Working device of double-variable-amplitude type skid loader and control method

Abstract

The invention belongs to the field of skid steer loaders, and particularly relates to a double-variable-amplitude type skid steer loader working device and a control method.The double-variable-amplitude type skid steer loader working device comprises mechanical arms, buckets installed at the front ends of the two mechanical arms, rocker arm air cylinders, movable arm oil cylinders and bucket oil cylinders, the mechanical arms comprise V-shaped rocker arms and L-shaped movable arms, one end of each rocker arm is hinged to a point A of a rack, and the other end of each rocker arm is hinged to a point B of the rack; the other end of the movable arm is hinged to a point C at one end of the movable arm, the other end of the movable arm is hinged to a point G of the bucket, the two ends of a rocker arm air cylinder are hinged to a point B at the V-shaped bottom of the rocker arm and a point D of the rack respectively, and the two ends of a movable arm oil cylinder 5 are hinged to a point F at the L-shaped bottom of the movable arm and a point E of the rack respectively. The two ends of the bucket oil cylinder are hinged to the J point of the bucket and the H point of the middle of one edge of the movable arm respectively, the unloading height and the unloading distance can be increased, the bearing capacity is high, the performance of the whole machine is improved, and a driver can be assisted in operating a working device more efficiently, more simply and more conveniently.

Description

Technical Field

[0001] The present invention belongs to the technical field of skid steer loaders, and in particular to a working device and a control method of a double-luff type skid steer loader, and belongs to the technical field of engineering. Background Art

[0002] A skid steer loader is a wheeled special chassis equipment that uses the linear speed difference of the wheels on both sides to achieve vehicle steering. It is mainly used in places where the work site is small, the ground is uneven, and the work content changes frequently. The biggest feature of the skid steer loader is that the overall size of the machine is small, and it can achieve on-site steering; various working devices can be randomly and quickly replaced or attached at the work site. It is suitable for infrastructure construction, industrial applications, dock loading and unloading, urban streets, residences, barns, livestock houses, airport runways, etc., and can also be used as auxiliary equipment for large-scale engineering construction machinery.

[0003] However, it is difficult for skid steer loaders to meet the requirements of larger and wider loading and unloading heights and working ranges. Therefore, it is of great significance to design a skid steer loader and control method that can meet the requirements of larger and wider working content and is simple and efficient to operate, which can help drivers to operate the working device more efficiently and conveniently. Summary of the invention

[0004] The purpose of the present invention is to provide a double-luff skid loader working device, which works smoothly and flexibly and adapts to various working conditions, can increase the unloading height and unloading distance, has a high load-bearing capacity, improves the performance of the whole machine, and can assist the driver to operate the working device more efficiently and conveniently.

[0005] The purpose of the present invention is achieved through the following technical solutions:

[0006] A double-luff skid loader working device comprises mechanical arms symmetrically mounted on the left and right sides of a frame 1 of the skid loader, a bucket 7 mounted at the front ends of the two mechanical arms, a rocker cylinder 3, an arm cylinder 5 and a bucket cylinder 6, wherein the mechanical arms comprise a V-shaped rocker arm 2 and an L-shaped arm 4, wherein one end of the rocker arm 2 is hinged to point A of the frame 1, and the other end is hinged to point C of one end of the arm 4, and the other end of the arm 4 is hinged to point G of the bucket 7, the two ends of the rocker cylinder 3 are respectively hinged to point B of the V-shaped bottom of the rocker arm 2 and point D of the frame, the two ends of the arm cylinder 5 are respectively hinged to point F of the L-shaped bottom of the arm 4 and point E of the frame, and the two ends of the bucket cylinder 6 are respectively hinged to point J of the bucket 7 and point H in the middle of one side of the arm 4.

[0007] As a more optimal technical solution of the present invention, the distance AC between point A and point C is L, the distance between point C and point G is: 2.8L≤CG≤3.2L, the distance between point A and point B is: 0.95L≤AB≤1.05L, and the distance between point B and point C is: 0.5L≤BC≤0.6L.

[0008] As a more optimal technical solution of the present invention, it also includes a displacement sensor installed on the frame 1 for detecting and outputting the displacement l1 of the rocker cylinder 3 and the displacement l2 of the boom cylinder 5.

[0009] As a more optimal technical solution of the present invention, a crossbeam is connected between the two rocker arms 2.

[0010] Another object of the present invention is to provide a control method for a double-luff skid steer loader working device, comprising the following steps:

[0011] Get the displacement of the boom cylinder 5 displacement, the displacement of the boom cylinder l2 and the target trajectory [X G ,Y G ,Z G ,ξ G ] T ;

[0012] The unique and determined target displacement l1 of the rocker cylinder 3 is calculated. The target displacement l1 is used as the target displacement to make the hinge point G on the boom 4 conform to the target trajectory point. The joint inclination space of the G point is [θ1, θ2] T , the position state space of point G in the Cartesian coordinate system [X G ,Y G ,Z G ,ξ G ] T , displacement driving space [l1,l2] T The relationship between the three is:

[0013] The coordinates of point G are

[0014]

[0015] In △ACE, And ∠CAE+∠ACE+∠AEC=π to obtain CE,∠ACE,∠AEC;

[0016] The target displacement l1 of the rocker cylinder 3 is input into the control module, so that the rocker cylinder 3 moves and responds to the target displacement l1.

[0017] Another object of the present invention is to provide a controller configured to execute the control method of the working device of the double-luff skid steer loader.

[0018] Another object of the present invention is to provide a skid steer loader, comprising a double-leverage skid steer loader working device and the above-mentioned controller.

[0019] The beneficial effects are:

[0020] The working device of the present invention has two amplitude variation modes: in the single amplitude variation mode, the user operates the first and second handles to output the bucket cylinder signal and the boom cylinder signal, further controlling the movement of the bucket cylinder and the boom cylinder; and further controlling the movement of the skid loader working device; in the double amplitude variation mode, the user controls the bucket cylinder and the boom cylinder and the rocker cylinder movement through the first and second handles and the display; and further controls the skid loader working device to make movements under the specified target trajectory, and the operation is smooth and flexible to adapt to various working conditions, which can increase the unloading height and unloading distance, and has a high load-bearing capacity.

[0021] The controller of the present invention includes a dynamic model of the skid loader working device, which is constructed based on the structure of the skid loader working device and solves the relationship between the skid loader bucket posture state space, joint inclination space, and displacement drive space. It can assist the driver to operate the working device more efficiently and conveniently, thereby improving the performance of the entire machine.

[0022] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural schematic diagram of the working device of the present invention when the bucket is naturally flat;

[0024] Figure 2 It is a three-dimensional structural schematic diagram of the working device of the present invention;

[0025] Figure 3 is a kinematic diagram of a skid loader of the present invention;

[0026] Figure 4 It is a schematic flow chart of the working device trajectory control method of the present invention;

[0027] Figure 5 It is a schematic diagram of the structure of the present invention driving the boom to lift to the highest point in a single variable amplitude driving mode;

[0028] Figure 6 It is a schematic diagram of the structure of the present invention driving the boom to lift to the highest point in the dual-luffing driving mode;

[0029] Figure 7 It is a schematic diagram of a working device control method of the present invention;

[0030] Figure 8 It is a relationship diagram between the displacement of the rocker cylinder and the displacement of the boom cylinder in the vertical lifting embodiment of the present invention;

[0031] Fig. 9 It is a schematic diagram of the lifting process in the vertical lifting embodiment of the present invention;

[0032] In the figure: 1. frame; 2. rocker arm; 3. rocker arm cylinder; 4. boom; 5. boom cylinder; 6. bucket cylinder; 7. bucket. DETAILED DESCRIPTION

[0033] The present invention will be further described in detail below with reference to the accompanying drawings.

[0034] like Figure 1 and 2 As shown, the present invention provides a working device of a double-luff skid loader, including mechanical arms symmetrically installed on the left and right sides of a frame 1 of the skid loader, a bucket 7 installed at the front ends of the two mechanical arms, a rocker cylinder 3, an arm cylinder 5, and a bucket cylinder 6, wherein the mechanical arms include a V-shaped rocker arm 2 and an L-shaped arm 4, one end of the rocker arm 2 is hinged to point A of the frame 1, and the other end is hinged to point C of one end of the arm 4, the other end of the arm 4 is hinged to point G of the bucket 7, the two ends of the rocker cylinder 3 are respectively hinged to point B of the V-shaped bottom of the rocker arm 2 and point D of the frame, the two ends of the arm cylinder 5 are respectively hinged to point F of the L-shaped bottom of the arm 4 and point E of the frame, and the two ends of the bucket cylinder 6 are respectively hinged to point J of the bucket 7 and point H in the middle of one side of the arm 4. The rocker arm 2, boom 4, boom cylinder 5, rocker cylinder 3, and bucket cylinder 6 can all be modified to exist in pairs according to the design requirements of the skid loader. The hinge points A, B, and C of the rocker arm 2 are not on a straight line.

[0035] In some embodiments, the distance AC between point A and point C is L, the distance between point C and point G is: 2.8L≤CG≤3.2L, the distance between point A and point B is: 0.95L≤AB≤1.05L, and the distance between point B and point C is: 0.5L≤BC≤0.6L.

[0036] In some embodiments, a displacement sensor is also included which is installed on the vehicle frame 1 and is used to detect and output the displacement l1 of the rocker cylinder 3 and the displacement l2 of the boom cylinder 5 .

[0037] In some embodiments, a cross beam is connected between the two rocker arms 2 .

[0038] like Figure 4 As shown, the present invention also provides a control method for a working device of a double-luff type skid loader, comprising the following steps:

[0039] Get the displacement of the boom cylinder 5 displacement, the displacement of the boom cylinder l2 and the target trajectory [X G ,Y G ,Z G ,ξ G ] T ;

[0040] The unique and determined target displacement l1 of the rocker cylinder 3 is calculated. The target displacement l1 is used as the target displacement to make the hinge point G on the boom 4 conform to the target trajectory point. The joint inclination space of the G point is [θ1, θ2] T , the position state space of point G in the Cartesian coordinate system [X G ,Y G ,Z G ,ξ G ] T , displacement driving space [l1,l2] T The relationship between the three is:

[0041] The coordinates of point G are

[0042]

[0043] In △ACE, And ∠CAE+∠ACE+∠AEC=π to obtain CE,∠ACE,∠AEC;

[0044] The target displacement l1 of the rocker cylinder 3 is input into the control module, so that the rocker cylinder 3 moves and responds to the target displacement l1.

[0045] The present invention also provides a controller configured to execute the control method of the working device of the double-luff type skid steer loader.

[0046] The present invention also provides a skid loader, including a double-amplitude skid loader working device and the above-mentioned controller. The working mode of this skid loader is divided into a double-amplitude drive working device or a single-amplitude drive working device. In the single-amplitude mode of this skid loader, the boom 4 is driven by the boom cylinder 5 to rotate around point C. At this time, the rocker cylinder 3 does not move. The inclination angle of the boom 4 is determined by the displacement of the boom cylinder 5, and the inclination angle of the bucket 7 is determined by the displacement of the bucket cylinder 6. In the double-amplitude mode of this skid loader, the user controls the displacement of the bucket cylinder 6 and the boom cylinder 5 respectively through the first handle and the second handle. The displacement of the rocker cylinder 3 is determined by the displacement of the boom cylinder 5 and the operating mode selected by the driver of the skid loader. Real-time adjustment of the displacement of the rocker cylinder 3 l1. The two mode adjustment methods are as follows:

[0047] The target trajectory mode selected by the user and the displacement l2 of the boom cylinder 5 are obtained; the displacement l2 of the boom cylinder 5 and the selected target trajectory mode are input into a pre-established skid loader dynamics model calculation module to calculate the target displacement l1 of the rocker cylinder 3; the target displacement l1 of the rocker cylinder 3 obtained by the calculation module is used as an input signal to control the rocker cylinder 3 to output a corresponding displacement to drive the skid loader working device.

[0048] The construction of the dynamic model of the skid loader working device in the present invention specifically includes:

[0049] The connecting rod coordinate system of the working device of the skid loader is established, and the working device is simplified according to the actual parameters and joint constraints of the working device; the connecting rod dynamics model parameters are constrained according to the constraints of each hinge point of the working device, the driving mechanism constraints and the connecting rod mechanism constraints; according to the structure of the working device of the skid loader, the relationship between the skid loader bucket posture state space, joint inclination space and displacement drive space is solved, and the dynamic model of the working device of the skid loader is constructed.

[0050] The coordinates of each hinge point of this skid loader in the Cartesian coordinate system can be solved by the following formula to solve the coordinates of the hinge point C

[0051] Coordinates of hinge point G

[0052] Bucket tip I point coordinates

[0053] The corresponding relationship between the displacement of each driving mechanism of this skid loader and the inclination angle of each joint is:

[0054]

[0055] The relationship between the inclination angles of each joint and the hinge point of this skid loader is:

[0056]

[0057] like Figure 3 As shown, the bucket 7 is hinged to the boom 4 at point G on the one hand, and is hinged to the bucket cylinder 6 at point J on the other hand; the rear end of the boom 4 is hinged to the rocker arm 2 at point C, and the front end of the boom 4 is provided with a hinge point G as a connection point with the bucket 7, and the boom 4 is hinged to the boom cylinder 5 at point F; the front end of the rocker arm 2 is hinged to the boom 4 at point C, the rear end of the rocker arm 2 is hinged to the frame 1 at point A, and the rocker arm 2 is hinged to the rocker cylinder 3 at point B; one end of the rocker cylinder 3 is hinged to the rocker arm 2 at point B, and the other end of the rocker cylinder 3 is hinged to the frame 1 at point D; one end of the boom cylinder 5 is hinged to the boom 4 at point F, and the other end of the boom cylinder 5 is hinged to the frame 1 at point E; one end of the bucket cylinder 6 is hinged to the boom 4 at point H, and the other end is hinged to the bucket 7 at point J. The symbols and structures of each hinge point are the same as Figure 1The marked hinge points or mechanisms are the same; △ABC can be regarded as a simplification of the rocker arm 2; △CFG can be regarded as a simplification of the boom 4; △JGI can be regarded as a simplification of the bucket 7; the dotted line BD can be regarded as a simplification of the rocker arm cylinder 3; the BD length l1 is the displacement of the rocker arm cylinder 3; the dotted line EF can be regarded as a simplification of the boom cylinder 5; the dotted line EF length l2 can be regarded as the displacement of the boom cylinder 5; the dotted line HJ can be regarded as a simplification of the bucket cylinder 6; the dotted line HJ length l3 can be regarded as a simplification of the bucket cylinder 6; wherein θ1 = ∠CAX0 is the inclination angle of the rocker arm 2; θ2 = ∠GCX1 is the inclination angle of the boom 4; θ3 = ∠IGX3 is the inclination angle of the bucket 7; the angle between the X3 direction of the coordinate system established by the bucket tip point I of the bucket 7 and the horizontal plane is ξ, which is the bucket posture state angle. The classical DH method is used to calculate and solve the geometric model of the working device, and the homogeneous transformation matrix between the bucket tip I and the hinge point A is:

[0058]

[0059] The coordinates of point I are: [X I ,Y I ,Z I ,ξ I ] T

[0060]

[0061] Thus, the appropriate joint inclination space [θ1, θ2, θ3] T When the bucket 7 is determined, it has a unique and determined posture corresponding to it; vice versa. That is, the bucket can be made to take the specified position and posture by controlling the inclination angle θ1 of the rocker arm 2, the inclination angle θ2 of the boom 4 and the inclination angle θ3 of the bucket 7. [X I ,Y I ,Z I ,ξ I ] T The value range of represents the working range of the bucket tip of this skid steer loader.

[0062] Similarly, given the known bucket posture [X I ,Y I ,Z I ,ξ I ] T In this case, the joint inclination space variables [θ1, θ2, θ3] T Known.

[0063]

[0064] in,

[0065]

[0066] That is, when the skid loader driver determines the bucket posture state that meets the requirements according to the working conditions [X I ,Y I ,Z I ,ξ I ] T In this case, the required joint inclination space [θ1, θ2, θ3] can be determined according to the ideal bucket posture state. T This process can help us to solve the displacement l3 of the rocker cylinder 3 based on the ideal posture and the displacement l2 of the boom cylinder 5.

[0067] The operator of the skid steer loader is referred to as a user below;

[0068] like Figure 3 , Figure 4 and Figure 5 As shown, in the single-leverage drive mode of the skid loader, the rocker cylinder 3 will not change the displacement l1 as the boom 4 rotates in this mode. In the single-leverage drive mode, the user drives the bucket cylinder 6 to extend or retract by operating the first handle to change the displacement l3 of the bucket cylinder 6. The bucket cylinder 6 drives the bucket 7 to rotate around the hinge point G between the bucket 7 and the boom 4 through the extension or retraction movement, thereby changing the inclination angle θ3 of the bucket 7. The displacement l3 of the bucket cylinder 6 and the rotation angle θ3 of the bucket 7 around the G point have the following relationship:

[0069]

[0070] I point coordinates

[0071] like Figure 3 , Figure 4 and Figure 5 As shown, in the single-luff driving mode of the skid loader, the user drives the boom cylinder 5 to extend or retract by operating the second handle to change the displacement l2 of the boom cylinder 5. The boom cylinder 5 drives the boom 4 to rotate around the hinge point C between the boom 4 and the rocker arm 2 by extending or retracting, thereby changing the inclination angle θ2 of the boom 4. The displacement l2 of the boom cylinder 5 and the rotation angle θ2 of the boom 4 around point C have the following relationship:

[0072]

[0073] In △ACE,

[0074]

[0075] ∠CAE+∠ACE+∠AEC=π

[0076] CE, ∠ACE, ∠AEC are obtained, which will not be expanded here;

[0077] The coordinates of point G are

[0078] Therefore, the trajectory curve of bucket point G in the XY plane in single variable amplitude mode is obtained [X I ,Y I ,Z I ,ξ I ] T , joint inclination space [θ2,θ3] T and displacement driving space [l2,l3] T The correspondence between the three. The user can obtain a unique and definite bucket unloading trajectory through the first handle and the second handle. Figure 5 The dotted line shows the trajectory curve of the hinge point G in the XY plane during the bucket lifting process.

[0079] like Figure 3 , Figure 4 and Figure 6 As shown, in the double-luff driving mode of the skid loader, the user drives the boom cylinder 5 to extend or retract by operating the second handle to change the displacement l2 of the boom cylinder 5. The user drives the bucket cylinder 6 to extend or retract by operating the first handle to change the displacement l3 of the bucket cylinder 6.

[0080] like Figure 3 , Figure 4 and Figure 6 As shown, in the double-bend mode of the skid loader, the user selects a suitable bucket target trajectory through the display according to the working requirements of the skid loader, and the active adjustment device receives the target trajectory selected by the user. It should be pointed out that the user can determine the target trajectory of the lifting of the hinge point G of the skid loader boom according to the working conditions of the skid loader. In the user-selected target trajectory mode, the lifting trajectory of the hinge point G on the skid loader boom in the XY plane has been determined. The trajectory mode of the skid loader is not specifically limited in the embodiment of the present invention.

[0081] like Figure 6 The user selected trajectory range is shown as Figure 6 As shown in the irregular geometric figure, the shape and size of the irregular geometric figure are related to the position of each hinge point of the working device and the displacement driving space [l1,l2,l3] T Decision. The specific expression is

[0082]

[0083] Figure 6 The middle dotted lines represent several possible lifting trajectories, and the present invention does not specifically limit the example of driving the working device in the double-luffing mode.

[0084] Combine the following Figure 4 , Figure 6 , Figure 7 and Figure 8 Explanation: This skid steer loader selects the vertical lift trajectory in dual-luffing mode. The working process of the active adjustment device is as follows:

[0085] Step 1: Acquisition module: After the user selects the vertical lifting mode through the display, the active adjustment device obtains the target trajectory input. The active adjustment device obtains the displacement of the boom cylinder l2 from the sensor

[0086] Step 2: Calculation module: the user passes through the joint inclination space [θ1, θ2] of point G T , the position state space of point G in the Cartesian coordinate system [X G ,Y G ,Z G ,ξ G ] T , displacement driving space [l1,l2] T The relationship between the three obtains the target displacement of the rocker cylinder 3.

[0087] The coordinates of point G are

[0088]

[0089] In △ACE,

[0090]

[0091] ∠CAE+∠ACE+∠AEC=π

[0092] CE, ∠ACE, ∠AEC are obtained, which will not be expanded here;

[0093] From the above calculation module, it can be obtained that when the target trajectory [X G ,Y G ,Z G ,ξ G ] T With the displacement l2 of the boom cylinder 5 input by the sensor, the unique and definite displacement l1 of the rocker cylinder 3 can be obtained as the target displacement to make the hinge point G on the boom 4 meet the target trajectory point.

[0094] Step 3: Control module: input the target displacement l1 of the rocker arm cylinder 3 calculated in step 2 into the control module, so that the rocker arm cylinder 3 moves and responds to the target displacement l1.

[0095] like Figure 8As shown in FIG. 1 , the corresponding relationship curve between the displacement l1 of the rocker arm cylinder 3 and the displacement l2 of the boom oil cylinder 5 under the vertical lifting target trajectory is shown. According to the relationship between the displacement l1 of the rocker arm cylinder 3 and the displacement l2 of the boom oil cylinder 5, the boom 4 of the working device is driven, and the trajectory of the hinge point G on the boom 4 in the XY plane is as follows: Fig. 9 The straight line shown in the dashed line.

[0096] In the description of the present invention, it is necessary to understand that the terms "center", "vertical", "up", "down", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0097] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0098] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0099] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

[0100] The specific implementation of the present invention described above does not constitute a limitation on the protection scope of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A double-luff skid loader working device, characterized in that: It includes mechanical arms symmetrically installed on the left and right sides of the frame of the skid loader, a bucket 7 installed at the front ends of the two mechanical arms, a rocker cylinder, a boom cylinder, and a bucket cylinder. The mechanical arms include a V-shaped rocker arm and an L-shaped boom. One end of the rocker arm is hinged to point A of the frame, and the other end is hinged to point C of one end of the boom. The other end of the boom is hinged to point G of the bucket. The two ends of the rocker cylinder are respectively hinged to point B of the V-shaped bottom of the rocker arm and point D of the frame. The two ends of the boom cylinder are respectively hinged to point F of the L-shaped bottom of the boom and point E of the frame. The two ends of the bucket cylinder are respectively hinged to point J of the bucket and point H in the middle of one side of the boom.

2. The working device of the double-luff skid steer loader according to claim 1, characterized in that: The distance AC between point A and point C is L, the distance between point C and point G is: 2.8L≤CG≤3.2L, the distance between point A and point B is: 0.95L≤AB≤1.05L, and the distance between point B and point C is: 0.5L≤BC≤0.6L.

3. The working device of the double-luff skid steer loader according to claim 1, characterized in that: It also includes a displacement sensor installed on the frame for detecting and outputting the displacement l1 of the rocker cylinder 3 and the displacement l2 of the boom cylinder 5.

4. The working device of the double-luff type skid steer loader according to claim 1, characterized in that: A crossbeam is connected between the two rocker arms 2.

5. A control method for a double-luff skid loader working device, comprising the following steps: obtaining a displacement of a boom cylinder, a displacement of a boom cylinder, and a target trajectory [X G ,Y G ,Z G ,ξ G ] T ; Calculate the unique and determined target displacement l1 of the rocker cylinder 3. The target displacement l1 is used as the target displacement to make the hinge point G on the boom 4 conform to the target trajectory point. The joint inclination space of point G is [θ1, θ2] T , the position state space of point G in the Cartesian coordinate system [X G ,Y G ,Z G ,ξ G ] T , displacement driving space [l1,l2] T The relationship between the three is: The coordinates of point G are In △ACE, And ∠CAE+∠ACE+∠AEC=π to obtain CE, ∠ACE, ∠AEC; the target displacement l1 of the rocker cylinder 3 is input into the control module to make the rocker cylinder 3 move and respond to the target displacement l1. 6 . A controller configured to execute the control method of a double-luff skid steer loader working device according to claim 5 .

7. A skid steer loader, comprising the double-luff skid steer loader working device according to claim 1 and the controller according to claim 6.

Images