Excavating force analysis and calculation of dipper handle
Chang Lv
Faculty of Transportation Engineering
HuaiYin Institute of Technology
Huai’an,China
e-mail: changlv7114@163.com
Abstract— A basic structure of excavator anti shovel device is
introduced. The digging resistance force graph of the rotating
bucket is drawn, and the calculation method of digging
resistance is analyzed. Besides, the calculation diagram of the
theoretical digging force of the bucket arm cylinder is given,
the calculation method of theoretical digging force of the
working hydraulic cylinder is deduced. Then, the calculation
diagram of the theoretical digging force of the stick is given.
The calculation method of actual digging force of the stick
working hydraulic cylinder is deduced. Considering the
influence of the actual engineering situation on digging force of
the rotating bucket, the maximum actual digging force is
calculated when the bucket excavating.
Keywords-excavating force; dipper handle; Analysis;
calculation
I. INTRODUCTION
Excavator anti shovel device consists of swing arm,
kangaroo bar, connecting rod, movable arm hydro-cylinder,
bucket cylinder and so on. The basic form is shown in figure
1.
 usually used to measure the improving ability of excvavtor.It
1-movable arm hydro-cylinder, 2-swing arm, 3-bucket arm
cylinder, 4-bucket, 5-basket cylinder, 6-draw bar, 7-rocker
arm, 8-basket
Figure 1. Anti shovel device
As is shown in figure 1, according to the practical work
requirements, the variables of hydraulic excavator working
device performance against shovel are confirmed. And the
represent sizes of each parameter are as follows:
l1 = CF , l 2 = FQ , l 3 = QV . The weight of VZLQJ
DUP LV G1 , geocentric coordinates of swing arm are
XG1 , YG1 ,the weight of bucket is G2 , geocentric
978-1-61284-459-6/11/$26.00 ©2011 IEEE
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Zhang Jihong
Faculty of Transportation Engineering
HuaiYin Institute of Technology
Huai’an,China
e-mail: zhangjihong@163.com
coordinates of bucket are XG2 , YG2 , the weight of basket is
G3 , geocentric coordinates of basket are XG3 , YG3 .The
weight of complete machine is G , the centroid position
parameter is rs, coordinates of swing arm and frame hinge
point are XC , YC . Coordinates of earth point after track
running are XI , YI . Ground adhesion coefficient is mμ .
L1 min = AB min , L1 max = AB max , these are respectively the
minimal and the maximal length of arm oil cylinder;
L2 min = DE min , L2 max = DE max , they are respectively the
minimal and the maximal length of bucket arm cylinder;
L3 min = GM min , L3 max = GM max , they are respectively the
minimal and the maximal length of basket cylinder; the
small and big cavity diameter of movable arm hydro-
d g1 d g
cylinder are , ; the small and big cavity diameter of
bucket arm cylinder are
d d 1 , d d ; the small and big cavity
d 31 d 3
diameter of basket cylinder are , ; Hydraulic system
P
work pressure is ; Hydraulic system closure pressure is
Pb .
II. THE CALCULATION OF THEORETICAL DIGGING FORCE
OF BUCKET
Movable arm hydraulic-cylinder of working device is
is known to us that the theoretical digging force of hydraulic
cylinder counters bucket hydro-cylinder. When some
influencing factors are not considered, such as self-weight of
working device, bucket load, hydraulic system, efficiency of
link mechanism and working back-pressure of hydraulic
system, the bucket hydro-cylinder is used alone, then the
acting force which caused by the structure parameters of
working device and the theoretical digging force of hydraulic
cylinder is called theoretical digging force of this hydraulic
cylinder.
As is shown in figure 2, when we use bucket hydraulic-
cylinder to excavate the soil, the computational formula of
the theoretical digging force of bucket hydraulic-cylinder is:
 s III. THE CALCULATION OF REALISTIC DIGGING FORCE OF A
5 BUCKET
F = F ⋅i = F . (1)
S 2 2 2 s
6 Under the given conditions (L1 and L2, L3), when we
caculate the realistic digging force of a bucket,we should
Where: F2ŪTheoretical thrust of bucket hydraulic-cylinder, consider some influencing factors as follows:
F2 = A2 ⋅ p ; (1) the limit from the atresia capability of a movable arm
hydraulic-cylinder to the bucket digging force.
A2 ŪArea of sprinklers operation of the large
(2)the limit from the active digging force of bucket.
chamber of bucket hydraulic cylinder; (3) the limit from the atresia capability of basket
hydraulic-cylinder to the bucket digging force.
s
s5, s6Ū Pressure levers; 6 is the crow-fly distance (4)the limit from the machine lean forward to the bucket
from the cutting basket edge digging force.
with hinged
(5)the limit from the machine lean backward to the
shaft of the bucket; bucket digging force.
i2 Ūtransmission ratio of bucket hydraulic-cylinder, (6)the limit from surfical cross-slippage of the whole
machine to the bucket digging force.
s5
i2 = Now calculate them respectively as follows:
s6 .
If the working device is determined, s5 is the function of
L2, and if s5 is confirmed, s6 is the function of L3.Therefore,
FS
is the binary function of L2 and L3. When s5 is equal to
LEF , L3=L3max,that is to say s6=s6min, then FS = FS max . In
principle, it is only the maximum excavating force. At that
position which is shown in figure 4b, the digging force of
bucket hydraulic-cylinder makes no sense. When we actually
calculate and measure, we make basket position when
i1 = i1max and bucket position when s5 = LEF as the
existence conditions of maximum excavating force of bucket
hydraulic-cylinder.


Figure 3. The theoretical digging force diagram of a bucket hydraulic-
cylinder

A. Maximum bucket digging force PG1 which is limited by

the atresia capability of a movable arm hydraulic-
cylinder
As is shown in figure 3, according to the geometrical
dimension computation, we can ask out the point
coordinates of F and V. And, they are (XF, YF) and (XV,
YV).
Figure 2. The calculation graph of theory mining force of bucket 2 2

hydraulic-cylinder FV = (X F -X V ) + (YF -YV ) . (2)

2 2
CV = (X C -X V ) + (YC -YV ) . (3)

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 ğCVF=arccos[(CV2+FV3-L22)/(2×CV×FV)]. (4) Therefore
PG3=(M2-M3)/[l3·cos(ğFVQ)]. (19)
°
When ∠CVF ≤ 90 , the small cavity of movable arm D. The limit from the machine lean forward to the bucket
hydraulic-cylinder gets pressured, at this time, the torque digging force PG4
from the atresia force of the small cavity to C point:
As to ƸFVO1
M1=ʌPb[(dg/2)3-(dg1/2)2]×l5×sin ∠CAB . (5) 2 2
FT = (X F -X T ) + (Y F ) . (20)
The torque from the relevant weight to C point:
2 2
M2=ȈGi (XGi-XC). (6) VT = (X V -X T ) + (Y V ) . (21)
Therefore, Obviously, when ğFVT”90 °, a bucket works, the
machine is impossible to cause front slant. Only ∠FVT >
PG1=(M1+ M2)/(CV·cos ∠CVF ). (7) 90 °, the machine is possible to emerge the forward
When ∠CVF >90°, the large cavity of movable arm phenomenon. The torque from the weight of all parts to T
hydraulic-cylinder gets pressured, at this time, the torque point:
from the atresia force of the large cavity to C point: M=ȈGi(XGi-XT) . (22)
Therefore
M3=ʌPb(dg/2)2×l5×sinğCAB. (8)
PG4=M/[VTcos(ğFVT)]. (23)
Therefore, 
PG1=(M3-M3)/[CV·cos( ∠CVF )]. (9) E. The limit from the machine lean backward to the bucket
digging force is PG5
As to ƸFVI
B. The active digging force of a bucket hydraulic-cylinder 2 2

is PG2 FI = (X F -X I) + (Y F ) . (24)
The torque from the active force of a bucket hydraulic- 2 2
VI = (X V -X I) + (Y V ) . (25)
cylinder to F point:
M1=ʌP(dd/2) 2l9sin ∠DEF . (10) 2 3-
ğFVI=arccos[(FV +VI FI )/(2FV·VI)] . (26) 2

The torque from the relevant weight to F point: Obviously, whenğFVI•90°ˈwhen a bucket works, the
M
machine is impossible to cause rear slant. Only ∠FVT <
M2=ȈGi(XGi-XF). (11) 90°, the machine is possible to emerge the backward
Thereforeˈ phenomenon.
PG2=(M1+M2)/FV . (12) The torque from the weight of all parts to T point:
C. The maximum bucket digging force PG3 which is M=ȈGi(XGi-XI) . (27)
limited by the atresia capability of a basket hydraulic- Therefore,
cylinder PG5=M/[VIcos(ğFVI)] . (28)
As to ƸFVQ, F. The limit from surfical cross-slippage of the whole
2 3- 2
∠FVQ =arccos[(l3 +FV L2 )/(2·l3·FV)] . (13) machine to the bucket digging force is PG6
When ğFVQ”90°, the large cavity of a basket Set intersection angle from ligature FV to horizontal line,
hydraulic-cylinder gets pressured, at this time, the torque then:
from the atresia force of the large cavity to Q point: α 38 =arctg[(PGF-PGV)/(XF-XV)] . (29)
M1=ʌPb(d3/2)2·i3·l3 . (14) PG 6 = (G + G1 + G2 + G3 ) μ / sin α 39 . (30)
Among them, the total ratio of a bucket linkage
Through above operation, we know that the minimum
i3=[113124sin(Į22 +Į30)sinĮ29]/[ l3l14 sinĮ28]. (15)
value of is PG1 to PG6, that is in this condition, the bucket
Among them, Į22 =ğGNM, Į30=ğNGM, Į29=ğMKQ, could express the maximum practicable digging force.
Į28=ğNMK
The torque from the relevant weight to Q point: IV. CONCLUSIONS
M2=G1(XG2-XQ)+G2(XG2-XQ) . (16) Draw the calculation diagram of theory mining force of
Therefore bucket hydraulic-cylinder respectively. Based on it, given
PG3=(M1+M2)/[l3cos(ğFVQ)] . (17) these conditions that conclude the limit from the atresia
When ğ FVQ > 90 °, the small cavity of a basket capability of a movable arm hydraulic-cylinder to the bucket
hydraulic-cylinder gets pressured, at this time, the torque digging force, the limit from the active digging force of
from the atresia force of the small cavity to Q point: bucket, the limit from the atresia capability of basket
M3=ʌPb[(d3/2) 3-(d31/2) 2]·i3·l3 . (18) hydraulic-cylinder to the bucket digging force, the limit

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from the machine lean forward to the bucket digging force,
the limit from the machine lean backward to the bucket
digging force, the limit from rear slant cross-slippage of the
whole machine to the bucket digging force, we calculate the
maximum practical digging force when a bucket is working.
ACKNOWLEDGMENT
The authors gratefully acknowledge the supports from
Natural Science Foundation of Jiangsu Province
(BK2009168), “The peak of six personnel” Project of
Jiangsu Province (2010-JXQC-023) and “Qing Lan Project”
of Jiangsu Province (Jiangsu Teacher [2010] 27).
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