CN112695826B - Leveling control system and method for skid steer loader - Google Patents
Leveling control system and method for skid steer loader Download PDFInfo
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- CN112695826B CN112695826B CN202011538081.2A CN202011538081A CN112695826B CN 112695826 B CN112695826 B CN 112695826B CN 202011538081 A CN202011538081 A CN 202011538081A CN 112695826 B CN112695826 B CN 112695826B
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- steer loader
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Abstract
The invention discloses a leveling control system of a skid steer loader, which comprises a chassis, wherein a fixed frame is arranged on the chassis, a position sensor is arranged on the fixed frame, a rotatable column of the position sensor is connected with a fixed end of a connecting slide rod, the connecting slide rod is connected with a forward tilting rod in a sliding manner, one end of the forward tilting rod is hinged with the chassis, the other end of the forward tilting rod is hinged with a movable arm, the position sensor is electrically connected with a vehicle controller, the vehicle controller is electrically connected with a main valve, and the main valve is connected with a rotary bucket oil cylinder group through a hydraulic oil circuit. The invention also discloses a leveling control method of the skid steer loader. The leveling control system and method of the skid steer loader provided by the invention have the advantages of high leveling precision, linear speed and no delay, and are used for optimizing the leveling performance of the working device of the skid steer loader.
Description
Technical Field
The invention relates to a leveling control system and method for a skid steer loader, and belongs to the technical field of engineering machinery.
Background
The structural form of the working device of the skid steer loader is generally divided into radial lifting and vertical lifting, and the two types of the working device are mainly distinguished as follows: under the action of the movable arm oil cylinder, the movable arm oil cylinder performs circular motion by taking a hinged point of the movable arm and the chassis as a circle center, and under the compensation action of a complex connecting rod mechanism, the extended end of the movable arm performs vertical motion. However, the movable arm lifting and the tipping bucket are independent and do not influence each other no matter the movable arm lifting is radial lifting or vertical lifting.
The traditional skid steer loader mainly adopts hydraulic leveling to compensate the angle change of accessories in the lifting process of a movable arm, and the main principle is as follows: in the lifting process of the movable arm, oil in a rod cavity of the movable arm oil cylinder is compensated to a rodless cavity of the tipping bucket oil cylinder according to a certain proportion under the damping action of a hydraulic leveling valve, so that the leveling function of the accessory is realized. However, in the actual assembly and debugging process, the compensation of oil is greatly influenced by the rotating speed of the engine and the specification of the damping hole, so that the problems of low leveling precision, insufficient linearity of leveling speed, delay and the like are caused.
Disclosure of Invention
The invention aims to solve the technical problem of overcoming the defects of the prior art and provides a leveling control system and a leveling control method of a skid steer loader, which have the advantages of high leveling precision, linear speed and no delay and are used for optimizing the leveling performance of a working device of the skid steer loader.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
the utility model provides a skid steer loader leveling control system, includes the chassis, install the mount on the chassis, install position sensor on the mount, position sensor's rotatable post is connected with the first stiff end of connecting the slide bar, connect the slide bar and incline the pole sliding connection forward, the one end that inclines the pole with the chassis is articulated to be connected, the other end that inclines the pole is articulated to be connected with the swing arm, position sensor is connected with vehicle controller electricity, vehicle controller is connected with the main valve electricity, the main valve passes through the hydraulic pressure oil circuit and is connected with the rotary bucket oil cylinder group.
The vehicle controller is electrically connected with a user control system.
The chassis is provided with a hinged end and a second fixed end, the left end and the right end of the forward tilting rod are respectively provided with a first hinged end and a second hinged end for game, the first hinged end is hinged with the movable arm, and the second hinged end is connected with the hinged end.
The forward-leaning rod is provided with a fixed column, and the connecting sliding rod is provided with a slideway matched with the fixed column along the length direction of the connecting sliding rod.
And the bending end of the fixing frame is fixed on the second fixing end of the chassis through a bolt.
The rotating bucket oil cylinder group comprises at least two rotating bucket oil cylinders which are positioned at two sides of the width direction of the movable arm.
A leveling control method of a skid steer loader comprises the following steps:
the fixed frame, the connecting sliding rod, the forward tilting rod and the chassis ascend or descend under the action of the movable arm oil cylinder, and the position sensor measures a real-time angle between the chassis and the forward tilting rod and transmits the real-time angle to the vehicle controller through an electric signal;
the vehicle controller calculates the oil compensation amount of the rotary bucket oil cylinder group according to the electric signal and sends an instruction to the main valve;
the main valve controls the opening size and time of the valve port of the rotary bucket joint slide valve according to the instruction, and the quantitative oil is compensated to the rotary bucket oil cylinder group.
The invention has the beneficial effects that: the invention provides a leveling control system and a method of a skid steer loader, wherein a position sensor measures a real-time angle between a chassis and a forward tilting rod and transmits the real-time angle to a vehicle controller through an electric signal, the vehicle controller calculates oil compensation quantity of a rotary bucket oil cylinder group according to the electric signal and sends an instruction to a main valve, the main valve controls opening size and time of a valve port of a rotary bucket joint slide valve according to the instruction and compensates quantitative oil to the rotary bucket oil cylinder group, leveling can be realized in lifting and descending processes of a movable arm assembly, leveling speed is linear and delayed to be reduced, the accuracy of the leveling speed can reach +/-2 degrees, the problems of low leveling accuracy, action lag, non-linear speed and the like of a working device of the skid steer loader are effectively solved, the technology is reliable, and the operation is efficient.
Drawings
FIG. 1 is a schematic structural view of a skid steer loader leveling control system of the present invention;
FIG. 2 is a schematic illustration of a skid steer loader leveling control system of the present invention;
FIG. 3 is a schematic view of the construction of the forward leaning rod of the present invention;
FIG. 4 is a schematic view of the structure of the base pan of the present invention;
FIG. 5 is a schematic view of a connection structure between a fixed frame, a position sensor and a connecting slide rod according to the present invention;
fig. 6 is a schematic view of an interface structure of the user control system according to the present invention.
The reference numbers in the figures are as follows: 1-a fixed mount; 2-a position sensor; 3-connecting a sliding rod; 4-a forward leaning rod; 5-a chassis; 6-a user control system; 7-a vehicle controller; 8-a main valve; 9-rotating bucket oil cylinder group; 11-bent end; 21-a fixation hole; 22-a rotatable column; 31-a first fixed end; 41-a second hinged end; 42-fixed column; 43-a first hinged end; 51-a hinged end; 52-second fixed end.
Detailed Description
The present invention is further described with reference to the accompanying drawings, and the following examples are only for clearly illustrating the technical solutions of the present invention, and should not be taken as limiting the scope of the present invention.
As shown in fig. 1, 3, 4 and 5, the invention discloses a leveling control system of a skid steer loader, which comprises a link mechanism and a control feedback unit, wherein the link mechanism can comprise a chassis 5, a forward leaning rod 4, a connecting sliding rod 3 and a fixed frame 1, and the control feedback unit can comprise a user control system 6, a vehicle controller 7, a position sensor 2, a main valve 8 and a bucket cylinder group 9.
The chassis 5 is provided with a hinged end 51 and a second fixed end 52, and the bent end 11 of the fixing frame 1 is fixed on the second fixed end 52 of the chassis 5 through bolts. The fixing frame 1 is provided with a position sensor 2, the position sensor 2 is provided with a fixing hole 21, and the fixing frame 1 is arranged on the fixing frame through the fixing hole 21. The rotatable column 22 of the position sensor 2 is connected with the first fixed end 31 of the connecting slide bar 3, the connecting slide bar 3 is connected with the forward tilting bar 4 in a sliding manner, the forward tilting bar 4 is provided with a fixed column 42, and the connecting slide bar 3 is provided with a slide way 32 matched with the fixed column 42 along the length direction of the connecting slide bar 3. The left end and the right end of the forward tilting rod 4 are respectively provided with a first hinged end 43 and a second hinged end 41, the first hinged end 43 is hinged with the movable arm, and the second hinged end 41 is connected with the hinged end 51.
As shown in fig. 2, the position sensor 2 monitors the angle between the chassis 5 and the forward tilting rod 4 in real time, monitors and feeds back the instantaneous postures of the chassis and the forward tilting rod, and the position sensor 2 is electrically connected with the vehicle controller 7 to transmit the postures of the chassis 5 and the forward tilting rod 4 to the vehicle controller 7. The vehicle controller 7 is provided on the skid steer loader chassis 5, is electrically connected to the main valve 8, and transmits the instantaneous attitude of the chassis 5 and the forward tilt lever 4 to the main valve 8 in the form of a command. Meanwhile, the vehicle controller 7 is electrically connected with the user control system 6, as shown in fig. 6, the user control system 6 is arranged in the cab of the skid steer loader, and the opening and closing of the leveling module of the vehicle controller 7 are actively selected through the user control system 6. The main valve 8 is arranged on the skid-steer loader chassis 5 and is connected with the bucket-turning cylinder group 9 through a hydraulic oil path, and the main valve 8 controls the oil liquid change of the bucket-turning cylinder group 9 according to the instruction. The bucket-turning oil cylinder group 9 is arranged on the movable arm, comprises at least two bucket-turning oil cylinders positioned on two sides of the width direction of the movable arm, and is connected with the quick-change structure.
The invention discloses a leveling control method of a skid steer loader, which comprises the following steps:
step one, a fixed frame 1, a connecting sliding rod 3, a forward-leaning rod 4 and a chassis 5 rise or fall under the action of a movable arm oil cylinder, a position sensor 2 measures a real-time angle between the chassis 5 and the forward-leaning rod 4, and the real-time angle is transmitted to a vehicle controller 7 through an electric signal.
And step two, the vehicle controller 7 calculates the oil compensation amount of the bucket oil cylinder group according to the electric signal and sends an instruction to the main valve 8.
And step three, the main valve 8 controls the opening size and the opening time of a valve port of the rotating bucket joint sliding valve according to the instruction, and the quantitative oil is compensated to the rotating bucket oil cylinder group 9.
The invention effectively solves the problems of low leveling precision, action lag, non-linear speed and the like of the working device of the skid steer loader, and has the advantages of reliable technology and high operation efficiency.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention, and such modifications and adaptations are intended to be within the scope of the invention.
Claims (5)
1. The utility model provides a skid steer loader leveling control system which characterized in that: comprises a chassis (5), a fixed mount (1) is arranged on the chassis (5), the fixed frame (1) is provided with a position sensor (2), a rotatable column (22) of the position sensor (2) is connected with a first fixed end (31) of the connecting slide bar (3), the connecting slide rod (3) is connected with the forward leaning rod (4) in a sliding way, one end of the forward-leaning rod (4) is hinged with the chassis (5), the other end of the forward-leaning rod (4) is hinged with a movable arm, the position sensor (2) is electrically connected with a vehicle controller (7), the vehicle controller (7) is electrically connected with a main valve (8), the main valve (8) is connected with a rotary bucket oil cylinder group (9) through a hydraulic oil circuit, the chassis (5) is provided with a hinged end (51) and a second fixed end (52), the left end and the right end of the forward-leaning rod (4) are respectively provided with a first hinged end (43) and a second hinged end (41), the first hinged end (43) is hinged with the movable arm, the second hinged end (41) is connected with the hinged end (51), a fixed column (42) is arranged on the forward-tilting rod (4), and a slide way (32) matched with the fixed column (42) is formed in the connecting slide rod (3) along the length direction of the connecting slide rod.
2. The skid steer loader leveling control system of claim 1, wherein: the vehicle controller (7) is electrically connected with a user control system (6).
3. The skid steer loader leveling control system of claim 1, wherein: the bending end (11) of the fixing frame (1) is fixed on the second fixing end (52) of the chassis (5) through a bolt.
4. The skid steer loader leveling control system of claim 1, wherein: the rotating bucket oil cylinder group (9) comprises at least two rotating bucket oil cylinders which are positioned at two sides of the movable arm in the width direction.
5. A leveling control method of a skid steer loader is characterized by comprising the following steps: the method comprises the following steps:
the device comprises a fixed frame (1), a connecting sliding rod (3), a forward-leaning rod (4) and a chassis (5), wherein the fixed frame is lifted or lowered under the action of a movable arm oil cylinder, and a position sensor (2) measures a real-time angle between the chassis (5) and the forward-leaning rod (4) and transmits an electric signal to a vehicle controller (7);
the vehicle controller (7) calculates the oil compensation amount of the rotary bucket oil cylinder group according to the electric signal and sends an instruction to the main valve (8);
the main valve (8) controls the opening size and time of the valve port of the rotating bucket joint slide valve according to the instruction, and the quantitative oil is compensated to the rotating bucket oil cylinder group (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011538081.2A CN112695826B (en) | 2020-12-23 | 2020-12-23 | Leveling control system and method for skid steer loader |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011538081.2A CN112695826B (en) | 2020-12-23 | 2020-12-23 | Leveling control system and method for skid steer loader |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112695826A CN112695826A (en) | 2021-04-23 |
| CN112695826B true CN112695826B (en) | 2022-10-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011538081.2A Active CN112695826B (en) | 2020-12-23 | 2020-12-23 | Leveling control system and method for skid steer loader |
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Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4483681B2 (en) * | 2005-04-26 | 2010-06-16 | 株式会社豊田自動織機 | Lift arm device for work vehicle and work vehicle |
| CN102605813B (en) * | 2012-03-29 | 2015-05-13 | 厦门厦工机械股份有限公司 | Perpendicular hoisting working device of slippage loader |
| US9796571B2 (en) * | 2015-08-06 | 2017-10-24 | Cnh Industrial America Llc | Work vehicle with improved implement position control and self-leveling functionality |
| CN112064698A (en) * | 2020-08-21 | 2020-12-11 | 中联重科股份有限公司 | Bucket automatic leveling control method and system based on angle |
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- 2020-12-23 CN CN202011538081.2A patent/CN112695826B/en active Active
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