CN116623734A - Bucket self-adaptive adjusting system and method of loader - Google Patents
Bucket self-adaptive adjusting system and method of loader Download PDFInfo
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- CN116623734A CN116623734A CN202310580831.XA CN202310580831A CN116623734A CN 116623734 A CN116623734 A CN 116623734A CN 202310580831 A CN202310580831 A CN 202310580831A CN 116623734 A CN116623734 A CN 116623734A
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- 238000006073 displacement reaction Methods 0.000 claims abstract description 36
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- 238000000611 regression analysis Methods 0.000 description 2
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Classifications
-
- 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
-
- 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
-
- 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
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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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 application belongs to the technical field of loaders, and particularly relates to a bucket self-adaptive adjusting system and method of a loader. The system comprises a first detection module, a gesture library, a controller, a first displacement sensor and a second displacement sensor; the displacement sensor is used for detecting the real-time length of the movable arm oil cylinder; the displacement sensor II is used for detecting the real-time length of the tipping bucket oil cylinder; the first detection module is used for detecting the gradient of the loader; the gesture library is used for storing a functional relation between the target length of the movable arm oil cylinder and the target length of the tipping bucket oil cylinder; the controller is used for calculating a target rotation angle of the bucket around the main frame, and the length of the movable arm oil cylinder and/or the length of the tipping bucket oil cylinder when the bucket is lifted is controlled through the valve group so that the bucket can be lifted at the target rotation angle. The application can be used in different terrains, and is convenient for a driver to operate the bucket to move up and down at a fixed inclination angle.
Description
Technical Field
The application belongs to the technical field of loaders, and particularly relates to a bucket self-adaptive adjusting system and method of a loader.
Background
The loader is used as a king of engineering machinery and is widely applied to construction such as building, road construction, water conservancy, electric power, mining, petroleum, natural gas, national defense construction and the like. The lifting operation of the bucket is one of the common operations of the loader.
The loader working device mainly comprises a movable arm, a bucket, a rocker arm assembly and a tipping bucket oil cylinder, wherein the rocker arm assembly is driven by the movable arm oil cylinder and the tipping bucket oil cylinder to drive the bucket to move around a hinge point so as to realize the actions of shoveling, bucket collecting, lifting, unloading, bucket dropping and the like in the loading process. At present, under the condition of naked eyes, a traditional loading operation is that a manipulator completes lifting action by adjusting the extending amount of a movable arm oil cylinder, and simultaneously, the extending amount of a tipping bucket oil cylinder is continuously adjusted according to experience, so that a bucket moves up and down at a required inclination angle as much as possible in a complex coordination matching process. In the adjustment process, the operation experience and the proficiency of the manipulator are very depended on, and the manipulator is easy to fatigue and low in efficiency.
Patent CN112695826a discloses a leveling control system of a skid steer loader and a method thereof, wherein a position sensor measures a real-time inclination angle between a chassis and a forward tilting lever, and transmits the real-time inclination angle to a vehicle controller through an electric signal, the vehicle controller calculates an oil compensation amount of a rotating bucket cylinder group according to the electric signal, and sends a command to a main valve, and the main valve controls opening size and time of a valve port of a sliding valve of a rotating bucket linkage according to the command, so that quantitative oil is compensated to the rotating bucket cylinder group, and leveling can be realized in lifting and descending processes of a movable arm assembly. But the patent CN112695826a cannot solve the problem of the bucket not being level caused when the loader is operated on uneven ground.
Patent CN113348283a discloses a mechanical self-leveling lift arm structure for a power machine, in particular a mini-loader, comprising a multi-bar linkage pivotably secured to the frame, and a leveling link pivotably secured to the multi-bar linkage. The leveling links are configured as a multi-bar linkage so that the bucket can be raised or lowered in parallel. However, when the loader with the structure is shoveled on a slope-shaped field, the bucket is still parallel to the lower bottom surface of the frame, so that the bucket is at a certain inclination angle relative to the horizontal plane, and the phenomenon of scattering materials is easy to occur.
Patent CN217630173U provides a loader with a bucket one-key leveling device, comprising a bucket, a loader lifting boom and a loader bucket swing arm, and a loader implement load auto-leveling control device. The load automatic leveling control device comprises leveling system keys, a control device, a display device, a movable arm electromagnetic valve, a rocker arm electromagnetic valve, a double-shaft inclination angle sensor and an inclination angle measuring device. When the load leveling key of the machine tool is triggered by one key, the dip angle of the bucket is detected and calculated by the two dip angle sensors, and the bucket is driven to return to the preset leveling position stably according to the preset adjusting speed. The patent CN217630173U converts the compensation amount of hydraulic oil by the inclination angle, and the leveling precision is poor.
Therefore, an operating system which can be used in different terrains and is convenient for a driver to operate a bucket to move at a fixed inclination angle is an urgent problem to be solved at present.
Disclosure of Invention
In order to solve the defects in the prior art, the application provides a bucket self-adaptive adjusting system and a bucket self-adaptive adjusting method of a loader, which can be used in different terrains and are convenient for a driver to operate the bucket to move at a fixed inclination angle.
In order to solve the defects in the prior art, the technical scheme provided by the application is as follows:
a bucket self-adaptive adjusting system of a loader comprises a main frame, a tipping bucket oil cylinder, a movable arm oil cylinder, a bucket, a valve group, a first detection module, a gesture library, a controller, a first displacement sensor and a second displacement sensor;
the displacement sensor is used for detecting the real-time length of the movable arm oil cylinder and uploading the real-time length of the movable arm oil cylinder to the controller;
the second displacement sensor is used for detecting the real-time length of the tipping bucket oil cylinder and uploading the real-time length of the tipping bucket oil cylinder to the controller;
the detection module is used for detecting the gradient of the position of the loader and uploading the gradient of the position of the loader to the controller;
the attitude library is used for storing functional relation between the target length of the movable arm oil cylinder and the target length of the tipping bucket oil cylinder under the rotation angles of different buckets around the main frame;
the controller is used for calculating a target rotation angle of the bucket around the main frame based on the gradient of the position of the loader and a target inclination angle of a plane of the bucket teeth; and controlling the length of the movable arm oil cylinder and/or the length of the tipping bucket oil cylinder to lift the bucket at the target rotation angle by the valve group based on the functional relation between the target length of the movable arm oil cylinder and the target length of the tipping bucket oil cylinder under the target rotation angle of the bucket around the main frame, the real-time length of the movable arm oil cylinder and the real-time length of the tipping bucket oil cylinder.
Preferably, the controller is further configured to control the length of the boom cylinder and/or the length of the skip cylinder to lower the bucket at the target rotation angle based on a functional relationship between the target length of the boom cylinder and the target length of the skip cylinder at the target rotation angle of the bucket around the main frame, the real-time length of the boom cylinder, and the real-time length of the skip cylinder when the bucket is lowered by the valve group.
Preferably, a functional relation between the target length of the boom cylinder and the target length of the skip cylinder is:
H＝k 1 ×L 1 +k 2 ×L 2 +d
wherein H represents the height of the bucket center of mass from the ground, L 1 Indicating the target length of the boom cylinder, L 2 Represents the target length, k of the tipping bucket cylinder 1 Representing the first coefficient, k 2 Representing the second coefficient and d representing the third parameter.
Preferably, the first detection module is a single-axis inclination sensor; the first detection module is fixedly connected with the main frame and is positioned on a plane parallel to the horizontal plane of the main frame.
Preferably, the device also comprises a second detection module; the second detection module is fixedly connected with the bucket and is positioned on a plane parallel to the plane of the bucket teeth of the bucket, and is used for detecting the dip angle of the plane of the bucket teeth of the bucket and uploading the dip angle of the plane of the bucket teeth of the bucket to the controller.
Preferably, the calculation formula of the target rotation angle is as follows:
β d ＝γ d -α
wherein beta is d A target rotation angle of the bucket around the main frame; alpha is the gradient of the loader and gamma is d Is the target inclination angle of the plane of the bucket tooth.
A bucket self-adaptive adjusting method of a loader, which adopts the bucket self-adaptive adjusting system of the loader, comprises the following steps of,
after the bucket is shoveled into materials, the rotation angle of the bucket around the main frame reaches the target rotation angle of the bucket around the main frame when the bucket lifts by operating the skip bucket oil cylinder or simultaneously operating the movable arm oil cylinder and the skip bucket oil cylinder;
the controller receives the real-time length of the movable arm oil cylinder uploaded by the displacement sensor I and the real-time length of the tipping bucket oil cylinder uploaded by the displacement sensor II, and enables the bucket to lift at a target rotation angle based on a functional relation between the target length of the movable arm oil cylinder and the target length of the tipping bucket oil cylinder under the target rotation angle of the bucket around the main frame when the bucket lifts, the real-time length of the movable arm oil cylinder and the real-time length of the tipping bucket oil cylinder, and the length of the movable arm oil cylinder and/or the length of the tipping bucket oil cylinder when the bucket lifts are controlled by the valve group;
and after lifting in place, operating the tipping bucket oil cylinder to finish unloading.
Preferably, the method further comprises the steps of,
after the unloading is finished, the tipping bucket oil cylinder is operated to enable the rotation angle of the bucket around the main frame to reach the target rotation angle of the bucket around the main frame when the bucket descends;
the controller receives the real-time length of the movable arm oil cylinder uploaded by the first displacement sensor and the real-time length of the tipping bucket oil cylinder uploaded by the second displacement sensor, and enables the bucket to descend at the target rotation angle based on the functional relation between the target length of the movable arm oil cylinder and the target length of the tipping bucket oil cylinder under the target rotation angle of the bucket around the main frame when the bucket descends, the real-time length of the movable arm oil cylinder and the real-time length of the tipping bucket oil cylinder when the bucket descends through the valve group control.
Preferably, the method further comprises the steps of,
the controller calculates a target rotation angle of the bucket around the main frame when the bucket lifts as follows:
β d1 ＝γ d1 -α
wherein beta is d1 When the bucket is lifted, the bucket rotates around a target rotation angle of the main frame; alpha is the gradient of the loader and gamma is d1 The target inclination angle of the plane of the bucket tooth of the bucket when the bucket lifts is the target inclination angle of the plane of the bucket tooth of the bucket;
the controller calculates a target rotation angle of the bucket about the main frame as follows:
β d2 ＝γ d2 -α
wherein beta is d2 When the bucket descends, the bucket rotates around a target rotation angle of the main frame; gamma ray d2 The target inclination angle of the plane of the bucket tooth when the bucket descends.
Preferably, the method includes the steps of controlling the length of the boom cylinder and/or the length of the skip cylinder to lift the bucket at a target rotation angle by a valve group based on a functional relation between the target length of the boom cylinder and the target length of the skip cylinder at the target rotation angle of the bucket around the main frame during lifting of the bucket, the real-time length of the boom cylinder, and the real-time length of the skip cylinder,
the movable arm oil cylinder is operated by a manipulator, the real-time length of the movable arm oil cylinder is used as the target length of the movable arm oil cylinder by the controller, the target length of the tipping bucket oil cylinder is obtained through the functional relation between the target length of the movable arm oil cylinder and the target length of the tipping bucket oil cylinder under the target rotation angle of the bucket around the main frame during lifting of the bucket, the control signal of the tipping bucket oil cylinder is obtained through the real-time length of the tipping bucket oil cylinder and the target length of the tipping bucket oil cylinder, and the length of the tipping bucket oil cylinder is controlled through the valve group so that the bucket can be lifted at the target rotation angle;
the method comprises the steps of controlling the length of the movable arm oil cylinder and/or the length of the tipping bucket oil cylinder to enable the bucket to descend at a target rotation angle through a valve group based on the functional relation between the target length of the movable arm oil cylinder and the target length of the tipping bucket oil cylinder under the target rotation angle of the bucket around the main frame when the bucket descends, the real-time length of the movable arm oil cylinder and the real-time length of the tipping bucket oil cylinder,
the movable arm oil cylinder is operated by a manipulator, the real-time length of the movable arm oil cylinder is used as the target length of the movable arm oil cylinder by the controller, the target length of the tipping bucket oil cylinder is obtained through the functional relation between the target length of the movable arm oil cylinder and the target length of the tipping bucket oil cylinder under the target rotation angle of the bucket around the main frame when the bucket descends, the control signal of the tipping bucket oil cylinder is obtained through the real-time length of the tipping bucket oil cylinder and the target length of the tipping bucket oil cylinder, and the length of the tipping bucket oil cylinder is controlled through the valve group so that the bucket descends under the target rotation angle.
The application has the beneficial effects that:
according to the bucket self-adaptive adjusting system of the loader, the bucket can automatically enter the lifting mode when the large arm is independently operated to lift the bucket, the tipping bucket cylinder moves in a self-adaptive mode along with the movement curve of the movable arm cylinder operated by the manipulator, so that the bucket moves at a certain angle relative to the bottom surface all the time, the complexity of simultaneous operation of multiple rods when the manipulator performs loading operation is reduced, material scattering of the loader in the bucket lifting process on uneven roads is avoided, the convenience of loading operation is improved, the adaptability of the loader is improved, and a foundation is laid for unmanned operation.
Drawings
FIG. 1 is a schematic illustration of a bucket adaptive adjustment system for a loader provided by the present application;
FIG. 2 is a schematic representation of a solution for a target rotation angle of a bucket about a main frame provided by the present application;
FIG. 3 is a flow chart of a method for adaptive bucket adjustment for a loader provided by the present application;
wherein 101 is a main frame; 102 is a first detection module; 103 is a movable arm; 104 is a pull rod; 105 is a rocker arm; 106 is a tipping bucket oil cylinder; 107 is a movable arm cylinder; 108 is a bucket; 109 is a second detection module; 110 is a gesture library; 111 is a controller; 112 is a valve block; 21 is a first displacement sensor; and 22 is a displacement sensor II.
Detailed Description
The application is further described below in connection with embodiments. The following embodiments are only for more clearly illustrating the technical aspects of the present application, and should not be used to limit the scope of the present application.
Example 1
The embodiment provides a bucket self-adaptive adjusting system of a loader, referring to fig. 1 and 2, which comprises a main frame 101, a movable arm 103, a pull rod 104, a rocker arm 105, a tipping bucket oil cylinder 106, a movable arm oil cylinder 107, a bucket 108, a valve bank 112, a detection module I102, a gesture library 110, a controller 111, a displacement sensor I21 and a displacement sensor II 22.
Specifically, referring to fig. 1, a boom 103 is hinged to a main frame 101, the main frame 101 and the boom 103 are connected through a boom cylinder 107, and lifting and lowering of the boom 103 are realized through extension and retraction of the boom cylinder 107. The bucket 108 and the rocker arm 105 are hinged on the movable arm 103, the bucket 108 and the rocker arm 105 are connected through the pull rod 104, the rocker arm 105 is connected with the main frame 101 through the tipping bucket oil cylinder 106, and the rocker arm 105 is pulled to swing through the expansion and contraction of the tipping bucket oil cylinder 106, so that the overturning of the bucket 108 is realized. The structure and connection relationship of the main frame 101, the boom 103, the pull rod 104, the rocker arm 105, the skip bucket cylinder 106, the boom cylinder 107 and the bucket 108 shown in fig. 1 are one form of the existing loader, the application is not limited to the form of the loader, and the application is applicable to any loader as long as the bucket can be lifted and lowered at a fixed inclination angle by the cooperative action of the boom cylinder and the skip bucket cylinder.
Specifically, referring to fig. 1 and 2, a first displacement sensor 21 is connected to the boom cylinder 107 for detecting the length of the boom cylinder 107 and uploading the real-time length of the boom cylinder 107 to the controller 111. The second displacement sensor 22 is connected to the skip cylinder 106, and is configured to detect a real-time length of the skip cylinder 106 and upload the length of the skip cylinder 106 to the controller 111. The first detection module 102 is configured to detect a rotation angle of the loader about the Z axis, that is, detect a gradient α of the loader, and upload the gradient α of the loader to the controller 111. The attitude library 110 is used for storing a functional relation between the target length of the boom cylinder 107 and the target length of the hoist cylinder 106 at different rotation angles of the bucket 108 around the main frame 101. The controller 111 is configured to calculate a target rotation angle of the bucket 108 about the main frame 101 based on a gradient α at which the loader is located and a target inclination angle of a plane in which teeth of the bucket 108 are located; the functional relation between the target length of the boom cylinder 107 and the target length of the skip cylinder 106 under the target rotation angle of the bucket 108 around the main frame 101 stored in the gesture library 110 is called, and the bucket is lifted at the target rotation angle based on the functional relation between the target length of the boom cylinder 107 and the target length of the skip cylinder 106 under the target rotation angle of the bucket 108 around the main frame 101, the real-time length of the boom cylinder 107, and the real-time length of the skip cylinder 106 when the length of the boom cylinder 107 and/or the length of the skip cylinder 106 is controlled by the valve block 112.
The valve block 112 is configured to receive a control signal from the controller 111, and control extension and retraction of the boom cylinder 107 and the hoist cylinder 106 according to the received control signal.
The form of the first displacement sensor 21 and the second displacement sensor 22 is not limited, and the existing displacement sensors capable of measuring the length of the oil cylinder can be adopted, and stay wire displacement sensors can be adopted.
Preferably, the controller 111 is further configured to control the length of the boom cylinder 107 and/or the length of the hoist cylinder 106 to lower the bucket 108 at the target rotation angle by controlling the length of the boom cylinder 107 and/or the length of the hoist cylinder 106 through the valve group 112 based on a functional relation between the target length of the boom cylinder 107 and the target length of the hoist cylinder 106 at the target rotation angle of the bucket 108 around the main frame 101, the real-time length of the boom cylinder 107, and the real-time length of the hoist cylinder 106.
The functional relationship between the target length of the boom cylinder 107 and the target length of the hoist cylinder 106 is established by simulation+regression analysis: according to structural parameters of the main frame 101, the movable arm 103, the pull rod 104, the rocker arm 105, the bucket 108 and other components, a simulation model is established, the corresponding relation among the target length of the movable arm oil cylinder 107, the target length of the tipping bucket oil cylinder 106 and the ground clearance of the mass center of the bucket 108 under the target rotation angle of the bucket 108 around the main frame 101 is obtained through simulation, and the following functional relation between the target length of the movable arm oil cylinder 107 and the target length of the tipping bucket oil cylinder 106 is obtained through regression analysis:
H＝k 1 ×L 1 +k 2 ×L 2 +d
where, as shown in FIG. 2, H represents the ground clearance (the perpendicular distance of the bucket center of mass from the ground) of the bucket 108 center of mass, which refers to the center of mass position of the bucket 108 when empty, L 1 Indicating the target length, L, of the boom cylinder 107 2 Indicating the target length, k, of the dump cylinder 106 1 Representing the first coefficient, k 2 Representing the second coefficient and d representing the third parameter.
When the rotation angle of the bucket 108 around the main frame 101 is different, the first coefficient, the second coefficient, and the third parameter vary. The first coefficient, the second coefficient and the third parameter of the plurality of buckets 108 under the rotation angle around the main frame 101 can be obtained through simulation analysis, so that the flexible use of the loader during loading is facilitated.
When the movable arm type hydraulic control system is used, the controller 111 calculates the target rotation angle of the bucket 108 around the main frame 101 according to the gradient of the loader and the target inclination angle of the plane of the bucket tooth of the bucket 108, invokes a functional relation between the target length of the movable arm cylinder 107 and the target length of the tipping bucket cylinder 106 under the target rotation angle, obtains the real-time length of the movable arm cylinder 107 through the first displacement sensor 21, obtains the real-time length of the tipping bucket cylinder 106 through the second displacement sensor 22, calculates the current ground clearance of the mass center of the bucket 108 according to the real-time length of the movable arm cylinder 107 and the real-time length of the tipping bucket cylinder 106, substitutes the current ground clearance of the mass center of the bucket 108 into the functional relation to obtain the functional relation of the target length of the movable arm cylinder 107 and the target length of the tipping bucket cylinder 106 under the functional relation, and further obtains a control signal of the valve bank 112, and controls the target length of the movable arm cylinder 107 and the tipping bucket cylinder 106 to meet the functional relation through the valve bank 112, so that the bucket 108 is lifted by the target rotation angle.
Specifically, if the boom cylinder 107 is operated by a manipulator, the controller 111 substitutes the real-time length of the boom cylinder 107 as the target length of the boom cylinder 107 into a functional relation between the target length of the boom cylinder 107 and the target length of the skip cylinder 106 to obtain the target length of the skip cylinder 106, obtains a control signal for telescoping the skip cylinder 106 by the real-time length and the target length of the skip cylinder 106, and controls the telescoping of the skip cylinder 106 to reach the target length of the skip cylinder 106 by the valve block 112, that is, controls the trajectory motion calculated by the functional relation between the target length of the skip cylinder 106 and the target length of the skip cylinder 106 along the boom cylinder 107.
Of course, the manipulator may be selected to operate the hoist cylinder 106 so that the boom cylinder 107 moves along a trajectory calculated by a functional relation between the target length of the boom cylinder 107 and the target length of the hoist cylinder 106 in accordance with a control signal from the controller 111. It is also possible to select the trajectory motions of both the boom cylinder 107 and the hoist cylinder 106 calculated according to the functional relation between the target length of the boom cylinder 107 and the target length of the hoist cylinder 106 in response to the control signal from the controller 111.
In an alternative embodiment of the present application, referring to FIG. 1, detection module one 102 is a single axis tilt sensor; the first detection module 102 is fixedly connected with the main frame 101 and is positioned on a plane parallel to the horizontal plane of the main frame 101.
In an alternative embodiment of the application, referring to FIG. 1, the bucket adaptive adjustment system of the loader further includes a second detection module 109; the second detection module 109 is a single-axis inclination sensor, and is fixedly connected to the bucket 108, and is located on a plane parallel to a plane where the teeth of the bucket 108 are located, and is configured to detect an angle of rotation of the bucket around the Z axis, that is, detect an inclination angle of the plane where the teeth of the bucket 108 are located, and upload the inclination angle of the plane where the teeth of the bucket 108 are located to the controller 111.
In an alternative embodiment of the present application, the controller 111 further includes a display module and an input end, where the display module is configured to display a gradient of the loader and an inclination angle of a plane of teeth of the bucket 108; the input is for inputting a target angle of inclination of the plane in which the teeth of the bucket 108 lie.
Fig. 2 shows the relationship among the gradient α of the loader, the inclination angle γ of the plane of the teeth of the bucket 108, and the rotation angle β of the bucket about the main frame, and the calculation formula of the target rotation angle is as follows:
β d ＝γ d -α
wherein beta is d A target rotation angle of the bucket 108 around the main frame 101; alpha is the gradient of the loader and gamma is d Is the target angle of inclination of the plane in which the teeth of bucket 108 lie. FIG. 2 shows a schematic view of the loader when ascending, where α is positive, and α is negative, and β when descending d Is gamma d The sum of the absolute value of α also satisfies the above calculation formula.
Example two
The embodiment provides a bucket self-adaptive adjustment method of a loader, referring to fig. 3, the bucket self-adaptive adjustment system of the loader is adopted, and the method comprises the following steps:
step one: the lift angle (target inclination angle of the plane of the teeth of the bucket 108 at the time of lifting) and the fall angle (target inclination angle of the plane of the teeth of the bucket 108 at the time of lowering) of the bucket 108 are input to the input end of the controller 111 before the loading operation, respectively, for example, 53 °. The first detection module 102 measures the gradient of the loader and uploads the gradient to the controller 111; the second detection module 109 measures the inclination angle of the plane where the teeth of the bucket 108 are located and uploads the inclination angle to the controller 111 for display, and the controller 111 calculates the target rotation angle of the bucket 108 around the main frame when lifting and lowering according to the following formulas:
β d1 ＝γ d1 -α
β d2 ＝γ d2 -α
wherein beta is d1 When lifting the bucket 108, the bucket 108 rotates around a target rotation angle of the main frame 101; alpha is the gradient of the loader and gamma is d1 A target inclination angle of a plane in which teeth of the bucket 108 are located when the bucket 108 is lifted; beta d2 For the bucket 108 to descend, the bucket 108 rotates around the target rotation angle of the main frame 101; gamma ray d2 Is the target tilt angle of the plane in which the teeth of the bucket 108 lie when the bucket 108 is lowered.
The lift angle and the drop angle may be the same or different, and when the lift angle and the drop angle are different, the functional relation between the target length of the boom cylinder 107 and the target length of the hoist cylinder 106 is different. Preferably, the plane in which the mouth of bucket 108 lies is raised and lowered in a horizontal position.
Step two: after the bucket 108 is fully shoveled with materials, the bucket 108 is operated to operate the bucket cylinder 106 or simultaneously operate the movable arm cylinder 107 and the bucket cylinder 106, the system enters a normal loading mode, and when the inclination angle of the plane of the bucket teeth of the bucket 108 reaches a lifting angle, the controller 111 judges that the rotation angle of the bucket 108 around the main frame 101 reaches a target rotation angle, and at the moment, the bucket 108 moves in place;
step three: after the bucket 108 moves in place, the controller 111 adjusts the mode to the lifting mode, and the controller 111 receives the real-time length of the boom cylinder 107 uploaded by the first displacement sensor 21 and the real-time length of the skip cylinder 106 uploaded by the second displacement sensor 22, and lifts the bucket 108 at the target rotation angle based on a functional relation between the target length of the boom cylinder 107 and the target length of the skip cylinder 106 at the target rotation angle of the bucket 108 around the main frame 101, the real-time length of the boom cylinder 107, and the real-time length of the skip cylinder 106 when the valve bank 112 controls the length of the boom cylinder 107 and/or the length of the skip cylinder 106 to lift the bucket 108 at the target rotation angle:
optionally, the boom cylinder 107 is operated by a manipulator, the controller 111 uses the real-time length of the boom cylinder 107 as the target length of the boom cylinder 107, and when the bucket 108 is lifted, the target length of the skip cylinder 106 is obtained by a functional relation between the target length of the boom cylinder 107 and the target length of the skip cylinder 106 under the target rotation angle of the bucket 108 around the main frame 101, and a control signal of the skip cylinder 106 is obtained by the real-time length of the skip cylinder 106 and the target length of the skip cylinder 106, and the length of the skip cylinder 106 is controlled by the valve block 112 to lift the bucket 108 at the target rotation angle. That is, the boom cylinder 107 is controlled by the robot hand, and the skip cylinder 106 moves along the trajectory calculated by the functional relation according to the control signal from the controller 111.
Of course, the manipulator may be selected to operate the hoist cylinder 106, and the boom cylinder 107 moves along the trajectory calculated by the functional relation according to the control signal from the controller 111. Alternatively, the boom cylinder 107 and the skip cylinder 106 may each be moved along a trajectory calculated by a functional relation according to a control signal from the controller 111.
Step four: when the barycenter of the bucket 108 reaches the unloading height, namely the lifting is in place, the lifting mode is automatically jumped out, the tipping bucket oil cylinder 106 is operated to finish unloading, and the tipping bucket oil cylinder 106 is operated to enable the dip angle of the plane of the bucket teeth of the bucket 108 to reach the falling angle after the unloading is finished;
step five: turning to the lowering mode, the controller 111 receives the real-time length of the boom cylinder 107 uploaded by the first displacement sensor 21 and the real-time length of the hoist cylinder 106 uploaded by the second displacement sensor 22, and lowers the bucket 108 at the target rotation angle based on the functional relationship between the target length of the boom cylinder 107 and the target length of the hoist cylinder 106 at the target rotation angle of the bucket 108 around the main frame 101 when the bucket 108 is lowered, the real-time length of the boom cylinder 107, and the real-time length of the hoist cylinder 106, and controls the length of the boom cylinder 107 and/or the length of the hoist cylinder 106 when the bucket 108 is lowered through the valve block 112.
Alternatively, similar to lifting, the boom cylinder 107 is manipulated by a robot arm, and the hoist cylinder 106 moves along a trajectory calculated by a functional relation according to a control signal from the controller 112.
Of course, the dump cylinder 106 may be operated by a rotary manipulator, and the boom cylinder 106 moves along a trajectory calculated by a function in accordance with a control signal from the controller 111. Alternatively, the boom cylinder 107 and the skip cylinder 106 may each be moved along a trajectory calculated by a function in accordance with a control signal from the controller 112.
Step six: after descending in place, the whole machine reaches the vicinity of the material, and the next shoveling action is executed.
When lifting, the bucket 108 is filled with materials, in order to avoid material spillage, the target inclination angle of the plane of the bucket teeth of the bucket 108 is required to be controlled when lifting, when descending, no materials exist in the bucket 108, and when descending, whether the target inclination angle of the plane of the bucket teeth is controlled can be selected according to the requirement.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The embodiments of the present application have been described above with reference to the accompanying drawings, but the present application is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those having ordinary skill in the art without departing from the spirit of the present application and the scope of the claims, which are all within the protection of the present application.
The foregoing has shown and described the basic principles and main features of the present application and the advantages of the present application. It will be understood by those skilled in the art that the present application is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present application, and various changes and modifications may be made without departing from the spirit and scope of the application, which is defined in the appended claims. The scope of the application is defined by the appended claims and equivalents thereof.
Claims (10)
1. The bucket self-adaptive adjusting system of the loader comprises a main frame (101), a tipping bucket oil cylinder (106), a movable arm oil cylinder (107), a bucket (108) and a valve group (112), and is characterized by further comprising a first detection module (102), a gesture library (110), a controller (111), a first displacement sensor (21) and a second displacement sensor (22);
the first displacement sensor (21) is used for detecting the real-time length of the movable arm oil cylinder (107) and uploading the real-time length of the movable arm oil cylinder (107) to the controller (111);
the second displacement sensor (22) is used for detecting the real-time length of the tipping bucket oil cylinder (106) and uploading the real-time length of the tipping bucket oil cylinder (106) to the controller (111);
the first detection module (102) is used for detecting the gradient of the position of the loader and uploading the gradient of the position of the loader to the controller (111);
the gesture library (110) is used for storing functional relation between the target length of the movable arm oil cylinder (107) and the target length of the tipping bucket oil cylinder (106) under the rotation angle of different buckets (108) around the main frame (101);
the controller (111) is used for calculating a target rotation angle of the bucket (108) around the main frame (101) based on the gradient of the position of the loader and the target inclination angle of the plane of the teeth of the bucket (108); and controlling the length of the boom cylinder (107) and/or the length of the skip cylinder (106) to lift the bucket at the target rotation angle by the valve group (112) based on a functional relation between the target length of the boom cylinder (107) and the target length of the skip cylinder (106) at the target rotation angle of the bucket (108) around the main frame (101), the real-time length of the boom cylinder (107), and the real-time length of the skip cylinder (106).
2. A bucket adaptive adjustment system for a loader according to claim 1,
the controller (111) is further configured to control the length of the boom cylinder (107) and/or the length of the hoist cylinder (106) to lower the bucket at the target rotation angle by controlling the valve group (112) based on a functional relationship between the target length of the boom cylinder (107) and the target length of the hoist cylinder (106) at the target rotation angle of the bucket (108) around the main frame (101), the real-time length of the boom cylinder (107), and the real-time length of the hoist cylinder (106).
3. The adaptive bucket adjustment system of a loader according to claim 1, characterized in that the functional relation between the target length of the boom cylinder (107) and the target length of the dump cylinder (106) is:
H＝k 1 ×L 1 +k 2 ×L 2 +d
wherein H represents the height of the bucket center of mass from the ground, L 1 Indicating the target length of the boom cylinder, L 2 Represents the target length, k of the tipping bucket cylinder 1 Representing the first coefficient, k 2 Representing the second coefficient and d representing the third parameter.
4. The adaptive bucket adjustment system of a loader of claim 1, wherein the first detection module (102) is a single axis tilt sensor; the first detection module (102) is fixedly connected with the main frame (101) and is positioned on a plane parallel to the horizontal plane of the main frame (101).
5. A bucket adaptive adjustment system for a loader according to claim 1, further comprising a second detection module (109); the second detection module (109) is fixedly connected with the bucket (108) and is positioned on a plane parallel to the plane of the bucket teeth of the bucket (108), and is used for detecting the inclination angle of the plane of the bucket teeth of the bucket (108) and uploading the inclination angle of the plane of the bucket teeth of the bucket (108) to the controller (111).
6. The adaptive bucket adjustment system of a loader of claim 1, wherein the target rotation angle is calculated as:
β d ＝γ d -α
wherein beta is d A target rotation angle of the bucket (108) around the main frame (101); alpha is the gradient of the loader and gamma is d Is the target inclination angle of the plane of the tooth of the bucket (108).
7. A method for adjusting a bucket of a loader, characterized in that the bucket adjusting system of the loader according to any one of claims 1 to 6 is used,
after the bucket (108) is shoveled into materials, the rotation angle of the bucket (108) around the main frame (101) reaches the target rotation angle of the bucket (108) around the main frame (101) when the bucket (108) lifts by operating the tipping bucket cylinder (106) or simultaneously operating the movable arm cylinder (107) and the tipping bucket cylinder (106);
the controller (111) receives the real-time length of the movable arm cylinder (107) uploaded by the first displacement sensor (21) and the real-time length of the tipping bucket cylinder (106) uploaded by the second displacement sensor (22), and enables the bucket (108) to lift at a target rotation angle based on a functional relation between the target length of the movable arm cylinder (107) and the target length of the tipping bucket cylinder (106) under the target rotation angle of the bucket (108) around the main frame (101) when the bucket (108) lifts, the real-time length of the movable arm cylinder (107) and the real-time length of the tipping bucket cylinder (106) through the valve group (112), and controls the length of the movable arm cylinder (107) and/or the length of the tipping bucket cylinder (106) when the bucket (108) lifts;
and after lifting in place, operating the tipping bucket oil cylinder (106) to finish unloading.
8. A method for adaptive bucket adjustment for a loader according to claim 7, further comprising,
after the unloading is completed, the tipping bucket oil cylinder (106) is operated to enable the rotation angle of the bucket (108) around the main frame (101) to reach the target rotation angle of the bucket (108) around the main frame (101) when the bucket (108) descends;
the controller (111) receives the real-time length of the boom cylinder (107) uploaded by the first displacement sensor (21) and the real-time length of the skip cylinder (106) uploaded by the second displacement sensor (22), and enables the bucket (108) to descend at the target rotation angle based on a functional relation between the target length of the boom cylinder (107) and the target length of the skip cylinder (106) at the target rotation angle of the bucket (108) around the main frame (101) when the bucket (108) descends, the real-time length of the boom cylinder (107), and the real-time length of the skip cylinder (106) when the bucket (108) descends through the valve group (112).
9. A method for adaptive bucket adjustment for a loader according to claim 8, further comprising,
the controller (111) calculates a target rotation angle of the bucket (108) around the main frame (101) when the bucket (108) is lifted as follows:
β d1 ＝γ d1 -α
wherein beta is d1 When the bucket (108) is lifted, the bucket (108) rotates around a target rotation angle of the main frame (101); alpha is the gradient of the loader and gamma is d1 A target inclination angle of a plane in which teeth of the bucket (108) are located when the bucket (108) is lifted;
the controller (111) calculates a target rotation angle of the bucket (108) around the main frame (101) when the bucket (108) is lowered as follows:
β d2 ＝γ d2 -α
wherein beta is d2 When the bucket (108) descends, the bucket (108) rotates around a target rotation angle of the main frame (101); gamma ray d2 Is the target inclination angle of the plane of the tooth of the bucket (108) when the bucket (108) descends.
10. A method for adaptive bucket adjustment for a loader according to claim 8,
the method for controlling the length of the boom cylinder (107) and/or the length of the skip cylinder (106) to lift the bucket (108) at the target rotation angle based on the functional relation between the target length (107) of the boom cylinder and the target length of the skip cylinder (106) at the target rotation angle of the bucket (108) around the main frame (101), the real-time length of the boom cylinder (107), and the real-time length of the skip cylinder (106) when the bucket (108) is lifted through the valve group (112) comprises the steps of,
the movable arm cylinder (107) is operated by a manipulator, the real-time length of the movable arm cylinder (107) is used as the target length of the movable arm cylinder (107), the target length of the tipping bucket cylinder (106) is obtained through a functional relation between the target length of the movable arm cylinder (107) and the target length of the tipping bucket cylinder (106) under the target rotation angle of the bucket (108) around the main frame (101) during lifting of the bucket (108), the control signal of the tipping bucket cylinder (106) is obtained through the real-time length of the tipping bucket cylinder (106) and the target length of the tipping bucket cylinder (106), and the length of the tipping bucket cylinder (106) is controlled through the valve group (112), so that the bucket (108) is lifted at the target rotation angle;
the method for controlling the length of the boom cylinder (107) and/or the length of the skip cylinder (106) to enable the bucket (108) to descend at the target rotation angle based on the functional relation between the target length of the boom cylinder (107) and the target length of the skip cylinder (106) at the target rotation angle of the bucket (108) around the main frame (101) when the bucket (108) descends, the real-time length of the boom cylinder (107), and the real-time length of the skip cylinder (106) through the valve group (112) comprises the steps of,
the boom cylinder (107) is operated by a manipulator, the real-time length of the boom cylinder (107) is used as the target length of the boom cylinder (107), the target length of the skip cylinder (106) is obtained through a functional relation between the target length of the boom cylinder (107) and the target length of the skip cylinder (106) under the target rotation angle of the bucket (108) around the main frame (101) when the bucket (108) descends, the control signal of the skip cylinder (106) is obtained through the real-time length of the skip cylinder (106) and the target length of the skip cylinder (106), and the length of the skip cylinder (106) is controlled through the valve group (112), so that the bucket (108) descends at the target rotation angle.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310580831.XA CN116623734A (en) | 2023-05-22 | 2023-05-22 | Bucket self-adaptive adjusting system and method of loader |
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| CN202310580831.XA CN116623734A (en) | 2023-05-22 | 2023-05-22 | Bucket self-adaptive adjusting system and method of loader |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117306617A (en) * | 2023-11-28 | 2023-12-29 | 四川鼎鸿智电装备科技有限公司 | Device for positioning working device of engineering machinery and positioning method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117306617A (en) * | 2023-11-28 | 2023-12-29 | 四川鼎鸿智电装备科技有限公司 | Device for positioning working device of engineering machinery and positioning method thereof |
| CN117306617B (en) * | 2023-11-28 | 2024-03-12 | 四川鼎鸿智电装备科技有限公司 | Device for positioning working device of engineering machinery and positioning method thereof |
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