CN117188559B

CN117188559B - Control system and control method of hydraulic control type backhoe loader

Info

Publication number: CN117188559B
Application number: CN202311190868.8A
Authority: CN
Inventors: 蒋立俏; 李明帅; 耿彦波; 宁海成
Original assignee: Science and Technology Branch of XCMG
Current assignee: Science and Technology Branch of XCMG
Priority date: 2023-09-15
Filing date: 2023-09-15
Publication date: 2024-03-12
Anticipated expiration: 2043-09-15
Also published as: CN117188559A

Abstract

The invention discloses a control system and a control method of a hydraulic control type backhoe loader, comprising the following steps: the device comprises a first seat proximity switch, a second seat proximity switch, a left pilot handle, a right pilot handle, a controller, a gearbox controller, an excavating valve, a loading valve, an electromagnetic valve group, a first two-position six-way electromagnetic valve, a second two-position six-way electromagnetic valve, an electromagnetic valve pressure reducing valve group, a selector switch, a skip bucket oil cylinder position detection switch and a selector switch. The invention realizes that the loading end and the excavating end share one set of main handle, so as to reduce the occupation of a control system to the space of a cab, ensure that operators feel more comfortable when working, and simultaneously realize the requirement of the loading end on the floating position of the movable arm and the automatic return of the tipping bucket to the loading position. For the excavating end, the functions of a multifunctional telescopic bucket rod, supporting legs and the like are integrated on the handle, so that the action is highly integrated, and the space occupation is further reduced. When the speed of the vehicle exceeds a certain value, the handle is disabled, and accidents caused by mistakenly touching the handle in the high-speed running process are avoided.

Description

Control system and control method of hydraulic control type backhoe loader

Technical Field

The invention relates to a control system and a control method of a hydraulic control type backhoe loader, and belongs to the technical field of engineering machinery control.

Background

The backhoe loader is a multifunctional construction machine integrating backhoe, loader, and traveling, and its control device is generally divided into a loading control device and a backhoe control device. The loading control device is used for controlling the action of the loading end, and the excavating control device is used for controlling the action of the excavating end.

The control device is generally classified into a mechanical control type control device, a hydraulic control type control device, and an electric control type control device according to the implementation manner of the control device.

The basic type digging and loading machine mainly comprises:

loading end: the movable arm is lifted and lowered; the tipping bucket at the loading end is retracted and swung outwards; the movable arm linkage is required to have a floating position and generally has four working positions; the retraction of the skip generally has the function of automatically returning to the loading position.

Digging end: lifting and lowering the digging arm; the bucket rod is retracted and swung outwards; the bucket is retracted and swung outwards; turning left and right; the left supporting leg is lifted and lowered; the right leg is lifted and lowered. Each working unit at the excavating end does not have a floating position, does not need an automatic function, and generally has three working positions.

The pilot pressures required by the work linkages of the four work positions are different from those required by the work linkages of the three work positions.

For the hydraulic control device, since the required pilot pressure is different, the existing scheme is that the loading end is controlled by at least one handle, and the excavating end is controlled by at least two other independent handles, so that the hydraulic control device needs to be optimized.

The first prior art controls the auxiliary valve by a switch on the excavating handle, only integrates the control of the auxiliary function on the handle, directly controls the pilot oil path of the auxiliary valve by the switch, improves the integration level of the handle action to a certain extent, but loads and excavates the handle independently.

The second prior art excavating end comprises at least 1 multifunctional handle, 2 main pilot handles, 1 set of leg handles, however, the integration level is not high and only the excavating end can be controlled.

A third prior art detects whether the seat is directed to the loading end or the digging end by 2 seat sensors, and further displays display information of the corresponding working end on the corresponding display, and the seat detection is for display of information, but does not involve control of the handle.

Aiming at the defects and shortcomings in the prior art, how to further optimize the hydraulic control device is a technical problem which needs to be solved by the technicians in the field.

Disclosure of Invention

The purpose is as follows: in order to overcome the defects in the prior art, the invention provides a control system and a control method of a hydraulic control type backhoe loader.

The technical scheme is as follows: in order to solve the technical problems, the invention adopts the following technical scheme:

in a first aspect, a control system for a hydraulically controlled backhoe loader, comprising: the device comprises a left pilot handle, a right pilot handle, a controller, a gearbox controller, an excavating valve, a loading valve, an electromagnetic valve group, a first two-position six-way electromagnetic valve, a second two-position six-way electromagnetic valve and an electromagnetic valve pressure reducing valve group.

The left pilot handle includes: first front gyro wheel, first front button, first back button, and left guide handle valve body includes: p-port, T-port, 1-port, 2-port, 3-port, 4-port.

The P port of the left pilot handle valve body is communicated with the B port of the electromagnetic valve group, the 1 port is communicated with the B1 port of the excavating valve, the 2 port is communicated with the a4 port of the excavating valve, the 3 port is communicated with the a1 port of the excavating valve, the 4 port is communicated with the B4 port of the excavating valve, and the T port is communicated with the oil tank.

The right pilot handle includes: the positive gyro wheel of second, the positive button of second, the back button of second, and right guide handle valve body includes: p-port, T-port, 1-port, 2-port, 3-port, 4-port.

The P port of the right pilot handle valve body is communicated with the A port of the electromagnetic valve group, the 1 port is communicated with the B port of the second two-position six-way electromagnetic valve, the 2 port is communicated with the B port of the first two-position six-way electromagnetic valve, the 3 port is communicated with the A port of the second two-position six-way electromagnetic valve, and the 4 port is communicated with the A port of the first two-position six-way electromagnetic valve. The T port is communicated with the oil tank.

The pilot oil is communicated with the P port of the electromagnetic valve bank, and is also communicated with the V port of the loading valve and the V port of the excavating valve, and the L port of the loading valve, the L port of the excavating valve and the T port of the electromagnetic valve bank are both communicated with the oil tank.

The V port of the excavating valve is respectively communicated with an electric proportional pressure reducing valve a5, an electric proportional pressure reducing valve a6, an electric proportional pressure reducing valve a7, an electric proportional pressure reducing valve a8, an electric proportional pressure reducing valve b5, an electric proportional pressure reducing valve b6, an electric proportional pressure reducing valve b7, an electric proportional pressure reducing valve b8 through an internal oil duct, the L port of the excavating valve 8 is respectively communicated with the electric proportional pressure reducing valve a5, the electric proportional pressure reducing valve a6, the electric proportional pressure reducing valve a7, the electric proportional pressure reducing valve a8, the electric proportional pressure reducing valve b5, the electric proportional pressure reducing valve b6, the electric proportional pressure reducing valve b7 and the electric proportional pressure reducing valve b8 through the internal oil duct, and the T port of the electric proportional pressure reducing valve b8 is integrated on the excavating valve.

The V port of the loading valve is respectively communicated with the electric proportional pressure reducing valve za3 and the P port of the electric proportional pressure reducing valve zb3 through the internal oil duct, the L port of the loading valve is respectively communicated with the electric proportional pressure reducing valve za3 and the T port of the electric proportional pressure reducing valve zb3 through the internal oil duct, and the electric proportional pressure reducing valve za3 and the electric proportional pressure reducing valve zb3 are integrated on the loading valve.

The E port of the first two-position six-way electromagnetic valve is communicated with the P port of the electromagnetic valve pressure reducing valve group, the F port is communicated with the zb2 port of the loading valve, the C port is communicated with the b2 port of the excavating valve, and the D port is communicated with the b2 port of the excavating valve.

The E port of the second two-position six-way electromagnetic valve is communicated with the za1 port of the loading valve, and the F port is communicated with the zb1 port of the loading valve; the port C is communicated with the port a3 of the excavating valve, and the port D is communicated with the port b3 of the excavating valve.

The port A of the electromagnetic valve reducing valve group is communicated with the port za2 of the loading valve, and the port T is communicated with the oil tank.

The left pilot handle, the right pilot handle, the gearbox controller, the excavating valve, the loading valve, the electromagnetic valve group, the first two-position six-way electromagnetic valve, the second two-position six-way electromagnetic valve and the electromagnetic valve pressure reducing valve group are all communicated with the controller.

As a preferable scheme, when the left pilot handle moves forwards, the 3 ports of the left pilot handle valve body are communicated with the P ports.

When the left pilot handle moves backwards, the 1 port of the left pilot handle valve body is communicated with the P port.

When the left pilot handle moves leftwards, the 2 ports of the left pilot handle valve body are communicated with the P ports.

When the left pilot handle moves rightwards, the 4 ports of the left pilot handle valve body are communicated with the P ports.

When the left pilot handle is in the middle position, the 1 port, the 2 port, the 3 port and the 4 port of the left pilot handle valve body are communicated with the T port.

When the right pilot handle moves forwards, the 4 ports of the right pilot handle valve body are communicated with the P ports.

When the right pilot handle moves backwards, the 2 ports of the right pilot handle valve body are communicated with the P ports.

When the right pilot handle moves leftwards, the 3 ports of the right pilot handle valve body are communicated with the P ports.

When the right pilot handle moves rightwards, the 1 port of the right pilot handle valve body is communicated with the P port.

When the right pilot handle is in the middle position, the 1 port, the 2 port, the 3 port and the 4 port of the right pilot handle valve body are communicated with the T port.

When pressure oil exists at an a1 port of the excavating valve, the excavating arm is positioned at a working position 1, and the corresponding excavating arm descends.

And b1, when the pressure oil exists at the opening b1, the digging arm is positioned at the working position 3, and the corresponding digging arm rises.

When the pressure oil is not supplied to the port a1 and the port b1, the digging arm is positioned at the working position 2, and the corresponding digging arm is not moved.

When the pressure oil exists at the port a2, the bucket rod is positioned at the working position 1, and the corresponding bucket rod is retracted.

And b2, when the pressure oil exists at the opening b2, the bucket rod is positioned at the working position 3, and the corresponding bucket rod swings outwards.

When the port a2 and the port b2 are not provided with pressure oil, the bucket rod is connected to the working position 2, and the corresponding bucket rod is not moved.

and a3, when the pressure oil exists, the bucket joint is positioned at the working position 1, and the corresponding bucket is retracted.

b3, when the pressure oil exists, the bucket joint is positioned at the working position 3 and corresponds to the outward swinging of the bucket.

When the opening a3 and the opening b3 are not filled with pressure oil, the bucket assembly is positioned at the working position 2, and the corresponding bucket is not moved.

and a4, when the pressure oil exists, the rotary joint is positioned at the working position 1 and corresponds to the left rotary.

And b4, when the pressure oil exists, the rotary joint is positioned at the working position 3 and corresponds to the right rotary.

When the port a4 and the port b4 are not provided with pressure oil, the rotary joint is positioned at the working position 2 and is corresponding to the rotary motion.

When the electric proportional valve a5 has a signal, the right support leg is connected to the working position 1, and the corresponding right support leg descends.

When the electric proportional valve b5 has a signal, the right support leg is connected to the working position 3, and the corresponding right support leg rises.

When the electric proportional valve a5 and the electric proportional valve b5 are not in signals, the right support leg is connected to the working position 2, and the corresponding right support leg is not moved.

When the electric proportional valve a6 has a signal, the left support leg is connected to the working position 1, and the corresponding left support leg descends.

When the electric proportional valve b6 has a signal, the left support leg is connected to the working position 3, and the corresponding left support leg rises.

When the electric proportional valve a6 and the electric proportional valve b6 are not in signals, the left support leg is connected to the working position 2, and the corresponding left support leg is not moved.

When the electric proportional valve a7 has a signal, the telescopic link is positioned at the working position 1, and corresponds to the telescopic bucket rod to be contracted.

When the electric proportional valve b7 has a signal, the telescopic link is positioned at the working position 3, and the corresponding telescopic bucket rod stretches.

When the electric proportional valve a7 and the electric proportional valve b7 have no signals, the telescopic link is positioned at the working position 2, and the corresponding telescopic hopper is not moved.

When the electric proportional valve a8 has a signal, the excavating multifunctional valve is positioned at the working position 1, and oil is discharged from the multifunctional pipeline on the right side of the corresponding excavating arm.

When the electric proportional valve b8 has a signal, the excavating multifunctional valve is positioned at the working position 3, and oil is discharged from the multifunctional pipeline on the left side of the corresponding excavating arm.

When the electric proportional valve a8 and the electric proportional valve b8 have no signals, the multifunctional excavating unit is positioned at the working position 2, and no oil is discharged from the corresponding multifunctional pipeline.

When the pressure oil exists at the za1 port of the loading valve, the tipping bucket joint is positioned at the working position 1, and corresponds to the adduction of the tipping bucket oil cylinder.

When the pressure oil exists at the zb1 port, the tipping bucket joint is positioned at the working position 3, and the tipping bucket cylinder swings outwards correspondingly.

When the za1 port and the zb1 port have no pressure oil, the skip bucket is positioned at the working position 2, and the corresponding skip bucket oil cylinder is not moved.

When za2 has pressure oil, the movable arm link is positioned at the working position 1, and the corresponding movable arm rises.

When the pressure oil of zb2 is 5-19bar, the movable arm link is positioned at a working position 3, and when the pressure oil of zb2 is more than or equal to 24bar, the movable arm link is positioned at a working position 4 and enters a movable arm floating position.

When the pressure oil is not supplied to the za2 port and the zb2 port, the movable arm linkage is positioned at the working position 2, and the corresponding movable arm is not moved.

When the electric proportional pressure reducing valve za3 has a signal, the loading multifunctional valve is positioned at the working position 1, and oil is discharged from the corresponding multifunctional pipeline on the right side of the movable arm.

When the electric proportional pressure reducing valve zb3 has a signal, the loading multifunctional unit is positioned at the working position 3, and oil is discharged from the corresponding movable arm side multifunctional pipeline.

When the electric proportional pressure reducing valve za3 and the electric proportional pressure reducing valve zb3 have no signals, the loading multifunctional unit is positioned at the working position 2, and no oil is discharged from the corresponding multifunctional pipeline.

When the first two-bit six-way electromagnetic valve is electrified, an A port of the first two-bit six-way electromagnetic valve is communicated with a C port of the first two-bit six-way electromagnetic valve, a B port of the first two-bit six-way electromagnetic valve is communicated with a D port of the first two-bit six-way electromagnetic valve, and an E port of the first two-bit six-way electromagnetic valve and an F port of the first two-bit six-way electromagnetic valve are in a closed state.

When the first two-bit six-way electromagnetic valve is powered off, the A port of the first two-bit six-way electromagnetic valve is communicated with the E port of the first two-bit six-way electromagnetic valve, the B port of the first two-bit six-way electromagnetic valve is communicated with the F port of the first two-bit six-way electromagnetic valve, and the C port of the first two-bit six-way electromagnetic valve and the D port of the first two-bit six-way electromagnetic valve are in a closed state.

When the second six-way electromagnetic valve is electrified, an A port of the second six-way electromagnetic valve is communicated with a C port of the second six-way electromagnetic valve, a B port of the second six-way electromagnetic valve is communicated with a D port of the second six-way electromagnetic valve, and an E port of the second six-way electromagnetic valve and an F port of the second six-way electromagnetic valve are in a closed state.

When the second two-position six-way electromagnetic valve is powered off, an A port of the second two-position six-way electromagnetic valve is communicated with an E port of the second two-position six-way electromagnetic valve, a B port of the second two-position six-way electromagnetic valve is communicated with an F port of the second two-position six-way electromagnetic valve, and a C port of the second two-position six-way electromagnetic valve and a D port of the second two-position six-way electromagnetic valve are in a closed state.

When the electromagnetic valve group loses power, the P port oil of the electromagnetic valve group is communicated with the left port of the shuttle valve through the pressure reducing valve, the T port of the electromagnetic valve group is communicated with the right port of the shuttle valve, and the middle port of the shuttle valve is communicated with the A port of the electromagnetic valve group.

When the electromagnetic valve group is powered on, the P port oil of the electromagnetic valve group is not communicated with the right side oil port of the shuttle valve through the pressure reducing valve, the T port of the electromagnetic valve group is communicated with the left side oil port of the shuttle valve through the pressure reducing valve, and the middle oil port of the shuttle valve is communicated with the A port of the electromagnetic valve group.

When the electric proportional pressure reducing valve a5 is powered on, the P port of the electric proportional pressure reducing valve a5 is communicated with the control cavity on the corresponding side, and when the electric proportional pressure reducing valve a5 is powered off, the T port of the electric proportional pressure reducing valve a5 is communicated with the control cavity on the corresponding side.

When the electric proportional pressure reducing valve a6 is powered on, the P port of the electric proportional pressure reducing valve a6 is communicated with the control cavity on the corresponding side, and when the electric proportional pressure reducing valve a6 is powered off, the T port of the electric proportional pressure reducing valve a6 is communicated with the control cavity on the corresponding side.

When the electric proportional pressure reducing valve a7 is powered on, the P port of the electric proportional pressure reducing valve a7 is communicated with the control cavity on the corresponding side, and when the electric proportional pressure reducing valve a7 is powered off, the T port of the electric proportional pressure reducing valve a7 is communicated with the control cavity on the corresponding side.

When the electric proportional pressure reducing valve a8 is powered on, the P port of the electric proportional pressure reducing valve a8 is communicated with the control cavity on the corresponding side, and when the electric proportional pressure reducing valve a8 is powered off, the T port of the electric proportional pressure reducing valve a8 is communicated with the control cavity on the corresponding side.

When the electric proportional pressure reducing valve b5 is powered on, the P port of the electric proportional pressure reducing valve b5 is communicated with the control cavity on the corresponding side, and when the electric proportional pressure reducing valve b5 is powered off, the T port of the electric proportional pressure reducing valve b5 is communicated with the control cavity on the corresponding side.

When the electric proportional pressure reducing valve b6 is powered on, the P port of the electric proportional pressure reducing valve b6 is communicated with the control cavity on the corresponding side, and when the electric proportional pressure reducing valve b6 is powered off, the T port of the electric proportional pressure reducing valve b6 is communicated with the control cavity on the corresponding side.

When the electric proportional pressure reducing valve b7 is powered on, the P port of the electric proportional pressure reducing valve b7 is communicated with the control cavity on the corresponding side, and when the electric proportional pressure reducing valve b7 is powered off, the T port of the electric proportional pressure reducing valve b7 is communicated with the control cavity on the corresponding side.

When the electric proportional pressure reducing valve b8 is powered on, the P port of the electric proportional pressure reducing valve b8 is communicated with the control cavity on the corresponding side, and when the electric proportional pressure reducing valve b8 is powered off, the T port of the electric proportional pressure reducing valve b8 is communicated with the control cavity on the corresponding side.

When the electric proportional pressure reducing valve za3 is powered on, the P port of the electric proportional pressure reducing valve za3 is communicated with the control cavity on the corresponding side, and when the electric proportional pressure reducing valve za3 is powered off, the T port of the electric proportional pressure reducing valve za3 is communicated with the control cavity on the corresponding side.

When the electric proportional pressure reducing valve zb3 is powered on, the P port of the electric proportional pressure reducing valve zb3 is communicated with the control cavity on the corresponding side, and when the electric proportional pressure reducing valve zb3 is powered off, the T port of the electric proportional pressure reducing valve zb3 is communicated with the control cavity on the corresponding side.

When the coil YX1 of the electromagnetic valve bank is powered on, the P port and the A port of the electromagnetic valve bank are communicated, and when the coil YX1 of the electromagnetic valve bank is powered off, the T port and the A port of the electromagnetic valve bank are communicated.

When the coil YX2 of the electromagnetic valve bank is powered on, the P port and the B port of the electromagnetic valve bank are communicated, and when the coil YX1 of the electromagnetic valve bank is powered off, the T port and the B port of the electromagnetic valve bank are communicated.

Preferably, the method further comprises: the device comprises a first seat proximity switch, a second seat proximity switch, a selection switch, a tipping bucket oil cylinder position detection switch and a change-over switch.

The first seat proximity switch, the second seat proximity switch, the selection switch, the tipping bucket oil cylinder position detection switch and the change-over switch are all communicated with the controller.

The right pilot handle further includes: positioning the electromagnet at the forward maximum position and positioning the electromagnet at the left maximum position.

The first seat proximity switch outputs a proximity state when the seat rotates by 0-10 degrees, and the second seat proximity switch outputs a proximity state when the seat rotates by 170-180 degrees.

The selection switch is used for outputting an upper signal, a middle signal and a lower signal.

The change-over switch is used for outputting an upper signal and a lower signal.

When the tipping bucket oil cylinder starts from a specific position until the oil cylinder extends out completely, the tipping bucket oil cylinder position detection switch outputs a non-approaching state, and when the tipping bucket oil cylinder starts from the specific position until the tipping bucket oil cylinder retracts completely, the tipping bucket oil cylinder position detection switch outputs an approaching state.

Preferably, when in the loading mode:

the first front roller includes: the two rolling directions move and can be reset by itself. When the first front roller acts, the controller does not execute any output.

The first front button is set as a self-resetting button, and when the first front button is pressed down, the controller controls the loudspeaker to work.

The first back button is set as a self-resetting button, when the self-resetting button is pressed, the controller outputs a differential lock signal to the gearbox controller, the gearbox controller executes corresponding output, and when the self-resetting button is released, corresponding output is stopped.

When in the digging mode:

when the change-over switch is in the upper position, the left supporting leg is controlled to descend when the first front roller rolls in one direction, and the left supporting leg is controlled to ascend when the first front roller rolls in the other direction.

When the change-over switch is in the lower position, when the first front roller rolls to one direction, the left side of the digging arm is controlled to dig the multifunctional pipeline oil, and when the first front roller rolls to the other direction, the right side of the digging arm is controlled to dig the multifunctional pipeline oil.

When the first front button is pressed, the controller controls the loudspeaker to work.

The first back button, when pressed, does not output the controller.

When in loading mode:

the second front roller includes: the two rolling directions move and can be reset by itself.

The second front roller faces to one direction roller, the loading multifunctional electricity-connection proportional pressure reducing valve za3 of the loading valve is powered, and the second front roller faces to the other direction roller, and the loading multifunctional electricity-connection proportional pressure reducing valve zb3 of the loading valve is powered.

The second front button is set as a self-resetting button, and when the first pressing is performed, the coil YX5 of the electromagnetic valve pressure reducing valve group is electrified, and the electromagnet is positioned at the forward maximum position to be electrified. When the electromagnetic valve is pressed for the second time, the coil YX5 of the electromagnetic valve reducing valve group is powered off, and the positioning electromagnet of the right handle at the forward maximum position is powered off.

The second back button is set as a self-resetting button, when the second back button is pressed, the controller controls the power cut-off signal to the gearbox controller, the gearbox controller executes corresponding action, and when the second back button is released, the current gear is restored.

When the position detection switch of the tipping bucket oil cylinder is in a close state, the electromagnet is positioned at the left maximum position to lose electricity.

When the position detection switch of the tipping bucket oil cylinder is in a non-approaching state, the electromagnet is positioned at the maximum left position to obtain electricity.

When in the digging mode:

when the change-over switch is in the upper position, the right and left supporting legs are controlled to descend when the second front roller rolls in one direction, and the right supporting leg is controlled to ascend when the second front roller rolls in the other direction.

When the change-over switch is in the lower position, when the second front idler wheel rolls to one direction, the telescopic bucket rod is controlled to stretch, and when the second front idler wheel rolls to the other direction, the telescopic bucket rod is controlled to shrink.

And when the second front button is pressed, the controller does not output.

And when the second back button is pressed, the controller does not output.

The electromagnet is positioned at the forward maximum position to lose power.

The electromagnet is positioned at the maximum left position to lose power.

In a second aspect, a method for controlling a hydraulically controlled backhoe loader includes the steps of:

when the loading mode is activated, the coil YX1 of the electromagnetic valve group is powered on, the coil YX2 is powered off, the coil YX3 of the first two-position six-way electromagnetic valve is powered off, and the coil YX4 of the second two-position six-way electromagnetic valve is powered off.

The second front roller of the right pilot handle rolls forwards, the loading multifunctional power-on proportional pressure reducing valve za3 of the loading valve is powered, the second front roller of the right pilot handle rolls backwards, and the loading multifunctional power-on proportional pressure reducing valve zb3 of the loading valve is powered.

When the second front button of the right pilot handle is pressed for the first time, a coil YX5 of the electromagnetic valve pressure reducing valve group is electrified, the positioning electromagnet at the forward maximum position of the right pilot handle is electrified, and oil at the E port of the first six-position electromagnetic valve is directly supplied to the za2 port without being decompressed by the pressure reducing valve in the electromagnetic valve pressure reducing valve group.

When the second front button of the right pilot handle is pressed for the first time, if the right pilot handle is pushed to the forward maximum position, the right pilot handle is attracted by the positioning electromagnet at the forward maximum position, and even if the hand is released, the right pilot handle is still at the forward maximum position, and the movable arm link of the loading valve is in a floating position to work.

When the second front button of the right pilot handle is pressed for the second time, the coil YX5 of the electromagnetic valve pressure reducing valve bank is powered off, the positioning electromagnet at the forward maximum position of the right pilot handle is powered off, and oil at the E port of the first two-position six-way electromagnetic valve is depressurized through the pressure reducing valve in the electromagnetic valve pressure reducing valve bank and then is fed to the za2 port. If the right pilot handle is pushed to the maximum forward position, the boom linkage of the loading valve is at the working position 3, and the boom is normally lowered. The right pilot handle is not attracted by the positioning electromagnet at the forward maximum position, and if the hand is released, the right pilot handle returns to the middle position.

Preferably, the method further comprises: when the loading mode is activated, the coil YX1 of the electromagnetic valve group is powered on, the coil YX2 is powered off, the coil YX3 of the first two-position six-way electromagnetic valve is powered off, and the coil YX4 of the second two-position six-way electromagnetic valve is powered off.

When the proximity switch of the tipping bucket oil cylinder is not in a proximity state, the positioning electromagnet at the left maximum position of the right pilot handle is electrified, the right pilot handle is pushed to the left maximum position, the right pilot handle can be attracted, the right pilot handle still keeps the current position even if the hand is released, the tipping bucket oil cylinder can continue to move until the tipping bucket oil cylinder moves to the proximity switch of the tipping bucket oil cylinder, the positioning electromagnet at the left maximum position of the right pilot handle is deenergized, the right pilot handle returns to the middle position, and the action of the tipping bucket oil cylinder is stopped.

When the second back button of the right pilot handle is pressed, a power cut-off signal is controlled to the gearbox controller, the gearbox controller executes corresponding actions, and the current gear is restored when the second back button is released.

When the first front roller of the left pilot handle acts, no output is executed.

When the first front button of the left pilot handle is pressed, the horn is controlled to work.

And when the first back button of the left pilot handle is pressed, a differential lock signal is output to the gearbox controller, the gearbox controller executes corresponding output, and when the first back button is released, the corresponding output is stopped.

Preferably, the loading mode is activated when the first seat proximity switch is in the proximity state when the selection switch is in the up position or the down position.

Preferably, the method further comprises: when the excavating mode is activated, the two electromagnetic coils YX1 and YX2 of the electromagnetic valve bank are electrified, the two-position six-way electromagnetic valve and the two-position six-way electromagnetic valve are electrified, the electromagnetic valve pressure reducing valve bank is electrified,

the forward maximum position positioning electromagnet of the right pilot handle and the left maximum position positioning electromagnet are all powered off.

The left pilot handle controls the digging arm to descend forwards, controls the digging arm to ascend backwards, controls the left rotary motion to the left, and controls the right rotary motion to the right. The right pilot handle controls the bucket rod to swing outwards forwards, controls the bucket rod to retract backwards, controls the bucket to retract leftwards, and controls the bucket to swing outwards rightwards.

When the change-over switch is in an upper position, the first front roller of the left pilot handle controls the left landing leg to descend forwards, the first front roller of the left pilot handle controls the left landing leg to ascend backwards, the second front roller of the right pilot handle controls the right left landing leg to descend forwards, and the second front roller of the right pilot handle controls the right landing leg to ascend backwards.

When the change-over switch is in the lower position, the first front roller of the left pilot handle forwards controls the digging arm left side to dig multifunctional pipeline oil, the first front roller of the left pilot handle backwards controls the digging arm right side to dig multifunctional pipeline oil, the second front roller of the right pilot handle forwards controls the telescopic bucket rod to stretch, and the second front roller of the right pilot handle backwards controls the telescopic bucket rod to shrink.

Preferably, the method further comprises: when the excavating mode is activated, the two electromagnetic coils YX1 and YX2 of the electromagnetic valve bank are electrified, the first two-position six-way electromagnetic valve and the second two-position six-way electromagnetic valve are electrified, the electromagnetic valve pressure reducing valve bank is electrified, and the electromagnet positioned at the forward maximum position and the electromagnet positioned at the left maximum position of the right pilot handle are all powered off.

When the first back button of the left pilot handle is pressed, no output is performed.

When the second front button of the right pilot handle is pressed, no output is performed.

When the second back button of the right pilot handle is pressed, no output is performed.

Preferably, the second seat proximity switch is in a proximity state when the selection switch is in an upper position or a lower position, and the excavation mode is activated.

Preferably, the method further comprises: when other modes are activated, the electromagnets YX1 and YX2 of the electromagnetic valve bank, the first two-bit flow power-on valve, the second two-bit six-way power-on valve and the electromagnetic coil YX5 of the electromagnetic valve pressure-reducing valve bank are not electrified.

When the first back button of the left pilot handle is pressed, a differential lock signal is output to the gearbox controller, the gearbox controller executes corresponding output, and when the first back button is released, corresponding output is stopped.

When the first back button of the right pilot handle is pressed, a power cut-off signal is controlled to the gearbox controller, the gearbox controller executes corresponding actions, and the current gear is restored when the first back button is released.

Preferably, the modes are activated in addition to the conditions of loading mode activation and mining mode activation.

Preferably, the vehicle speed signal is obtained from the gearbox controller, and when the vehicle speed signal is detected to be greater than the threshold value V, no matter what states the selection switch, the first seat proximity switch and the second seat proximity switch are, the working mode is set to be other modes, and the priority is high.

The beneficial effects are that: the control system and the control method of the hydraulic control type backhoe loader provided by the invention realize that the loading end and the digging end share one set of main handle, so that the occupation of the control system to the cab space is reduced, the operation of operators is more comfortable, and meanwhile, the loading end can also realize the requirement of automatically returning to the loading position for the movable arm floating position and the tipping bucket. A seat position detecting device is provided, and a rocker switch is combined to determine which side of the handle is controlled to act. For the excavating end, the functions of a multifunctional telescopic bucket rod, supporting legs and the like are integrated on the handle, so that the action is highly integrated, and the space occupation is further reduced. Meanwhile, the system can detect the vehicle speed, and when the vehicle speed exceeds a certain value, the pilot oil is automatically cut off, so that the handle is invalid, and accidents caused by mistakenly touching the handle in the high-speed running process are avoided. Compared with the prior art, the method has the following advantages:

(1) The excavating and loading share the same set of pilot handles, so that the occupation of the space of the cab is reduced, and the working comfort of a driver is improved.

(2) Under the condition that the excavating and loading share one set of pilot handles, the loading end can realize floating positions and automatically adjust the angle of the bucket, and the operation experience of the excavating end is not influenced.

(3) Common functions such as loudspeaker, loading multifunction, excavating multifunction, telescopic bucket rod, landing leg are integrated on the handle, and the operation is more convenient.

(4) The mode selection is limited by three conditions of a seat, a selection switch and a vehicle speed, so that misoperation of a driver can be avoided to the greatest extent, and the vehicle is safer.

Drawings

Fig. 1 is a schematic view of the backhoe loader of the present invention.

Fig. 2 is a schematic structural view of the control system of the backhoe loader of the present invention.

Fig. 3 is a schematic structural view of the loading valve of the present invention.

Fig. 4 is a schematic structural view of the excavating valve of the present invention.

1-a seat 2-a seat approach switch 3-a seat approach switch 4-a left pilot handle 5-a right pilot handle 6-a controller 7-a gearbox controller 8-an excavating valve 9-a loading valve 10-a pilot oil 11-an electromagnetic valve bank 12-a two-position six-way electromagnetic valve 13-a two-position six-way electromagnetic valve 14-an electromagnetic valve relief valve bank 15-an excavating arm cylinder 16-a bucket cylinder 17-an excavating arm cylinder 18-a rotary cylinder 19-a right leg cylinder 20-a left leg cylinder 21-a telescopic cylinder 22-an excavating multifunctional machine 23-a tipping cylinder 24-a movable arm cylinder 25-a loading multifunctional machine 26-a cab seat support 27-a left pilot handle front roller 28-a left pilot handle front button 29-a left pilot handle back button 30-a right pilot handle front roller 31-a right pilot handle front button 32-a right pilot handle back button 33-a right pilot handle forward maximum position positioning electromagnet 34-a right pilot handle left maximum position positioning electromagnet 35-an oil tank 36-a selection switch 37-a tipping cylinder position detection switch 38-a horn 39-a changeover switch.

Detailed Description

The following description of the embodiments of the present invention will be made more apparent and fully by reference to the accompanying drawings, in which embodiments of the invention are shown, and in which it is evident that the embodiments shown are only some, but not all embodiments of the invention. All other embodiments, which can be made by a person skilled in the art without any inventive effort, are intended to be within the scope of the present invention.

The invention will be further described with reference to specific examples.

Example 1:

as shown in fig. 1, this embodiment describes a hydraulically controlled backhoe loader, including: a seat 1, a first seat proximity switch 2, a second seat proximity switch 3, a left pilot handle 4, a right pilot handle 5, a controller 6, a gearbox controller 7, an excavating valve 8, a loading valve 9, a pilot oil 10, an electromagnetic valve bank 11, a first two-position six-way electromagnetic valve 12, a second two-position six-way electromagnetic valve 13, an electromagnetic valve pressure reducing valve bank 14, an excavating arm cylinder 15, a bucket cylinder 16, an excavating cylinder 17, a slewing cylinder 18, a right landing leg cylinder 19, a left landing leg cylinder 20, a bucket telescopic cylinder 21, an excavating multifunctional tool 22 (such as an auger, a hydraulic quick-change, etc.), a tipping cylinder 23, a boom cylinder 24, a loading multifunctional tool 25 (such as a sweeper, a hydraulic quick-change, etc.), a cab seat support 26, a selection switch 36 (three-position rocker switch, divided into a loading position, an excavating position, a middle position), a tipping cylinder position detection switch 37, a horn 38, and a switch 39.

The seat 1 is mounted on a cab seat support 26, the cab seat 1 being rotatable about its own turntable, and the handle is fixed to the seat for rotation therewith. The rotation angle of the seat is determined by projecting the seat in the projection direction from the cab top to the ground with the loading end of the loader digger as the front and the digging end as the rear. Defining the seat as facing forward by 0 deg., the seat may be rotated in a counterclockwise direction by at least 180 deg..

The first seat proximity switch 2 and the second seat proximity switch 3 are both installed on the cab seat support 26, and according to the above-mentioned seat rotation angle, the first seat proximity switch 2 is in an approaching state when the seat rotation angle is 0-10 °, and the second seat proximity switch 3 is in an approaching state when the seat rotation angle is 170-180 °.

The left pilot handle 4 and the right pilot handle 5 are respectively fixed on the left side and the right side of the seat 1 and rotate around the rotating disc of the seat along with the seat.

The left pilot handle 4 includes: a first front roller 27, a first front button 28, a second rear button 29, and a left pilot handle valve body.

The P port of the left pilot handle valve body is communicated with the B port of the electromagnetic valve group 11, the 1 port is communicated with the B1 port of the excavating valve, the 2 port is communicated with the a4 port of the excavating valve, the 3 port is communicated with the a1 port of the excavating valve, the 4 port is communicated with the B4 port of the excavating valve, and the T port is communicated with the oil tank.

The right pilot handle 5 includes: a second front roller 30, a second front button 31, a second back button 32, and a right pilot handle valve body, a forward maximum position positioning electromagnet 33, and a left maximum position positioning electromagnet 34.

The P port of the right pilot handle valve body is communicated with the A port of the electromagnetic valve group 11, the 1 port is communicated with the B port of the second two-position six-way electromagnetic valve 13, the 2 port is communicated with the B port of the first two-position six-way electromagnetic valve 12, the 3 port is communicated with the A port of the second two-position six-way electromagnetic valve 13, and the 4 port is communicated with the A port of the first two-position six-way electromagnetic valve 12. The T port is communicated with the oil tank.

The V port of the excavating valve 8 is respectively communicated with the P ports of the electro-proportional pressure reducing valves a5, a6, a7, a8, b5, b6, b7 and b8 through the internal oil duct, the L port of the excavating valve 8 is respectively communicated with the T ports of the electro-proportional pressure reducing valves a5, a6, a7, a8, b5, b6, b7 and b8 through the internal oil duct, and the electro-proportional pressure reducing valves a5, a6, a7, a8, b5, b6, b7 and b8 are integrated on the excavating valve 8.

The V mouth of loading valve 9 is led to the P mouth of electricity proportion relief valve za3, zb3 respectively through the inside oil duct, and the L mouth of loading valve 9 is led to the T mouth of electricity proportion relief valve za3, zb3 respectively through the inside oil duct, and electricity proportion relief valve za3, zb3 is integrated on loading valve 9.

The pilot oil 10 is communicated with the P port of the electromagnetic valve group 11, and is also communicated with the V port of the loading valve and the V port of the excavating valve.

The E port of the first two-position six-way solenoid valve 12 is communicated with the P port of the solenoid valve pressure reducing valve group 14, the F port is communicated with the zb2 port of the loading valve 9, the C port is communicated with the b2 port of the excavating valve 8, and the D port is communicated with the b2 port of the excavating valve 8.

The E port of the second six-position electrified valve 13 is communicated with the za1 port of the loading valve 9, and the F port is communicated with the zb1 port of the loading valve 9; the port C is communicated with the port a3 of the excavating valve 8, and the port D is communicated with the port b3 of the excavating valve 8.

The port A of the electromagnetic valve reducing valve group 14 is communicated with the port za2 of the loading valve 9.

The digging arm link of the digging valve 8 is communicated with the digging arm oil cylinder 15, the bucket rod link is communicated with the bucket rod oil cylinder 16, the bucket link is communicated with the bucket oil cylinder 17, the rotary link is communicated with the rotary oil cylinder 18, the right leg link is communicated with the right leg oil cylinder 19, the left leg link is communicated with the left leg oil cylinder 20, the telescopic link is communicated with the telescopic oil cylinder 21, and the multifunctional digging link is communicated with the multifunctional digging machine 22.

The tipping bucket link of the loading valve 9 is communicated with the tipping bucket oil cylinder 23, the movable arm link is communicated with the movable arm oil cylinder 24, and the loading multifunctional link is communicated with the loading multifunctional tool 25.

The selector switch 36 is a three-position rocker switch, which is divided into upper, middle and lower positions.

The switch 39 is a two-position rocker switch, which is divided into an upper position and a lower position.

The electro-proportional pressure reducing valves a5, a6, a7, a8, b5, b6, b7, b8, za3, zb3, two coils YX1 and YX2 of the solenoid valve block 11, coil YX3 of the two-position six-way solenoid valve 12, coil YX4 of the two-position six-way solenoid valve 13, coil YX5 of the solenoid valve pressure reducing valve block 14, the seat proximity switch 2, the seat proximity switch 3, the gearbox controller 7, the selector switch 36, the left handle front roller 27, the front button 28, the back button 29, the right handle front roller 30, the front button 31, the back button 32, the forward maximum position positioning electromagnet 33, the left maximum position positioning electromagnet 34, the skip bucket cylinder position detection switch 37, the selector switch 39, and the horn 28 are all connected with the controller 6.

Further, the selection switch 36 and the change-over switch 39 may be film buttons.

Further, the first seat proximity switch 2, the second seat proximity switch 3, and the skip cylinder position detection switch 37 may be sensors having the same function.

Example 2:

as shown in fig. 2 to 4, a control system of a hydraulic control type backhoe loader includes: the device comprises a first seat proximity switch 2, a second seat proximity switch 3, a left pilot handle 4, a right pilot handle 5, a controller 6, a gearbox controller 7, an excavating valve 8, a loading valve 9, an electromagnetic valve group 11, a first two-position six-way electromagnetic valve 12, a second two-position six-way electromagnetic valve 13, an electromagnetic valve pressure reducing valve group 14, a selection switch 36 and a skip bucket oil cylinder position detection switch 37, and a change-over switch 39.

The first seat proximity switch 2 is in an approaching state when the seat is rotated by 0-10 deg., and the second seat proximity switch 3 is in an approaching state when the seat is rotated by 170-180 deg..

The left pilot handle 4 includes: first front roller 27, first front button 28, first back button 29, and left pilot handle valve body, comprising: p-port, T-port, 1-port, 2-port, 3-port, 4-port.

When the left pilot handle moves forwards, the 3 ports of the left pilot handle valve body are communicated with the P ports.

The first front roller 27, the first front button 28, and the first back button 29 are all in communication with the controller 6.

When in loading mode:

the first front roller 27 includes: the two rolling directions move and can be reset by itself. When the first front roller 27 is operated, the controller 6 does not perform any output.

The first front button 28 is configured as a self-resetting button that, when pressed, controls the operation of the horn 38 by the controller 6.

The first back button 29 is provided as a self-resetting button, and when pressed, the controller 6 outputs a differential lock signal to the transmission controller 7, and the transmission controller 7 performs a corresponding output, and when released, stops the corresponding output.

When in the digging mode:

when the switch 39 is in the upper position, the left leg is controlled to descend when the first front roller 27 rolls in one direction, and the left leg is controlled to ascend when the first front roller 27 rolls in the other direction.

When the change-over switch 39 is in the lower position, the first front roller 27 rolls in one direction, the left side of the digging arm is controlled to dig the multifunctional pipeline to discharge oil, and when the first front roller 27 rolls in the other direction, the right side of the digging arm is controlled to dig the multifunctional pipeline to discharge oil.

When the first front button 28 is pressed, the controller 6 controls the horn 38 to operate.

When the first back button 29 is pressed, the controller 6 does not output.

The right pilot handle 5 includes: a second front roller 30, a second front button 31, a second back button 32, and a right pilot handle valve body, comprising: p, T, 1, 2, 3, 4, positioning electromagnet 33 in the forward maximum position and positioning electromagnet 34 in the left maximum position.

The second front roller 30, the second front button 31, the second back button 32, the forward maximum position positioning electromagnet 33, and the left maximum position positioning electromagnet 34 are all in communication with the controller 6.

When in loading mode:

the second front roller 30 includes: the two rolling directions move and can be reset by itself.

The second front roller 30 is used for being powered by the multifunctional loading combined electricity proportional reducing valve za3 of the loading valve 9, and the second front roller 30 is used for being powered by the other direction roller, and the multifunctional loading combined electricity proportional reducing valve zb3 of the loading valve 9.

The second front button 31 is provided as a self-resetting button, and when pressed for the first time, the coil YX5 of the solenoid valve set 14 is energized, and the positioning electromagnet 33 is energized toward the maximum position. When the solenoid valve is pressed for the second time, the coil YX5 of the solenoid valve pressure reducing valve group 14 is powered off, and the right handle is powered off to the positioning electromagnet 33 at the forward maximum position.

The second back button 32 is configured as a self-resetting button, and when pressed, the controller 6 controls the power cut-off signal to the gearbox controller 7, and the gearbox controller performs corresponding actions, and when released, the current gear is restored.

When the skip cylinder position detection switch 37 is in an approaching state, the left maximum position positioning electromagnet 34 is powered off.

When the skip cylinder position detection switch 37 is in a state of not approaching, the electromagnet 34 is positioned at the maximum left position to be electrified.

When in the digging mode:

when the switch 39 is in the upper position, the second front roller 30 is controlled to move downward in one direction, and when the second front roller 30 is controlled to move upward in the other direction.

When the switch 39 is in the lower position, the second front roller 30 is controlled to extend in one direction, and when the second front roller 30 is controlled to extend in the other direction, the second front roller 30 is controlled to retract.

The second front button 31 is not output by the controller 6 when pressed.

The second back button 32 is not output by the controller 6 when pressed.

The forward maximum position positioning electromagnet 33 is de-energized.

The left maximum position positioning electromagnet 34 is de-energized.

The pilot oil 10 is communicated with the P port of the electromagnetic valve group 11, and is also communicated with the V port of the loading valve 9 and the V port of the excavating valve 8, and the L port of the loading valve 9, the L port of the excavating valve 8 and the T port of the electromagnetic valve group are both communicated with the oil tank 35.

The V port of the excavating valve 8 is respectively communicated with the electric proportional pressure reducing valve a5, the electric proportional pressure reducing valve a6, the electric proportional pressure reducing valve a7, the electric proportional pressure reducing valve a8, the electric proportional pressure reducing valve b5, the electric proportional pressure reducing valve b6, the electric proportional pressure reducing valve b7, the P port of the electric proportional pressure reducing valve b8, the L port of the excavating valve 8 is respectively communicated with the electric proportional pressure reducing valve a5, the electric proportional pressure reducing valve a6, the electric proportional pressure reducing valve a7, the electric proportional pressure reducing valve a8, the electric proportional pressure reducing valve b5, the electric proportional pressure reducing valve b6, the electric proportional pressure reducing valve b7, the T port of the electric proportional pressure reducing valve b8, the electric proportional pressure reducing valve a5, the electric proportional pressure reducing valve a6, the electric proportional pressure reducing valve a7, the electric proportional pressure reducing valve a8, the electric proportional pressure reducing valve b5, the electric proportional pressure reducing valve b7 and the electric proportional pressure reducing valve b8 through the internal oil passage.

When pressure oil exists at the a1 port of the excavating valve 8, the excavating arm is positioned at the working position 1, and the corresponding excavating arm descends.

The V mouth of loading valve 9 is through inside oil duct leading to electric proportional relief valve za3 respectively, and electric proportional relief valve zb 3's P mouth, and loading valve 9's L mouth is through inside oil duct leading to electric proportional relief valve za3 respectively, and electric proportional relief valve zb 3's T mouth, electric proportional relief valve za3, electric proportional relief valve zb3 integration are on loading valve 9.

When the pressure oil exists at the za1 port of the loading valve 9, the tipping bucket is positioned at the working position 1, and corresponds to the adduction of the tipping bucket oil cylinder.

The E port of the first two-position six-way electromagnetic valve 12 is communicated with the P port of the electromagnetic valve reducing valve group 14, the F port is communicated with the zb2 port of the loading valve 9, the C port is communicated with the b2 port of the excavating valve 8, and the D port is communicated with the b2 port of the excavating valve 8.

When the first two-bit six-way electromagnetic valve 12 is electrified, the A port of the first two-bit six-way electromagnetic valve 12 is communicated with the C port of the first two-bit six-way electromagnetic valve 12, the B port of the first two-bit six-way electromagnetic valve 12 is communicated with the D port of the first two-bit six-way electromagnetic valve 12, and the E port of the first two-bit six-way electromagnetic valve 12 and the F port of the first two-bit six-way electromagnetic valve 12 are in a closed state.

When the first two-bit six-way electromagnetic valve 12 is powered off, the A port of the first two-bit six-way electromagnetic valve 12 is communicated with the E port of the first two-bit six-way electromagnetic valve 12, the B port of the first two-bit six-way electromagnetic valve 12 is communicated with the F port of the first two-bit six-way electromagnetic valve 12, and the C port of the first two-bit six-way electromagnetic valve 12 and the D port of the first two-bit six-way electromagnetic valve 12 are in a closed state.

When the second two-position six-way electromagnetic valve 13 is electrified, the A port of the second two-position six-way electromagnetic valve 13 is communicated with the C port of the second two-position six-way electromagnetic valve 13, the B port of the second two-position six-way electromagnetic valve 13 is communicated with the D port of the second two-position six-way electromagnetic valve 13, and the E port of the second two-position six-way electromagnetic valve 13 and the F port of the second two-position six-way electromagnetic valve 13 are in a closed state.

When the second two-position six-way electromagnetic valve 13 loses power, the A port of the second two-position six-way electromagnetic valve 13 is communicated with the E port of the second two-position six-way electromagnetic valve 13, the B port of the second two-position six-way electromagnetic valve 13 is communicated with the F port of the second two-position six-way electromagnetic valve 13, and the C port of the second two-position six-way electromagnetic valve 13 and the D port of the second two-position six-way electromagnetic valve 13 are in a closed state.

The port A of the electromagnetic valve reducing valve group 14 is communicated with the port za2 of the loading valve 9, and the port T is communicated with the oil tank.

When the electromagnetic valve reducing valve group 14 is powered off, P port oil of the electromagnetic valve reducing valve group 14 is communicated with the left side oil port of the shuttle valve through the reducing valve, T port of the electromagnetic valve reducing valve group 14 is communicated with the right side oil port of the shuttle valve, and the middle oil port of the shuttle valve is communicated with the A port of the electromagnetic valve reducing valve group 14.

When the electromagnetic valve pressure reducing valve group 14 is powered on, the P port oil of the electromagnetic valve pressure reducing valve group 14 is not communicated with the right port oil of the shuttle valve through the pressure reducing valve, the T port of the electromagnetic valve pressure reducing valve group 14 is communicated with the left port oil of the shuttle valve through the pressure reducing valve, and the middle port of the shuttle valve is communicated with the A port of the electromagnetic valve pressure reducing valve group 14.

The electric proportional pressure reducing valve a5, the electric proportional pressure reducing valve a6, the electric proportional pressure reducing valve a7, the electric proportional pressure reducing valve a8, the electric proportional pressure reducing valve b5, the electric proportional pressure reducing valve b6, the electric proportional pressure reducing valve b7, the electric proportional pressure reducing valve b8, the electric proportional pressure reducing valve za3, the electric proportional pressure reducing valve zb3, the two coils YX1 and YX2 of the electromagnetic valve group 11, the coil YX3 of the two-position six-way electromagnetic valve 12, the coil YX4 of the two-position six-way electromagnetic valve 13, the coil YX5 of the electromagnetic valve group 14, the seat proximity switch 2, the seat proximity switch 3, the gearbox controller 7, the selection switch 36, the left handle front roller 27, the front button 28, the back button 29, the right handle front roller 30, the front button 31, the back button 32, the forward maximum position positioning electromagnet 33, the leftward maximum position positioning electromagnet 34, the horn 38, the horn position detection switch 37, the horn 38 and the switch 39 are all connected to the controller 6.

When the coil YX1 of the electromagnetic valve group 11 is powered on, the P port and the A port of the electromagnetic valve group 11 are communicated, and when the coil YX1 of the electromagnetic valve group 11 is powered off, the T port and the A port of the electromagnetic valve group 11 are communicated.

When the coil YX2 of the electromagnetic valve group 11 is powered on, the P port and the B port of the electromagnetic valve group 11 are communicated, and when the coil YX1 of the electromagnetic valve group 11 is powered off, the T port and the B port of the electromagnetic valve group 11 are communicated.

The skip cylinder position detection switch 37 is mounted on the skip cylinder 23, and when the skip cylinder 23 extends from a specific position until the cylinder is fully extended, the skip cylinder position detection switch 37 is in a non-approaching state, and the skip cylinder 23 extends from the specific position until the cylinder is fully retracted, and the skip cylinder position detection switch 37 is in an approaching state.

The selector switch 36 is a three-position rocker switch for outputting an upper signal, a middle signal, and a lower signal.

The switch 39 is a two-position rocker switch for outputting an upper signal and a lower signal.

Example 3:

the embodiment introduces a control method of a hydraulic control type backhoe loader, which comprises the following steps:

the whole machine is divided into three working modes, namely a loading mode, an excavating mode and other modes. The selection switch 36 and the seat proximity switch 2, 3 together determine which operating mode is in, namely: the selection switch is in an upper position (or a lower position), and when the seat proximity switch 2 is in a proximity state, the loading mode is activated; the selection switch is in the lower position (or the upper position), and the seat proximity switch 3 is in the proximity state, that is, the excavation mode is activated; the remaining states are other modes.

When the loading mode is activated:

the coil YX1 of the electromagnetic valve group 11 is powered on, the coil YX2 is powered off, the coil YX3 of the first two-position six-way electromagnetic valve 12 is powered off, and the coil YX4 of the second two-position six-way electromagnetic valve 13 is powered off.

When the second front button of the right pilot handle is pressed for the first time, a coil YX5 of the electromagnetic valve pressure reducing valve bank is electrified, the positioning electromagnet at the forward maximum position of the right pilot handle is electrified, oil at the E port of the first six-way electromagnetic valve is not decompressed through the pressure reducing valve in the electromagnetic valve pressure reducing valve bank, and meanwhile, the pressure at the za2 port reaches the maximum pressure (generally 35 bar) of a pilot system.

When the second front button of the right pilot handle is pressed for the second time, the coil YX5 of the electromagnetic valve pressure reducing valve bank is powered off, the positioning electromagnet at the forward maximum position of the right pilot handle is powered off, and oil at the E port of the first two-position six-way electromagnetic valve is reduced in pressure through the pressure reducing valve in the electromagnetic valve pressure reducing valve bank and then is fed to the za2 port (maximum pressure of 19 bar). If the right pilot handle is pushed to the maximum forward position, the boom linkage of the loading valve is at the working position 3, and the boom is normally lowered. The right pilot handle is not attracted by the positioning electromagnet at the forward maximum position, and if the hand is released, the right pilot handle returns to the middle position.

When the proximity switch of the tipping bucket cylinder is not in a proximity state, the electromagnet is positioned at the left maximum position of the right pilot handle to be electrified, the right pilot handle is pushed to the left maximum position, the right pilot handle can be attracted, even if the hand is released, the right pilot handle still keeps the current position, the tipping bucket cylinder can continue to move until the tipping bucket cylinder moves to the position where the proximity switch of the tipping bucket cylinder is in the proximity state, the electromagnet is positioned at the left maximum position of the right pilot handle to lose electricity, the right pilot handle returns to the neutral position, the action of the tipping bucket cylinder is stopped, the tipping bucket cylinder is not moved at the moment, and only the movable arm is controlled to descend to the ground position, so that the bucket is in a leveling state, and the bucket can be directly scooped without observing and adjusting the tipping bucket cylinder to adjust the angle of the bucket.

When the mining mode is activated:

the two electromagnetic coils YX1 and YX2 of the electromagnetic valve group 11 are electrified, the two-position six-way electromagnetic valve 12 and the two-position six-way electromagnetic valve 13 are electrified, and the electromagnetic valve reducing valve group 14 is electrified.

When other modes are activated, the electromagnets YX1 and YX2 of the electromagnetic valve bank, the first two-bit flow power-on valve, the second two-bit six-bit power-on valve and the electromagnetic coil YX5 of the electromagnetic valve pressure-reducing valve bank are not electrified.

No action is output corresponding to the left pilot handle and the right pilot handle.

Further comprises: and acquiring a vehicle speed signal from the gearbox controller, and when the vehicle speed signal is detected to be larger than a threshold value V, setting the working mode into other modes no matter what states the selection switch, the first seat proximity switch and the second seat proximity switch are in, and having high priority.

The foregoing is only a preferred embodiment of the invention, it being noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the present invention, and such modifications and adaptations are intended to be comprehended within the scope of the invention.

Claims

1. A control system for a hydraulically controlled backhoe loader, comprising: comprising the following steps: the device comprises a left pilot handle, a right pilot handle, a controller, a gearbox controller, an excavating valve, a loading valve, an electromagnetic valve group, a first two-position six-way electromagnetic valve, a second two-position six-way electromagnetic valve and an electromagnetic valve pressure reducing valve group;

the left pilot handle includes: first front gyro wheel, first front button, first back button, and left guide handle valve body includes: p-port, T-port, 1-port, 2-port, 3-port, 4-port;

the port P of the left pilot handle valve body is communicated with the port B of the electromagnetic valve group, the port 1 is communicated with the port B1 of the excavating valve, the port 2 is communicated with the port a4 of the excavating valve, the port 3 is communicated with the port a1 of the excavating valve, the port 4 is communicated with the port B4 of the excavating valve, and the port T is communicated with the oil tank;

the right pilot handle includes: the positive gyro wheel of second, the positive button of second, the back button of second, and right guide handle valve body includes: p-port, T-port, 1-port, 2-port, 3-port, 4-port;

The port P of the right pilot handle valve body is communicated with the port A of the electromagnetic valve group, the port 1 is communicated with the port B of the second two-position six-way electromagnetic valve, the port 2 is communicated with the port B of the first two-position six-way electromagnetic valve, the port 3 is communicated with the port A of the second two-position six-way electromagnetic valve, and the port 4 is communicated with the port A of the first two-position six-way electromagnetic valve; the T port is communicated with the oil tank;

the pilot oil is communicated with the P port of the electromagnetic valve bank, and is also communicated with the V port of the loading valve and the V port of the excavating valve, and the L port of the loading valve, the L port of the excavating valve and the T port of the electromagnetic valve bank are communicated with the oil tank;

the V port of the excavating valve is respectively communicated with an electric proportional pressure reducing valve a5, an electric proportional pressure reducing valve a6, an electric proportional pressure reducing valve a7, an electric proportional pressure reducing valve a8, an electric proportional pressure reducing valve b5, an electric proportional pressure reducing valve b6, an electric proportional pressure reducing valve b7, an electric proportional pressure reducing valve b 8P port, an L port of the excavating valve 8 is respectively communicated with the electric proportional pressure reducing valve a5, the electric proportional pressure reducing valve a6, the electric proportional pressure reducing valve a7, the electric proportional pressure reducing valve a8, the electric proportional pressure reducing valve b5, the electric proportional pressure reducing valve b6, the electric proportional pressure reducing valve b7 and the electric proportional pressure reducing valve b8 through internal oil passages, and the electric proportional pressure reducing valve b8 are integrated on the excavating valve;

The V port of the loading valve is respectively communicated with the P port of the electric proportional pressure reducing valve za3 and the P port of the electric proportional pressure reducing valve zb3 through the internal oil duct, the L port of the loading valve is respectively communicated with the electric proportional pressure reducing valve za3 and the T port of the electric proportional pressure reducing valve zb3 through the internal oil duct, and the electric proportional pressure reducing valve za3 and the electric proportional pressure reducing valve zb3 are integrated on the loading valve;

the E port of the first two-position six-way electromagnetic valve is communicated with the P port of the electromagnetic valve reducing valve group, the F port is communicated with the zb2 port of the loading valve, the C port is communicated with the b2 port of the excavating valve, and the D port is communicated with the b2 port of the excavating valve;

the E port of the second two-position six-way electromagnetic valve is communicated with the za1 port of the loading valve, and the F port is communicated with the zb1 port of the loading valve; the port C is communicated with the port a3 of the excavating valve, and the port D is communicated with the port b3 of the excavating valve;

the port A of the electromagnetic valve reducing valve group is communicated with the port za2 of the loading valve, and the port T is communicated with the oil tank;

the left pilot handle, the right pilot handle, the gearbox controller, the excavating valve, the loading valve, the electromagnetic valve group, the first two-position six-way electromagnetic valve, the second two-position six-way electromagnetic valve and the electromagnetic valve pressure reducing valve group are all communicated with the controller;

when the left pilot handle moves forwards, the 3 ports of the left pilot handle valve body are communicated with the P ports;

when the left pilot handle moves backwards, the 1 port of the left pilot handle valve body is communicated with the P port;

When the left pilot handle moves leftwards, the 2 ports of the left pilot handle valve body are communicated with the P ports;

when the left pilot handle moves rightwards, the 4 ports of the left pilot handle valve body are communicated with the P ports;

when the left pilot handle is in the middle position, the 1 port, the 2 port, the 3 port and the 4 port of the left pilot handle valve body are communicated with the T port;

when the right pilot handle moves forwards, the 4 ports of the right pilot handle valve body are communicated with the P ports;

when the right pilot handle moves backwards, the 2 ports of the right pilot handle valve body are communicated with the P ports;

when the right pilot handle moves leftwards, the 3 ports of the right pilot handle valve body are communicated with the P ports;

when the right pilot handle moves rightwards, the 1 port of the right pilot handle valve body is communicated with the P port;

when the right pilot handle is in the middle position, the 1 port, the 2 port, the 3 port and the 4 port of the valve body of the right pilot handle are communicated with the T port;

when pressure oil exists at an a1 port of the excavating valve, the corresponding excavating arm descends;

when pressure oil exists at the port b1, the corresponding digging arm rises;

when the opening a1 and the opening b1 have no pressure oil, the corresponding digging arm is not moved;

when the pressure oil exists at the port a2, the corresponding bucket rod is retracted;

when the pressure oil exists at the port b2, the corresponding bucket rod swings outwards;

when the port a2 and the port b2 are not provided with pressure oil, the corresponding bucket rod is not moved;

a3, when the pressure oil exists, the corresponding bucket is retracted;

b3, when the pressure oil exists, swinging outwards corresponding to the bucket;

when the opening a3 and the opening b3 have no pressure oil, the corresponding bucket is not moved;

a4, when the pressure oil exists, the left rotation is correspondingly carried out;

b4, when the pressure oil exists, the corresponding right rotation is performed;

when the port a4 and the port b4 are not provided with pressure oil, the corresponding rotation is not moved;

when the electric proportional valve a5 has a signal, the corresponding right supporting leg descends;

when the electric proportional valve b5 has a signal, the corresponding right supporting leg rises;

when the electric proportional valve a5 and the electric proportional valve b5 have no signals, the corresponding right supporting leg is not moved;

when the electric proportional valve a6 has a signal, the corresponding left supporting leg descends;

when the electric proportional valve b6 has a signal, the corresponding left supporting leg rises;

when the electric proportional valve a6 and the electric proportional valve b6 have no signal, the corresponding left support leg is motionless;

when the electric proportional valve a7 has a signal, the corresponding telescopic bucket rod is contracted;

when the electric proportional valve b7 has a signal, the corresponding telescopic bucket rod stretches;

when the electric proportional valve a7 and the electric proportional valve b7 have no signals, the corresponding telescopic hopper is not moved;

when the electric proportional valve a8 has a signal, oil is discharged from the multifunctional pipeline on the right side of the corresponding digging arm;

when the electric proportional valve b8 has a signal, oil is discharged from the multifunctional pipeline corresponding to the left side of the digging arm;

when the electric proportional valve a8 and the electric proportional valve b8 have no signals, no oil is discharged from the corresponding multifunctional pipeline;

when the pressure oil exists at the za1 port of the loading valve, the corresponding tipping bucket oil cylinder is retracted;

When the pressure oil exists at the zb1 port, the corresponding tipping bucket oil cylinder swings outwards;

when the za1 port and the zb1 port have no pressure oil, the corresponding tipping bucket oil cylinder is motionless;

when za2 has pressure oil, the corresponding movable arm rises;

when the pressure oil of zb2 is 5-19bar, the corresponding movable arm descends, when the pressure oil of zb2 is more than or equal to 24bar, the movable arm linkage is positioned at a working position 4 and enters a movable arm floating position;

when the pressure oil is not contained in the za2 port and the zb2 port, the corresponding movable arm is not moved;

when the electric proportional pressure reducing valve za3 has a signal, oil is discharged from the multifunctional pipeline on the right side of the corresponding movable arm;

when the electric proportional pressure reducing valve zb3 has a signal, oil is discharged from the side multifunctional pipeline corresponding to the movable arm;

when the electric proportional pressure reducing valve za3 and the electric proportional pressure reducing valve zb3 have no signals, no oil is discharged from the corresponding multifunctional pipeline;

when the first two-bit six-way electromagnetic valve is electrified, an A port of the first two-bit six-way electromagnetic valve is communicated with a C port of the first two-bit six-way electromagnetic valve, a B port of the first two-bit six-way electromagnetic valve is communicated with a D port of the first two-bit six-way electromagnetic valve, and an E port of the first two-bit six-way electromagnetic valve and an F port of the first two-bit six-way electromagnetic valve are in a closed state;

when the first two-bit six-way electromagnetic valve is powered off, an A port of the first two-bit six-way electromagnetic valve is communicated with an E port of the first two-bit six-way electromagnetic valve, a B port of the first two-bit six-way electromagnetic valve is communicated with an F port of the first two-bit six-way electromagnetic valve, and a C port of the first two-bit six-way electromagnetic valve and a D port of the first two-bit six-way electromagnetic valve are in a closed state;

When the second two-position six-way electromagnetic valve is electrified, an A port of the second two-position six-way electromagnetic valve is communicated with a C port of the second two-position six-way electromagnetic valve, a B port of the second two-position six-way electromagnetic valve is communicated with a D port of the second two-position six-way electromagnetic valve, and an E port of the second two-position six-way electromagnetic valve and an F port of the second two-position six-way electromagnetic valve are in a closed state;

when the second two-position six-way electromagnetic valve is powered off, an A port of the second two-position six-way electromagnetic valve is communicated with an E port of the second two-position six-way electromagnetic valve, a B port of the second two-position six-way electromagnetic valve is communicated with an F port of the second two-position six-way electromagnetic valve, and a C port of the second two-position six-way electromagnetic valve and a D port of the second two-position six-way electromagnetic valve are in a closed state;

when the electromagnetic valve group is powered off, the P port oil of the electromagnetic valve group is communicated with the A port of the electromagnetic valve group through the pressure reducing component;

when the electromagnetic valve group is powered on, the P port oil of the electromagnetic valve group is not communicated with the A port of the electromagnetic valve group through the pressure reducing component;

when the electric proportional pressure reducing valve a5 is powered on, the P port of the electric proportional pressure reducing valve a5 is communicated with the control cavity on the corresponding side, and when the electric proportional pressure reducing valve a5 is powered off, the T port of the electric proportional pressure reducing valve a5 is communicated with the control cavity on the corresponding side;

when the electric proportional pressure reducing valve a6 is powered on, the P port of the electric proportional pressure reducing valve a6 is communicated with the control cavity on the corresponding side, and when the electric proportional pressure reducing valve a6 is powered off, the T port of the electric proportional pressure reducing valve a6 is communicated with the control cavity on the corresponding side;

When the electric proportional pressure reducing valve a7 is powered on, the P port of the electric proportional pressure reducing valve a7 is communicated with the control cavity on the corresponding side, and when the electric proportional pressure reducing valve a7 is powered off, the T port of the electric proportional pressure reducing valve a7 is communicated with the control cavity on the corresponding side;

when the electric proportional pressure reducing valve a8 is powered on, the P port of the electric proportional pressure reducing valve a8 is communicated with the control cavity on the corresponding side, and when the electric proportional pressure reducing valve a8 is powered off, the T port of the electric proportional pressure reducing valve a8 is communicated with the control cavity on the corresponding side;

when the electric proportional pressure reducing valve b5 is powered on, the P port of the electric proportional pressure reducing valve b5 is communicated with the control cavity on the corresponding side, and when the electric proportional pressure reducing valve b5 is powered off, the T port of the electric proportional pressure reducing valve b5 is communicated with the control cavity on the corresponding side;

when the electric proportional pressure reducing valve b6 is powered on, the P port of the electric proportional pressure reducing valve b6 is communicated with the control cavity on the corresponding side, and when the electric proportional pressure reducing valve b6 is powered off, the T port of the electric proportional pressure reducing valve b6 is communicated with the control cavity on the corresponding side;

when the electric proportional pressure reducing valve b7 is powered on, the P port of the electric proportional pressure reducing valve b7 is communicated with the control cavity on the corresponding side, and when the electric proportional pressure reducing valve b7 is powered off, the T port of the electric proportional pressure reducing valve b7 is communicated with the control cavity on the corresponding side;

when the electric proportional pressure reducing valve b8 is powered on, the P port of the electric proportional pressure reducing valve b8 is communicated with the control cavity on the corresponding side, and when the electric proportional pressure reducing valve b8 is powered off, the T port of the electric proportional pressure reducing valve b8 is communicated with the control cavity on the corresponding side;

When the electric proportional pressure reducing valve za3 is powered on, the P port of the electric proportional pressure reducing valve za3 is communicated with the control cavity on the corresponding side, and when the electric proportional pressure reducing valve za3 is powered off, the T port of the electric proportional pressure reducing valve za3 is communicated with the control cavity on the corresponding side;

when the electric proportional pressure reducing valve zb3 is powered on, a P port of the electric proportional pressure reducing valve zb3 is communicated with a control cavity on the corresponding side, and when the electric proportional pressure reducing valve zb3 is powered off, a T port of the electric proportional pressure reducing valve zb3 is communicated with a control cavity on the corresponding side;

when the coil YX1 of the electromagnetic valve bank is powered on, the P port and the A port of the electromagnetic valve bank are communicated, and when the coil YX1 of the electromagnetic valve bank is powered off, the T port and the A port of the electromagnetic valve bank are communicated;

2. The control system of a hydraulically controlled backhoe loader of claim 1, wherein: further comprises: the device comprises a first seat proximity switch, a second seat proximity switch, a selection switch, a tipping bucket oil cylinder position detection switch and a change-over switch;

the first seat proximity switch, the second seat proximity switch, the selection switch, the tipping bucket oil cylinder position detection switch and the change-over switch are all communicated with the controller;

The right pilot handle further includes: positioning the electromagnet at a forward maximum position and positioning the electromagnet at a left maximum position;

the first seat proximity switch outputs a proximity state when the seat rotates by 0-10 degrees, and the second seat proximity switch outputs a proximity state when the seat rotates by 170-180 degrees;

the selection switch is used for outputting an upper signal, a middle signal and a lower signal;

the change-over switch is used for outputting an upper signal and a lower signal;

3. A control system for a hydraulically controlled backhoe loader according to claim 2, wherein: when in loading mode:

the first front roller includes: the two rolling directions move and can be reset automatically; when the first front roller acts, the controller does not execute any output;

the first front button is set as a self-resetting button, and when the first front button is pressed down, the controller controls the loudspeaker to work;

the first back button is set as a self-resetting button, when the self-resetting button is pressed down, the controller outputs a differential lock signal to the gearbox controller, the gearbox controller executes corresponding output, and when the self-resetting button is released, corresponding output is stopped;

When in the digging mode:

when the change-over switch is in an upper position, the first front roller rolls in one direction, the left supporting leg is controlled to descend, and when the first front roller rolls in the other direction, the left supporting leg is controlled to ascend;

when the change-over switch is in the lower position, the first front roller rolls towards one direction, the left side of the digging arm is controlled to dig the multifunctional pipeline to discharge oil, and when the first front roller rolls towards the other direction, the right side of the digging arm is controlled to dig the multifunctional pipeline to discharge oil;

when the first front button is pressed, the controller controls the loudspeaker to work;

the first back button is not output by the controller when pressed;

when in loading mode:

the second front roller includes: the two rolling directions move and can be reset automatically;

the second front roller faces one direction roller, the loading multifunctional electricity-connection proportional pressure reducing valve za3 of the loading valve is powered, the second front roller faces the other direction roller, and the loading multifunctional electricity-connection proportional pressure reducing valve zb3 of the loading valve is powered;

the second front button is set as a self-resetting button, when the first pressing is carried out, the coil YX5 of the electromagnetic valve reducing valve group is electrified, and the electromagnet is positioned at the forward maximum position to be electrified; when the electromagnetic valve is pressed for the second time, the coil YX5 of the electromagnetic valve reducing valve group is powered off, and the positioning electromagnet of the right handle at the forward maximum position is powered off;

The second back button is set as a self-resetting button, when the second back button is pressed, the controller controls the power cut-off signal to the gearbox controller, the gearbox controller executes corresponding action, and when the second back button is loosened, the current gear is restored;

when the position detection switch of the tipping bucket oil cylinder is in a close state, the electromagnet is positioned at the left maximum position to lose electricity;

when the position detection switch of the tipping bucket oil cylinder is in a non-approaching state, the electromagnet is positioned at the maximum left position to obtain electricity;

when in the digging mode:

when the change-over switch is in an upper position, the right and left support legs are controlled to descend when the second front roller rolls in one direction, and the right support leg is controlled to ascend when the second front roller rolls in the other direction;

when the change-over switch is in the lower position, the second front roller rolls in one direction, the telescopic bucket rod is controlled to stretch, and when the second front roller rolls in the other direction, the telescopic bucket rod is controlled to shrink;

the second front button is not output by the controller when pressed;

the second back button is not output by the controller when pressed;

positioning the electromagnet at the forward maximum position to lose power;

the electromagnet is positioned at the maximum left position to lose power.

4. A control method of a pilot-controlled backhoe loader of a control system according to claim 2, characterized by: the method comprises the following steps:

The whole machine is divided into three working modes, a loading mode, an excavating mode and other modes; the selection switch and the seat proximity switch together determine which working mode is in, namely: the selection switch is in an upper position or a lower position, and when the seat proximity switch is in a proximity state, the loading mode is activated; when the selection switch is in a lower position or an upper position and the seat proximity switch is in a proximity state, the excavation mode is activated; the other states are other modes;

when the loading mode is activated, the coil YX1 of the electromagnetic valve group is powered on, the coil YX2 is powered off, the coil YX3 of the first two-position six-way electromagnetic valve is powered off, and the coil YX4 of the second two-position six-way electromagnetic valve is powered off;

the second front roller of the right pilot handle rolls forwards, the loading multifunctional power-on proportional pressure reducing valve za3 of the loading valve is powered, the second front roller of the right pilot handle rolls backwards, and the loading multifunctional power-on proportional pressure reducing valve zb3 of the loading valve is powered;

when the second front button of the right pilot handle is pressed for the first time, a coil YX5 of the electromagnetic valve pressure reducing valve group is electrified, the electromagnet is positioned at the forward maximum position of the right pilot handle to be electrified, and oil at the E port of the first two-position six-way electromagnetic valve is directly supplied to the za2 port without being decompressed by the pressure reducing valve in the electromagnetic valve pressure reducing valve group;

When the second front button of the right pilot handle is pressed for the first time, if the right pilot handle is pushed to the forward maximum position, the right pilot handle is attracted by the positioning electromagnet at the forward maximum position, and even if the hand is released, the right pilot handle is still at the forward maximum position, and the movable arm link of the loading valve is in a floating position for working;

when the second front button of the right pilot handle is pressed for the second time, a coil YX5 of the electromagnetic valve pressure reducing valve bank is powered off, a positioning electromagnet at the forward maximum position of the right pilot handle is powered off, and oil at the E port of the right pilot handle of the first two-position six-way electromagnetic valve is fed to the za2 port after being depressurized by a pressure reducing valve in the electromagnetic valve pressure reducing valve bank; if the right pilot handle is pushed to the forward maximum position, the movable arm normally descends; the right pilot handle is not attracted by the positioning electromagnet at the forward maximum position, and if the hand is released, the right pilot handle returns to the middle position.

5. The control method according to claim 4, characterized in that: further comprises: when the proximity switch of the tipping bucket oil cylinder is not in a proximity state, the positioning electromagnet at the left maximum position of the right pilot handle is electrified, the right pilot handle is pushed to the left maximum position, the right pilot handle can be attracted, the right pilot handle still keeps the current position even if the hand is released, the tipping bucket oil cylinder can continue to move until the tipping bucket oil cylinder moves to the proximity switch of the tipping bucket oil cylinder, the positioning electromagnet at the left maximum position of the right pilot handle is deenergized, the right pilot handle returns to the middle position, and the action of the tipping bucket oil cylinder is stopped.

6. The control method according to claim 4, characterized in that: further comprises: when the second back button of the right pilot handle is pressed, a power cut-off signal is controlled to the gearbox controller, the gearbox controller executes corresponding actions, and the current gear is restored when the second back button is released.

7. The control method according to claim 4, characterized in that: further comprises: when the first front roller of the left pilot handle acts, no output is executed.

8. The control method according to claim 4, characterized in that: further comprises: when the first front button of the left pilot handle is pressed, the horn is controlled to work.

9. The control method according to claim 4, characterized in that: further comprises: and when the first back button of the left pilot handle is pressed, a differential lock signal is output to the gearbox controller, the gearbox controller executes corresponding output, and when the first back button is released, the corresponding output is stopped.

10. The control method according to claim 4, characterized in that: further comprises: when the excavating mode is activated, the two electromagnetic coils YX1 and YX2 of the electromagnetic valve bank are electrified, the two-position six-way electromagnetic valve and the two-position six-way electromagnetic valve are electrified, and the electromagnetic valve reducing valve bank is electrified;

the forward maximum position positioning electromagnet of the right pilot handle and the left maximum position positioning electromagnet are all powered off;

The left pilot handle controls the digging arm to descend forwards, controls the digging arm to ascend backwards, controls the left rotary motion to the left and controls the right rotary motion to the right; the right pilot handle controls the bucket rod to swing outwards forwards, controls the bucket rod to retract backwards, controls the bucket to retract leftwards, and controls the bucket to swing outwards rightwards;

when the change-over switch is in an upper position, the first front roller of the left pilot handle forwards controls the left landing leg to descend, the first front roller of the left pilot handle backwards controls the left landing leg to ascend, the second front roller of the right pilot handle forwards controls the right left landing leg to descend, and the second front roller of the right pilot handle backwards controls the right landing leg to ascend;

11. The control method according to claim 10, characterized in that: further comprises:

when a first front button of the left pilot handle is pressed, the horn is controlled to work;

When the first back button of the left pilot handle is pressed, no output is executed;

when the second front button of the right pilot handle is pressed, no output is executed;

12. The control method according to claim 10, characterized in that: further comprises: other modes are activated except for the conditions of loading mode activation and mining mode activation;

when other modes are activated, the electromagnets YX1 and YX2 of the electromagnetic valve bank, the first two-bit flow power-on valve, the second two-bit six-way power-on valve and the electromagnetic coil YX5 of the electromagnetic valve pressure-reducing valve bank are not powered on;

when a first back button of the left pilot handle is pressed, a differential lock signal is output to the gearbox controller, the gearbox controller executes corresponding output, and when the first back button is loosened, the corresponding output is stopped;

13. The control method according to claim 12, characterized in that: further comprises: and acquiring a vehicle speed signal from the gearbox controller, and when the vehicle speed signal is detected to be larger than a threshold value V, setting the working mode into other modes no matter what states the selection switch, the first seat proximity switch and the second seat proximity switch are in, and having high priority.