Automatic material shoveling control method of loading machine

Abstract

The invention discloses an automatic material shoveling control method for a loader, which comprises the following steps that a controller controls a walking system and a hydraulic system to alternately perform periodic bucket retracting action and walking action, and when an engine performs any one action, all available power is output, and power is not output to the other action, so that all available power is output; and the controller can evaluate whether the alternate action is continued or not according to the current bucket retracting pressure value and the previous bucket retracting pressure gradient, or the bucket retracting action is continued until bucket retracting is completed. In the instant shoveling process of the whole machine, automatic control can be achieved, the maximum shoveling power requirement is kept, meanwhile, efficient shoveling operation can be conducted by predicting the change of digging force, the problems that too much shoveled materials exist, a hydraulic system cannot retract the bucket, and rear wheels of the whole machine leave the ground are effectively solved, and meanwhile the problems that the bucket shovels too little materials and is not full of shoveled materials, and the working efficiency is high can be solved. And the problem of low efficiency caused by secondary material shoveling is solved, and the working efficiency of automatic material shoveling of the loader is greatly improved.

Description

technical field [0001] The invention relates to a loader automatic shoveling control method, which belongs to the technical field of engineering machinery. Background technique [0002] In the prior art, when the driver drives the whole machine for shoveling, he cannot sense whether the breakout force meets the requirements in advance according to the depth of the bucket inserted into the material pile, that is, if the shovel is too deep, although the operating handle reaches a larger Angle, the tipping bucket cylinder may not move, may not be able to retract the bucket, and cannot dig up, that is, the pressure of the hydraulic system reaches the maximum value and overflow occurs, and at the same time, the phenomenon that the rear wheels are off the ground and cannot be retracted. At this time, the loader needs to first Carry out proper reverse driving to reduce part of the load, and then carry out digging operation. Those skilled in the art know that this operation will aff...

AI Technical Summary

Problems solved by technology

[0002] In the prior art, when the driver drives the whole machine for shovel loading, he cannot sense in advance whether the breakout force meets the requirements according to the depth of the bucket inserted into the pile, that is, If the shovel is too deep, although the operating handle is at a relatively large angle, the dump cylinder may not move, and the bucket may not be able to be retracted or digged. That is, the pressure of the hydraulic system reaches the maximum value and overflow occurs, and at the same time, the rear wheel The phenomenon that the bucket cannot be retracted from the ground. At this time, the loader needs to perform proper reverse driving to reduce part of the load, and then perform the digging operation. Those skilled in the art know that this operation will affect the shovel loading efficiency; if the bucket enters the material If the pile is too shallow and the bucket is retracted too early, the shoveled materials may be too little and the shovel is not full, or the shovel full rate is too small, which will cause the loader to perform secondary shovel loading, which also affects the comprehensive operating efficiency of the loader.

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