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本文要导出铲斗方位域计算中的一些重要公式,并给出有关框图。首先根据机器的结构参数、初始位置和运动范围,确定挖掘范围的区域划分型式,明确挖掘范围内具体的区域划分情况;确定铲斗两极限方位的限定条件和方位域的性质;判定给定点M所在的区域;最后根据铲斗极限方位的限定条件推导铲斗两极限方位时各运动构件的运动参数,以及铲斗两极限方位的方位角和铲斗方位域的计算公式。
In this paper, some important formulas in the calculation of the bucket azimuth domain are to be derived and relevant block diagrams are given. Firstly, according to the structure parameters, initial position and motion range of the machine, the regional division pattern of the excavation area is determined, the specific area division within the excavation scope is defined, the limit conditions of the two extreme positions of the bucket and the nature of the azimuth domain are determined, and the given point M is determined. The area where it is located; and finally, the motion parameters of each moving member when the two buckets are in the extreme azimuth are derived according to the limit conditions of the bucket’s extreme azimuth, and the azimuth angles of the bucket’s two extreme azimuths and the calculation formula of the bucket azimuth field.