Capture of Large Objects by the Earthmoving Machine’s Implement During Operation on Motor and Toting Roads

  • Altynbek KaukarovEmail author
  • Natalia Kokodeeva
  • Andrey Kochetkov
  • Leonid Yankovsky
  • Igor Chelpano
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 1116)


The goal of the current work is to ensure the efficiency of the operation of the implement of the earthmoving machine while capturing large stone objects during work on transport facilities, motor and toting roads. The problem of creating special purpose implements for removal of mudslides with large-scale inclusions remains urgent and unresolved as of today. Methods of mathematical modeling of the interaction of the implement of the earthmoving machine with a large stone object in static and in motion were used in the research. Additionally, the priorities of geometry of object capture have been formulated. It is shown that the objects captured may lie in different angular orientations. During the capture process, when the jaws are compressed, the object can move and rotate inside the implement. For many tasks, the capture geometry needs to be considered a set of different angular orientations of the object, for which you should use the known conditions of conversion of coordinates for rotation. This complex movement is described by the equations of the transformation of parallel transfer and turn. Mechanical grabbing devices are analyzed (capture devices). An example is used to illustrate specific problems of holding a captured object by two parallel working elements when the elements are touching two flat surfaces of the object. A description of the developed design of the grab is provided. The technical result of the proposed solution is to improve the efficiency of the hydraulic excavator with a hydraulic jaw through coordinated synchronous control of moving parts of working equipment (bucket and jaw), reliable fixation of the moment of transition from one mode of operation of the equipment to another and further coordinated-synchronous operation of the equipment in each of the modes.


Grips Implements of earthmoving machines Stability Design Kinematic scheme Mathematical model Interaction Design method 


  1. 1.
    Chelpanov, I.V., Kolpashnikov, S.N.: Robot Jaws. Mashinostroenie, Leningr (1989)Google Scholar
  2. 2.
    Balovnev, V.I.: Modeling the Processes of Interaction with the Environment of the Implements of Road-Building Machines. Mechanical engineering, Moscow (1994)Google Scholar
  3. 3.
    Ananin, V.G.: Theory and calculation of the parameters of working equipment of single-bucket excavators with mechanical drive: Dis. Doct. Tech. Sciences, Tomsk (2007)Google Scholar
  4. 4.
    Pavlov, V.P.: Methodology of effective design of single-bucket excavators: Autoref. Doct. Tech. Sciences, Moscow (2008)Google Scholar
  5. 5.
    Arsić, D., Gnjatović, N., Sedmak, S., Arsić, A., Uhričik, M.: Integrity assessment and determination of residual fatigue of vital parts of the bucket-wheel excavator operating under dynamic loads. Eng. Fail. Anal. 105, 182–195 (2019). Scholar
  6. 6.
    Komissarov, A.P., Lagunova, Y.A., Lukashuk, O.A.: Evaluation of single-bucket excavators energy consumption. Procedia Eng. 150, 1221–1226 (2016). Scholar
  7. 7.
    Danicic, D., Sedmak, S., Ignjatovic, D., Mitrovic, S.: Bucket wheel excavator damage by fatigue fracture. Case Study Procedia Mater. Sci. 3, 1723–1728 (2014). Scholar
  8. 8.
    Arsić, M., Bošnjak, S., Gnjatović, N., Sedmak, S.A., Savić, Z.: Determination of residual fatigue life of welded structures at bucket-wheel excavators through the use of fracture. Mech. Procedia Struct. Integrity 13, 79–84 (2018). Scholar
  9. 9.
    Tiwari, R., Knowles, J., Danko, G.: Bucket trajectory classification of mining excavators. Autom. Constr. 31, 128–139 (2013). Scholar
  10. 10.
    Feng, H., Yin, C., Li, R., Ma, W., Zhou, J.: Flexible virtual fixtures for human-excavator cooperative system. Autom. Constr. 106, 102897 (2019). Scholar

Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.QazATK named after M. TynyshbayevAlmatyKazakhstan
  2. 2.Gagarin SSTU, Y.A.SaratovRussia
  3. 3.Perm National Research Polytechnic UniversityPermRussia
  4. 4.St. Petersburg National Research University of Information Technology, Mechanics and OpticsSt.PeterburgRussia

Personalised recommendations