Research On Translation And Control Of Wheel Loader Bucket

Nowadays, the industry’s rapid development requires that the performance of allaspects of the loader is continue to be raised, whether the loader can meet therequirements and can complete the tasks quickly and efficiently depends entirely onthe ability of its mechanical and control systems to work in a variety of workingenvironments. And the loader bucket’s translation is just one of the assessments of thisability. During the actual operations of the loader, the phenomenon of the materialloss always happens, resulting in the loss of energy and the decline of work efficiency,so it is necessary to research the loader bucket’s translation.In the past, the research on the loader bucket’s translation mainly depended onthe rational design of mechanical parts or the method of the electronic controlregulation for the purpose to achieve the bucket’s approximate translation. But in thispaper, mechanical optimization and control regulation were combined with each otherand ground inclination was also taken into account for the research, so that the loaderbucket could achieve more accurate automatic translation at work, the material lossand the operator’s labor intensity were greatly reduced, thereby the accuracy andefficiency of the loader bucket were greatly increased.In this paper, the optimization iterative algorithm and the planar kinematicsgeometry were taken as the theoretical basis, the ZL15reversal six-bar wheel loader’sworking device was regarded as the research object, the control system model of theloader bucket’s automatic translation was gradually established by the use of theadvanced computational simulation software-MATLAB/Simulink. The buildingprocess was roughly as follows; Firstly, optimized the location coordinates of thehinge point of the turn-fighting oil cylinder and the frame of the loader bucket, seekedthe most advantage of the location coordinates by the use of the optimization iterativealgorithm and the programming tool of MATLAB, and finalized the coordinates ofthe optimization point by analysis of comparative images. And then, researched theloader’s working device though the planar kinematics geometry, discussed the basicparameters requirement for each sensor and the transfer function of the rocker armangle sensor, deduced the function relationships of the theory rocker corner computingmodule, built the each transfer function of the electro-hydraulic servo valve, theservo-hydraulic cylinder and the servo amplifier in the hydraulic servo system, and setup the hydraulic control systems according to the front data relationships combined with the designed block diagram of the bucket’s automatic translation control systemmodel. Finally, successively established the PID hydraulic control system and therocker arm angle control system on the basis of the hydraulic control system,combined of both to generate the loader bucket’s automatic translation control systemmodel, and simulated and analyzed the backwards angle of the loader bucket by thismodel. The simulation output images of the actual bucket backward angle showed thatthis model could control the actual bucket backward angle within the proper angle, sothe established bucket’s automatic translation control system was effective.In this paper, the established geometric function relationships, PID hydrauliccontrol system, rocker arm angle control system and bucket’s automatic controltranslation system on the ZL15loader’s working device, have some certain referenceto the study of the relevant aspects of other reversal six-bar loaders; meanwhile, thecontrol system can automatically control the income bucket angle, dumping height,dumping angle and other parameters of the loader bucket.