液压反铲挖掘机工作装置有限元动态分析

针对挖掘机工作装置的结构特点 ,建立了其系统 3维有限元模型 ,通过分析得出了系统的固有频率和振型 ,以及结构动态响应各时刻的变形和应力分布规律。比较了工作装置在开挖难度较小和较大 2种情况下 ,挖掘阻力对系统动力响应的影响