CN112634735B - Optimization experiment table for loader working device - Google Patents

Optimization experiment table for loader working device Download PDF

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CN112634735B
CN112634735B CN202110045283.1A CN202110045283A CN112634735B CN 112634735 B CN112634735 B CN 112634735B CN 202110045283 A CN202110045283 A CN 202110045283A CN 112634735 B CN112634735 B CN 112634735B
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push rod
electric push
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rod component
universal
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CN112634735A (en
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崔玉鑫
王超飞
杨彬
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Jilin University
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Jilin University
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    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
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    • G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery

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Abstract

Loader equipment optimization experiment platform belongs to scientific education technical field, remedies the problem that courses such as the optimal design of advanced education lack teaching aid for teaching. The invention is composed of a mounting and fixing support, a movable arm frame, a rocker arm frame, a bucket frame, a rotating bucket pull rod, an electric push rod component, an MPU6050 attitude sensor and the like, and shows the structure of the loader working device in a physical and visual mode. According to a mathematical model established by the optimization problem of the working device of the loader, the optimal position of each hinge point is obtained by solving, each hinge point can be set to the optimal position by using the experiment table designed by the invention, the working process of the loader is simulated, and the optimization result and the optimization effect are demonstrated at the same time. Can demonstrate the thought and the process of modern optimal design method to the student as teaching tool in higher education, experience the theory of modeling and optimization principle, know loader equipment's theory of operation, be the good teaching aid of carrying out experiment teaching.

Description

Optimization experiment table for loader working device
Technical Field
The invention belongs to the technical field of scientific education, and particularly relates to a teaching aid for demonstrating the optimization design principle and effect of a loader working device in teaching.
Background
Referring to fig. 16, the working device of the loader is a link mechanism for the loader to realize the shoveling, loading and unloading of materials and other operations, and is composed of a frame, a movable arm cylinder, a bucket, a rotating bucket cylinder, a rocker arm and a rotating bucket pull rod, the design quality and performance of the working device directly affect the working efficiency and quality of the loader operation, and the other performance of the whole loader is also greatly affected. The sizes and the hinge point positions of all parts of the connecting rod mechanism are reasonably designed, so that good bucket translation performance can be obtained, the bucket can be automatically leveled, and the required output force and power of the rotary bucket oil cylinder and the movable arm oil cylinder are reduced as much as possible.
Scholars at home and abroad carry out a great deal of research on the optimization problem of the loader working device, establish mathematical models of the optimization problem at different levels, and solve the problem by using a computer, thereby solving a plurality of practical engineering problems. However, learning these optimization methods still presents great difficulties for students. On one hand, because the optimized mathematical model of the actual engineering problem is very complex, the modeling process involves a large amount of formula calculation and is obscure and unintelligible; on the other hand, the solution of the optimized mathematical model can only be completed by a computer, the correctness of the optimized result is mainly judged by experience or verified by manufacturing a prototype, the cost is high, and the actual effects of different optimized results cannot be compared.
Meanwhile, with the development of science and technology, teaching modes are advanced with time, and experimental teaching is paid attention. In the field of teaching, advanced teaching aids are urgently needed. For the engineering students, experimental teaching is especially important. In order to make students fully understand what they learn, scientific teaching aids are indispensable in relevant teaching. In higher education of universities, attention is paid to the teaching of modern optimization design methods of students in the department of industry. At the same time, mastering modern optimization design methods is also a difficult point for educators. At present, the colleges and universities lack materials and experimental platforms for an optimized design method for teaching. Aiming at the optimization problem of the working device of the loader, the optimization design method is a typical case of applying a mathematical principle to carry out optimization design in the engineering teaching, but a teacher often lacks an entity demonstration platform and can only carry out written teaching, the teaching effect is not ideal, a real object teaching experiment platform related to the optimization design of the working device of the loader is not available at home at present, and a teaching aid for teaching by a modern optimization design method is in a relatively lacking state at home.
Disclosure of Invention
In order to fill the gap, the invention provides a scientific teaching aid for modern optimization design methods in higher education and industrial teaching, which can demonstrate the optimization process and method of the working device of the loader and provide an experimental platform for the design research of the working device of the loader.
The invention relates to a demonstration teaching aid for the optimized design of a loader working device, which comprises a mounting and fixing support I1, a circular shaft I2, a diamond-shaped belt seat bearing I3, a circular shaft locking seat I4, a movable arm frame I5, a movable arm electric push rod assembly I6, a movable arm electric push rod assembly II7, a rotary bucket electric push rod assembly I8, a circular shaft II9, a universal electric push rod assembly I10, a universal electric push rod assembly II11, a universal electric push rod assembly III12, a universal electric push rod assembly IV13, a universal electric push rod assembly V14, a universal electric push rod assembly VI15, a universal electric push rod assembly VII16, a universal electric push rod assembly VIII17, a circular shaft III18, a universal electric push rod assembly IX19, a universal electric push rod assembly X20, a circular shaft IV21, a universal electric push rod assembly XII 22, a universal electric push rod assembly VII 23, a rocker arm frame I24, a universal electric push rod assembly XIII25, a XIV push rod assembly XIII 26 and a universal electric push rod assembly XIII 26V 24, wherein the universal electric push rod assembly II is arranged on the mounting and fixing support, The device comprises a circular shaft V27, a rotary bucket pull rod I28, a diamond-shaped bearing with a seat II29, a circular shaft VI30, a circular shaft locking seat II31, a circular shaft VII32, a circular shaft locking seat III33, a bucket frame I34 and an MPU6050 attitude sensor I35. Wherein, the bottom aluminum section bar of the mounting fixing bracket I1 is fixedly connected with the ground, the mounting bottom surface of the round shaft locking seat I4 is fixedly connected with the aluminum section bar of the mounting fixing bracket I1 by using bolts, the round shaft I2 passes through the shaft hole of the round shaft locking seat I4 and is fixedly connected by using bolts, the round shaft I2 passes through the shaft hole of the rhombic seated bearing I3, the inner ring of the rhombic seated bearing I3 is fixedly connected with the round shaft I2 by using locking bolts, the outer ring of the rhombic seated bearing I3 is fixedly connected with the aluminum section bar of the movable arm frame I5 by using bolts, the outer ring and the inner ring of the rhombic seated bearing I3 can rotate relatively, the movable arm frame I5 can rotate around the axis of the round push rod I2, the mounting bases of the movable arm electric assembly I6 and the movable arm electric assembly II7 are fixedly connected with the aluminum section bar of the mounting fixing bracket I1 by using bolts, the round shaft II9 passes through the ear rings of the movable arm electric assembly I6 and the push rod II7, the movable arm electric push rod component I6 and the movable arm electric push rod component II7 can rotate around the axis of a round shaft II9, the round shaft II9 penetrates through the bearing inner rings of the diamond-shaped seated bearings of the general electric push rod component I10 and the general electric push rod component II11, the bearing inner rings of the diamond-shaped seated bearings of the general electric push rod component I10 and the general electric push rod component II11 are fixedly connected with the round shaft II9 by using locking screws, the mounting bases of the general electric push rod component I10 and the general electric push rod component II11 are fixedly connected with the aluminum profile rod of the movable arm frame I5 by using bolts, the round shaft II9 penetrates through the bearing inner rings of the diamond-shaped seated bearings of the general electric push rod component III12 and the general electric push rod component IV13, the bearing inner rings of the diamond-shaped seated bearings of the general electric push rod component III12 and the general electric push rod component IV13 are fixedly connected with the round shaft II9 by using locking screws, the mounting bases of the general electric push rod component III12 and the general electric push rod component IV13 are fixedly connected with the aluminum profile rod frame I5 by using bolts, the luffing jib frame I5 can rotate around the axis of a circular shaft II9, the mounting bases of the universal electric push rod assembly V14, the universal electric push rod assembly VI15, the universal electric push rod assembly VII16 and the universal electric push rod assembly VIII17 are fixedly connected with an aluminum profile rod of the luffing jib frame I5 by bolts, the circular shaft III18 penetrates through the bearing inner rings of the diamond-shaped seated bearings of the universal electric push rod assembly V14, the universal electric push rod assembly VI15, the universal electric push rod assembly VII16 and the universal electric push rod assembly VIII17, the bearing inner rings of the diamond-shaped seated bearings of the universal electric push rod assembly V14, the universal electric push rod assembly VI15, the universal electric push rod assembly VII16 and the universal electric push rod assembly 63VIII III 28 are fixedly connected with locking screws, the luffing jib frame I5 can rotate around the axis of the circular shaft III18, the circular shaft III18 penetrates through the bearing inner rings of the diamond-shaped seated bearings of the universal electric push rod assembly XI22 and the universal electric push rod assembly XI, the universal electric push rod assembly 22 and the diamond-seated bearing inner rings of the push rod assembly XII23 and the universal electric push rod assembly 18 are fixedly connected with the diamond-seated bearings of the diamond-seated bearings 18 Locking screws are fixedly connected, the mounting bases of the general electric push rod assembly XI22 and the general electric push rod assembly XII23 are fixedly connected with an aluminum profile rod of a rocker arm frame I24 by using bolts, a rocker arm frame I24 can rotate around the axis of a round shaft III18, the mounting bases of the general electric push rod assembly IX19 and the general electric push rod assembly X20 are fixedly connected with an aluminum profile rod of a rocker arm frame I24 by using bolts, a round shaft IV21 penetrates through the bearing inner rings of the diamond-shaped seat bearings of the general electric push rod assembly IX19 and the general electric push rod assembly X20, the bearing inner rings of the diamond-shaped seat bearings of the general electric push rod assembly IX19 and the general electric push rod assembly X20 are fixedly connected with a round shaft IV21 by using locking screws, a rocker arm frame I24 can rotate around the axis of the round shaft IV21, the round shaft IV21 penetrates through an ear ring hole of a rotating hopper electric push rod assembly I8, the rotating hopper electric push rod assembly I8 can rotate around the axis of the round shaft IV21, the mounting base assembly I8 is fixedly connected with a mounting fixing support 1 by using aluminum profile rod, the mounting bases of the universal electric push rod assembly XIII25 and the universal electric push rod assembly XIV26 are fixedly connected with an aluminum profile rod of a rocker arm frame I24 by bolts, a round shaft V27 penetrates through the bearing inner rings of a diamond-shaped seat bearing of the universal electric push rod assembly XIII25 and the universal electric push rod assembly XIV26, the bearing inner rings of a diamond-shaped seat bearing of the universal electric push rod assembly XIII25 and the universal electric push rod assembly XIV26 are fixedly connected with a round shaft V27 by locking screws, the rocker arm frame I24 can rotate around the axis of the round shaft V27, a round shaft V27 penetrates through the shaft hole of a bucket pull rod I28, a round shaft VI 28 can rotate around the axis of a round shaft V27, a round shaft VI30 penetrates through the shaft hole at the other end of the bucket pull rod I869, a bucket pull rod I28 can rotate around the axis of a round shaft 82VI 56, a round shaft VI30 penetrates through the shaft hole of a round shaft locking seat II31 and is fixedly connected with a locking seat bolt of a bucket locking seat II31, the mounting base of a mounting bolt 6867 of a bucket I and a bucket mounting seat 33, the round shaft VII32 penetrates through a shaft hole of a round shaft locking seat III33 and is fixedly connected through bolts in a locking mode, the round shaft VII32 penetrates through a bearing inner ring of a rhombic seat-bearing II29, the bearing inner ring of the rhombic seat-bearing II29 is fixedly connected with the round shaft VII32 through locking screws, a bearing outer ring of a rhombic seat-bearing II29 is fixedly connected with a movable arm frame I5 through bolts, the movable arm frame I5 can rotate around the axis of the round shaft VII32, and an MPU6050 attitude sensor I35 is adhered to an aluminum profile rod of a bucket frame I34 through glue.
The general electric push rod assembly I10, referring to fig. 2, is composed of a diamond-shaped bearing with a seat III36, a coupling I37, an electric push rod I38, a displacement sensor I39, a sensor mounting seat I40, a sensor mounting seat II41, a mounting base I42, a bolt I43, and a bolt II 44. The lower connecting hole of a coupler I37 is fixedly connected with the mounting hole of the telescopic rod of the electric push rod I38 through a bolt, the telescopic rod of a displacement sensor I39 penetrates through the upper connecting hole of the coupler I37 and is fixedly connected through a nut, a sensor mounting seat I40 and a sensor mounting seat II41 are fixedly connected with the main body of the displacement sensor I39 through a bolt lock, the middle mounting holes of the sensor mounting seat I40 and the sensor mounting seat II41 are fixedly connected with the mounting hole of the main body of the electric push rod I38 through a bolt, the bottom mounting hole of the electric push rod I38 is connected with the top mounting hole of the mounting base I42 through a bolt, the electric push rod I38 can rotate around the axis of the bottom mounting hole, the bolt I43 and the bolt II44 are fixedly connected with the bottom mounting hole of the mounting base I42, and the telescopic rod of the displacement sensor I39 can synchronously extend and retract along with the telescopic rod I38.
The electric push rod I38, referring to fig. 3, is composed of an ear ring I45, a telescopic rod I46 and a main body I47. Wherein, the ear ring I45 is fixedly connected with the telescopic rod I46 by welding, the telescopic rod I46 is arranged in a rod hole of the main body I47, and the telescopic rod I46 can do linear motion along the axis thereof relative to the main body I47.
The working principle of the invention is as follows:
the optimized design of the loader working device provided by the invention means that the bucket lifting translation performance is best by optimizing the position of each hinge point of the loader working device, and simultaneously, the requirements of bucket retracting angle constraint, unloading angle constraint, flat-placing angle constraint, transmission angle constraint, hinge point position change range constraint and the like are met. Accordingly, a mathematical model of the optimization problem can be established, and the optimal position of each hinge point can be obtained by solving through computer programming. The experiment table designed by the invention can set each hinge point to the optimal position, simulate the working process of the loader and check the optimization effect.
The structure of the loader work device can be determined by the position of the 9 hinge points, see fig. 15, for: firstly, hinging a movable arm and a frame; a hinged point of the movable arm oil cylinder and the frame; the hinge point of the rotating bucket oil cylinder and the frame; fourthly, hinging the movable arm and the bucket; fifthly, hinging the bucket pull rod and the bucket; hinged point of the movable arm oil cylinder and the movable arm; seventhly, hinging points of the movable arm and the rocker arm; eighthly, hinging the rotating bucket oil cylinder and the rocker arm; ninthly, hinging the rocker arm with the rotary bucket pull rod. According to the design requirements of most cases, in order to ensure the universality of the bucket and the frame components, the positions of the front 5 hinge points are determined and cannot be optimized, so that the position of the rear 4 hinge points can be optimized. The experiment table can change the positions of the 4 hinge points within a certain range, wherein the hinge point of the movable arm oil cylinder and the movable arm corresponds to the hinge point determined by a circular shaft II9 of the experiment table, a movable arm electric push rod component I6 and a movable arm electric push rod component II7 can rotate around the axis of the circular shaft II9 relative to a movable arm frame I5, and the positions of the hinge points relative to a mounting and fixing support I1 can be changed within a certain range through the displacement of telescopic rods of electric push rods of a universal electric push rod component I10, a universal electric push rod component II11, a universal electric push rod component III12 and a universal electric push rod component IV 13; a hinged point of the movable arm and the rocker arm corresponds to a hinged point determined by a circular shaft III18 of the experiment table, the movable arm frame I5 can rotate around the axis of the circular shaft III18 relative to the rocker arm frame I24, and the position of the hinged point relative to the mounting and fixing support I1 can be changed within a certain range through the displacement of the telescopic rods of the electric push rods of the universal electric push rod assembly V14, the universal electric push rod assembly VI15, the universal electric push rod assembly VII16 and the universal electric push rod assembly VIII 17; the hinge point of the rotary bucket oil cylinder and the rocker corresponds to the hinge point determined by a round shaft IV21 of the experiment table, the rotary bucket electric push rod component I8 can rotate around the axis of the round shaft IV21 relative to a rocker frame I24, and the position of the hinge point relative to a mounting and fixing support I1 can be changed within a certain range through the displacement of a telescopic rod of an electric push rod of a universal electric push rod component IX19, a universal electric push rod component X20, a universal electric push rod component XI22 and a universal electric push rod XII component 23; the hinge point of the rocker arm and the rotary bucket pull rod corresponds to the hinge point determined by the circular shaft V27 of the experiment table, the rotary bucket pull rod I28 can rotate around the axis of the circular shaft V27 relative to the rocker arm frame I24, and the position of the hinge point relative to the mounting and fixing support I1 can be changed within a certain range through the displacement of the telescopic rods of the electric push rods of the general electric push rod assembly XIII25 and the general electric push rod assembly XIV 26.
The working process of lifting the movable arm of the loader can be realized by the telescopic motion of the telescopic rods of the movable arm electric push rod assembly I6 and the movable arm electric push rod assembly II7 of the experiment table; the working process of the rotating bucket of the loader can be realized by the telescopic motion of the telescopic rod of the electric push rod of the rotating bucket electric push rod assembly I8 of the experiment table.
The optimization effect can be detected by the MPU6050 attitude sensor I35 of the laboratory bench. The MPU6050 attitude sensor I35 can output the attitude angle of the bucket frame I34 relative to the ground level, so that the bucket lifting translation performance and the automatic leveling performance of the optimized loader working device are tested. The experiment table realizes the structure of the loader working device in a physical form, and the optimization effect can be qualitatively evaluated through visual observation.
The invention has the beneficial effects that:
the structure of the loader working device is displayed in a physical visual mode, the position of a hinge point can be changed within a certain range, and an optimization result and an optimization effect are simultaneously demonstrated. Can demonstrate the thought and the process of modern optimal design method to the student as teaching tool in higher education, experience the theory of modeling and optimize the principle, know loader equipment's theory of operation, be the good teaching aid that carries out experiment teaching, also can provide the experiment platform for loader equipment's design research simultaneously.
Drawings
FIG. 1 is a schematic structural diagram of an optimization experiment table of a loader working device
FIG. 2 is a schematic structural diagram of a general electric push rod assembly I10
FIG. 3 is a schematic structural view of the electric push rod I38
FIG. 4 is a schematic structural diagram of a diamond-shaped bearing I3 with a seat
FIG. 5 is a schematic structural diagram of a coupler I37
FIG. 6 is a schematic structural diagram of a displacement sensor I39
FIG. 7 is a schematic structural diagram of a sensor mounting seat I40
FIG. 8 is a schematic structural view of a mounting base I42
FIG. 9 is a schematic structural diagram of a boom electric push rod assembly I6
FIG. 10 is a schematic structural view of the electric rotating bucket push rod assembly I8
FIG. 11 is a schematic structural view of a circular shaft locking seat I4
FIG. 12 is a schematic structural view of a mounting and fixing bracket I1
FIG. 13 is a schematic structural view of boom frame I5
FIG. 14 is a schematic structural view of a rocker arm frame I24
FIG. 15 is a schematic structural view of a bucket frame I34
FIG. 16 is a schematic view showing the construction of a working device of the loader
Wherein: 1. the universal electric push rod assembly II12, the universal electric push rod assembly III 13, the universal electric push rod assembly IV 14, the universal electric push rod assembly V15, the universal electric push rod assembly VI 16, the universal electric push rod assembly VII 17, the universal electric push rod assembly VIII 18, the round shaft III 19, the universal electric push rod assembly IX 20, the universal electric push rod assembly X21, the round shaft IV 22, the universal electric push rod assembly XI 23, the universal electric push rod assembly XII 24, the rocker arm frame I25, the universal electric push rod assembly XIII 26, the universal electric push rod assembly XIV 27, the round shaft V28 and the rotary bucket pull rod I29. Rhombic bearing II 30 with seat, round shaft VI 31, round shaft locking seat II32, round shaft VII 33, round shaft locking seat III 34, bucket frame I35, MPU6050 attitude sensor I36, rhombic bearing III 37 with seat, coupler I38, electric push rod I39, displacement sensor I40, sensor mounting seat I41, sensor mounting seat II 42, mounting seat I43, bolt I44, bolt II 45, earring I46, telescopic link I47 and main body I47
Detailed Description
Referring to fig. 1 to 16, the experimental process of the optimization experiment table for the loader working device according to the present invention is as follows:
(1) establishing an optimized mathematical model and solving
Design variables (8):x＝[x6 y6 x7 y7 x8 y8 x9 y9]T
and sixthly, the plane coordinate of the hinged point of the movable arm oil cylinder and the movable arm in the side view projection is as follows: x is the number of6、y6
Plane coordinates of a hinged point of the movable arm and the rocker arm in side-view projection are as follows: x is the number of7、y7
The plane coordinates of the hinged point of the rotating bucket oil cylinder and the rocker arm in the side-looking projection are as follows: x is the number of8、y8
Ninthly, the plane coordinate of the hinged point of the rocker arm and the rotating bucket pull rod in side view projection: x is the number of9、y9
An objective function:
the bucket lifting translation requires that when the working device finishes collecting the bucket and lifts to a high position, the bucket angle variation is small enough to ensure that no material is scattered, and an objective function is established
min f(x)＝θmax(x)-α(x) (1)
In the formula, thetamax(x) The maximum value of the included angle between the bottom plane of the bucket and the ground in the process of lifting the bucket to the highest point after the bucket is collected is a function of a design variable; α (a)x) To the bucket angle, it is a function of the design variables.
Constraint function:
according to the performance design requirements of the working device of the loader, bucket-receiving angle constraint, unloading angle constraint, leveling angle constraint, transmission angle constraint and hinge point position change range constraint are established.
To ensure that the material is not easy to spill when the hopper is transported, the hopper angle alpha (c) is establishedx) Constraining
41-α(x)＜0 (2)
To ensure that material is successfully discharged from the bucket at the discharge position, a discharge angle beta (b) is establishedx) Constraining
48-β(x)＜0 (3)
To facilitate the loader to enter the next working cycle directly without adjusting the posture of the bucket after completing one working cycle, the leveling angle gamma is establishedx) Constraining
γ(x)-8＜0 (4)
In order to ensure the transmission performance of the bucket connecting rod, the transmission angle needs to be ensured within a reasonable range, and the transmission angle is established
Figure BSA0000230699050000061
Constraining
Figure BSA0000230699050000062
Establishing the position change range constraint of the hinge point according to the actual motion range of each electric push rod of the experiment table
Figure BSA0000230699050000063
Solving:
the mathematical model above was solved using the correlation functions of the Matlab software's optimization toolkit. Get the optimal solution
*x＝[x* 6 y* 6 x* 7 y* 7 x* 8 y* 8 x* 9 y* 9]T (7)
(2) Adjusting each hinge point to the position of the optimal solution in the experiment table
Hinged point of the movable arm oil cylinder and the movable arm: by adjusting the displacement of the telescopic rods of the electric push rods of the universal electric push rod assembly I10, the universal electric push rod assembly II11, the universal electric push rod assembly III12 and the universal electric push rod assembly IV13, the plane coordinates of the projection point of the axis of the circular shaft II9 in side view projection are as follows: x is the number of* 6、y* 6；
Hinge points of the movable arm and the rocker arm: by adjusting the displacement of the telescopic rods of the electric push rods of the universal electric push rod assembly V14, the universal electric push rod assembly VI15, the universal electric push rod assembly VII16 and the universal electric push rod assembly VIII17, the plane coordinates of the projection point of the axis of the circular shaft III18 in side view projection are as follows: x is the number of* 7、y* 7；
Eighthly, hinging the rotating bucket oil cylinder and the rocker arm: by adjusting the displacement of the telescopic rods of the electric push rods of the universal electric push rod assembly IX19, the universal electric push rod assembly X20, the universal electric push rod assembly XI22 and the universal electric push rod assembly XII23, the plane coordinates of the projection point of the axis of the circular shaft IV21 in side view projection are as follows: x is the number of* 8、y* 8；
Ninthly, hinging the rocker arm and the rotary bucket pull rod: by adjusting the displacement of the telescopic rods of the electric push rods of the general electric push rod assembly XIII25 and the general electric push rod assembly XIV26, the plane coordinates of the projection point of the axis of the circular shaft V27 in the side-view projection are: x is the number of* 9、y* 9；
(3) Simulating the working process of the loader working device, and checking the optimization effect
The working process of lifting the movable arm of the loader can be realized by the telescopic motion of the telescopic rods of the movable arm electric push rod assembly I6 and the movable arm electric push rod assembly II7 of the experiment table; the working process of the rotating bucket of the loader can be realized by the telescopic motion of the telescopic rod of the electric push rod of the rotating bucket electric push rod assembly I8 of the experiment table.
The optimization effect can be detected by the MPU6050 attitude sensor I35 of the laboratory bench. The MPU6050 attitude sensor I35 can output the attitude angle of the bucket frame I34 relative to the ground level, so that the bucket lifting translation performance and the automatic leveling performance of the optimized loader working device are tested. The experiment table realizes the structure of the loader working device in a physical form, and the optimization effect can be qualitatively evaluated through visual observation.

Claims (2)

1. The utility model provides a loader equipment optimizes laboratory bench, its characterized in that is by installation fixed bolster I (1), circle axle I (2), rhombus seated bearing I (3), circle axle locking seat I (4), swing arm frame I (5), swing arm electric putter subassembly I (6), swing arm electric putter subassembly II (7), rotating fill electric putter subassembly I (8), circle axle II (9), general electric putter subassembly I (10), general electric putter subassembly II (11), general electric putter subassembly III (12), general electric putter subassembly IV (13), general electric putter subassembly V (14), general electric putter subassembly VI (15), general electric putter subassembly VII (16), general electric putter subassembly VIII (17), circle axle III (18), general electric putter subassembly IX (19), general electric putter subassembly X (20), circle axle IV (21), General electric putter subassembly XI (22), general electric putter subassembly XII (23), rocking arm frame I (24), general electric putter subassembly XIII (25), general electric putter subassembly XIV (26), circle axle V (27), rotary bucket pull rod I (28), rhombus area seat bearing II (29), circle axle VI (30), circle axle locking seat II (31), circle axle VII (32), circle axle locking seat III (33), scraper bowl frame I (34), MPU6050 attitude sensor I (35) are constituteed, general electric putter subassembly I (10) by rhombus area seat bearing III (36), shaft coupling I (37), electric putter I (38), displacement sensor I (39), sensor mount pad I (40), sensor mount pad II (41), mount pad I (42), bolt I (43), bolt II (44) are constituteed, wherein: a circular shaft locking seat I (4) is fixedly connected with a mounting and fixing support I (1), a circular shaft I (2) is fixedly connected with the circular shaft locking seat I (4), the circular shaft I (2) is fixedly connected with a bearing inner ring of a rhombic seated bearing I (3), a bearing outer ring of the rhombic seated bearing I (3) is fixedly connected with a movable arm frame I (5), a movable arm electric push rod component I (6) is fixedly connected with the mounting and fixing support I (1), a movable arm electric push rod component II (7) is fixedly connected with the mounting and fixing support I (1), the movable arm electric push rod component I (6) is movably connected with a circular shaft II (9), the movable arm electric push rod component II (7) is movably connected with a circular shaft II (9), the circular shaft II (9) is fixedly connected with a universal electric push rod component I (10), the circular shaft II (9) is fixedly connected with a universal electric push rod component II (11), the circular shaft II (9) is fixedly connected with a universal electric push rod component III (12), a round shaft II (9) is fixedly connected with a universal electric push rod component IV (13), a universal electric push rod component I (10) is fixedly connected with a movable arm frame I (5), a universal electric push rod component II (11) is fixedly connected with a movable arm frame I (5), a universal electric push rod component III (12) is fixedly connected with a movable arm frame I (5), a universal electric push rod component IV (13) is fixedly connected with a movable arm frame I (5), a universal electric push rod component IV (14) is fixedly connected with a movable arm frame I (5), a universal electric push rod component VI (15) is fixedly connected with a movable arm frame I (5), a universal electric push rod component VII (16) is fixedly connected with a movable arm frame I (5), a universal electric push rod component VIII (17) is fixedly connected with a movable arm frame I (5), a universal electric push rod component IV (14) is fixedly connected with a round shaft III (18), a universal electric push rod component VI (15) is fixedly connected with a round shaft III (18), a universal electric push rod component VII (16) is fixedly connected with a round shaft III (18), a universal electric push rod component VIII (17) is fixedly connected with the round shaft III (18), the round shaft III (18) is fixedly connected with a universal electric push rod component XI (22), the round shaft III (18) is fixedly connected with a universal electric push rod component XII (23), the universal electric push rod component XI (22) is fixedly connected with a rocker arm frame I (24), the universal electric push rod component XII (23) is fixedly connected with a rocker arm frame I (24), the universal electric push rod component IX (19) is fixedly connected with the rocker arm frame I (24), the universal electric push rod component X (20) is fixedly connected with a round shaft IV (21), the universal electric push rod component X (20) is fixedly connected with the round shaft IV (21), the round shaft IV (21) is movably connected with a rotating bucket electric push rod component I (8), the rotating bucket electric component I (8) is fixedly connected with a mounting and fixing bracket I (1), a general electric push rod component XIII (25) is fixedly connected with a rocker arm frame I (24), a general electric push rod component XIV (26) is fixedly connected with the rocker arm frame I (24), the general electric push rod component XIII (25) is fixedly connected with a round shaft V (27), the general electric push rod component XIV (26) is fixedly connected with the round shaft V (27), the round shaft V (27) is movably connected with a rotating bucket pull rod I (28), the rotating bucket pull rod I (28) is movably connected with a round shaft VI (30), the round shaft VI (30) is fixedly connected with a round shaft locking seat II (31), the round shaft locking seat II (31) is fixedly connected with a bucket frame I (34), the bucket frame I (34) is fixedly connected with a round shaft locking seat III (33), the round shaft locking seat III (33) is fixedly connected with a round shaft VII (32), the round shaft VII (32) is fixedly connected with a bearing inner ring of a rhombic seated bearing II (29), a bearing outer ring of the rhombic seated bearing II (29) is fixedly connected with a movable arm frame I (5), MPU6050 attitude sensor I (35) and scraper bowl frame I (34) link firmly, rhombus area seat bearing III (36) link firmly with shaft coupling I (37), shaft coupling I (37) link firmly with electric putter I (38), electric putter I (38) link firmly with displacement sensor I (39), displacement sensor I (39) link firmly with sensor mount pad I (40), displacement sensor I (39) link firmly with sensor mount pad II (41), electric putter I (38) and mount pad I (42) swing joint, mount pad I (42) link firmly with bolt I (43), mount pad I (42) link firmly with bolt II (44), the design variable of its optimization experiment does respectively: the plane coordinates of the projection point of the axis of the circular shaft II (9) in the side-view projection, the plane coordinates of the projection point of the axis of the circular shaft III (18) in the side-view projection, the plane coordinates of the projection point of the axis of the circular shaft IV (21) in the side-view projection and the plane coordinates of the projection point of the axis of the circular shaft V (27) in the side-view projection are optimized by the following targets: the bucket lifts translation nature and requires to accomplish to receive the bucket at equipment and lift to the in-process of high order, makes bucket angle variation volume little enough, and its constraint condition who optimizes the experiment does respectively: the bucket angle constraint, the unloading angle constraint, the leveling angle constraint, the transmission angle constraint and the hinge point position change range constraint can simulate the working process of an actual loader working device through the telescopic motion of a telescopic rod of an electric push rod of a movable arm electric push rod assembly I (6), a movable arm electric push rod assembly II (7) and a rotary bucket electric push rod assembly I (8) to verify the optimization effect of the optimization experiment, the attitude angle of a bucket frame I (34) relative to the ground level can be output through an MPU6050 attitude sensor I (35) in the working process to quantitatively analyze the optimization effect, and qualitative evaluation can be carried out through visual observation.
2. The optimization experiment table for the working device of the loader as claimed in claim 1, wherein the position of the circular shaft II (9) relative to the mounting bracket I (1) is adjustable by the displacement of the telescopic rods of the electric push rods of the universal electric push rod assembly I (10), the universal electric push rod assembly II (11), the universal electric push rod assembly III (12) and the universal electric push rod assembly IV (13), the position of the circular shaft III (18) relative to the mounting bracket I (1) is adjustable by the displacement of the telescopic rods of the electric push rods of the universal electric push rod assembly V (14), the universal electric push rod assembly VI (15), the universal electric push rod assembly VII (16) and the universal electric push rod assembly VIII (17), and the position of the circular shaft IV (21) relative to the mounting bracket I (1) is adjustable by the displacement of the telescopic rods of the universal electric push rod assembly IX (19), the universal electric push rod assembly X (20), and the universal electric push rod assembly VIII (17), The displacement of the telescopic rods of the electric push rods of the general electric push rod assembly XI (22) and the general electric push rod assembly XII (23) is adjusted, and the position of the circular shaft V (27) relative to the mounting and fixing support I (1) can be adjusted through the displacement of the telescopic rods of the electric push rods of the general electric push rod assembly XIII (25) and the general electric push rod assembly XIV (26).
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