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万方数据 学位论文原创性声明 本人郑重声明所呈交的学位论文，是本人在导师的指导下，独立进 行研究所取得的成果。除文中已经注明引用的内容外，本论文不包含其他 个人或集体已发表或撰写过的科研成果。对本文的研究做出贡献的个人和 集体，均已在文中以明确方式标明。本声明的法律责任由本人承担。 论文作者签名签字日期年月日 学位论文版权使用授权书 本学位论文作者和指导教师完全了解太原理工大学有关保留、使用学 位论文的规定学校有权保留并向国家有关部门或机构送交学位论文的复 印件和电子版；允许本学位论文被查阅和借阅；学校可以将本学位论文的 全部或部分内容编入有关数据库进行检索，可以采用影印、缩印或其他复 制手段保存和汇编本学位论文。 本学位论文属于保密 在年解密后适用本授权书 不保密 论文作者签名导师签名 签字日期年月日签字日期年月日 万方数据 硕士学术学位、硕士非工程类专业学位 学位论文答辩信息表 论文题目WK-35 大型矿用挖掘机驾驶室设计 课题来源*省教育厅项目 论文答辩日期2020 年 6 月 6 日答辩秘书彭婧 学位论文答辩委员会成员 姓名职称博导/硕导工作单位 答辩委员 会主席 吴凤林教授硕导太原理工大学 答辩委员 1李爱峰正高级工程 师 硕导太原重工技术中 心 答辩委员 2张琳副教授硕导太原理工大学 *课题来源可填国家重点研发计划项目、国家自然科学基金项目、国 家社科基金项目、教育部人文社科项目、国家其他部委项目、省科技厅项 目、省教育厅项目、企事业单位委托项目、其他 万方数据 摘要 I 摘要 大型矿用挖掘机主要应用于露天煤矿的开采工作，是矿产资源开采中 不可或缺的机械设备。伴随着人力成本和矿产资源采掘难度的增加，大型 矿用挖掘机的应用也愈加广泛。随着研究的深入，大型矿用挖掘机在外部 性能和技术等方面都取得了很大的进步，相比较之下，驾驶室的人机问题 却愈加凸显。作为驾驶员主要的操作空间，驾驶室内部的人机布局、内饰、 界面等各方面人机设计水平都会对驾驶员舒适性、操作效率、安全性产生 重要的影响。因此，人机工程学的应用对于大型矿用挖掘驾驶室设计有着 重要的实际意义。 本文基于人机工程学理论，以太重集团的 WK-35 大型矿用挖掘机为研 究对象，提出了一种适用于大型矿用挖掘机的驾驶室设计方案。通过实验 和计算机模拟仿真等方法对现有大型矿用挖掘机操作区域进行了深入分 析，研究了操作装置的定位、控制台界面的设计和驾驶室的造型等人机系 统问题，旨在为驾驶员提供一个更加舒适，更加合理的工作环境。 本文主要研究工作和成果如下 （1）提出了一种基于动作捕捉技术的操纵装置布局方法。利用可穿戴 式三维动作捕捉系统及语义差分法所构建的主观舒适度问卷，设计了动作 捕捉实验，研究了操纵装置的定位问题。通过测试被试者的上肢关节角度 和主观舒适度，求解得出操纵手柄舒适区域，建立了挖掘机驾驶员关节舒 适性梯度表。 （2）提出了一种基于关键点三维坐标测量技术的手柄造型设计方法。 研究了操纵手柄的造型问题，通过测试不同百分位人体手部抓握姿势下关 键点坐标，确定了手柄抓握区域的形态。在此基础上，完成操纵手柄整体 造型的设计，利用 NURBS 建模法建立了操作手柄的三维模型。 （3）将人机工程学界面布置原则和矢量控制器人机界面设计法合理 应用至大型矿用挖掘机的界面设计中，研究了控制台界面的设计和定位问 题，对现有的界面进行了优化设计，基于人体视觉理论，对控制台界面进 行了重新布置，并建立了控制台的三维模型。 （4）在传统的产品意向造型法基础上，融合语义差分法相关理论，提 出一种更加符合大型挖掘机的造型方法。利用该方法研究了 WK-35 大型矿 用挖掘机驾驶室操作区域的造型问题，确立了大型矿用挖掘机驾驶室的设 万方数据 太原理工大学硕士学位论文 II 计意向，在操纵装置和控制台界面设计的基础上，完成了大型挖掘机驾驶 室操作区域的设计，建立了驾驶室三维模型。 （5）基于 JACK 仿真虚拟技术对挖掘机驾驶室人机系统进行评价，研 究了显示面板和铲斗的可视性问题、驾驶员的上肢可达性问题和驾驶员的 舒适性问题，通过对驾驶室方案改进前后的虚拟仿真分析，对比验证了改 进方案的优越性。 本文的研究成果为大型矿用挖掘机驾驶室的初始设计提供了理论指导 和依据，对提升我国大型矿用挖掘机驾驶室的人机设计水平具有一定的推 动作用。 关键词关键词驾驶室；操纵装置；控制台；人机工程 万方数据 ABSTRACT III ABSTRACT Large mining excavator is mainly used in the open-pit coal mining, and its an indispensable equipment in the mining process. With the increase of labor cost and mining difficulty of mineral resources, large-scale mining excavators are more and more widely used. With the deepening of the research, the large-scale mining excavator has made great progress in external perance and technology. In comparison, the man-machine problem in the cab is more and more prominent. As the drivers main operating space, the man-machine layout, interior decoration, interface and other aspects of the cab man-machine design level will have an important impact on the drivers comfort, operating efficiency, safety. Therefore, the application of ergonomics has important practical significance for the design of mining cab for large mines. Based on the theory of ergonomics and taking the WK-35 mining excavator of Taiyuan Heavy Machinery Group Co., Ltd. as the research object, this study proposed a design scheme of cab suitable for mining excavators.By means of experiment and computer simulation, the operating area of the existing large mining excavator was deeply analyzed, and man-machine system problems such as the positioning of the operating device, the design of the console interface and the modeling of the cab were studied, so as to provide a more comfortable and more reasonable working environment for the driver. The main research work and results of this paper are as follows 1 A control device layout based on motion capture technology was proposed. The motion capture experiment was designed to study the positioning of the controlling device by using the wearable 3D motion capture system and the subjective comfortability questionnaire based on semantic differential SD . By testing the angle and subjective comfort of the upper limb joint of the subjects, the comfort area of the control handle was obtained, and the joint comfort gradient table of the excavator driver was established. 2 A joystick design based on 3D coordinate measurement of key points was proposed. The shape of the joystick was studied and the shape of the grip area was determined by measuring the coordinates of key points in different 万方数据 太原理工大学硕士学位论文 IV percentile to which operators may grip. On this basis, the overall design of the joystick was completed, and the 3D model of the joystick was established by using the NURBS modeling . 3 Applying the interface layout principle of human-machine engineering and the design of vector controller interface into the interface design of large mining excavator, the interface design and positioning of the console were studied. The existing interface was optimized and the console was rearranged based on human vision theories, and the 3D model of the console was established. 4 A more suitable modeling for the large excavator based on the traditional purpose-oriented product modeling and semantic differential SD was proposed. This was used to study the modeling problems in the operational space of the WK-35s cab and to establish the design purpose of the cab of the large mining excavator. Based on the design of the control device and the console interface, the design of the operational space of the large excavators cab was completed, and the 3D model of the cab was established. 5 Based on Jack virtual simulation technology, this study uated the man-machine system of the excavator cab, including the visibility of the display panel and bucket, the accessibility of operators upper limbs and the comfortability. Through virtual simulation analyses before and after the improvement, the feasibility of the improving scheme was verified. The outcome of this study could provide some insights for the initial cab design in large mining excavators, and also help improve the domestic man-machine design capability of large mining excavators cab. Key Words Cab; Control Device; Console; Ergonomics 万方数据 目录 V 目录 摘要......................................................................................................................................... I ABSTRACT..............................................................................................................................III 第一章绪论.............................................................................................................................1 1.1研究背景及意义............................................................................................................1 1.1.1研究背景.................................................................................................................1 1.1.2研究意义.................................................................................................................2 1.2国内外研究现状............................................................................................................2 1.2.1挖掘机驾驶室人机工程研究现状.........................................................................2 1.2.2挖掘机驾驶室界面研究现状.................................................................................4 1.2.3基于计算机仿真技术的人机工程研究现状.........................................................4 1.2.4研究现状总结.........................................................................................................5 1.3研究内容和技术路线....................................................................................................5 1.3.1研究内容.................................................................................................................5 1.3.2技术路线.................................................................................................................6 1.4本章小结........................................................................................................................7 第二章大型矿用挖掘机驾驶室人机分析.............................................................................9 2.1引言................................................................................................................................9 2.2人机设计中的人体参数................................................................................................9 2.1.1人体构造尺寸.........................................................................................................9 2.2.2大型挖掘机驾驶室中的人体尺寸.......................................................................11 2.3人机设计中的人体数据的应用..................................................................................14 2.3.1人体数据的应用原则...........................................................................................14 2.3.2人体数据的应用流程...........................................................................................14 2.4人机系统的研究方法..................................................................................................15 2.5WK-35 大型矿用挖掘机人机要素分析.....................................................................17 2.5.1WK-35 挖掘机概述..............................................................................................17 2.5.2WK-35 挖掘机驾驶室人机设计要素..................................................................18 2.6本章小结......................................................................................................................19 万方数据 太原理工大学硕士学位论文 VI 第三章驾驶室操纵装置定位及设计...................................................................................21 3.1引言..............................................................................................................................21 3.2驾驶室操纵装置和动作捕捉技术..............................................................................21 3.2.1驾驶操纵装置概述...............................................................................................21 3.2.2动作捕捉技术概述...............................................................................................22 3.3动作捕捉实验..............................................................................................................23 3.3.1实验目的...............................................................................................................23 3.3.2实验装置...............................................................................................................23 3.3.3实验对象...............................................................................................................26 3.3.4实验过程...............................................................................................................26 3.3.5动作捕捉实验数据处理.......................................................................................31 3.4操纵装置的定位结果..................................................................................................36 3.4.1驾驶员关节舒适梯度...........................................................................................36 3.4.2舒适梯度仿真验证...............................................................................................37 3.5操纵手柄分析..............................................................................................................38 3.5.1手柄设计中的人机要素.......................................................................................38 3.5.2操纵手柄设计原则...............................................................................................41 3.6手柄关键点捕捉实验..................................................................................................42 3.6.1实验介绍...............................................................................................................42 3.6.2实验装置...............................................................................................................44 3.6.3实验对象...............................................................................................................46 3.6.4实验过程...............................................................................................................46 3.6.5实验数据处理.......................................................................................................47 3.7手柄造型设计..............................................................................................................51 3.7.1操纵手柄关键点简化...........................................................................................51 3.7.2操纵手柄设计方案...............................................................................................52 3.8本章小结......................................................................................................................53 第四章控制台界面的优化设计及定位...............................................................................55 4.1引言..............................................................................................................................55 4.2WK-35 控制台界面介绍.............................................................................................55 4.3显控界面的设计原则..................................................................................................56 万方数据 目录 VII 4.4WK-35 控制台界面人机改进方向.............................................................................57 4.5控制台界面的布置设计..............................................................................................58 4.5.1控制台定位分析...................................................................................................58 4.5.2控制台目视距离的确定.......................................................................................59 4.5.3控制台界面倾角的确定.......................................................................................60 4.6控制台界面的优化设计..............................................................................................61 4.6.1界面功能区域的编排...........................................................................................61 4.6.2指示文字的设计...................................................................................................64 4.6.3灯光和按键信号色...............................................................................................65 4.6.4面板分区色彩处理...............................................................................................65 4.7设计方案展示..............................................................................................................66 4.8人机操作绩效测试......................................................................................................68 4.9本章小结......................................................................................................................69 第五章WK-35 挖掘机驾驶室的造型设计及建模..............................................................71 5.1引言..............................................................................................................................71 5.2操作区域概述..............................................................................................................71 5.3操作区域设计意向......................................................................................................72 5.3.1产品意向造型法...................................................................................................72 5.3.2产品意向词汇的提取...........................................................................................72 5.3.3SD 调查问卷确认产品整体意向.........................................................................73 5.3.4SD 调查问卷确认产品关
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