CN103615025B - Control method for shovel loading operation of loader and loader - Google Patents
Control method for shovel loading operation of loader and loader Download PDFInfo
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- CN103615025B CN103615025B CN201310588840.XA CN201310588840A CN103615025B CN 103615025 B CN103615025 B CN 103615025B CN 201310588840 A CN201310588840 A CN 201310588840A CN 103615025 B CN103615025 B CN 103615025B
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- electromagnetic valve
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 239000003921 oil Substances 0.000 claims abstract description 15
- 239000010720 hydraulic oil Substances 0.000 claims abstract description 8
- 238000009434 installation Methods 0.000 claims description 16
- 238000005259 measurement Methods 0.000 claims description 11
- 230000010355 oscillation Effects 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 3
- 238000013519 translation Methods 0.000 claims description 2
- 239000000463 material Substances 0.000 abstract description 38
- 230000005641 tunneling Effects 0.000 abstract description 8
- 238000005265 energy consumption Methods 0.000 abstract description 4
- 230000007547 defect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 3
- 230000011664 signaling Effects 0.000 description 2
- 238000009412 basement excavation Methods 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 239000010727 cylinder oil Substances 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
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- Operation Control Of Excavators (AREA)
- Shovels (AREA)
Abstract
The invention relates to a control method for shoveling operation of a loader and the loader, aiming at solving the defect of low efficiency of the existing loader when shoveling materials, the invention provides the control method for the shoveling operation of the loader. The loader is provided with an electromagnetic valve for changing the flow direction of hydraulic oil on a driving oil path of a boom cylinder. According to the invention, when the bucket is inserted into the shoveled materials, the bucket is enabled to do translational vibration according to the preset frequency and amplitude, so that a certain gap is formed between the bottom surface of the bucket and the excavated materials in the tunneling process, the frictional resistance between the materials and the bucket in the tunneling process is reduced, meanwhile, the vibration can also break the continuity of the excavated materials, the frictional resistance between the materials in the bucket and the inner wall of the bucket is reduced, the continuous operation in the tunneling process is realized, the loading operation efficiency is improved, and the energy consumption is reduced.
Description
Technical field
The present invention relates to a kind of loader, particularly relate to a kind of mechanical shovel that loads and pretend control method and the loader of industry.
Background technology
Loader common operating type in spading operation is that engine throttle is stepped on maximum by operator, the pull strength produced with ground by tire, ordering about complete machine drives scraper bowl to insert stockpile, but it is as scraper bowl and inserts the increase of the degree of depth in material, scraper bowl is increasing with the contact surface of material, thus scraper bowl increase the most synchronize with the frictional force of material, until stockpile resistance is equal with pull strength, machine is forced to stop, but not yet fills material in the scraper bowl of at this moment loader.In order to make scraper bowl fill material, at this moment operator by operation handle, makes swing arm somewhat lifting, and machine is forwardly inserted stockpile again, two to three times and so forth, until material filled by scraper bowl, completes spading feeding process.During this feeding, owing to 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 deeper, scraper bowl is increasing with the contact surface of material, thus scraper bowl increase the most synchronize with the frictional force of material, add the power needed for machinery operation；Additionally when spading resistance is more than the pull strength of loader, machine is forced to halt, mostly use due to loader torque-converters to carry out the transmission of engine power, from the operating characteristic of torque-converters, when machine stops during advancing, the transmission efficiency of torque-converters is zero, and the power that at this moment electromotor sends all is changed into heat in torque-converters, has both wasted energy, reduce working performance, the operating mode making again torque-converters deteriorates, and shortens the life-span of bending moment oil, increases the heat radiation burden of machine.Simultaneously need to operator operates handle in industry pretended by shovel makes swing arm lifting, this adds increased the labor intensity of operator.
Summary of the invention
Present invention aims to existing loader shovel dress material time the low shortcoming of efficiency and provide a kind of shovel dress efficiency high load mechanical shovel pretend industry control method and the loader corresponding with the method.
The technical scheme is that and be achieved in that: provide a kind of mechanical shovel that loads to pretend the control method of industry, when industry pretended by shovel, swing arm is made to drive the scraper bowl in the vertical direction of its front end to vibrate with amplitude upper and lower translation by default frequency of vibration by the flow direction controlling the hydraulic oil in loading machine movable arm cylinder oil circuit.In the present invention, carry out when industry pretended by shovel by making scraper bowl make translational vibration by predeterminated frequency and amplitude in scraper bowl is inserted into shovel dress material, so that bucket floor forms certain gap with by pick material in tunneling process, thus the frictional resistance of material and scraper bowl when reducing driving, vibration simultaneously can also interrupt by the seriality of pick material, reduce material and the frictional resistance of scraper bowl inwall in scraper bowl, it is achieved working continuously of tunneling process, improve loading operation efficiency and reduce energy consumption.
In the present invention as stated above, it is additionally included in shovel and pretends to set during industry or regulate frequency of vibration or the step of Oscillation Amplitude of scraper bowl in the vertical direction up-down vibration.By frequency and the amplitude of regulation scraper bowl vibration, it is achieved insert the different degree of depth in material at the shovel dress material of different attribute, scraper bowl there is frequency of vibration and the Oscillation Amplitude of correspondence.
In the present invention as stated above, also include automatically identifying the shovel dress identification step whether loader is in shovel dress job state, shovel dress identification step includes by force value in sensor measurement rotary ink tank and/or boom cylinder and the position of measurement scraper bowl, the position of force value in rotary ink tank and/or boom cylinder and scraper bowl is inputted to controller the preset value corresponding with in controller and compare, when force value is defined as shovel when being in pre-set pressure range and fills job state in the range of scraper bowl present position is in predeterminated position and in rotary ink tank and/or boom cylinder.Measure the pressure in rotary ink tank for judging whether loader is in a parameter of shovel dress state, the scraper bowl resistance suffered on scraper bowl when inserting stockpile can have been reacted by rotating bucket connecting rod, rotating bucket rocking arm etc. on rotary ink tank, the pressure causing the big chamber of rotary ink tank or little intracavity is different before and after scraper bowl inserts stockpile, therefore measures the pressure in rotary ink tank and can be used for judging the parameter whether loader is in shovel dress state.In like manner the pressure in boom cylinder inserts before and after stockpile also tool at scraper bowl and changes significantly, the pressure of the big intracavity of boom cylinder before the pressure of the big intracavity of boom cylinder can be significantly greater than scraper bowl insertion stockpile after inserting stockpile, therefore the pressure in boom cylinder can also be as judging whether loader is in a parameter of shovel dress state.Therefore whether can be in shovel by one or two the force value in measurement rotary ink tank and boom cylinder as loader and pretend a parameter of industry condition adjudgement.Automatically control the vibration of scraper bowl by definition with automatically identifying machine whether to be in shovel dress job state, thus reduce the labor intensity of operator, improve efficiency.
In the present invention as stated above, the position measuring scraper bowl includes measuring the angle that swing arm is rotated and the receipts bucket position measuring the angle-determining scraper bowl that scraper bowl is rotated around scraper bowl rotating pin around swing arm and vehicle frame hinging pin shaft.The position at scraper bowl in the vertical direction place can be extrapolated around the angle that swing arm and vehicle frame hinging pin shaft are rotated by measuring swing arm, directly measured angle that scraper bowl rotates around scraper bowl rotating pin by position sensor or extrapolate, by measuring length or the angle of rotating bucket link rotatable that rotary ink tank piston rod stretches out, the angle that scraper bowl rotates around scraper bowl rotating pin, scraper bowl receipts bucket is to certain position it is believed that shovel fills the end of job, it is also assumed that shovel the dress end of job when scraper bowl is lifted to certain altitude.
It is a kind of loader of structure that the present invention realizes another technical scheme of its goal of the invention, device is controlled including scraper bowl and the position of bucket hinged with scraper bowl, position of bucket is controlled device and includes the boom cylinder that swing arm is connected with swing arm, the rotary ink tank being connected with scraper bowl by connecting rod, and boom cylinder and rotary ink tank are respectively by driving oil circuit to be connected with the hydraulic system of loader；Additionally including electromagnetic valve and electronic-controlled installation, electromagnetic valve is arranged on the electronic-controlled installation on oil circuit that drives of boom cylinder and drives electromagnetic valve action to make boom cylinder drive the flow direction of the hydraulic oil in oil circuit to change the scraper bowl idle rod so that swing arm front end according to the frequency set and amplitude up-down vibration.
In the present invention as stated above, electronic-controlled installation includes for detecting the pressure transducer of pressure in rotary ink tank and/or boom cylinder, for detecting the controller that the position measurement device of position of bucket is connected with electromagnetic valve, controller accepts the detection signal of pressure transducer and position measurement device and judges whether scraper bowl is in shovel dress job state, sends the scraper bowl idle rod so that swing arm front end according to the frequency set and the control signal of amplitude up-down vibration when being in shovel dress job state to electromagnetic valve.Realized the automatic vibration of scraper bowl by electronic-controlled installation, it is not necessary to manual operation and reduce the labor intensity of operator.
In the present invention as stated above, position measurement device is mounted at swing arm and loader frame pin joint for detecting the angular transducer of swing arm rotational angle, and for detecting the position sensor of scraper bowl rotational angle.By measuring the angle that swing arm turns over, thus the position of scraper bowl in the vertical direction can be calculated, directly measured angle that scraper bowl rotates around scraper bowl rotating pin by position sensor or extrapolate, by measuring length that rotary ink tank piston rod stretches out or the angle that rotating bucket rocking arm rotates, the angle that scraper bowl rotates around scraper bowl rotating pin, thus judging whether loader is in shovel and fills job state.
In the present invention as stated above, electronic-controlled installation also includes input equipment, this input equipment makes controller send the control signal that scraper bowl is vibrated by corresponding frequency of vibration and Oscillation Amplitude to electromagnetic valve for sending signal to controller, operator is when carrying out shovel and pretending industry, according to the material attribute treating shovel dress, send signal by input equipment, in controller, select default frequency of vibration and the Oscillation Amplitude of correspondence so that controller sends corresponding control signal to electromagnetic valve.
In the present invention, the electronic-controlled installation of control electromagnetic valve action can also is that and is made up of controller and input equipment, controller makes electromagnetic valve by setpoint frequency and amplitude action for sending control signal to electromagnetic valve, input equipment is connected with controller, for making controller select corresponding control signal to send to electromagnetic valve to controller input signal.The Non-follow control of scraper bowl vibration can be realized by this electronic-controlled installation, i.e. inserting at scraper bowl treats in shovel dress material, corresponding signal is inputted by input equipment to controller according to the attribute treating product material by operator, controller determines its control signal sent to electromagnetic valve according to the signal that input equipment inputs, 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, so that boom cylinder piston rod stretches according to default frequency and amplitude, finally realize the swing arm hinging pin shaft around its rear end to swing up and down and drive the scraper bowl of swing arm front end according to default frequency and amplitude up-down vibration.At the end of industry pretended by shovel, then sending stopping signal by input equipment, controller stops sending signal, stops the vibration of scraper bowl.
The present invention compared with prior art has the advantages that when scraper bowl of the present invention is in driving operating mode, by controlling boom cylinder, swing arm is made to drive scraper bowl to make up-down vibration by certain frequency and amplitude, so that scraper bowl forms certain gap with by pick material in tunneling process, thus the frictional resistance of material and scraper bowl when reducing driving, vibration simultaneously can also interrupt by the seriality of pick material, reduce material and the frictional resistance of scraper bowl inwall in scraper bowl, 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 the scraper bowl motion schematic diagram in excavation operation process；
Fig. 4 is another structural representation of loading arm hydraulic-driven and electrical control in the present invention.
Parts title and sequence number in figure:
Scraper bowl 1, rotating bucket connecting rod 2, swing arm 3, boom cylinder 4, rotary ink tank 5, electromagnetic valve 6, controller 7, pressure transducer 8, swing arm rotation angle sensor 9, scraper bowl rotating pin 10, input equipment 11, scraper bowl rotation angle sensor 12, rotating bucket rocking arm 13, box connection member 14.
Detailed description of the invention
Specific embodiments is described below in conjunction with the accompanying drawings.
Embodiment 1
As shown in Figure 1, loader includes 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 wherein to be connected by box connection member 14 is fixing, 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 with vehicle frame by swing arm rotating pin, one end of boom cylinder 4 is hinged with swing arm, and the other end is hinged with vehicle frame；One end of rotary ink tank 5 is hinged with vehicle frame, and other end is connected by rotating bucket rocking arm 13, and the middle part of rotating bucket rocking arm 13 is hinged with box connection member 14, and the other end of rotating bucket rocking arm 13 drives scraper bowl 1 to rotate with swing arm hinging pin shaft around scraper bowl by rotating bucket connecting rod 2.Stretching so that the swing arm swing arm rotating pin around its rear end swings up and down of boom cylinder 4, so that its front end namely the termination hinged with scraper bowl drive scraper bowl in the vertical direction to move up and down, stretching of rotary ink tank 5 can pass through rotating bucket rocking arm 13, rotating bucket connecting rod 2 promotes scraper bowl 1 to swing up and down around scraper bowl rotating pin 10.
Boom cylinder 4 is connected with the hydraulic system of loader by respective driving oil circuit respectively with rotary ink tank 5, on the driving oil circuit of boom cylinder 4, wherein it is provided with electromagnetic valve 6, electromagnetic valve 6 can realize boom cylinder according to the flow direction of hydraulic oil in the driving oil circuit of certain frequency and amplitude change boom cylinder 4 under the control of electronic-controlled installation and stretch according to corresponding frequencies and amplitude, thus realizes scraper bowl 1 up-down vibration.The value of the length variable quantity of boom cylinder 4 determines the amplitude of scraper bowl vibration.
nullElectromagnetic valve 6 is connected with the electronic-controlled installation being used for controlling electromagnetic valve，Electronic-controlled installation includes the pressure transducer 8 for detecting pressure in rotary ink tank 5、It is arranged at swing arm and loader frame pin joint for detecting the swing arm rotation angle sensor 9 of swing arm rotational angle、It is arranged on the scraper bowl rotation angle sensor 12 at rotating bucket rocking arm 13 and box connection member 14 pin joint、The controller 7 being connected with electromagnetic valve 6、The input equipment 11 being connected with controller 7，Swing arm rotation angle sensor 9 can extrapolate the position of scraper bowl 1 in the vertical direction by measuring swing arm 3 around itself and the angle of vehicle frame hinging pin shaft rotation，Measure the angle of rotating bucket rocking arm 13 rotation by scraper bowl rotation angle sensor 12 and extrapolate the angle of scraper bowl rotation and then determine that bucket position received by scraper bowl，The pressure in rotary ink tank 5 is detected by pressure transducer 8，The resistance suffered by scraper bowl can be estimated by this pressure.Controller 7 accepts the position signalling of pressure transducer 8 and scraper bowl in the vertical direction and receives bucket position signalling and judge whether loader is in shovel dress job state.Input equipment 11 can send multiple different input signal to controller 7, varying input signal that controller inputs according to input equipment 11 and select the control signal sent to electromagnetic valve 6 so that scraper bowl realizes respective frequencies and amplitude vibrations.
In the present embodiment, first set for judging whether loader is in the preset parameter value scope of shovel dress job state in controller 7, in controller, i.e. set a rotary ink tank pressure limit value and position of bucket value range, in the range of the detection signal passed back when pressure transducer 8 and swing arm rotation angle sensor 9 and scraper bowl rotation angle sensor 12 is computed being positioned at the preset parameter value of correspondence, then it is assumed that loader is in shovel and pretends in industry.In the present embodiment, first operator according to the material treating that shovel fills, sends signal by input equipment 11 to controller, determines the control signal that controller will send to electromagnetic valve.The signal that controller 7 processing pressure sensor 8 and swing arm rotation angle sensor 9 and scraper bowl rotation angle sensor 12 are sent, to judge whether loader is in shovel and pretends industry, when judging that loader is in shovel dress job state, controller 7 sends control signal to electromagnetic valve 6, electromagnetic valve 6 action makes the piston rod of boom cylinder 4 stretch, around its pin joint with vehicle frame, frequency and amplitude according to setting swings up and down swing arm, is positioned at the scraper bowl of swing arm front end the most therewith according to the frequency set and amplitude up-down vibration.
The present invention is carried out when industry pretended by shovel by making scraper bowl by predeterminated frequency and amplitude up-down vibration in scraper bowl is inserted into shovel dress material, bucket floor and by pick material between form certain gap, thus the frictional resistance of material and scraper bowl when reducing driving, vibration simultaneously can also interrupt by the seriality of pick material, reduce material and the frictional resistance of scraper bowl inwall in scraper bowl, realize working continuously of tunneling process, improve loading operation efficiency and reduce energy consumption.When judging that loader is not at shovel dress job state, controller stops sending control signal, and scraper bowl stops vibration.
In the present embodiment, bucket position received by scraper bowl 1 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 receiving bucket, or the length stretched out by displacement sensor rotary ink tank piston rod and extrapolate scraper bowl around 10 rotational angles of scraper bowl rotating pin, and then determine the receipts bucket situation of scraper bowl, by it, whether three parameter determination loaders such as pressure with the position on scraper bowl vertical direction, in boom cylinder are in shovel and pretend industry.
Embodiment 2
Compared with the technical scheme in embodiment 1, the difference of the technical scheme in the present embodiment is the electronic-controlled installation controlling electromagnetic valve and the control to electromagnetic valve.As shown in Figure 4, electronic-controlled installation is made up of controller 7 and input equipment 11, controller 7 makes electromagnetic valve 6 by setpoint frequency and amplitude action for sending control signal to electromagnetic valve 6, input equipment 11 is connected with controller 7, for making controller select corresponding control signal to send to electromagnetic valve to controller input signal, input equipment can be multiple press button being 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 of scraper bowl vibration and amplitude.Control device by this Electronic Control and can realize the Non-follow control of scraper bowl vibration, i.e. inserting at scraper bowl treats in shovel dress material, by operator by input equipment to the signal of controller input correspondence, controller determines its control signal sent to electromagnetic valve according to the signal that input equipment inputs, 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, so that boom cylinder piston rod stretches according to default frequency and amplitude, finally realize the swing arm hinging pin shaft around its rear end to swing up and down and drive the scraper bowl of swing arm front end according to default frequency and amplitude up-down vibration.At the end of industry pretended by shovel, then sending stopping signal by input equipment, controller stops sending signal, stops the vibration of scraper bowl.
Claims (8)
1. one kind loads mechanical shovel and pretends the control method of industry, it is characterised in that: include automatically identifying whether loader is in shovel and pretends industry
The shovel dress identification step of state, described shovel dress identification step includes by sensor measurement rotary ink tank and/or boom cylinder intrinsic pressure
Force value and the position of measurement scraper bowl, send the position of force value in rotary ink tank and/or boom cylinder and scraper bowl to controller also
The preset value corresponding with in controller compares, in the range of scraper bowl present position is in predeterminated position and described rotary ink tank and
/ or boom cylinder in force value be defined as shovel dress job state when being in pre-set pressure range；When industry pretended by shovel, by control
Loading machine movable arm cylinder processed drives 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 by advance
If frequency of vibration vibrates with amplitude upper and lower translation.
The control method of industry pretended by loading mechanical shovel the most according to claim 1, it is characterised in that is additionally included in shovel and pretends to set during industry
The step of the frequency of vibration of fixed or regulation scraper bowl in the vertical direction up-down vibration.
The control method of industry pretended by loading mechanical shovel the most according to claim 1, it is characterised in that is additionally included in shovel and pretends to set during industry
The step of the Oscillation Amplitude of fixed or regulation scraper bowl in the vertical direction up-down vibration.
Industry control method pretended by loading mechanical shovel the most according to claim 1, it is characterised in that the position measuring scraper bowl includes measuring
The angle-determining scraper bowl that swing arm is rotated around swing arm and vehicle frame hinging pin shaft in the position of vertical direction and measures scraper bowl around scraper bowl rotation
The receipts bucket position of the angle-determining scraper bowl that bearing pin is rotated.
5. a loader, controls device including scraper bowl and the position of bucket hinged with scraper bowl, and described position of bucket controls device and includes
Boom cylinder that swing arm is connected with swing arm, the rotary ink tank being connected with scraper bowl by connecting rod, described boom cylinder and 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, institute
Stating electromagnetic valve to be arranged on the driving oil circuit of boom cylinder, described electronic-controlled installation includes for detecting rotary ink tank and/or moving
The pressure transducer of pressure in arm oil cylinder, for detecting the controller that the position measurement device of position of bucket is connected with electromagnetic valve,
Described controller accepts the detection signal of pressure transducer and position measurement device and judges whether to be in shovel dress job state, at place
When shovel dress job state, controller sends by setpoint frequency and the control signal of amplitude action to electromagnetic valve；Described Electronic Control fills
Put and drive electromagnetic valve action to make boom cylinder drive the flow direction of the hydraulic oil in oil circuit to change so that the scraper bowl of swing arm front end is servo-actuated
Arm is according to the frequency set and amplitude up-down vibration.
Loader the most according to claim 5, it is characterised in that institute's position measurement device includes being arranged on swing arm and loader
For detecting the angular transducer of swing arm rotational angle and turning with swing arm hinging pin shaft around scraper bowl for detecting scraper bowl at vehicle frame pin joint
The position sensor of dynamic angle.
Loader the most according to claim 5, it is characterised in that described electronic-controlled installation also includes input equipment, described input
Device makes controller make scraper bowl by corresponding frequency of vibration and vibration width to the transmission of described electromagnetic valve for sending signal to controller
The control signal of degree vibration.
Loader the most according to claim 5, it is characterised in that described electronic-controlled installation includes for sending control to electromagnetic valve
Signal processed makes electromagnetic valve fill by setpoint frequency and the controller of amplitude action and the input equipment being connected with controller, described input
Put for making controller select corresponding control signal to send to electromagnetic valve to controller input signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310588840.XA CN103615025B (en) | 2013-11-20 | 2013-11-20 | Control method for shovel loading operation of loader and loader |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310588840.XA CN103615025B (en) | 2013-11-20 | 2013-11-20 | Control method for shovel loading operation of loader and loader |
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| Publication Number | Publication Date |
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| CN103615025A CN103615025A (en) | 2014-03-05 |
| CN103615025B true CN103615025B (en) | 2017-01-04 |
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| CN201310588840.XA Active CN103615025B (en) | 2013-11-20 | 2013-11-20 | Control method for shovel loading operation of loader and loader |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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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 |
| CN106125612B (en) | 2016-07-22 | 2019-03-12 | 厦门大学 | A kind of operation bucket number recognition methods and identification device for loading mechanical shovel and filling process |
| JP6969475B2 (en) * | 2018-03-28 | 2021-11-24 | コベルコ建機株式会社 | Construction machinery |
| 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 |
| CN110965597B (en) * | 2019-12-17 | 2022-02-15 | 广西柳工机械股份有限公司 | Automatic shovel loading triggering method, automatic shovel loading triggering device and loader |
| JP2021155980A (en) * | 2020-03-26 | 2021-10-07 | 株式会社小松製作所 | Work machine and control method of work machine |
| 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 |
| CN112211248A (en) * | 2020-10-26 | 2021-01-12 | 吉林大学 | Loader and autonomous shovel loading control method thereof |
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