CN110924459A - Method and device for adjusting posture of bucket of backhoe loader and backhoe loader - Google Patents
Method and device for adjusting posture of bucket of backhoe loader and backhoe loader Download PDFInfo
- Publication number
- CN110924459A CN110924459A CN201911324111.7A CN201911324111A CN110924459A CN 110924459 A CN110924459 A CN 110924459A CN 201911324111 A CN201911324111 A CN 201911324111A CN 110924459 A CN110924459 A CN 110924459A
- Authority
- CN
- China
- Prior art keywords
- bucket
- cylinder
- preset
- piston
- pilot valve
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 56
- 230000008569 process Effects 0.000 claims abstract description 21
- 230000009471 action Effects 0.000 claims description 5
- 238000007599 discharging Methods 0.000 claims 1
- 239000003921 oil Substances 0.000 description 23
- 238000006073 displacement reaction Methods 0.000 description 7
- 239000010720 hydraulic oil Substances 0.000 description 4
- 238000011179 visual inspection Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 238000004590 computer program Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000008602 contraction Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
- E02F3/437—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Paleontology (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The application provides a method and a device for adjusting the posture of a bucket of a backhoe loader and the backhoe loader, wherein the adjusting method comprises the following steps: acquiring a preset relative position between a piston and a cylinder body of a bucket oil cylinder when a bucket of the backhoe loader is in a preset posture; and in the bucket attitude adjusting process of the loader-digger, controlling the bucket oil cylinder to contract or extend until the actual relative position between the piston and the cylinder body of the bucket oil cylinder is consistent with the preset relative position. The adjusting method provided by the application can be used for accurately adjusting the posture of the bucket of the loader-digger, effectively reducing errors and improving the working efficiency.
Description
Technical Field
The application relates to the technical field of backhoe loaders, in particular to a method and a device for adjusting the posture of a bucket of a backhoe loader and the backhoe loader.
Background
After the bucket of the loader digger is unloaded, the bucket needs to be firstly collected and then the movable arm is lowered, and the bucket needs to be collected to a certain position, so that after the movable arm is lowered, the bucket and the working surface are in a specific position to prepare for the next bucket operation.
The existing posture adjustment step of the bucket is usually realized by depending on experience and visual inspection of an operator, so that the accuracy is poor, the randomness is high, and the bucket is difficult to be accurately adjusted to a preset position.
Disclosure of Invention
In view of the above, an object of the present application is to provide a method and a device for adjusting the posture of a bucket of a backhoe loader, and the backhoe loader, which can achieve accurate adjustment of the posture of the bucket of the backhoe loader.
In a first aspect, an embodiment of the present application provides a method for adjusting an attitude of a bucket of a backhoe loader, where the method includes:
acquiring a preset relative position between a piston and a cylinder body of a bucket oil cylinder when a bucket of the backhoe loader is in a preset posture;
and in the bucket attitude adjusting process of the loader-digger, controlling the bucket oil cylinder to contract or extend until the actual relative position between the piston and the cylinder body of the bucket oil cylinder is consistent with the preset relative position.
Preferably, the obtaining of the preset relative position between the piston and the cylinder body of the bucket cylinder when the bucket of the backhoe loader is in the preset posture comprises the following steps:
acquiring a preset length value of the bucket cylinder when the bucket of the backhoe loader is in a preset posture;
and when the bucket oil cylinder reaches a preset length value, determining a preset relative position between a piston and a cylinder body of the bucket oil cylinder.
Preferably, in the bucket attitude adjustment process of the backhoe loader, the bucket cylinder is controlled to contract or extend until the actual relative position between the piston and the cylinder of the bucket cylinder coincides with the preset relative position, and the method includes the following steps:
acquiring an actual length value of the bucket cylinder in real time in a bucket attitude adjusting process of the loader-digger;
and if the actual length value is greater than or less than the preset length value, controlling the bucket cylinder to contract or extend until the actual length value is equal to the preset length value.
Preferably, the bucket attitude adjusting process of the backhoe loader is a bucket retracting process after the backhoe loader completes the unloading action.
Preferably, the adjusting method further includes: after the bucket retracting process is completed, the boom of the backhoe loader is lowered.
In a second aspect, the present application further provides a first adjusting device based on the adjusting method, including: the device comprises a sensor, a trigger piece and a controller, wherein the sensor is connected with the controller;
one of the sensor and the trigger piece is arranged on a cylinder body of the bucket oil cylinder, and the other one of the sensor and the trigger piece is arranged on a piston of the bucket oil cylinder;
the controller is connected with a bucket pilot valve of the bucket oil cylinder and used for controlling the attraction or disconnection of an electromagnet of the bucket pilot valve.
Preferably, the adjusting device further comprises a sliding rod and a sliding rail which are mutually connected in a sliding manner; one end of the sliding rod is fixedly connected to the piston, and the other end of the sliding rod extends along the axial direction of the piston and is connected with the trigger piece;
the sliding rail is arranged on the cylinder body and extends along the axial direction of the cylinder body; the sensor is arranged at one end, far away from the piston, of the sliding rail.
Preferably, the number of the bucket pilot valves of the bucket cylinder is two, and the two bucket pilot valves are respectively a first bucket pilot valve and a second bucket pilot valve;
one of the first bucket pilot valve and the second bucket pilot valve is used for controlling the bucket cylinder to extend, and the other one of the first bucket pilot valve and the second bucket pilot valve is used for controlling the bucket cylinder to retract.
The application also provides a second adjusting device based on the adjusting method, which comprises the following steps: the distance measuring device is connected with the controller;
one of a signal sending end and a signal receiving end of the distance measuring device is arranged on a cylinder body of the bucket oil cylinder, and the other one of the signal sending end and the signal receiving end of the distance measuring device is arranged on a piston of the bucket oil cylinder;
the controller is connected with a bucket pilot valve of the bucket oil cylinder and used for controlling the attraction or disconnection of an electromagnet of the bucket pilot valve.
In a third aspect, the present application also provides a backhoe loader comprising the adjustment apparatus as described above.
According to the adjusting method and device for the posture of the bucket of the backhoe loader and the backhoe loader, the posture of the bucket of the backhoe loader can be accurately adjusted, errors are effectively reduced, and the operation efficiency is improved.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
FIG. 1 is a flow chart of a method for adjusting the attitude of a bucket of a backhoe loader according to an embodiment of the present disclosure;
FIG. 2 is a schematic view of an adjusting device for the attitude of a bucket of the backhoe loader according to an embodiment of the present disclosure;
FIG. 3 is a schematic view of a hydraulic circuit connection structure for a bucket and a boom of the loader-digger according to the embodiment of the present disclosure;
FIG. 4 is a schematic view of the hydraulic cylinder mounting the adjusting device for the bucket attitude of the backhoe loader according to the embodiment of the present disclosure.
Reference numbers in the figures:
1-a cylinder body; 2-a piston; 3-a slide bar; 4-a slide rail; 5-a sensor; 6-a first bucket pilot valve; 7-a second bucket pilot valve; 8-a first boom pilot valve; 9-a second boom pilot valve.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. Every other embodiment that can be obtained by a person skilled in the art without making creative efforts based on the embodiments of the present application falls within the protection scope of the present application.
After the bucket of the loader digger is unloaded, the bucket needs to be firstly collected and then the movable arm is lowered, and the bucket needs to be collected to a certain position, so that after the movable arm is lowered, the bucket and the working surface are in a specific position to prepare for the next bucket operation. The existing posture adjustment step of the bucket is usually realized by depending on experience and visual inspection of an operator, so that the accuracy is poor, the randomness is high, and the bucket is difficult to be accurately adjusted to a preset position. Based on the method, the device and the backhoe loader, the posture of the bucket of the backhoe loader can be adjusted accurately.
Referring to fig. 1, fig. 1 is a flowchart illustrating a method for adjusting a position of a bucket of a backhoe loader according to an embodiment of the present disclosure. As shown in fig. 1, an adjustment method provided in an embodiment of the present application includes:
s101, acquiring a preset relative position between a piston and a cylinder body of a bucket oil cylinder when a bucket of the loader-digger is in a preset posture;
in this step, it is necessary to first determine the positional relationship between the piston and the cylinder of the bucket cylinder when the backhoe loader bucket is in the preset attitude, for example, the total length of the bucket cylinder or the length of the portion of the piston extending out of the cylinder, that is, the bucket of the backhoe loader can be just in the preset attitude when the piston and the cylinder of the bucket cylinder reach the respective preset relative positions.
S102, in the bucket posture adjusting process of the loader-digger, controlling the bucket oil cylinder to contract or extend until the actual relative position between the piston and the cylinder body of the bucket oil cylinder is consistent with the preset relative position.
In this step, the bucket cylinder is controlled to contract or extend according to the result obtained in step S101, and when the actual relative position between the piston and the cylinder coincides with the preset relative position, the preset posture of the bucket is obtained.
The adjustment of the posture of the bucket is realized by detecting and controlling the preset relative position between the piston and the cylinder body of the hydraulic oil cylinder, the condition that an operator judges the posture of the bucket through experience and visual inspection is avoided, and the adjustment result is more accurate and efficient.
In a more preferred embodiment, step S101 further comprises:
a1011, acquiring a preset length value of the bucket cylinder when the bucket of the backhoe loader is in a preset posture;
a1012, determining a preset relative position between a piston and a cylinder body of the bucket cylinder when the bucket cylinder reaches a preset length value.
In this embodiment, the bucket may be adjusted to a preset posture, the length value of the bucket cylinder at this time is obtained by measurement, and the length value is taken as a preset length value, and the preset position between the piston and the cylinder body of the bucket cylinder at this time is a preset relative position. When in actual loading operation, the contraction or the extension of the bucket oil cylinder is controlled to enable the bucket oil cylinder to reach a preset length value, or the relative position between the piston and the cylinder body reaches a preset relative position, and at the moment, the bucket can be determined to reach a preset posture.
In order to more accurately adjust the posture of the bucket to the preset posture, in a more preferred embodiment, the step S102 further includes:
a1021, acquiring an actual length value of the bucket cylinder in real time in a bucket posture adjusting process of the loader-digger;
and A1022, if the actual length value is greater than or less than the preset length value, controlling the bucket cylinder to contract or extend until the actual length value is equal to the preset length value.
In the bucket posture adjusting process of the loader-digger, the actual length value of the bucket oil cylinder can be obtained in real time and is compared with the preset length value until the actual length value and the preset length value are equal, and at the moment, the bucket of the loader-digger can be determined to reach the preset posture.
Referring to fig. 2, fig. 2 is a schematic view illustrating an adjusting device for an attitude of a bucket of a backhoe loader according to an embodiment of the present disclosure. As shown in fig. 2, an adjusting apparatus 200 provided in the embodiment of the present application includes:
the acquiring module 201 is used for acquiring a preset relative position between a piston and a cylinder body of a bucket cylinder when the bucket of the loader-digger is in a preset posture;
and the control module 202 is used for controlling the bucket cylinder to contract or extend in the bucket posture adjusting process of the loader-digger until the actual relative position between the piston and the cylinder body of the bucket cylinder is consistent with the preset relative position.
Preferably, the obtaining module 201 includes:
the length value obtaining unit is used for obtaining a preset length value of the bucket cylinder when the bucket of the backhoe loader is in a preset posture;
and the position determining unit is used for determining the preset relative position between the piston and the cylinder body of the bucket oil cylinder when the bucket oil cylinder reaches the preset length value.
Preferably, the control module 202 includes:
the real-time acquisition unit is used for acquiring the actual length value of the bucket cylinder in real time in the bucket attitude adjustment process of the loader-digger;
and the control adjusting unit is used for controlling the bucket cylinder to contract or extend if the actual length value is greater than or less than the preset length value until the actual length value is equal to the preset length value.
The method and the device for adjusting the posture of the bucket of the backhoe loader provided by the embodiment of the application can realize accurate adjustment of the posture of the bucket of the backhoe loader, effectively reduce errors, improve the operation efficiency, and solve the problems that the posture adjustment of the existing bucket is realized by depending on experience and visual inspection of an operator, the accuracy is poor, the randomness is also high, and the bucket is difficult to accurately adjust to a preset position.
In order to more clearly explain the technical solution of the present application, a specific embodiment is described below.
The operation process of the loader-digger comprises the following steps: the bucket scoops the load from the work surface; lifting the bucket to a certain height by lifting the movable arm; turning over the bucket to drop the loaded article; the bucket is retracted to a preset posture; the boom is lowered to lower the bucket to the work surface. The loading operation process of the loader-digger can be completed by repeating the above actions.
In order for the bucket to scoop a load most quickly, it is necessary that the bucket, when lowered to the working surface, is flush with the working surface, i.e. the bucket is generally flat. Therefore, the bucket needs to be retracted to a preset position before the movable arm descends, so that the bucket can be naturally aligned with the working surface after the movable arm descends, and the next loading operation is facilitated.
Referring to fig. 3, fig. 3 is a schematic view of a hydraulic oil path connection structure of a bucket and a boom of an excavating and loading machine according to an embodiment of the present application.
Referring to the above working steps of the backhoe loader, the turning action of the backhoe loader bucket is controlled by the first bucket pilot valve 6 and the second bucket pilot valve 7, wherein the first bucket pilot valve 6 controls the bucket cylinder to extend, and the second bucket pilot valve 7 controls the bucket cylinder to retract; the lifting of the movable arm is controlled by a first movable arm pilot valve 8 and a second movable arm pilot valve 9, wherein the first movable arm pilot valve 8 controls the movable arm cylinder to ascend, the second movable arm pilot valve 9 controls the movable arm cylinder to descend, and the displacement sensing monitoring module detects the state of the bucket cylinder.
Before loading operation, the preset length value of a bucket cylinder when the bucket is in a flat position is determined. When the bucket is unloaded and needs to be adjusted to a preset posture, the displacement sensing monitoring module detects that the bucket oil cylinder does not reach a preset length value, the displacement sensing detection module outputs a signal, the second bucket pilot valve 7 suction electromagnet is electrified, and the handle suction of the second bucket pilot valve 7 is kept at the position. The bucket rotates along with the rotation of the bucket cylinder, the displacement sensing and monitoring module detects that the actual length value of the bucket cylinder reaches a preset length value, at the moment, the displacement sensing and detecting module stops outputting signals, the second bucket pilot valve 7 attracts the electromagnet to be powered off, the handle of the second bucket pilot valve 7 automatically returns to the middle position, the bucket stops rotating, and the bucket reaches a preset posture; and controlling the movable arm to descend to enable the bucket to be flush with the working surface, and then carrying out the next material shoveling action.
If the bucket cylinder needs to be extended, the displacement sensing detection module outputs a signal, the suction electromagnet of the first bucket pilot valve 6 is electrified, and the handle of the first bucket pilot valve 6 is sucked and kept at the position; the bucket rotates along with the extension of the bucket cylinder; other procedures are not described in detail.
The preset posture of the bucket can be flexibly adjusted according to different working conditions and is not limited to a flat position.
An embodiment of the present application further provides an adjusting apparatus based on the adjusting method, please refer to fig. 3 and fig. 4. The adjusting device comprises a sensor 5, a trigger (not shown in the figure) and a controller (not shown in the figure), wherein the sensor 5 is connected with the controller.
In order to facilitate the installation of the sensor 5 and the trigger, the adjusting device further comprises a sliding rod 3 and a sliding rail 4 which are slidably connected with each other. In this embodiment, one end of the sliding rod 3 is fixed to the outer end of the piston 2, the other end extends in the axial direction of the piston 2 towards the cylinder 1, and the other end of the sliding rod 3 is provided with a trigger.
The slide rail 4 is arranged on the cylinder body 1 and extends along the axial direction of the cylinder body 1; the slide bar 3 is movable along a slide rail 4. In the present embodiment, the slide rail 4 is of a tubular structure and can guide the slide rod 3. The sensor 5 is arranged at one end of the sliding rail 4 far away from the piston 2 and is fixed on the cylinder body 1 or the sliding rail 4.
Of course, in other possible embodiments of the present application, the positions of the sensor and the trigger may be interchanged, and the positions of the slide bar and the slide rail may also be interchanged, so that the function of displacement sensing detection may be implemented.
The controller is connected with a first bucket pilot valve 6 and a second bucket pilot valve 7 of the bucket cylinder and is used for controlling the electromagnets of the first bucket pilot valve 6 and the second bucket pilot valve 7 to be attracted or disconnected, namely controlling the hydraulic oil cylinder to contract or extend.
Based on the same technical concept, the embodiment of the application also provides another adjusting device for the posture of the bucket of the excavating loader, which comprises: the distance measuring device is connected with the controller;
one of a signal sending end and a signal receiving end of the distance measuring device is arranged on a cylinder body of the bucket oil cylinder, and the other one of the signal sending end and the signal receiving end is arranged on a piston of the bucket oil cylinder;
the controller is connected with the first bucket pilot valve and the second bucket pilot valve of the bucket oil cylinder and is used for controlling the electromagnets of the first bucket pilot valve and the second bucket pilot valve to attract or break, namely controlling the hydraulic oil cylinder to contract or extend.
Most of the structures provided in the embodiments of the present application are the same as those in the previous embodiment, and the description of the same structures is omitted here.
Finally, the embodiment of the application also provides the loader digger which comprises the adjusting device.
According to the scheme provided by the embodiment of the application, the bucket posture of the loader-digger can be accurately adjusted, the error is effectively reduced, and the operation efficiency is improved.
In addition, the scheme has simple design, is easy to realize and can effectively reduce the cost.
An embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a controller, the steps of the flowchart of the method for adjusting the posture of the bucket of the backhoe loader in the method embodiment shown in fig. 1 may be executed.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present application, and are used for illustrating the technical solutions of the present application, but not limiting the same, and the scope of the present application is not limited thereto, and although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope disclosed in the present application; such modifications, changes or substitutions do not depart from the spirit and scope of the exemplary embodiments of the present application, and are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A method of adjusting the attitude of a bucket of a backhoe loader, the method comprising:
acquiring a preset relative position between a piston and a cylinder body of a bucket oil cylinder when a bucket of the backhoe loader is in a preset posture;
and in the bucket attitude adjusting process of the loader-digger, controlling the bucket oil cylinder to contract or extend until the actual relative position between the piston and the cylinder body of the bucket oil cylinder is consistent with the preset relative position.
2. The adjustment method of claim 1, wherein the obtaining of the preset relative position between the piston and the cylinder of the bucket cylinder when the backhoe loader bucket is in the preset attitude comprises:
acquiring a preset length value of the bucket cylinder when the bucket of the backhoe loader is in a preset posture;
and when the bucket oil cylinder reaches a preset length value, determining a preset relative position between a piston and a cylinder body of the bucket oil cylinder.
3. The adjustment method according to claim 2, wherein controlling the bucket cylinder to contract or expand until an actual relative position between a piston and a cylinder of the bucket cylinder coincides with the preset relative position during bucket attitude adjustment of the backhoe loader comprises:
acquiring an actual length value of the bucket cylinder in real time in a bucket attitude adjusting process of the loader-digger;
and if the actual length value is greater than or less than the preset length value, controlling the bucket cylinder to contract or extend until the actual length value is equal to the preset length value.
4. The adjusting method according to claim 1, wherein the bucket attitude adjusting process of the backhoe loader is a bucket retracting process after the backhoe loader completes the discharging action.
5. The adjustment method according to claim 4, characterized in that the adjustment method further comprises: after the bucket retracting process is completed, the boom of the backhoe loader is lowered.
6. An adjusting apparatus based on the adjusting method of claim 1, comprising: the device comprises a sensor, a trigger piece and a controller, wherein the sensor is connected with the controller;
one of the sensor and the trigger piece is arranged on a cylinder body of the bucket oil cylinder, and the other one of the sensor and the trigger piece is arranged on a piston of the bucket oil cylinder;
the controller is connected with a bucket pilot valve of the bucket oil cylinder and used for controlling the attraction or disconnection of an electromagnet of the bucket pilot valve.
7. The adjustment device of claim 6, further comprising a slide bar and a slide rail slidably connected to each other; one end of the sliding rod is fixedly connected to the piston, and the other end of the sliding rod extends along the axial direction of the piston and is connected with the trigger piece;
the sliding rail is arranged on the cylinder body and extends along the axial direction of the cylinder body; the sensor is arranged at one end, far away from the piston, of the sliding rail.
8. The adjustment device of claim 6, wherein there are two bucket pilot valves of the bucket cylinder, a first bucket pilot valve and a second bucket pilot valve;
one of the first bucket pilot valve and the second bucket pilot valve is used for controlling the bucket cylinder to extend, and the other one of the first bucket pilot valve and the second bucket pilot valve is used for controlling the bucket cylinder to retract.
9. An adjusting apparatus based on the adjusting method of claim 3, comprising: the distance measuring device is connected with the controller;
one of a signal sending end and a signal receiving end of the distance measuring device is arranged on a cylinder body of the bucket oil cylinder, and the other one of the signal sending end and the signal receiving end of the distance measuring device is arranged on a piston of the bucket oil cylinder;
the controller is connected with a bucket pilot valve of the bucket oil cylinder and used for controlling the attraction or disconnection of an electromagnet of the bucket pilot valve.
10. A backhoe loader comprising the adjustment device of any of claims 6 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911324111.7A CN110924459A (en) | 2019-12-20 | 2019-12-20 | Method and device for adjusting posture of bucket of backhoe loader and backhoe loader |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911324111.7A CN110924459A (en) | 2019-12-20 | 2019-12-20 | Method and device for adjusting posture of bucket of backhoe loader and backhoe loader |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110924459A true CN110924459A (en) | 2020-03-27 |
Family
ID=69864557
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911324111.7A Pending CN110924459A (en) | 2019-12-20 | 2019-12-20 | Method and device for adjusting posture of bucket of backhoe loader and backhoe loader |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110924459A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5941921A (en) * | 1994-06-07 | 1999-08-24 | Noranda Inc. | Sensor feedback control for automated bucket loading |
| US20130046447A1 (en) * | 2009-12-18 | 2013-02-21 | Doosan Infracore Co., Ltd. | Position Control Apparatus and Method for Working Machine of Construction Machinery |
| CN105544632A (en) * | 2016-01-29 | 2016-05-04 | 徐工集团工程机械股份有限公司科技分公司 | System for controlling loader bucket to be automatically laid flat |
| CN108678049A (en) * | 2018-05-28 | 2018-10-19 | 柳州柳工挖掘机有限公司 | Excavator boom excavating resistance optimal control method and control system |
| CN110565711A (en) * | 2019-09-20 | 2019-12-13 | 太原科技大学 | Track control system and track planning method for backhoe hydraulic excavator |
-
2019
- 2019-12-20 CN CN201911324111.7A patent/CN110924459A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5941921A (en) * | 1994-06-07 | 1999-08-24 | Noranda Inc. | Sensor feedback control for automated bucket loading |
| US20130046447A1 (en) * | 2009-12-18 | 2013-02-21 | Doosan Infracore Co., Ltd. | Position Control Apparatus and Method for Working Machine of Construction Machinery |
| CN105544632A (en) * | 2016-01-29 | 2016-05-04 | 徐工集团工程机械股份有限公司科技分公司 | System for controlling loader bucket to be automatically laid flat |
| CN108678049A (en) * | 2018-05-28 | 2018-10-19 | 柳州柳工挖掘机有限公司 | Excavator boom excavating resistance optimal control method and control system |
| CN110565711A (en) * | 2019-09-20 | 2019-12-13 | 太原科技大学 | Track control system and track planning method for backhoe hydraulic excavator |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111094661B (en) | Working machine | |
| CN108474196B (en) | Payload monitoring system | |
| CN101960075B (en) | Adaptive payload monitoring system | |
| CN113474517B (en) | Working machine | |
| CN110392756A (en) | Work machine | |
| KR102410416B1 (en) | working machine | |
| CN108431336B (en) | System and method for determining an entity of material to be removed from a pile | |
| CN105804148A (en) | Control method for preventing tipping of excavator and excavator | |
| EP0462965A1 (en) | Dynamic payload monitor. | |
| WO2015166210A1 (en) | Payload weighing apparatus and method | |
| JP2017166232A (en) | Shovel | |
| CN109748201A (en) | Power tool leveling system | |
| CN109440855B (en) | Excavator working efficiency detection method and system | |
| CN107209044B (en) | System and method for calculating payload weight | |
| AU2015279986A1 (en) | Operator assist features for excavating machines based on perception system feedback | |
| CN110924459A (en) | Method and device for adjusting posture of bucket of backhoe loader and backhoe loader | |
| CN113566943B (en) | Material weighing method and device of excavator, excavator and readable storage medium | |
| CN211665820U (en) | Bucket attitude detection device and adjustment device for backhoe loader and backhoe loader | |
| JP6316664B2 (en) | Work machine | |
| CN216379737U (en) | Device for identifying work cycle and positive flow excavator | |
| JP6731365B2 (en) | Work machine operation support device | |
| KR20230158530A (en) | Stability monitoring capabilities for high-density material transfer systems | |
| CN115176057A (en) | Construction machine | |
| CN112567099A (en) | Scraper control device for construction machine | |
| CN114555890B (en) | Engineering machinery |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200327 |