CN113266046A - Loader-digger - Google Patents
Loader-digger Download PDFInfo
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- CN113266046A CN113266046A CN202110565761.1A CN202110565761A CN113266046A CN 113266046 A CN113266046 A CN 113266046A CN 202110565761 A CN202110565761 A CN 202110565761A CN 113266046 A CN113266046 A CN 113266046A
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- boom
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- 239000003921 oil Substances 0.000 description 97
- 230000006870 function Effects 0.000 description 28
- 238000000034 method Methods 0.000 description 11
- 238000009412 basement excavation Methods 0.000 description 8
- 239000010720 hydraulic oil Substances 0.000 description 8
- 238000005303 weighing Methods 0.000 description 8
- 238000005520 cutting process Methods 0.000 description 6
- 238000012544 monitoring process Methods 0.000 description 5
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Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
- E02F3/308—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom working outwardly
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
- E02F3/436—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like for keeping the dipper in the horizontal position, e.g. self-levelling
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
- E02F9/2267—Valves or distributors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The invention relates to a backhoe loader, comprising: a frame (18); a boom (5) connected to the frame (18) and configured to be swingable in a vertical plane with respect to the frame (18); a bucket (8) mounted on an end of the boom (5) remote from the frame (18) and configured to be rotatable relative to the boom (5); and a bucket cylinder (4) configured to drive the bucket (8) to rotate relative to the boom (5); a ramp inclination sensor (1) configured to detect an inclination of the frame (18) with respect to a horizontal direction; and the controller (13) is in signal connection with the slope inclination angle sensor (1) and is configured to control the bucket cylinder (4) to act to adjust the opening end of the bucket (8) to be horizontal when the inclination angle of the frame (18) relative to the horizontal direction is larger than a first preset angle.
Description
Technical Field
The invention relates to the field of engineering equipment, in particular to a loader-digger.
Background
The backhoe loader is an engineering machine integrating functions of digging, loading, material conveying and the like, has the characteristics of high operation speed, high efficiency, good maneuverability, light operation and the like, and is widely applied to industries such as municipal administration, agriculture, water conservancy, forest farms and the like. When the loading end of the excavator and loader carries out loading operation, an operator often needs to frequently adjust the operation device according to work experience and real-time observation, the labor intensity is high, and the efficiency and the quality of the operation are difficult to be considered after long-time operation; on the other hand, due to the fact that operating levels of operators are different greatly, unskilled operation can also cause safety risks, and the problems that the operating device is high in failure rate, short in service life and the like are caused.
The prior art has the functions of automatic leveling and automatic bucket placing of a bucket on a flat road, but a road surface often has a certain gradient in plateau mountain areas, and the traditional functions of automatic leveling and automatic bucket placing of the bucket are difficult to meet the requirements due to the fact that the bucket cannot be adjusted; in the prior art, when loading operation is carried out, the position and the angle of the bucket cannot be accurately positioned, so that the operation device is frequently adjusted by real-time observation, and the labor intensity is high; the existing intelligent system is more prone to intelligent digging operation, the working conditions of transportation, unloading and bucket placing are not related much, and the intelligent operation system is required to have high automation to realize unmanned operation of a loader.
The prior art backhoe loader has the following disadvantages:
disadvantages of the prior art
(1) The existing automatic bucket leveling technology mainly comprises a hydraulic leveling system and a mechanical leveling system. The hydraulic leveling system mainly realizes the consistency of a rotating angle of a movable arm and a rotating angle of a bucket through a flow distribution valve, and has the defect that the leveling state cannot be maintained when the movable arm descends. The mechanical leveling system mainly keeps the automatic leveling of the bucket through the matching of a connecting rod mechanism, and has the defects that the non-leveling state cannot be switched, the mechanical structure blocks the view of a user, the cost is high, and faults frequently occur in the using process. In addition, when the excavator or the loader transports or unloads on a ramp, the hydraulic leveling system and the mechanical leveling system cannot correspondingly adjust the front rake angle of the bucket according to the angle of the ramp, and when the excavator or the loader operates on a place with a large gradient, a large amount of materials are scattered, and the reactive power consumption of the whole machine is increased.
(2) The existing intelligent auxiliary loading operation system has no automatic weighing function, can not automatically weigh the material load in the bucket after the bucket is collected, judge whether the material load is overloaded and the material load weight of the shovel is counted, and can not judge whether the bucket has material adhesion after the material is unloaded.
(3) The automatic function of putting level of current scraper bowl can't be according to the kind adjustment scraper bowl entrance angle of material, and the scraper bowl entrance angle is selected improper and can lead to the increase of spading resistance, produces certain damage to equipment.
(4) The prior art can not accurately position the position and the angle of the bucket, has low automation degree, needs an operator to frequently adjust the operation device through work experience and real-time observation during loading operation, has high labor intensity, and is difficult to consider the efficiency and the quality of the operation after long-time operation.
Disclosure of Invention
The invention aims to provide a backhoe loader, which solves the problem that the angle of a bucket cannot be adjusted according to the angle of a ramp in the prior art.
According to an aspect of an embodiment of the present invention, there is provided a backhoe loader including:
a frame;
a boom connected to the frame and configured to swing in a vertical plane with respect to the frame;
a bucket mounted at one end of the boom away from the frame and configured to rotate relative to the boom;
a bucket cylinder configured to drive the bucket to rotate relative to the boom;
a ramp inclination sensor configured to detect an inclination of the frame with respect to a horizontal direction; and
and the controller is in signal connection with the ramp inclination angle sensor and is configured to control the rotary bucket oil cylinder to act to adjust the opening end of the bucket to be horizontal when the inclination angle of the frame relative to the horizontal direction is larger than a first preset angle.
In some embodiments, the backhoe loader further comprises a bucket angle sensor configured to detect an inclination angle of the bucket with respect to a horizontal direction, the controller is in signal connection with the bucket angle sensor, and the controller is configured to control the operation of the bucket cylinder to adjust the open end of the bucket to the horizontal when the inclination angle of the open end of the bucket with respect to the horizontal direction is greater than a second preset angle.
In some embodiments, the backhoe loader further includes a load cell configured to detect a weight of the bucket and in signal communication with the controller.
In some embodiments, the backhoe loader further comprises an alarm device in signal communication with the controller, wherein the controller is configured to control the alarm device to send an alarm message when the load of the bucket exceeds a preset load by a first predetermined value or is less than a preset load by a second predetermined value.
In some embodiments, the controller is configured to determine that the bucket has the material adhered to the bucket when the detected weight of the bucket is greater than a third preset value of the self weight of the bucket, and control the bucket rotating cylinder to act to remove the material adhered to the bucket.
In some embodiments, the backhoe loader further comprises:
a seat;
a seat sensor mounted on the seat and configured to determine whether an operator is seated on the seat,
and the controller is in signal connection with the seat sensor so as to adjust the levelness of the opening end of the bucket according to the information detected by the slope inclination angle sensor after detecting that an operator sits on the seat.
In some embodiments, the backhoe loader further comprises a first manipulation key configured to allow manipulation by an operator, the controller is in signal connection with the first manipulation key, and the controller is configured to complete a shoveling operation by controlling the boom cylinder and the bucket cylinder to act after the first manipulation key is triggered.
In some embodiments, the backhoe loader further comprises:
a second operation key configured to allow an operator to operate;
a boom rotation angle sensor configured to detect a rotation angle of the boom; and
the controller is in signal connection with the second control key and the movable arm rotation angle sensor respectively, the controller is configured to adjust the bucket to a preset transportation height convenient for transportation by controlling the movable arm oil cylinder to rotate after the second control key is triggered, and the controller is further configured to receive the angle of the movable arm fed back by the movable arm rotation angle sensor so as to judge the height of the bucket.
In some embodiments, the backhoe loader further comprises:
a third operation key configured to allow an operator to operate; and
the controller is in signal connection with the third control key and is configured to control the movable arm oil cylinder to move so as to lift the bucket to a preset discharging height and control the opening of the bucket to be adjusted to be horizontal after the third control key is triggered.
In some embodiments, the backhoe loader further comprises a control handle in signal connection with the controller, and the controller is configured to control the bucket cylinder to operate to discharge the bucket if a corresponding signal from the handle is received after the bucket is adjusted to the discharge height and leveled.
In some embodiments, the backhoe loader further comprises:
a fourth operation key configured to allow an operator to manipulate;
the controller is in signal connection with the fourth operation key, and the controller is configured to control the movement of the movable arm to enable the bucket to fall to a preset position and control the movement of the rotating bucket cylinder to enable the bucket to rotate to a preset angle when the fourth operation key is triggered.
In some embodiments, the backhoe loader further comprises:
the hydraulic control reversing valve of the boom cylinder is configured to be switchable between a first valve position and a second valve position so as to control a piston rod of the boom cylinder to switch the movement direction;
the boom cylinder hydraulic control reversing valve is configured to control the boom cylinder hydraulic control reversing valve to switch between a first valve position and a second valve position and is in signal connection with the controller;
the hydraulic control reversing valve of the rotary bucket oil cylinder is configured to be switchable between a first valve position and a second valve position so as to control a piston rod of the rotary bucket oil cylinder to switch the movement direction; and
and the rotary bucket oil cylinder electromagnetic reversing valve is configured to control the rotary bucket oil cylinder hydraulic control reversing valve to switch between a first valve position and a second valve position and is in signal connection with the controller.
By applying the technical scheme of the invention, the problem that the angle of the bucket cannot be adjusted according to the angle of the ramp in the related technology is solved.
Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the related art, the drawings needed to be used in the description of the embodiments or the related art will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 shows a schematic block diagram of a backhoe loader of an embodiment of the present invention;
FIG. 2 shows a schematic structural view of the hydraulic system of the backhoe loader of an embodiment of the present invention;
FIG. 3 shows a schematic structural view of the control system and hydraulic system of the backhoe loader of an embodiment of the present invention;
fig. 4 shows a control flow chart of an automatic shoveling operation of the backhoe loader of the embodiment of the present invention;
FIG. 5 illustrates a control flow diagram for bucket leveling of a backhoe loader of an embodiment of the present invention;
FIG. 6 illustrates a control flow diagram for the automatic bucket return to the park position after the backhoe loader of an embodiment of the present invention is fully operational; and
fig. 7 shows a control flow diagram of the discharge process of the backhoe loader of the embodiment of the present invention.
In the figure:
1. a ramp inclination sensor; 2. a pull rod; 3. a boom cylinder; 4. a rotating bucket oil cylinder; 5. a movable arm; 6. a boom link; 7. a bucket angle sensor; 8. a bucket; 9. a weighing sensor; 10. a rocker arm connecting rod; 11. a rocker arm; 12. a boom angle sensor; 13. a controller; 14. an intelligent control handle; 15. a seat induction sensor; 16. a seat; 17. a wheel; 18. a frame; 19. controlling an oil pump; 20. controlling an oil pump motor; 21. an electrically proportional directional valve; 22. a movable arm oil cylinder electromagnetic directional valve; 23. a hydraulic control reversing valve of the rotating bucket oil cylinder; 24. a control oil path safety valve; 25. a hydraulic control reversing valve of the movable arm oil cylinder; 26. a hydraulic control reversing valve of the rotating bucket oil cylinder; 27. a working oil path safety valve; 28. a working oil pump; 29. a working oil pump motor.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the backhoe loader of the present embodiment includes a frame 18, wheels mounted on the frame 18, a boom 5 swingably mounted on the frame 18 in a vertical plane, and a bucket 8 rotatably mounted on an end of the boom 5 remote from the frame 18. One end of the boom 5 is hinged to the frame 18, and the other end of the boom 5 is hinged to the bucket 8.
The backhoe loader further includes a boom cylinder 3 configured to drive the boom 5 to swing in a vertical plane with respect to the frame 18. One end of the movable arm cylinder 3 is hinged with the frame 18, and the other end of the movable arm cylinder 3 is hinged with the movable arm 5.
The backhoe loader further includes a swing cylinder 4 configured to drive the bucket 8 to rotate with respect to the boom 5. The first end of the rotating bucket oil cylinder 4 is connected with the movable arm 5, and the second end of the rotating bucket oil cylinder is connected with the bucket 8.
In the embodiment, the backhoe loader further comprises a rocker arm 11, the middle part of the rocker arm 11 is hinged with the movable arm 5, the upper end of the rocker arm 11 is hinged with the first end of the tipping oil cylinder 4, and the lower end of the rocker arm 11 is connected with the frame 18 through the pull rod 2. The backhoe loader further comprises a rocker arm connecting rod 10, wherein a first end of the rocker arm connecting rod 10 is hinged with a second end of the rotating bucket oil cylinder 4, and a second end of the rocker arm connecting rod 10 is hinged with the bucket 8. The loader-digger further comprises a movable arm connecting rod 6, wherein a first end of the movable arm connecting rod 6 is hinged with a second end of the rotating bucket oil cylinder 4, and a second end of the movable arm connecting rod 6 is hinged with the movable arm 5.
As shown in fig. 2, the backhoe loader of the present embodiment further includes a working oil pump 28 that supplies hydraulic power to the boom cylinder 3 and the swing cylinder 4, a boom cylinder hydraulic control directional valve 25 that controls switching of the moving direction of the piston rod of the boom cylinder 3, and a swing cylinder hydraulic control directional valve 26 that controls switching of the moving direction of the piston rod of the swing cylinder 4.
The backhoe loader further includes a working oil pump motor that drives the working oil pump 28 to rotate. The backhoe loader further includes a working oil relief valve 27 that communicates with an outlet of the working oil pump 28.
The boom cylinder hydraulic control directional valve 25 includes an oil inlet communicating with an outlet of the working oil pump 28, a return port communicating with an oil tank, a first working port communicating with a rod chamber of the boom cylinder 3, and a second working port communicating with a rodless chamber of the boom cylinder 3.
The hydraulic control reversing valve 26 of the rotating bucket oil cylinder comprises an oil inlet communicated with an outlet of the working oil pump 28, a return port communicated with an oil tank, a first working port communicated with a rod cavity of the rotating bucket oil cylinder 4 and a second working port communicated with a rodless cavity of the rotating bucket oil cylinder 4.
The backhoe loader further includes a boom cylinder electromagnetic directional valve 22 and a control oil pump 19. The boom cylinder electromagnetic directional valve 22 includes an oil inlet communicating with an outlet of the control oil pump 18, a return port communicating with an oil tank, a first working port communicating with a first control oil port of the boom cylinder 3, and a second working port communicating with a second control oil port of the boom cylinder 3. The boom cylinder electromagnetic directional control valve 22 controls one of the first working port and the second working port to output hydraulic oil to be switched to the other output hydraulic oil, thereby controlling the boom cylinder hydraulic control directional control valve 25 to be switched, and further controlling the piston rod of the boom cylinder 3 to switch the movement direction.
The backhoe loader further comprises a bucket oil cylinder electromagnetic directional valve 23, wherein the bucket oil cylinder electromagnetic directional valve 23 comprises an oil inlet communicated with an outlet of the control oil pump 19, an oil return opening communicated with the oil tank, a first working opening communicated with a first control oil opening of the bucket oil cylinder hydraulic control directional valve 26 and a second working opening communicated with a second control oil opening of the bucket oil cylinder hydraulic control directional valve 26. The electromagnetic directional valve 23 of the rotary bucket cylinder controls one of the first working port and the second working port to output hydraulic oil and switch to the other output hydraulic oil, thereby controlling the hydraulic directional valve 26 of the rotary bucket cylinder to change direction and further controlling the piston rod of the rotary bucket cylinder 4 to switch the movement direction.
The loader-digger further comprises an electric proportional directional valve 21, a control oil pump 19 and a control oil pump motor 20 for driving the control oil pump to rotate.
The electric proportional directional valve 21 comprises an oil inlet communicated with the control oil pump 19, an oil return port communicated with the oil tank, a first working port communicated with an oil inlet of the movable arm oil cylinder electromagnetic directional valve 22 and a second working port communicated with the rotating bucket oil cylinder electromagnetic directional valve 23.
The backhoe loader further includes a pilot oil relief valve 24 communicating with the pilot oil pump 19.
In this embodiment, the speed of the lifting action of the movable arm and the turning action of the bucket is controlled by adjusting the magnitude of the signal input into the electric proportional directional valve 21, and the speed is made into a gear knob. The functions of lifting and dropping the movable arm and turning the bucket outward and inward are respectively integrated in the four actions of the intelligent control handle 14, namely the back action, the front action, the right action, the left action and the inward action, and the specific implementation mode is as follows:
(1) movable arm lifting
By pulling the intelligent control handle 14 backwards, the controller 13 sends out a command signal to electrify the left side of the movable arm oil cylinder electromagnetic directional valve 22, then the control oil pump motor 20 is started, the control oil path is connected, and the left side of the movable arm oil cylinder hydraulic control directional valve 25 is connected; and finally, starting the working oil pump motor 29, so that the hydraulic oil in the working oil path passes through the working oil pump 28 and the left side of the boom cylinder hydraulic control reversing valve 25 and reaches the rodless cavity of the boom cylinder 3. And the cylinder rod of the movable arm oil cylinder 3 extends out to drive the movable arm to lift, so that the bucket lifting action is completed.
(2) Drop of movable arm
Similar to the lifting action of the movable arm, the controller 13 sends a command signal by pulling the intelligent control handle 14 forwards, and after processing and amplification, the right side of the movable arm oil cylinder electromagnetic directional valve 22 is electrified, then the control oil pump motor 20 is started, the control oil path is connected, and then the right side of the movable arm oil cylinder hydraulic directional valve 25 is conducted; after the working oil pump motor 29 is started, the hydraulic oil in the working oil path passes through the working oil pump 28 and the right side of the boom cylinder hydraulic control check valve 25, and reaches the rod cavity of the boom cylinder 3. And the boom cylinder 3 retracts to drive the boom to descend, so that the bucket falls back.
(3) The bucket is turned over outwards
By pulling the intelligent control handle 14 rightwards, the controller 13 sends out an instruction signal to electrify the left side of the bucket cylinder electromagnetic directional valve 23, then the control oil pump motor 20 is started to switch on a control oil path, and the left side of the bucket cylinder hydraulic control directional valve 26 is switched on; and finally, starting a working oil pump motor 29, so that hydraulic oil in a working oil path passes through the working oil pump 28 and the left side of the hydraulic control reversing valve 26 of the bucket cylinder and reaches a rodless cavity of the bucket cylinder 4. And a cylinder rod of the bucket oil cylinder 4 extends to push the bucket to turn forwards, so that the bucket is turned outwards.
(4) Bucket inward turning
Similar to the forward motion of the bucket, the controller 13 sends a command signal by pulling the intelligent control handle 14 leftwards, so that the right side of the electromagnetic directional valve 23 of the bucket cylinder is electrified after processing and amplification, then the control oil pump motor 20 is started, the control oil path is connected, and then the right side of the hydraulic directional valve 26 of the bucket cylinder is conducted; after the working oil path oil pump motor 29 is started, the hydraulic oil in the working oil path passes through the working oil pump 28 and the right side of the bucket cylinder hydraulic control reversing valve 26, and reaches the rod cavity of the bucket cylinder 4. The bucket is pushed to turn backwards by retracting the cylinder rod of the bucket cylinder 4, and the inward bucket-retracting action of the bucket is completed.
In the present embodiment, the backhoe loader further includes a slope inclination sensor 1 and a controller 13, the slope inclination sensor 1 being configured to detect an inclination of the frame 18 with respect to the horizontal direction; controller 13 is in signal communication with ramp inclination sensor 1 and is configured to control the motion of curl cylinder 4 to adjust the open end of bucket 8 to the horizontal when the inclination of frame 18 with respect to the horizontal is greater than a first predetermined angle.
In the present embodiment, controller 13 controls the open end of bucket 8 to rotate by detecting the inclination angle of carriage 18 reflecting the angle of the ramp with respect to the horizontal direction, thereby rotating the open end of bucket 8 to the horizontal, which improves the problem that the angle of the bucket cannot be adjusted according to the angle of the ramp in the related art.
In some embodiments, the controller 13 is a drive computer ecu (electronic Control unit) of the backhoe loader.
The backhoe loader further includes a bucket angle sensor 7 configured to detect an inclination angle of the bucket 8 with respect to the horizontal direction, a controller 13 in signal connection with the bucket angle sensor 7, the controller 13 configured to control the operation of the swing cylinder 4 to adjust the open end of the bucket 8 to the horizontal when the inclination angle of the open end of the bucket 8 with respect to the horizontal direction is greater than a second preset angle.
Therefore, the excavating loader of the embodiment has the function of automatically leveling the bucket. The automatic leveling function of the bucket is divided into automatic leveling when traveling on a slope and automatic leveling when the bucket is lifted (e.g., when unloading).
When the vehicle runs on a slope, the operator finishes the shoveling operation to lift the bucket 8 to the transportation position for transition transportation, the bucket 8 is already leveled, but the bucket leveling posture is relative to the horizontal plane, when the vehicle runs on the slope road surface, the vehicle is in an inclined state, the opening plane of the bucket is also inclined relative to the horizontal plane, and when the slope is too large, the material is in great risk of being scattered.
The specific implementation of the bucket ramp leveling function is as follows: when a vehicle carries out transition transportation operation on a ramp road surface, the ramp inclination angle sensor 1 monitors the gradient of the road surface in real time, and when the gradient of the road surface is smaller than the variation of an allowable forward inclination angle (the variation of the allowable forward inclination angle is set according to the repose angle of materials, the materials cannot be scattered in the angle range, and when the types of the materials are changed, calibration can be carried out again), the electromagnetic reversing valve 23 of the rotating bucket oil cylinder is kept at the middle position, and the rotating bucket oil cylinder 4 is kept locked; when the gradient is larger than the allowable forward inclination variation, the controller 13 controls the bucket cylinder to extend or retract, the bucket rotation angle sensor 7 monitors the rotation angle of the bucket 8, and when the bucket rotates by a corresponding angle to keep the opening of the bucket horizontal, the bucket cylinder 4 is controlled to be locked, so that the leveling function on the road surface of the ramp is completed.
When the bucket 8 is lifted to prepare for unloading, the bucket tilt angle sensor 7 monitors the variation of the front rake angle of the bucket in real time during the lifting process of the bucket, and when the variation is within the allowable front rake angle variation range, the bucket cylinder 4 is kept locked; when the variation of the front rake angle of the bucket is larger than the variation of the allowed front rake angle, the controller 13 controls the cylinder rod of the bucket cylinder 4 to extend or retract, the movable arm continues to lift at the moment, and when the front rake angle of the bucket is adjusted to the set leveling front rake angle and the opening of the bucket is horizontal, the controller 13 controls the bucket cylinder 4 to stop operating and lock the bucket cylinder. In the falling process of the bucket, similar to the lifting working condition, when the forward rake of the bucket is smaller than the variation of the allowable forward rake, the bucket cylinder 4 keeps a locked state, and when the forward rake of the bucket exceeds the variation of the allowable forward rake, the system controls the action of the bucket cylinder 4 to level the bucket.
When the unloading operation is carried out, the automatic bucket leveling function is automatically triggered. When some special working conditions are carried out without automatic leveling of the bucket, the function can be closed in a background program.
The backhoe loader further comprises a load cell 9, said load cell 9 being configured to detect the weight of said bucket 8 and being in signal connection with said controller 13.
The backhoe loader further comprises an alarm device in signal connection with the controller 13, wherein the controller 13 is configured to control the alarm device to send an alarm message when the load of the bucket 8 exceeds a preset load by a first predetermined value or is less than a preset load by a second predetermined value.
When the bucket is collected after the excavation operation is finished, the weighing sensor 9 monitors that the bucket 8 has a material load, and starts to weigh the material in the bucket. The controller 13 compares the weight of the weighed material with the allowable load range and records the weight of the material as a data file in the repository if the weight of the material is within the allowable load range. If the weight of the material in the bucket 8 exceeds or falls below the allowable load range of the bucket, the controller 13 controls to give an overload or underload alarm, and the operator unloads part of the material or reloads part of the material and then reweighs the material; the controller 13 then records the weight data file corresponding to the allowable load range of the bucket in the storage library, and can perform accumulation calculation on the weight of the material shoveled in the operation time, and check the total weight of the shoveling operation in the time.
The controller 13 is configured to determine that materials are adhered to the bucket 8 when the detected weight of the bucket 8 is greater than a third preset value of the self weight of the bucket 8, and control the rotating bucket cylinder 4 to act to remove the materials adhered to the bucket 8.
When unloading, after bucket 8 overturns forward and unloads, weighing sensor 9 can automatically weigh the weight of bucket 8, judge whether there is the material to glue on bucket 8, if the bucket load of weighing exceeds the bucket dead weight scope of settlement, the jar pole of system control bucket hydro-cylinder 4 stretches out and contracts in succession, utilize bucket corner sensor 7 to prescribe a limit to the biggest flip angle of bucket for the angle of unloading, shake off the material of adhesion at bucket 8 through reciprocal upset vibration, meanwhile, weighing sensor also can weigh bucket load weight in real time, when its load is in the within range of injecing, system control stops the action of bucket hydro-cylinder 4.
The backhoe loader further comprises a first operation key configured to allow an operator to operate, the controller 13 is in signal connection with the first operation key, and the controller 13 is configured to complete a shoveling operation by controlling the boom cylinder 3 and the swing bucket cylinder 4 to act after the first operation key is triggered.
As shown in fig. 4, when an operator presses a first operation key (a function key for one-key excavation work), the controller 13 sends a command signal, the analog signal is converted into a digital signal through the a/D conversion unit 31 and the electronic control unit, and the digital signal is processed, shaped and amplified to retract the rod of the boom cylinder 3, so as to drive the boom 5 to fall, the boom angle sensor 12 monitors the angle of rotation of the boom in real time and feeds the angle back to the controller 13, so as to determine the height position of the bucket 8, and when the bucket 8 reaches a set cutting position, the operation of the boom cylinder 3 is stopped. And then the controller 13 controls the bucket oil cylinder 3 to drive the bucket 8 to turn forwards around a hinge point with the movable arm 5, the bucket corner sensor 7 monitors the rotation angle of the bucket in real time, and when the corner of the bucket 8 reaches a set bucket entrance angle, the controller 13 controls the bucket 8 to stop acting. At this time, the bucket 8 is positioned at the shoveling position, and the cutting angle is the angle at which the current material shoveling resistance is minimum. When the bucket 8 is positioned to the shoveling device, the controller 13 controls the boom cylinder and the bucket cylinder electromagnetic directional valves 22 and 23 to be kept at the middle positions, the boom cylinder 3 and the bucket cylinder 4 are locked, after the operator drives the vehicle to insert the bucket 8 into the material, the operator is required to pull the intelligent control handle to the left (the operation is used for informing the system that the bucket is completely inserted into the material and the bucket can be retracted) to reactivate the function of one-key shoveling operation), when the controller 13 monitors a bucket retracting signal, the bucket cylinder 4 is controlled to automatically retract, the bucket corner sensor 7 monitors that the bucket corner reaches the retracting angle, the bucket cylinder 4 is locked, the boom cylinder 3 is controlled to lift the boom, and the bucket 8 is lifted to the transportation position under the monitoring feedback of the boom corner sensor 12.
The one-key excavation operation function only provides a one-time single excavation method in the excavation method, and for different material types, an operator can select a more appropriate 'matched excavation method' or 'layered excavation method', and the intelligent handle 14 is used for manually completing the excavation operation of the materials.
The backhoe loader further includes a second operation key configured to allow an operator to manipulate, and a boom rotation angle sensor 12; the boom rotation angle sensor 12 is configured to detect a rotation angle of the boom 5; the controller 13 is in signal connection with the second manipulation key and the boom angle sensor 12, respectively, the controller 13 is configured to adjust the bucket 8 to a predetermined transportation height convenient for transportation by controlling the boom cylinder 3 to rotate after the second manipulation key is triggered, and the controller 13 is further configured to receive the angle of the boom 5 fed back by the boom angle sensor 12 to determine the height of the bucket 8.
As shown in fig. 6, when the operator presses the second operation key (function key for returning to the transportation position), the controller 13 monitors the current position of the bucket 8, and when the position of the bucket 8 is below the transportation position, the controller issues a command to cause the boom cylinder 3 to lift the boom 5, and positions the bucket 8 in the transportation position under the monitoring feedback of the boom angle sensor 12. When the position of the bucket is above the transportation position, the controller 13 controls the retraction of the cylinder rod of the boom cylinder 3 to drive the boom 5 to descend, the boom rotation angle sensor 12 feeds back the rotation angle to the controller 13 in real time, and finally the bucket is positioned at the set transportation position.
The backhoe loader further includes a third operating key configured to allow manipulation by an operator. The controller 13 is in signal connection with the third control key, and is configured to control the boom cylinder 3 to act to lift the bucket 8 to a predetermined discharge height and control the opening of the bucket 8 to be adjusted to be horizontal after the third control key is triggered.
The backhoe loader further comprises a control handle 14, the control handle 14 is in signal connection with the controller 13, and the controller 13 is configured to control the operation of the rotary bucket cylinder 4 to discharge the bucket 8 if receiving a corresponding signal from the control handle after the bucket 8 is adjusted to the discharge height and leveled.
As shown in fig. 7, when the operator presses a third operation key (a function key for one-touch discharge work), the controller 13 controls the boom 5 to lift the bucket 8 upward from the transport position, the bucket leveling function is automatically triggered, and the system automatically controls the bucket leveling when the forward rake angle of the bucket is larger than the allowable forward rake angle variation. When the bucket 8 is lifted up to a set dump position, the controller 13 controls the boom cylinder 3 and the bucket cylinder 4 to be locked. After the operator determines that the position of the vehicle body is adjusted, the operator needs to pull the intelligent control handle 14 rightwards (the operation is used for informing the system that the posture of the vehicle body is adjusted and the material can be unloaded), when the controller 13 monitors a signal for tipping forwards, the controller controls the cylinder rod of the bucket cylinder 4 to extend out, the bucket 8 is pushed to turn outwards around the hinged point of the bucket 8 and the movable arm 5, the bucket corner sensor 7 monitors the rotating angle of the bucket 8 in real time, and when the set unloading angle is reached, the action of the bucket cylinder is stopped, and the material is unloaded. And then the controller 13 controls the bucket cylinder 4 to push the bucket 8 to turn over, so that the bucket is leveled.
After the bucket 8 is positioned at the unloading position after being leveled, an operator drives the vehicle to run backwards, after the falling trajectory of the bucket is not overlapped with other objects, the operator needs to pull the intelligent control handle 14 forwards (the operation is used for informing the system that the falling of the movable arm does not collide with other objects and the movable arm can fall back), and after the controller 13 monitors the falling signal of the movable arm, the movable arm cylinder 3 is controlled to retract, and the bucket corner sensor 7 also monitors the variation of the forward rake angle of the bucket in real time. The method is the same as the lifting working condition, when the variation of the front rake angle of the bucket is within the range of the variation of the front rake angle, the bucket cylinder 4 is kept locked, when the variation of the front rake angle of the bucket is monitored to be larger than the variation of the front rake angle, the system controls the bucket cylinder to extend or retract, the bucket is leveled, and the movable arm cylinder 3 drives the movable arm 5 to finally position the bucket 8 at the transportation position. And finishing the one-key automatic unloading action.
The backhoe loader further includes a fourth operating key configured to allow the operator to manipulate. The controller 13 is in signal connection with the fourth operation key, and the controller 13 is configured to control the boom 5 to act to drop the bucket 8 to a preset position and control the swing cylinder 4 to act to rotate the bucket 8 to a preset angle when the fourth operation key is triggered.
When the operator presses the fourth operation key (the function key for leveling the bucket), the controller 13 sends an instruction to make the boom cylinder 3 drive the boom 5 to fall, and the bucket is positioned at the lowest position under the monitoring feedback of the boom rotation angle sensor 12. And then the controller 13 can control the cylinder rod of the bucket cylinder 4 to extend to enable the bucket 8 to turn forwards around the hinge point, the bucket rotation angle sensor 7 monitors the bucket turning angle in real time, when the angle reaches the front rake angle when the bucket is placed at ordinary times, the controller 13 controls the bucket cylinder 4 to stop moving, the bucket bottom of the bucket 8 is completely attached to the ground, and the bucket leveling motion is completed.
The procedure of the loading operation of the loading excavator of the present embodiment is described below:
referring to fig. 4 to 7, when the operator enters the cab and sits on the seat 16, the intelligent auxiliary loading operation system is automatically started after the seat sensor 15 detects the situation, and when the seat sensor 15 detects that the operator leaves for 30 seconds, the system is automatically turned off.
(1) Shovel embodiment
When the operator drives the vehicle to perform the cutting operation and presses the "one-key cutting operation" function key immediately before reaching the operation site, the bucket 8 is lowered and turned outward by the boom cylinder 3 and the bucket cylinder 4, and when the operator reaches the pile, the bucket 8 is already adjusted to the cutting position and the optimum bucket cutting angle. The operator drives the vehicle to insert the bucket into the material, and at this time, the operator needs to pull the intelligent control handle 14 to the left (the operation is used for informing the system that the bucket is inserted into the material and can be used for taking the bucket), the bucket taking action is triggered, and after the bucket taking is completed, the bucket is positioned at the transportation position. When the system monitors that the bucket 8 is located at the transportation position, the automatic weighing function is started, if the load weight of the bucket material is within an allowed load range, the controller 13 records a data file of the weight in the memory, if the load weight of the bucket 8 is not within the allowed load range, an overload or underload alarm is sent out, after an operator unloads or loads part of the material, the data file of the weight of the material within the allowed load range is recorded in the memory, the weight of the material shoveled in the operation time is accumulated, and the total weight of the shovel in the operation time is calculated.
(2) Mode for carrying out transportation work
After the bucket 8 finishes the shoveling operation, the bucket is leveled and positioned at the transportation position, and an operator drives the digging and loading machine to carry out transition transportation. When the vehicle runs on a ramp road surface, the automatic leveling function of the ramp running bucket is automatically triggered, and when the slope angle of the road surface is smaller than the allowable forward inclination angle variation, the rotating bucket oil cylinder keeps a locking state; when the gradient is larger than the allowable forward inclination variation, the system controls the bucket oil cylinder to act, and the bucket is leveled under the monitoring of the bucket corner sensor, so that the transportation operation is completed.
(3) Discharge operation embodiment
When the operator drives the vehicle to carry out transportation operation and presses a 'one-key unloading operation' function key immediately before arriving at an unloading place, the automatic leveling function of the unloading operation is automatically triggered, the controller controls the movable arm to lift the bucket, and when the variation of the front rake angle of the bucket is larger than the variation of the allowed front rake angle, the 'automatic leveling' function of the bucket automatically intervenes to level the bucket. After the bucket is lifted to the unloading position, after an operator determines that the position of the car body is adjusted, the operator is required to pull an intelligent control handle rightwards at the moment (the operation is used for informing the system that the position of the car body is adjusted, and the car can be unloaded), after the controller monitors a signal of an outward tipping bucket, the unloading of materials is completed, the automatic weighing function of the unloading operation is triggered at the moment, the weight of the bucket 8 is automatically weighed, the weight is compared with the self-weight range of the bucket 8 to judge whether the bucket is adhered with the materials, if the adhered materials exist on the bucket, the system overturns the bucket through the reciprocating bucket, the materials are shaken off, and then the bucket is controlled to be leveled at the unloading position.
After the bucket 8 is leveled and positioned at the unloading position, an operator drives the vehicle to drive the vehicle to move backwards, after the falling trajectory of the bucket is not overlapped with other objects, the operator is required to pull forward an intelligent control handle (the operation is used for informing the system that the falling of the movable arm 5 cannot collide with other objects and the movable arm can fall back), when the controller 13 monitors the falling signal of the movable arm, the movable arm is controlled to fall back, the operation is similar to the lifting working condition, in the bucket falling process, the automatic bucket leveling function can be automatically started, when the forward inclination angle of the bucket is greater than the allowable forward inclination angle variation, the bucket 8 is automatically leveled, and finally the bucket 8 is positioned at the transportation position. And finishing the one-key automatic unloading action.
(4) Bucket handling embodiment
After the operation is completed, an operator drives the vehicle to park in a designated place, a one-key bucket leveling function is started, the controller 13 controls the bucket 8 to descend to the lowest position, then the bucket is leveled under the real-time monitoring of the bucket corner sensor, the bottom of the bucket is completely attached to the ground, and the bucket-placing operation is completed.
When loading operation is carried out in some complicated operation places, the integrated 'one-key operation' command may be limited to a certain extent, and the optimal operation efficiency cannot be achieved, and at the moment, the corresponding shoveling operation can be completed by manually operating the intelligent handle.
The present invention is not limited to the above exemplary embodiments, and any modifications, equivalent replacements, improvements, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (12)
1. A backhoe loader comprising:
a frame (18);
a boom (5) connected to the frame (18) and configured to be swingable in a vertical plane with respect to the frame (18);
a bucket (8) mounted on an end of the boom (5) remote from the frame (18) and configured to be rotatable relative to the boom (5);
a bucket cylinder (4) configured to drive the bucket (8) to rotate relative to the boom (5);
a ramp inclination sensor (1) configured to detect an inclination of the frame (18) with respect to a horizontal direction; and
and the controller (13) is in signal connection with the slope inclination angle sensor (1) and is configured to control the bucket cylinder (4) to act to adjust the opening end of the bucket (8) to be horizontal when the inclination angle of the frame (18) relative to the horizontal direction is larger than a first preset angle.
2. The backhoe loader of claim 1, further comprising a bucket angle sensor (7) configured to detect an inclination angle of the bucket (8) with respect to a horizontal direction, wherein the controller (13) is in signal connection with the bucket angle sensor (7), and wherein the controller (13) is configured to control the operation of the dump cylinder (4) to adjust the open end of the bucket (8) to the horizontal when the inclination angle of the open end of the bucket (8) with respect to the horizontal direction is greater than a second preset angle.
3. The backhoe loader of claim 1, further comprising a load cell (9), the load cell (9) configured to detect a weight of the bucket (8) and in signal communication with the controller (13).
4. The backhoe loader of claim 3, further comprising an alarm device in signal communication with the controller (13), wherein the controller (13) is configured to control the alarm device to send an alarm message when the load of the bucket (8) exceeds a preset load by a first predetermined value or is less than the preset load by a second predetermined value.
5. The backhoe-loader of claim 3, wherein the controller (13) is configured to determine that the bucket (8) has stuck material when the detected weight of the bucket (8) is greater than a third preset value of the self-weight of the bucket (8), and to control the bucket cylinder (4) to act to remove the stuck material from the bucket (8).
6. The backhoe loader of claim 1, further comprising:
a seat (16);
a seat sensor (15) mounted on the seat (16) and configured to determine whether an operator is seated on the seat (16),
the controller (13) is in signal connection with the seat sensor (15) to adjust the levelness of the open end of the bucket (8) according to the information detected by the slope inclination angle sensor (1) after detecting that an operator sits on the seat (16).
7. The backhoe loader of claim 1, further comprising a first manipulation key configured to allow manipulation by an operator, wherein the controller (13) is in signal connection with the first manipulation key, and wherein the controller (13) is configured to complete a shoveling work by controlling the boom cylinder (3) and the dump cylinder (4) to act after the first manipulation key is triggered.
8. The backhoe loader of claim 1, further comprising:
a second operation key configured to allow an operator to operate;
a boom rotation angle sensor (12) configured to detect a rotation angle of the boom (5); and
the controller (13) is in signal connection with the second control key and the boom rotation angle sensor (12), the controller (13) is configured to adjust the bucket (8) to a preset transportation height convenient for transportation by controlling the boom cylinder (3) to rotate after the second control key is triggered, and the controller (13) is further configured to receive the angle of the boom (5) fed back by the boom rotation angle sensor (12) to judge the height of the bucket (8).
9. The backhoe loader of claim 1, further comprising:
a third operation key configured to allow an operator to operate; and
the controller (13) is in signal connection with the third control key and is configured to control the boom cylinder (3) to act to lift the bucket (8) to a preset discharging height and control the opening of the bucket (8) to be adjusted to be horizontal after the third control key is triggered.
10. The backhoe loader of claim 9, further comprising a control handle (14), wherein the control handle (14) is in signal connection with the controller (13), and wherein the controller (13) is configured to control the dump cylinder (4) to operate to dump the bucket (8) if a corresponding signal from the handle is received after the bucket (8) is adjusted to the dump height and leveled.
11. The backhoe loader of claim 1, further comprising:
a fourth operation key configured to allow an operator to manipulate; and
the controller (13) is in signal connection with the fourth operation key, and the controller (13) is configured to control the action of the movable arm (5) to drop the bucket (8) to a preset position and control the action of the rotating bucket cylinder (4) to rotate the bucket (8) to a preset angle when the fourth operation key is triggered.
12. The backhoe loader of claim 1, further comprising:
a boom cylinder pilot operated directional control valve (25) configured to be switchable between a first valve position and a second valve position to control a piston rod of the boom cylinder (3) to switch a moving direction;
a boom cylinder electromagnetic directional valve (22) configured to control the boom cylinder hydraulic control directional valve (25) to switch between a first valve position and a second valve position, and is in signal connection with the controller (13);
the rotary bucket oil cylinder hydraulic control reversing valve (26) is configured to be switchable between a first valve position and a second valve position so as to control a piston rod of the rotary bucket oil cylinder (4) to switch the movement direction; and
the rotary bucket cylinder electromagnetic directional valve (23) is configured to control the rotary bucket cylinder hydraulic control directional valve (26) to switch between a first valve position and a second valve position, and is in signal connection with the controller (13).
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| CN202110565761.1A CN113266046A (en) | 2021-05-24 | 2021-05-24 | Loader-digger |
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| CN202110565761.1A CN113266046A (en) | 2021-05-24 | 2021-05-24 | Loader-digger |
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| CN113266046A true CN113266046A (en) | 2021-08-17 |
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Application publication date: 20210817 |