A method and device for adjusting the center of gravity of a wheel loader, and a wheel loader

Abstract

The present invention discloses a method, device and excavator-loader for adjusting the center of gravity of an excavator-loader. The method for adjusting the center of gravity includes: collecting the state parameters of the excavator-loader, and judging the current working mode of the excavator-loader according to the state parameters of the excavator-loader; calculating the center of gravity position of the excavator-loader according to the stress information of the front axle and the rear axle of the excavator-loader collected by the stress collection unit, and comparing it with the recommended center of gravity position corresponding to the current working mode of the excavator-loader obtained from the data table of recommended center of gravity positions for each working condition to obtain a comparison result; and adjusting the position of the counterweight according to the comparison result to realize the adjustment of the center of gravity of the excavator-loader. The present invention can, according to the currently configured attachments and working conditions, adjust the center of gravity position of the whole machine in real time without stopping the machine, avoiding large changes in the center of gravity position of the whole machine.

Description

Technical Field

[0001] The present invention belongs to the technical field of backhoe loaders, and in particular relates to a method and device for adjusting the center of gravity of a backhoe loader, and the backhoe loader. Background Art

[0002] Backhoe loader is a multifunctional small-sized construction machinery, which combines the functional characteristics of loader and excavator, and can be equipped with a variety of operating tools to achieve multi-purpose and multi-functionality of one machine, and is widely used in agriculture, forestry, municipal administration, water conservancy and other fields. Because the backhoe loader has the operating characteristics of loader and excavator, the operating conditions of the backhoe loader are complex and changeable, the center of gravity position of the whole machine changes greatly, and the load of the front and rear axles changes frequently, which affects the service life of the drive axle; on the other hand, for the driving conditions, the front axle load increases by about 80% when the whole machine is running empty compared with running fully loaded, resulting in a large difference in the rolling radius of the front and rear tires. During the driving process of the whole machine, one side of the tires will slide, which accelerates tire wear and causes increased fuel consumption. Summary of the invention

[0003] In order to solve the deficiencies in the prior art, the present invention provides a method and device for adjusting the center of gravity of an excavator loader and an excavator loader, which can adjust the center of gravity position of the whole machine in real time according to the currently configured accessories and working conditions without stopping the machine, thereby avoiding a large change in the center of gravity position of the whole machine.

[0004] In order to achieve the above object, the technical solution adopted by the present invention is:

[0005] In a first aspect, a method for adjusting the center of gravity of an excavator loader is provided, comprising: collecting state parameters of the excavator loader, and determining a current working mode of the excavator loader according to the state parameters of the excavator loader; calculating the center of gravity position of the excavator loader according to stress information of a front axle and a rear axle of the excavator loader collected by a stress collection unit, and comparing the center of gravity position with a recommended center of gravity position corresponding to the current working mode of the excavator loader obtained from a data table of recommended center of gravity positions for each working condition to obtain a comparison result; and adjusting the position of a counterweight according to the comparison result to achieve center of gravity adjustment of the excavator loader.

[0006] Furthermore, the stress collection unit includes a front axle stress collector installed on the front axle of the backhoe loader and a rear axle stress collector installed on the rear axle of the backhoe loader.

[0007] Further, the current working mode of the wheel loader is determined according to the status parameters of the wheel loader, including: if the seat forward position switch is closed, the whole machine is in the loading end mode. When the whole machine is in the loading end mode, according to the information collected by the loading boom cylinder pressure sensor, the loading tipping cylinder pressure sensor, the front axle stress collector, and the rear axle stress collector, it is determined whether the whole machine is in the driving condition or the loading operation condition; if the seat backward position switch is closed, the whole machine is in the digging end working mode.

[0008] Further, according to the comparison result, the position of the counterweight is adjusted to realize the center of gravity adjustment of the wheel loader. Specifically: the counterweight includes a left adjusting counterweight, a right adjusting counterweight, a rear adjusting counterweight, and a front adjusting counterweight; the left adjusting counterweight moving device, the right adjusting counterweight moving device, the rear adjusting counterweight moving device, and the front adjusting counterweight moving device respectively drive the left adjusting counterweight, the right adjusting counterweight, the rear adjusting counterweight, and the front adjusting counterweight to move towards the center of gravity optimization direction indicated by the comparison result at a set step length. After moving one step length, the center of gravity position of the wheel loader is recalculated according to the stress information of the front axle and the rear axle of the wheel loader collected by the stress acquisition unit, and compared with the center of gravity recommended position corresponding to the current working mode of the wheel loader obtained from the center of gravity recommended position data table for each working condition, to obtain the latest comparison result. According to the latest comparison result, the position of the counterweight is adjusted until the calculated center of gravity position of the wheel loader matches the center of gravity recommended position corresponding to the current working mode of the wheel loader obtained from the center of gravity recommended position data table for each working condition, so as to realize the center of gravity adjustment of the wheel loader.

[0009] In a second aspect, a center of gravity adjustment device for a wheel loader is provided, including: a working mode analysis module, configured to collect the status parameters of the wheel loader and determine the current working mode of the wheel loader according to the status parameters of the wheel loader; a center of gravity position analysis module, configured to calculate the center of gravity position of the wheel loader according to the stress information of the front axle and the rear axle of the wheel loader collected by the stress acquisition unit, and compare it with the center of gravity recommended position corresponding to the current working mode of the wheel loader obtained from the center of gravity recommended position data table for each working condition, to obtain a comparison result; a center of gravity position adjustment module, configured to adjust the position of the counterweight according to the comparison result to realize the center of gravity adjustment of the wheel loader.

[0010] Further, the left adjusting counterweight moving device, the right adjusting counterweight moving device, the rear adjusting counterweight moving device, and the front adjusting counterweight moving device adopt one or more driving methods of pneumatic driving, hydraulic driving, or screw mechanism driving to drive each adjusting counterweight to move relative to the vehicle frame.

[0011] In a third aspect, a wheel loader is provided, characterized in that the wheel loader is configured with the center of gravity adjustment device for a wheel loader described in the second aspect.

[0012] Compared with the prior art, the beneficial effects achieved by the present invention are as follows:

[0013] (1) By collecting the state parameters of the backhoe loader, the present invention determines the current working mode of the backhoe loader according to the state parameters; calculates the center of gravity position of the backhoe loader based on the stress information of the front axle and the rear axle of the backhoe loader collected by the stress collection unit, and compares it with the recommended center of gravity position corresponding to the current working mode of the backhoe loader obtained from the data table of recommended center of gravity positions for each working condition, to obtain a comparison result; adjusts the position of the counterweight according to the comparison result to achieve the adjustment of the center of gravity of the backhoe loader; can, according to the currently configured attachments and working conditions, without stopping the machine, adjust the center of gravity position of the whole machine in real time, avoiding large changes in the center of gravity position of the whole machine;

[0014] (2) The present invention avoids frequent changes in the loads of the front and rear axles and improves the service life of the drive axle;

[0015] (3) For the loading end working conditions, the present invention can greatly improve the difference in the compression amounts of the front and rear tires, thereby reducing tire wear and fuel consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a schematic control flow diagram of a method for adjusting the center of gravity of a backhoe loader provided by an embodiment of the present invention;

[0017] Figure 2 is a schematic structural diagram of a working mode analysis module in an embodiment of the present invention;

[0018] Figure 3 is a schematic structural diagram of a center of gravity position analysis module in an embodiment of the present invention;

[0019] Figure 4 is a schematic structural diagram of a center of gravity position adjustment module in an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0020] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention and should not be used to limit the protection scope of the present invention.

[0021] Embodiment 1:

[0022] As Figures 1 to 4As shown in the figure, a method for adjusting the center of gravity of an excavating loader includes: collecting the state parameters of the excavating loader, and judging the current working mode of the excavating loader according to the state parameters of the excavating loader; calculating the center of gravity position of the excavating loader according to the stress information of the front axle and the rear axle of the excavating loader collected by the stress collection unit, and comparing it with the recommended center of gravity position corresponding to the current working mode of the excavating loader obtained from the data table of recommended center of gravity positions for each working condition, so as to obtain a comparison result; adjusting the position of the counterweight according to the comparison result to realize the adjustment of the center of gravity of the excavating loader.

[0023] The purpose of this embodiment is to provide a method for adjusting the center of gravity of an excavating loader to solve the problem of insufficient ability of the existing excavating loader to adaptively adjust the center of gravity under multiple working conditions and multiple attachments. The method can adjust the center of gravity position of the whole machine in real time without stopping the machine according to the currently configured attachments and working conditions, avoiding large changes in the center of gravity position of the whole machine.

[0024] Working mode analysis module: When the key switch is turned on and the user completes the preparation before operation, the center of gravity control ECU obtains data such as the current position switch, pressure sensor, displacement sensor, etc., and autonomously analyzes what working mode the whole machine is in. As Figure 2 shown in the figure, in this embodiment, the working mode analysis module includes: a center of gravity control ECU 3-1, a seat forward position switch 3-2, a seat backward position switch 3-3, a loading boom cylinder pressure sensor 3-4, a loading tipping cylinder pressure sensor 3-5, a front axle stress collector 3-6, and a rear axle stress collector 3-7. After the whole machine is started, the operator completes the preparation work for operation. The center of gravity control ECU 3-1 reads the information sent by the seat forward position switch 3-2 and the seat forward position switch 3-3 to judge whether the whole machine is in the loading end mode or the excavating end mode. If the seat forward position switch 3-2 is closed, the whole machine is in the loading end mode. Further, by comprehensively analyzing the information sent by the loading boom cylinder pressure sensor 3-4, the loading tipping cylinder pressure sensor 3-5, the front axle stress collector 3-6, and the rear axle stress collector 3-7, it can be judged whether the whole machine is in the driving working condition or the loading operation working condition. If the seat backward position switch 3-3 is closed, the whole machine is in the excavating end working mode.

[0025] Center of gravity position analysis module: It includes stress collection units arranged separately on the left and right sides of the front and rear axles. The center of gravity control ECU automatically calculates the current center of gravity position of the whole machine, compares it with the data table of recommended center of gravity positions for each working condition, and feeds back the comparison result to the center of gravity control ECU. As Figure 3As shown in the figure, in this embodiment, the center-of-gravity position analysis module includes: a center-of-gravity control ECU 3-1, a front axle stress collector 3-6, a rear axle stress collector 3-7, and a recommended center-of-gravity position data table 4-1 for each working condition. The center-of-gravity control ECU 3-1 reads the data information of the front axle stress collector 3-6 and the rear axle stress collector 3-7, calculates the center-of-gravity position of the whole machine, compares it with the center-of-gravity position in the recommended center-of-gravity position data table 4-1 according to the analysis result of the working mode analysis module, and outputs the difference in the center-of-gravity position to guide the movement of the center-of-gravity position adjustment module.

[0026] Center-of-gravity position adjustment module: According to the instruction sent by the center-of-gravity control ECU, it moves the position of the counterweight in real time and feeds back information to the center-of-gravity position analysis module. As Figure 4 shown in the figure, in this embodiment, the center-of-gravity position adjustment module includes: a center-of-gravity control ECU 3-1, a left adjustment counterweight moving device 5-1, a left adjustment counterweight 5-2, a right adjustment counterweight moving device 5-3, a right adjustment counterweight 5-4, a rear adjustment counterweight moving device 5-5, a rear adjustment counterweight 5-6, a front adjustment counterweight moving device 5-7, and a front adjustment counterweight 5-8. According to the analysis result of the center-of-gravity position analysis module and the data of the center-of-gravity position analysis module, the center-of-gravity control ECU 3-1 independently controls the left adjustment counterweight moving device 5-1, the right adjustment counterweight moving device 5-3, the rear adjustment counterweight moving device 5-5, and the front adjustment counterweight moving device 5-7 respectively, so that the left adjustment counterweight 5-2, the right adjustment counterweight 5-4, the rear adjustment counterweight 5-6, and the front adjustment counterweight 5-8 move in the direction of center-of-gravity optimization at a fixed step length. Every time a step length is moved, the center-of-gravity position analysis module will recalculate the center-of-gravity position of the whole machine, transfer the calculation result to the center-of-gravity control ECU 3-1 and compare it with the recommended center-of-gravity position data table 4-1, and control each adjustment counterweight with the comparison result to form a cycle until the center-of-gravity position of the whole machine conforms to the recommended center-of-gravity position data table 4-1.

[0027] The left adjustment counterweight 5-2, the right adjustment counterweight 5-4, the rear adjustment counterweight 5-6, and the front adjustment counterweight 5-8 can be counterweights with a fixed weight, or a combination of a fixed-weight counterweight and several modular adjustment counterweights. Which method is specifically selected depends on the specific vehicle condition to select a suitable counterweight. In this embodiment, the left adjustment counterweight moving device 5-1, the right adjustment counterweight moving device 5-3, the rear adjustment counterweight moving device 5-5, and the front adjustment counterweight moving device 5-7 can adopt one or more driving methods such as pneumatic drive, hydraulic drive, or screw mechanism drive to drive each adjustment counterweight to move relative to the vehicle frame respectively. It is also possible to adopt a single adjustment counterweight to make a spiral movement along the vehicle frame, which can also achieve the purpose of adjusting the center of gravity.

[0028] Embodiment 2:

[0029] Based on the method for adjusting the center of gravity of an excavating loader described in Embodiment 1, this embodiment provides a device for adjusting the center of gravity of an excavating loader, including:

[0030] A working mode analysis module, configured to collect the state parameters of the excavating loader and determine the current working mode of the excavating loader according to the state parameters of the excavating loader;

[0031] A center of gravity position analysis module, configured to calculate the center of gravity position of the excavating loader according to the stress information of the front axle and the rear axle of the excavating loader collected by the stress acquisition unit, and compare it with the recommended center of gravity position corresponding to the current working mode of the excavating loader obtained from the data table of recommended center of gravity positions for each working condition, so as to obtain a comparison result;

[0032] A center of gravity position adjustment module, configured to adjust the position of the counterweight according to the comparison result to achieve the adjustment of the center of gravity of the excavating loader.

[0033] Embodiment 3:

[0034] Based on the method for adjusting the center of gravity of an excavating loader described in Embodiment 1 and the device for adjusting the center of gravity of an excavating loader described in Embodiment 2, this embodiment provides an excavating loader, and the excavating loader is configured with the device for adjusting the center of gravity of an excavating loader described in Embodiment 2.

[0035] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the technical principle of the present invention, several improvements and deformations can still be made, and these improvements and deformations should also be regarded as the protection scope of the present invention.

Claims

1. A method for adjusting the center of gravity of an excavator-loader, characterized in that, it includes: Collect the state parameters of the excavator-loader, and judge the current working mode of the excavator-loader according to the state parameters of the excavator-loader; Calculate the center of gravity position of the excavator-loader according to the stress information of the front axle and the rear axle of the excavator-loader collected by the stress collection unit, and compare it with the recommended center of gravity position corresponding to the current working mode of the excavator-loader obtained from the data table of recommended center of gravity positions for each working condition, and obtain a comparison result; According to the comparison result, adjust the position of the counterweight to realize the adjustment of the center of gravity of the excavator-loader.

2. The method for adjusting the center of gravity of an excavator-loader according to claim 1, characterized in that, the stress collection unit includes a front axle stress collector installed on the front axle of the excavator-loader and a rear axle stress collector installed on the rear axle of the excavator-loader.

3. The method for adjusting the center of gravity of an excavator-loader according to claim 2, characterized in that, Judging the current working mode of the excavator-loader according to the state parameters of the excavator-loader includes: If the forward seat position switch is closed, the whole machine is in the loading end mode. When the whole machine is in the loading end mode, judge whether the whole machine is in the driving working condition or the loading operation working condition according to the information collected by the loading boom cylinder pressure sensor, the loading tipping cylinder pressure sensor, the front axle stress collector and the rear axle stress collector; If the rear seat position switch is closed, the whole machine is in the excavation end working mode.

4. The method for adjusting the center of gravity of an excavator-loader according to claim 2, characterized in that, According to the comparison result, adjust the position of the counterweight to realize the adjustment of the center of gravity of the excavator-loader. Specifically: the counterweight includes a left adjustment counterweight, a right adjustment counterweight, a rear adjustment counterweight and a front adjustment counterweight; the left adjustment counterweight moving device, the right adjustment counterweight moving device, the rear adjustment counterweight moving device and the front adjustment counterweight moving device respectively drive the left adjustment counterweight, the right adjustment counterweight, the rear adjustment counterweight and the front adjustment counterweight to move in the center of gravity optimization direction indicated by the comparison result at a set step length. Every time it moves one step length, recalculate the center of gravity position of the excavator-loader according to the stress information of the front axle and the rear axle of the excavator-loader collected by the stress collection unit, and compare it with the recommended center of gravity position corresponding to the current working mode of the excavator-loader obtained from the data table of recommended center of gravity positions for each working condition, and obtain the latest comparison result. According to the latest comparison result, adjust the position of the counterweight until the calculated center of gravity position of the excavator-loader matches the recommended center of gravity position corresponding to the current working mode of the excavator-loader obtained from the data table of recommended center of gravity positions for each working condition, so as to realize the adjustment of the center of gravity of the excavator-loader.

5. A device for adjusting the center of gravity of an excavator-loader, characterized in that, it includes: A working mode analysis module, which is used to collect the state parameters of the excavator-loader and judge the current working mode of the excavator-loader according to the state parameters of the excavator-loader; The center-of-gravity position analysis module is used to calculate the center-of-gravity position of the wheel loader according to the stress information of the front axle and rear axle of the wheel loader collected by the stress acquisition unit, and compare it with the recommended center-of-gravity position corresponding to the current working mode of the wheel loader obtained from the recommended center-of-gravity position data table for each working condition, so as to obtain a comparison result; The center-of-gravity position adjustment module is used to adjust the position of the counterweight according to the comparison result to realize the center-of-gravity adjustment of the wheel loader.

6. The center-of-gravity adjustment device for a wheel loader according to claim 5, characterized in that the stress acquisition unit includes a front-axle stress collector installed on the front axle of the wheel loader and a rear-axle stress collector installed on the rear axle of the wheel loader.

7. The center-of-gravity adjustment device for a wheel loader according to claim 6, characterized in that judging the current working mode of the wheel loader according to the state parameters of the wheel loader, including: if the seat forward position switch is closed, the whole machine is in the loading end mode. When the whole machine is in the loading end mode, judge whether the whole machine is in the driving working condition or the loading operation working condition according to the information collected by the loading boom cylinder pressure sensor, the loading tipping cylinder pressure sensor, the front-axle stress collector and the rear-axle stress collector; if the seat backward position switch is closed, the whole machine is in the excavation end working mode.

8. The center-of-gravity adjustment device for a wheel loader according to claim 6, characterized in that adjusting the position of the counterweight according to the comparison result to realize the center-of-gravity adjustment of the wheel loader, specifically: the counterweight includes a left adjustment counterweight, a right adjustment counterweight, a rear adjustment counterweight and a front adjustment counterweight; the left adjustment counterweight moving device, the right adjustment counterweight moving device, the rear adjustment counterweight moving device and the front adjustment counterweight moving device respectively drive the left adjustment counterweight, the right adjustment counterweight, the rear adjustment counterweight and the front adjustment counterweight to move towards the center-of-gravity optimization direction indicated by the comparison result at a set step length. Every time it moves one step length, recalculate the center-of-gravity position of the wheel loader according to the stress information of the front axle and rear axle of the wheel loader collected by the stress acquisition unit, and compare it with the recommended center-of-gravity position corresponding to the current working mode of the wheel loader obtained from the recommended center-of-gravity position data table for each working condition to obtain the latest comparison result. Adjust the position of the counterweight according to the latest comparison result until the calculated center-of-gravity position of the wheel loader matches the recommended center-of-gravity position corresponding to the current working mode of the wheel loader obtained from the recommended center-of-gravity position data table for each working condition, so as to realize the center-of-gravity adjustment of the wheel loader.

9. The center-of-gravity adjustment device for a wheel loader according to claim 8, characterized in that the left adjustment counterweight moving device, the right adjustment counterweight moving device, the rear adjustment counterweight moving device and the front adjustment counterweight moving device adopt one or more driving modes of pneumatic driving, hydraulic driving or screw mechanism driving to drive each adjustment counterweight to move relative to the vehicle frame.

10. A wheel loader, characterized in that the wheel loader is configured with the center-of-gravity adjustment device for a wheel loader according to any one of claims 5 to 9.

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