铲斗铲装过程中满斗率的数学模型研究

装载机铲斗的装载性能没有明确的评价标准。通过建立铲斗装载物料过程的数学模型,用数学语言对工程实际问题进行描述分析,再利用具体的铲斗数据代入数学模型中,求解出在铲斗铲入深度与铲斗空斗体积之间的数学关系。通过主动落入的物料体积函数与铲斗空斗体积函数的图形,得出结论:不同型号的铲斗都可以找到一个合适铲斗铲入深度达到最优满斗率。铲斗铲装过程的数学模型有很强的适用性,还可用于智能装载机器人装载作业的轨迹优化的参考计算,求解最优装载满斗率。

Study on the Mathematical Model of Bucket Filling Rate of Bucket Shoveling and Loading Process

The evaluation criteria of the loading performance of loader bucket is not clear.Firstly,the mathematical model of the material loading process of bucket is established to describe and analyze the engineering actual problems;then,the specific data of bucket is substituted into the mathematical model,so the mathematical relationship between the shoveling depth and empty bucket volume is obtained.Based on graphics of the volume function of the falling material and the empty bucket volume function,the suitable shoveling depth is obtained to achieve the optimal filling rate of the different models of bucket.The study results of this paper show that the mathematical model of bucket shoveling and loading process is applicable,besides that,it also can be used to conduct the trajectory optimization calculation of the loading operation of intelligent loading robots.