ABSTRACT

Cable shovels are on the top priority of the most widely used machinery in open-pit mining industry, the automation of which offers great potential to improve both production efficiency and equipment reliability. Rational evaluations of digging force and power consumption serve as one of the fundamental techniques of realising autonomous operation of cable shovels. In this study, because of the wide range of digging parameters in theoretical calculation, the method of simulation is used to narrow the range of digging parameters in theoretical calculation, so that the digging force can be accurately and efficiently predicted by the method of theoretical calculation. Furthermore, scale-model-based experiments were taken in order to validate the effectiveness of the simulation results. Conclusively, although the theoretical calculation can numerically predict the power consumption in an acceptable extent ($R^2>0.85$), the fitted value of unit resistance to excavation for the theoretical calculation was out of its empirical value range according to the classical theory applied to the prediction of digging resistance in the design of cable shovel. On the other hand, the simulation results were shown to be highly consistent with the experimental results ($R^2>0.9$), which demonstrate the efficiency of the simulation method in evaluating dynamic working performance of cable shovels.

摘要

电缆铲是露天采矿行业中使用最广泛的机械的重中之重，其自动化具有巨大的潜力，可以提高生产效率和设备可靠性。对挖掘力和功耗的合理评估是实现电缆铲自动操作的基本技术之一。本研究中，由于理论计算中的挖掘参数范围较广，因此采用模拟方法来缩小理论计算中的挖掘参数范围，从而可以通过理论计算方法准确有效地预测挖掘力。 。此外，进行了基于比例模型的实验，以验证仿真结果的有效性。最后，${\mathrm{[R}}^2>0.85$），根据用于铲斗设计中挖掘阻力预测的经典理论，理论计算中的单位开挖阻力拟合值超出了其经验值范围。另一方面，仿真结果与实验结果高度一致（${\mathrm{[R}}^2>0.9$），证明了仿真方法在评估电缆铲动态工作性能方面的效率。