A bucket wheel excavator [1] (also a bucket wheel excavator or wheel bucket excavator) is a type of bucket excavator that uses multiple buckets mounted on runners mounted on the front end of the boom to dig continuously. It is used for the excavation of a large number of earthworks, the stripping and mining of the mine and the loading and unloading of large material yards, with high productivity and large digging force, and can directly excavate harder soils. In large-scale buildings, water conservancy projects and mines, it is often matched with transportation equipment to form a continuous operation line. Bucket wheel excavators are classified into small, medium, large, extra-large and jumbo according to productivity or weight. Large-scale bucket wheel excavators have large digging force and are often used in mining. Wheel bucket excavator is gradually developed on the basis of chain bucket excavator, single bucket excavator and other mining equipment, is an ideal multi-bucket excavation equipment in continuous operation equipment, and is also one of the largest complete sets of excavation equipment in the world. The wheel bucket excavator is gradually developed on the basis of chain bucket excavators, single bucket excavators and other mining equipment, which is an ideal multi-bucket excavation equipment in continuous operation equipment and one of the largest complete sets of excavation equipment in the world [2]. Wheel bucket excavator has many advantages such as continuous operation, large production capacity, high efficiency, adaptation to complex coal seam selection, large transportation slope, simple operation, convenient maintenance, easy to achieve modern management, etc., especially suitable for large-scale open-pit mine high-efficiency mining operations, mainly used in open-pit mine to strip topsoil, excavate useful minerals, pile up operations, load to vehicles or conveyor belts, etc., in addition to the mixing yard, storage yard, large-scale water conservancy and earthwork are gradually more and more widely used. The wheel bucket excavator is mainly composed of 6 parts: walking system, slewing system, working system, conveying system, electric drive system, and hydraulic system, and its main features are [4]: (1) Walking system: Most wheel bucket excavators adopt crawler walking system, and a few adopt walking walking system. Judging from the relevant information, most of the medium and small wheel bucket excavators use double tracks, while large wheel bucket excavators use multiple tracks (three tracks or four tracks), which can reduce the specific pressure of the equipment on the ground. (2) Slewing system: composed of turntable and slewing drive device, etc., there is a power unit, a driving device, control equipment and a control room on the turntable, etc., due to the use of slewing support bearing, the drive device can make the turntable rotate 360 ° around the vertical axis. (3) Working system: It is composed of bucket wheel, boom, luffing mechanism and driving device. The bucket wheel is mounted at the front end of the boom and is a rotating wheel that evenly distributes several buckets. The rear end of the boom is hinged on the mast of the turntable, and the boom is rotated by wire rope or hydraulic cylinder, so that the bucket wheel can carry out excavation operations on different working faces. There are two main types of boom lengths: fixed and retractable. The bucket wheel drive device consists of an electric motor, a safety coupling and a reducer, etc., which are arranged on the side of the front end of the boom and are used to drive the bucket wheel to rotate. (4) Conveying system: It is composed of a receiving conveyor belt, a hopper and a discharging conveyor belt. In addition, the co