Working device, loader and working device control method

Abstract

The present invention belongs to the technical field of engineering machinery, and discloses a working device, a loader, and a working device control method. The working device includes a working bucket, a lifting mechanism, a bucket rotating mechanism, and a drive system. The working bucket is configured to shovel materials; the lifting mechanism is connected to the working bucket and is configured to lift the working bucket; the bucket rotating mechanism is connected to the working bucket and is configured to rotate the working bucket. The drive system includes a bucket rotating electric drive subsystem, a lifting hydraulic drive subsystem, and an oil replenishment subsystem. The bucket rotating electric drive subsystem is electrically connected to the bucket rotating mechanism and is configured to drive the bucket rotating mechanism to move; the lifting hydraulic drive subsystem is connected to the lifting mechanism and is configured to drive the lifting mechanism to move; and the oil replenishment subsystem is configured to replenish oil to the lifting hydraulic drive subsystem. The working device can realize the rational utilization of energy during the working bucket lifting process and the working bucket rotation process, and save energy.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering machinery, and in particular to a working device, a loader and a working device control method. Background Art

[0002] A loader is a type of earthmoving machinery widely used in construction projects such as highways, railways, buildings, hydropower stations, ports, and mines. It is primarily used for loading bulk materials such as soil, sand, gravel, lime, and coal, and can also perform light excavation of ore and hard soil. The loader's working mechanism performs the primary operations within the loader, including loading, lifting, and lowering.

[0003] Existing loader working device drive systems primarily utilize valve-controlled hydraulic systems. The mechanisms for lifting and rotating the bucket are both controlled by hydraulic systems. Because the lifting system, used to lift the bucket, has high load characteristics, while the rotating system, used to rotate the bucket, has low load characteristics, using hydraulic systems to control both systems can lead to irrational energy distribution and energy waste.

[0004] Therefore, there is an urgent need for a working device, a loader and a working device control method to solve the above problems. Summary of the Invention

[0005] According to one aspect of the present invention, an object is to provide a working device that can achieve reasonable utilization of energy during the lifting and rotating processes of the working bucket and save energy.

[0006] To achieve this object, the present invention adopts the following technical solutions:

[0007] Working device, including:

[0008] A working bucket configured to shovel and load materials;

[0009] a lifting mechanism connected to the working bucket and configured to lift the working bucket;

[0010] a bucket rotating mechanism, connected to the working bucket and configured to rotate the working bucket;

[0011] The drive system includes a bucket electric drive subsystem, a lifting hydraulic drive subsystem and an oil replenishment subsystem. The bucket electric drive subsystem is electrically connected to the bucket mechanism and is configured to drive the bucket mechanism to move. The lifting hydraulic drive subsystem is connected to the lifting mechanism and is configured to drive the lifting mechanism to move. The oil replenishment subsystem is configured to replenish oil to the lifting hydraulic drive subsystem.

[0012] As a preferred solution of the working device provided by the present invention, the bucket rotating mechanism includes an actuator and a push rod, the push rod is coaxially arranged on the actuator, and the two ends of the push rod can extend from the two ends of the actuator respectively;

[0013] The working device also includes a fixed bracket, one end of the push rod is rotatably arranged on the fixed bracket, and the other end of the push rod is transmission-connected to the working bucket. The push rod moves along the axial direction of the actuator to drive the working bucket to rotate.

[0014] As a preferred solution of the working device provided by the present invention, the drive system further includes an electrically connected power supply and a driver;

[0015] The bucket electric drive subsystem includes a bucket motor, which is electrically connected to the bucket mechanism and the driver. The driver can control the bucket motor, and the bucket motor can drive the bucket mechanism to move.

[0016] As a preferred embodiment of the working device provided by the present invention, the lifting mechanism includes a lifting hydraulic cylinder and a lifting cylinder rod, wherein the lifting cylinder rod is arranged in the lifting hydraulic cylinder, and the lifting cylinder rod extends unidirectionally from the lifting hydraulic cylinder and is connected to the working bucket;

[0017] The inner space of the lifting hydraulic cylinder is connected to the lifting hydraulic drive subsystem, and the lifting hydraulic drive subsystem is configured to provide hydraulic oil to the lifting hydraulic cylinder.

[0018] As a preferred embodiment of the working device provided by the present invention, the lifting hydraulic drive subsystem includes a lifting hydraulic pump and an oil tank, the first oil discharge port and the second oil discharge port of the lifting hydraulic pump are respectively connected to the rod chamber and the rodless chamber of the lifting hydraulic cylinder, and the lifting hydraulic pump is configured to pressurize the oil from the oil tank to form hydraulic oil, and supply it to the lifting hydraulic cylinder.

[0019] As a preferred solution of the working device provided by the present invention, an overflow component is arranged between the first oil circuit between the first oil drain port and the rod chamber and the second oil circuit between the second oil drain port and the rodless chamber, and the hydraulic oil in the first oil circuit and the hydraulic oil in the second oil circuit can flow with each other through the overflow component.

[0020] As a preferred embodiment of the working device provided by the present invention, the lifting hydraulic drive subsystem also includes an accumulator, which is connected to the third oil discharge port of the lifting hydraulic pump and connected to the lifting hydraulic cylinder. The accumulator can temporarily store excess hydraulic oil in the lifting hydraulic pump and supply it to the lifting hydraulic cylinder.

[0021] As a preferred solution of the working device provided by the present invention, a speed regulating valve is provided between the third oil discharge port and the accumulator, and the speed regulating valve can regulate the flow rate of the hydraulic oil flowing from the lifting hydraulic pump to the accumulator.

[0022] As a preferred embodiment of the working device provided by the present invention, the oil replenishment subsystem includes an oil replenishment hydraulic pump and an oil replenishment motor. The oil replenishment motor is connected to the oil replenishment hydraulic pump and can control the operation of the oil replenishment hydraulic pump. The oil replenishment hydraulic pump is connected to the oil tank and the lifting hydraulic pump. The oil replenishment hydraulic pump is configured to supply oil from the oil tank to the lifting hydraulic pump.

[0023] As a preferred solution of the working device provided by the present invention, the oil replenishment subsystem also includes an oil replenishment overflow valve, which is arranged between the oil replenishment hydraulic pump and the oil tank and is configured to guide excess hydraulic oil flowing out of the oil replenishment hydraulic pump to the oil tank.

[0024] According to another aspect of the present invention, the object is to provide a loader, which includes a cab body, a transfer device and a working device as described in any one of the above schemes, the transfer device is arranged on the cab body and is configured to drive the cab body to move, and the working device is arranged on the cab body.

[0025] According to another aspect of the present invention, a method for controlling a working device is provided, wherein the method is performed based on the working device according to any one of the above-mentioned solutions; the lifting mechanism includes a lifting hydraulic cylinder and a lifting cylinder rod that are coaxial and relatively movable; the lifting hydraulic drive subsystem also includes a lifting motor, a lifting hydraulic pump, and an accumulator; the lifting motor is connected to the lifting hydraulic pump and is capable of controlling the operation of the lifting hydraulic pump;

[0026] The accumulator is connected to the lifting hydraulic pump and the lifting hydraulic cylinder, and can temporarily store excess hydraulic oil in the lifting hydraulic pump and supply it to the lifting hydraulic cylinder;

[0027] The working device control method includes:

[0028] S10, obtaining a displacement error of the lifting hydraulic cylinder, where the displacement of the lifting hydraulic cylinder is a relative displacement between the lifting cylinder rod and the lifting hydraulic cylinder;

[0029] S20, identifying the working state of the accumulator. When the actual flow rate of the accumulator is less than the flow rate threshold, proceed to steps S30 and S40 in sequence; otherwise, proceed directly to step S40;

[0030] S30, regulating the flow rate of the hydraulic oil from the lifting hydraulic pump to the accumulator;

[0031] S40, obtaining the speed adjustment value of the lifting motor. If the speed adjustment value is less than or equal to the lifting speed adjustment threshold, proceed to S50 and S60 in sequence; otherwise, proceed to S70;

[0032] S50, obtaining a rotation speed correction value of the lifting motor;

[0033] S60, obtaining the actual displacement value of the lifting hydraulic cylinder;

[0034] S70, replenishing oil to the lifting hydraulic drive subsystem;

[0035] S80: Adjust the position of the working bucket.

[0036] Beneficial effects of the present invention:

[0037] The working device provided by the present invention includes a working bucket, a lifting mechanism, a bucket rotating mechanism, and a drive system. The working bucket is configured to shovel materials; the lifting mechanism is connected to the working bucket and configured to lift the working bucket; and the bucket rotating mechanism is connected to the working bucket and configured to rotate the working bucket. The drive system includes a bucket rotating electric drive subsystem, a lifting hydraulic drive subsystem, and an oil replenishment subsystem. The bucket rotating electric drive subsystem is electrically connected to the bucket rotating mechanism and configured to drive the bucket rotating mechanism to operate; the lifting hydraulic drive subsystem is connected to the lifting mechanism and configured to drive the lifting mechanism to operate; and the oil replenishment subsystem is configured to replenish oil to the lifting hydraulic drive subsystem. In other words, when driving a bucket rotating mechanism with a lower load, utilizing the bucket rotating electric drive subsystem can improve efficiency and save energy. When driving a lifting mechanism with a higher load, utilizing the lifting hydraulic drive subsystem can ensure normal and stable lifting operations and achieve rational energy utilization. Utilizing the oil replenishment subsystem can ensure stable operation of the lifting mechanism.

[0038] The loader provided by the present invention uses the working device provided by the present invention to shovel, lift and transport materials, etc., which can achieve rational use of energy.

[0039] The working device control method provided by the present invention is performed based on the working device provided by the present invention to achieve reasonable control of the working state of the loader. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a structural schematic diagram of a loader provided by an embodiment of the present invention;

[0041] Figure 2 It is a partial structural diagram of a loader provided by an embodiment of the present invention;

[0042] Figure 3 It is a partial schematic diagram of a working device provided by an embodiment of the present invention.

[0043] In the picture:

[0044] 10. Cab body; 20. Transfer device; 30. Loader chassis;

[0045] 100. Work bucket;

[0046] 200, lifting mechanism; 210, lifting hydraulic cylinder; 220, lifting cylinder rod; 221, lifting rotating connection end;

[0047] 300, bucket mechanism; 310, actuator; 320, push rod; 321, first rotating connection end; 322, second rotating connection end; 330, reducer;

[0048] 400, drive system; 410, bucket electric drive subsystem; 411, bucket motor; 420, lift hydraulic drive subsystem; 421, lift hydraulic pump; 4211, first oil drain port; 4212, second oil drain port; 4213, third oil drain port; 422, oil tank; 423, overflow assembly; 4231, first overflow valve; 4232, second overflow valve; 424, accumulator; 425, speed control valve; 426, lift motor; 427, first check valve; 430, oil replenishment subsystem; 431, oil replenishment hydraulic pump; 432, oil replenishment motor; 433, oil replenishment overflow valve; 440, power supply; 450, driver; 461, second check valve; 462, third check valve;

[0049] 500, fixed bracket; 510, first upper hinge portion; 520, lower hinge portion; 530, second upper hinge portion;

[0050] 610, rocker arm; 620, connecting rod;

[0051] 700. Boom; 710. Boom articulation. DETAILED DESCRIPTION

[0052] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all structures.

[0053] In the description of the present invention, unless otherwise expressly specified or limited, the terms "connected," "connected," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention in specific circumstances.

[0054] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0055] In the description of this embodiment, terms such as "upper," "lower," "right," and "left" are used to refer to positions or locations based on those shown in the accompanying drawings. These terms are intended solely to facilitate description and simplify operation, and are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used solely for descriptive purposes and have no special meaning.

[0056] Figure 1 It is a structural schematic diagram of a loader provided by an embodiment of the present invention; Figure 2 It is a partial structural diagram of a loader provided by an embodiment of the present invention; Figure 3 This is a partial schematic diagram of the working device provided by the embodiment of the present invention. Figure 1-Figure 3 , this embodiment provides a working device and a loader.

[0057] The loader comprises a cab body 10, a transfer device 20, a loader chassis 30, and the working device provided in this embodiment. The transfer device 20 is disposed at the bottom of the cab body 10 and is configured to drive the cab body 10 to move. The working device is disposed at the front end of the cab body 10 and is configured to shovel, lift, and transfer materials.

[0058] Specifically, the working device includes a working bucket 100, a lifting mechanism 200, a bucket rotating mechanism 300, a drive system 400, and a fixed bracket 500. The fixed bracket 500 is arranged at the front end of the cab body 10 and is used as an installation reference for the working bucket 100, the lifting mechanism 200, the bucket rotating mechanism 300, etc. The working bucket 100 is configured to shovel materials. The lifting mechanism 200 is connected between the working bucket 100 and the fixed bracket 500 and is configured to lift the working bucket 100. The bucket rotating mechanism 300 is connected between the working bucket 100 and the fixed bracket 500 and is configured to rotate the working bucket 100. A portion of the drive system 400 is arranged on the loader chassis 30 and is configured to drive the bucket rotating mechanism 300 to operate and drive the lifting mechanism 200 to operate.

[0059] Reference Figure 1-Figure 3 The bucket rotating mechanism 300 includes an actuator 310 and a push rod 320. The push rod 320 is coaxially mounted on the actuator 310, and its two ends are capable of extending out of the actuator 310. One end of the push rod 320 is a first rotating connection end 321, which is rotatably mounted on the first upper hinge portion 510 of the fixed bracket 500. The other end of the push rod 320 is a second rotating connection end 322, which is connected to the working bucket 100 via a rocker arm 610 and a connecting rod 620 that are rotatably connected to each other. The push rod 320 moves along the axial direction of the actuator 310, driving the rocker arm 610 and the connecting rod 620 to rotate, thereby driving the working bucket 100 to rotate. The actuator 310 can specifically be an electromechanical linear actuator, which is a conventional technology. Its structure and principle are not described in detail in this embodiment. Through the above settings, it is possible to adapt to bucket rotation operations with lower loads, ensure the normal rotation of the working bucket 100, avoid the problem of serious overflow loss during the rotation control of the working bucket 100 using a hydraulic system, and avoid energy waste.

[0060] Specifically, the bucket mechanism 300 further includes a reducer 330 and a screw transmission mechanism, both of which are integrated into the actuator 310. A portion of the drive system 400 transmits power to the screw transmission mechanism through the reducer 330, thereby controlling the extension and retraction of the push rod 320.

[0061] Preferably, the bucket rotating mechanisms 300 are arranged in pairs and move synchronously, which can ensure the support performance of the working bucket 100 and ensure the stability and reliability of the working bucket 100 when rotating.

[0062] Continue to refer to Figure 1-Figure 3The lifting mechanism 200 includes a lifting hydraulic cylinder 210 and a lifting cylinder rod 220. The lifting cylinder rod 220 is disposed within the lifting hydraulic cylinder 210 and extends unidirectionally from the lifting hydraulic cylinder 210. Its lifting rotation connection end 221 is rotatably connected to the boom 700 via the boom hinge 710, and is then connected to the working bucket 100 through the boom 700. The bottom of the lifting hydraulic cylinder 210 is hinged to the lower hinge 520 of the fixed bracket 500. The ends of the boom 700 are rotatably connected to the second upper hinge 530 of the fixed bracket 500 and the working bucket 100, respectively. The center of the rocker arm 610 is rotatably connected to the side of the boom 700. The interior of the lifting hydraulic cylinder 210 is connected to a portion of the drive system 400, which supplies hydraulic oil to the lifting hydraulic cylinder 210.

[0063] Specifically, the lifting mechanisms 200 are arranged in pairs and move synchronously, which can ensure the support performance of the working bucket 100 and ensure the stability and reliability of the working bucket 100 when it is lifted or lowered.

[0064] Reference Figure 3 The drive system 400 includes a bucket electric drive subsystem 410, a lifting hydraulic drive subsystem 420, and an oil replenishment subsystem 430. The bucket electric drive subsystem 410 is electrically connected to the bucket mechanism 300, the lifting hydraulic drive subsystem 420 is connected to the lifting mechanism 200, and the oil replenishment subsystem 430 is configured to replenish oil to the lifting hydraulic drive subsystem 420.

[0065] The drive system 400 also includes an electrically connected power supply 440 and a driver 450. The bucket electric drive subsystem 410 includes a bucket motor 411. The bucket motor 411 is mounted on the loader chassis 30 and is electrically connected to the bucket mechanism 300 and the driver 450, and is also connected to the reducer 330. The driver 450 controls the bucket motor 411, which drives the bucket mechanism 300 to rotate via the reducer 330 and the screw transmission mechanism. The power supply 440 is configured to provide electrical energy to the driver 450.

[0066] The lift hydraulic drive subsystem 420 is configured to supply hydraulic oil to the lift hydraulic cylinder 210 and includes a lift hydraulic pump 421, a lift motor 426, and an oil tank 422. The lift motor 426 is mounted on the loader chassis 30, connected to the lift hydraulic pump 421, and communicatively connected to the driver 450, enabling operation of the lift hydraulic pump 421. The first and second oil discharge ports 4211, 4212 of the lift hydraulic pump 421 are connected to the rod chamber and rodless chamber of the lift hydraulic cylinder 210, respectively. The lift hydraulic pump 421 is configured to pressurize the oil from the oil tank 422 to form hydraulic oil, which is then supplied to the lift hydraulic cylinder 210.

[0067] Specifically, an overflow assembly 423 is provided between the first oil circuit between the first oil discharge port 4211 and the rod chamber, and the second oil circuit between the second oil discharge port 4212 and the rodless chamber. Hydraulic oil in the first oil circuit and the second oil circuit can flow through the overflow assembly 423. The overflow assembly 423 specifically includes a first overflow valve 4231 and a second overflow valve 4232, which are connected in parallel between the first and second oil circuits and are arranged opposite each other.

[0068] More specifically, the lift hydraulic drive subsystem 420 also includes an accumulator 424. The accumulator 424 is connected to the third oil discharge port 4213 of the lift hydraulic pump 421 and to the lift hydraulic cylinder 210. The accumulator 424 can temporarily store excess hydraulic oil in the lift hydraulic pump 421 and supply it to the lift hydraulic cylinder 210. The accumulator 424 is preferably a bladder-type accumulator integrated with a flow sensor for real-time flow monitoring of the accumulator 424.

[0069] More specifically, a first one-way valve 427 is provided on the oil path between the accumulator 424 and the oil tank 422 . The first one-way valve 427 is configured to prevent the hydraulic oil in the accumulator 424 from flowing back to the oil tank 422 .

[0070] More specifically, the accumulator 424 is selected based on the maximum and minimum pressures of the rod chamber and the rodless chamber of the lifting hydraulic cylinder 210. The capacity of the accumulator 424 is calculated as follows:

[0071]

[0072] 0.8p2≤p0≤0.85p2,

[0073] Among them, V0 is the inflation volume; ΔV is the volume of oil required to be released during operation, which is generally a known empirical value; p0 is the pre-charge pressure; p1 is the maximum pressure during operation, which can be obtained based on experience and the data of the lifting hydraulic cylinder 210; p2 is the minimum pressure during operation, which can also be obtained based on experience and the data of the lifting hydraulic cylinder 210; n is a variable index, whose value is determined by the working conditions of the gas, and n = 1.25 is generally recommended.

[0074] More specifically, a speed regulating valve 425 is provided between the third oil discharge port 4213 and the accumulator 424 . The speed regulating valve 425 can regulate the flow of the hydraulic oil from the lifting hydraulic pump 421 to the accumulator 424 .

[0075] Continue to refer to Figure 3 The oil replenishment subsystem 430 includes an oil replenishment hydraulic pump 431 and an oil replenishment motor 432. The oil replenishment motor 432 is mounted on the loader chassis 30, connected to the oil replenishment hydraulic pump 431, and communicatively connected to the driver 450. It is capable of controlling the operation of the oil replenishment hydraulic pump 431. The oil replenishment hydraulic pump 431 is connected to the oil tank 422 and the third oil discharge port 4213. It should be noted that during the oil replenishment process, the third oil discharge port 4213 can serve as the oil inlet of the lift hydraulic pump 421. The oil replenishment hydraulic pump 431 is configured to pump oil from the oil tank 422 to the lift hydraulic pump 421.

[0076] Specifically, the oil replenishment subsystem 430 further includes an oil replenishment relief valve 433 . The oil replenishment relief valve 433 is disposed between the oil replenishment hydraulic pump 431 and the oil tank 422 and is configured to guide excess hydraulic oil flowing out of the oil replenishment hydraulic pump 431 to the oil tank 422 .

[0077] More specifically, the drive system 400 further includes a second one-way valve 461 and a third one-way valve 462. The second one-way valve 461 is disposed between the first oil circuit and the oil tank 422 to prevent the hydraulic oil in the first oil circuit from flowing back into the oil tank 422. The third one-way valve 462 is disposed between the second oil circuit and the oil tank 422 to prevent the hydraulic oil in the second oil circuit from flowing back into the oil tank 422.

[0078] This embodiment also provides a working device control method. The working device control method is performed based on the working device provided in this embodiment. The working device control method includes the following steps:

[0079] S10 , obtaining a displacement error of the lifting hydraulic cylinder 210 , where the displacement of the lifting hydraulic cylinder 210 is the relative displacement between the lifting cylinder rod 220 and the lifting hydraulic cylinder 210 .

[0080] Specifically, the actual displacement of the lifting hydraulic cylinder 210 is obtained through a displacement sensor integrated on the lifting hydraulic cylinder 210 , and the theoretical displacement of the lifting hydraulic cylinder 210 is obtained through a mechanism model. The displacement error = actual displacement - theoretical displacement.

[0081] Specifically, step S10 includes the following steps:

[0082] S11. Obtain the flow rate of the lifting hydraulic pump 421. The theoretical speed of the lifting motor 426 is obtained using a speed sensor integrated into the lifting motor 426. The flow rate of the lifting hydraulic pump 421 is equal to the product of the theoretical speed of the lifting motor 426 and the displacement of the lifting hydraulic pump 421. The displacement of the lifting hydraulic pump 421 is known.

[0083] S12. Then, the theoretical displacement of the lifting hydraulic cylinder 210 is calculated and obtained. The calculation method is as follows:

[0084] When the lifting cylinder rod 220 is extended:

[0085]

[0086] Among them, s tl (t i ) is the theoretical displacement when the lifting cylinder rod 220 is extended; q tsl (t i ) is the flow rate of the lifting hydraulic pump 421; A1 is the effective shaft cross-sectional area of ​​the rodless cavity of the lifting hydraulic cylinder 210; n tl (t i ) is the theoretical speed of the lifting motor 426; V ts is the displacement of the lifting hydraulic pump 421.

[0087] When the lifting cylinder rod 220 is retracted:

[0088]

[0089] Among them, s tl (t i ) is the theoretical displacement when the lifting cylinder rod 220 is extended; q tsl (t i ) is the flow rate of the lifting hydraulic pump 421; A2 is the effective shaft cross-sectional area of ​​the rod cavity of the lifting hydraulic cylinder 210; n tl (t i ) is the theoretical speed of the lifting motor 426; V ts is the displacement of the lifting hydraulic pump 421.

[0090] S20, identifying the working state of the accumulator 424. When the actual flow rate of the accumulator 424 is less than the flow rate threshold, proceed to steps S30 and S40 in sequence; otherwise, proceed directly to step S40.

[0091] S30. By adjusting the opening of the speed regulating valve 425, the flow rate of the hydraulic oil from the lifting hydraulic pump 421 to the accumulator 424 is adjusted so that the flow rate of the third oil discharge port 4213 of the lifting hydraulic pump 421 and the flow rate of the first oil discharge port 4211 satisfy the following relationship:

[0092] q ben3 (t i )≤μ·q ben1 (t i ),

[0093] μ=0.6~0.8,

[0094] Among them, q ben3 (t i )≤ is the flow rate of the third oil outlet 4213; q ben1 (t i ) is the flow rate of the first oil discharge port 4211.

[0095] S40 , obtaining the speed adjustment value of the lifting motor 426 . If the speed adjustment value is less than or equal to the lifting speed adjustment threshold, then proceed to S50 and S60 in sequence; otherwise, proceed to S70 .

[0096] Specifically,

[0097] The speed adjustment value of the lifting motor 426 is obtained according to the feedback control law of the feedback controller in the lifting hydraulic drive subsystem 420. The calculation formula is as follows:

[0098] Δn tl (t i )=μ·f jszs (w1e sts (t i )+w2q ben3 (t i )),

[0099] Among them, Δn tl (t i ) is the speed adjustment value of the lifting motor 426; f jszs (·) is the feedback control law of the feedback controller; w1 and w2 are weighting factors, w1+w2=1; e sts (t i ) and q ben3 (t i ) are respectively the normalized values ​​of the displacement error of the lifting hydraulic cylinder 210 and the flow rate of the third oil outlet 4213, and the calculation method thereof is the prior art and will not be described in detail in this embodiment:

[0100] S50: Obtain the rotation speed correction value of the lifting motor 426. The rotation speed correction value can be expressed as:

[0101] n tsxz (t i )=n tl (t i )+Δn tl (t i ),

[0102] Among them, n tsxz (t i ) = the speed correction value of the lifting motor 426; = n tl (t i )+ is the theoretical speed of the lifting motor 426; Δn tl (t i ) is the speed adjustment value of the lifting motor 426.

[0103] S60: Obtain the actual displacement value of the lifting hydraulic cylinder 210. The actual displacement value can be expressed as:

[0104] s ts (t i+1 )=f wy2 (n tsxz (t i )),

[0105] Among them, f wy2 (·)=f wy1 (·)+ε is the model of the lifting hydraulic drive subsystem 420 , and ε is an influence factor used to characterize the hydraulic oil leakage and thermal impact of the lifting hydraulic drive subsystem 420 .

[0106] S70 , replenishing oil to the lifting hydraulic drive subsystem 420 .

[0107] Specifically, in steps S10-S70, the pressure P (t i );

[0108] When K(t i )≤[K],P(t i )≤P max (t i ), keep the current state of the actuator 310 unchanged; otherwise, the push rod 320 extends and the working bucket 100 realizes the upward bucket rotation action.

[0109] Here, P max (t i ) is the maximum working pressure of the rodless chamber of the lifting hydraulic cylinder 210, K(t i) is the pressure change rate of the rodless chamber of the lifting hydraulic cylinder 210, and [K] is the pressure change rate threshold of the rodless chamber of the lifting hydraulic cylinder 210. The above data can be calculated based on the normal working history data of the existing loader.

[0110] S80: Adjust the position and posture of the working bucket 100.

[0111] Specifically, S80 includes:

[0112] S81. Obtain the pressure change rate of the rodless chamber of the lifting hydraulic cylinder 210. Set the sampling period T, and calculate the pressure change rate of the rodless chamber of the lifting hydraulic cylinder 210 as follows:

[0113]

[0114] Among them, K(t i ) represents the pressure change rate of the rodless chamber of the lifting hydraulic cylinder 210; P(t i )-P(t i -T) represents the pressure of the rodless chamber of the lifting hydraulic cylinder 210 at a certain moment.

[0115] S82, when K(t i )≤[K],P(t i )≤P max (t i ), keep the current state of the actuator 310 unchanged;

[0116] When K(t i )>[K],P(t i )≤P max (t i ), the push rod 320 extends, preferably by an amount of 0.1 to 0.2 L;

[0117] When K(t i )≤[K],P(t i )>P max (t i ), the push rod 320 extends, preferably by an amount of 0.2 to 0.3 L;

[0118] When K(t i )>[K],P(t i )>P max (t i ), the push rod 320 extends, preferably by an amount of 0.3 to 0.4 L;

[0119] Here, L is the maximum working stroke of the actuator 310 .

[0120] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention and are not intended to limit the embodiments of the present invention. A person skilled in the art would be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is not necessary and impossible to enumerate all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. Working device, characterized in that, include: A working bucket (100) configured to shovel and load materials; A lifting mechanism (200), connected to the working bucket (100), configured to lift the working bucket (100); A bucket rotating mechanism (300), connected to the working bucket (100), configured to rotate the working bucket (100); The driving system (400) comprises a bucket electric driving subsystem (410), a lifting hydraulic driving subsystem (420), and an oil replenishing subsystem (430), wherein the bucket electric driving subsystem (410) is electrically connected to the bucket mechanism (300) and is configured to drive the bucket mechanism (300) to move, the lifting hydraulic driving subsystem (420) is connected to the lifting mechanism (200) and is configured to drive the lifting mechanism (200) to move, and the oil replenishing subsystem (430) is configured to replenish oil to the lifting hydraulic driving subsystem (420); The lifting mechanism (200) comprises a lifting hydraulic cylinder (210) and a lifting cylinder rod (220), wherein the lifting cylinder rod (220) is disposed in the lifting hydraulic cylinder (210), and the lifting cylinder rod (220) extends out of the lifting hydraulic cylinder (210) in one direction and is connected to the working bucket (100); The internal space of the lifting hydraulic cylinder (210) is connected to the lifting hydraulic drive subsystem (420), and the lifting hydraulic drive subsystem (420) is configured to provide hydraulic oil to the lifting hydraulic cylinder (210); The lifting hydraulic drive subsystem (420) comprises a lifting hydraulic pump (421) and an oil tank (422); a first oil discharge port (4211) and a second oil discharge port (4212) of the lifting hydraulic pump (421) are respectively connected to the rod chamber and the rodless chamber of the lifting hydraulic cylinder (210); the lifting hydraulic pump (421) is configured to pressurize the oil from the oil tank (422) to form hydraulic oil, and supply the hydraulic oil to the lifting hydraulic cylinder (210); The lifting hydraulic drive subsystem (420) further includes an accumulator (424), the accumulator (424) being connected to the third oil discharge port (4213) of the lifting hydraulic pump (421) and connected to the lifting hydraulic cylinder (210), the accumulator (424) being capable of temporarily storing excess hydraulic oil in the lifting hydraulic pump (421) and supplying the excess hydraulic oil to the lifting hydraulic cylinder (210); The oil replenishment subsystem (430) includes an oil replenishment hydraulic pump (431) and an oil replenishment motor (432). The oil replenishment motor (432) is connected to the oil replenishment hydraulic pump (431) and is capable of controlling the operation of the oil replenishment hydraulic pump (431). The oil replenishment hydraulic pump (431) is connected to the oil tank (422) and the lifting hydraulic pump (421). The oil replenishment hydraulic pump (431) is configured to supply oil from the oil tank (422) to the lifting hydraulic pump (421).

2. The working device according to claim 1, characterized in that: The rotating bucket mechanism (300) comprises an actuator (310) and a push rod (320), wherein the push rod (320) is coaxially arranged on the actuator (310), and two ends of the push rod (320) are respectively capable of extending from two ends of the actuator (310); The working device further comprises a fixed bracket (500), one end of the push rod (320) is rotatably arranged on the fixed bracket (500), and the other end of the push rod (320) is transmission-connected to the working bucket (100), and the push rod (320) moves along the axial direction of the actuator (310) to drive the working bucket (100) to rotate.

3. The working device according to claim 1, characterized in that: The driving system (400) further includes a power supply (440) and a driver (450) that are electrically connected; The bucket electric drive subsystem (410) includes a bucket motor (411), wherein the bucket motor (411) is electrically connected to the bucket mechanism (300) and the driver (450), and the driver (450) is capable of controlling the bucket motor (411), and the bucket motor (411) is capable of driving the bucket mechanism (300) to move.

4. The working device according to claim 1, characterized in that: An overflow component (423) is provided between the first oil circuit between the first oil discharge port (4211) and the rod chamber and the second oil circuit between the second oil discharge port (4212) and the rodless chamber, and the hydraulic oil in the first oil circuit and the hydraulic oil in the second oil circuit can flow to each other through the overflow component (423).

5. The working device according to claim 1, characterized in that: A speed regulating valve (425) is provided between the third oil discharge port (4213) and the accumulator (424), and the speed regulating valve (425) is capable of regulating the flow rate of the hydraulic oil flowing from the lifting hydraulic pump (421) to the accumulator (424).

6. The working device according to claim 1, characterized in that: The oil replenishment subsystem (430) further includes an oil replenishment overflow valve (433), which is disposed between the oil replenishment hydraulic pump (431) and the oil tank (422) and is configured to direct excess hydraulic oil flowing out of the oil replenishment hydraulic pump (431) to the oil tank (422).

7. Loader, characterized in that, The invention comprises a cab body (10), a transfer device (20) and a working device according to any one of claims 1 to 6, wherein the transfer device (20) is arranged on the cab body (10) and is configured to drive the cab body (10) to move, and the working device is arranged on the cab body (10).

8. A working device control method, characterized in that: The working device control method is performed based on the working device according to any one of claims 1 to 6; the lifting mechanism (200) includes a lifting hydraulic cylinder (210) and a lifting cylinder rod (220) that are coaxial and relatively movable; the lifting hydraulic drive subsystem (420) further includes a lifting motor (426); the lifting motor (426) is connected to the lifting hydraulic pump (421) and is capable of controlling the operation of the lifting hydraulic pump (421); The working device control method includes: S10, obtaining an error in the displacement of the lifting hydraulic cylinder (210), where the displacement of the lifting hydraulic cylinder (210) is the relative displacement between the lifting cylinder rod (220) and the lifting hydraulic cylinder (210); S20, identifying the working state of the accumulator (424), when the actual flow of the accumulator (424) is less than the flow threshold, proceeding to steps S30 and S40 in sequence; otherwise, proceeding directly to step S40; S30, regulating the flow rate of the hydraulic oil from the lifting hydraulic pump (421) to the accumulator (424); S40, obtaining the speed adjustment value of the lifting motor (426), if the speed adjustment value is less than or equal to the lifting speed adjustment threshold, then proceed to S50 and S60 in sequence; otherwise, proceed to S70; S50, obtaining a rotation speed correction value of the lifting motor (426); S60, obtaining the actual displacement value of the lifting hydraulic cylinder (210); S70, replenishing oil to the lifting hydraulic drive subsystem (420); S80: Adjust the position and posture of the working bucket (100).

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