Loader attachment translation and lifting control method and loader

Abstract

The present invention relates to a loader. To solve the problem that the attachment cannot automatically maintain translation when the boom of the existing loader is lifted or lowered, a method for controlling the translation and lifting of the loader attachment and a loader are provided. The steps of the control method are as follows: Determine the corresponding relationship between the rotation angle of the boom and the rotation angle of the rocker arm during the translation and lifting of the attachment according to the rocker arm angle and the boom angle before the attachment is translated and lifted; Detect the rocker arm angle and the boom angle in real time, calculate the current rotation angle of the boom, and determine the target rotation angle of the rocker arm according to the current rotation angle of the boom and the corresponding relationship between the rotation angles; The controller controls the main valve of the bucket linkage to make the rotation angle of the rocker arm approach the target rotation angle of the rocker arm. In the present invention, the target rotation angle of the rocker arm is calculated before the translation and lifting action, and the rotation angle of the rocker arm is directly controlled during the boom lifting process, avoiding the real-time calculation of the target angle of the rocker arm during the movement of the boom. The implementation is simple and convenient, which is beneficial to improving the program operation efficiency and ensuring the control effect.

Description

Technical Field

[0001] The present invention relates to a loader, and more specifically, to a control method for the translational lifting of a loader attachment and a loader. Background Art

[0002] A loader is a common construction machinery, which realizes material shoveling or other operations by installing a bucket or other attachments at the front end of the boom.

[0003] When the loader operates under certain working conditions, the attachment needs to remain translational during the lifting and lowering of the boom, that is, as the boom rises and falls, the angle of the attachment relative to the ground remains unchanged. However, due to the structural characteristics of the working device of the loader, when only the boom is lifted and lowered without performing the bucket rotation operation, the attitude of the attachment relative to the ground will inevitably change, and it cannot meet the property that the attachment remains translational as the boom rises and falls. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a control method for the translational lifting of a loader attachment and a loader to solve the problem that the attachment cannot automatically remain translational when the boom of the existing loader rises and falls, so as to realize that the attachment automatically remains translational when the boom rises and falls.

[0005] The technical solution for the present invention to achieve its purpose is as follows: A control method for the translational lifting of a loader attachment is provided. The loader includes:

[0006] A boom combined main valve and a bucket combined main valve for controlling the boom cylinder and the bucket cylinder;

[0007] A controller connected to the bucket combined main valve and the boom combined main valve and used to control their commutation;

[0008] A rocker arm angular displacement sensor, connected to the controller, for detecting the rocker arm angle between the rocker arm and the boom;

[0009] A boom angular displacement sensor, connected to the controller, for detecting the boom angle between the boom and the front frame;

[0010] A control handle connected to the controller for performing bucket rotation and boom lifting and lowering operations;

[0011] It is characterized in that the method steps are as follows:

[0012] S1: Determine the corresponding relationship between the rotation angle of the boom and the rotation angle of the rocker arm during the translational lifting of the attachment according to the rocker arm angle and the boom angle before the translational lifting of the attachment;

[0013] S2: Detect the rocker arm angle and the boom angle in real time, calculate the current rotation angle of the boom, and determine the target rotation angle of the rocker arm according to the current rotation angle of the boom and the corresponding relationship between the rotation angles;

[0014] S3: The controller controls the bucket linkage main valve to make the swing arm rotation angle approach or equal the target rotation angle of the swing arm.

[0015] In the above loader attachment translation and lifting control method, the steps further include equally dividing the angular range of the angle between the bucket and the ground when the boom is in the reference position into several intervals, calculating and determining the corresponding relationship between the rotation angles of the boom and the swing arm with the reference position as the lifting starting point during the translation and lifting process of the attachment when the angle between the bucket and the ground is the boundary angle of each interval, and storing it in the controller; in step S2, after determining the target rotation angle of the swing arm, the currently determined target rotation angle of the swing arm is verified according to the stored corresponding relationship of the rotation angles with the reference position as the lifting starting point in the controller.

[0016] In the above loader attachment translation and lifting control method, in step S3, an upper deviation and a lower deviation of the target rotation angle of the swing arm are set, and the controller controls the bucket linkage main valve to make the swing arm rotation angle within the range of the upper deviation and the lower deviation of the target rotation angle of the swing arm.

[0017] In the above loader attachment translation and lifting control method, in step S3, when the boom rotation angle increases and the boom angle is less than the turning point angle, or when the boom rotation angle decreases and the boom angle is greater than the turning point angle, if the swing arm rotation angle is less than the target rotation angle of the swing arm and the difference between them increases, the controller reduces the bucket lowering current on the basis of the original bucket lowering current until the swing arm rotation angle is greater than the target rotation angle of the swing arm and then maintains the current bucket lowering current; if the swing arm rotation angle is greater than the upper deviation of the target rotation angle of the swing arm, the controller increases the bucket lowering current on the basis of the original bucket lowering current until the swing arm rotation angle is less than the upper deviation of the target rotation angle of the swing arm and then maintains the current bucket lowering current. Further, during the process of reducing the bucket lowering current, if the bucket lowering current ≤ i1, the controller controls the bucket lowering current to be the magnitude of i1, where i1 is the current value just sufficient to make the bucket linkage main valve start to lower the bucket.

[0018] In the above loader attachment translation and lifting control method, in step S3, when the boom rotation angle increases and the boom angle is greater than the turning point angle, or when the boom rotation angle decreases and the boom angle is less than the turning point angle, if the swing arm rotation angle is less than the target rotation angle of the swing arm and the difference between them increases, the controller increases the bucket retracting current on the basis of the original bucket retracting current until the swing arm rotation angle is greater than the target rotation angle of the swing arm and then maintains the current bucket retracting current; if the swing arm rotation angle is greater than the upper deviation of the target rotation angle of the swing arm, the controller reduces the bucket retracting current on the basis of the original bucket retracting current until the swing arm rotation angle is less than the upper deviation of the target rotation angle of the swing arm and then maintains the current bucket retracting current. Further, during the process of reducing the bucket retracting current, if the bucket retracting current ≤ i2, the controller controls the bucket retracting current to be the magnitude of i2, where i2 is the current value just sufficient to make the bucket linkage main valve start to retract the bucket.

[0019] In the above-mentioned loader attachment translation and lifting control method, in step S3, when the control handle outputs a signal for closing or opening the bucket, the controller controls the main swing valve according to the output closing bucket current or opening bucket current corresponding to the closing or opening bucket operation signal.

[0020] The technical solution adopted by the present invention to achieve its purpose is as follows: A loader is provided, characterized in that a controller for controlling the commutation of the main swing valve and the main boom valve includes a memory and a processor coupled to the memory, and the processor is configured to execute the aforementioned loader attachment translation and lifting control method based on instructions stored in the memory.

[0021] In the above-mentioned loader, a translation enable button connected to the controller is further included, and the translation enable button is used to execute the instructions stored in the memory by the processor.

[0022] Compared with the prior art, the present invention solves the problem of calculating the target rotation angle of the rocker arm corresponding to different boom heights before the translation and lifting action, directly controlling the rotation angle of the rocker arm during the boom lifting process, achieving the purpose of the loader attachment translation and lifting, and avoiding the real-time calculation of the target angle of the rocker arm during the movement of the boom. The implementation is simple and convenient, which is beneficial to improving the program operation efficiency and ensuring the control effect. Description of the Drawings

[0023] Figure 1 It is a schematic diagram of the loader bucket in a state of being laid flat on the ground.

[0024] Figure 2 It is a schematic diagram of the loader boom in the lifting extreme position.

[0025] Figure 3 It is a schematic diagram of the boom at a certain position height.

[0026] Figure 4 It is a schematic diagram of the relationship between the bucket angle and the rocker arm angle.

[0027] Figure 5 Schematic diagram of the current output of the bucket solenoid valve group during the boom lifting process.

[0028] Figure 6 Schematic diagram of the current output of the bucket solenoid valve group during the boom lowering process.

[0029] Figure 7 It is a block diagram of the bucket translation and lifting control system.

[0030] Names and serial numbers of components in the figure:

[0031] Front frame 1, boom 2, bucket cylinder 3, bucket 4, rocker arm 5, bucket linkage 6, controller 7, operation handle 8, rocker arm angular displacement sensor 9, boom angular displacement sensor 10, translation enable button 11, main valve for bucket linkage 12, main valve for boom linkage 13. Detailed implementation

[0032] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts fall within the protection scope of the present invention.

[0033] As Figure 7 shown, the loader in this embodiment includes a controller 7, an angular displacement sensor, a control handle 8, a main valve for bucket linkage 12, a main valve for boom linkage 13, and an enable button 11.

[0034] As Figure 1 shown, the working device of the loader includes a boom 2 whose rear end A point is connected to the front frame 1, and a boom cylinder connected between the boom and the front frame; a rocker arm 5 is rotatably installed at point B on the cross beam of the boom, the upper end of the rocker arm 5 is connected to the front end of the bucket cylinder 3, and the rear end of the bucket cylinder 3 is connected to the front frame; the lower end E point of the rocker arm 5 is connected to the rear end of the bucket linkage 6, the front end C point of the bucket linkage 6 is connected to the bucket 4, and the front end D point of the boom 2 is connected to the bucket 4. In this embodiment, the attachment is a bucket. In specific implementation, the attachment can also be other devices, such as a forklift fork, a clamping fork, etc.

[0035] The angular displacement sensor includes a rocker arm angular displacement sensor 9 and a boom angular displacement sensor 10, both of which are connected to the controller 7. The rocker arm angular displacement sensor 9 is installed at the connection between the rocker arm and the boom, and is used to detect the angle of the rocker arm relative to the boom. The boom angular displacement sensor 10 is installed at the connection between the boom 2 and the front frame 1, and is used to detect the angle change of the boom relative to the front frame.

[0036] As Figure 7 shown, the control handle 8, the main valve for bucket linkage 12, and the main valve for boom linkage 13 are all connected to the controller. The controller 7 outputs a current to control the main valve for boom linkage 13 according to the boom operation signal output by the control handle 8, and drives the boom cylinder to raise and lower the boom; the controller 7 outputs a current to control the main valve for bucket linkage 12 according to the bucket operation signal output by the control handle, and drives the bucket cylinder 3 to flip the bucket forward and backward.

[0037] The translation enabling button 11 is connected to the controller 7. After the loader is enabled through the translation enabling button 11, when only the boom is lifted or lowered, the controller 7 automatically adjusts the rotation angle of the rocker arm 5 through the bucket joint main valve 12, so that the angle of the bucket 4 relative to the ground remains unchanged during the lifting or lowering of the boom 2, realizing the function of bucket translation and lifting.

[0038] The following calibration is required before the first use of the translation and lifting function:

[0039] Obtain the measured value c0 of the rocker arm angular displacement sensor and the measured value a0 of the boom angular displacement sensor when the bucket is in the state of lying flat on the ground. The boom position when the bucket is in the state of lying flat on the ground is called the reference position. At the reference position, if the angle between the bucket and the ground is zero, the state of the bucket is the state of lying flat on the ground, as Figure 1 shown in the state.

[0040] Obtain the measured value b0 of the boom angular displacement sensor when the boom is at the lifting limit position (as Figure 2 shown in the state), the measured value d0 of the rocker arm angular displacement sensor at the bucket dumping limit position ( Figure 2 shown by the dotted line in), and the measured value c1 of the rocker arm angular displacement sensor at the bucket closing limit position. The theoretical angle that the boom turns when it is lifted from the reference position to the limit position is A; the theoretical angle that the rocker arm turns from the bucket closing limit to the bucket dumping limit when the boom is at the lifting limit position is C.

[0041] The angular resolution f of the boom angular displacement sensor a = (|b0 - a0|) / A.

[0042] The angular resolution f of the rocker arm angular displacement sensor c = (|c1 - d0|) / C.

[0043] Before the bucket is translated and lifted, the boom is in a certain position, as Figure 3 shown, this position is the initial position, which is the starting point of the bucket translation and lifting. At this time, the angle between the bucket and the ground is φ1, the measured value of the rocker arm angular displacement sensor is θ′1, and the measured value of the boom angular displacement sensor is α′1.

[0044] Relative to the state where the bucket is lying flat on the ground, the rotation angle of the rocker arm relative to the boom at the initial position, that is, the angle θ1 that the rocker arm turns relative to the boom when the bucket moves from the state of lying flat on the ground to the initial position = |θ′1 - c0| / f c .

[0045] The rotation angle of the boom relative to the front frame (ground), that is, the angle α1 that the boom turns relative to the front frame when it rotates from the reference position to the initial position = |α′1 - a0| / f a .

[0046] At the initial position, the angle between the bucket and the boom The angle θ between the swing arm and the boom;

[0047] Let θ = θ0 + θ1;

[0048] Wherein is the angle between the bucket and the boom when the boom is in the reference position and the angle between the bucket and the ground is zero, i.e., ∠BDC; is the angle that the bucket rotates relative to the boom when the boom rotates from the reference position to the initial position; θ0 is the angle between the swing arm and the boom when the boom is in the reference position.

[0049] As Figure 4 shown, according to the trigonometric function relationship, there is:

[0050]

[0051]

[0052] Then

[0053] Judge whether the bucket is in the dumping or retracting state relative to the reference state (the bucket is laid flat on the ground) according to the measured value of the swing arm angular displacement sensor. If the bucket rotates a certain angle in the retracting direction, the angle of the bucket relative to the ground is If the bucket rotates a certain angle in the dumping direction, if then the angle of the bucket relative to the ground is If then the angle of the bucket relative to the ground is

[0054] During the translational lifting process of the bucket, the calculation of the target rotation angle of the swing arm at any boom rotation angle (the boom rotates from the initial position to the current position):

[0055] According to the current measured value α′ of the boom angular displacement sensor x , the rotation angle α of the boom when the boom rotates from the initial position to the current position x = |α′ x - α′1| / f a ;

[0056] During the boom lifting process, to keep the angle between the bucket and the ground unchanged, the angle that the bucket needs to rotate in the opposite direction relative to the boom

[0057] At the current position, the angle between the bucket and the boom The angle θ between the swing arm and the boom is θ = θ0 + θ1 + θ x , θ xIt is the angle by which the swing arm rotates around the boom when the boom rotates from the initial position to the current position and the bucket remains translated, i.e., the target rotation angle of the swing arm.

[0058] According to the trigonometric function relationship, we have:

[0059]

[0060]

[0061] Then θ = ω - δ, θ x = θ - θ0 - θ1.

[0062] That is to say, at the initial position, the rotation angle of the boom relative to the reference position is α1, and the included angle between the swing arm and the boom is θ0 + θ1; after the boom rotates by an angle α x to the current position, the calculated rotation angle that the swing arm needs to rotate relative to the boom, i.e., the target rotation angle θ of the swing arm x ,. The controller outputs the current for bucket retraction or extension, controls the main valve of the bucket rotation connection, and makes the bucket cylinder extend or shorten accordingly, so that the angle of the bucket relative to the ground remains unchanged during the lifting and lowering of the boom, realizing the function of the bucket translating and lifting.

[0063] In this embodiment, before the bucket is translated and lifted, the corresponding relationship between the rotation angle of the boom and the rotation angle of the swing arm when the bucket is translated and lifted from the initial position is determined according to the initial included angle between the swing arm and the boom, that is, starting from the initial position, when the boom rotates by an angle α x the swing arm needs to rotate by the corresponding angle θ x ; during the lifting of the boom, the included angle of the boom and the included angle of the swing arm are detected in real time, and the current rotation angle α of the boom and the rotation angle of the swing arm relative to the initial position are calculated. According to the current rotation angle α of the boom x the target rotation angle θ of the swing arm is determined x ; the controller controls the main valve of the bucket rotation connection to make the rotation angle of the swing arm approach or equal to the target rotation angle of the swing arm. x

[0064] To verify the correctness of the target rotation angle θ of the swing arm x the control method further includes a verification step. The verification step is to equally divide the angle range of the included angle between the bucket and the ground when the boom is in the reference position into several intervals, calculate and determine the corresponding relationship between the rotation angle of the boom and the rotation angle of the swing arm during the bucket translation and lifting process with the reference position as the lifting starting point for the boundary angles of each interval, and store it in the controller; after determining the target rotation angle of the swing arm in step S2, the currently determined target rotation angle of the swing arm is verified according to the corresponding relationship between the rotation angles stored in the controller with the reference position as the lifting starting point.

[0065] For example, when the boom is in the reference position, the included angle between the bucket and the ground is φx When the boom rotates from the reference position to a certain height, the rotation angle α of the boom relative to the reference position nx , when the bucket is lifted while keeping translation, the target rotation angle θ of the swing arm relative to the boom nx . The calculation process is as follows:

[0066] The rotation angle α of the boom nx = |α′ x - a0| / f a , α′ x is the boom sensor value;

[0067] θ = θ0 + θ nx , according to the trigonometric function relationship:

[0068]

[0069]

[0070] Then θ = ω - δ, θ nx = θ - θ0.

[0071] Through the above calculation method, a set of corresponding relationships between the rotation angles of the boom and the swing arm with different angles between the bucket and the ground can be obtained with the reference position as the starting point (initial position) of lifting, and the corresponding relationship of the rotation angles is stored in the controller.

[0072] In step S2 of the control method, after determining the target rotation angle of the swing arm, according to the angle φ1 between the bucket and the ground and the rotation angle α of the boom nx , query the corresponding θ nx from the data stored in the controller x + θ1 = θ nx , or if the difference is within a certain range, it is considered that the calculated target rotation angle θ x of the swing arm is valid and is used to control the swing arm.

[0073] If there is no value in the controller that is equal to the angle between the current bucket and the ground, the corresponding θ nx is obtained by interpolation calculation using the two adjacent values on both sides.

[0074] In this embodiment, the upper deviation and the lower deviation of the target rotation angle of the swing arm are set. When the boom is lifted, the controller controls the swing arm pilot main valve to make the rotation angle of the swing arm within the range of the upper deviation and the lower deviation of the target rotation angle of the swing arm.

[0075] For example Figure 5 Figure 6As shown, during the boom lifting process, when the boom rotation angle increases and the boom included angle is less than the turning point angle, or when the boom rotation angle decreases and the boom included angle is greater than the turning point angle, if the swing arm rotation angle is less than the target rotation angle of the swing arm and the difference between the two increases, the controller reduces the bucket dumping current on the basis of the original bucket dumping current until the swing arm rotation angle is greater than the target rotation angle of the swing arm, and then maintains the current bucket dumping current; if the swing arm rotation angle is greater than the upper deviation of the target rotation angle of the swing arm, the controller increases the bucket dumping current on the basis of the original bucket dumping current until the swing arm rotation angle is less than the upper deviation of the target rotation angle of the swing arm, and then maintains the current bucket dumping current. During the process of reducing the bucket dumping current, if the bucket dumping current ≤ i1, the controller controls the bucket dumping current to be the magnitude of i1, where i1 is the current value that just makes the bucket dumping of the main valve of the bucket linkage want to actuate.

[0076] When the boom rotation angle increases and the boom included angle is greater than the turning point angle, or when the boom rotation angle decreases and the boom included angle is less than the turning point angle, if the swing arm rotation angle is less than the target rotation angle of the swing arm and the difference between the two increases, the controller increases the bucket curling current on the basis of the original bucket curling current until the swing arm rotation angle is greater than the target rotation angle of the swing arm, and then maintains the current bucket curling current; if the swing arm rotation angle is greater than the upper deviation of the target rotation angle of the swing arm, the controller reduces the bucket curling current on the basis of the original bucket curling current until the swing arm rotation angle is less than the upper deviation of the target rotation angle of the swing arm, and then maintains the current bucket curling current. During the process of reducing the bucket curling current, if the bucket curling current ≤ i2, the controller controls the bucket curling current to be the magnitude of i2, where i2 is the current value that just makes the bucket curling of the main valve of the bucket linkage want to actuate.

[0077] The turning point is determined according to the angle of the bucket relative to the ground before the translational lifting action. After the boom lifts the turning point, due to the action of the linkage mechanism, the angle of the bucket dumping rotation during the boom lifting process is greater than the angle of the boom lifting rotation. Therefore, it is necessary to simultaneously perform the bucket curling adjustment during the boom lifting process to keep the angle of the bucket relative to the ground unchanged; before the boom descends the turning point, due to the action of the linkage mechanism, the angle of the bucket curling during the boom descending process is greater than the angle of the boom descending rotation. Therefore, it is necessary to simultaneously perform the bucket dumping adjustment during the boom descending process to keep the angle of the bucket relative to the ground unchanged.

[0078] When the control handle has a bucket curling or bucket dumping operation signal output, the controller controls the main valve of the bucket linkage according to the corresponding bucket curling current or bucket dumping current output by the bucket curling or bucket dumping operation signal.

[0079] In the loader of the present invention, the controller for controlling the commutation of the main valve of the bucket linkage and the main valve of the boom linkage includes a memory and a processor coupled to the memory. The processor is configured to execute the aforementioned loader attachment translational lifting control method based on the instructions stored in the memory. The translation enable button is connected to the controller, and the translation enable button is used to execute the instructions stored in the memory for the processor.

Claims

1. A control method for the translational lifting of a loader attachment. The loader includes: A boom combined main valve and a bucket combined main valve for controlling the boom cylinder and the bucket cylinder; A controller connected to the bucket combined main valve and the boom combined main valve and used to control their commutation; A rocker arm angular displacement sensor, connected to the controller, for detecting the rocker arm angle between the rocker arm and the boom; A boom angular displacement sensor, connected to the controller, for detecting the boom angle between the boom and the front frame; A control handle connected to the controller for performing bucket rotation and boom lifting operations; It is characterized in that the method steps are as follows: The angular range of the bucket angle with the ground when the boom is in the reference position is equally divided into several intervals. Calculate and determine the corresponding relationship between the rotation angles of the boom and the rocker arm with the reference position as the lifting starting point during the translational lifting of the attachment when the bucket angle with the ground is the boundary angle of each interval, and store it in the controller; S1: Determine the corresponding relationship between the rotation angles of the boom and the rocker arm during the translational lifting of the attachment according to the rocker arm angle and the boom angle before the translational lifting of the attachment; S2: Detect the rocker arm angle and the boom angle in real time, calculate the current boom rotation angle, and determine the target rocker arm rotation angle according to the current boom rotation angle and the corresponding relationship of the rotation angles. After determining the target rocker arm rotation angle, verify the currently determined target rocker arm rotation angle according to the corresponding relationship of the rotation angles with the reference position as the lifting starting point stored in the controller; S3: The controller controls the bucket combined main valve to make the rocker arm rotation angle approach or equal to the target rocker arm rotation angle.

2. The loader attachment translation and lifting control method according to claim 1, wherein In step S3, set the upper deviation and the lower deviation of the target rocker arm rotation angle. The controller controls the bucket combined main valve to make the rocker arm rotation angle within the range of the upper deviation and the lower deviation of the target rocker arm rotation angle.

3. The loader attachment translation and lifting control method according to claim 2, characterized in that In step S3, when the boom rotation angle increases and the boom angle is less than the turning point angle, or when the boom rotation angle decreases and the boom angle is greater than the turning point angle, if the rocker arm rotation angle is less than the target rocker arm rotation angle and the difference between the two increases, the controller reduces the bucket lowering current on the basis of the original bucket lowering current until the rocker arm rotation angle is greater than the target rocker arm rotation angle and then maintains the current bucket lowering current; if the rocker arm rotation angle is greater than the upper deviation of the target rocker arm rotation angle, the controller increases the bucket lowering current on the basis of the original bucket lowering current until the rocker arm rotation angle is less than the upper deviation of the target rocker arm rotation angle and then maintains the current bucket lowering current.

4. The loader attachment translation and lifting control method according to claim 2, characterized in that During the process of reducing the bucket lowering current, if the bucket lowering current ≤ i1, the controller controls the bucket lowering current to be the value of i1, where i1 is the current value just enough to make the bucket combined main valve start to lower the bucket.

5. The loader attachment translation and lifting control method according to claim 2, characterized in that In step S3, when the boom rotation angle increases and the boom included angle is greater than the turning point angle, or when the boom rotation angle decreases and the boom included angle is less than the turning point angle, if the swing arm rotation angle is less than the swing arm target rotation angle and the difference between the two increases, the controller increases the bucket closing current on the basis of the original bucket closing current until the swing arm rotation angle is greater than the swing arm target rotation angle and then maintains the current bucket closing current; if the swing arm rotation angle is greater than the upper deviation of the swing arm target rotation angle, the controller decreases the bucket closing current on the basis of the original bucket closing current until the swing arm rotation angle is less than the upper deviation of the swing arm target rotation angle and then maintains the current bucket closing current.

6. The loader attachment translation and lifting control method according to claim 5, characterized in that During the process of decreasing the bucket closing current, if the bucket closing current ≤ i2, the controller controls the bucket closing current to be the magnitude of i2, where i2 is the current value just enough to make the bucket main valve of the swing bucket start to act.

7. The method for controlling the translation and lifting of a loader attachment according to claim 1, wherein In step S3, when the control handle outputs a bucket closing or bucket opening operation signal, the controller controls the bucket main valve of the swing bucket by outputting a corresponding bucket closing current or bucket opening current according to the bucket closing or bucket opening operation signal.

8. A loader, characterized in that The controller for controlling the commutation of the bucket main valve of the swing bucket and the boom main valve includes a memory and a processor coupled to the memory, and the processor is configured to execute the loader attachment translation and lifting control method according to any one of claims 1 to 7 based on the instructions stored in the memory.

9. The loader according to claim 8, characterized in that It further includes a translation enable button connected to the controller, and the translation enable button is used to execute the instructions stored in the memory by the processor.

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