CN103615025A - Loader and control method for loading operation of loader - Google Patents
Loader and control method for loading operation of loader Download PDFInfo
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- CN103615025A CN103615025A CN201310588840.XA CN201310588840A CN103615025A CN 103615025 A CN103615025 A CN 103615025A CN 201310588840 A CN201310588840 A CN 201310588840A CN 103615025 A CN103615025 A CN 103615025A
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- scraper bowl
- loader
- controller
- swing arm
- electromagnetic valve
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Abstract
The invention relates to a loader and a control method for loading operation of the loader and overcomes the defect that the existing loader is low in loading efficiency. According to the control method, when a bucket digs into material for driving, the bucket shifts and vibrates up and down in the vertical direction according to the preset vibration frequency and amplitude by controlling flow direction of hydraulic oil in a drive circuit of a swing arm cylinder of the loader. An electromagnetic valve which changes the flow direction of the hydraulic oil is disposed on the drive oil circuit of the swing arm cylinder. When digging into the material, the bucket shifts and vibrates according to the preset frequency and amplitude, so that certain spacing forms between the bottom of the bucket and the material during driving, and friction resistance between the material and the bucket is reduced. Continuity of the material can also be interrupted by vibration, the friction resistance between the material in the bucket and the inner wall of the bucket is reduced, continuous driving is achieved, loading efficiency is improved, and energy consumption is reduced.
Description
Technical field
The present invention relates to a kind of loader, relate in particular to a kind of control method and loader that mechanical shovel is pretended industry that load.
Background technology
Loader common operating type in spading operation is operator by the engine throttle maximum of stepping on, the tractive force producing by tire and ground, ordering about complete machine drives scraper bowl to insert stockpile, but the increase along with the degree of depth in scraper bowl insertion material, the contact surface of scraper bowl and material is increasing, thereby scraper bowl and the frictional force of material are also synchronizeed increase, until stockpile resistance equates with tractive force, machine is forced to stop, but at this moment in the scraper bowl of loader, not yet fills material.In order to make scraper bowl fill material, at this moment operator by operating grip, makes swing arm lifting a little, and machine inserts forward stockpile again, two to three times and so forth, until scraper bowl is filled material, completes spading feeding process.In this feeding process, because scraper bowl contacts in primary feed all the time with material, in scraper bowl, material is continuous, along with spading progress is more and more darker, the contact surface of scraper bowl and material is increasing, thereby scraper bowl and the frictional force of material are also synchronizeed increase, have increased the required power of machinery operation; In addition when spading resistance is greater than the tractive force of loader, machine is forced to halt, and carries out the transmission of engine power, from the operating characteristic of torque-converters because loader adopts torque-converters mostly, while stopping in machine is advancing process, the transmission efficiency of torque-converters is zero, and the power that at this moment motor sends all changes heat in torque-converters, has both wasted energy, reduce operating efficiency, make again the operating mode of torque-converters become bad, shorten the life-span of bending moment oil, increase the heat radiation burden of machine.Need operator to pretend operating grip in industry at shovel simultaneously and make swing arm lifting, this has just increased operator's labour intensity.
Summary of the invention
The object of the invention is to for existing loader low shortcoming of efficiency and provide a kind of high loading mechanical shovel of dress efficiency that shovels to pretend industry control method and the loader corresponding with the method when the shovel dress material.
Technical scheme of the present invention is achieved in that provides a kind of control method that mechanical shovel is pretended industry of loading, when shovel is pretended industry, by controlling the flow direction of the hydraulic oil in loading machine movable arm cylinder oil circuit, make swing arm drive the scraper bowl in the vertical direction of its front end to vibrate by default vibration frequency and amplitude upper and lower translation.In the present invention, when being inserted into, in shovel dress material, shovels while pretending industry by making scraper bowl make translational vibration by predeterminated frequency and amplitude by scraper bowl, thereby make scraper bowl bottom surface form certain gap in tunneling process with by pick material, thereby the frictional resistance of material and scraper bowl while reducing driving, vibration simultaneously can also interrupt by the continuity of pick material, reduce the frictional resistance of the interior material of scraper bowl and scraper bowl inwall, realize working continuously of tunneling process, improve loading operation efficiency and reduce energy consumption.
In foregoing invention, be also included in when shovel is pretended industry and set or the vibration frequency of adjusting scraper bowl in the vertical direction up-down vibration or the step of Oscillation Amplitude.By regulating frequency and the amplitude of scraper bowl vibration, realize the different degree of depth in material, the scraper bowl of shovel dress different attribute insert material and there is corresponding vibration frequency and Oscillation Amplitude.
In foregoing invention, also comprise that whether automatic identification loader is in shoveling the shovel dress identification step of dress job state, shovel dress identification step comprises by the position of sensor measurement rotary ink tank and/or boom cylinder internal pressure value and measurement scraper bowl, the Position input of rotary ink tank and/or boom cylinder internal pressure value and scraper bowl is compared to controller and with preset value corresponding in controller, when scraper bowl present position within the scope of predeterminated position and rotary ink tank and/or boom cylinder internal pressure value be defined as shovel dress job state within the scope of preset pressure time.The pressure of measuring in rotary ink tank is used for judging that whether loader is in shoveling a parameter of dress state, scraper bowl when inserting stockpile on scraper bowl suffered resistance can pass through rotating bucket connecting rod, rotating bucket rocking arm etc. and can on rotary ink tank, react to some extent, cause the pressure in the large chamber of rotary ink tank or loculus different before and after scraper bowl inserts stockpile, the pressure of therefore measuring in rotary ink tank can be used for judging that whether loader is in shoveling a parameter of dress state.In like manner the pressure in boom cylinder also has obvious variation before and after scraper bowl inserts stockpile, insert after stockpile the pressure in the large chamber of boom cylinder and can obviously be greater than scraper bowl and insert the pressure in the large chamber of boom cylinder before stockpile, so the pressure in boom cylinder also can be used as and judge that whether loader is in shoveling a parameter of dress state.Therefore can by measure one or two force value in rotary ink tank and boom cylinder as loader a parameter in the judgement of shovel dress job state whether.By definition and automatic recognition machine, whether in shovel dress job state, automatically control the vibration of scraper bowl, thereby reduce operator's labour intensity, raise the efficiency.
In foregoing invention, the position of measuring scraper bowl comprises measures the receipts bucket position that angle that angle that swing arm moving arm and vehicle frame hinging pin shaft rotate and measurement scraper bowl rotate around scraper bowl rotating pin is determined scraper bowl.The angle of rotating by measurement swing arm moving arm and vehicle frame hinging pin shaft can be extrapolated the position at scraper bowl in the vertical direction place, by position sensor, directly measure scraper bowl and extrapolate around the angle of the angle of scraper bowl rotating pin rotation or the length of stretching out by measurement rotary ink tank piston rod or the rotation of rotating bucket connecting rod the angle that scraper bowl rotates around scraper bowl rotating pin, scraper bowl is received bucket can think that to certain position shovel fills the end of job, also can think and shovel the dress end of job when scraper bowl is lifted to certain altitude.
Another technical scheme that the present invention realizes its goal of the invention is a kind of loader of structure, comprise scraper bowl and the position of bucket control device hinged with scraper bowl, position of bucket control device comprises swing arm, the boom cylinder being connected with swing arm, the rotary ink tank being connected with scraper bowl by connecting rod, boom cylinder with rotary ink tank respectively by driving oil circuit to be connected with the hydraulic system of loader; Also comprise in addition electromagnetic valve and electronic-controlled installation, electromagnetic valve is arranged on the driving oil circuit of boom cylinder electronic-controlled installation and drives electromagnetic valve action to make boom cylinder drive the flow direction of the hydraulic oil in oil circuit to change to make the scraper bowl idle rod of swing arm front end according to frequency and the amplitude up-down vibration set.
In foregoing invention, electronic-controlled installation comprises for detection of the pressure sensor of pressure in rotary ink tank and/or boom cylinder, for detection of the position measurement device of position of bucket, the controller being connected with electromagnetic valve, controller is accepted the detection signal of pressure sensor and position measurement device and is judged that scraper bowl, whether in shovel dress job state, sends and makes the scraper bowl idle rod of swing arm front end according to the frequency of setting and the control signal of amplitude up-down vibration to electromagnetic valve when in shovel dress job state.By electronic-controlled installation, realize the automatic vibration of scraper bowl, without manual operation, reduce operator's labour intensity.
In foregoing invention, position measurement device is mounted in swing arm and loader frame pin joint place for detection of the angular transducer of swing arm rotational angle, and for detection of the position sensor of scraper bowl rotational angle.The angle turning over by measuring swing arm, thereby can calculate the position of scraper bowl in the vertical direction, by position sensor, directly measure scraper bowl and extrapolate around the angle of the angle of scraper bowl rotating pin rotation or the length of stretching out by measurement rotary ink tank piston rod or the rotation of rotating bucket rocking arm the angle that scraper bowl rotates around scraper bowl rotating pin, thereby judge whether loader fills job state in shovel.
In foregoing invention, electronic-controlled installation also comprises input unit, this input unit is for making controller send and make scraper bowl by the control signal of corresponding vibration frequency and Oscillation Amplitude vibration to electromagnetic valve to controller transmitted signal, operator is shoveling while pretending industry, according to the material attribute for the treatment of shovel dress, by input unit transmitted signal, in controller, select corresponding default vibration frequency and Oscillation Amplitude, make controller send corresponding control signal to electromagnetic valve.
In the present invention, the electronic-controlled installation of controlling electromagnetic valve action can also be comprised of controller and input unit, controller makes electromagnetic valve by setpoint frequency and amplitude action for send control signal to electromagnetic valve, input unit is connected with controller, for make controller select corresponding control signal to send to electromagnetic valve to controller input signal.By this electronic-controlled installation, can realize the manual control of scraper bowl vibration, at scraper bowl, insert and treat in shovel dress material, by operator, according to the attribute for the treatment of product material, by input unit, to controller, input corresponding signal, controller determines according to the signal of input unit input the control signal that it sends to electromagnetic valve, the control signal that controller sends makes electromagnetic valve according to default frequency and amplitude action, the action of electromagnetic valve makes boom cylinder drive the flow direction of hydraulic oil in oil circuit to convert, thereby make boom cylinder piston rod flexible according to default frequency and amplitude, finally realizing the hinging pin shaft of swing arm around its rear end swings up and down and drives the scraper bowl of swing arm front end according to default frequency and amplitude up-down vibration.When the end of job of shovel dress, then send stop signal by input unit, controller stops transmitted signal, stops the vibration of scraper bowl.
The beneficial effect that the present invention compared with prior art has: scraper bowl of the present invention is when driving operating mode, by controlling boom cylinder, make swing arm drive scraper bowl to make up-down vibration by certain frequency and amplitude, thereby make scraper bowl form certain gap in tunneling process with by pick material, thereby the frictional resistance of material and scraper bowl while reducing driving, vibration simultaneously can also interrupt by the continuity of pick material, reduce the frictional resistance of the interior material of scraper bowl and scraper bowl inwall, realize working continuously of tunneling process, improve loading operation efficiency and reduce energy consumption.
Accompanying drawing explanation
Fig. 1 is the complete machine structure schematic diagram of loader;
Fig. 2 is loading arm hydraulic-driven and electric control structure schematic diagram;
Fig. 3 is that scraper bowl is at the motion schematic diagram of excavation operation process;
Fig. 4 is another structural representation of loading arm hydraulic-driven and electrical control in the present invention.
Component title and sequence number in figure:
The specific embodiment
Below in conjunction with accompanying drawing explanation specific embodiments.
As shown in Figure 1, loader comprises scraper bowl 1, rotating bucket connecting rod 2, rotating bucket rocking arm 13, swing arm 3, boom cylinder 4, rotary ink tank 5, two swing arms are anterior to be therein fixedly connected with by box link 14, the front end of swing arm 3 and scraper bowl are hinged by scraper bowl rotating pin 10, the rear end of swing arm 3 is hinged by swing arm rotating pin and vehicle frame, one end and the swing arm of boom cylinder 4 are hinged, and the other end and vehicle frame are hinged; One end and the vehicle frame of rotary ink tank 5 are hinged, and one end connects by rotating bucket rocking arm 13 in addition, and the middle part of rotating bucket rocking arm 13 and box link 14 are hinged, and other one end of rotating bucket rocking arm 13 drives scraper bowl 1 to rotate around scraper bowl and swing arm hinging pin shaft by rotating bucket connecting rod 2.The flexible of boom cylinder 4 can be so that the swing arm rotating pin of swing arm around its rear end swings up and down, thereby make its front end also drive scraper bowl in the vertical direction to move up and down with the hinged termination of scraper bowl, rotary ink tank 5 flexible can promote scraper bowls 1 by rotating bucket rocking arm 13, rotating bucket connecting rod 2 and swing up and down around scraper bowl rotating pin 10.
In the present embodiment, first in the interior setting of controller 7, be used for judging that whether loader is in shoveling the preset parameter value scope of dress job state, in controller, set a rotary ink tank pressure limit value and position of bucket value range, the detection signal of passing back when pressure sensor 8 and swing arm rotation angle sensor 9 and scraper bowl rotation angle sensor 12 is positioned at corresponding preset parameter value scope as calculated, thinks that loader pretends in industry in shovel.In the present embodiment, operator, first according to the material for the treatment of shovel dress, to controller transmitted signal, determines that controller is about to the control signal sending to electromagnetic valve by input unit 11.The signal that controller 7 processing pressure sensors 8 and swing arm rotation angle sensor 9 and scraper bowl rotation angle sensor 12 send, to judge loader, whether in shovel, pretend industry, when judgement loader is when shovel fills job state, controller 7 transmits control signal to electromagnetic valve 6, electromagnetic valve 6 actions make the piston rod of boom cylinder 4 flexible, swing arm swings up and down according to frequency and the amplitude set around the pin joint of itself and vehicle frame, is positioned at the scraper bowl of swing arm front end also thereupon according to frequency and the amplitude up-down vibration set.
The present invention is inserted into and in shovel dress material, shovels while pretending industry by making scraper bowl by predeterminated frequency and amplitude up-down vibration at scraper bowl, in scraper bowl bottom surface with between by pick material, form certain gap, thereby the frictional resistance of material and scraper bowl while reducing driving, vibration simultaneously can also interrupt by the continuity of pick material, reduce the frictional resistance of the interior material of scraper bowl and scraper bowl inwall, realize working continuously of tunneling process, improve loading operation efficiency and reduce energy consumption.When judgement loader is not when shovel fills job state, controller stops transmitting control signal, and scraper bowl stops vibration.
In the present embodiment, scraper bowl 1 is received bucket position can also directly measure scraper bowl around 10 rotational angles of scraper bowl rotating pin by being arranged on the angular transducer of scraper bowl and swing arm hinged place, determine the position of receiving bucket, or the length of stretching out by displacement sensor rotary ink tank piston rod is extrapolated scraper bowl around 10 rotational angles of scraper bowl rotating pin, and then the receipts bucket situation of definite scraper bowl, three parameters such as the position on itself and scraper bowl vertical direction, the pressure in boom cylinder are determined to whether loader pretends industry in shovel.
Compare with the technical scheme in embodiment 1, the difference of the technical scheme in the present embodiment is to control electronic-controlled installation and the control to electromagnetic valve of electromagnetic valve.As shown in Figure 4, electronic-controlled installation is comprised of controller 7 and input unit 11, controller 7 makes electromagnetic valve 6 by setpoint frequency and amplitude action for send control signal to electromagnetic valve 6, input unit 11 is connected with controller 7, for making controller select corresponding control signal to send to electromagnetic valve to controller input signal, input unit can be a plurality of press buttones that are associated or rotary switch, a kind of signal that the knob position of each press button or each rotary switch and controller send to electromagnetic valve, corresponding with a kind of frequency and the amplitude of scraper bowl vibration.By this Electronic Control control device, can realize the manual control of scraper bowl vibration, at scraper bowl, insert and treat in shovel dress material, by operator, by input unit, to controller, input corresponding signal, controller determines according to the signal of input unit input the control signal that it sends to electromagnetic valve, the control signal that controller sends makes electromagnetic valve according to default frequency and amplitude action, the action of electromagnetic valve makes boom cylinder drive the flow direction of hydraulic oil in oil circuit to convert, thereby make boom cylinder piston rod flexible according to default frequency and amplitude, finally realizing the hinging pin shaft of swing arm around its rear end swings up and down and drives the scraper bowl of swing arm front end according to default frequency and amplitude up-down vibration.When the end of job of shovel dress, then send stop signal by input unit, controller stops transmitted signal, stops the vibration of scraper bowl.
Claims (10)
1. one kind is loaded the control method that mechanical shovel is pretended industry, it is characterized in that: when shovel is pretended industry, by controlling loading machine movable arm cylinder, drive the flow direction of the hydraulic oil in oil circuit to make swing arm drive the scraper bowl in the vertical direction of its front end to vibrate by default vibration frequency and amplitude upper and lower translation.
2. loading mechanical shovel according to claim 1 is pretended the control method of industry, characterized by further comprising the step of setting when shovel is pretended industry or regulating the vibration frequency of scraper bowl in the vertical direction up-down vibration.
3. loading mechanical shovel according to claim 1 is pretended the control method of industry, characterized by further comprising the step of setting when shovel is pretended industry or regulating the Oscillation Amplitude of scraper bowl in the vertical direction up-down vibration.
4. according to the loading mechanical shovel described in any one in claims 1 to 3, pretend the control method of industry, whether characterized by further comprising automatic identification loader in shoveling the shovel dress identification step of dress job state, described shovel dress identification step comprises by the position of sensor measurement rotary ink tank and/or boom cylinder internal pressure value and measurement scraper bowl, the position of rotary ink tank and/or boom cylinder internal pressure value and scraper bowl is sent to controller and compares with preset value corresponding in controller, when scraper bowl present position within the scope of predeterminated position and described rotary ink tank and/or boom cylinder internal pressure value be defined as shovel dress job state within the scope of preset pressure time.
5. loading mechanical shovel according to claim 4 is pretended industry control method, and the position that it is characterized in that measuring scraper bowl comprises measures the receipts bucket position that angle that angle that swing arm moving arm and vehicle frame hinging pin shaft rotate determines that scraper bowl rotates around scraper bowl rotating pin at the position of vertical direction and measurement scraper bowl is determined scraper bowl.
6. a loader, comprise scraper bowl and the position of bucket control device hinged with scraper bowl, described position of bucket control device comprises swing arm, the boom cylinder being connected with swing arm, the rotary ink tank being connected with scraper bowl by connecting rod, described boom cylinder with rotary ink tank respectively by driving oil circuit to be connected with the hydraulic system of loader; Characterized by further comprising electromagnetic valve and electronic-controlled installation, described electromagnetic valve is arranged on the driving oil circuit of boom cylinder, and described electronic-controlled installation drives electromagnetic valve action to make boom cylinder drive the flow direction of the hydraulic oil in oil circuit to change to make the scraper bowl idle rod of swing arm front end according to frequency and the amplitude up-down vibration set.
7. loader according to claim 6, it is characterized in that described electronic-controlled installation comprise pressure sensor for detection of pressure in rotary ink tank and/or boom cylinder, for detection of the position measurement device of position of bucket, the controller being connected with electromagnetic valve, described controller is accepted the detection signal of pressure sensor and position measurement device and is judged whether in shovel dress job state, in shovel dress job state Time Controller, to electromagnetic valve, is sending by the control signal of setpoint frequency and amplitude action.
8. loader according to claim 7, it is characterized in that described position measurement device comprise be arranged on swing arm and loader frame pin joint place for detection of the angular transducer of swing arm rotational angle and for detection of scraper bowl the position sensor around scraper bowl and swing arm hinging pin shaft rotational angle.
9. loader according to claim 7, it is characterized in that described electronic-controlled installation also comprises input unit, described input unit is for making controller send and make scraper bowl by the control signal of corresponding vibration frequency and Oscillation Amplitude vibration to described electromagnetic valve to controller transmitted signal.
10. loader according to claim 6, it is characterized in that described electronic-controlled installation comprises the controller and the input unit being connected with controller that electromagnetic valve is moved for send control signal to electromagnetic valve by setpoint frequency with amplitude, described input unit is for making controller select corresponding control signal to send to electromagnetic valve to controller input signal.
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| CN201310588840.XA CN103615025B (en) | 2013-11-20 | 2013-11-20 | Control method for shovel loading operation of loader and loader |
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| CN201310588840.XA CN103615025B (en) | 2013-11-20 | 2013-11-20 | Control method for shovel loading operation of loader and loader |
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| CN103615025A true CN103615025A (en) | 2014-03-05 |
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| CN104674866A (en) * | 2015-01-30 | 2015-06-03 | 福建农林大学 | Vibration excavator adjustable in amplitude and frequency |
| CN106125612A (en) * | 2016-07-22 | 2016-11-16 | 厦门大学 | A kind of operation bucket number recognition methods loading mechanical shovel process of assembling and identification device |
| CN108978768A (en) * | 2018-06-29 | 2018-12-11 | 广西柳工机械股份有限公司 | The automatic identifying method and loading machine of scraper bowl insertion material shovel dress control method automatically |
| CN110965597A (en) * | 2019-12-17 | 2020-04-07 | 广西柳工机械股份有限公司 | Automatic shovel loading triggering method, automatic shovel loading triggering device and loader |
| CN111819331A (en) * | 2018-03-28 | 2020-10-23 | 神钢建机株式会社 | Construction machine |
| CN112144592A (en) * | 2020-09-21 | 2020-12-29 | 江苏徐工工程机械研究院有限公司 | Intelligent shoveling control system and method for backhoe loader and backhoe loader |
| CN112211248A (en) * | 2020-10-26 | 2021-01-12 | 吉林大学 | Loader and autonomous shovel loading control method thereof |
| CN115151697A (en) * | 2020-03-26 | 2022-10-04 | 株式会社小松制作所 | Work machine and work machine control method |
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| CN115151697A (en) * | 2020-03-26 | 2022-10-04 | 株式会社小松制作所 | Work machine and work machine control method |
| CN112144592B (en) * | 2020-09-21 | 2022-05-06 | 江苏徐工工程机械研究院有限公司 | Intelligent shoveling control system and method for backhoe loader and backhoe loader |
| CN112144592A (en) * | 2020-09-21 | 2020-12-29 | 江苏徐工工程机械研究院有限公司 | Intelligent shoveling control system and method for backhoe loader and backhoe loader |
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