Research on Robotized Front Loaders for Agricultural Tractors

为了提高作业的适应性，实现作业的简易化，本文研究了具有比传统装载机更多的机械自由度的计算机控制的前端装载机，主要研究结果如下：1.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，由于流量控制阀的线性度不高，限制了前端装载机的运动速度范围。最大速度与最小速度之间的比率不能超过约10.2。组装了一个实验性的具有两个臂的前装载机。主要部件有液压抽油机、液压缸和电子流量控制阀。用个人电脑控制前端装载机。当气缸运动速度较低时，粘滑会干扰平稳运动。但是我们可以通过对流量计施加一个短的大的输入来获得平滑的运动。开发了实现实验前装载机作业所需基本运动的软件.小操纵杆被用作人类操作员的输入装置。

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.