Research on Robotized Front Loaders for Agricultural Tractors

农用拖拉机机器人前端装载机研究

• 批准号: 06660312
• 负责人: TAKIGAWA Tomohiro
• 金额: $ 1.22万
• 依托单位: University of Tsukuba
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for General Scientific Research (C)
• 财政年份: 1994
• 资助国家: 日本
• 起止时间: 1994 至 1995
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-06660312/
• 关键词: Front Loader; Agricultural Machinery; Handling; ハンドリング

In order to increase adaptability of operations and to realize easier operation, we investigate computer controlled front loaders which have more degrees of mechanical freedom than traditional ones.Main results obtained by the research are as follows :1. Mechanical configurations of the front loader was investigated by conducting computer simulations. The results of simulations indicates that range of the motion speed of front loaders is limited due to the lack of linearity of flow control valves. The ratio between maximum speed to the minimum cannot exceed about 10.2. An experimental front loader with two arms was assembled. Main components are hydraulic pumping unit, hydraulic cylinders and electronic flow control valves. Personal computer was used to control the front loader. When the moving speed of cylinders is slow, the stick slip interferes smooth movement. But we can get smooth movement by applying a short large input to the flow controller.3. Software to realize basic movement required for operations of the experimental front loader was developed.4. Small joy stick was used for the inputting device of human operators.

为了提高作业的适应性，实现作业的便利性，研究了比传统装载机具有更多机械自由度的计算机控制前装载机。主要研究结果如下：通过计算机仿真研究了前装载机的机械结构。仿真结果表明，由于流量控制阀缺乏线性度，限制了前装载机的运动速度范围。最大速度与最小速度之比不能超过约10.2。组装了一台试验性的双臂前装载机。主要部件有液压抽油机、液压缸和电子流量控制阀。用个人电脑控制前装载机。当气缸的运动速度较慢时，粘滑会干扰平稳运动。但我们可以通过在流量控制器上施加一个短的大输入来获得平滑的运动。开发了实现实验前置装载机操作所需基本运动的软件。人工操作的输入装置为小摇杆。

项目成果

瀧川具弘・野口良造・小中俊雄・小池正之: "ロボティック・フロントローダの研究(第1報)" 平成7年度農業機械学会第31回関東支部年次大会要旨. 18-19 (1995)

Tomohiro Takikawa、Ryozo Noguchi、Toshio Konaka、Masayuki Koike：“机器人前端装载机的研究（第一次报告）”1995年第31届日本农业机械学会关东分会年会摘要18-19（1995年）。

Tomohiro TAKIGAWA,Ryozo NOGUCHI,Toshio KONAKA,Masayuki KOIKE: "Research on Robotized Front-Loaders (Part 1)" Proceedings of The thirty-First Annual Meetings of KANTO Branch, Japanese Society of Agricultural Machinery. 18-19 (1995)

Tomohiro TAKIGAWA、Ryozo NOGUCHI、Toshio KONAKA、Masayuki KOIKE：“机器人前端装载机的研究（第 1 部分）”日本农业机械学会关东分会第三十一届年会论文集。