Loader and method of operating the same

Abstract

The application belongs to the technical field of engineering machinery, and specifically discloses a loader and an operating method thereof, which comprises a vehicle frame, a motion assembly, a cab, a connecting arm assembly, a bucket and a whole machine electric control system, the connecting arm assembly comprises a movable arm, a movable arm oil cylinder, a bucket oil cylinder, a transmission rod and a connecting rod, the inner end of the movable arm oil cylinder is hinged to the vehicle frame, the outer end of the movable arm oil cylinder is hinged to the movable arm, the inner end of the movable arm is hinged to the vehicle frame, and the outer end of the movable arm is hinged to the bucket, the bucket oil cylinder is hinged to the vehicle frame, and the transmission rod is hinged to the movable arm, the inner end of the transmission rod is hinged to the output end of the bucket oil cylinder, the outer end of the transmission rod is hinged to the connecting rod, the other end of the connecting rod is hinged to the bucket, the movable arm oil cylinder is provided with a second sensor for detecting the elongation of the movable arm, the bucket oil cylinder is provided with a first sensor for detecting the elongation of the bucket oil cylinder, and the movable arm is provided with an upper strain gauge and a lower strain gauge on the upper side and the lower side respectively for identifying the load state, so that the operation process can be simplified, the operation difficulty can be reduced, the labor intensity can be reduced, and the efficiency can be improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of engineering machinery, and particularly relates to a loader and an operation method thereof. BACKGROUND

[0002] As an indispensable engineering machinery for loading operation, the loader is widely used in mines, ports, construction sites and other places to participate in the production activities such as transportation and loading of soil, sand, lime, coal and other bulk materials. There are two kinds of control handles for the loading operation of the loader, which are mechanical type and pilot type. The mechanical type operation handle has two roots, and the two actions of pushing and pulling the operation handle are used to control the action of the working device, one of which controls the lifting and lowering of the boom, and the other controls the turning out and turning in of the bucket. The pilot type operation handle has only one root, and the lifting and lowering of the boom and the turning out and turning in of the bucket are controlled by the forward and backward pushing and pulling and the left and right swinging.

[0003] In the process of loading and loading, there are mainly six processes, i.e. empty advancing, loading, full retreating, full advancing, unloading and empty retreating, as shown in the figure, the operator needs to control the advancing and retreating by the foot throttle to reach the transport vehicle or the material surface, and then controls the lifting and lowering of the boom and the turning in and turning out of the bucket by the handle to realize the loading, lifting and unloading. Figure 1

[0004] For the mechanical type operation handle, the lifting and lowering of the boom and the turning in and turning out of the bucket are completed on two control rods, which leads to the complexity of the loading operation and the incoherence of the action, and reduces the operation efficiency and increases the labor intensity.

[0005] The pilot type operation handle integrates the lifting and lowering of the boom and the turning in and turning out of the bucket into one operation handle, and controls the lifting and lowering of the boom by the forward and backward movement of the handle and controls the turning in and turning out of the bucket by the left and right movement of the handle, which reduces the operation difficulty and improves the efficiency. However, the operator still needs to control the boom and the bucket at the same time, and when loading, the operator needs to ensure that the loader can load and load fully, and ensure that the upper end of the bucket is horizontal when the boom is lifted, which is difficult for a new driver to load the transport vehicle quickly and well and ensure that the material is not spilled. Even for an experienced driver, it is also a waste of physical energy to adjust the position of the boom and the bucket. SUMMARY

[0006] In view of the problems of the prior art loader, such as difficult operation, complexity and labor intensity, the present application provides a loader and an operation method thereof. The present application provides the following technical solutions:

[0007] ​A loader, comprising a frame, a movement assembly, a cab, a connecting arm assembly, a bucket and a whole machine electric control system for controlling the movement of the whole machine, the connecting arm assembly comprising a boom, a boom cylinder, a bucket cylinder, a transmission rod and a connecting rod; the inner end of the boom cylinder is hinged to the frame, and the outer end is hinged to the bottom of the boom; the inner end of the boom is hinged to the frame, and the outer end is hinged to the bucket; the bucket cylinder is hinged to the frame; the transmission rod is hinged to the boom; the inner end of the transmission rod is hinged to the output end of the bucket cylinder, and the outer end is hinged to the connecting rod, and the other end of the connecting rod is hinged to the bucket; a second sensor for detecting the elongation of the boom is installed on the boom cylinder; a first sensor for detecting the elongation of the bucket cylinder is installed on the bucket cylinder; an upper strain gauge and a lower strain gauge for identifying the load state are respectively installed on the upper and lower sides of the boom.

[0008] Preferably, the second sensor and the first sensor are displacement sensors or gyroscopes or angle sensors.

[0009] Preferably, the whole machine electric control system comprises a controller, solenoid valves for controlling the oil supply of the cylinders and an operation handle for controlling the completion of the operation set; the operation handle, solenoid valves, second sensor, first sensor, upper strain gauge and lower strain gauge are electrically connected to the controller.

[0010] A loader operation method based on the aforementioned loader, the whole machine electric control system comprising an auxiliary driving mode, the auxiliary driving mode being provided with three actions;

[0011] Action 1: The bucket is turned over until the blade of the bucket is horizontal, and CL=C, CL is the length of the bucket cylinder, C is the length of the bucket cylinder when the blade of the bucket is horizontal, and C is a fixed value;

[0012] Action 2: The boom is gradually lifted, the bucket is gradually retracted, and they are one-to-one corresponding, that is, ,

[0013] When the bucket is full, the length of the bucket cylinder at the ith moment is When the bucket is full, the length of the boom cylinder at the ith moment is

[0014] Action 3: The bucket is turned over until the upper side of the bucket is horizontal, and they are one-to-one corresponding, that is, ,

[0015] When the bucket is full, the length of the bucket cylinder at the ith moment is When the bucket is full, the length of the boom cylinder at the ith moment is

[0016] The auxiliary driving mode is started by controlling the operation handle;

[0017] Comprising the following steps:

[0018] S1, the whole machine electric control system starts to collect the information of vehicle forward direction, material weight in the bucket, boom cylinder length DL, and bucket cylinder length CL;

[0019] S2, the current state information of the whole machine is judged;

[0020] S3, automatic operation is executed according to the current state information of the whole machine;

[0021] S31, if empty, action 1 is executed;

[0022] S32, if not empty, it is judged whether it is in the process of loading material, if yes, action 2 is executed;

[0023] S321, if not in the process of loading material, it is judged whether it is full, if yes, action 3 is executed;

[0024] S3211, if not full, no operation is executed.

[0025] Preferably, in step S2, the length change relationship of the bucket cylinder and the boom cylinder at the previous and subsequent time points is reversely deduced as the main decision condition by decomposing the process of loading material and loading vehicle, and when the main decision condition cannot be judged, the difference change of the strain gauge is used as the secondary decision condition.

[0026] Preferably, the process of loading material and loading vehicle is divided into six processes, i.e., empty forward, loading material, full backward, full forward, unloading, and empty backward, wherein the empty forward and the empty backward belong to empty, and the full backward and the full forward belong to full.

[0027] DL is the current boom cylinder length, DL i+1 is the boom cylinder length of the subsequent process, DL i is the boom cylinder length of the previous process, DL min is the preset minimum length of the boom cylinder (the actual length will have a floating), and DL max is the preset maximum length of the boom cylinder (the actual length will have a floating).

[0028] Empty forward: the current gear is forward gear, the boom cylinder length is minimum and basically keeps still, and the boom cylinder satisfies the following relationship:

[0029] 0.8DL min ≤DL≤1.2DL min ;

[0030] Loading material: the previous process is empty forward, the current gear is forward gear, the boom cylinder slowly extends, the boom cylinder length gradually increases, and satisfies the following relationship:

[0031] DL i+1 -DL i ≥0;

[0032] Full load reverse: the previous process is loading, the current gear is reverse gear, the boom cylinder is extended, the boom cylinder length gradually increases, and the following relationship is met:

[0033] DL i+1 -DL i ≥ 0;

[0034] Full load forward: the previous process is full load reverse, the current gear is forward gear, the boom cylinder is extended, the boom cylinder length gradually increases, and the following relationship is met:

[0035] DL i+1 -DL i ≥ 0;

[0036] Unloading: the previous process is full load reverse, the current gear is forward gear, the boom cylinder is extended to the maximum, and the following relationship is met:

[0037] 0.8DL max ≤ DL ≤ 1.2DL max ;

[0038] Empty load reverse: the previous process is unloading, the current gear is reverse gear, the boom cylinder is retracted, the boom cylinder length gradually decreases, and the following relationship is met:

[0039] DL i+1 -DL i < 0.

[0040] Preferably, 0.8DL min ≤ DL ≤ 1.2DL min is condition 1, DL i+1 -DL i ≥ 0 is condition 2, and 0.8DL max ≤ DL ≤ 1.2DL max is condition 3; DL is the current boom cylinder length, DL i+1 is the boom cylinder length of the next process, DL i is the boom cylinder length of the previous process, DL min is the preset minimum boom cylinder length (the actual length will have a floating), and DL max is the preset maximum boom cylinder length (the actual length will have a floating).

[0041] The main decision condition includes the following steps:

[0042] First, determine whether the gear is forward, if so, determine whether the condition 1 is met, if continue to meet the condition 1, the working phase is empty load forward; If not meet the condition 1, determine whether the condition 2 is met, if meet the condition 2, determine whether the previous stage is empty load forward, if so, the working phase is shovel load, if not empty load forward, determine whether the previous stage is full load backward, if so, the working phase is full load forward, if not, enter the sub-judgment condition;

[0043] If not meet the condition 1, then not meet the condition 2, determine whether the condition 3 is met, if so, the working phase is unloading, if not, enter the sub-judgment condition;

[0044] Determine whether the gear is not forward, if so, determine whether the condition 2 is met, if so, determine whether the previous stage is shovel load, if so, the working phase is full load backward, if not, enter the sub-judgment condition;

[0045] Determine whether the gear is not forward, and then not meet the condition 2, determine whether the previous stage is unloading, if so, the working phase is empty load backward, if not, enter the sub-judgment condition.

[0046] Preferably, the sub-judgment condition is deduced reversely by the working state:

[0047] Empty load: the bucket is empty, the difference value of the strain gauge on the boom is small, and the fluctuation of the difference value is also small, at this time:

[0048] ,

[0049] β is the measured difference value of the strain gauge, is the average value of the difference value of the strain gauge in the previous t time, β k位 is the empty load reference value of the difference value of the strain gauge, β b is the fluctuation reference value of the difference value of the strain gauge;

[0050] Full load: the bucket is full, the difference value of the strain gauge on the boom is large, but the fluctuation of the difference value is also small, at this time:

[0051] ,

[0052] β m is the full load reference value of the difference value of the strain gauge;

[0053] Shovel load: the whole machine is in forward gear, the difference value of the strain gauge fluctuates greatly during the process of the bucket shoveling, at this time:

[0054] .

[0055] Preferably, is condition 4, is condition 5, For condition 6, the sub-decision condition includes the following steps:

[0056] The beta k , beta m and beta b are imported, beta is collected and recorded in real time, and the average value of beta in the previous t time is calculated ;

[0057] Determine whether condition 4 is met, if so, output the current state as empty, if not, determine whether condition 5 is met, if condition 5 is met, output the current state as full, if condition 5 is not met, determine whether condition 6 is met, if condition 6 is met, output the current state as shovel material, if condition 6 is not met, determine failure, the bucket and the boom are independent of each other;

[0058] Beta is the measured strain difference, The average value of the strain difference in the previous t time is beta k The strain difference empty reference value is beta b The strain difference fluctuation reference value is beta m The strain difference full reference value is beta.

[0059] Compared with the prior art, the present application has the following beneficial effects:

[0060] During the loading process, the working device part only needs to operate the boom to lift or lower, greatly reducing the operation difficulty of loading and lowering the operation threshold; during the loading process, the bucket automatically adjusts the bucket closing angle according to the boom position information, ensuring the full bucket rate; during the transfer process, the bucket automatically keeps the upper surface of the bucket side plate horizontal in real time according to the boom position information, avoiding material scattering during transportation, reducing the driver's energy input and saving operation time; to determine the working stage of the loader, thereby giving the correct positional relationship between the boom and the bucket, the present application provides two sets of main and sub decision conditions, when the main decision condition fails, the sub decision condition is started, improving the accuracy and stability of the working stage determination. When automatically adjusting the bucket closing angle, different closing speeds can be given to the bucket according to different materials, the material can be closed faster for loose and light materials to improve work efficiency, and the material can be closed slower for compact and heavy materials to avoid pressure caused by not being able to shovel; the operation handle part of the present patent still uses the existing pilot handle, without modification, reducing the cost, and the operation is similar to the existing vehicle operation, only the bucket operation is simplified, reducing the learning cost. BRIEF DESCRIPTION OF DRAWINGS

[0061] Figure 1 is a loading process exploded view;

[0062] Figure 2 is a schematic view of the installation structure of the auxiliary operating device of the loader;

[0063] Figure 3 is the schematic diagram of the operation handle operation direction;

[0064] Figure 4 is the schematic diagram of the bucket structure;

[0065] Figure 5 is the logical thinking diagram of the auxiliary operation;

[0066] Figure 6 is the logical diagram of the main decision condition;

[0067] Figure 7 is the logical diagram of the auxiliary decision condition;

[0068] In the drawings, 1 is the whole machine electric control system; 2 is the operation handle; 21 is the unloading button; 22 is the handle push rod; 3 is the bucket oil cylinder; 4 is the first sensor; 5 is the first shaft pin; 61 is the upper strain gauge; 62 is the lower strain gauge; 7 is the bucket; 71 is the upper side of the side plate; 72 is the blade plate; 8 is the boom; 9 is the second shaft pin; 10 is the second sensor; 11 is the boom oil cylinder; 12 is the electromagnetic valve. DETAILED DESCRIPTION

[0069] In order to make the personnel in the art better understand the technical solutions of the present application, the technical solutions of the present application will be described clearly and completely below in combination with the drawings of the present application. The direction words mentioned in the following examples, such as “upper”, “lower”, “left”, “right” and the like, are only the directions of the drawings, and therefore, the direction words used are used for illustration and not for limiting the present application.

[0070] As shown in Figures 1-7 , a loader comprises a frame, a movement assembly, a cab, a connecting arm assembly, a bucket 7 and a whole machine electric control system 1 for controlling the movement of the whole machine, the connecting arm assembly comprising a boom 8, a boom oil cylinder 11, a bucket oil cylinder 3, a transmission rod and a connecting rod; the inner end of the boom oil cylinder 11 is hinged to the frame, and the outer end is hinged to the bottom of the boom 8 through a second shaft pin; the inner end of the boom 8 is hinged to the frame, and the outer end is hinged to the bucket 7; the bucket oil cylinder 3 is hinged to the frame; the transmission rod is hinged to the boom 8; the inner end of the transmission rod is connected to the output end of the bucket oil cylinder 3 through a first shaft pin 5, and the outer end is hinged to the connecting rod, and the other end of the connecting rod is hinged to the bucket 7; the boom oil cylinder 11 is provided with a second sensor 10 for detecting the elongation of the boom 8; the bucket oil cylinder 3 is provided with a first sensor 4 for detecting the elongation of the bucket oil cylinder 3; the upper and lower sides of the boom 8 are respectively provided with an upper strain gauge 61 and a lower strain gauge 62 for identifying the load state, and a half-bridge is connected; when the weight in the bucket 7 changes, the difference between the upper strain gauge 61 and the lower strain gauge 62 will change; when the load is empty, the stress difference is the smallest; when the load is full, the stress difference is the largest.

[0071] Preferably, the second sensor 10, the first sensor 4 and the outer surfaces of the upper strain gauge 61 and the lower strain gauge 62 are provided with protective covers to protect the sensors from being hit by materials.

[0072] Further, the second sensor 10 and the first sensor 4 are displacement sensors.

[0073] Further, the whole machine electric control system 1 comprises a controller, an electromagnetic valve 12 for controlling oil supply of the oil cylinder and an operation handle 2 for controlling complete set operation, forward and backward pushing of the operation handle 2 can control lifting and lowering of the boom 8, left and right pushing can control in-retraction and out-retraction of the bucket 7; the operation handle 2, the electromagnetic valve 12, the second sensor 10, the first sensor 4, the upper strain gauge 61 and the lower strain gauge 62 are electrically connected to the controller; the operation handle 2 comprises a discharging button 21 and a handle push rod 22; the whole machine electric control system 1 can collect displacement of the bucket 7 and the boom oil cylinder 11, stress of the upper strain gauge 61 and the lower strain gauge 62 in real time, can also acquire vehicle information such as vehicle forward direction, engine speed and load rate through CAN protocol, can process, store and send the acquired information, and can control actions of the boom 8 and the bucket 7 by controlling the electromagnetic valve 12.

[0074] A loader operation method based on the aforementioned loader, the whole machine electric control system 1 comprises an auxiliary driving mode, the auxiliary driving mode is provided with three actions;

[0075] Action 1: the bucket 7 is turned over until the blade plate 72 of the bucket 7 is horizontal, and CL=C is kept, CL is the length of the bucket oil cylinder 3, C is the length of the bucket oil cylinder 3 when the blade plate 72 of the bucket 7 is horizontal, and C is a fixed value;

[0076] Action 2: the boom 8 is gradually lifted, the bucket 7 is gradually retracted, and one-to-one correspondence between the two is kept, i.e. ,

[0077] when the bucket 7 is empty, the length of the bucket oil cylinder 3 at the ith moment is when the bucket 7 is full, the length of the boom oil cylinder 11 at the ith moment is

[0078] Action 3: the bucket 7 is turned over until the upper surface of the side plate of the bucket 7 is horizontal, and one-to-one correspondence between the two is kept, i.e. ,

[0079] when the bucket 7 is empty, the length of the bucket oil cylinder 3 at the ith moment is when the bucket 7 is full, the length of the boom oil cylinder 11 at the ith moment is

[0080] the auxiliary driving mode is started by controlling the operation handle 2;

[0081] comprises the following steps:

[0082] S1, the whole machine electric control system 1 starts to collect the information of the vehicle forward direction, the material weight in the bucket 7, the length DL of the boom cylinder 11, and the length CL of the bucket cylinder 3;

[0083] S2, judge the current state information of the whole machine;

[0084] S3, execute automatic operation according to the current state information of the whole machine

[0085] S31, if empty, execute action 1;

[0086] S32, if not empty, judge whether it is in the process of shoveling material, if yes, execute action 2;

[0087] S321, if not in the process of shoveling material, judge whether it is full, if yes, execute action 3;

[0088] S3211, if not full, do not execute operation;

[0089] The working device part operation of the whole process of shoveling and loading is completed by one operating rod, in most cases, only the action of the boom 8 is controlled, the shoveling and loading can be realized, the full bucket rate and no material scattering of loading operation are ensured, and the operation difficulty of the operator is reduced.

[0090] The above C, CL, , , , are introduced in the design stage, and the data sources are the skilled worker shoveling and loading operation data collected by the designers under different material working conditions.

[0091] The operator can select the heavy load, medium load, and light load auxiliary driving modes according to different types of materials, different auxiliary driving modes affect the slow inward speed of the bucket 7 in the process of shoveling material, and do not affect the horizontal of the blade 72 or the upper side plate of the bucket 7 in the empty load and full load.

[0092] Further, in step S2, the length change relationship of the bucket cylinder 3 and the boom cylinder 11 at the front and rear time is deduced reversely as the main judgment condition by decomposing the shoveling and loading process.

[0093] The shoveling and loading process is divided into: empty load forward, shoveling material, full load backward, full load forward, unloading, and empty load backward, of which the empty load forward and empty load backward belong to empty load, and the full load backward and full load forward belong to full load;

[0094] Empty load forward: the current gear is forward gear, the length of the boom cylinder 11 is the smallest, and basically remains unchanged, and the boom cylinder 11 satisfies the following relationship:

[0095] 0.8DL min≤ DL ≤ 1.2DL min ;

[0096] Loading: the previous process is empty forward, the current gear is forward, the boom cylinder 11 is slowly extended, the boom cylinder 11 length gradually increases, and the following relationship is met:

[0097] DL i+1 -DL i ≥ 0;

[0098] Full load backward: the previous process is loading, the current gear is backward, the boom cylinder 11 is extended, the boom cylinder 11 length gradually increases, and the following relationship is met:

[0099] DL i+1 -DL i ≥ 0;

[0100] Full load forward: the previous process is full load backward, the current gear is forward, the boom cylinder 11 is extended, the boom cylinder 11 length gradually increases, and the following relationship is met:

[0101] DL i+1 -DL i ≥ 0;

[0102] Unloading: the previous process is full load backward, the current gear is forward, the boom cylinder 11 is extended to the maximum, and the following relationship is met:

[0103] 0.8DL max ≤ DL ≤ 1.2DL max ;

[0104] Empty backward: the previous process is unloading, the current gear is backward, the boom cylinder 11 is retracted, the boom cylinder 11 length gradually decreases, and the following relationship is met:

[0105] DL i+1 -DL i < 0.

[0106] Finally, 0.8DL min ≤ DL ≤ 1.2DL min is condition 1, DL i+1 -DL i ≥ 0 is condition 2, and 0.8DL max ≤ DL ≤ 1.2DL max is condition 3; DL is the current boom cylinder 11 length, DL i+1 is the boom cylinder 11 length of the next process, DL i is the boom cylinder 11 length of the previous process, DL min is the preset minimum length of the boom cylinder 11 (the actual length will have a floating), and DL maxThe maximum length of the boom cylinder 11 is preset (the actual length will have a floating).

[0107] Further, in step S2, when the main decision condition cannot be determined, the difference value change of the strain gauge is used as a secondary decision condition.

[0108] Further, the secondary decision condition is deduced reversely through the working state:

[0109] No load: the bucket 7 is empty, the difference value of the strain gauge on the boom 8 (i.e. the difference value of the upper strain gauge 61 and the lower strain gauge 62) is small, and the fluctuation of the difference value is also small, at this time:

[0110] ,

[0111] β is the measured difference value of the strain gauge, is the average value of the difference value of the strain gauge in the previous t time, β k is the no-load reference value of the difference value of the strain gauge, β b is the fluctuation reference value of the difference value of the strain gauge;

[0112] Full load: the bucket 7 is full, the difference value of the strain gauge on the boom 8 is large, but the fluctuation of the difference value is also small, at this time:

[0113] ,

[0114] β m is the full-load reference value of the difference value of the strain gauge;

[0115] Shovel material: the whole machine is in the forward gear, the weight of the material in the bucket 7 becomes large, and the fluctuation of the difference value of the strain gauge is large during the shovel material process, at this time:

[0116] ,

[0117] The above DL max , DL min , β k , β m , β b are introduced in the design stage, and the data sources are the shovel loading operation data collected by the designer under different working conditions.

[0118] When the second sensor 10, the first sensor 4, the upper strain gauge 61 and the lower strain gauge 62 and the like fail or are damaged, or the working condition is extremely special, the main decision condition and the secondary decision condition are all invalid, the length relationship between the boom cylinder 11 and the bucket cylinder 3 is not given, and the movements of the two are independent of each other, so as to protect the loader and the driver.

[0119] Finally, the conditions are obtained as follows: is condition 4, is condition 5, is condition 6, and finally, the decision method is as follows:

[0120] First, the main decision condition includes the following steps:

[0121] First, determine whether the gear is forward, if so, determine whether to meet the condition 1, if continue to meet the condition 1, the working phase is empty forward; If not meet the condition 1, determine whether to meet the condition 2, if meet the condition 2, determine whether the previous stage is empty forward, if so, the working phase is shovel material; If not empty forward, determine whether the previous stage is full backward, if so, the working phase is full forward, if not, enter the secondary decision condition;

[0122] If not meet the condition 1, then not meet the condition 2, determine whether to meet the condition 3, if so, the working phase is unloading, if not, enter the secondary decision condition;

[0123] Determine whether the gear is not forward, if so, determine whether to meet the condition 2, if so, determine whether the previous stage is shovel material, if so, the working phase is full backward, if not, enter the secondary decision condition;

[0124] Determine whether the gear is not forward, and then not meet the condition 2, determine whether the previous stage is unloading, if so, the working phase is empty backward, if not, enter the secondary decision condition.

[0125] Then, the secondary decision condition includes the following steps:

[0126] The β k , β m and β b are introduced, the β is collected and recorded in real time, and the average value of β in the previous t time is calculated ;

[0127] Determine whether to meet the condition 4, if so, output the current state is empty, if not, determine whether to meet the condition 5, if meet the condition 5, output the current state is full, if not meet the condition 5, determine whether to meet the condition 6, if meet the condition 6, output the current state is shovel material, if not meet the condition 6, determine failure, the bucket 7 and the boom 8 are independent of each other.

[0128] The driver's operation method is as follows:

[0129] Step 1: the vehicle is placed in the initial position, the bucket 7 is put down, and the blade plate 72 is placed horizontally, the forward gear is engaged, the auxiliary driving mode is clicked, and then the accelerator pedal is stepped down, and the vehicle advances.

[0130] Step 2: the bucket 7 contacts the material, the accelerator pedal is stepped down, and the handle 2 is slowly pulled back, the vehicle slowly advances and the boom 8 slowly lifts, at this time the bucket 7 automatically slowly retracts to the horizontal surface above the bucket 7 side plate, ensuring the full bucket rate.

[0131] Step 3: The material fills the bucket 7, at this time the bucket 7 side plate upper surface is horizontal, then the reverse gear is engaged, the accelerator pedal is pressed, the operating handle 2 is pulled backward, the vehicle is backward and the boom 8 is lifted, at this time the bucket 7 automatically adjusts outwardly with the boom 8, and the bucket 7 side plate upper surface is always kept horizontal to ensure that the bucket 7 side plate upper surface is horizontal and no material is scattered;

[0132] Step 4: The vehicle returns to the initial position, the forward gear is engaged, the accelerator pedal is pressed, the operating handle 2 is continuously pulled backward, the vehicle is forward and the boom 8 is continuously lifted, at this time the bucket 7 still automatically adjusts outwardly with the boom 8, and the bucket 7 side plate upper surface is always kept horizontal to ensure that the bucket 7 side plate upper surface is horizontal and no material is scattered;

[0133] Step 5: The boom 8 is lifted to the highest point, the vehicle reaches the unloading position, at this time the unloading button 21 on the handle (or the operating handle 2 is pushed rightward) is clicked, the bucket 7 is outwardly turned, and the unloading is started, at this time the vehicle is stationary;

[0134] Step 6: The unloading is completed, the reverse gear is engaged, the accelerator pedal is pressed, the operating handle 2 is pushed forward, at this time the vehicle is backward, the boom 8 is lowered, and the bucket 7 is automatically followed to the position that the blade 72 of the bucket 7 is parallel to the ground.

[0135] Step 7: The initial position is reached, the forward gear is engaged, the accelerator pedal is pressed forward, the operating handle 2 is pushed forward, and the boom 8 is lowered, at this time the bucket 7 is automatically adjusted, and the blade 72 is kept in the horizontal state.

[0136] Step 8: Step 2 is performed.

[0137] The loader in the patent has two modes of normal operation mode and auxiliary operation mode, and the normal operation mode is the same as the normal loader, which will not be described here.

[0138] Except that the unloading button 21 needs to be pressed or the operating handle 2 needs to be pushed rightward during unloading, during the other loading process, only the boom 8 needs to be lifted or lowered, which greatly reduces the operation difficulty of loading and reduces the operation threshold.

[0139] During the loading process, the bucket 7 automatically adjusts the inner angle of the bucket 7 according to the position information of the boom 8, which ensures the full bucket rate; during the transfer process, the bucket 7 automatically keeps the bucket 7 side plate upper surface horizontal in real time according to the position information of the boom 8, which avoids material scattering during transportation, reduces the energy input of the driver, and saves the operation time.

[0140] In order to determine the working stage of the loader, so as to give the correct position relationship of the boom 8 and the bucket 7, the present application provides two sets of main and auxiliary decision conditions, when the main decision condition is invalid, the auxiliary decision condition is started, which improves the accuracy and stability of the working stage determination. When automatically adjusting the inboard angle of the bucket 7, according to different materials, different inboard speeds of the bucket 7 can be given, the loose and light material can be collected faster to improve the work efficiency, and the compact and heavy material can be collected slower to avoid the pressure caused by the bucket not moving.

[0141] The operation handle 2 part of the present application still uses the existing pilot handle, without modification, which reduces the cost, and the operation is similar to the existing vehicle operation, only the operation of the bucket 7 is simplified, which reduces the learning cost.

Claims

1. A loader operation method characterized by, The loader comprises a frame, a movement assembly, a cab, a connecting arm assembly, a bucket (7) and a whole machine electric control system (1) for controlling movement of the whole machine, the connecting arm assembly comprising a boom (8), a boom cylinder (11), a bucket cylinder (3), a transmission rod and a connecting rod; the boom cylinder (11) is provided with a second sensor (10) for detecting an elongation of the boom (8), the bucket cylinder (3) is provided with a first sensor (4) for detecting an elongation of the bucket cylinder (3), and the boom (8) is provided with an upper strain gauge (61) and a lower strain gauge (62) on the upper and lower sides of the boom (8) respectively for identifying a load state; the whole machine electric control system (1) comprises a controller and an operation handle (2) for controlling complete set operation, and the operation handle (2), the second sensor (10), the first sensor (4), the upper strain gauge (61) and the lower strain gauge (62) are electrically connected to the controller. The whole machine electric control system (1) comprises an auxiliary driving mode, and the auxiliary driving mode is provided with three actions. Action 1: the bucket (7) is turned over until a blade plate (72) of the bucket (7) is horizontal, and CL=C, wherein CL is a length of the bucket cylinder (3), and C is a length of the bucket cylinder (3) when the blade plate (72) of the bucket (7) is horizontal, and C is a fixed value. Action 2: The boom (8) is gradually raised, the bucket (7) is gradually retracted, and they are one-to-one corresponding, that is , is the length of the bucket cylinder (3) at the i-th moment when the material is being scooped, is the length of the boom cylinder (11) at the i-th moment when the material is being scooped; Action 3: The bucket (7) is turned over until the side plate upper surface (71) of the bucket (7) is horizontal, and the two are kept one-to-one correspondence, that is , is the length of the bucket cylinder (3) at the ith moment when the bucket is full of material, is the length of the boom cylinder (11) at the ith moment when the bucket is full of material; The auxiliary driving mode is started by controlling the operation handle (2). The method comprises the following steps. S1: the whole machine electric control system (1) starts to collect information of a vehicle forward direction, a weight of materials in the bucket (7), a length DL of the boom cylinder (11) and a length CL of the bucket cylinder (3); S2: a current state information of the whole machine is judged; A length change relationship of the bucket cylinder (3) and the boom cylinder (11) at different times is reversely deduced as a main decision condition by decomposing a process of loading materials by the bucket, and a difference change of the strain gauges is used as a secondary decision condition when the main decision condition cannot be judged. S3: automatic operation is executed according to the current state information of the whole machine. S31: if empty, action 1 is executed. S32: if not empty, it is judged whether the bucket (7) is in the process of loading materials, if yes, action 2 is executed. S321: if not in the process of loading materials, it is judged whether the bucket (7) is full, if yes, action 3 is executed. S3211: if not full, no operation is executed.

2. The loader operation method of claim 1, wherein, The inner end of the boom cylinder (11) is hinged to the frame, the outer end is hinged to the bottom of the boom (8), the inner end of the boom (8) is hinged to the frame, and the outer end is hinged to the bucket (7); the bucket cylinder (3) is hinged to the frame, the transmission rod is hinged to the boom (8), the inner end of the transmission rod is hinged to the output end of the bucket cylinder (3), the outer end is hinged to the connecting rod, and the other end of the connecting rod is hinged to the bucket (7).

3. The loader operation method of claim 1, wherein, The second sensor (10) and the first sensor (4) are displacement sensors, gyroscopes or angle sensors.

4. The loader operation method of claim 1, wherein, The whole machine electric control system (1) further comprises an electromagnetic valve (12) for controlling oil supply of the cylinder, and the electromagnetic valve (12) is electrically connected to the controller.

5. The loader operation method according to any one of claims 1 to 4, characterized in that, The process of loading materials by the bucket comprises the following six processes: empty forward, loading materials, full backward, full forward, unloading and empty backward, wherein the empty forward and the empty backward belong to empty, and the full backward and the full forward belong to full. DL is the current boom cylinder (11) length, DL i+1 DL is the next process boom cylinder (11) length, DL i DL is the previous process boom cylinder (11) length, DL min DL is the preset boom cylinder (11) minimum length, DL max DL is the preset boom cylinder (11) maximum length; Empty forward: the current gear is forward, the boom cylinder (11) length is minimum, and it is basically kept unchanged, and the boom cylinder (11) satisfies the following relationship: 0.8DL min ≤ DL ≤ 1.2DL min ; Shoveling: the previous process is empty forward, the current gear is forward, the boom cylinder (11) slowly extends, the boom cylinder (11) length gradually increases, and the following relationship is satisfied: DL i+1 -DL i ≥0; Full load backward: the previous process is shoveling, the current gear is backward, the boom cylinder (11) extends, the boom cylinder (11) length gradually increases, and the following relationship is satisfied: DL i+1 -DL i ≥0; Full load forward: the previous process is full load backward, the current gear is forward, the boom cylinder (11) extends, the boom cylinder (11) length gradually increases, and the following relationship is satisfied: DL i+1 -DL i ≥0; Unloading: the previous process is full load backward, the current gear is forward, the boom cylinder (11) extends to the maximum, and the following relationship is satisfied: 0.8DL max ≤ DL ≤ 1.2DL max ; Empty backward: the previous process is unloading, the current gear is backward, the boom cylinder (11) retracts, the boom cylinder (11) length gradually decreases, and the following relationship is satisfied: DL i+1 -DL i <0.

6. The loader operation method according to any one of claims 1 to 4, characterized in that, 0.8DL min ≤DL≤1.2DL min is condition 1, DL i+1 -DL i ≥0 is condition 2, 0.8DL max ≤DL≤1.2DL max is condition 3; DL is the current boom cylinder (11) length, DL i+1 is the boom cylinder (11) length of the next process, DL i is the boom cylinder (11) length of the previous process, DL min is the preset boom cylinder (11) minimum length, DL max is the preset boom cylinder (11) maximum length; The main decision condition comprises the following steps: Firstly, it is judged whether the gear is forward, if yes, it is judged whether condition 1 is satisfied, if condition 1 is continuously satisfied, the working stage is empty forward; if condition 1 is not satisfied, it is judged whether condition 2 is satisfied, if condition 2 is satisfied, it is judged whether the previous stage is empty forward, if yes, the working stage is shoveling; if it is not empty forward, it is judged whether the previous stage is full load backward, if yes, the working stage is full load forward, if not, the secondary decision condition is entered; If condition 1 is not satisfied, and then condition 2 is not satisfied, it is judged whether condition 3 is satisfied, if yes, the working stage is unloading, if not, the secondary decision condition is entered; If the gear is not forward, it is judged whether condition 2 is satisfied, if yes, it is judged whether the previous stage is shoveling, if yes, the working stage is full load backward, if not, the secondary decision condition is entered; If the gear is not forward, and then condition 2 is not satisfied, it is judged whether the previous stage is unloading, if yes, the working stage is empty backward, if not, the secondary decision condition is entered.

7. The loader operation method according to any one of claims 1 to 4, characterized by, The secondary decision condition is deduced reversely through the working state: Empty: the bucket (7) is empty, the strain gauge difference on the boom (8) is small, and the difference fluctuation is also small, at this time: ， β is the measured strain gauge difference value, β is the average value of the strain gauge difference value within the previous t time, k β is the strain gauge difference value reference value under no load, b β is the strain gauge difference value fluctuation reference value; Full load: the bucket (7) is full, the strain gauge difference on the boom (8) is large, but the difference fluctuation is also small, at this time: ， β m β is the difference between the full load reference value of the strain gauge and the full load reference value of the strain gauge difference. Shoveling: the whole machine is in forward gear, the strain gauge difference fluctuation is large during the bucket (7) shoveling, at this time: 。 8. The loader operation method according to any one of claims 1 to 4, characterized in that, Condition 4 is that Condition 5 is that Condition 6 is that the sub-decision condition includes the following steps: β k , β m and β b were introduced, β was collected and recorded in real time, and the average value of β within the first t time was calculated ; It is judged whether condition 4 is satisfied, if yes, the current state is output as empty, if not, it is judged whether condition 5 is satisfied, if condition 5 is satisfied, the current state is output as full load, if condition 5 is not satisfied, it is judged whether condition 6 is satisfied, if condition 6 is satisfied, the current state is output as shoveling, if condition 6 is not satisfied, it is judged as failure, the bucket (7) and the boom (8) are independent of each other; β is the measured strain gauge difference value, β is the average value of the strain gauge difference value within the previous t time, k β is the strain gauge difference value reference value under no load, b β is the strain gauge difference value reference value under fluctuation, m β is the strain gauge difference value reference value under full load.

9. The loader operation method according to any one of claims 1 to 4, characterized by, From the initial position, the driver operation steps comprise: Step 1: The vehicle is placed in the initial position, the bucket (7) is lowered, and its blade (72) is placed horizontally, the forward gear is engaged, the auxiliary driving mode is clicked, and then the accelerator pedal is stepped on, and the vehicle is driven forward; Step 2: After the bucket (7) contacts the material, the accelerator pedal is stepped on lightly, and the operating handle (2) is slowly pulled backward, the vehicle is slowly driven forward, and the boom (8) is slowly lifted, at this time the bucket (7) is automatically slowly retracted to the horizontal position of the side plate (71) of the bucket (7), ensuring the full bucket rate; Step 3: The material fills the bucket (7), at this time the side plate (71) of the bucket (7) is horizontal, then the reverse gear is engaged, the accelerator pedal is stepped on, and the operating handle (2) is pulled backward, so that the vehicle is driven backward while the boom (8) is lifted, at this time the bucket (7) automatically adjusts the outward turning of the bucket (7) following the boom (8), and the side plate (71) of the bucket (7) is always kept horizontal to ensure that the side plate (71) of the bucket (7) is horizontal without spilling material; Step 4: The vehicle returns to the initial position, the forward gear is engaged, the accelerator pedal is stepped on, and the operating handle (2) is continuously pulled backward, so that the vehicle is driven forward while the boom (8) is continuously lifted, at this time the bucket (7) still automatically adjusts the outward turning of the bucket (7) following the boom (8), and the side plate (71) of the bucket (7) is always kept horizontal to ensure that the side plate (71) of the bucket (7) is horizontal without spilling material; Step 5: The boom (8) is lifted to the highest point, the vehicle reaches the unloading position, at this time the unloading button (21) on the handle is clicked or the operating handle (2) is pushed right, the bucket (7) is turned outward, and unloading begins, at this time the vehicle is stationary; Step 6: After unloading is completed, the reverse gear is engaged, the accelerator pedal is stepped on, and the operating handle (2) is pushed forward, at this time the vehicle is driven backward, the boom (8) is lowered, and the bucket (7) is automatically followed to the position where the blade (72) of the bucket (7) is parallel to the ground; Step 7: The initial position is reached, the forward gear is engaged, the accelerator pedal is stepped on to drive forward, and the operating handle (2) is pushed forward, the boom (8) is lowered, at this time the bucket (7) is automatically adjusted, and the blade (72) is kept in a horizontal state; Step 8: Step 2 is performed.

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