A method for controlling an inclined bucket

Abstract

This invention discloses a control method for a tilting bucket, belonging to the field of excavator machinery technology, including the following steps: S1, monitoring the angle between the bucket body and the connecting seat in real time by installing an angle sensor on the tilting bucket connecting seat; S2, determining the angle of the tilting bucket relative to the horizontal plane by installing a horizontal angle sensor on the bucket body; S3, measuring the extension and retraction displacement of the bucket cylinder in the working device by installing a displacement sensor on the bucket cylinder; S4, transmitting the three numerical signals measured in the first three steps to the controller and instruments to determine the tilting bucket rotation angle, whether the bucket body is in a horizontal state, and whether the tilting bucket is in an unloading state. The controller controls the extension and retraction of the cylinder through a proportional solenoid valve to achieve the functions of tilting bucket angle calibration, automatic rotation, and auxiliary digging. The advantages of this invention are: improved ease of operation and stability when using a tilting bucket for digging operations.

Description

Technical Field

[0001] This invention relates to the field of excavator implements technology, specifically to a method for controlling a tilting bucket. Background Technology

[0002] With the development of construction machinery, attachments are becoming increasingly important in the use of excavators. To meet the requirements of complex working conditions, the market has seen the emergence of tilt buckets, which can be precisely rotated to a specific angle for digging. A tilt bucket refers to a bucket that, while possessing the characteristics of a regular bucket, controls the left and right tilting of the bucket by adding a deflection cylinder or motor, thereby adapting to complex working environments and allowing the operator to easily complete precise tasks that a regular bucket cannot. During the digging process, rotating the tilt bucket to a specified angle and maintaining it can greatly reduce the operator's control requirements and improve the convenience, accuracy, and safety of operation.

[0003] When using a tilting bucket for digging operations on a hydraulic excavator, the operator manually controls the tilting bucket to rotate after each loading and unloading operation to complete the task. At the same time, during the digging process, the tilting bucket is subjected to uneven reaction forces from the soil. Although the hydraulic system maintains its position, the rotation angle will gradually change during the operation. At this time, the operator needs to observe and operate the tilting bucket to rotate it back to the specific angle.

[0004] After loading and unloading during excavation, the tilting angle of the bucket needs to be manually adjusted to return to the initial rotation angle. During excavation, the bucket deflects due to force and cannot automatically recover. Throughout this process, the operator must manually adjust the tilting bucket cylinder using a handle to restore the rotation angle. The operator needs to simultaneously control both the cylinders on the working device and the tilting bucket cylinder, significantly impacting the accuracy and convenience of the excavation process. Summary of the Invention

[0005] The present invention aims to solve the technical problems mentioned in the background section above, and provides a control method that can monitor the angle and attitude changes of the tilting bucket in real time and perform automatic rotation.

[0006] The technical solution provided by this invention is: a method for controlling an inclined bucket, comprising the following steps:

[0007] S1. By installing an angle sensor on the tilting bucket connecting seat, the included angle between the bucket body and the connecting seat can be monitored in real time;

[0008] S2. Determine the angle between the tilted bucket and the horizontal plane using a horizontal angle sensor installed on the bucket body;

[0009] S3. Measure the extension and retraction displacement of the bucket cylinder in the working device by means of a displacement sensor installed on the bucket cylinder.

[0010] S4. The three numerical signals measured by S1, S2, and S3 are transmitted to the controller and instruments to determine the tilting bucket rotation angle, whether the bucket body is in a horizontal state, and whether the tilting bucket is in the unloading state. The controller controls the extension and retraction of the hydraulic cylinder through the proportional solenoid valve to realize the tilting bucket angle calibration, automatic rotation, and auxiliary digging functions.

[0011] Furthermore,

[0012] S41. Start working mode and input a specific angle record. Store the record in a predetermined position as initial data. The angle sensor detects the rotation angle of the tilting bucket. The angle value of the sensor is collected in real time and transmitted to the instrument and controller via CAN signal. After judgment, a command is issued. The controller outputs current to the proportional solenoid valve. If the change value is positive, it is determined that the cylinder extends. If the change value is negative, it is determined that the cylinder retracts, pushing the tilting bucket to rotate. The angle value collected each time is compared with the initial data. When the angle change reaches the allowable set range, the controller controls the telescopic cylinder to stop the action and complete the rotation action.

[0013] Furthermore,

[0014] S42. Activate hold mode. In this mode, the angle value of the sensor is collected in real time and transmitted to the instrument and controller via CAN signal. Subsequent angle values ​​are compared with the initial angle data. When the distance change exceeds the set value, the instrument issues an alarm, indicating that the tilting angle of the tilting bucket has changed significantly, and displays the changed data. The customer can then choose whether to reset based on the alarm prompt. If "No" is selected, the program automatically repeats the next round of operation. If "Yes" is selected, a command is sent to the controller, which outputs current to the proportional solenoid valve to drive the telescopic cylinder. When the angle value acquired by the angle sensor returns to the allowable range, the controller stops the cylinder, thus achieving the purpose of maintaining the specified rotation angle of the tilting bucket in real time during operation.

[0015] Furthermore,

[0016] S43. Activate digging mode. In this mode, the tilt bucket will automatically rotate to a specific angle, similar to the working mode. Then, the tilt bucket will begin digging. After the operator uses the handle to control the working device cylinder on the boom to complete digging, the operator will extend or retract the tilt bucket cylinder a certain amount, causing the tilt bucket to deflect at a certain angle in the horizontal direction. A deviation less than this value indicates operator error; a deviation greater than or equal to this value signals the end of digging. At this time, the horizontal angle sensor will transmit the real-time angle between the bucket body and the horizontal plane to the instrument and controller, prompting the customer that the tilt bucket body will automatically return to the horizontal position. The customer can then choose whether to return to the horizontal position or exit this mode based on the prompts. When "No" is selected, the program automatically repeats the next round of operation. When "Yes" is selected, the controller controls the extension and retraction of the hydraulic cylinder based on the angle value of the horizontal angle sensor to adjust the bucket body to a horizontal angle. The operator manipulates the hydraulic cylinder on the working device to complete the unloading. During the unloading process, the displacement sensor monitors the displacement value of the bucket hydraulic cylinder in real time and judges it. When the displacement value of the bucket hydraulic cylinder is detected to be less than a certain value, it is determined that the bucket is in the unloading process. The operator prompts the user to start the automatic rotation of the tilting bucket. The controller controls the hydraulic cylinder to rotate to the specified angle to complete the automatic rotation. At this time, one auxiliary excavation is completed. The operator continues to operate the hydraulic cylinders of the boom and stick to carry out the next round of excavation and repeat the next round of operation.

[0017] Furthermore, the allowable range of changes in the tilting bucket rotation angle can be set manually.

[0018] Furthermore, the allowable range of changes in the horizontal angle of the tilting bucket can be set manually.

[0019] Furthermore, when customers select "No, proceed to the next round of operation" or "Yes, adjust the bucket body to a horizontal position", they can set the default selection for the current stage, and the default settings can be adjusted upon restarting.

[0020] The advantages of this invention over the prior art are as follows: the tilt bucket can be automatically tilted during the excavation process, and can also be automatically tilted to a specified angle. Furthermore, the change in the tilt bucket rotation angle can be detected and the rotation angle can be automatically corrected and adjusted, allowing the operator to focus on operating the hydraulic cylinders on the boom and stick of the working device, thereby improving the ease of operation and stability when using the tilt bucket for excavation.

[0021] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the tilting bucket and working device according to an embodiment of the present invention;

[0023] Figure 2 This is a hydraulic schematic diagram of the tilting bucket cylinder according to an embodiment of the present invention;

[0024] Figure 3 This is a schematic diagram showing the connections of various components in an embodiment of the present invention;

[0025] Figure 4 This is a logic control diagram of the present invention in the working mode according to an embodiment of the invention;

[0026] Figure 5 This is a logic control diagram of the present invention in holding mode according to an embodiment;

[0027] Figure 6 This is a logic control diagram of the present invention in mining mode according to an embodiment of the invention. Detailed Implementation

[0028] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without inventive effort should fall within the protection scope of the present invention.

[0029] Example:

[0030] Combination Figure 1 , Figure 3 As shown in the embodiments of the present invention, the working device refers to a set of components installed on the main unit to perform the basic design functions of the excavator, including the boom and stick; the angle sensor refers to a sensor that can sense the measured angle and convert it into a usable output signal; the displacement sensor refers to a sensor that can sense the measured distance and convert it into a usable output signal; and the proportional solenoid valve refers to a solenoid valve that can adjust the hydraulic flow direction by opening and closing the valve port.

[0031] The tilting bucket, angle sensor, horizontal angle sensor, displacement sensor, instrument, controller, proportional solenoid valve, and hydraulic cylinder are sequentially connected via CAN signals.

[0032] An angle sensor is installed on the tilting bucket connecting seat to monitor the angle between the bucket body and the connecting seat in real time; a horizontal angle sensor installed on the bucket body is used to determine the angle between the tilting bucket and the horizontal plane; and a displacement sensor installed on the bucket cylinder is used to measure the extension and retraction displacement of the bucket cylinder in the working device.

[0033] Combination Figure 2As shown, these three numerical signals are transmitted to the controller and displayed on the instrument to determine the tilting bucket rotation angle, whether the bucket body is in a horizontal state, and whether the tilting bucket is in the unloading state. Then, the set value is compared to determine whether there is a large angle deviation. The controller controls the output of the solenoid valve to control the extension and retraction of the hydraulic cylinder, accurately maintains the rotation angle, and realizes the tilting bucket angle calibration function.

[0034] The tilting bucket's attitude is determined by a horizontal angle sensor and a displacement sensor, and the tilting bucket is controlled to rotate automatically, thereby achieving the functions of automatic rotation and assisted digging. The above is the basic logic of this embodiment of the invention.

[0035] After the excavator is powered on and ignited, the instrument panel turns on, the program is started, and the machine begins operation.

[0036] Combination Figure 4 As shown, when the working mode is activated, a specific angle is input and recorded, which is stored in a predetermined position as initial data. The angle sensor detects the rotation angle of the tilting bucket, and the angle value of the sensor is collected in real time and transmitted to the instrument and controller via CAN signal. After judgment, a command is issued, and the controller outputs current to the proportional solenoid valve. If the change value is positive, it is determined that the cylinder extends; if the change value is negative, it is determined that the cylinder retracts, pushing the tilting bucket to rotate. The angle value collected each time is compared with the initial data. When the angle change reaches the allowable set range (the allowable range can be set manually), the controller controls the telescopic cylinder to stop the action, completing the rotation action.

[0037] Combination Figure 5 As shown, when the hold mode is activated, the angle value of the sensor is collected in real time and transmitted to the instrument and controller via CAN signal. Each subsequent angle value collected is compared with the initial angle data. When the distance change exceeds the set value, the instrument issues an alarm, indicating that the tilting angle of the tilting bucket has changed significantly, and displays the changed data. At this time, the customer can choose whether to reset based on the alarm prompt. When "no" is selected, the program automatically repeats the operation for the next round. When "yes" is selected, a command is issued to the controller, which outputs current to the proportional solenoid valve to drive the telescopic cylinder to move. When the angle value obtained by the angle sensor returns to the allowable range, the controller controls the cylinder to stop moving, so as to achieve the purpose of maintaining the specified rotation angle of the tilting bucket in real time during operation.

[0038] Combination Figure 6As shown, when the digging mode is activated, the tilt bucket will automatically rotate to a specific angle, similar to the working mode. Then, the tilt bucket will begin digging. After the operator uses the handle to control the hydraulic cylinder on the boom to complete the digging, the operator will extend or retract the tilt bucket cylinder by a certain amount (this value can be manually set), causing the tilt bucket to deflect at a certain angle in the horizontal direction. A deviation less than this value indicates operator error; a deviation greater than or equal to this value signals the end of digging. At this point, the horizontal angle sensor will transmit the real-time angle between the bucket body and the horizontal plane to the instrument and controller, prompting the customer that the tilt bucket body will automatically return to the horizontal position. The customer can then choose whether to return to the horizontal position or exit this mode based on the prompts. When "No" is selected, the program automatically repeats the next round of operation. When "Yes" is selected, the controller controls the hydraulic cylinder to extend and retract based on the angle value of the horizontal angle sensor, adjusting the bucket body to a horizontal angle. The operator manipulates the hydraulic cylinder on the working device to complete the unloading. During the unloading process, the displacement sensor monitors the displacement value of the bucket hydraulic cylinder in real time and makes a judgment. When the displacement value of the bucket hydraulic cylinder is detected to be less than a certain value, it is determined that the bucket is in the unloading process, prompting the user to start the automatic rotation of the tilting bucket. The controller controls the hydraulic cylinder to rotate to the specified angle to complete the automatic rotation. At this time, one auxiliary excavation is completed. The operator continues to operate the hydraulic cylinders of the boom and stick to carry out the next round of excavation, repeating the next round of operation.

[0039] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A control method of a tilt hopper, characterized by, The method comprises the following steps: S1, real-time monitoring the included angle between the bucket body and the connecting seat by installing an angle sensor on the connecting seat of the tilting bucket; S2, judging the included angle of the tilting bucket relative to the horizontal plane by the horizontal angle sensor installed on the bucket body; S3, measuring the telescopic displacement of the bucket cylinder in the working device by the displacement sensor installed on the bucket cylinder; S4, transmitting the three numerical signals measured by S1, S2 and S3 to the controller and the instrument, judging the rotation angle of the tilting bucket, judging whether the bucket body is in the horizontal state, judging whether the tilting bucket is in the unloading state, and the controller controlling the telescopic cylinder to realize the functions of angle calibration, automatic rotation and auxiliary excavation of the tilting bucket through the proportional electromagnetic valve; S41, starting the working mode to input a specific angle record, storing the initial data in a designated position, detecting the rotation angle of the tilting bucket by the angle sensor, collecting the angle value of the sensor in real time and transmitting the CAN signal to the instrument and the controller, issuing an instruction after judging, outputting the current of the proportional electromagnetic valve through the controller, if the change value is positive, it is determined that the cylinder is extended, if the change value is negative, it is determined that the cylinder is retracted, the tilting bucket is rotated, and the angle value collected each time is compared with the initial data, when the angle change reaches the allowed set range, the controller controls the telescopic cylinder to stop moving, and the rotation action is completed; S42, starting the keep mode, collecting the angle value of the sensor in real time and transmitting the CAN signal to the instrument and the controller, comparing the angle value collected each time with the initial angle data, when the distance change exceeds the set value, the instrument issues an alarm to prompt the user that the tilting angle of the tilting bucket has changed greatly, and displays the changed data, at this time, the user can choose whether to reset according to the alarm prompt, when choosing "no", the program automatically repeats the next round of operation, when choosing "yes", the controller is instructed to output the current of the proportional electromagnetic valve through the controller to drive the telescopic cylinder to move, when the angle value obtained by the angle sensor returns to the allowed range, the controller controls the cylinder to stop moving, and the purpose of keeping the specified rotation angle of the tilting bucket in real time during the working process is achieved. S43, open the excavating mode, in this mode, first refer to the working mode, the tilt bucket is automatically rotated to a specific angle, then the tilt bucket starts the excavating operation, when the driver controls the work device cylinder on the bucket arm with the handle, the operation handle makes the tilt bucket cylinder to stretch and retract a certain amount, driving the tilt bucket to deflect a certain angle in the horizontal direction, less than this value is the driver's misoperation, greater than or equal to this value is the signal to end the excavating, at this time, the horizontal angle sensor transmits the included angle of the bucket body relative to the horizontal plane to the instrument and the controller in real time, prompting the customer that the tilt bucket bucket body starts to automatically return to the horizontal position, at this time, the customer can choose whether to return or exit this mode according to the prompt, when choosing "no", the program automatically repeats the next round of operation, when choosing "yes", according to the angle value of the horizontal angle sensor, the controller controls the cylinder to stretch and retract, adjusting the bucket body to the horizontal angle, the driver controls the cylinder on the work device to complete the unloading, when unloading, when the displacement sensor monitors the displacement value of the bucket cylinder in real time and judges, when detecting that the displacement value of the bucket cylinder is less than a certain value, it is determined that the bucket is in the unloading process, prompting the customer to tilt the bucket body to start automatic rotation, the controller controls the cylinder to rotate to a specified angle, completing the automatic rotation, at this time, the first auxiliary excavation is completed, the driver continues to control the cylinders of the boom and the bucket arm to perform the next round of excavation, repeating the next round of operation.

2. The control method of a tilt hopper according to claim 1, characterized by: The allowed range value of the tilt bucket rotation angle change can be set artificially.

3. The control method of a tilt hopper according to claim 1, characterized by: The allowed range value of the tilt bucket horizontal angle change can be set artificially.

4. The control method of a tilt hopper according to claim 1, characterized by: When the customer chooses "no, enter the next round of operation", or "yes, adjust the bucket body to the horizontal position", the default selection of the current stage can be set, and the default setting can be restarted.

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