Loader working device drag reduction mechanism and motion trail control method

Abstract

The invention discloses a loading machine working device drag reduction mechanism and a motion trail control method, and belongs to the technical field of loading machines. The loading machine working device drag reduction mechanism comprises a bucket, a bucket rod mounting base mounted in the middle of the back face of the bucket and large arm mounting bases mounted at the two ends of the back face of the bucket; and shielding dustproof mechanisms are arranged at the inner tops and the inner bottoms of the bucket rod mounting seat and the large arm mounting seat. The upper end and the lower end of the bucket rod mounting base and the upper end and the lower end of the big arm mounting base are each provided with a shielding dustproof mechanism composed of a winding box, a rotating rod, a clockwork spring, a shielding belt, a wire groove and a clamping plate, the shielding belts cover the outer sides of the mounting bases, the clamping plates are fixed to the big arm and the bucket rod, and the shielding dustproof mechanisms are arranged along with rotation of the big arm and the bucket rod. And the shielding belt can be automatically retracted and released to fully cover the mounting seat, so that the dustproof effect is better in the working process of the loading machine, and the frictional resistance at the joint is effectively reduced.

Description

Technical Field

[0001] The present invention relates to a drag reduction mechanism, in particular to a drag reduction mechanism for a loader working device. The present invention also relates to a motion trajectory control method, in particular to a motion trajectory control method for a loader working device, and belongs to the technical field of loaders. Background Art

[0002] The drag reduction mechanism and motion trajectory control of the loader working device are of great significance for improving the operating efficiency of the loader, reducing energy consumption and reducing equipment wear. At present, the optimization of drag reduction mainly includes the protection of the joints to reduce the rotational resistance of the connection during operation. For example, in the prior art, the loader bucket diversion device is disclosed in the application No. 202323217549.X. In order to solve the problem that the dusty material on the bucket will still fall along the top of the bucket wall plate to the bucket wall plate due to the low upward lifting speed of the bucket, and then fall into the hinge hole of the bucket connecting seat, the first diversion component can perform a primary diversion on the material falling from the bucket, and the second diversion component can perform a secondary diversion on the material falling from the bucket. Under the joint action of the above two levels of diversion, the present application can better prevent the dusty material from falling into the hinge hole of the bucket connecting seat.

[0003] Similar to the above application, there are still some shortcomings:

[0004] The connection is protected by drainage, which can only guide the block materials and cannot protect the floating dust in the materials. Dust is easily accumulated at the connection seat, which accelerates the wear of the dust ring. If it penetrates into the inside of the pin sleeve, it will increase the friction resistance between the pin shaft and the pin sleeve. At the same time, only a single protection method is used to reduce resistance, and the use effect is poor.

[0005] Therefore, a drag reduction mechanism and motion trajectory control method of the loader working device are designed to optimize the above problems. Summary of the invention

[0006] The main purpose of the present invention is to provide a drag reduction mechanism for a loader working device and a motion trajectory control method, by installing a winding box, a rotating rod, a spring spring, a shielding belt, a wire groove and a blocking dust prevention mechanism composed of a card plate at both ends of the boom mounting seat and the upper and lower ends of the boom mounting seat, by covering the outer side of the mounting seat with a shielding belt, and fixing the card plate on the boom and the boom, with the rotation of the boom and the boom, the shielding belt can be automatically retracted and released to fully cover the mounting seat, so that the loader has a better dust prevention effect during operation, and effectively reduces the connection. The friction resistance is achieved by connecting the grease adding tube to the grease nipple on the pin shaft through the pin shaft lubrication mechanism composed of the lubrication box, storage cylinder, adding port, grease adding tube, first piston, first spring, air hole, air cavity, second piston, second spring, one-way exhaust pipe and T-shaped rod. During the operation, the bucket is rotated upward to the maximum angle with the pin shaft on the boom mounting seat as the axis. The T-shaped rod is repeatedly pressed and reset by the boom continuously and quickly, which can automatically add the grease inside the storage cylinder to the inside of the grease nipple, and the pin shaft and the pin sleeve are lubricated. Self-lubricating, no manual application is required, and it can be done at any time, which is more practical. The bucket impact mechanism composed of the impact box, impact block, third spring, shaft rod, mounting groove, fourth spring, trapezoidal plug block, groove, gear, rack, fifth spring, and pressure rod can control the impact block to hit the outside of the bucket during the process of the bucket flipping down to the maximum angle and pouring the material by pressing the pressure rod with the big arm, and then cooperating with the transmission between the internal parts of the impact box, so as to shake the material inside the bucket off to reduce the resistance during feeding. Angle sensors are installed on the key parts of the loader such as the boom and dipper rod to monitor the movement angles of these parts in real time. Linear displacement sensors are installed on the boom cylinder and dipper rod cylinder. When the cylinder is extended and retracted, the sensor can accurately feedback the stroke of the cylinder, and determine the specific position of the bucket in combination with the geometric relationship. Finally, the angle, displacement and other data collected by the sensor are transmitted to the control system of the loader in real time. The control system analyzes and processes these data, compares them with the preset ideal motion trajectory, and issues instructions in time to adjust after deviation is found, ensuring the accuracy of the motion trajectory.

[0007] The purpose of the present invention can be achieved by adopting the following technical solutions:

[0008] The drag reduction mechanism of the loader working device comprises a bucket, a boom mounting seat installed at the middle position of the back side of the bucket, and boom mounting seats installed at both ends of the back side of the bucket. The inner top and inner bottom of the boom mounting seat and the boom mounting seat are both provided with a shielding and dustproof mechanism. The inner tops of the two groups of boom mounting seats are both provided with a pin shaft lubrication mechanism connected to a grease nipple. The bottoms of the two groups of boom mounting seats are both provided with a bucket impact mechanism for cleaning adhesions inside the bucket.

[0009] Preferably: the shielding and dust-proof mechanism includes a winding box, a rotating rod, a clockwork spring, a shielding belt, a wire groove and a clamping plate, the winding box is fixed to the inner top and inner bottom of the boom mounting seat and the dipper arm mounting seat, the inner ends of the winding box are rotatably installed with rotating rods, and clockwork springs are installed between the two ends of the rotating rod and the inner end of the winding box, the center of the clockwork spring is connected to the end of the rotating rod, and the outer end of the clockwork spring is connected to the outer end of the winding box, a shielding belt is wound and installed on the rotating rod, and a wire groove for the shielding belt to slide out is opened on the winding box along the length direction, and a clamping plate is installed at the end of the shielding belt.

[0010] Preferably, the clamping plate comprises a cross bar and a hook-shaped bar, the cross bar is fixed to the end of the cover belt along the length direction of the cover belt, the hook-shaped bar is symmetrically fixed on the cross bar, the hook-shaped bar is made of stainless steel, and the hook-shaped bar is elastic.

[0011] Preferably: the pin shaft lubrication mechanism comprises a lubrication box, a storage cylinder, a adding port, a grease adding tube, a first piston, a first spring, an air hole and an inflation assembly, the lubrication box is fixed to the inner top of the boom mounting seat, a storage cylinder is arranged inside the lubrication box along the length direction, an adding port is opened at one end of the storage cylinder, a grease adding tube is installed at one end of the storage cylinder close to the adding port, a one-way valve is provided on the grease adding tube, the end of the grease adding tube is connected to the butter nipple on the pin shaft, a first piston is slidably installed inside the storage cylinder, a first spring is installed between one side of the first piston close to the adding port and the inner end of the storage cylinder, a gap is left between the other side of the first piston and the other end of the storage cylinder, an air hole is opened at the center of one end of the storage cylinder close to the first piston, and an inflation assembly for inflating from one end of the storage cylinder close to the air hole is arranged inside the lubrication box.

[0012] Preferably: grease adding tubes are provided inside both groups of boom mounting seats, the ends of one group of grease adding tubes are respectively connected to the grease nipples at the ends of the pin shafts on the boom mounting seat and the arm mounting seat, and the other group of grease adding tubes is only connected to the grease nipples at the ends of the pin shafts on the boom mounting seat.

[0013] Preferably: the inflation component includes an air cavity, a second piston, a second spring, a one-way exhaust pipe and a T-shaped rod, the air cavity is vertically opened inside the lubrication box, a second piston is vertically slidably installed inside the air cavity, a second spring is provided between the second piston and the inner bottom of the air cavity, a one-way air intake valve is provided at the bottom end of the air cavity, a one-way exhaust pipe is provided between the bottom of the air cavity and the inside of the storage cylinder body, and the connection between the one-way exhaust pipe and the storage cylinder body is located at one end close to the air hole, the inner diameter of the one-way exhaust pipe is larger than the diameter of the air hole, a T-shaped rod is slidably installed on the lubrication box, and the bottom end of the T-shaped rod is fixedly connected to the second piston.

[0014] Preferably: the bucket impact mechanism includes an impact box, an impact block, a third spring and a pulling release assembly, the impact box is fixed to the inner bottom of the boom mounting seat, one end of the impact box extends to the outside of the boom mounting seat, the impact box is slidably provided with an impact block at one end outside the boom mounting seat, a third spring is provided between the end of the impact block and the inner end of the impact box, and a pulling release assembly for controlling the sliding of the impact block is provided inside the impact box.

[0015] Preferably: the pulling release assembly includes a shaft rod, a mounting groove, a fourth spring, a trapezoidal plug-in block and a groove; the shaft rod is rotatably mounted at the end of the impact box; a mounting groove is provided below the end of the shaft rod; a trapezoidal plug-in block is vertically slidably provided inside the mounting groove; a fourth spring is provided between the top of the trapezoidal plug-in block and the inner top of the mounting groove; a groove cooperating with the trapezoidal plug-in block is provided on the side of the impact block; a rotating assembly is provided at the end of the shaft rod.

[0016] Preferably: the rotating assembly includes a gear, a rack, a fifth spring and a pressure rod, the gear is fixed on the shaft, the outer side of the gear is meshed with a rack, the rack is vertically slidably installed on the impact box, a fifth spring is provided between the bottom of the rack and the bottom end of the impact box, the top end of the rack extends to the top of the impact box, and a pressure rod is fixed to the top end of the rack.

[0017] The present invention also provides a method for controlling the motion trajectory of a loader working device, comprising the following steps:

[0018] Step 1: A first angle sensor is installed at the connection between the boom and the frame, and a high-precision second angle sensor is installed at the connection between the arm and the rocker arm to monitor the movement angles of these components in real time and accurately obtain the current posture information of each part of the working device;

[0019] Step 2: Install linear displacement sensors on the boom cylinder and the dipper cylinder. When the cylinder is extended or retracted, the linear displacement sensor can accurately feedback the stroke of the cylinder, and then calculate the position change of each component of the working device, and determine the specific position of the bucket based on the geometric relationship;

[0020] Step 3: The angle, displacement and other data collected by the sensor are transmitted to the loader's control system in real time. The control system analyzes and processes these data, compares them with the preset ideal motion trajectory, and issues instructions for adjustment in a timely manner if deviations are found.

[0021] The beneficial effects of the present invention are:

[0022] The drag reduction mechanism and motion trajectory control method of the loader working device provided by the present invention are provided with a shielding and dustproof mechanism composed of a winding box, a rotating rod, a spring spring, a shielding belt, a wire groove and a clamping plate installed at both upper and lower ends of a boom mounting seat and a large arm mounting seat. By covering the outer side of the mounting seat with a shielding belt and fixing the clamping plate on the large arm and the boom, the shielding belt can be automatically retracted and released as the large arm and the boom rotate, and the mounting seat is fully covered, so that the dustproof effect of the loader is better during operation, and the friction resistance at the connection is effectively reduced;

[0023] The grease adding tube and the grease nipple on the pin shaft are connected through the pin lubrication mechanism composed of the lubrication box, the storage cylinder, the adding port, the grease adding tube, the first piston, the first spring, the air hole, the air cavity, the second piston, the second spring, the one-way exhaust pipe, and the T-shaped rod. During the operation, the bucket is rotated upward to the maximum angle with the pin shaft on the boom mounting seat as the axis, and the T-shaped rod is repeatedly pressed and reset by the boom continuously and quickly, so that the grease inside the storage cylinder can be automatically added to the inside of the grease nipple, and the pin shaft and the pin sleeve are self-lubricated. There is no need for manual application, and it can be done at any time, which is more practical.

[0024] The bucket impact mechanism composed of an impact box, an impact block, a third spring, an axle rod, a mounting groove, a fourth spring, a trapezoidal plug block, a groove, a gear, a rack, a fifth spring, and a pressure rod can control the impact block to impact the outside of the bucket by pressing the pressure rod with the big arm and cooperating with the transmission between the internal parts of the impact box when the bucket is turned down to the maximum angle and the material is poured, so as to shake the material inside the bucket off and reduce the resistance when feeding;

[0025] By installing angle sensors on key parts of the loader's boom, dipper arm, etc., the movement angles of these parts can be monitored in real time. Linear displacement sensors are installed on the boom cylinder and dipper arm cylinder. When the cylinder is extended or retracted, the sensor can accurately feedback the stroke of the cylinder, and determine the specific position of the bucket based on the geometric relationship. Finally, the angle, displacement and other data collected by the sensor are transmitted to the loader's control system in real time. The control system analyzes and processes this data, compares it with the preset ideal motion trajectory, and promptly issues instructions for adjustment when deviations are found, ensuring the accuracy of the motion trajectory. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A structural diagram of the bucket back of a preferred embodiment of the drag reduction mechanism and motion trajectory control method of the loader working device of the present invention;

[0027] Figure 2 It is a working state structure diagram of a preferred embodiment of the drag reduction mechanism and motion trajectory control method of the loader working device of the present invention;

[0028] Figure 3 The present invention is a preferred embodiment of the drag reduction mechanism and motion trajectory control method of the loader working device. Figure 1 Enlarged view of point A in the middle;

[0029] Figure 4 It is a cross-sectional view of the lubrication box of a preferred embodiment of the drag reduction mechanism and motion trajectory control method of the loader working device of the present invention;

[0030] Figure 5 The present invention is a preferred embodiment of the drag reduction mechanism and motion trajectory control method of the loader working device. Figure 1 Enlarged view of point B in the middle;

[0031] Figure 6 It is a top-sectional view of an impact box of a preferred embodiment of the drag reduction mechanism and motion trajectory control method of a loader working device of the present invention;

[0032] Figure 7 It is a cross-sectional view of the shaft end of a preferred embodiment of the drag reduction mechanism and motion trajectory control method of the loader working device of the present invention;

[0033] Figure 8 It is a cross-sectional view of a shielding and dust-proofing mechanism of a preferred embodiment of the drag reduction mechanism and motion trajectory control method of a loader working device of the present invention.

[0034] In the figure: 1, bucket; 2, arm mounting seat; 3, arm mounting seat; 4, shielding and dustproof mechanism; 5, pin lubrication mechanism; 6, bucket impact mechanism; 7, winding box; 8, rotating rod; 9, spring; 10, shielding belt; 11, wire groove; 12, card plate; 13, lubrication box; 14, storage cylinder; 15, adding port; 16, grease adding tube; 17, first piston; 18, first spring; 19, air hole; 20, air cavity; 21. Second piston; 22. Second spring; 23. One-way exhaust pipe; 24. T-shaped rod; 25. Impact box; 26. Impact block; 27. Third spring; 28. Shaft; 29. ​​Mounting groove; 30. Fourth spring; 31. Trapezoidal plug-in block; 32. Groove; 33. Gear; 34. Rack; 35. Fifth spring; 36. Pressure rod; 37. Linear displacement sensor; 38. First angle sensor; 39. Second angle sensor. DETAILED DESCRIPTION

[0035] In order to make the technical solution of the present invention more clear and specific to those skilled in the art, the present invention is further described in detail below in conjunction with embodiments and drawings, but the implementation manner of the present invention is not limited thereto.

[0036] like Figure 1-Figure 8As shown, this embodiment provides a drag reduction mechanism for a loader working device, including a bucket 1, a boom mounting seat 2 installed at the middle position of the back side of the bucket 1, and boom mounting seats 3 installed at both ends of the back side of the bucket 1, the inner top and inner bottom of the boom mounting seat 2 and the boom mounting seat 3 are both provided with a shielding and dustproof mechanism 4, the inner tops of the two groups of boom mounting seats 3 are both provided with a pin shaft lubrication mechanism 5 connected to a grease nipple, and the bottoms of the two groups of boom mounting seats 3 are both provided with a bucket impact mechanism 6 for cleaning adhesions inside the bucket 1.

[0037] The overall working principle: when in use, the cover belt 10 is covered on the outside of the boom mounting seat 3 and the dipper arm mounting seat 2, and the clamping plate 12 is fixed on the boom and the dipper arm. As the boom and the dipper arm rotate, the cover belt 10 can be automatically retracted and extended under the elastic force control of the clockwork spring 9, and the mounting seat is fully covered with dust. During operation, the bucket 1 is rotated upward to the maximum angle with the pin shaft on the boom mounting seat 3 as the axis, and the T-shaped rod 24 is pressed and reset continuously and quickly by the boom, which can automatically add the grease inside the storage cylinder 14 to the inside of the grease fitting, and the pin shaft and the pin sleeve are self-lubricated. In the process of flipping the bucket 1 downward to the maximum angle and pouring the material, the boom presses the pressure rod 36, and the transmission between the internal parts of the impact box 25 is coordinated, so that the impact block 26 can be controlled to impact the outside of the bucket 1, so that the material inside the bucket 1 can be shaken off.

[0038] In this embodiment, the shielding and dust-proof mechanism 4 includes a winding box 7, a rotating rod 8, a clockwork spring 9, a shielding belt 10, a wire groove 11 and a clamping plate 12. The winding box 7 is fixed to the inner top and inner bottom of the boom mounting seat 3 and the bucket arm mounting seat 2. The rotating rod 8 is rotatably installed at both ends of the inner part of the winding box 7. A clockwork spring 9 is installed between the two ends of the rotating rod 8 and the inner end of the winding box 7. The center of the clockwork spring 9 is connected to the end of the rotating rod 8, and the outer end of the clockwork spring 9 is connected to the outer end of the winding box 7. A shielding belt 10 is wound and installed on the rotating rod 8. A wire groove 11 for the shielding belt 10 to slide out is opened on the winding box 7 along the length direction, and a clamping plate 12 is installed at the end of the shielding belt 10.

[0039] Local working principle: In the initial state, the cover belt 10 is completely wound on the rotating rod 8 due to the elastic force of the clockwork spring 9. When connected with the boom and the bucket arm, the hand-held clamping plate 12 pulls the cover belt 10 out from the inside of the winding box 7, and then clamps the clamping plate 12 on the boom and the bucket arm. At this time, the clockwork spring 9 is in a compressed state, and the cover belt 10 completely protects the connection between the boom and the bucket arm, and during the rotation of the boom and the bucket arm, the cover belt 10 can be automatically pulled out and wound up as the rotation angle changes, ensuring that the cover belt 10 is always in a tensioned and protective state.

[0040] In this embodiment, the clamping plate 12 includes a crossbar and a hook-shaped rod. The crossbar is fixed to the end of the cover belt 10 along the length direction of the cover belt 10. The hook-shaped rods are symmetrically fixed on the crossbar. The hook-shaped rods are made of stainless steel and are elastic.

[0041] Local working principle: When installing the card plate 12, align the gap between the two sets of hook-shaped rods with the upper arm and the bucket arm, and then insert them directly. Since the hook-shaped rods are elastic, they will expand outwards during the insertion process, and automatically engage with each other after the insertion is completed to fix the card plate 12.

[0042] In this embodiment, the pin lubrication mechanism 5 includes a lubrication box 13, a storage cylinder 14, a grease adding port 15, a grease adding pipe 16, a first piston 17, a first spring 18, an air hole 19 and an air charging assembly. The lubrication box 13 is fixed to the inner top of the boom mounting seat 3. The storage cylinder 14 is arranged inside the lubrication box 13 along the length direction. The storage cylinder 14 is provided with a grease adding port 15 at one end. The storage cylinder 14 is provided with a grease adding pipe 16 at one end close to the grease adding port 15. The grease adding pipe 16 is provided with a one-way valve. The end of the grease adding tube 16 is connected to the grease nipple on the pin shaft, a first piston 17 is slidably installed inside the storage cylinder 14, a first spring 18 is installed between the side of the first piston 17 close to the adding port 15 and the inner end of the storage cylinder 14, a gap is left between the other side of the first piston 17 and the other end of the storage cylinder 14, an air hole 19 is opened at the center of one end of the storage cylinder 14 close to the first piston 17, and an inflation component for inflating from one end of the storage cylinder 14 close to the air hole 19 is arranged inside the lubrication box 13.

[0043] Partial working principle: Before use, open the adding port 15 and inject grease into the interior of the storage cylinder 14. In the initial state, there will be a certain gap between the first piston 17 and the end of the storage cylinder 14, so the grease cannot completely fill the storage cylinder 14. Then connect the end of the grease adding tube 16 to the grease fitting on the pin shaft. When grease needs to be added, the bucket 1 is rotated upward to the maximum angle with the pin shaft on the boom mounting seat 3 as the axis, and the boom is used to continuously press the inflation assembly. The air pressure inside the storage cylinder 14 increases, pushing the first piston 17 toward the side of the first spring 18, squeezing out the grease, and adding it to the inside of the grease fitting on the pin shaft.

[0044] In this embodiment, grease adding tubes 16 are provided inside the two groups of boom mounting seats 3. The ends of one group of grease adding tubes 16 are respectively connected to the grease nipples at the ends of the pin shafts on the boom mounting seat 3 and the arm mounting seat 2, while the other group of grease adding tubes 16 is only connected to the grease nipples at the ends of the pin shafts on the boom mounting seat 3.

[0045] Partial working principle: The grease adding tube 16 can add grease to the inside of the pin shafts on the three sets of mounting seats, ensuring the lubrication effect.

[0046] In this embodiment, the inflation assembly includes an air cavity 20, a second piston 21, a second spring 22, a one-way exhaust pipe 23 and a T-shaped rod 24. The air cavity 20 is vertically opened inside the lubrication box 13. The second piston 21 is vertically slidably installed inside the air cavity 20. A second spring 22 is provided between the second piston 21 and the inner bottom of the air cavity 20. A one-way air intake valve is provided at the bottom end of the air cavity 20. A one-way exhaust pipe 23 is provided between the bottom of the air cavity 20 and the inside of the storage cylinder body 14. The connection between the one-way exhaust pipe 23 and the storage cylinder body 14 is located at one end close to the air hole 19. The inner diameter of the one-way exhaust pipe 23 is larger than the diameter of the air hole 19. A T-shaped rod 24 is slidably installed on the lubrication box 13, and the bottom end of the T-shaped rod 24 is fixedly connected to the second piston 21.

[0047] Partial working principle: The bucket 1 is rotated upward to the maximum angle with the pin shaft on the arm mounting seat 3 as the axis, and the T-shaped rod 24 is continuously pressed by reciprocating small swings to control the second piston 21 to slide inside the air cavity 20, and the gas inside the air cavity 20 is injected into the storage cylinder 14 through the one-way exhaust pipe 23. When the T-shaped rod 24 loses the squeezing force, the second piston 21 automatically resets under the action of the second spring 22, and the pressing is repeated for many times to complete the addition of grease. In addition, during normal operation, the T-shaped rod 24 may also be squeezed. At this time, the air cavity 2 0 will slowly enter the storage cylinder 14. Since the gas enters at a slow rate and is discharged from the air hole 19, and the sliding of the first piston 17 also requires controlling the elastic force of the first spring 18 and the friction force when the first piston 17 moves, when the gas slowly enters the storage cylinder 14, it will not cause the movement of the first piston 17 in the storage cylinder 14, and will not add grease. Only when the gas is quickly filled in and the intake rate is much greater than the exhaust rate, can the first piston 17 be pushed.

[0048] In this embodiment, the bucket impact mechanism 6 includes an impact box 25, an impact block 26, a third spring 27 and a pulling release assembly. The impact box 25 is fixed to the inner bottom of the boom mounting seat 3, and one end of the impact box 25 extends to the outside of the boom mounting seat 3. The impact block 26 is slidably provided at one end of the impact box 25 located on the outside of the boom mounting seat 3. A third spring 27 is provided between the end of the impact block 26 and the inner end of the impact box 25. A pulling release assembly for controlling the sliding of the impact block 26 is provided inside the impact box 25.

[0049] Partial working principle: When the bucket 1 is filled with materials and is being dumped, the bucket 1 flips downward to the maximum angle. During the flipping process, the pulling release assembly inside the impact box 25 controls the sliding of the impact block 26, compresses the third spring 27, and then quickly releases it, causing the impact block 26 to impact the bucket 1 and shake off the adhered materials.

[0050] In this embodiment, the pulling release assembly includes a shaft rod 28, a mounting groove 29, a fourth spring 30, a trapezoidal plug block 31 and a groove 32. The shaft rod 28 is rotatably mounted at the end of the impact box 25. A mounting groove 29 is provided below the end of the shaft rod 28. A trapezoidal plug block 31 is vertically slidably provided inside the mounting groove 29. A fourth spring 30 is provided between the top of the trapezoidal plug block 31 and the inner top of the mounting groove 29. A groove 32 cooperating with the trapezoidal plug block 31 is provided on the side of the impact block 26, and a rotating assembly is provided at the end of the shaft rod 28.

[0051] Partial working principle: When the material is shaken off, the rotating assembly is used to control the rotation of the shaft 28. The shaft 28 rotates counterclockwise. When the trapezoidal plug 31 fits with the inner side of the groove 32, it will drive the impact block 26 to move and squeeze the third spring 27. When the shaft 28 rotates to a certain angle, the trapezoidal plug 31 will separate from the groove 32. At this time, the elastic force of the third spring 27 is released, controlling the impact block 26 to impact the bucket 1.

[0052] In this embodiment, the rotating assembly includes a gear 33, a rack 34, a fifth spring 35 and a pressure rod 36. The gear 33 is fixed on the shaft 28. The outer side of the gear 33 is meshed with a rack 34. The rack 34 is vertically slidably installed on the impact box 25. A fifth spring 35 is provided between the bottom of the rack 34 and the bottom end of the impact box 25. The top end of the rack 34 extends to the top of the impact box 25, and a pressure rod 36 is fixed to the top end of the rack 34.

[0053] Partial working principle: When the bucket 1 flips downward to the maximum angle and pours materials, the upper arm will press the pressure rod 36, and the pressure rod 36 will drive the rack 34 to move downward, driving the gear 33 on the shaft 28 to rotate, and the shaft 28 will rotate accordingly. At the same time, the downward movement of the rack 34 will also compress the fifth spring 35. The single downward movement of the rack 34 can only control the shaft 28 to rotate one circle. If repeated knocking is required, the swing of the bucket 1 can be controlled multiple times. When the bucket 1 swings upward and resets, the fifth spring 35 will control the reset of the rack 34 and the pressure rod 36, and the shaft 28 will also reset accordingly. During the reset process, the hypotenuse of the trapezoidal plug block 31 contacts the impact block 26, and the trapezoidal plug block 31 will be squeezed into the inside of the mounting groove 29, which will not hinder the reset of the trapezoidal plug block 31. When the reset is completed, the bucket 1 flips downward quickly again for a second impact.

[0054] like Figure 1-Figure 8 As shown, this embodiment provides a method for controlling the motion trajectory of a loader working device as follows:

[0055] Step 1: A first angle sensor 38 is installed at the connection between the boom and the frame, and a high-precision second angle sensor 39 is installed at the connection between the arm and the rocker arm to monitor the movement angles of these components in real time and accurately obtain the current posture information of each part of the working device;

[0056] Step 2: Install linear displacement sensors 37 on the boom cylinder and the dipper arm cylinder. When the cylinders are extended or retracted, the linear displacement sensors 37 can accurately feedback the stroke of the cylinders, thereby calculating the position changes of the various components of the working device and determining the specific position of the bucket in combination with the geometric relationship.

[0057] Step 3: The angle, displacement and other data collected by the sensor are transmitted to the loader's control system in real time. The control system analyzes and processes these data, compares them with the preset ideal motion trajectory, and issues instructions for adjustment in a timely manner if deviations are found.

[0058] The above description is only a further embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solutions and concepts of the present invention within the scope disclosed by the present invention, which belong to the protection scope of the present invention.

Claims

1. A drag reduction mechanism for a loader working device, comprising a bucket (1), a dipper arm mounting seat (2) mounted at the middle position of the back of the bucket (1), and a boom mounting seat (3) mounted at both ends of the back of the bucket (1), characterized in that: The inner top and inner bottom of the boom mounting seat (2) and the boom mounting seat (3) are both provided with a shielding dust prevention mechanism (4), the inner top of the two sets of boom mounting seats (3) are both provided with a pin shaft lubrication mechanism (5) which is in communication with a grease nipple, and the bottom of the two sets of boom mounting seats (3) are both provided with a bucket impact mechanism (6) for cleaning adhesions inside the bucket (1).

2. The drag reduction mechanism of the loader working device according to claim 1, characterized in that: The shielding and dustproof mechanism (4) comprises a winding box (7), a rotating rod (8), a spring spring (9), a shielding belt (10), a wire groove (11) and a clamping plate (12). The winding box (7) is fixed to the inner top and inner bottom of the boom mounting seat (3) and the bucket arm mounting seat (2). The rotating rods (8) are rotatably mounted on both ends of the winding box (7). The spring springs (9) are mounted between both ends of the rotating rod (8) and the inner end of the winding box (7). The center of the spring spring (9) is connected to the end of the rotating rod (8), and the outer end of the spring spring (9) is connected to the outer end of the winding box (7). The shielding belt (10) is wound and mounted on the rotating rod (8). The winding box (7) is provided with a wire groove (11) along the length direction for the shielding belt (10) to slide out, and the clamping plate (12) is mounted on the end of the shielding belt (10).

3. The drag reduction mechanism of the loader working device according to claim 2, characterized in that: The clamping plate (12) comprises a crossbar and a hook-shaped rod, the crossbar being fixed to the end of the cover belt (10) along the length direction of the cover belt (10), the hook-shaped rod being symmetrically fixed to the crossbar, the hook-shaped rod being made of stainless steel and being elastic.

4. The drag reduction mechanism of the loader working device according to claim 1, 2 or 3, characterized in that: The pin lubrication mechanism (5) comprises a lubrication box (13), a storage cylinder (14), a grease adding port (15), a grease adding pipe (16), a first piston (17), a first spring (18), an air hole (19) and an air charging assembly. The lubrication box (13) is fixed to the inner top of the boom mounting seat (3). The lubrication box (13) is provided with a storage cylinder (14) along the length direction. One end of the storage cylinder (14) is provided with a grease adding pipe (16). The grease adding pipe (16) is provided at one end of the storage cylinder (14) close to the grease adding port (15). A one-way valve is provided on the grease adding pipe (16). The end of the grease adding pipe (16) is connected to the grease nipple on the pin shaft, a first piston (17) is slidably mounted inside the storage cylinder (14), a first spring (18) is mounted between a side of the storage cylinder (14) close to the adding port (15) and the inner end of the storage cylinder (14), a gap is left between the other side of the first piston (17) and the other end of the storage cylinder (14), an air hole (19) is opened at the center of the first piston (17) close to one end of the first piston (17), and an inflation component for inflating air from one end of the storage cylinder (14) close to the air hole (19) is arranged inside the lubrication box (13).

5. The drag reduction mechanism of the loader working device according to claim 4, characterized in that: Both sets of boom mounting seats (3) are provided with grease adding tubes (16) inside. The ends of one set of grease adding tubes (16) are respectively connected to the grease nipples at the ends of the upper pins of the boom mounting seat (3) and the arm mounting seat (2), while the other set of grease adding tubes (16) is only connected to the grease nipples at the ends of the upper pins of the boom mounting seat (3).

6. The drag reduction mechanism of the loader working device according to claim 5, characterized in that: The inflation assembly comprises an air chamber (20), a second piston (21), a second spring (22), a one-way exhaust pipe (23) and a T-shaped rod (24). The air chamber (20) is vertically opened inside the lubrication box (13). The second piston (21) is vertically slidably mounted inside the air chamber (20). A second spring (22) is arranged between the second piston (21) and the inner bottom of the air chamber (20). A one-way air inlet valve is arranged at the bottom end of the air chamber (20). A one-way exhaust pipe (23) is arranged between the bottom of the air chamber (20) and the inside of the storage cylinder (14). The one-way exhaust pipe (23) and the storage cylinder (14) are connected at one end close to the air hole (19). The inner diameter of the one-way exhaust pipe (23) is larger than the diameter of the air hole (19). A T-shaped rod (24) is slidably mounted on the lubrication box (13). The bottom end of the T-shaped rod (24) is fixedly connected to the second piston (21).

7. The drag reduction mechanism of the loader working device according to claim 1 or 5, characterized in that: The bucket impact mechanism (6) comprises an impact box (25), an impact block (26), a third spring (27) and a pulling release assembly, wherein the impact box (25) is fixed to the inner bottom of the boom mounting seat (3), one end of the impact box (25) extends to the outside of the boom mounting seat (3), an end of the impact box (25) located outside the boom mounting seat (3) is slidably provided with an impact block (26), a third spring (27) is provided between the end of the impact block (26) and the inner end of the impact box (25), and a pulling release assembly for controlling the sliding of the impact block (26) is provided inside the impact box (25).

8. The drag reduction mechanism of the loader working device according to claim 7, characterized in that: The pulling release assembly comprises a shaft (28), a mounting groove (29), a fourth spring (30), a trapezoidal plug (31) and a groove (32); the shaft (28) is rotatably mounted on the end of the impact box (25); a mounting groove (29) is provided below the end of the shaft (28); a trapezoidal plug (31) is vertically slidably provided inside the mounting groove (29); a fourth spring (30) is provided between the top of the trapezoidal plug (31) and the inner top of the mounting groove (29); a groove (32) cooperating with the trapezoidal plug (31) is provided on the side of the impact block (26); and a rotating assembly is provided at the end of the shaft (28).

9. The drag reduction mechanism of the loader working device according to claim 8, characterized in that: The rotating assembly comprises a gear (33), a rack (34), a fifth spring (35) and a pressure rod (36), wherein the gear (33) is fixed on the shaft (28), the outer side of the gear (33) is meshed with a rack (34), the rack (34) is vertically slidably mounted on the impact box (25), a fifth spring (35) is arranged between the lower side of the rack (34) and the lower end of the impact box (25), the top end of the rack (34) extends to the upper side of the impact box (25), and a pressure rod (36) is fixed to the top end of the rack (34).

10. A method for controlling the motion trajectory of a loader working device, based on the drag reduction mechanism of a loader working device according to any one of claims 1 to 9, characterized in that: The steps include: Step 1: A first angle sensor (38) is installed at the connection between the boom and the frame, and a high-precision second angle sensor (39) is installed at the connection between the arm and the rocker arm to monitor the movement angles of these components in real time and accurately obtain the current posture information of each part of the working device; Step 2: Install linear displacement sensors (37) on the boom cylinder and the dipper arm cylinder. When the cylinders are extended or retracted, the linear displacement sensors (37) can accurately feedback the stroke of the cylinders, thereby calculating the position changes of the various components of the working device and determining the specific position of the bucket in combination with the geometric relationship. Step 3: The angle, displacement and other data collected by the sensor are transmitted to the loader's control system in real time. The control system analyzes and processes these data, compares them with the preset ideal motion trajectory, and issues instructions for adjustment in a timely manner if deviations are found.

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